Application of Robotics and Telemetric Concepts for Robotic Arm Usage in Medical Surgery

Application of Robotics and Telemetric Concepts for Robotic Arm Usage in Medical Surgery

Amr Eshak, Amadou Bah, Michael EstevezAmr Eshak, Amadou Bah, Michael Estevez

Introduction

• Concept

• Our Project

• Hardware

• Software

Concept: Robotic Arm for Medicine

• Advantages of robotics in medicine.

• Minimally invasive

• Precision and scale

• Remote interaction

The Robotic Arm

• 7 servo motors

• 7 degrees of motion

• Computer assisted control

Hardware• Master Computer

• Micro Controllers:

• Client Arduino Uno micro controller per arm

• Sensors:

• Accelerometer

• Infrared

• Custom Power Supply

Custom Power Supply

Software

Software

• Robot Operating System (R.O.S.)

• Ubuntu Linux

• Arduino 1.0 software (subset of C++)

Robotic Arm Modules

Current Progress

• Wiimote drivers are ready under ROS

• Custom communication module between Arduinos

• Custom power distribution circuit design

Future Goals

• Two Robotic Arms

• Infrared L.E.D. Array

• Haptic Feedback

• Reflective Markers

• Interchangeable Gripper

• Camera on Gripper