| This paper develops the key technological parts of mechanism and control systemdesign of micro injury surgical robot for prostate cancer using ultrasonic imageguidance. Primary parts of design include structural configuration and control system.Prototype is built based on such design. Overall improvement is carried out withcalibration test and accuracy measurement using the laser tracking equipment.Research presents in this paper can be summarized as the follows:Start from the requirements, the general structural design is performed withmodulated idea. The robot contains two primary parts: mechanical arm and thesupport. Successive development and optimization are needed to refine the structuresuntil final manufacturing level is reached. This lays the foundation for prototypeconstruction.Afterwards, control system is designed considering several aspects includecontrol principle analysis, requirement analysis, controller selection, distribution ofmotor and actuator, etc. Control system, along with the mechanism design is the keyprimaries for the robot prototype.Finally, the robot prototype is manufactured. The manufacturing includes anumber of key missions such as component manufacturing, control system hardwareimplementation, control cabinet integration, etc. Meanwhile, accuracy test andcalibration test are unfolded in order to enhance the system’s overall performance.The research presented in this paper is of significant theoretical and applicationvalue. It pilots the design of relevant robotic systems. The research lays a goodfoundation for further research. |
