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How the robotic arm works.
Overview of the Robotic Arm
This is a prototype for a smart medical surgical robot that allows the surgeon to draw a pilot line on the patient body where an incision is to be made and then leaves the rest for the robot. A snapshot is captured by a camera and then processed using Hough transform to get the corresponding points of the shape. The user then can point out the region of interest so as to make sure no points outside the selected area are taken into consideration. Using curve fitting, the points are converted into a smooth curve. Then using transformation matrices to transfrom between camera co-ordinate system and Robot co-ordinate system as well as inverse kinematics for a configurable precision of the curve points, the joint angles are calculated. Next a trajectory that connects the joint angles is generated and robot motion is simulated in the GUI before execution with the expected resulting incision shown on screen. If results are acceptable to the surgeon, the robot is instructed to execute the incision.
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