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

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.