IMPLEMENTATION OF MOTION SUBSYSTEM AND SIMULATOR ON SURGICAL ROBOT FOR LAPAROTOMY: ROBOTIC ARM ACTUATOR WITH VISUAL FEEDBACK

• Main Author: Azariah, Wilfrid
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/56233
• Institution: Institut Teknologi Bandung

Minimally Invasive Robotic Surgery (MIRS) is a method of performing medical surgical operations using robots. The development of MIRS in Indonesia has started since 2019 and has reached the stage of receiving input from users. 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. The results of the implementation of this project consist of a console simulator, an actuator computing, a motion subsystem, an interface, and an image feedback system. In this document, we will discuss the design and implementation of console drivers and simulators. The actuator is a sub-system that performs movement on the actuator system. Console simulator is a system that will represent a previously implemented console system with identical functionality. The two parts of the system that have been implemented are then tested both quantitatively and qualitatively. From the results of system testing, it is concluded that the actuator subsystem and the simulator system that have been implemented have run well. However, the subsystem still has drawbacks such as mechanical oscillation due to non-rigid construction.