Duh-Vinci Surgical Robot

Below is the Multi-Million Dollar Ultra-High Technology Da Vinci Surgical Robot.

And this is the Cheap Low Technology Duh Vinci Surgical Robot.

Tablet Interface

Circuit

Parts List:

4 x Me Arm Open Source Robot

1 x Dissection Kit

1 x SparkFun Blynk Board

1 x 4 Line Voltage Level Shifter

1 x ESP32-Cam

1 x PCA9685 12-bit 16-PWM Servo Controller Board

4 x Cat6 RJ45 Surface Mount Box - 1 Port

2 x Cat6 RJ45 Surface Mount Box - 2 Port

1 x 5v/3.3V DC Power Supply

1 x 6v DC Power Supply (Servos)

Support Equipment:

1 x Android Tablet

ESP32-CAM Setup

1. include "OV2640.h"
2. include <WiFi.h>
3. include <WebServer.h>
4. include <WiFiClient.h>

1. include "SimStreamer.h"
2. include "OV2640Streamer.h"
3. include "CRtspSession.h"

1. define ENABLE_OLED //if want use oled ,turn on thi macro

// #define SOFTAP_MODE // If you want to run our own softap turn this on

1. define ENABLE_WEBSERVER
2. define ENABLE_RTSPSERVER

1. ifdef ENABLE_OLED
2. include "SSD1306.h"
3. define OLED_ADDRESS 0x3c
4. define I2C_SDA 14
5. define I2C_SCL 13

SSD1306Wire display(OLED_ADDRESS, I2C_SDA, I2C_SCL, GEOMETRY_128_32); bool hasDisplay; // we probe for the device at runtime

1. endif

OV2640 cam;

1. ifdef ENABLE_WEBSERVER

WebServer server(80);

1. endif

1. ifdef ENABLE_RTSPSERVER

WiFiServer rtspServer(8554);

1. endif

1. ifdef SOFTAP_MODE

IPAddress apIP = IPAddress(192, 168, 1, 1);

1. else
2. include "wifikeys.h"
3. endif

1. ifdef ENABLE_WEBSERVER

void handle_jpg_stream(void) {

   WiFiClient client = server.client();
   String response = "HTTP/1.1 200 OK\r\n";
   response += "Content-Type: multipart/x-mixed-replace; boundary=frame\r\n\r\n";
   server.sendContent(response);

   while (1)
   {
       cam.run();
       if (!client.connected())
           break;
       response = "--frame\r\n";
       response += "Content-Type: image/jpeg\r\n\r\n";
       server.sendContent(response);

       client.write((char *)cam.getfb(), cam.getSize());
       server.sendContent("\r\n");
       if (!client.connected())
           break;
   }

}

void handle_jpg(void) {

   WiFiClient client = server.client();

   cam.run();
   if (!client.connected())
   {
       return;
   }
   String response = "HTTP/1.1 200 OK\r\n";
   response += "Content-disposition: inline; filename=capture.jpg\r\n";
   response += "Content-type: image/jpeg\r\n\r\n";
   server.sendContent(response);
   client.write((char *)cam.getfb(), cam.getSize());

}

void handleNotFound() {

   String message = "Server is running!\n\n";
   message += "URI: ";
   message += server.uri();
   message += "\nMethod: ";
   message += (server.method() == HTTP_GET) ? "GET" : "POST";
   message += "\nArguments: ";
   message += server.args();
   message += "\n";
   server.send(200, "text/plain", message);

}

1. endif

void lcdMessage(String msg) {

 #ifdef ENABLE_OLED
   if(hasDisplay) {
       display.clear();
       display.drawString(128 / 2, 32 / 2, msg);
       display.display();
   }
 #endif

}

void setup() {

 #ifdef ENABLE_OLED
   hasDisplay = display.init();
   if(hasDisplay) {
       display.flipScreenVertically();
       display.setFont(ArialMT_Plain_16);
       display.setTextAlignment(TEXT_ALIGN_CENTER);
   }
 #endif
   lcdMessage("booting");

   Serial.begin(115200);
   while (!Serial)
   {
       ;
   }
   cam.init(esp32cam_aithinker_config);

   IPAddress ip;

1. ifdef SOFTAP_MODE

   const char *hostname = "devcam";
   // WiFi.hostname(hostname); // FIXME - find out why undefined
   lcdMessage("starting softAP");
   WiFi.mode(WIFI_AP);
   WiFi.softAPConfig(apIP, apIP, IPAddress(255, 255, 255, 0));
   bool result = WiFi.softAP(hostname, "12345678", 1, 0);
   if (!result)
   {
       Serial.println("AP Config failed.");
       return;
   }
   else
   {
       Serial.println("AP Config Success.");
       Serial.print("AP MAC: ");
       Serial.println(WiFi.softAPmacAddress());

       ip = WiFi.softAPIP();
   }

1. else

   lcdMessage(String("join ") + ssid);
   WiFi.mode(WIFI_STA);
   WiFi.begin(ssid, password);
   while (WiFi.status() != WL_CONNECTED)
   {
       delay(500);
       Serial.print(F("."));
   }
   ip = WiFi.localIP();
   Serial.println(F("WiFi connected"));
   Serial.println("");
   Serial.println(ip);

1. endif

   lcdMessage(ip.toString());

1. ifdef ENABLE_WEBSERVER

   server.on("/", HTTP_GET, handle_jpg_stream);
   server.on("/jpg", HTTP_GET, handle_jpg);
   server.onNotFound(handleNotFound);
   server.begin();

1. endif

1. ifdef ENABLE_RTSPSERVER

   rtspServer.begin();

1. endif

}

CStreamer *streamer; CRtspSession *session; WiFiClient client; // FIXME, support multiple clients

void loop() {

1. ifdef ENABLE_WEBSERVER

   server.handleClient();

1. endif

1. ifdef ENABLE_RTSPSERVER

   uint32_t msecPerFrame = 100;
   static uint32_t lastimage = millis();

   // If we have an active client connection, just service that until gone
   // (FIXME - support multiple simultaneous clients)
   if(session) {
       session->handleRequests(0); // we don't use a timeout here,
       // instead we send only if we have new enough frames

       uint32_t now = millis();
       if(now > lastimage + msecPerFrame || now < lastimage) { // handle clock rollover
           session->broadcastCurrentFrame(now);
           lastimage = now;

           // check if we are overrunning our max frame rate
           now = millis();
           if(now > lastimage + msecPerFrame)
               printf("warning exceeding max frame rate of %d ms\n", now - lastimage);
       }

       if(session->m_stopped) {
           delete session;
           delete streamer;
           session = NULL;
           streamer = NULL;
       }
   }
   else {
       client = rtspServer.accept();

       if(client) {
           //streamer = new SimStreamer(&client, true);             // our streamer for UDP/TCP based RTP transport
           streamer = new OV2640Streamer(&client, cam);             // our streamer for UDP/TCP based RTP transport

           session = new CRtspSession(&client, streamer); // our threads RTSP session and state
       }
   }

1. endif

}