Research On Master-salve Control Systerm Building And Realization Of Minimally Invasive Surgery Robot

In recent decades minimally invasive surgery robot is becoming the world’s researchfocus of medical robotics rising from combining robotics with minimally invasivesurgery techniques. It has the advantages of high precision, operating flexibility, lowlabor costs, remote control and so on. The research of its control system is the core ofthe technology.This paper is based on the pattern of the master-slave robotic minimally invasivesurgery. Depending on kinematic analysis of slave hand manipulator model,master-slave control system is designed and constructed. It is combined with measuresrelated to security and stability. The main content is showed as followed:Firstly, this paper analysis slave hand manipulator mode, and then establish a D-Hcoordinate system to study the forward and inverse kinematics problem. This paper usemulti-joint bundling mode to analysis and compare various kinematic solution method.This paper applies kinematics method for inverse Jacobi matrix to avoid the problem ofmultiple solutions and verify the feasibility of the method through the program.Secondly, this paper establishes the master-slave mapping model and gives master-slavecontrol strategy based on kinematic solution: position control, posture control, strokeratio control, the master hand adjustment control, error feedback method. Multi-armcollision detection method is designed to ensure the security. Digital filter is used tofilter invalid jitter to ensure the stability, and meanwhile traditional joint trajectoryplanning is optimized to improve computational efficiency.Thirdly, this paper design functional logic and console hardware structure for maincontroller, build slave hand motor control system, develop monitoring and simulationplatform for control system using C#, MATLAB and Sharp GL.Finally, this paper connects software and hardware control to test and verify the functionby experiments. In order to test the master-slave control method in this paper, this paperextracts and analyzes characteristic data.The master-slave control system for minimally invasive surgery robot with friendlyinteractive interface which achieves control function, data monitoring and animatedsimulation meets the needs of actual surgery. Therefore, this study has some practicalsignificant value.