Establishing a TCP connection between a Graphical User Interface and the controller of a robot

Flux Robotics is a company performing breakthrough research, within the aim to revolutionise the field of minimally-invasive surgery. This is done by developing innovative magnetic robotic technologies that allow more precise and less invasive procedures. This is a very complex research with a lot of steps with respect to algorithms and programming. This thesis focuses on the development of a reliable and stable connection between the graphical user interface (GUI) and the KUKA Sunrise Cabinet, the controller of the Flux One System. This research project aims to replace MATLAB with the KUKA Sunrise Workbench as a suitable platform. Ending with a TCP connection between Qt creator, were the GUI is developed on, and the KUKA Sunrise Cabinet. The research begins by establishing the necessary requirements set up by the Food and Drug Administration regulations for software development in medical devices, and the requirements set up by the company, Flux Robotics. A process view chart is then developed, outlining the components of the system, interactions and data flow. Through out this process, using KUKA Sunrise Workbench as a replacement for MATLAB, is confirmed. After this process is developed and the inputs and outputs are understood, the project proceeds with the development of an internal TCP connection. This internal connection is formed on one laptop with Ubuntu as its operating system. The connection is made between Qt Cre-ator (C++) and Visual Studio Code (VSC) that uses Java as programming language. This requires an understanding and adaption of TCP communication protocols in both programming languages. After the TCP connection is established, the focus shifts to establish a connection between the GUI code and the KUKA Sunrise Cabinet. This involves physically connecting the device, with the GUI code, to the KUKA Sunrise Cabinet and configuring the networks settings. The resulting connection enables robotic control and operation from a GUI on a tablet, within the Flux One System. Throughout the research, compliance with FDA and company requirements, the development of a process chart, the implementation of an internal TCP connection, and the establishment of the GUI-to-KUKA Sunrise Cabinet connection are accomplished. The successful outcome demonstrates the capability of the Flux One System to now be operated via a connected device with the GUI programmed on it. This research contributes to the advancement of medical device control, improving patient out-comes. The findings highlight the potential for further development and implementation of the Flux One System in hospitals.