A Thirteen Degree of Freedom Tele-Robotic Surgical ARM System with Efficient Tactile Sensors in the Manipulators

Dr K Geetha¹, A Johnson Antony², R Lingeswaran³

^1,2,3Department of Electrical And Electronics Engineering, Karpagam Institute of Technology, Coimbatore, India.

Abstract

Telemedicine is a new and promising application in the field of medical science. Medical consulting and remote medical procedures or examinations became more effective with the development of interactive audiovisual systems and remote mobile robotic platforms. Tele-presence requires real time video transmission. Fixed mounting of video device on mobile robotic platform limits the video projection at certain view angle, thus restricting the remote doctor in obtaining the fine and accurate visual information of the patient. To circumvent the problem, this paper presents a flexible robotic arm with vision system. A thirteen degree of freedom (DOF) robotic arm with extending and retracting feature enables the remote doctor to articulate the attached video device on robotic arm to target area on patient.

The increasing requirement for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which have the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with objects in working environment conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm Note that with this control structure, it is also very simple to connect the arm/gripper system using Internet to other computational resources or robotic devices, for example to emulate tele-operation tasks.

Keywords

• Robotic arm, tele-surgery, tactile sensor, Bio telementry

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Cite this Article as Follows

Dr K Geetha, A Johnson Antony, R Lingeswaran. "A Thirteen Degree of Freedom Tele-Robotic Surgical ARM System with Efficient Tactile Sensors in the Manipulators" International Conference on Systems, Science, Control, Communication, Engineering and Technology (2016): 36-40. Print.