| The surgical robot technology is the collection medicine, biological mechanics, mechanics, the mechanical mechanics, the material study, the computer graphics, the computer vision, the mathematical analysis, the robot and so on many disciplines is a new overlapping research area, already became a hot spot in the international robot research area. In surgical robot system, the laparoscopic surgical robot is outstanding.Based on the analysis of laparoscope surgery's characteristic, the specification and the applicable scope, a new assistant laparoscope surgical robot was designed, and its mechanic charts were achieved, then the control system of the robot was finished.The kinematics equation of the robot is founded, its solution include reverse solution are analyzed. By using of MATLAB, the kinematics simulation of the robot was finished.The software and hardware of the robot control system were designed. Then the master control circuit which based on TMS320LF240 DSP controller and the slave control circuit which based on ATmegal28L chip were achieved. And CCS and AVR Studio development environment was separately used to finish the control software.The prototype of laparoscopic surgical robot was manufactured, then the control system hardware circuit was carried on and the control software was debugged. At last, a more direct-viewing testing method which to track fixed path was designed. The tracking accuracy was analyzed and the solution of improving tracking accuracy was get. The result of experiment showed that the robot fulfilled the requirement of the laparoscopic surgery. |
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