Design and Realization of a Control System for Laparoscopic Robot

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.