Study On Control System Of Laparoscopic Minimally Invasive Surgery Robot

Laparoscopic minimally invasive surgery robot has great application prospects.It has great advantages when compared with traditional minimally invasive surgery methods.Minimally invasive surgery robot can make up for the weakness of small view perspective and low flexibility of traditional minimally invasive surgery.Physicians could operate minimally invasive surgeries better with minimally invasive laparoscopic surgery robots.Because this robot can realize precision operations of surgical instruments,reduce wounds and shorten recovery time at the same time.In this thesis hardware and software control system of minimally invasive laparoscopic surgery robot are designed.Synchronous control method of multimotor and corresponding control algorithm are also proposed.The following contents are included:(1)The hardware system framework of laparoscopic surgical robot is designed based on functional requirements of surgical robot.ROS and RTM combinational control systems are adopted to meet the requirements of security management and operation.(2)There are four robotic arms for minimally invasive surgical robot so that control system need simultaneously control more than 20 motors.Two layers CAN bus control scheme is adopted and CAN bus communication protocol is designed to improve communication efficiency and achieve synchronous motor movements of the different arms.(3)To achieve the Master–Slave control of surgical robot,the single-arm kinematic,instruments coordinate system relations between surgical instrumental ends and the endoscope ends are analyzed.(4)For the real minimally invasive surgical robot,control testing of the robotic arm,master-slave teleoperation control testing were conducted to verify that the operation of the robot control system work good with better performance and also meet the requirements of minimally invasive surgeries.