Study On Control System Of Master-slave Surgical Robot

Following the quick development of science and technology, the robot has become a scientific research project of medical, mechanical engineering, electrical engineering and others. And It has been used in many operation room in the world, especially in the surgical robot. It is widespread in the operation about the positioning of endoscope and gallbladder resection and so on. In recent years, the surgical robot with the force feedback has become the focus of the research. In this paper, the research and development about the control of the surgical robot with the force feedback is studied.Aimed at the research and development of surgical robot control about force sensing, the following work is done in this paper:Firstly, the mechanical structure of the robot was designed, and the mathematical model of the robot was established. And the relationship between the motor and the manipulator was established by the model. The hardware of the robot was selected, including the master-hand, slave-hand’s driver, the controller, the data acquisition card, the strain gauge and so on. And the communication between the computer and the control system and the data acquisition system was done. Secondly, through the studying and researching of the fuzzy adaptive PID control theory, the controller parameters self-tuning principle, the membership function, and fuzzy rules were established. The fuzzy adaptive PID controller was designed, and the program of the robot control system was written on Labview and MATLAB. Finally, the hardware of the robot is selected, including the main hand, the driver, the driver, the controller, the data acquisition card, the strain gauge, and the communication between the computer and the control system and the collection system.The experimental results show that the fuzzy adaptive PID control system was more suitable for the operation platform of the surgical robot than the traditional PID control system. And it has the characteristics of fast response, no overshoot and strong robustness.