Research On Motion Control Of Master-slave Minimally Invasive Surgical Robot

MIS (Minimally Invasive Surgery) is that the doctor, with the guidance of a variety of visual images, extends the surgical instruments through a small incision into human's body following a pre-programmed operation path to do observation and treatment in order to minimize the trauma and relieve pain. Meanwhile, the minimally invasive surgery robot technology by combining the robot technology and surgery has become a hotspot at home and abroad.Based on the requirements of MIS, the overall structure of a master-slave MIS robotic is designed in the thesis, and hardware and software designs of the control system are completed, and an experimental prototype is developed and experimental studies of the master-slave control is accomplished, and the specific studies are as follows:This thesis establishes the overall program of the MIS robot system, which consists of master manipulator, slave manipulator and the control system. According to the characteristics of robot's master and slave manipulators, the structural designs of these are finished, and the prototype of the master manipulator is accomplished.The kinematic model of the master and slave manipulators is analyzed, based on which the master-slave control program is completed, and master-slave control simulations are carried out, which verify the correctness of the kinematic model and the feasibility of the master-slave control.In accordance with the prototype of the master and slave manipulators, the design of the control system is programmed including the hardware and software.The experimental system of a master-slave control is established, and the debugging programs of the data acquisition and motion control are accomplished, and master-slave control experiments are conducted, which shows that the robot system meets the requirements of the design.