Design and Implementation of Robot Assisted Surgery Based on Internet of Things (IoT)

摘要

This paper presents a controllable robotic arm via the use of the Internet of Things (IoT). A nurse could control the robotic arm in a hospital to assist a doctor during a surgery and take care of the patient with the picking and placing tasks using the robotic arm. In this system, a smart phone will be used to control the robotic arm. An accelerometer and a gyroscope are used to capture the gestures and postures of the smart phone. The signals of the accelerometer and the gyroscope will be captured by an Android application and sent to a Raspberry Pi to control the robotic arm. By integrating the Internet of Things (IoT), a worldwide controllable robotic arm is achieved. The Android application is developed by using Android Studio. Python script is employed in the Raspberry Pi to develop a program that will be able to control the robotic arm and to receive the commands from the smart phone. A system with a kinematic model will be used in the Raspberry Pi to control the robotic arm. Besides, a video streaming from computer is implemented to monitor the robotic arm. The performance of the robot is investigated in term of latency of the system and IoT platform.