Shiv- A Robot for Med Field

(Project ID-2017PJ-ECE06)
A
Report
submitted on the B. Tech Final Year Project
By-
Pratyush Priyansh (1729031038, ECE,4TH Year)
Vikas Tiwari (1729031057, ECE, 4TH Year)
Chandresh Negi (1729031017, ECE, 4TH Year)
Under the supervision of –
Dr. H.M. Gaur
(H.O.D. Electronics & Communication Engg., ABESIT)
Submitted to-
Mr. Rachit Patel
(Project Coordinator, Dept. of Electronics & Communication Engg.,
ABESIT)

Electronics & Communication Engineering

ABESIT, Ghaziabad
Affiliated to Dr. A.P.J. Abdul Kalam Technical University, Lucknow

1
 ABSTRACT
Shiv- treating the affected with minimum contact possible.

Shiv can perform following tasks in order to achieve the

goals-

• Food & Medicine delivery -: Shiv will be able to take

foods & medicines on tray like structure attached to its
arms so that it can deliver the requisite to the patients
without any involvement of nurses or compounders.

• Monitoring of patients -: Shiv will be able to make “out

of touch” monitoring of patients. This will help doctors
as they won’t have to go to every patient bed to bed
hence reducing the chances of getting in contact with
asymptotic carrier.

• Sanitization of the rooms -: Shiv will be able to

sanitize the rooms routinely.

• Family Hysteria -: In hospitals connection between

patients & their families are cut, for it is feared that it
increases the chances of spread of the disease, so Shiv
will be able make video calls for every individual’s
family so that they can chat whenever they want.

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• Maintaining records -: Shiv will be able to maintain to
record & list different actions taken during the treatment
of a patient, like maintaining records for medicines dosed
or body temperatures.

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 DECLARATION

I hereby declare that this project, entitled, Shiv- A Robot

for Medical Field (Project ID- 2017PJ-ECE06), submitted to
Mr. Rachit Patel (Project Coordinator), Dept. of ECE,
ABESIT, is an authentic report of my work. I have not
submitted this work elsewhere for any other degree. I am fully
responsible for the contents of my report.

Pratyush Priyansh
2017ECE038
1729031038
Dept. of Electronics & Communication Engg.
ABESIT College of Engineering

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 Acknowledgement

This project is still in development phase & I have

the pleasure to work with remarkable people for the final
completion of project.
I will first like to thank our mentor, Dr. H.M.
Gaur, HOD, Dept. of Electronics & Communication Engg.,
ABESIT, for guiding me & looking us through the beginning
of this project & enlightening us by guide with his
supervision.
Next, I will like to thank our Project Coordinator,
Mr. Rachit Patel, Dept. of Electronics & Communication
Engg., ABESIT, for providing us with all the help with I
helping us to complete this project.
I will further like to extend my gratitude to Mr.
Tarun Agarwal, CSE,4th Year (2017-21), ABESIT for all his
efforts of helping me constantly through the project, be it
hardware or software part.
I will finally like to thank my team members,
Vikas Tiwari (ECE, 4TH Year) & Chandresh Negi (ECE,4TH
Year), for continuing & working alongside me in this project.

December 2020

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 Table of Content
Page No.
Abstract 2-3
Declaration 4
Acknowledgment 5
Table of Content 6-8
List of Figures 9

Chapter 1: Introduction
Overview 10-11
Objective 12
Goals 12
Flowchart 13

Chapter 2: Literature survey

1. A Systematic Literature Review of Research in

the Surgical Field of Medical Robotics
 Abstract 14
 Keyword 15
 Introduction 15
 Methodology 16

2. The safety issue of Medical Robot 17

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 3. Robot Application in COVID-19 18-19

Chapter 3: WORKING & METHODOLOGY

1. WORKING (PART 1)-

 Working 20
 Methodology 21
 Approach-
i. Dijkstra’s Algorithm 21-22
ii. Graph Theory 22-23

2. WORKING (PART 2)-

 Working 23-24
 Methodology 24-25
 Approach-
i. Voice Commands 25-27
ii. Link 27

3. WORKING (PART 3)-

 Working 28
 Methodology 29
 Approach 29

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Chapter 4: TIMELINE

 September 30

 October 31

 November 32

 December 33

Chapter 5: TIMELINE

References 34

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 List of Figures

S.No. Fig. Number Caption Page No.

1. Fig 1.1 Flowchart 13

2. Fig 3.1 Shiv performing Delivery 20

3. Fig 3.2 Dijkstra’s Algorithm 22

4. Fig 3.3 Graph Theory 22

5. Fig 3.4 Shiv performing Remote Monitoring 23

6. Fig 3.5 Opening You-Tube using Voice 26

7. Fig 3.6 Opening Google using Voice 26

8. Fig 4.1 September Timeline 30

9. Fig 4.2 October Timeline 31

10. Fig 4.3 November Timeline 32

11. Fig 4.3 December Timeline 33

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 CHAPTER -1

INTRODUCTION
Overview-
Shiv is an initiative to fight not just against the
current surge of COVID- 19, but also other diseases that are
communicable from human to human.

 Remote monitoring of patients without any contact.

Hence, reducing the chances of doctors, nurses or
compounders getting affected.

 Equipped with various sensors & medical equipment as

to perform all the necessary tests for the patient’s
treatment.

 Facility to get connect with family whenever patient

desires.

 Instantaneous recording of data of every individual

patient, as to maintain the records, as well as to study
the treatment methods.

 Routine sanitization of patient’s chamber to make it less

prone to disease.

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 Ability to deliver food items & medicines to every so
that nurses & compounders won’t have to individually
visit bed to bed of every single patients.

 It will be modular, i.e., it can be fitted with tray or

sanitization bottles as per the requirement.

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OBJECTIVE-
The main idea of this project is to develop a robot
which can aid humans in not just to fight against the current
serge of COVID -19 but also to other diseases which can be
communicable from human to human.

GOALS-

 To provide safety to doctors, nurses & compounders as

much as possible.

 These robots will be based on not so high-end software

so they can be easily manufactured by local companies
hence making them less expensive.

 Treatment will be cheaper and more feasible than human

staffs.

 To make every hospital & clinic a little modernise in

term of technology.

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 Fig.1.1. Flowchart

 Above is the simplified view of the tasks that would be

performed by Shiv.
 Shiv will be able to perform several tasks by itself based
on situations or the need of the moment.
 Each task listed has several sub- categories, which are
the basic functionalities to be perform by Shiv.
 Shiv will be able to perform tasks simultaneously or even
parallelly.
 All these tasks will be automated or minimum human
involvement.
 The time during which a certain task is performed will be
recorded & maintained in the Database.

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 CHAPTER -2

Literature survey

A Systematic Literature Review of Research in

the Surgical Field of Medical Robotics
JULY 2020

 Conference: 44th IEEE Computers, Software, and Applications Conference, July 13-
17, 2020

 At: Madrid, Spain

Authors: -


Ricardo Buettner
 Alena Renner
 Anna Boos

Abstract

Due to the growing demand for efficient and precise surgical options,
there has been a push in the field of development of medical robot
systems in recent years. This paper provides an overview of the
current status and development of medical robots in surgery through a
systematic literature review of research. The classification is made
into minimally invasive and non-invasive robotic assistance. An
introduction and definition of medical robots is provided. The

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advantages and disadvantages of the applications are highlighted. A
summary and insight into future work is presented.

Keywords-
Medical robotics, Surgery, Machine learning

Introduction-

Medical robots have been developed to support

hospitalization, facilitate laboratory analysis, improve patient
rehabilitation and even perform surgery. They can be
classified in many different ways: by level of autonomy, by
manipulator design (e.g., kinematics, control), by targeted
anatomy or technique (e.g., cardiac, intravascular,
percutaneous, laparoscopic, microsurgical) and by intended
operating environment. The main advantages of surgical
robots are the fast, precise repetitive movements they can
perform over a long period of time without shocks and
fatigue.
Furthermore, these movements can be electronically scaled to
increase accuracy and precision without increasing the
surgeon's workload.

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Methodology-

A. Search Strategy

In order to extract relevant research from the published

literature, a systematic literature search capturing Medical-
robotics work in the surgery area was undertaken. Two meta-
databases (IEEE Xplore DL and Springer Link) and AIS
Basket of Eight journals were searched till 12-16-2019 using
the following search string:
medical AND robot* AND surgery
B. Inclusion criteria

To ensure including only substantial scientific work in

this
review, we only considered international peer-reviewed
publications (journal articles and transactions). For reasons of
quality, poster sessions, editorials, interview, commentaries
and conference proceedings were not included.

C. Search results

After reviewing 1,297 articles included in top journals,

75
articles were identified as relevant for this paper. In addition,
the top ten journal articles from Google Scholar are
considered. The identification was based on a manual decision
by two reviewers.

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 2

The safety issues of medical robotics

August 2001

Authors: -

 Baowei Fei
 Wan Sing Ng
 Sunita Chauhan
 Chee Keong Kwoh

Abstract
In this paper, authors put forward a systematic method to
analyse, control and evaluate the safety issues of medical robotics.
They created a safety model that consists of three axes to analyse
safety factors. Software and hardware are the two material axes. The
third axis is the policy that controls all phases of design, production,
testing and application of the robot system. The policy was defined as
hazard identification and safety insurance control (HISIC) that
includes seven principles: definitions and requirements, hazard
identification, safety insurance control, safety critical limits,
monitoring and control, verification and validation, system log and
documentation.

HISIC was implemented in the development of a robot for

urological applications that was known as URObot. The URObot is a
universal robot with different modules adaptable for 3D ultrasound
image-guided interstitial laser coagulation, radiation seed
implantation, laser resection, and electrical resection of the prostate.
Safety was always the key issue in the building of the robot. The
HISIC strategies were adopted for safety enhancement in mechanical,
electrical and software design. The initial test on URObot showed that
HISIC had the potential ability to improve the safety of the system.
Further safety experiments are being conducted in laboratory.

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 3

Robotics applications in COVID-19

October 2020

Authors: -

 Mohd Javaid

 Abhishek Vaish

 Raju Vaishya

 Abid Haleem

Abstract

COVID-19 outbreak has badly globally hit humans along with

the manufacturing and service sectors. Since there are no vaccines or
any proven medical treatment available, there is an urgent need to
take necessary steps to prevent the spread of this virus. This virus
spreads with human-to-human interaction, so lockdown has been
declared in many countries, and the public is advised to observe social
distancing strictly. Robots can undertake human-like activities and
can be gainfully programmed to replace some of the human

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interactions. Through this paper, we are identifying and proposing the
introduction of robots to take up this challenge for solving the
problem in sighting the pandemic of COVID-19. We did a
comprehensive review of the literature to identify Robots' possible
applications in the management of epidemics and pandemics of this
nature. We have reviewed the available literature through the search
engines of PubMed, SCOPUS, Google Scholar, and Research Gate.
Through a comprehensive review of the literature identified different
types of robots being used in the medical field. We could use several
vital applications of the Robots in the management of the COVID-19
pandemic. No doubt technology comes with a cost. In this paper, we
identified how different types of robots are used gainfully to deliver
medicine, food, and other essential items to COVID-19 patients who
are under quarantine. Therefore, it is an extensive scope of
customising robots for undertaking hazardous and repetitive jobs with
precision and reliability.

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 CHAPTER-3

WORKING & METHODOLOGY

WORKING (PART 1)-

Fig.3.1. Shiv performing Delivery

 Above is a working diagram of the first part of the

tasks which can be performed by Shiv.
 This task is based on the pre-installed data and
ability to sense the correct motion.
 Shiv will have to recon the correct path.

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  Shiv will also have to make a correct judgement to
remove any abruption.

Methodology-
 Shiv will be equipped with a tray in one of the intended arms.
 The tray will be filled with medicines of the food items
accordingly.
 Shiv will carry all the items all by itself.
 The robot will also be connected to the database.
 Shiv will have to trace the correct path.
 If it reaches an undesirable room, it will be able to identify the
error.
 If it reaches the correct room (Patient’s Chamber) then it will
enter the room successfully.

Approach-

 For the tracing of path, we are trying to implement

Dijkstra's algorithm.
o Dijkstra's algorithm-

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 Fig.3.2. Dijkstra’s Algorithm

Dijkstra's algorithm (or Dijkstra's Shortest Path

First algorithm, SPF algorithm) is an algorithm for
finding the shortest path between nodes in a graph, which
may represent, for example, road networks. It was
conceived by computer scientist, Edsger W. Dijkstra in
1956 and published three years later.

 Apart from Dijkstra’s Algo, we are also trying to

implement Graph Theory, as used in Google Map APIs.

o Graph Theory-

Fig.3.3. Graph Theory

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  Now, for reaching the correct room Shiv will have to
identify the correct room.
 It will be connected to database and will be able to
identify the correct room by scanning some code on the
Door.

WORKING (PART 2)-

Fig.3.4. Shiv performing Remote Monitoring

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  This part of the working tells about the Remote
Monitoring performed by Shiv.
 This part will include various aspects that will all
be performed by Shiv parallelly to achieve the goal.
 This part will help the doctors to monitor patient’s
remotely, without coming in contact.
 Everything will be stored in the database.

Methodology-
 Monitoring of the Patients: -
 Shiv will reach to a particular patient.
 It will then start a video conference between patient
and the doctor.
 Real time Monitoring of patient’s health will be
performed.
 All the data acquired will be displayed to doctor at that
instant so that doctor can make & check patient
accordingly.
 Apart from this all this data will also be stored in
Database.
 This data can be extracted by authorised staffs later on.

 Connecting with the family: -

 Shiv will also help the patient to connect with their
family.
 It is necessary for the patient to recover not just
physically but also mentally.
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  Patients get isolated when admitted & are deprived
of using their smart devices as it is feared that the
disease might get spread.
 Family members are also not allowed to meet the
patient.
 So, on a command of voice Shiv can instantly video
call a particular patient’s family.
 This will reduce family hysteria in patients & help
them recover better.

Approach-

We have developed our own voice command

system which is implemented in Shiv.
It can be accessed very easily by the patients.
As for the doctors they can remotely toggle this
functionality.
This voice command is written in Python (v 3.6).
This command can also very easy be made more
dynamic by simple adding & tweaking the source
code.
Voice Commands-
o This voice command is made using
certain libraries of Python.
o It can support a vast range of words.
o As this is made using Google API,
which is also used in many voice

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 searching apps or Google Assistant, it
supports over 10,000 + words.
o A few libraries that are used for the
development of this voice command
is-
 Speech Recognition
 Pyaudio
 Web browser
 Whatsapp
 OS module
Below are a few screenshots & link for a complete
working of Voice-

Fig.3.5. Opening You-Tube using Voice

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 Fig.3.6. Searching on Google using Voice

Link- “https://youtu.be/hm36_rQGo1E”

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WORKING (PART 3)-

Fig.3.7. Shiv performing sanitization

 This is the part for the safety of the patients.

 One of the intended arms of Shiv will be fitted with
sanitization system.
 Shiv will be able to sanitise the room of the
patients routinely.
 This will keep the transmission of virus to the
minimum.
 Shiv will go to every patient’s chamber to perform
sanitization process.

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Methodology-
Shiv will enter patient’s chamber with the sanitizer
system.
There will be various strip-like design in that room.
Shiv will be able to follow these lines and visit the
areas & corners to be sanitised.
After the sanitization of each room Shiv will return
to its initial position.

Approach-

We have though of adding a simple functionality of

line- following robot.
The main concern here is about the arm which will
perform the sanitization.
We are still trying to come up with the idea of
making a proper functioning arm.

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 CHAPTER-4

TIMELINE

September-

Beginning

Synopsis
Presentation

Coming up
with the idea

Fig.4.1. September Timeline

We started to work on this from

September beginning.
We came up with all the ideas that we
could do for this project.
A synopsis presentation was prepared
based on the idea.
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October-

Gathering
Ideas

Synopsis
Presentation
given
Start
searching for
the proper
elements

Fig.4.2. October Timeline

By October, we started to gather the ideas that we

can actually implement
We started to work on our presentation.
Finally, we gave a presentation on our final year
project.

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November-

Literature Survey

Technologies & Algorithms

Assembly

Fig.4.3. November Timeline

 We started to do major literature surveys in

month of November.
It helped us to gain more grip on our idea
presentation.
We started gathering various resources by
which we can do our construct on Robot.
We are first starting with the software part.
So, far we are able to develop a voice
command system for our robot.

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DECEMBER-

We are currently working on the Voice command

system and are trying to improve it as much as
possible.
We are so far able to achieve desired outputs.
Our next target is to add all the social media and
sevral features like calling & video conferencing.
After the completion of the voice command part,
we are planning to move towards hardware portion,
where we can make a robot capable of walking.

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 CHAPTER-4

References

 A Systematic Literature Review of Research in

the Surgical Field of Medical Robotics

 https://www.emerald.com/insight/content/doi/1
0.1108/01439910310473942/full/html

 https://www.manifestias.com/2020/02/28/roboti
cs-in-india/

 https://www.researchgate.net/publication/3450
05001_Robotics_applications_in_COVID-
19_A_review

 https://www.sciencedirect.com/science/article/
abs/pii/S0951832001000370

 https://www.robolab.in/details-and-scope-of-
robotics-industry-in-india/

 https://indianexpress.com/article/technology/te
ch-news-technology/hyderabad-based-startup-
launches-smart-robocop-named-after-26-11-
martyr-hemant-karkare-5004011/

 https://realpython.com/python-speech-

recognition/

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THANK YOU

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