Control Of Movable Platform For Surgical Illumination System

S.Selverajoor, Prasshanth (2018) Control Of Movable Platform For Surgical Illumination System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Surgical illumination is an essential element in a surgical room. To illuminate an area of interest, surgeons have to manually orient the surgical light which may interrupt the work flow especially during a delicate surgical operations. Hence, the aim of this project to develop an automated movable surgical light which illuminated area of interest automatically without human intervention. A statistical linear controller was designed at both pan and tilt joints to control the movement of actuator for the automated movable surgical light based on the detection of localized markers. Since the localization algorithm is out of the scope of this project, the goal is directed to ensure the movable platform moves to the desired location. In multiple experiments presented, movable platform was proven to be able to move within the desired angle precisely. The angular position of the actuator is analyzed within 25 to 155 degree in 2 significant figures using Monte-Carlo simulation. It was shown that the mechanism was able to be directed to the desired location at 45 degrees with accuracy of 98.5% and with error 1.5% using the proposed control strategy. These results confirmed that the control strategy for the platform built fulfills the objective of this project.

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