Research On The Vision And Control Of A Magnetic Anchor Endoluminal Surgical Robot

Compared to conventional minimally invasive robot, in vivo minimally invasivesurgery robot for LaparoEndoscopy Single-site Surgery (LESS) just needs only oneincision, and reduces the surgical trauma; The motion of its arm which is not limitedby the incision is more flexible; The mechanism of in vivo robot is more simple and itsvolume is smaller so that it can be widely used in the hospital. The study of in vivosurgery robot has great social value and economic benefits, and it has become aresearch focus in the field of minimally invasive surgery.The magnetic anchor endoluminal surgery robot in this paper is a kind of in vivominimally invasive surgery robot for LESS, which has a camera unit and mechanicalunit. The main design requirements of its control system are analyzed, and then themaster-slave control scheme of the robot and its hardware system structure isdetermined. The video image signal and control signal adopt wireless which reducesthe number of the robot and enhances the flexibility of the robot when it is movedthrough the magnet.In order to provide surgeons with vision feedback, a camera unit which featuresminimal size and low power consumption is designed, and it includes video module,illumination module and embedded control hardware module. Minimal size cameramodule can realize high resolution video real-time wireless transmission throughanalog scheme. The LED array of the illumination module adopts circular layoutmethod, and its brightness can be real-time adjusted through wireless way. In order toimprove illumination intensity uniformity and reduces the power consumption of theillumination module, a reflector is designed. Small size embedded control hardwaremodule is designed, which includes single chip hardware circuit, wirelesscommunication hardware circuit and motor drive hardware circuit, and it can be usedin camera unit and mechanical unit.A master-slave control strategy based on visual feedback is designed to controlthe arms of magnetic anchor Endoluminal surgical robot in this paper. The expectedposition of mechanical arm end point can be calculated through the master handinformation, and then real-timely shown in the video image. Surgeons can easilycontrol the mechanical arm by observing intuitive expectations location information of the end point. In the study of marker coordinate calculation, a marker coordinatecalculation method which can fast and accurately calculate marker coordinate andfeatures good robustness to illumination change is designed in this paper in order tocontrol the mechanical arm stably.An illumination experimental platform and a mechanical arm controlexperimental platform are constructed in this paper. The improvement of illuminationintensity uniformity with the reflector is verified by experiment, and the function thatthe reflector can reduce the power consumption is validated through experiment. Theaccuracy of the marker coordinate algorithm is verified by experiment under differentillumination intensity which shows that the algorithm is robust to illumination change.In the mechanical arm control experiment, the control system is stable, which provesfeasibility of the master-slave control method based on visual feedback.