Voice Controlled Surgical Assistant

1

• Voice Controlled Surgical Assistant
• ECE 7995
• Dupindar ghotra, Muhammad Syed, Sam li, Sophia lei

2
Outline

• Significance
• Quick recap
• Overview of system
• In-depth analysis
• Testing and Validation
• Limitations
• Competitive technology
• Future modifications and goals
• Timeline and budget

3
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

4
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?

5
Recap Objectives

• Objective1 Develop a robot as an independent
  assistant
• Objective2 Voice integrated system
• delivers and retrieves tools
• Objective3 Safe, efficient, accurate
  cost-effective

6
Overview of the system
7
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

8
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

9
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

10
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

11
Working and Challanges

• W45 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 robots arm

12
Microcontroller Programming

• Freescale microcontroller chip (HCS12 family)
• serial communication interfaces (SCIs) channels
  (RS232)
• Forth programming language
• flexibility and efficiency
• SwiftX is a interactive cross-compiler for
  embedded microprocessors and microcontrollers.

13
Working and Challanges
SCI1.Available 1 gt if \ has data
in buffer 0 tr.sci1 65 if
(S1-Key) drop (S1-Key)
CASE 53 OF po.1 ENDOF 54 OF po.s
ENDOF 55 OF po.c ENDOF ENDCASE
po.s 3500 PWMDTY2 ! 1700 PWMDTY0 !
2400 PWMDTY4 ! WAIT 1000 MS
4450 PWMDTY2 ! M.on

• ASCII
• Voice Chr Dec
• Up 1 49
• Down 2 50
• scissor a 97
• knife b 98

Pulse-Width Modulator (PWM) Servo Direction
Operation Angle
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Robotic Arm

• 3 Degree of freedom

• Standard size servo motor
• Rotate up to180 degrees
• Offer a 417oz./in. (5v) of torque

Aluminum Tubing
15
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.
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Using a MOSFET as a Switch
17
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

18
Timeline
19
Budget
20
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

21
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?

22
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?

23
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

24
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

25
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

26
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

27

• Questions??