Basic HTML Version

|  | Table of Contents |  | View Full Version

Page 74 - Toucpad robotics C11
P. 74

    Scenario
                  A leading hospital in India, inspired by the Government’s ‘Digital India’ and ‘Heal in India’ initiatives, decides to acquire
                  and integrate a Surgical Assistant Robot into its operating theatre. The goal is to perform complex, minimally invasive
                  surgeries  with  greater  precision,  reducing  patient  recovery  time  and  enhancing  surgical  outcomes.  The robot  is  not
                  autonomous but is a Semi-autonomous system, working under the direct, real-time control of a human surgeon.

                                                          Some Robots are Swarms, Not Individuals
                                       Instead of one big robot, scientists design swarms of tiny robots that work together, just
                        BRAINY     like ants or bees. These swarm robots communicate with each other to achieve a common goal,
                         FACT      like cleaning up oil spills, exploring disaster zones, or delivering medicine inside the human body.
                                    The fascinating part is that no single robot is “in charge”—they cooperate through simple rules,
                                       leading to highly intelligent group behaviour. It’s nature’s teamwork applied to robotics!

                  Components of the Robot (Anatomy & Hardware)

                  The surgical robot is a highly sophisticated system, combining multiple components we’ve discussed:
                      Manipulators: The robot has four slender robotic arms (manipulators), each with a wrist and end-effector. These are
                  u
                      the main structural components that will hold surgical instruments. Each arm has multiple revolute joints, allowing
                      it to move with high dexterity in a spatial mechanism. The joints of this robot are built using materials like aluminum
                      for its high strength-to-weight ratio, ensuring the arms are strong enough to hold instruments while remaining light
                      and responsive.
                      Actuators (Muscles): Each joint in the robotic arm is powered by a high-precision servo motor. The choice of servo
                  u
                      motors is critical here for their ability to achieve and hold an exact position with Sub-millimeter accuracy and
                      repeatability. This is essential to prevent any unintended movement during a delicate surgical procedure.
                      Sensors (Senses):
                  u
                         Vision System: The robot has a high-definition, three-dimensional camera mounted on one of its arms, providing
                         l
                         the surgeon with an enhanced, magnified view of the surgical field. This is a crucial sensor payload.
                         Force/Tactile Sensors: The end-effectors  (grippers  and  instruments)  on  each  arm  are  equipped  with  highly
                         l
                         sensitive force sensors. These sensors provide real-time feedback to the surgeon, allowing them to “feel” the
                         pressure being applied to tissues, which is a significant part of the surgical experience that would otherwise be
                         lost in a purely remote system.
                         Inertial Measurement Units (IMU): Built into the arms, these sensors (gyroscopes and accelerometers) help the
                         l
                         control system maintain the stability and orientation of the instruments, preventing accidental movement from
                         external vibrations.

                  72
                  Touchpad Robotics - XI

| 69 70 71 72 73 74 75 76 77 78 79 |