Research And Implementation Of Intelligent Endoscopic Instruments Navigation For Minimally Invasive Surgery

Robot-assisted minimally invasive surgical technique combines mechanical, electronic, control, sensors, biomedical image processing multidisciplinary sophisticated technology, the medical profession is the world a common goal, as in the field of industrial production using robots instead of human labour, in the medical surgical robot used in the surgery doctors can replace the long surgical precision, of course, is built on the medical robot system stability and reliability to meet the requirements of the foundation.In this paper, in order to achieve the bending state medical endoscopic detection as a major objective in embedded systems with basic long-distance transmission of information, embedded systems based on digital signal filtering algorithm and, a large number of information storage and so on. Design and implementation of a hardware system based on the mixed-signal test MSP430FG4618 microprocessor control circuit design and S3C2410-based embedded system design. Detection control circuit main sensor detection, and get first-hand data, and embedded systems responsible for some of the major real-time data filtering, and data transmission and long-distance.As the equipment will be used in the medical surgical process, the hardware system includes digital signal also contain a large number of analog signal, but also high-speed digital signal in the digital signal, therefore, hardware system design, should take full account of its resistance to electromagnetic interference and the ability of radiation, and to prevent the interference of other equipment.Research requirements in connection with the topic of this paper have completed the major work, including: hardware circuit design, and embedded software design and embedded filter algorithm design, simulation and embedded system in the transplant. Hardware design include differential amplifier design, hardware filter design, data acquisition and embedded system design. Software design completed some of the major design and data collection procedures, based on the ARM-embedded LINUX operating system transplantation. Combined with embedded systems hardware resources and limited computing power of the characteristics that the embedded system achieved Kalman filtering algorithm.Ultimately, raised a number of further research directions. First of all, can make use of virtual reality technology, and used the data endoscope 3D reconstruction surgery facilitate the process of monitoring. Second, it can help with wireless technology, such as ZIGBEE, to realize the system and monitoring equipment or surgical robot wireless information transmission, simplify system hardware structure, and ease of use. Third, the need to improve based on the embedded-system-based telemedicine network technology, it will be convenient remote access, expert consultation or remote monitoring and information fitting the endoscope state data, and to output, use or supply of surgical robot 3D reconstruction.