Research On Control System For The Laparoscopic Minimally Invasive Surgery Robot

Laparoscopic minimally invasive surgery robot is one of the most significant applications in medical robot. As its special mechanism design, a minimally invasive surgical robot can greatly extend the ability of surgeons to break through the limitations of manual minimally invasive surgery and then take advantages of minimally invasive surgery. Combining robot technology and experience of a surgeon, it can not only improve the quality and security of a surgery, shorten the cure time and reduce the patients' cost, but also apply the minimally invasive surgery technology into precision surgery areas and then enlarge the application areas of the minimally invasive surgery.The thesis focuses on the control system of the laparoscopic minimally invasive surgery robot. According to features of the isomeric master-slave manipulators and the demand of the laparoscopic minimally invasive surgery, an embedded system based on DSP & FPGA is designed. A master-slave mapping algorithm is designed after master-slave mapping relationship analyzed. Fininally the control system realizes 1000Hz master-slave mapping frequency. The main contents of this thesis are:1) Analysis on the kinematics of the laparoscopic minimally invasive surgery robot. It establishes mathematical models of the isomeric master and slave manipulators for the laparoscopic minimally invasive surgery robot system, and analyses the models using vector method, finally it deduces kinematics formulas as the important reference for the control system design.2) Analysis on the master-slave mapping algorithm of the laparoscopic minimally invasive surgery robot. Based on the kinematics analysis of the master and slave manipulators individually, it develops the isomeric master-slave mapping relationship, designs a speed control algorithm and the model of joint speed limit which guarantees the system safety.3) Design and implement the control system of the laparoscopic minimally invasive surgery robot. As the demand of the laparoscopic minimally invasive surgery and the system function, it designs and implements the embedded system based on DSP & FPGA. FPGA inner logic function is designed according to system functions. According to the software and hardware resources of high speed DSP, it analyses the software structure of the control system, and designs the main working flow of the controller.4) Research on experiments of the laparoscopic minimally invasive surgery robot. It designs a series of experiments on teleoperation of the robot, and validates the functions and teleoperation mode of the robot.