Voice Controlled Surgical Assistant ECE 7995 Dupindar ghotra

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 Objective 1: Develop a robot as an independent assistant Objective 2: Voice integrated system; delivers and retrieves tools Objective 3: Safe, efficient, accurate & cost-effective

Overview of the system

Working Software W 1: Voice recognition W 2: Evaluation through pc W 3: Respective transmission to microprocessor W 4: Evaluation by microprocessor W 5: Final command to the robot Hardware

Working and Challenges • W 1: 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? • W 2: 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 • W 3: Respective transmission to microprocessor Validation of data being sent at this step

Working and Challanges • W 4&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 (HCS 12 family) • serial communication interfaces (SCIs) channels (RS 232) • Forth programming language flexibility and efficiency • Swift. X is a interactive crosscompiler for embedded microprocessors and microcontrollers.

Working and Challanges : po. s 3500 PWMDTY 2 ! 1700 PWMDTY 0 ! 2400 PWMDTY 4 ! WAIT 1000 MS 4450 PWMDTY 2 ! M. on SCI 1. Available 1 >= if has data in buffer 0 tr. sci 1 $65 = if (S 1 -Key) drop (S 1 -Key) CASE 53 OF po. 1 ENDOF 54 OF po. s ENDOF 55 OF po. c ENDOF ENDCASE ASCII Voice Chr Dec Up Down scissor knife 1 2 a b 49 50 97 98 Pulse-Width Modulator (PWM) Servo Direction & Operation Angle

Robotic Arm • 3 Degree of freedom • Standard size servo motor – Rotate up to 180 degrees – Offer a 417 oz. /in. (5 v) of torque Aluminum Tubing

Electromagnet as a Gripper • Using a LED to indicate the Electromagnet ON/OFF Holding Value: 2 lb Volts: DC 12 Max. Watts: 1. 4 Amps: 0. 12 Net 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 nonmagnetic !#? • How does the system know what tool is being placed back? Can it recognize it?

Future Goals - Improvements • Objective 1 – A thorough research on what different types of tools (size, shape, weight) are used in surgeries • Objective 2 – Have continuous feedback to the system

Future Goals - Improvements • Objective 3 – A better gripper • Objective 4 – Integrate with image guided system • Objective 5 – 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 • Objective 1: Research on different types of tools • Objective 2: continuous feedback to the system • Objective 3: better gripper August – November 2006 • Objective 4: Image guidance • Objective 5: Track of tools

Questions? ?