The Hardware System Developed Of Digital Control Of The Radioactive Particles Within The Tumor Implanted With The Manipulator

Medical robotics is a variety of techniques into the emerging cross-area of research,including a series of electronic technology, automatic control, mechanics, machinery,sensors, computer graphics,mathematical analysis, and medical technology. At present,high-tech robot technology in surgery which has a wide range of applications, playingan integral role in many fields, such as in some special surgery settings and plannings,minimally invasive operations, undamage detection.For emerging medical technologicalinnovation and development, it is a powerful auxiliary and technical support.This project develops the manipulator robot which can automatically implantingradioactive particle into tumor to cure cancer. With the the precise guidance of CT, themanipulator robot makes the needle puncture the tumor tissue,according to the best angleand the intensity and accurately releases the radioactive particles.Thus, it greatlyimproves the accuracy of puncture and implanting the particle, minimize trauma,bleeding and metastasis of tumor needle tract. In short, it not only optimizes thetherapeutic effect, but also provide a safer surgical operating conditions for the surgicalhealth care workers.This article briefly introduces the different kinds of mechanical arms, according tothe coordinates way, the the way and drive mode.It firstly analyses the the construct andthe work principle of common mechanical arm, then determine the options ofmechanical arms according to the specific characteristics of this project. It combinesCartesian coordinates with polar coordinates in the coordinate form, which fullly playsthe precise characteristics of the Cartesian coordinate system. Besides, because of theflexibility of the polar coordinates in the angle of application.,the incident the needle armcan make perfect space gesture to reach the lesion target at the shortest distance and thesafest path.The hardware design of the system controls the mechanical arm through the MCU, including the motor drive modules, power amplifier module, the PCcommunications module, display module, and detection and feedback module.This paper describes the drive control technology of manipulator.Contrast withindustrial production, medical manipulator requires the strict precision,so the manipulatordrive control technology is the most important in the hardware research. This designadopts electric drive, that is, using the stepper motor to drive the manipulator. It simplyintroduces types and work principle of simple stepper motor and lucubrate the ofsubdividing drive method of stepper motor. It also introduces the PWM pulsemodulation segments drive and sinusoidal segments drive.The method is the sinusoidalsegments drive, which detailed analyse its principle.Using this method to subdivide the42BYGH019stepper motor drive to achieve selected subdividing drive.The maximumnumber of segments is up to128segments, that is subdivide motor step angle down to1/128. It largely optimize the accuracy of the robot hardware system. The system testsand feedbacks the rotation and the linear displacement with optical encoder grating.Also,it introduces the classifications and the principles at a certain degree.