Project Objectives
High Priority Objectives
Develop a two-arm training simulation system for Laryngoscopy training that provides control over all six of the Laryngoscope's degrees of freedom
Provide realtime haptic feedback in correspondance with the trainee's deviation from the "expert trajectory"
Include a camera in the design in order to view the tool tip as the procedure is performed
Second Priority Objectives
Allow for the reprogramming of the system with different expert trajectory data and with different interchangeable tools
Other Constraints and Issues
Add additional sensors to the systems to measure various metrics (e.g. forces exerted on teeth)
WOW Design Solution
Have the ability to lock the robot in place when it reaches a set position in order to free up the second hand of the individual performing the Laryngoscopy
Have the robot perform the entire procedure autonomously
Risk Reduction Strategy
We developed MATLAB simulations to determine the limits of motion of our arm depending on the various lengths of the arm linkages
We reviewed the open-source arm material to ensure that it was able to be repeatably reproduced such that our second arm was identical to out first arm
Intermediate Milestones
Build the initial robot arm and get it to function in a general sense by testing its haptic abilities
Construct a second arm and test its similarity to the first arm by running identical code on both and measuring any discrepancies in behavior
Design and implement the laryngoscope tool attachment
Implement the expert trajectory data and test that the system can recognize it
Develop a control system to interface with the data and apply the necessary feedback required to simulate the real operation