| This paper is devoted to several issues on surgical robot of stereotactic neurosurgery , Based upon the requirement of surgical operation ,the general structure of the control system is illuminated . Kinematics and dynamics of the robot are analyzed . The control structure and the control modes are introduced .The partial control method adopted by PMAC motion computer is simulated . Adjustment procedure of the control system is summarized .In allusion to shortcomings of PID controller ,a kind of PID improvement algorithm based on neural network is analyzed . In order to use it in practice, several compensation methods of robot position errors is analyzed .According to practical demands , the control software system of surgical navigation and telemedicine system of robot-assisted neurosurgery are developed.
|
PDF Full Text Request