Research On Moving System Of Assistant Laparoscope Surgical Robot

A new type robot which works with the operators in the same workspace is one of the most popular research subjects. It inherits the characteristic of the tradition industry robot such as high operation precision and bearing capacity, and brings the operators' specialities such as intelligence, vision tactile and flexibility, which makes the robot and operator cooperate become possibility. It not only reduces labor intensity, but also improves the production efficiencies and operation level.According to the requirements of assistant laparoscopic surgical robot that operator, patient and robot have to stay in the same workspace, the paper designs the mobile system of the assistant laparoscopic surgical robot based on macro-control forces. The concrete research is as following:The paper designed the mechanical structures of mobile system, and designed the force sensor—the key part in detail. The model of the assistant laparoscopic surgical robot of the moving system was set up, the use of the strength sensor have realized the control of the moving system, and several basic moving models of the system was anlayzed.The paper designed the software and the hardware of mobile system. Based on modularization idea, with the ATMega128 and FPGA as the core, the hardware circuit is developed, including main control module, serial port communication module, sensor signal amplifier module, motor driving module and speed measuring module. At the software aspects ,the control program is developed on the basis of theμC/OS- II EMBEDDED RTOS.The semi-physical simulation experiment of the mobile system of the assistant laparoscopic surgical robot is carried out with the dSPACE/Simulink real time simulation platform. Semi-physical Simulation System is comprised of the control loops which transformed by drive system of wheels and simulation model combined by simulink and RTI which transformed by velocity servo control algorithm model. The servo control parameters of wheels are carried on real-time adjustment with ContolDesk. Experiments of control performance of the mobile system of the assistant laparoscopic surgical robot were carried out.