Low-Cost Image Processing-Based Teleoperated Robotic Arm for Remote Surgical Assistance and Digital Health Integration
Remote surgery promises to expand access to specialist care, yet current robotic systems remain expensive and rely on proprietary hardware and wearable sensors. We present a low-cost, image processing-based teleoperation system that replicates operator arm and hand movements on a 4-DOF robotic arm o...
محفوظ في:
| المؤلف الرئيسي: | |
|---|---|
| منشور في: |
2025
|
| الوصول للمادة أونلاين: | http://hdl.handle.net/11675/14516 https: |
| الوسوم: |
إضافة وسم
لا توجد وسوم, كن أول من يضع وسما على هذه التسجيلة!
|
| الملخص: | Remote surgery promises to expand access to specialist care, yet current robotic systems remain expensive and rely on proprietary hardware and wearable sensors. We present a low-cost, image processing-based teleoperation system that replicates operator arm and hand movements on a 4-DOF robotic arm over a wireless link. Using a conventional USB camera and the MediaPipe framework for robust, sensorless hand and pose tracking, joint angles and gripper commands are computed in real time and transmitted via 2.4GHz Wi-Fi to an ESP32-C3 Mini module that relays commands to an Arduino Nano for PWM actuation. Across repeated trials under typical indoor lighting and network conditions, end-to-end response remained within 500 ms while reproducing static postures and dynamic trajectories with smooth servo motion and reliable grasp/release behavior. The architecture emphasizes a clean separation of perception, transport, and actuation, and adopts IEEE-aligned practices (requirements specification, software testing, environmental considerations). We discuss limitations (lighting, lack of haptics, Wi-Fi variability), safety measures, and future work, and outline integration under study with a digital-health platform to enable secure tele-mentoring and training. |
|---|