Autonomous Dual Arm Robotic Surgery

The purpose of the project is to produce two robotic arms that will be capable of producing movement up to five degrees of freedom. Movement of both arms will be controlled using a single user interface while the arms of the robot will be equipped with a set of grippers to perform various functions

Project Title

Autonomous Dual Arm Robotic Surgery

Project Area of Specialization

Robotics

Project Summary

The purpose of the project is to produce two robotic arms that will be capable of producing movement up to five degrees of freedom. Movement of both arms will be controlled using a single user interface while the arms of the robot will be equipped with a set of grippers to perform various functions pertaining to the application at hand. The main target of the project is to produce coordinated movement of the two arms so that it can produce precise medical incision based on data collected through images.

Project Objectives

The following are the main goals of the project:
 

• Design and Fabrication of two arms of 5 Degrees of Freedom.
• Formation of circuitry for single user interface
• Application of control algorithms for combined and coordinated movement.
• Development of an efficient image processing system.

Objectives:

• Detection of the workspace where the patient needs to be operated
• Carrying out precise medical incision using a scalpel
• Producing coordinated movement of two dimensionally similar arms

Project Implementation Method

There are three parts of the project i.e.

a) fabrication of arms,
b) formation of circuitry for the user interface
c) creation of image processing
d) mathematical modelling of coordinated movement

The fabrication of arms is carried out on aluminum metal sheets due to its ease of machinability and light weight. A CAD model was created to figure out a suitable workspace based on the lengths of the links and then the arms were created.

To ensure a smooth movement of the arms, the joint links are operated using DC motors with internal feedback system to allow real-time control in the set up program. They are controlled using a program created in Arduino IDE and using Arduino Mega as a microcontroller. The purpose is to have single user interface for further development.

Coordinated movement will be achieved by incorporating c-space technique with a pair of micro-controllers. As mentioned above in this project, Arduino mega is being utilized to control the joint motors of the robot and therefore the mathematical is translated using Matlab into the Arduino GUI.

The image processing will be conducted using a machine learning technique to allow autonomous movement. This would allow the detection of the specific point of action and consequently the coordinates of the area of action will be translated for the joint motors to operate accordingly.

Benefits of the Project

The robotic arms are the first step in development of autonomous surgery. Keeping in mind the fast growing technology in medical fields autonomous robots are important to achieve high precision and accuracy during surgical operations. The detection of work area and performance of a medical incision will allow a surgeon to operate at high accuracy based on reliable data. Moreover, the system being designed is capable of being used from a remote area allowing greater medical access to people.

Moreover, this project can have variety of applications in industries as well. Areas where operations such as machining, cutting and scaling is required these robotic arms can replace the traditional CNC machine techniques. They are better than CNC machines due to a higher mobility in terms of orientations.

Technical Details of Final Deliverable

The material used for construction of the arms is aluminum sheet metal. The links are joined together using nuts and bolts. All the joints are revolute joints and the overall configuration of the arm is 5 degrees of freedom. The joints are controlled using high torque feedback control servo motors.

The motors are controlled using Arduino microcontroller. The feedback from the motor is programmed to be closed loop feedback control. The interface to manually control the motors and the orientation of the arms is through MATLAB. Whereas autonomous detection of the desired operating area is controlled through an AI algorithm. The coordinated movement is also conducted on MATLAB.

The project team will be focusing on the following aspects of the robotic arms:

• Design and Fabrication of two arms of 6 Degrees of Freedom.
• Application of control algorithms for combined and coordinated movement.
• Development of an efficient image processing system.

The final application of the arms can be varied from one task to another depending upon the end user.

Final Deliverable of the Project

Hardware System

Core Industry

Medical

Other Industries

Core Technology

Robotics

Other Technologies

Sustainable Development Goals

Good Health and Well-Being for People, Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com