Design and remote control of a surgical robot arm

In this study, design and remote control of a single arm surgical robot is aimed by master/slave control method. In this context, primarily the master arm with 5 degrees of freedom is designed to detect the finger and arm movements of surgeon. The master arm reads the movements of the surgeon precisely (4096 steps/3600) and transfers these data to the connected computer. With the help of a software developed with Visual Studio C #.NET, the position and acceleration information from the master arm are continuously read and processed by the computer and transferred to the slave arm for execution. On the side of the slave arm, the codes listens the commands gathered from the master arm and process the information with the developed software in Visual Studio C # .Net. Commands are detected by the software is transferred to the slave arm in real time. Servo motors do not execute the commands outside of the working fields in order not to cause harm or over forcing the equipments. Slave arm transfers the finger movements from the master arm to the laparoscopic scissors attached to the end of the arm. Moreover an endoscopic camera with LED backlit and a resolution of 720x480p is mounted on the slave arm to monitor the operating environment by the surgeon in realtime.