DESIGN AND IMPLEMENTATION OF SUB SYSTEM COMPUTATION ACTUATOR OF LAPAROTOMY SURGICAL ROBOT : ROBOTIC ARM ACTUATOR WITH VISUAL FEEDBACK

• Main Author: Felix Rimbun, Johannes
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/56128
• Institution: Institut Teknologi Bandung

With the existence of surgical robots, the surgery operation process can be carried out with low invasive risk. However, because this technology cannot be produced in Indonesia, this surgical robot technology is also still minimally used. For this reason, the development of robotic surgery was carried out in this study. Robotic Surgery, which was developed with the two other researchers, is a robotic actuator that can move surgical instruments. However, the research written in this document is focused on the development of actuator computing sub-systems. This actuator computing sub system is the control center of the actuator system. The actuator computing sub-system can be decomposed into three modules, namely the kinematics module, the error computing module, and the checker module. The kinematics module functions to run the inverse kinematics and forward kinematics algorithms. The two algorithms developed are based on the 6DoF robot configuration with the help of the Denavit-Harternberg rules. The solutions of these two algorithms are developed analytically. In addition, the error computing module functions to control the stepper motor with the target angle from the results of the inverse kinematics calculation. Meanwhile, the checker module functions to identify if an error condition occurs in the motor, encoder, or console system. These three modules have been successfully implemented using the C++ programming language with the ROS framework. Tests on these three modules have been carried out and it was found that these three modules have successfully carried out their respective functionalities.