surgical-assistant-robot

A surgical assistant robot's source code developed with Özyeğin University via Summer intern (with Asst. Prof. Özkan Bebek).

Requirements:

KinovaAPI: version 6.1.0

libzmq-3: ZeroMQ library for communication with backend server and C++ hardware receiver server. You can download via this link.

Windows.h: If you are using Windows (Install via Visual Studio)

dlfcn.h: If you are using Linux (i think it comes with gcc / like a std lib in C/C++)

C++ compiler: i preferred g++ compiler

Golang: 1.20 version of golang.
Note: 1.20 is the default version for Golang API
It's not tested on other versions.
The stabilistic version is this.

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The project structure is:

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src
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\----> main.cc is used for to communcate between commander and hardware. (Kinova KA-75+ & KA-58 Actuators)
                                    (We used this actuators for moving surgical-assistant-robot)

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include
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\----> Third party headers are included in the side of C++ code.
\----> Kinova KA-75+ & KA-58 Actuators header files. (That's not enoug for usage you need .so dynamic libraries to use them.)
\----> RapidJSON: It is a third party json handling library developed by Tencent Coorparation. (The PUBG one)

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bin
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\----> Build directory for our source files.

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server | GoLang Projexy Server for communication with backend server and C++ hardware sender/receiver server.
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\----> main.go | Main file for application server
       lib
       |
       \----> api.go | The head of the project structure and the api handlers for the application server.
       \----> logger.go | The logger for the application server.
       \----> config.go | The config for the application server.

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current directory
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\----> main.py | It is used for commander app (Coded in Flask).
\----> setup.sh | Main setup bash script for install dependencies of this project.

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templates | Folder for holding HTML5 templates for Flask (Python3 micro backend framework)
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\----> api.html | A little bit of documentation of GoLang server usage.
\----> commander.html | Remote Control Unit User Interface for Commander.
\----> index.html | That pages used for choosing api.html or commander.html 
       (Kinda used for navigating between pages.)

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public | Folder for holding CSS3 and JavaScript files for Flask Server. (Commander Desktop App Server)
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\----> index.css | Static CSS file
\----> index.js | Static JavaScript file

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arduino_libraries | It's used for servo engines to add that your Arduino IDE
use the bash script named `setup.sh`

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experiments
\----> Other files are is used for experimantal settings.

Informations about project.

Maintainer: Asst. Prof. Özkan Bebek
Maintainer's Asst's: Ahmet Burhan Kara, Süleyman Can Çevik.
Authors: Yiğit GÜMÜŞ, Salih Burak AYDOĞDU, Ozan GÖRGÜ, Bengisu PAPAKÇI

LICENSE

The program licensed under "MIT License". (via LICENSE.md)