FYP Presentation for the final year students 1.pptx

FYDP presentation

1. ﷽ Starting with the name of Allah Almighty

2. Design a 6 DOF Slave Robotic Manipulator to Perform Ultrasonography Movements Group Members: Raffay Ali 2021-MC-262 Abdullah Dawood 2021-MC-264 Abu Bakar 2021-MC-286 Muzamil Hussain 2021-MC-310 Supervisor: Dr. Hashim Iqbal Co-Supervisor: Dr. Ahmad Ali

3. Introduction . 6 DOF slave robotic manipulator with 3 translational (3p) and 3 rotational (3r) movements Designed for precise ultrasound probe movements Features real-time feedback from encoder motors Equipped with a gripper to securely hold ultrasound probes Force sensor ensures optimal contact pressure during ultrasound application PID control system ensures stable, accurate, and safe operation

4. Manual Ultrasonography procedures of ten lead to higher error rates [1] due to imprecise movements like sliding, tilting, and compression. Sonographers face health risks from repetitive tasks, including strain and fatigue [1] . Existing systems lack stability in control [2] and struggle to maintain optimal contact force [3]. Problem Statement: 1 Design a 6 DOF robotic manipulator to ensure precise and accurate ultrasound movements and to ensure the manipulator performs five key motions sliding, rocking, tilting, rotating, and compression 2 3 Motions Design & Fabrication Control System Objectives: To ensure the safety and stability of the 6DOF ultrasound robotic slave manipulator by integrating dynamic force feedback and real-time pressure monitoring Implement PID control using position and force sensors to achieve precise joint positioning and optimal contact pressure during ultrasound procedures Telerobotic Sonography for Remote Diagnostic Imaging https://doi.org/10.1002/jum.15525 2020-10-14 Front. Robot. AI, https ://doi.org/10.3389/frobt.2016.00001 05 February 2016 Study of a 6DOF robot assisted ultrasound scanning system and its simulated control handle 10.1109/ICCIS.2017.8274821 2017 [1] [2] [3]

5. Literature Review Sr. Year Topic System \ 1 2020 Telerobotic Sonography for Remote Diagnostic Imaging [1] 3 Active joints, 3 Passive joints [1][8] 2 2016 An Ultrasound Robotic System Using the Commercial Robot UR5 [2] UR5 [2][5] [6] [7] Advantages remote operation, Six dof, Reduce, doctors manual workload [1] Precision, Flexibility, ,Remote capabilities, [2] Disadvantages Complex design ,Requires human intervention [1] Safety issues [2] [5] Kinematic and dynamic modelling of UR5 manipulator https://ieeexplore.ieee.org/abstract/document/7844896 09 February 2017 Robotic platforms for ultrasound diagnostics and treatment https://ieeexplore.ieee.org/abstract/document/8122869 30 November 2017 [7] Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound https://ieeexplore.ieee.org/abstract/document/8922797 04 Dec 2019 [8] [6] Comprehensive Telerobotic Ultrasound System for Abdominal Imaging: Development and in-vivo Feasibility Study 10.1109 /ISMR48346.2021.9661578 03 January 2022

6. Literature Review Sr. Year Topic System 3 2017 Study of a 6DOF robot assisted ultrasound scanning system and its simulated control handle [3] 3p-3r system [3] 4 2015 Design of Automatic Transabdominal Ultrasound Imaging System [4] Close loop system [4][9] Advantages , Precision, Versatility , Moderate velocity [3] Accurate probe positioning, Reduce manual errors [4] , Panoramic scanning Disadvantages cost Limited complex movements, Safety issues [4] [3] Design of automatic transabdominal ultrasound imaging system 10.1109/MMAR.2015.7283915 2016 Study of a 6DOF robot assisted ultrasound scanning system and its simulated control handle 10.1109/ICCIS.2017.8274821 2017 [4] Sensors. https://doi.org/10.3390/s24072368 2024, 24, 2368 [9]

7. Proposed Methodology

8. Required Components and software Specific hardware and software components are essential. Esp32 Micro-controller Low power consumption   Affordable   Integrated Wi-Fi and Bluetooth   Suitable for battery-powered applications   Force sensor Encoder servo motors Micro-controller: Enhanced patient comfort Improved image quality Increased accuracy & precision Improved efficiency Precise position control Enhanced repeatability Close loop control Components Software Design : SolidWorks Design Analysis: Ansys/SolidWorks Programing and Simulation: MATLAB Simscape Circuit Design : Proteus

9. Scope Telemedicine Expansion: Enables remote ultrasound diagnostics, crucial for rural healthcare in Pakistan. Healthcare Improvement: Can be adopted in hospitals and clinics for more accurate and efficient imaging. Medical Training: Serves as a tool for training medical students in precise ultrasound techniques. Scalable Implementation: Can be widely implemented across Pakistan’s healthcare system to bridge gaps in diagnostic services. Social Impacts Enables remote ultrasounds, allowing patients in rural and underserved areas to access diagnostic services without needing a specialist on-site. Reduces the physical strain on healthcare workers, minimizing repetitive stress injuries common in manual ultrasound procedures. Enhances patient comfort and safety by applying optimal pressure. Limits direct contact between healthcare workers and patients, reducing the risk of infection transmission, especially valuable during pandemics.

10. Tasks Aug-2024 Sep-2024 Oct-2024 Nov-2024 Dec-2024 Jan -2025 Feb-2025 Mar-2025 April -2025 May-2025 Literature Review             Design Selection Analytical work/Component selection               CAD/CAM design, Analysis and Component Selection               MATLAB simulation               Hardware design               Calibration & Testing Thesis Writing Project Gantt Chart A detailed Gantt chart will guide project timelines and milestones. Work Remaining Work Completed

11. References Telerobotic Sonography for Remote Diagnostic Imaging https://doi.org/10.1002/jum.15525 2020-10-14 Front. Robot. AI, https ://doi.org/10.3389/frobt.2016.00001 05 February 2016 [1] [2] [3] Design of automatic transabdominal ultrasound imaging system 10.1109/MMAR.2015.7283915 2016 Study of a 6DOF robot assisted ultrasound scanning system and its simulated control handle 10.1109/ICCIS.2017.8274821 2017 [5] [4] Kinematic and dynamic modelling of UR5 manipulator https://ieeexplore.ieee.org/abstract/document/7844896 09 February 2017 [6] Robotic platforms for ultrasound diagnostics and treatment https://ieeexplore.ieee.org/abstract/document/8122869 30 November 2017 Comprehensive Telerobotic Ultrasound System for Abdominal Imaging: Development and in-vivo Feasibility Study 10.1109/ISMR48346.2021.9661578 03 January 2022 [ 7 ] Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound https://ieeexplore.ieee.org/abstract/document/8922797 04 Dec 2019 [8] Note: Sensors. https://doi.org/10.3390/s24072368 2024, 24, 2368 [ 9 ] if we achieve the given objectives on time then we will apply the teleoperation as well

12. Thank you!