Research Of The Control System Of The Prostate Seeds Implantation Robot Based On Arduino Mega2560

Traditional seeds implantation surgery is done manually by doctor, it has defects such as low precision accuracy, less flexible, poor continuous working ability, while the use of robot for surgery can not only avoid the above disadvantages, but also can minish postoperative wound to speed up the recovery of postoperative. As the core of robot, it has important practical significance to develop a high-performance control system. In this paper, research of the control system of prostate seeds implantation robot based on Arduino Mega2560. It uses Lab VIEW as man- machine interface design software to develop a set of control system with visualized interface and highperformance.First of all, determine the structure of robot based on the requirement of working space and position accuracy, and select rational power plant for robot based on analys is of the maximum negative moment. Using D- H method to establish the model of connecting rod coordinate system of robot and then analyzing the kinematics of the robot.Secondly, design and development the important module of slave controller such as module of core circuits, module of power supply circuits and module of communication circuits. Based on the analysis of the principle of robot, design the program, develop an open- loop control system with short development cycle, high-performance and friendly human-computer interaction interface.Then, use exponential speed control curve to so lve the problems such as lost step and vibration in open- loop control system. This paper optimizes exponential speed control curve d ue to its own discretization process is too complex, and then use Simulink to check whether the speed control curve is effective.Finally, carry on experiments to verify the reliability of control system designed in this paper, through the experiment, pro ve that the control system can improve the control precision and the optimized speed control curve can improve the stability of the system. Lay a solid foundation for the further research of the control system of the prostate seeds implantation robot.