This document discusses applications of the Arduino microcontroller board. It describes a robotic scrub nurse developed to assist human nurses during surgery. The robotic scrub nurse uses an Arduino board as its control system. It is equipped with a speech recognition module to recognize requested surgical tools. Using computer vision and pattern recognition, the robot locates tools on a storage tray and picks them, placing the tools on an interchange tray for the surgeon to use. The robotic scrub nurse structure includes mechanical, electrical, and control systems. The Arduino runs software in C++ to control components and processes like moving the robot arms, opening the gripper, and recognizing speech commands. This provides an example of new applications of the versatile Arduino board.

1. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
36
A DIFFERENT APPLICATIONS OF ARDUINO
Maha M. Lashin
Mechanical Engineering Department, Shoubra Faculty of Engineering, Banha University, Egypt
ABSTRACT
Arduino is a rapid electronic prototyping platform composed by the Arduino board, and IDE
and it is used because it is an open-source project, flexible, easy to use, and unexpensive. Arduino
are growing online community. A robotic scrub nurse has been developed here to assist human scrub
nurses (also called delivery scrub nurses) during surgical interventions. The developed system in this
work depended on Arduino as a control system to equipped with a speech recognition module to
recognize the requested surgical instrument; Siri-Bot locates this element on a storage tray using
computer vision and pattern recognition and picks the element from the tray placing it on an
interchange tray where the human scrub nurse can finally use this tool.
KEYWORDS: Microcontroller- Arduino- Scrub Nurse Robot.
INTRODUCTION
The Arduino is as in [1] an open-source microcontroller development board. It is consists of
both a physical programmable circuit board and a piece of software, or Integrated Development
Environment running computer to write and upload computer code to the physical board.
Arduino also can be defining as a small computer on a single integrated circuit containing a
processor core, memory, and programmable input/ output peripherals.
The Arduino used to read sensors and control things like motors and lights. It allowed to
upload programs to this board which interact with things in the real world.
The Arduino can operate independently like robot which connected to a computer the
computer access to sensor data from the outside world and providing feedback, connected to other
Arduino’s, or other electronic devices and controller chips. Arduino programming language uses a
simplified version of C++.
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ISSN 0976 – 6340 (Print)
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2. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
37
ARDUINO STRUCTURE
Arduino structure depends on two branches hardware and software branch. Hardware is an
open-source circuit board with a microprocessor and input/output (I/O) pins for communication and
controlling physical objects (LED, servos, buttons, etc.). The board will typically be powered via
USB or an external power supply which in turn allows it to power other hardware and sensors.
Arduino also has an open-source software component which is similar to C++. The Arduino
integrated development environment allows writing code, compiling it, and then uploading it to
Arduino for standalone use in prototyping and projects.
ARDUINO TYPES
The Arduino comes in a variety of different types that allows for flexibility in choosing the
perfect solution as following;
Arduino Uno
The Uno as in figure 1 is an Arduino type which works with almost every shield available. It
is meant to be used as a permanent fixture in projects or with breadboards for testing.
FIG.1: Arduino Uno Type
Arduino Nano
As in figure 2 the Nano is almost feature for feature the same as the Arduino Uno, but it is
about 1/3 the size and cannot use shields easily.
FIG.2: Arduino Nano Type

3. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
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Arduino Lilypad
The Lilypad as in figure 3 has a unique design that can be sewn into fabrics for wearable
projects or art.
FIG.3: Arduino Lilypad Type
Arduino Mega 2560
The Mega 2560 has more memory and more I/O pins than any other Arduino. This is the
biggest and best Arduino can get as figure 4 shown.
FIG.4: Arduino Mega 2560 Type
Netduino
The Netduino is the cousin of the Arduino. It is as in figure 5 still an open source hardware
hacking and prototyping solution. But the Netduino runs net micro framework for its software base.
It is pin compatible with Arduino shields, but some may require drivers to run.
FIG.5: Arduino Netduino Type

4. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
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Arduino Shield
Arduino shields make adding functionality to the Arduino very easy. The shields have pins
that push right into the top of the Arduino and then it can immediately take advantage of whatever
the shield can do. A multiple shields can be added at a time. Arduino shields using hardware
components interfaced over different types of protocols such as SPI, I2C,1-Wire or serially over
a UART are generally good candidates for a Netduino adaptation because the .NET Micro
framework supports these protocols natively and can do bulk I/O transfers, yielding good
performance.
AREA OF ARDUINO APPLICATIONS
Arduino as in [2] is a good device for developing interactive objects, taking inputs from a
variety of switches or sensors and controlling a variety of lights, motors and other outputs. Arduino
projects can be stand-alone or they can be connected to a computer using USB. The Arduino will be
seen by the computer as a standard series interface. The Arduino board is a microcontroller board,
which is a small circuit that contains a whole computer on a small chip.
ROBOT SCRUB NURSE
As Mithun George [3], Anna Kochan [4], Wachs [5], and Joelle [6] the robotic nurse can
used to make the tasks of human nurse with high quality. Their robotic nurses used another type of
control systems to interface with this robots. But in that work (scrub nurse robot) the Arduino used as
a new control system to make the deal with this robotic nurse so easy.
As in figure 6 scrub nurse robot will discuss as a new application of Arduino. The main idea
of the scrub nurse robot is to make the same required tasks like human nurse with more accurate,
fast, and also with no feel tired.
FIG.6: Robot Scrub Nurse
The work of the scrub nurse robot begging when the surgeon required a certain tool from the
robot then, the surgeon voice input to the robot through a speech recognition shield for Arduino as in
figure 7, the voice will detection and recognition by the Arduino software.

5. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
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FIG. 7: Speech Recognition Shield
After that the surgical tools image capture by image acquisition device as a webcam, then the
image processing and template matching go ahead by the image processing program (visual
studio2010 C++). The output of all process is the moving of robot arms in X, Y directions to catch
the required tool and move it towards to surgeon. Figure 8 describe the flow chart of the scrub nurse
robot process.
FIG.8: Scrub Nurse Flow Operation
ROBOTIC SCRUB NURSE STRUCTURE
The scrub nurse robot consists of hardware and software systems. These systems can be
explained as following;
Hardware System
Scrub nurse robot hardware has three branches. The first branch is the mechanical branch or
manipulator which contain two arms, four joints, two basics (one moving and other stationary), and
gripper as in figure 9.

6. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
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FIG.9: Scrub Nurse Robot’s Manipulator
The electrical branch consists of the image acquisition device (webcam) which connected
computer cable as in figure10.
FIG.10: Scrub Nurse Robot’s Camera

7. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
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As in figure 11 four DC motors with 6V and 0.16/60 degree speed used for moving base
around its centre line (Y-axis), moving arm1 to front or back at X-axis direction, moving arm2 to up
or down at Y-axis direction, and open-closed the gripper. Also a switched mode power supply with
20 KHz frequency used for the DC motors and Arduino board.
FIG.11: DC Motor and the Switched Power supply
The final branch is the controlling branch which contained an Arduino Mega microcontroller
board based on ATmega1280 with 54 I/O Pins with 40mA DC current for each pin, 6V power, and
128 flash memory as in figure12. The final part in the control system is the speech recognition and
image processing shields for Arduino as shown in figure7.
FIG.11: Arduino Mega Microcontroller Board
Software System
The software system in Arduino which controlled on each components and each process at
the scrub nurse robot. The programming language used for ATmega1280 is the C++ language. The
different controlling cods written by C++ language and then a certain communication by USB has
don between Arduino board and the computer to sent cods to Arduino memory. Arduino software
includes a serial monitor which allows simply textual data to b sent to and from the Arduino board.
The hardware and software systems flow chart show in figure12.

8. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
43
FIG.12: General Flow Chart for the Scrub Nurse Robot’s Hardware and Software
CONTROLLING CODES
As explained before Arduino controlling unit board has programmed by C++ language to
create the controlling codes. A sample of these codes will appear as following;
SPEECH RECOGNITION CODE
staticvoidSpeechRecognitionWithChoices()
GrammarBuildergrammarBuilder = newGrammarBuilder();
//grammarBuilder.Append("I"); // add "I"
grammarBuilder.Append(newChoices("Forceps", "Clamp", "Scissors"));
_recognizer.RequestRecognizerUpdate();
_recognizer.LoadGrammar(newGrammar(grammarBuilder)); // load grammar
try
_recognizer.SetInputToDefaultAudioDevice(); // set input to default audio device
_recognizer.RecognizeAsync(RecognizeMode.Multiple); // recognize speech
catch
publicvoidspeechRecognitionWithChoices_SpeechRecognized(object sender,
SpeechRecognizedEventArgs e)
//MessageBox.Show(e.Result.Words[0].Text);
SetDirection(e.Result.Words[0].Text);
manualResetEvent.Set();
publicvoidSetDirection(string Direction)
//MessageBox.Show(Direction);
textBox1.Text = Direction;

9. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
44
IMAGE PROCESSING CODE
privatevoidRecognizeTools()
Centers_X.Clear();
Centers_Y.Clear();
flowLayoutPanel1.Controls.Clear();
Dictionary = newDictionary<string, Point>();
double[] VerticalProjections = GetVerticalProjections((Bitmap)pictureBox1.Image);
LocateTools((Bitmap)pictureBox1.Image, VerticalProjections);
foreach (string filename infnames)
Bitmap mask = newBitmap(Image.FromFile(filename));
intwhitePixelsCount = 10000;
PointDetectedCenter = newPoint(0, 0);
for (int i = 0; i <Centers_X.Count; i++)
intfalsePixelsCount = Anding((Bitmap)pictureBox1.Image, mask, Centers_X[i], Centers_Y[i]);
if (falsePixelsCount<whitePixelsCount)
whitePixelsCount = falsePixelsCount;
DetectedCenter.X = (int)Centers_X[i];
DetectedCenter.Y = (int)Centers_Y[i];
intstartIndx = filename.IndexOf('');
intendIndx = filename.IndexOf('.');
string substring = filename.Substring(startIndx + 1, endIndx - (startIndx + 1));
Dictionary.Add(substring, DetectedCenter);
listBox1.Items.Add(substring + " : Center( " + DetectedCenter.X.ToString() + "," +
DetectedCenter.Y.ToString() + ")");
publicBitmapMeanAvg(Bitmap b1)
BitmapbSrc = newBitmap(b1.Width, b1.Height);
// GDI+ still lies to us - the return format is BGR, NOT RGB.
BitmapDatabmData = b1.LockBits(newRectangle(0, 0, b1.Width, b1.Height),
ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
BitmapDatabmSrc = bSrc.LockBits(newRectangle(0, 0, bSrc.Width, bSrc.Height),
ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
int stride = bmData.Stride;
System.IntPtr Scan0 = bmData.Scan0;
System.IntPtr SrcScan0 = bmSrc.Scan0;

10. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
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List<int>pixlval = newList<int>();
unsafe
byte* p = (byte*)(void*)Scan0;
byte* pSrc = (byte*)(void*)SrcScan0;
intnOffset = stride - b1.Width * 3;
boolremoveMe = false;
for (int y = 2; y < b1.Height-2; y++)
for (int x = 2; x < b1.Width-2; x++)
if (p[0] == 255)
for (int s = (-1 * stride); s <= (stride); s += stride)
for (int t = (-3); t <= ( 3); t += 3)
//if ((p + s + t)[0] == 255)
// removeMe = true;
pixlval.Add((p + s + t)[0]);
pixlval.Sort();
pSrc[0] = (byte)(pixlval[5]);
pSrc[1] = (byte)(pixlval[5]);
pSrc[2] = (byte)(pixlval[5]);
//if(removeMe)
//{
// pSrc[0] = pSrc[1] = pSrc[2] = (byte)(0);
//}
p += 3;
pSrc += 3;
pixlval.Clear();
p += nOffset;
pSrc += nOffset;
b1.UnlockBits(bmData);
bSrc.UnlockBits(bmSrc);
returnbSrc;
publicBitmap Negative(Bitmap b)
// GDI+ still lies to us - the return format is BGR, NOT RGB.
BitmapDatabmData = b.LockBits(newRectangle(0, 0, b.Width, b.Height),
ImageLockMode.ReadWrite, PixelFormat.Format24bppRgb);
int stride = bmData.Stride;

11. International Journal of Mechanical Engineering and Technology (IJMET), ISSN 0976 – 6340(Print),
ISSN 0976 – 6359(Online), Volume 5, Issue 6, June (2014), pp. 36-46 © IAEME
46
CONCLUSION
This paper describes how a robotic scrub nurse has been developed to assist human scrub
nurses (also called delivery scrub nurses) during surgical interventions. The developed system in this
work is equipped with a speech recognition module to recognize the requested surgical tools;
Arduino control system used to locates this element on a storage tray using computer vision and
pattern recognition and picks the element from the tray placing it on an interchange tray where the
surgeon can finally use this tool. The robotic scrub nurse gave a good example as a new application
of Arduino microcontroller board.
REFERENCES
[1]. Alan G. Smith, “Introduction to Arduino”, September 30, 2011.
[2]. Amit Saha, “Learning to Program the Arduino”, Linux journal, Mar 26, 2012.
[3]. Mithun George Jacob, Yu-Ting Li, etl, “Collaboration with a Robotic Scrub Nurse”,
Communications of the ACM, May 2013. Vol.56, No.5, Pages 68-75.
[4]. Anna Kochan, “Robots offer significant advantages for white goods manufacturers”,
Industrial Robot: An International Journal, Vol. 32 Iss: 3, pp. 223-225, 2005.
[5]. Wachs, J.P., Kolsch, etl, “Future surgeons may use robotic nurse, ‘gesture recognition”
Communications of the ACM Vol. 54 No. 2, pg. 60-71, February 4, 2011.
[6]. Joelle Pineaua, Michael Montemerloa, etl,” Towards robotic assistants in nursing homes:
Challenges and results” ELSEVIER, Robotics and Autonomous Systems 42 (2003) 271–281.
[7]. Documentation and demos of C++.
[8]. Sajid M. Sheikh and Tshoganyetso Mangadi, “An Arduino Based Building Lights
Management System”, International Journal of Electrical Engineering & Technology
(IJEET), Volume 4, Issue 6, 2013, pp. 45 - 59, ISSN Print : 0976-6545, ISSN Online:
0976-6553.
[9]. Srushti H. Bhatt, N. Ravi Prakash and S. B. Jadeja, “Modelling of Robotic Manipulator
Arm”, International Journal of Mechanical Engineering & Technology (IJMET), Volume 4,
Issue 3, 2013, pp. 125 - 129, ISSN Print: 0976 – 6340, ISSN Online: 0976 – 6359.
[10]. Hameedah Sahib Hasan and Dr. P.Ramesh Babu, “Analysis and Control of Mobile Robot for
Pipe Line Inspection”, International Journal of Mechanical Engineering & Technology
(IJMET), Volume 4, Issue 5, 2013, pp. 1 - 9, ISSN Print: 0976 – 6340, ISSN Online:
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[11]. Saifuldeenabed Jebur, Prabhat Kumar Sinha and Ishan Om Bhargava, “Advancement and
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