Magnetic Trackers: Robot Control and Vasculature Imaging - Microsurgery: Advances, Simulations, and Applications - page 230

Camera panning resolution is 0.036 deg/step. Table 7.1 summarizes
the mechanical characteristics of the robotic camera.

Table 7.1 Mechanical speciications

Dimensions 2000 mm Length

600 mm Width

1041 mm Height (min)

1351 mm Height (max)

Degrees of
Freedom

1200 mm Reciprocation

90 deg Tilt

200 deg Pan

Motors Speed (max) Torque

AIM 275AM-P5 600 rpm 1.1 Nm Resolution Steps/Rev

AIM 275AM-P25 120 rpm 5 Nm 0.012 mm/step 1000 or

500

PK246PA 400 rpm 0.93 Nm 0.002 deg/step 500

7.2.2 Electronics Design

A circuit was designed to control the stepping motors drivers using
a microcontroller. The selected microcontroller is PIC16F8877A, its
software was made on C language for CCS compiler.

Table 7.2 Circuit speciications

Item Number Description

Power Supply 1 12 VDC, 100 mA

1 -12 VDC, 100 mA

1 5 VDC, 2 A

Power Consumption 12.5 W (max)

Clock Speed 20 MHz

Digital Inputs 4 Bounce Free TTL

4 TTL unprotected

Analog Inputs 6 10 bits resolution (Joystick Interface)

Digital Outputs 4 TTL

12 High Current (100 mA max)

Communications 1 Serial RS-232

1 I2C

Motor Drives 2 PWM

6 Steppers with CW/CCW controls