Design And Study On Remote MIS Robot Under Large Delay

Telemedicine is an important way of implementing the resources sharing ofmedical，for the problem of absenting perfect control theory of technology for remotesurgery robot, the remote surgery robot system for remote abdominal cavityanastomosis surgery in the large delay environment is presented and developed. Thecontributions of this dissertation are listed as follows.The remote surgical operation is researched. Hierarchical operation controlstrategy is put forward, the operation planning and key steps are completed by remotedoctors, while the specific operation is finished by local doctors. Then the remotesurgery robot system is designed.The remote doctors supervise and control operation by using automatic surgicalinstruments. The unstable problem under large delay in remote operation is solvedthrough the combination of predictive display control and supervisory control toimprove the efficiency of remote operation.The remote controllable automatic stapling is designed and docked with remotesurgery robot system.Based on the structure analysis of master-slave manipulator, a master-slavemotion mapping method is constructed.Using wireless communication and Internet communication, designing thetransport protocol of high fault tolerate capacity, the adaptability and security ofsystem is improved.Based on the Remote surgery robot system, experiments are designed to test andanalysis the system performance and reliability. The animal tissue anastomosissurgery within the local area network (LAN) is completed successfully.