Biomedical Engineering Reference
In-Depth Information
V1
5V
V2
+12V
V3
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1000uF
1000uF
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10k
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R21
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10k
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1
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Vss
PC Interface
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DC5V1
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MAX232
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T2O
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Figure 7.4
Circuit design for robotic camera control.
The three degrees of freedom are initialized using optical limit
switches and then controlled using step count. The designed circuit
offers an interface with a joystick and a serial port. The joystick
allows a simple human interface to manipulate the three DOFs
without the need of a computer. The serial port offers an option for
controlling the Robotic Camera from the PC or by other electronic
circuits. All those systems were integrated in printed circuit board.
Additionally, an interface using foot pedals was built for controlling
the image processing for the IVR environment simulation (Fig. 7.4,
Table 7.2).
7.3 Robot Manipulation
7.3.1
Silicone Models of Vasculature
As the target of the robotic camera is to simulate endovascular
surgery and catheter shaped coils are used, a silicone model of major
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