Control System Design Of Manipulator Assisted Photodynamic Therapy Of Port Wine Stains

The main purpose of manipulator assisted photodynamic therapy(PDT) for port wine stains(PWS) includes reducing labor intensity of surgeons, improving reliability of treatment, and reducing influence of manual operation, in order to improve the success rate of treatment. Therefore, this paper developed the control system of manipulator assisted photodynamic therapy for port wine stains, realized the surgery of manipulator assisted PDT for PWS, finally achieved the purpose of improving therapeutic effect.This paper mainly researched on the control system hardware, control algorithms,communication protocols, and control system software of assisted-manipulator, finally developed the control system of manipulator assisted PDT for PWS.Firstly, based on the analysis of traditional PDT for PWS, the disadvantages and shortcomings of traditional surgery were summarized. Secondly, the robotic system assisted PDT for PWS was introduced. Finally, by analyzing the existing type of control system, the control system structure of assisted-manipulator was determined,and the overall design of control system was completed.This paper detailedly elaborated the hardware design of assisted-manipulator's control system, including DSP minimum system circuit, power supply circuit,communication interface circuit, motor drive circuit, and hall detection circuit; and detailedly elaborated the software design of assisted-manipulator's control system,including control algorithms, communication protocols, lower-position computer(or console computer) software, and upper-position computer(or host computer) software.Finally, the control system design of manipulator assisted PDT for PWS was achieved,and simulation and experiment verified the feasibility of control system.Finally, the main work of this paper was summarized, and this paper looked forward to the possible future work.