Development of an Arduino-based Control and Sensor System for a Robotic Laparoscopic Surgical Unit

摘要

The LAPARA System, a Philippine-made robotic surgical system, tested its control system in this paper. Three types of tests are then done to the system: PID Optimization Test, Position Checking, and Data Transfer Rate and Memory Bandwidth Testing. Results from the PID resulted in the values 2.32 for the P, 0.4 for the I, and 1.5 for the D to be chosen to ensure the system runs smoothly. The system was also able to run properly during Position Checking, though movement in the Pitch and Yaw required refinement due to the constraints. Also, the data transfer rate for the PC to Arduino Due connection yielded a 128kb/s speed, slower than the 480 Mbps rating, while the memory bandwidth testing yielded results that allowed for storage of 23,040 32_bit values. In conclusion, although minor adjustments were needed to refine the system, the LAPARA system was able to perform as intended.