Design and Realization of Robot Control System for Neurosurgery

Based on the clinical demand of neurological frameless stereotactic surgery, the control system of minimally invasive neurosurgery robot Liyuan BH 600 is designed. Firstly, according to the design requirement, the control structure and implementation scheme is determined by careful analysis and comparing, and the hardware and software of control system for this robot are designed. Then, the process and approach of control system tuning and some issues involved specially in the course of tuning are interpreted. Finally, the surgery planning and control platform for neurosurgery robot is established. The high precision, stability and reliability of this control system are validated by the results of the experiments and clinical application in neurosurgery.