腹腔微创手术机器人主从控制技术与实验

Mater-slave Control Technology for Abdominal Minimally Invasive Surgery Robot and Its Experiments

  • 摘要: 针对机器人微创手术的任务特点,在分析主从控制功能需求的基础上,采用工控机结合运动控制卡的控制体系构建机器人主从控制系统硬件平台.研究基于微分变换的主从操作实时控制算法,设计主从控制的辅助功能.在机器人系统集成基础上开展主从控制实验、生物组织实验及动物试验研究.实验表明所研制的机器人具有较好的主从控制性能,能够满足微创外科手术的实际需求.

     

    Abstract: According to task features of RMIS (robot-assisted minimally invasive surgery), based on the functional requirement analyses of master-slave control, a hardware platform of robot master-slave control system is constructed by adopting control architecture of industrial computer and motion control card. A real-time control algorithm of master-slave operation is investigated based on differential transformation method, and then the auxiliary function of master-slave control is designed. Master-slave control experiment, experiment on biological tissue and animal experiment are carried out after robot system integration. Experiments demonstrate that the system has good master-slave control performance, which satisfies the actual demand of minimally invasive surgery.

     

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