A STUDY OF OPERATIONAL LIABILITY

OF THE MEDICAL RESCUE ROBOT

UNDER DISASTER
SEMINAR REPORT BY:
PRAMOD K 1BM10EC075

Department of Electronics and Communication Engineering

B.M.S COLLEGE OF ENGINEERING

(Autonomous College Affiliated to Visvesvaraya Technological University, Belgaum)

Bull Temple Road, Basavanagudi, Bangalore-560019

OBJECTIVES

To prevent CRUSH SYNDROME

To design DUAL CRAWLER TYPE rescue Robot

Improve manuevaribility

CRUSH SYNDROME

In all these disasters many victims who have been trapped under fallen
masonry died by the symptom of crush syndrome
Its amedicalcondition characterized by majorshockcausing
crushinginjury toskeletal muscle.
Crushinjuryis compression of parts of the body that causes muscle
swelling and/or neurological disturbances in the effected areas of the
body.
Crush injury causes skin injury, swelling, paralysis, severe pain, renal
failure etc.

WHY RESCUE ROBOTS?

During a disaster scenario, for example a collapsed building after an

earthquake, it is often very dangerous for human emergency forces to
reach a casualty.
Rescue robots can be operated in areas having dangerous substances,
poor visibility, narrow spaces & radioactive leak to nd victims and
supply essential medicine or food.
The task of the robot is now to nd the hidden victims with the help of
wide range of sensors such as infrared sensors, laser scanners and gas
sensors

RESCUE ROBOT CHALLENGES

Searching
Reconnaissance and mapping
Rubble removal
Structural inspection
Medical assessment and intervention
Providing logistic support

BLOCK DIAGRAM

HARDWARE COMPONENTS:
1. Embedded Microcontroller PIC / ARM
2. Zigbee Transmitter and Receivers / RF Transceivers
3. PIR Sensor
4. Motor
5. Motor drive
6. Buzzer
7. RF camera

MICROCONTROLLER

PIC/ ARM microcontroller is used .

Signals from various sensors are given to the microcontroller and itll
digitize the signal and send it to the zigbee.
The controller has inbuilt ADC, required to get the signals from the
various sensors.
It has Maximum clock frequency is 20MHz and hence faster than
8051. It is Based on RISC and Harvard architecture and hence even
more faster.

PIR SENSOR

PIR sensors are passive infra-red sensors.

They detect change in the heat and this can be used to detect
movement of people. It operates at 5V DC.
Its a pyro electric device that measures changes in the infrared (heat)
levels emitted by surrounding objects.
Thus motion can be detected by checking for a sudden change in the
surrounding IR patterns.
When motion is detected the PIR sensor outputs a high signal on its
output pin. This logic signal can be read by a microcontroller.
Detection range up to 20 feet away.

MOTOR AND MOTOR DRIVE

The project uses DC motor.

DC motors have polarity and direction of rotation depends on
direction of current.
A motor cannot be interfaced to the microcontroller directly
because it requires much higher voltage and current.
Motor drive is used as the interfacing circuit between
microcontroller and robot to supply required power to the motor .

VOLTAGE CONVERSION CIRCUIT

The operating voltage of Zigbee/ RF transceiver and PC are different

hence we need a voltage conversion circuit.
This circuit is required to connect to the serial port of a computer
called the RS232 port.
RS232 is a serial communication standard that uses voltages (+12V/12V) different from conventional digital circuits (0V/5V).
Hence a PC interface circuit is needed to do voltage conversions
between ordinary digital devices and a computer

WORKING PRINCIPLE:
From transmitter side we will control the moments of vehicle
(forward/reverse/left and right) using keys of the keyboard by
looking at the video in computer.
The communication will be taken place using RF technology.
When we try to control the remote vehicle by using the keys of
keyboard the RF encoder will send the encrypted code to robot.
The action what ever taken place by the motor can be seen in the
computer by using TV tuner card.

We have only used 4 bits of combinations is used to control the

movement of vehicle.

Ex:

0001
0010
0011
0100

Forward
Reverse
Left
Right

The vehicle is equipped with PIR sensor and wireless camera. The PIR
sensor is used to detect the movements around the vehicle depending
on IR density variation.
In the vehicle side, the RF receiver will receive the signals and decode
it as commands using decoder chips.
The wireless camera that has built in transmitter to transmit the video
signals is connected camera to the microcontroller.
By viewing the video received at the controller station the movement
of the vehicle can be controlled.

ADDITIONAL FEATURES OF THE RESCUE ROBOT

Dual tiered crawler system:

We cannot adopt existing crawler mechanism to the Rescue Robot to
make it work under rubble.
Existing crawler robots are too hard to proceed under rubble.
Because the crawlers rotational direction lead that it cannot do though
narrow space vertically.
Therefore the dual tiered crawler that can travel in adverse directions
is used.
This crawler system could grip obstructions above, and it was possible
to even use as foothold.

VITAL SIGN SENSOR PROBE

The Vital Sign Sensor Probe is composed of Near Infrared Camera,
Infrared LED Light and Microphone/Speaker. These Sensors are
equipped with tip of the flexible arm.
The Near Infrared Camera and the Light checks the victim status
and blood flow measurement visually.
The Microphone is used to determine responsiveness of victims and
check their heartbeat. The Speaker is used to call the victim and
give their encouragement.
The doctor and operator utilize them for determining the severity
of the victims. Because hemoglobin absorbs near infrared light
(wavelengths about 780nm), we can conrm supercial veins and
the flow.

MECHANISM OF THE CRUSH

SYNDROME PREVENTION
It goes through under rubble with squeezing rubble and reached to
victim.
After removal of rubble, affected parts of victims are tighten
smoothly by cuff to prevent crush syndrome.
The cuff is an inflatable band.
The cuff is inflated rapidly by using carbon dioxide gas from smallsized cylinder.
It is able to stop blood flow around affected part (mostly leg) by
inflate cuff pressure.

Cuff works to prevent re-circulating of blood that causes

contamination, which prevents the Crush syndrome.
And the victim is picked up in the container inside of the Robot body.
After picking up the victim in the container, the Rescue Robot goes

back from under rubble to ground.

RESCUE ROBOT OPERATION

PROPOSED DESIGN OF ROBOT

APPEARANCE OF THE RESCUE ROBOT

Thank You