Research And Development Of Subordinate Hand Control System Of Surgical Robot

Minimally invasive surgery robot technologies are the emerging field of study includeda medicine, engineering and other multi-disciplinary knowledge. Compared with thetraditional manual operation method, it have advantages such as little wound after theoperation, quick recovery, high stability and small amount of work for doctor. This makesthe minimally invasive surgery robot becomes the new target of developmentfor the future.Different from traditional laparoscopic surgery minimally invasive surgery robot, themethod is the basis of minimally invasive surgery robot assisted surgery process. Forsurgical robot, from hand is one of the important parts of it. In order to guarantee theaccuracy of the minimally invasive surgery to robot can complete complex procedures, thehand of surgical robot is needed for a way to control its hand to complete the workingprocess of the high precision of control system. Because of minimally invasive surgery robotat home and abroad from hand in of perception and force feedback servo control isinsufficient, for example, cannot be read directly from clamping fingers force signal andother issues, led to a surgical robot from hand during surgery can’t accurate clamping forceto the target. Therefore, in view of the above problems, this paper is finished on the basis offorce sensing system with force feedback servo control system to do the following researchaccording to the minimally invasive surgery robot from hand design.First of all, from hand clamping fingers to minimally invasive surgery robot basicstructure are analyzed.On this basis, according to the working principle of clamping fingersfrom hand, this paper is designed for a real-time measuring clamping fingers force signal atthe end of the data acquisition system;According to the design of minimally invasive surgeryrobot from hand gripping the scope and accuracy of the work force, combined with the dataacquisition system of force feedback signal, the clamping fingers of control system weredesigned.Second, this paper is established from surgical robot hand, the mathematical model ofcontrol system.The model including the control model of the control system, is describedfrom the end of the clamping fingers mathematical model of the relation between work forceand motor position.And, by the above model, the paper is deduced the motor parameters andthe parameters of the controller. Third, on the basis of the LabVIEW programming language environment, with themethod of LabVIEW and Matlab mixed programming, the paper is completed for thesoftware design of the control system.Software design process including from surgical robothand holding force signal acquisition process, from the hand control process and controlprogram written in the process of model calculation.Finally, the paper is set from surgical robot hand holding force system ofcomprehensive experiment platform, from the collection process and hand to surgery robotservo control process has carried on the experimental study. Based on objects of differentmaterials and different target of experiment researchs, from hand to surgery robot systemperformance is analysised. The experimental results show that the relative error of theclamping force control is about2.6%, the system of the clamping precision is0.025N, canbasically meet the surgical robot from the hand of perception and forces controlrequirements.