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Page 75 - Toucpad robotics C11
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    Control Unit (Brain): The robot’s intelligence is managed by a powerful Single Board Computer that processes
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                        real-time data from all the sensors and translates the surgeon’s commands into precise movements. It is connected
                        to all the components via high-speed communication protocols like Controller Area Network (CAN) to ensure
                        deterministic, reliable, and real-time data exchange, a safety-critical requirement.
                        Power: The  entire  system  is powered  by  a robust  power supply with an integrated  Lead-acid  battery as an
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                        uninterruptible  power source, ensuring  the  robot  does  not  lose  power  even in the  event  of a power  outage
                        during surgery.

                                                             AI has Created its Own "Art" and "Music"
                                           You may think creativity is purely human, but AI challenges that belief. AI systems like
                                       DALL·E and MidJourney can create stunning artwork, while AIs like AIVA can compose original
                          BRAINY         music pieces. Some of these works have even been displayed in galleries and performed in
                           FACT           concerts. While AI doesn’t “feel” emotions like humans do, it generates creative results by

                                          learning patterns from massive amounts of human-created content. It raises fascinating
                                         questions: is creativity just about patterns, or is there something uniquely human about it?

                     Programming Fundamentals & Control Systems
                     The robot’s behaviour is governed by a sophisticated control system and complex programming:
                        Control System: The robot uses a closed-loop control system. The surgeon’s commands are the input, and the robot’s
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                        actual movements, measured by joint encoders and force sensors, are the feedback. The control unit continuously
                        compares the desired position with the actual position and corrects any error in real time. A PID (Proportional-Integral-
                        Derivative) controller is used for each joint to ensure smooth and stable movement, preventing overshoot or oscillation.
                        Algorithms: The robot’s movement is driven by two key sets of algorithms:
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                            Kinematics: The surgeon moves their hands at a master console. The robot’s software uses inverse kinematics
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                            to take these movements and calculate the corresponding joint angles for the robotic arms to precisely replicate
                            the surgeon’s actions inside the patient’s body. The surgical tools are all represented within the robot’s control
                            system using a Cartesian coordinate system.
                            Safety Algorithms: The robot’s system is programmed with a host of safety algorithms using Boolean operators.
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                            For  example,  IF  (force_sensor_reading > SAFE_THRESHOLD)  OR  (robot_arm_collision  IS True) THEN  Initiate_
                            Emergency_Stop. This ensures that if the robot applies too much force or an arm collides with something, it stops
                            immediately.
                        Programming Language: The real-time control software is likely written in an efficient and reliable language like
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                        Embedded C++, while the user interface for the surgeon’s console might be programmed in a higher-level language.
                     Project Management, Debugging, and Specifications

                     Before this robot could assist in a single surgery, a massive project management effort was undertaken:
                        Project Management:
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                            Planning: The team defined the project’s scope (e.g., to build a semi-autonomous surgical robot for specific
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                            procedures),  allocated  a significant  budget  for  development, and created  a detailed  timeline for  design,
                            prototyping, and testing. Risk management was a major focus, with contingency plans for component failures,
                            software bugs, and safety certification delays.
                            Execution: The engineering teams, comprised of mechanical, electrical, and software experts, worked in parallel
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                            to design the manipulator arms (3D modeling in CAD), integrate the high-resolution camera, and write the
                            control software.
                        Debugging and Testing: This phase was extensive and critical for a life-critical application.
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                            Simulation: Before building a physical prototype, engineers tested the robot’s kinematics and control algorithms
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                            in a virtual simulation environment.
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                                                                                                              Mechanical System

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