腹腔镜机器人控制系统的设计及实现

Design and Realization of a Control System for Laparoscopic Robot

  • 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.

     

    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.

     

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