Design And Analysis Of Breast Intervention Robot Controller Based On AVR Microcontroller

MRI can not only present a clear and multi-faceted image, but also has noradiation to human body. MRI guided breast intervention robot has become avery important direction of minimally invasive surgery. However, MRI with highmagnetic field and small space, and the breast interventional surgery is based onthe prone position, which restricts the development of breast interventional robotbased on MRI environment. Also, intervene robot’s control is an awkwardproblem. So there is great theoretical significance and practical value to studybreast interventional robot’s control method.Based on the analysis of characteristics of MRI environment, breast cancersurgery and the mechanical structure of MRI breast interventional robot, thispaper proposes to study a MRI breast interventional robot controller. First of all,as the special environment of MRI has special requirements for MRI breastinterventional robot controller, an overall design program for MRI breastinterventional robot controller is defined. And then, the hardware configurationof MRI breast interventional robot controller is also analyzed and selected.Secondly, the modularization is introduced to design the power supply circuit,clock circuit, reset circuit, serial communication circuit and ISP download circuit.On this basis, hardware anti-electromagnetic interference performance of thecontroller was analyzed. At last, the software of breast interventional robotcontroller was designed based on hardware circuit design. The internal timerT/C1of a piece of AVR MCU was used to produce PWM wave. The timesharemethod was used to control multiple stepper motors. The motion simulation ofstepper motors in different PWM wave was conducted in simulation softwareProteus. Furthermore, a PC interface was designed in VC++10.0. Finally, aphysical controller was built up combined with the characteristics of the MRIbreast interventional robot. A motion experiment using the controller to control the breast interventional robot was arranged.The experiment results show that the controller is robustness and the controlmethod is acceptable and efficiency.And AVR singlechip as the core controldevices is feasible and reasonable for control scheme of the breast interventionrobot based on MRI.