Design of the Control System and Home Point Positioning Device for Minimally Invasive Vascular Interventional Surgery Robot
DUAN Xingguang1,2, CHEN Yue1,2, YU Huatao1,2
1. Intelligent Robot Institute, Beijing Institute of Technology, Beijing 100081, China;
2. MOE Key Laboratory of Bionic Robot and System, Beijing 100081, China
段星光, 陈悦, 于华涛. 微创血管介入手术机器人控制系统与零位定位装置设计[J]. 机器人, 2012, 34(2): 129-136.DOI: 10.3724/SP.J.1218.2012.00129.
DUAN Xingguang, CHEN Yue, YU Huatao. Design of the Control System and Home Point Positioning Device for Minimally Invasive Vascular Interventional Surgery Robot. ROBOT, 2012, 34(2): 129-136. DOI: 10.3724/SP.J.1218.2012.00129.
To realize the accurate positioning and stable holding of surgical tools by minimally invasive vascular interventional surgery (VIS) robot, a control system and a home point positioning device are designed. Constitutions of the robot system and its upper-lower control system based on PMAC (programmable multi-axis controller) are introduced firstly. Meanwhile, the quintic interpolation motion planning and three-loop PID algorithms are designed, which improve both the robot’s response speed and stability. To find the base point of the robot’s motion, the home point positioning method and device are proposed based on Hall sensors and information of motor motion. The experiment results show that the presented home point positioning device works stably and accurately.
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