The Design Of Master-slave Micro-invasive Surgical Robot Controll

In medical technology means rapid, surgical robots play anincreasingly large role in a variety of surgical containing surgical robotforce feedback function is the research focus of the current surgicalrobot, but also at home and abroad at this stage of encounterone of thedifficulties. This paper studies the master with force feedback from thesurgical robot control and other related issues.This paper first introduces the current main hand and from handoverview of minimally invasive surgical robot at home and abroad,through the introduction of these robots can understand the basicprinciples of the master-slave hand. And the content and methods ofthe study of the whole subject.Secondly, the article describes the main hand and from themechanical design of the mechanical structure of the hand, theprinciple of mechanical design and robot joint movement restrictions,experiments verify the movement of the mechanical structure of spaceand joint angle. And describes the drive motor and the motor drive control system and drive system used, and describes the principle ofcontrol hardware structure..Then introduced a master-slave the main surgical robot hand, andfrom the hand of the communication mechanism-based on the serialcommunication RS232-CAN communication network, controlalgorithm and the main collection from hand movement and stressinformation. And force feedback mechanism and the basic principlesof the main mechanisms from the movement of the hand, and design ofexperiments to be verified, and the two control systems schematics.,Respectively, to verify the main hand and from hand control accuracyand control stability.Finally, the realization of the principle of the master-slavesurgical robot control system software design principles andcommunication module. And describes the specific design of thehuman-machine interface of the software.