DESIGN AND IMPLEMENTATION OF INTERFACE SUB SYSTEMS, VISUAL FEEDBACK SYSTEMS, AND ENDOWRIST MECHANISM ON SURGICAL ROBOT FOR LAPAROTOMY: ROBOTIC ARM ACTUATOR WITH VISUAL FEEDBACK

• Main Author: Putera, Yoga
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/55942
• Institution: Institut Teknologi Bandung

The development of MIRS (Minimally Invasive Robotic Surgery) in Indonesia has been started since last year and has reached the stage of receiving input from users. In order to fully operate, an actuator system is needed to translate the movement as well as an image feedback system to provide a visual image of the patient's body. In the implementation of the actuator system, there are several main sub-systems, one of which is the interface sub-system which functions to receive input from users and identify and also provide information to users regarding the current system condition. The need for minimal invasion in the MIRS surgical technique requires a special movement mechanism so that the tip of the arm can move according to user input in the patient's body while avoiding excessive invasion. For this reason, an endowrist mechanism is designed and implemented with a very small dimensions end effector to represent 3 degrees of freedom (roll, pitch, and yaw) which is controlled by a servo motor with an additional pulley mechanism. This part of the arm will be in direct contact with the object of the operation and perform the operation process inside the patient's body. The movement of the actuator system in the patient's body from user input needs to be monitored directly, therefore a visual feedback is needed so that the user knows the condition of the arm movement in the body. This system is called an image feedback system which plays an important role in the overall operating system. The implementation is then tested to verify the functionality of the design and the final result. The test results concluded that the system and sub-system implementation process was successful.