Robotic Arm for Remote Surgery
Steven Dinger, John Dickens, Adam Pantanowitz

TL;DR
This paper presents a robotic arm system designed for remote surgery, featuring infrared detection, precise actuation, and simple control, demonstrating promising performance for cost-effective teleoperated surgical procedures.
Contribution
The study introduces a four-degree-of-freedom robotic arm with infrared-based detection and PI control, providing a cost-effective solution for remote surgical operations with high precision.
Findings
Robotic arm achieves a maximum speed of 0.28 m/s.
Infrared detection resolution is below 0.6 mm/pixel.
System control results in a rise time under 0.5 s.
Abstract
Recent advances in telecommunications have enabled surgeons to operate remotely on patients with the use of robotics. The investigation and testing of remote surgery using a robotic arm is presented. The robotic arm is designed to have four degrees of freedom that track the surgeon's x, y, z positions and the rotation angle of the forearm {\theta}. The system comprises two main subsystems viz. the detecting and actuating systems. The detection system uses infrared light-emitting diodes, a retroreflective bracelet and two infrared cameras which as a whole determine the coordinates of the surgeon's forearm. The actuation system, or robotic arm, is based on a lead screw mechanism which can obtain a maximum speed of 0.28 m/s with a 1.5 degree/step for the end-effector. The infrared detection and encoder resolutions are below 0.6 mm/pixel and 0.4 mm respectively, which ensures the robotic…
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Taxonomy
TopicsSoft Robotics and Applications · Augmented Reality Applications · Surgical Simulation and Training
