The force interface embedded board for surgical robot

Author

Sun Lim ; Jung Hoon Hwang ; Geon Won ; Jun Ho Kwon

Author_Institution

Intell. Robot. Res. Center, Korea Electron. Technol. Inst.(KETI), Bucheon, South Korea

fYear

2014

Firstpage

46

Lastpage

48

Abstract

This paper presents a new circuit realization of force sensing interface module strategy for surgical robot. Using analog-to-digital conversion, digital-to-analog conversion and mux IC, the full scaled and high resolution (14bit) sensed interface board has been developed. The very small micro-controller was used for the implementation of the embedded board is limited 05.5 diameter. The auto calibration and temperature compensation law is designed using Simulink/Matlab and applied to embedded board. The designed strategies are executed in real-time using the PIC16F2824. The experimental results are given to verify the implemented embedded board.

Keywords

analogue-digital conversion; calibration; compensation; digital-analogue conversion; force sensors; grippers; medical robotics; microcontrollers; surgery; PIC16F2824; Simulink/Matlab; analog-to-digital conversion; autocalibration; circuit realization; digital-to-analog conversion; force interface embedded board; force sensing interface module strategy; full scaled sensed interface board; gripper; high resolution sensed interface board; microcontroller; mux IC; surgical robot; temperature compensation law; Calibration; Force; Force sensors; Instruments; Surgery; Temperature measurement; Temperature sensors; Surgical robot; force auto calibration and temperature compensation; surgical instrument;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on

Type

conf

DOI

10.1109/URAI.2014.7057417

Filename

7057417