腹腔镜机器人控制系统的设计及实现

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付宜利, 潘博, 杨宗鹏, 王树国. 腹腔镜机器人控制系统的设计及实现[J]. 机器人, 2008, 30(4): 340-345,352.. FU Yi-li, PAN Bo, YANG Zong-peng, WANG Shu-guo. Design and Realization of a Control System for Laparoscopic Robot. ROBOT, 2008, 30(4): 340-345,352..

摘要根据机器人辅助微创手术任务的特点设计了腹腔镜机器人控制系统．研究了基于运动控制卡的开放式机器人控制器结构，设计了机器人伺服系统及相应控制器硬件接口，采用面向对象的技术和模块化思想开发了系统控制软件，应用灵活度和可操作度概念建立了腹腔镜机器人的手术规划和控制平台．通过调试伺服参数提高了系统控制性能．实验表明，该腹腔镜机器人控制系统具有稳定性、高可靠性和多任务适应性，满足微创手术需求．

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	付宜利
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	王树国

关键词 ：微创外科手术, 腹腔镜机器人, 控制系统

Abstract：According to characteristics of minimally invasive robotic surgical tasks,a control system for laparoscopic robot is designed.The robot open control structure based on motion control board is studied,the servo system and the corresponding controller hardware interface board are designed,and software of the control system is developed with object-oriented technology and modularization methodology.The surgery planning and control platform for laparoscopic robot is established using concepts of dexterity and manipulability.Control performance of the system is improved through adjusting servo parameters.Experiment shows that the proposed control system for laparoscopic robot is of high reliability and stability,and is adaptive to multi-mission,so it can meet the demands of minimally invasive surgery.

Key words： minimally invasive surgery laparoscopic robot control system

收稿日期: 2007-12-13

TP241.3

基金资助:国家863计划资助项目（2007AA04Z248）

作者简介: 付宜利（1966- ），男，工学博上，教授，博士生导师．研究领域：机器人技术，数字化制造技术．
潘博（1981- ），男，博士生．研究领域：机器人控制，医疗机器人技术．
杨宗鹏（1984- ），男，硕士生．研究领域：机器人控制，路径规划技术．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I4/340

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