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ParaDocs

Team E Progress Review 4 - Li-Wei

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Goals Review

1

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Our Goals for PR4

  • Drill interfaced with ROS
  • Cartesian straight line motion with manipulator
  • Perception integrated with manipulation i.e. arm moves to a pose given via registration
  • Demonstrate e-stop functionality for both drill and arm

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Goal: Drill interfaced with ROS

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Goal: Cartesian straight line motion

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Surgical Plan

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Goal: Perception and manipulation integration

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Goal: Perception and manipulation integration

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Goal: Perception and manipulation integration

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Test: Drilling Motion Test

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Test No. 10: Drilling Motion Test

Objective

Verify the drilling motion of the manipulator

Elements

Controls Subsystem, Planning Subsystem

Location

B512

Personnel

  • Shivangi
  • Li-Wei
  • Paramjit

Equipment

  • Drill mounted on end-effector
  • KUKA LBR Med7

Procedure

  • Define an arbitrary pre-drill and drill pose
  • The robot transitions smoothly from the pre-drill pose to the drill pose and then returns to the pre-drill pose
  • The drill may be manually activated while the robot is in motion.

Verification Criteria

  • Verify that the motion is sufficiently slow and smooth to facilitate accurate drilling

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Test: Manipulator Autonomy Test

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Test No. 11: Manipulator Autonomy Test

Objective

Verify manipulator end-effector moves to pose sent by the registration pipeline

Elements

Controls Subsystem, Perception Subsystem, Planning Subsystem

Location

NSH B512

Personnel

  • Qilin
  • Abhishek
  • Shivangi

Equipment

  • Realsense D405
  • KUKA LBR Med7
  • Team E PC

Procedure

  • Pre-define the surgical plan. This is a point provided by S+N or an arbitrary point we chose (on the bone model)
  • Run the registration pipeline to identify the drilling target on the bone setup. Convert these coordinates into the robot's reference frame
  • Plan and execute trajectory using MoveIt to reach desired pose goal

Verification Criteria

  • Before executing, display the desired drill pose in RViz to provide a visual confirmation of the target location
  • Verify that the robot is able to autonomously plan and move to the desired pose goal

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Goal: E-stop functionality

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Test: Safety Test

Test No. 12: Safety Test

Objective

Verify both manipulator and drill E-stops are functional

Elements

Mechanical subsystem

Location

NSH B512

Personnel

  • Paramjit
  • Shivangi
  • Li-Wei

Equipment

  • Drill mounted on end-effector
  • KUKA LBR Med7
  • Team E PC

Procedure

  • Drill is toggled on
  • Robot is given an arbitrary pose goal that will lead to collision
  • Emergency E-stop(for both manipulator and drill) are pressed before collision

Verification Criteria

  • Confirm the emergency E-stops effectively halt the drill and the robot's movement with minimal latency.

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Additional Progress

2

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Sharpie Holder

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Motor Mount

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Challenges

3

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Surgical Plan Origin

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Challenges

  • Camera Calibration errors
  • Issues on running on sim vs real robot
  • Correctly applying transforms to the surgical plan

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Risk Management

4

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Risks Managed

  • Not able to define surgical plan
  • Not able to validate surgical plan

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Potential Risks

  • Unable to identify the error source
  • Collision with the bone
  • PCB integration

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Future Work

5

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Future Work

  • Better extrinsic calibration
  • Improve bone mount
  • Improve planning
  • Check drilling accuracy
  • PCB Demo
  • Faster Registration

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Thank You and Break a Leg!

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