Building a DIY Surgical Robot
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- Опубліковано 23 лют 2024
- Pls hit the like button so I can buy more medical waste!!!
Connect with me on LinkedIn! (www.linkedin.com/in/bennett-stirton/)
Code and CAD: (github.com/bennettstirton/Pro...) (MVP quality so be nice)
References:
- Grape Surgery Video ( • da Vinci Surgical Syst... )
- BYU CMR Website (compliantmechanisms.byu.edu/)
- Ortho-Planar Spring CAD Files (www.printables.com/model/5963...)
- da Vinci Si System Overview ( • The da Vinci Si System... )
- da Vinci Pricing (www.ncbi.nlm.nih.gov/books/NB...)
Build Materials:
- Computer running everything ($20) (amzn.to/49pMc9G)
- Servo driver board PCA9685 (amzn.to/3UNz2yI)
- Cheap Joystick (amzn.to/3SQ4ny4)
- 10k potentiometers (amzn.to/3SRyLYT)
Thanks for watching :) - Наука та технологія
Bennett you’re starting to scare us
Don’t ever stop
Not scaring me. I'm down to be scarred by a diy robot
Again
He is, spooky.
Scaroused
Michael Reeve's completely sane counterpart.
Michael's was better tho
Michael Reeve wannabe
this is but another form of insanity
Was looking for this comment🤣
@@Steve98345 you ok bud? you're comparing people who could care less about you.
this is objectively dope AF. I had no idea you could buy the pieces but it makes perfect sense. Can't wait to see this on a robotic arm, and maybe build my own one day
The legend in the comments
put it on your bio bot and hook up a microscope
When is the next doom video coming out?
Dios hermano eres lo maximo yo tambien voy a hacer uno saludos desde peru
When it comes to doing the lab work and preparing the specimens, how many actions can't be completed by some sort of guided automation?
Imagine using this as a soldering bot, it would make microwiring and board repair so much easier
My thoughts exactly!
This is exactly what I'm after. It's weird because the davinci surgical assistant has been around for at least 20 years, and I'm really surprised that no one in the DIY community has come up with a variant for the component repair field. At least one for just the fun of it
I'm a software engineer and actually developed software to control an autonomous surgical robot (which mostly did suturing, anastomoses, etc.). We had some preclinical success on pigs, but eventually the team went our separate ways. One person actually joined Intuitive. As part of my design process, I was actually able to sit in and watch a minimally invasive surgery which used the daVinci robot, and use the robot myself to suture up some silicone training pads. It's surprisingly 'intuitive'... even for non-trained surgeons like myself. However, our platform we developed used completely custom tooling, and a 6-DOF arm from KUKA, along with a bunch of expensive fancy cameras.
Anyway, it's cool to see other people working on similar projects in a personal capacity. It's a neat field and challenging problem, especially when you throw in robotic autonomy.
when i hear software with cars, and medical tools... some how a shiver goes over my body...
even more when i hear they use a custom implementation of c....
I used a daVinci S at a Science Fair with my nephew in San Diego, and it was so much fun. As I've always relatively unsteady hands, I was surprised that it completely smoothed out any tremors, and I was immediately doing fancy two-handed moves with it, stretching rubber bands over things. The surgeon working the stall noticed and mentioned I was surprisingly dextrous with it. Since then I've always wished systems like that were available for non-medical hobbyist uses, like precision electronics, model-making and so on; cut-down, non-safety-critical versions of course.
That sounds incredible, is there anywhere I can read further about it?
@@tomgiddenAhhh I never thought about it, but one of these would be amazing for model making!! 🤯
@@tomgiddenthat makes me think: imagine if you could train a child on one of these. I wonder with their nimble brains could they compete with an adult after a few years? Perhaps you could identify surgeon prodigys.
*Open Source Medical Robot?!?* I A M S O H Y P E D
OPEN SOURCE EVERYTHING!!!
open source the sauce...
Edit: obligatory ho hail Richard Stallman
nurse: so i know how you like open things but maybe you should close that artery back up.... the patient already lost 2 liters of blood
Till the patent lawyers get involved and so the work he puts into this gets taken due to being based on patented hardware. Then his choices will be to pay hundreds of thousands to millions in legal fees to maybe keep the project alive or sign everything over and sign an NDA.
If it could potentially hurt the bottom line on a large company's start product line, well, FY!
@@ITpanda I’ll need to do some digging, but as per a 2016 Article i found (I’ll post the link below in case UA-cam blanks out link comments lol) most of the main Patents should be expired.
Granted they can do shenanigans like filing new patents that are only slightly different, or changing disposable’s shapes (like how Nespresso did if i remember correctly) etc
Also it’s best to not use trademarked names and whatnot in the title/thumbnail or whatever.
Granted them sending lawyers is still a possibility, and I’m not a lawyer, but i would think it’s decently unlikely and they would have to be feeling especially rude.
Granted at the same time Stephen Hawes got a Cease and Desist for a *name* that was supposedly similar, so the PnP machine is now called “LumenPnP”. Granted that is more trademark than patent, but they can be bold and small creators can’t get piles of lawyers.
I feel like I stumbled into a viral channel and accidentally hit the reset button on subscribers and view counts. This is incredibly professionally edited, entertaining, and interesting, I can tell this channel is about to blow up. First success my algorithm has had in awhile! New sub :)
SAme! this is great waouuu
exactly!
We are here on the ground floor fellas! Get ready......
exactly my thoughts seconds in.. this will be the next.... stuff made here, or Michael Reeves
Yep!
Certified Da Vinci robotic surgeon here. A few comments:
- Yes, it is awesome to use one. Not only the range of motion and precision, but also the 3d high definition vision inside of a patient.
- the instruments you were able to get are from the Da Vinci Si. This version is deprecated and if I am not mistaken, they are not being produced anymore. The new version (Xi) uses instruments that work similarly, but are not compatible (planned obsolescence for sure, the Xi offers very few benefits over the Si, which was already very good, they lost some of their patents).
- you control the instruments with two joysticks. There are pedals that you use when you want to change to another arm and control another instrument, or when you want to control the camera. In your device you may be able to control rotation and opening and closing of the instrument. What is still missing in your device is advancing and retracting, and hovering your instrument. The Da Vinci relies on a "remote center" in the trocar. Therefore, it won't damage the patient's belly when moving.
Overall, great work! Feel free to DM me if you need some help!
One more thing: there is little to none haptic feedback. If you pinch the joystick too hard, you will damage something as the robotic arms are very strong. Honestly, you get used to it and you rely on what your seeing only, which is of very high definition.
hey, I am working on a similar project I don't want to be rude but I have some questions and would appreciate ur help !
Believe it or not they had a demonstration set up in a hospital I was at once. They let regular people operate it and it was super intuitive. The input had a view finder that showed the two sets of claws you were manipulating. Each hand had two finger loops mounted on armatures that let you operate the grabbers. The coolest part is that everything had a slight force feedback system so you could feel how you were interacting with the objects they set up(coins, sponge, etc). something about the size of a penny felt like the size of a dinner plate through the system.
Penny-dinner plate--that is awesome. Like they're impedance matching the feedback to a scale our bodies are more adept at handling. I'm just in awe thinking about how much nuance you could pick up on like that. Super subtle differences in how various tissue might feel that might just barely be discernable to gloved fingertips.
I'm wondering how immediate that feedback is, like could you sorta glide along a ridge/seam just by feel alone? I suppose that particular kind of motion doesn't make much sense in a laparoscopic setting where you have a pivot at the keyhole.
Anyway, very cool.
My hospital had the same demo and I loved using it
@@barcodenosebleed5485they said there was movement scaling options. And there was definitely haptic feedback
Your channel is about to explode
I used to work with these every day, but it was 8-10 years ago so it was pre XI, I believe it was SI. The motorized discs would "home" themselves after an instrument was inserted, and a successful homing had to be performed before the instrument could be extended into the patient. It was a multi stage process that allowed the robot to ensure that all the cables within the instrument were intact before they came into direct contact with the patient, and to allow the robot to sync the cables between the two independent sets. There was some kind of force detection within the main unit that would detect irregularities, so if the instrument was misaligned and attempting to move in an unexpected way while restricted inside the cannula, it would report an error. A red light would show on the docking portion of the arm, the assistant would be unable to advance the instrument into the patient, and the surgeon would not be able to control it. Major pain in the ass to use but a lot of really cool technology packed in
The company I work for designed and built a robot cell that loaded baskets of medical tools/devices into a series of sterilization machines. Within several months, the baskets that the robot used to load the parts had become corroded/worn to the point of replacement. These aren't delicate mechanical devices mind you, these are heavy-duty stainless steel baskets that would knock you out if someone threw one at you. I can understand how these only have a few sterilization cycles before needing to be replaced.
I have been asking someone to do this for about 12 years. Every single time the answer was no. Thank you. You will save a lot of lives.
Exactly.. f.o.s.s and f.o.s.h and practically free 3d printing is the future I think... though I could be wrong.
Why didn't you do it? You had 12 years
michael reeves did this years ago
@@jerbear7952 maybe it's the secret engineering project
You're basically Harry Potter that failed wizard school so went and got an Engineering degree instead.
Engineering is basically magic within itself, so it totally makes sense
Couldn’t agree more.
I have been working on this exact same project for a few years. Decided to swap to stepper motors due to the coupled motion compensation using up a large portion of the movement range on the servos. The actual robot is cable driven all the way to the mounting plate. So, all the motors are in the base of the arm, which helps with balancing the weight. Also, due to the arm being a remote center mechanism it only requires two motors for the bulk of the motion.
Also for control I was thinking that a magicleap/ultraleap hand tracking unit would be the most cost effective way to get 6dof control for two arms thought it would not have force feedback which is somthing the real robot has. I was even looking into the idea of the robot being controlled over a network connection so the robot could be controlled remotely.
Yes I was thinking stepper motors as well, because the Servos typically only have 180 degrees of motion but most of the pucks can travel further. Also, probably easier to implement torque detection with stepper motors.
I had the opportunity to use one when the local hospital, that my parents worked at, got one and had a demo in its loby. It was extremely intuitive and required no leaning curve. I was in highschool at the time and it was really fun.
I will say that the freedom of movement afforded by the complex system was limitless. I had full range of motion of my hand. And there was a foot pedal that allowed you to pause movement of the system and pan your hand away. Similar to picking up a computer mouse off its pad moving it over and bringing it back down. After a couple minutes I felt entirely one with the machine
This is a great analogy- I read in a manual about this virtual “clutch” system, but this makes more sense now! Thanks!
On the topic of instrument control, only two instruments are ever under direct control by the surgeon. There's a foot pedal that switches the active instrument with whatever instrument is located on the same side as the pedal, and it's placed in a locked position. This is usually used for retraction or switching between needle drivers and scissors when suturing. The camera is also controlled independently (I can't remember if this is foot pedal or hand switch controlled) but disables all other inputs while the camera is moving. Usually the camera is placed as optimally as possible and moved as little as possible, both to prevent disorientation and to keep instruments in view at all times.
Worked in the OR a bit as a rotating surgery medical student. They have the camera/endoscope attached to one of the arms and they toggle between different tool arms like the input on your TV. Once u set the camera arm’s position, you change inputs to a different tool arm, thereby locking it in place. If u could program an Xbox or PS4 controller to control the arms and use a button to switch inputs that would be able to mimic the da Vinci machine quite nicely!
This man is an expert content creator, how does he not have more subscribers?
Because his first video was only 3 months ago.
new subscribers here
He will hit a million subs in like 1 year if all of his content is this good. This is the first video ive seen from him and I Alr subbed
Literally!!!!
Assuming the mechanical system has a linear response, calculating the output to input relationship is a really neat application of linear algebra. I honestly never thought that all the stuff I learned in college would come in handy...
When I was a kid, the natural science museum in my town opened a large addition. They had a week-long special event to promote it. One of the things they arranged was for an entire da Vinci training set up to be temporarily on display for people to try. They had a computer-based simulator, but also a real robot too! They had a bunch of challenges for people to try like wrapping dental rubber bands around various small objects. It was super cool to learn about the technology, but then actually sitting at one for a few supervised minutes to see how much skill goes into making and using those units left a lasting impression. 11/10 day at the museum.
This channel is criminally underrated!
Don't you mean "clinically" underrated? *smug emoji*
r/angryupvote @@FoxRayne
This is one of the most thought out, well-executed project/video's I've seen in a while. Incredible work. Can't wait for part two!
A "Space Mouse" might be a good option for a control scheme. They're commonly used for 3d modeling so it seems like it would translate well.
Production quality hugely surpasses sub count. I hope your channel blows up man, good work
WoW.
This is the first video I got recommended from your channel and I must say, this is some great progress.
Hey, like several other commenters, I am a software engineer and I had the opportunity to use the Intuitive Surgical daVinci during CVPR conference. I must admit that the most important element of this experience was the intuitive control of the robot using „pinching” and foot-controlled pedals. Equally important was the control stand itself, equipped with goggles and head and elbow supports. I am not sure if the goggles had stereovision. I had the opportunity to perform treatment on physical rubber rings as well as virtual training programs such as „moving a ring along a curved wire”.
There is stereovision for the operator but not the assistants.
voice control surgical robot sounds like a good idea for sure
Don't forget to add IOT tech.
@@TexZeTech ah yes ofc, it should be accessible to anybody with an internet connection so everybody can fulfil their dream of becoming a surgeon someday
Gosh your montage is refreshing ! I really enjoy your effort on this, and on the content also
Hope your channel gets the success you deserve ! 🚀
Great Video love the design of the linking mechanism with the servos. Got a good chuckle out of the failed parts bucket as well.
Nice! I worked on development of a few of the end effectors for Intuitive Surgical Ion robot, primarily biopsy needles. It was always a lot of fun playing around with the different end effectors.
This content is absolute gold. I am subbed and glued to my seat, both ironically and unironically. I have been waiting for someone to tackle controlling these, as the used tooling looks very capable for other uses outside a surgeon's use.
It wouldn't give the haptic feedback, but a Leap Motion / Ultraleap Hand Tracker may work to an extent.
For hand tracking *and* haptic feedback, short of making a OS Version of the Proper Device (which would be cool af, but agreeably hard (although a robotic arm without motors, if that makes any sense, may work. James Bruton did an OS "puppeteering rig" for the terminator torso+head, so between that and the OS Robotic Arms out there it *may* be doable with existing work and some integration hell)), there is an Open Source "Haptic Glove" type thing. I am unsure on latency and all that, but it was basically gloves, cables, and a sensor and/or motor module. They also have a discord which would be great for troubleshooting / brainstorming.
Loved the whiteboard gag, excited to see where this project goes!
I lost it at 2:27 with the "...to me" line
took a peek at some other videos on the channel -
this is some really high quality and thoughtful content, subscribed for more
One of my fav parts for sure😂😂
Dude, you are one of the coolest dudes on UA-cam. I love that you hacked an out of reach medical surgical product. I’ve seen a lot of UA-cam videos on diy, but this one actually has legs when it comes to making a massive difference in terms of helping people. I could imagine people in 3rd world countries benefitting massively for your research.
Seeing not only hard working but smart colleagues is always a joy. You have a sub!
This is amazing! the quality of the content only matched by the superb quality of the video production! Instant subscriber
I just had a minor abdominal operation done robotically a few weeks ago. Super cool to see all the different tools they have, wanted to ask to see stuff before they put me under but everything happened so fast once they were ready for me and wheeled me into the OR. I did ask what kind of abdominal mesh they were going to use, and so I got a little card to look it up after. Also very high tech/ mechanically interesting stuff. It unrolls itself and completely self adheres to the abdominal tissue like velcro without the need for stitches, and then partially gets absorbed into the tissue.
100% deserves a subscribe, happy I found your channel and looking forward to seeing your channel grow
that fact that you have made it this far is impressive as!!
working out those 4 axis ones is going to absolutely suck
also as far as input is concerned, even if you built a mechanical replica the interface between that and your instruments is going to be some crazy complicated maths
if you get this working to even a basic working state i think it would be incredibly useful for things outside the medical field, especially since you have worked out there will be a steady supply of the instruments.
things like small scale electronics come to mind.
I also think if you find the right instrument, that modifying the end effectors to suit other purposes would be another avenue for investigation.
instant new follower here, lets see how much patience/endurance you have for this task!
I mean I don't particularly like math but it shouldn't be terribly difficult to calculate the end effector position based on the input as long as he opens one to figure out the pulley ratios inside.
I KNEW SALA WAS RELEVANT!
love the amazing 'just because' video. and the engineering involved. great stuff!
Wow. You are insanely smart when it comes to stuff like this! Very cool project as well.
Very cool! (Love your soldering iron "drill press". 😄) About a decade ago, Intuitive brought one of their machines to a computing show I was at (can't remember which), and and they let people try it out moving little dice around. It was really amazing how they made it all feel completely natural. I also worked at a company that shared space with a machine shop that made the scissor heads, so saw a ton of them coming off the CNC machines and on the assembly benches. The scissors use a tungsten cable for actuation. The owner of the shop told me that the tiny cable was strong enough to hold up a Volkswagen!
This is brilliant. Would love to see more of this content. Loved it!
Man you’re so underrated!
Awesome video! Subscribed and waiting for even more awesome videos! 👏🏻
This was amazingly high quality content! Thanks for posting, was super fun to watch, and I'm stoked for you to eventually peel that grape!!!!
This is SO cool, super excited to see what you do with this in the future!
Absolutely not a "rediculous endeavor". This is Absolutely brilliant and I hope more young people are inspired by your curiosity and determination. You are literally showing everyone how anything is possible.
bro this is really cool hope you blow up!!!
also since you mentioned that there will be way too many axises you could imitate your robot in solidworks and calculate the degrees of rotation from that (if thats possible) since solid works allows you to not allow your parts to collide into eachother
God the variety of shots In this video takes the production quality up like 10 levels. What an AMAZING video and channel.
"Im sorry Bennett, I can't allow you to do that."
This. Is. Insane.
Seriously, keep going with your work!!!
I actually got a chance to play around with one of these when I was 8 or 9. I was really interested in the body and wanted to be a surgeon so my mom took me to a davinci surgical system information conference (geared more towards elderly people who needed surgery) and they had one on display that they would let people use. It was absolutely incredible, especially for the time.
OMG waaaaaay too underrated.. The quality of your videos is insane. Keep it up! I am currently building a robotic arm and will definitely come back to this video if I need some high precision tool.
Dude, this is sick! Figuring out how to control the arm looked like a nightmare because of how convolved the inputs are.
Thank you! I’ve certainly got my work cut out for me but I think there might be some shortcuts 🤞
First time seeing anything from your channel. Loved this video, the process the explanation of the mindset and the lop-sided whiteboard.
Genius! 😆
First time watching a video of yours, what you do is amazing Bennett! Instant +1 sub.
Managed to get to use one for like 15 minutes at a temporary exhibit at the Carnegie Science Center upwards of 20 years ago prototype/demo/sales exhibit before they were on the market, as a technology collab with CMU. I've been fascinated with them since. Excellent project, sorely tempted.
I can see your focusing and studying other UA-camrs to make these videos as good as they can be, as soon as possible. Paying off really well, good camera presence, editing etc :)
This is awesome. I got to play with a DaVinci robot in the Hartford mall that they had set up for the public to see back in 2014. It was the coolest machine I've ever seen.
I enjoy your joystick accommodation.
Wonderfully crafted video! I was expecting a lot more subscribers, but I am sure those will come with time. I can't wait to see where this project goes!
I bet that looking into puppeteering solutions could help a lot in developing controls for the system. They seem to find some amazing engineering solutions for precise movement on a shoe string budget.
This is so incredible. More videos please!
This channel reminds me of DIY perks and I love it
This is absolutely sick, amazing and completely crazy. Please, go on.
definitely looking to follow this project please keep going on this one
That camera quality is incredibly crispy!
I got to use one of these at a robotics competition back in high school, no clue why they were there but turned out to be a cool/rare experience!
So sick, amazing work!
dude ive been thinking about making a DIY soldering surgical robot. great job man
So I've actually briefly used one in a hospital brought in by a vendor. The controls at the station are electronically counter balanced and have different selectable scaling options built into the software to scale down you hand motions within the work space. They're incredibly well balanced and smooth, but id imagine you could achieve similar results with a cable and pulley balance system. Could also install rotary encoders on the balance pulleys to translate the movements.
Oh man, this is great content! Love that it also exposes how inflated medical equipment costs are.
Until you run the numbers on what it takes for even a class 1 device to get to market. Say goodbye to millions before you even sell your first unit. Then there’s QMS, etc etc etc. etc etc etc. A pacemaker implant costs only a fraction of what a lot of folks happily pay for a new car
I love these types of videos, happy I saw it on my home page!
For controlling the position, I would personally look into hand tracking (with a physical controller), the Vive trackers are pretty good when using their base stations.
I would then write a program that would basically check if the tracked/requested movement amount is valid (doesn't move a ridiculous distance or makes a move that stabs the patient), and might need to use a distance sensor or proximity sensor for more accuracy/ safety.
You definetly got a new subscriber here. This Video was really good, keep on working !
this is wild and EXACTLY the kind of thing I love to see showing up on my feed. SUBSCRIBED!
Awesome project, and great work!
fantastic. A while ago I also studied this equipment with the idea of making a prototype but I never reached as much as you.
Keep going.
My dad worked on the user interface for intuitive surgical. I think the best thing is to have something that takes in hand movements ie the pinching rotating and back and forth motion of someone's hand.
Absolutely insane work
I've been really curious to try and do something with one of these instruments since Kyle Bartholomew posted a teardown video on one of these a few years back.
Excited to see where you end up with this!
It would be stupidly fun to try micro-soldering with one of these.
Also, one suggestion, you probably want to consider torque control for whichever servo is responsible for clamping the jaws shut, as this would both enable you to be much more delicate with what you pick up but also facilitate implementing force-feedback in your input controls down the line.
Oh! And a stop-gap input device if you don't want to design that first could perhaps be a space mouse as they have 6 degrees of freedom are readily available and are relatively easy to interface with.
Love your edit & project great work
Very nice work Bennett. You asked about control options... Possible easier solution for control input, use a quest 3 and the onboard hand tracking. This gives you great options for viewing of endoscope, options for augmented visualisations, and pretty impressive hand tracking with gesture recognition all off the shelf at consumer pricing. If you use something like nvidias omniverse as the platform, you get interesting multiuser, multi application integration.
Love it! I’ve been fortunate to get to play with one before when I was 14! I still have the video
So dope, I am following your endeavor now
Okay this is kinda crazy because I have actually had dreams about making a robot with these. Bro. You are in my head and that is so coooool
Incredible video, and not too long while also explaining well how you made it - new sub from me!
Excellent! with that you can make the best soldering rig ever.
Thank you UA-cam for another amazing recommendation!
Keep making awesome things mate
This video is God sent. I have been musing about building one of these machines just a couple of days ago and lo, look at the upload date. Will be following your progress with a keen eye.
I was just looking for something like this last week after trying to solder TINY wires on equally tiny SMD LEDS. I just ordered one and will be following along!
for the controlls: there are open source versions of the spacemouse (tho none are at the stage of completion yet I'd say), that could probably be a pretty intuitive solution if you add another force sensor that measures squeezing or something for closing the sissors
Amazing work! always dreamt of getting to use one
I got to see one of these machines on display in a mall quite a few years back (Seemed to be to get people more familiar with them) We were allowed 15 minutes or so to mess around with it and attempt some challenges. things like putting rubber bands from braces onto little cones and manipulating small objects. By far one of the coolest things I've gotten to use so far.
IIRC the control was using 2 pinch controllers where you can use your thumb and forefinger to control opening and closing but can also rotate them on 3 axis to control the end effector. It looked like a gimbal for cameras but the end that would normally be held was attached to the terminal. It was also able to move around which controlled the overall location of the arm.
Selection of arms was controlled by foot, as well as selecting the movement of the camera. Though if you added buttons for the other fingers you could probably control more arms. (say using the middle fingers for arm 1, ring fingers for arm 2, pinky for arm 3. Or by assigning specific arms to each hand.)
You should look into a space mouse, a VR controller, or something else. I got to control one of these at one point because our local library let our local hospital bring one in for people to try out. It was awesome. Something to be aware of though, not all arms are being controlled at the same time as there is a way to switch between each tool. If you have any questions about how it felt to operate/how that controller worked, feel free to ask.
great video, very engaging and well edited! keep it up dude!
Thanks, will do!
Straight to my list of to be builts.
So it's an Etch-A-Sketch with a knife.
Neat!
This is really neat. I build non invasive medical devices at work. I don't have a college degree but I am determined to improve one of our products before I die. Videos like this are very inspiring to me.
That's amazing, good luck with it, looking forward to the next video! 🤩 I myself will be starting my medical robotics degree in summer so I'm excited to see what you'll come up with