Interface Design For Master Manipulator Of The Surgical Robot

Adopting force feedback technique in master-slave teleoperation is one of themost important research field in medical robot, haptic master manipulator and tactileslave manipulator are necessary parts of master-slave force feedback control system.Based on joint type master manipulator, the interface circuit is designed forconnecting the master manipulator with personal computer;combining with thetactile finger, the master-slave control system with force feedback is constructed forgripping blood vessel.Firstly, interface circuit is designed for joint type master manipulator. Based onthe mechanical and electronic interface of master manipulator, the interface circuit ofmaster manipulator is designed with MCU and FPGA. On the one hand, theinformation of master manipulator is received by computer, on the other hand, thedirect motor is controlled by the computer. The MSC1211 microcontroller integratedwith A/D and D/A convertors of TI corporation is used to simplified the systemdesign. The module of photoelectric encoder is designed with PLD. Based onhardware devise, the MCU and computer's interface is programmed, MSCommcontrol is used for serial communication. As a result, the interactive system betweenmaster manipulator and computer is completed.Secondly, combining with the tactile finger, the master-slave gripping systemwith force feedback is constructed. Based on MCU, the master-slave control system isdevelopped, the stepper motor interface is designed with L297 and L298N. Theprogram of MCU is designed, the acceleration and deceleration process of steppermotor is concerned. As a result, the design and test of system is completed.In the end, the experiment on the master-slave gripping system with forcefeedback is made.