Design Of The Master-slave Control System Of The Medical Robot Based On The ARM Micro-controller

Embedded system has outstanding characters, such as small volume, strong function, low power consumption, high dependability, application facing industry and so on. It will drive medical robot system to develop in the direction of miniaturization, portable type, low power consumption, etc.This paper represents a master-slave control system using embedded Linux. This system is built on medical robot's articulated master manipulator and slave manipulator's finger used for microsurgery, which are designed independently by our lab. This system mainly contains two parts: master-slave grasping control system with force feedback and data collection system of master manipulator's joints.Firstly, the hardware circuits of an ARM control board are designed based on the AT91RM9200 ARM controller. The tailoring and replanting of Linux kernel and its file system are realized based on these circuits.Secondly, the analog to digital conversion module and the stepper motor driving module are extended outside the ARM control board. The hardware driver programs in Linux kernel space and the control programs in user space are designed based on the extended circuits. Combined with the tache of force feedback, the master-slave grasping control system with force feedback is realized.Thirdly, the interface circuits outside the FPGA chip and the logical circuits inside it are designed based on the ARM control board. And also, the serial communicational interface circuits between the control board and the computer are realized. The hardware driver programs of FPGA and serial communicational interface in Linux kernel space and the control programs in user space are designed later. Combined with the serial communicational programs under windows system, the data collection system of master manipulator's joints is realized.Finally, the master-slave grasping control system with force feedback is validated by experimenting with grasping the simulative vein. The result of the experiment testifies that the system is designed correctly.