Design And Visual Servo Experimental Research Of A Magnetic Anchor Endoluminal Surgical Robot

Laparo Endoscopic Single-site Surgery(LESS)have the features of small incision, less pain, resume fast, low complication rate and beautiful scar effect,wich has become the focus in the minimally invasive surgery. Robotic LESS not only inherited the advantages of LESS and robot technology of high precision, high efficiency and flexibility But also avoid the impact of the doctor’s subjective factors such as mood, fatigue, and arm shaking on the operation, which Can largely improve the accuracy and quality of the operation, thus it have important research value and good prospects for developmentIn this article, a robot system based on robot technology, single-arch laparoscopic technology and magnetic anchoring technology was designed, which was used for celiac minimally invasive surgery. The master-slave control scheme based on visual feedback was used to realize closed loop control of mechanical arm, and with the method of wireless communication was used for the robot system to increase the flexibility.First of all, according to the function of the robot system in operation, the structural design of robot system was completed, including the the main control platform and the slave robot ontology. The slave robot is the core of the design, which includes visual unit and mechanical arm unit. According to the master-slave control scheme and communication mode of the robot system, the design of the upper machine and lower machine circuit was completed and the hardware platform of the whole robot system was built. The main control platform contained the main hand, upper machine control unit and image processing and display unit, and the using STM32 development board as upper machine control unit, image processing and display is composed of PC and image acquisition card, and under machine based on PIC single chip micro control unit.Then, through to the analysis of the commonly visual servoing model and motion characteristics of the magnetic anchor robot. Using the image based visual servoing system as the visual servoing system for magnetic anchor surgical robot, and introduce the extraction of image characteristics and the calculation of target location in the feedback loop detailedly. In order to achieve the visual servoing control for robotic arm, the kinematics model of the mechanical arm and the imaging model was set up, and resolved the Jacobi matrix and image jacobin matrix, thus establishing the transformation of the relationship of world coordinate system, the robot coordinate system and the image coordinate system. The visual servoing model adopted was verified to be feasibility simulated in MATLAB.Finally, the experiment platform of magnetic anchoring surgery robot visual servoing system was set up, and completed the control program design of upper computer and lower computer, and developed main console GUI interface with the MFC and Open CV. The image-based visual servoing system for Magnetic anchoring surgery robot system is verified by experiment to be feasible.