Computer-aided Skin-opening Simulated Surgery using Staubli TX-60 Robot

Abstract

For this project, we chose Staubli TX-60 robot. This is a 6 Degrees of Freedom industrial robot which is mounted on horizontal base on the floor. Before starting the project, some installations were performed on the end-effector and the work- table. The project was divided into two main stages. First, we mounted the scalpel on the end-effector using scotch and strips. Second, a board of Styrofoam was fixed vertically to apply the operation on. Steps:

1. Read the coordinates of the nine points using the Manual Control Pendant (MCP).

2. Send the points coordinates to Staubli Robotics Suite for simulation.

3. Write the needed instructions.

4. Upload the program and run.

Check this video please https://user-images.githubusercontent.com/23275312/116787051-3c6afb00-aaa2-11eb-99e4-e9191fdf2c74.mp4