The Design Of Surgical Robot Control System And Manual Control Device

With the cross-development of robotic technology and medical science, a variety of medical robots are being increasingly applied in the medical field. Due to the rigid structure of bone, the images of bone captured by computer are consistent with the intraoperative anatomical structure. Therefore robot-assisted surgical techniques especially suit for orthopedic surgery. Owning to the complexity of anatomy and special purpose of treatment, craniofacial surgery must be precisely operated with minimal trauma. Optical navigation technology has currently solved the surgical operating planning and intraoperative accurate measurement, but errors or injuries might be caused by the instability of surgeon's operation during the traditional surgical method. The robot with high accuracy, reliability and the obvious advantage of minimally invasive can play a good assistant role in osteotomy, grinding and fixation, which need high accuracy and stability.This paper designs the orthopedic surgical robot system, especially the control system, describes modules of control system and information transfer among them, and briefly introduces registration techniques in craniomaxillofacial surgery combined with the optical navigation system. Control system mainly includes the embedded central control module, the multi-axis motion control module, servo drives, the HCI module, sensors and control switches. The paper focuses on the hardware of control system and control circuit design. In addition, the paper develops a new type of multi-DOF robot teaching approach, namely a manual control device. The device can control the spatial position and posture of robotic end-actuator and provide surgeon with more direct and secure control. Finally, the paper tested the positioning accuracy of robot and the performance of manual control device, mainly for the mechanical and dynamic performance of the device. Experiments verified that the manual control device is suitable for a"hands-on"teaching of surgical robot and the system meets expectation.