Nathan, Rick, Steven, Willy Team Members Nathan Bornfreund Rick - - PowerPoint PPT Presentation

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Nathan, Rick, Steven, Willy Team Members Nathan Bornfreund Rick - - PowerPoint PPT Presentation

Oct 28, 2022 93 likes •383 views

Nathan, Rick, Steven, Willy Team Members Nathan Bornfreund Rick Franc Steven Landis Willy Tu Background TrueVision Alcon (TVA) help surgeons during operation by providing 3D surgical visualization Captured with a robotic stereoscopic

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SLIDE 1

Nathan, Rick, Steven, Willy

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SLIDE 2

Team Members

Nathan Bornfreund Rick Franc Steven Landis Willy Tu

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SLIDE 3

Background

  • TrueVision Alcon (TVA) help

surgeons during operation by providing 3D surgical visualization

  • Captured with a robotic stereoscopic

digital microscope

  • Universal Robotics 5-kg payload

(UR5) robotic arm

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Overview

  • 6 degrees of freedom
  • Operation Modes

○ Freedrive ○ Remote control ○ Automatic mode

  • The arm is unaware of surroundings
  • SafeVision prevents collisions
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SLIDE 5

Application

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System Requirements

  • Prevent object collision
  • Safely stop the arm which can move

up to 0.8 m/s

  • Move predictably
  • Use parts approved for medical

environments

  • Weigh less than 1 kg
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SLIDE 7

Proposed Solution

  • Use distance sensors to detect objects in direction
  • f movement
  • Use a model of the arm to prevent self-collision
  • Ensure safe conditions before resuming

movement

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SLIDE 8

System Schematic

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SLIDE 9

Hardware

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Hardware Schematic Processor

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Processor

STM32F767ZI

  • High-performance
  • Arm Cortex M7 processor
  • 4 x I2C buses
  • UART communication
  • ST Link Debugger
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Sensors

VL53L0X Time of Flight Sensor

  • Takes 20 ms to get measurement
  • Accurate from 2.5 cm to 80 cm
  • 25 degree FoV
  • Communicates over I2C
  • Shielded wire to minimize

crosstalk

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Sensor Mounts

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SLIDE 14

Sensor Placement

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PCB Design

  • 4-layer PCB
  • 6 x 7 in
  • Two different power sources

○ On-chip components ○ External distance sensors

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Microcontroller Software Workflow

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Software

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Object Detection Workflow

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Universal Robotics Arm

  • Real-time data exchange (RTDE)
  • URScript Programming Language
  • Polyscope UR Simulator
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Object Detection

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Sensor Enabling

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Arm-Arm collision

  • Model the arm as a series of

rectangular prisms

  • If any of the prisms intersect, the arm

is about to collide with itself

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SLIDE 23

Remote Control App

  • Connect to Windows server

with TCP client

  • Visualization
  • Control arm angles
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Challenges

  • Enabling sensors in motion

○ Ignore self-detection

  • Minimizing latency

○ 0.5 second response time ○ Detect, process, and decelerate

  • COVID-19 response

○ Situation testing ○ Android app

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Final Demo

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Acknowledgements

We would like to thank Yuepei Hu and Patrick Terry from Alcon, Professor Yogananda Isukapalli, and our TAs Kyle Douglas and Aditya Wadaskar for making this project possible.

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Questions?