Design and prototyping of an accelerometer based parallel manipulator for endoscope position control
Creators
- 1. Department of Electrical and Electronics Engineering, Koneru Lakshmaiah Education Foundation, Andhra Pradesh, India
- 2. Department of Mechanical Engineering, Lingayas Institute of Management and Technology, Andhra Pradesh, India
- 3. Department of Computer Science and Engineering, Potti Sriramulu Chalavadi Mallikarjunarao College of Engineering and Technology, Andhra Pradesh, India
- 4. Elecquest Technologies Private Limited, Andhra Pradesh, India
Description
The advancement of embedded controllers in minimally invasive robotic surgery (MIRS) provides an innovative and safe alternative to traditional open surgery. This paper illustrates the Accelerometer-based Embedded prototype of 4 link novel parallel manipulator design and endoscope end position control scheme. The parallel manipulator proposed is of 4 leg quadra model with 4 servo actuators to drive the end effector to which endoscope camera integrated with micro electro-mechanical system (MEMS) accelerometer. The parallel manipulator is modeled in Coppeliasim computer-aided design (CAD) and embedded control logic is implemented in the ATmega328P microcontroller. The achieved end effector movement is +/- 10 cm from the ground clearance validated it in CAD tool. The potentiometer-based position control of the endoscope and its image magnification is recorded. The internet of things (IoT) infrastructure extension to the demonstrated protype is proposed. This cost-effective model is compared with the existed models available in the market.
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