Haptic Feedback systems are used to sense the vibrations, touch and force in many real world problems for example gaming, virtual reality, mobiles, automotive industry and robotic surgery. Our work involves the design and development of a robotic arm at slave end which includes force and current sensors that allows the operator to get force feedback at the master end. Three methods of feedback are generally used i.e. Force Sensitive Resistors for object detection, Current Sensing for force feedback and Position estimation to replicate motion. The three mentioned methods are analyzed using graphs developed on the PC.
Graphs are obtained by experiments on the gripper by using different objects. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. There is an interactive GUI at master end to show us forces, size and motions at each joint of the slave unit. Along with the interactive GUI at master side, yaw and pitch motion of slave is also replicated at master end using master controller
Table of Contents
ABSTRACT
INTRODUCTION
LITERATURE REVIEW
2.1 TELE-ROBOTIC SURGERY
2.2 HAPTICS IN SURGICAL INSTRUMENTS
2.2.1 FORCE FEEDBACK DEVICES
2.2.2 TACTILE DEVICES
2.2.3 SOFIE (SURGICAL ROBOT)
2.3 MODULES OF SURGICAL SYSTEM
2.3.1 MASTER-SLAVE ROBOTIC SURGERY
2.3.3 MASTER UNIT
2.3.4 MECHANICAL WORK
2.3.5 ELECTRICAL WORK
FUNCTIONALITY AND DESIGN
3.1 MECHANICAL STRUCTURE & EQUATION DERIVATION
3.1.1 PRO E DESIGN
3.1.2 ROBOTIC ARM COMPONENTS DESCRIPTION
3.1.3 FORWARD AND BACKWARD MOTION (‘R’)
3.1.4 VERTICAL MOTION (Z-AXIS)
3.1.5 MOVEMENT IN XY PLANE
3.2 ELECTRICAL COMPONENTS
3.2.1 MAXON DC MOTOR WITH ENCODER & GEARBOX
3.2.2 FORCE SENSOR
3.2.3 TRANSDUCER
3.2.5 ROBOTIC ARM GRIPPER
3.2.6 H-BRIDGE DESIGN:
3.3 SOFTWARE COMPONENTS
3.3.1 PROJECT TOP MODEL PSOC CREATOR
3.3.2 MICROSOFT VISUAL C#
3.3.3 .NET FRAMEWORK PLATFORM ARCHITECTURE
3.3.4 PROJECT REQUIREMENTS FOR GUI
3.3.5 COMMUNICATION METHODOLOGY
3.3.6 COMMUNICATION PROTOCOL
3.3.7 PROJECT INTERFACE
3.3.8 VISUAL STUDIO C# CODE
3.3.9 PSOC CODE EXPLANATION
IMPLEMENTATION AND RESULT DISCUSSION
4.1 METHODS AND ALGORITHM USED FOR FEEDBACK
4.1.1 CURRENT SENSING
4.1.2 POSITION ESTIMATION (DIGITAL ENCODERS)
4.1.3 OBJECT DETECTION USING FSR AT GRIPPER
4.2 EXPERIMENT RESULTS AND THEIR ANALYSIS
4.2.1 HARD OBJECTS (ANIMAL BONE):
4.2.2 SOFT OBJECTS:
4.2.3 SEMI HARD OBJECTS (ANIMAL FLESH):
FUTURE RECOMMENDATIONS AND CONCLUSION
Project Goals and Themes
The primary objective of this work is the design and development of a low-cost, effective robotic arm manipulator with haptic feedback capabilities for use in robot-assisted surgery. The project focuses on creating a Master-Slave system that allows an operator to receive kinesthetic force feedback and visual data, thereby enhancing the precision, ergonomics, and safety of surgical procedures by mitigating the limitations of conventional robotic systems.
- Development of a cost-effective haptic feedback system using sensor fusion.
- Implementation of three feedback methods: current sensing, force-sensitive resistors (FSR), and position estimation.
- Design and modeling of a robotic arm mechanical structure with 6 degrees of freedom.
- Creation of an interactive Graphical User Interface (GUI) for real-time monitoring of forces and joint motions.
- Integration of PSoC (Programmable System on Chip) for control and communication between the Master and Slave units.
Excerpt from the Book
4.1 Methods and Algorithm Used for Feedback
The force feedback can be reflected from slave through current sensors, FSR (Force sensitive resistors) and position estimation (Digital Encoders).
In this type of method the current through each actuator mounted on each joint of slave robot is measured because the torque is proportional to the current drawn through the motor [10]. More current flowing through actuator means there is more hurdles or resistance faced by that actuator. Current through each actuator is directly proportional to the PWM of master unit. Greater current flowing result in greater PWM of master unit motor controlling that actuator in opposite direction to the input applied. In this way the hurdle is detected at the slave end and replicated at the master end.
Summary of Chapters
INTRODUCTION: Provides an overview of the role of robotics in modern surgery, highlighting the need for haptic feedback to overcome limitations in minimally invasive robotic surgery.
LITERATURE REVIEW: Examines the history and evolution of tele-robotic surgery, existing haptic feedback technologies, and the master-slave control topology.
FUNCTIONALITY AND DESIGN: Details the mechanical design, equation derivation for robotic motion, and the selection of electronic components including PSoC and software architecture.
IMPLEMENTATION AND RESULT DISCUSSION: Describes the algorithms for feedback and presents experimental data obtained by testing the system on various objects of different hardness levels.
FUTURE RECOMMENDATIONS AND CONCLUSION: Summarizes the success of the low-cost design and proposes future improvements such as incorporating tactile strength measurements into the control scheme.
Keywords
Robotic Surgery, Haptic Feedback, Master-Slave Topology, Programmable System on Chip, PSoC, Force Sensitive Resistor, FSR, Current Sensing, Tele-Robotic, Minimally Invasive Surgery, Robotic Arm, GUI, Actuator, Digital Encoder, Kinesthetic Feedback
Frequently Asked Questions
What is the core focus of this research project?
This project focuses on designing and developing a low-cost robotic arm system capable of providing haptic feedback to the operator during remote surgical procedures.
Which specific areas of robotics are addressed?
The primary fields covered include medical robotics, specifically robot-assisted minimally invasive surgery (RMIS), and the integration of haptic control systems.
What is the ultimate goal of the proposed robotic system?
The goal is to develop a cost-effective, commercially viable force-sensing module that enables surgeons to feel tool-tissue interactions, thereby improving surgical accuracy and reducing patient trauma.
What scientific methodology is utilized in this design?
The authors use a Master-Slave topology, incorporating three distinct feedback methods: current sensing for torque estimation, FSRs for object detection, and digital encoders for motion replication.
What is the main contribution of the hardware/software section?
The main contribution is the integration of the PSoC architecture for real-time control and a custom GUI for visual feedback, combined with mathematical modeling of the arm's mechanical movements.
What are the primary keywords associated with this study?
Key terms include Robotic Surgery, Haptic Feedback, PSoC, Force Sensitive Resistor (FSR), and Master-Slave Topology.
How is the hardness of an object determined by the robotic arm?
Hardness is determined by measuring the area under the current or FSR voltage curves during the gripping process; harder objects cause more resistance and thus higher sensor readings.
Why is PSoC utilized in the control circuit?
PSoC is used because it combines a CPU with configurable analog and digital peripherals, providing a single-chip platform that is flexible for prototyping and implementing complex control logic.
How does the GUI assist the surgeon?
The GUI provides real-time visualization of forces, object size, and joint motions, allowing the operator to monitor the slave unit's state and detect object compliance through color-coded intensity displays.
What are the practical applications of the calculated object size?
Beyond identifying objects, measuring size can be critically beneficial in clinical settings for assessing medical conditions such as internal swelling or tissue deformation.
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- Muhammad Yaqoob (Autor), Sardar Rushan Sher Qaisrani (Autor), Muhammad Waqas Tariq (Autor), 2012, Robotic Arm Manipulator with Haptic Feedback Using Progammable System on Chip, Múnich, GRIN Verlag, https://www.grin.com/document/263107
