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Voice Controlled Surgical Assistant ECE 7995 Dupindar ghotra, Muhammad Syed, Sam li, Sophia lei
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Transcript of Voice Controlled Surgical Assistant ECE 7995 Dupindar ghotra, Muhammad Syed, Sam li, Sophia lei
Voice Controlled Surgical Assistant
ECE 7995
Dupindar ghotra, Muhammad Syed, Sam li, Sophia lei
Outline
•Significance
•Quick recap
•Overview of system
•In-depth analysis
•Testing and Validation
•Limitations
•Competitive technology
•Future modifications and goals
•Timeline and budget
Significance
• Why is there a need for this kind of robot?
Machine does the repetitive tasks
Nurse for patient care
Efficiency
Cost• Any similar work?
Penelope - Columbia University
Tumor in forearm
Significance
• Leads to answer another question
Would this be accepted by medical people?
• Successful field study has already been performed
• What is the need for carrying on something that is already done?
Recap – Objectives
Objective1: Develop a robot as an independent assistant
Objective2: Voice integrated system;
delivers and retrieves tools
Objective3: Safe, efficient, accurate & cost-effective
Overview of the system
Working
Software
W1: Voice recognition
W2: Evaluation through pc
W3: Respective transmission to microprocessor
W4: Evaluation by microprocessor
W5: Final command to the robot
Hardware
Working and Challenges
• W1: Voice Recognition How is it being done? First thought – Build a voice recognition circuit
Instead - Microsoft speech SDK Cost and effectiveness
Libraries and tools to develop programs in Windows
Working and Challenges
• Problems related to recognizing voice
- Male / Female
- Pronunciation Can be reduced/eliminated by training the system more
- Loudness
microphones designed specifically for voice recognition
- Surrounding noise
Working and Challanges
Voce input taken. What do we do now?• W2: Evaluation through pc
Initial Approach –Have words typed in notepad Text file as input
Difficulty – Unable to find a method to have text file as input in real-time
Visual Basic
• W3: Respective transmission to microprocessor Validation of data being sent at this step
Working and Challanges
• W4&5: Evaluation of code received by microprocessor
Validation: storing the received data in a cleared memory space
Knowing what the expected Hex value to be received is
Comparing the stored values to expected numbers
Final Command sent to the robot’s arm
Microcontroller & Programming
• Freescale microcontroller chip (HCS12 family)
• serial communication interfaces (SCIs) channels (RS232)
• Forth programming languageflexibility and efficiency
• SwiftX is a interactive cross-compiler for embedded microprocessors and microcontrollers.
Working and Challanges
ASCIIVoice Chr Dec
Up 1 49 Down 2 50scissor a 97knife b 98
Pulse-Width Modulator (PWM)
Servo Direction & Operation Angle
: po.s 3500 PWMDTY2 ! 1700 PWMDTY0 !
2400 PWMDTY4 ! WAIT 1000 MS
4450 PWMDTY2 ! M.on
SCI1.Available 1 >= if \ has data in buffer 0 tr.sci1 $65 = if (S1-Key) drop
(S1-Key) CASE
53 OF po.1 ENDOF54 OF po.s ENDOF55 OF po.c ENDOF
ENDCASE
Robotic Arm
• Standard size servo motor– Rotate up to180 degrees– Offer a 417oz./in. (5v) of
torque
• 3 Degree of freedom
Aluminum Tubing
Electromagnet as a Gripper
• Using a LED to indicate the Electromagnet ON/OFF
Holding Value: 2 lbVolts: DC 12 Max.Watts: 1.4Amps: 0.12Net Weight: 2.1 oz.
Using a MOSFET as a Switch
Testing and Validation
• Rather simple method for testing and validating the system
• Different tools were asked for
• Validated by observing the right action being performed - right tool taken / put back
Timeline
Budget
Current Limitations
• Motors
Torque
Range of motion• Electromagnet
Weight limitation• Voice recognition
surrounding noise• Further testing and analyzing of system
various tools used in surgeries
Limitations and Questions Considered
• Open-loop system!!• No feedback taken from the motors• What if the tool drops because of some reason on its
way?
• What If someone hits the tray carrying tools and they
move from their position?
Limitations and Questions considered
• What if the tool used in a surgery is non-magnetic !#?
• How does the system know what tool is being placed back? Can it recognize it?
Future Goals - Improvements
• Objective1 – A thorough research on what different types
of tools (size, shape, weight) are used in surgeries
• Objective2 – Have continuous feedback to the system
Future Goals - Improvements
• Objective3 – A better gripper
• Objective4 – Integrate with image guided system
• Objective5 – A track of tools
what it started with &
what it is ending with
System Analysis after modifications
• System is getting a feedback letting it know whether tool
is still in gripper
• Be able to grab non-magnetic tools
• Would know what tools are available to it, where each
one is and what tool is being used at a certain time
New Timeline
May – July 2006
• Objective1: Research on different types of tools
• Objective2: continuous feedback to the system
• Objective3: better gripper
August – November 2006
• Objective4: Image guidance
• Objective5: Track of tools
Questions??