Research And Implementation Of Control System For Micro Articulated Surgical Robot

Micro articulated surgical robot is an in-vivo surgical robot with high flexibility and motion precision,overcomes the shortcomings of low flexibility and lack of working space of straight rod type surgical instruments in laparoscopic minimally invasive surgery,and it is conducive to the promotion of research and development of domestic in-vivo minimally invasive surgical robot.Currently there has appeared some articulated surgical robots abroad,such as CardioARM,MINIR,and i-Snake,etc.,some of them have completed in-vivo animal experiments;most domestic surgical robots are in-vitro and the part in human body are straight rod type surgical instruments with low flexibility,for articulated surgical robots,many universities and research institutions are still in the research work,there is a long way to go to achieve clinical application.The dissertation focuses on the application of single incision laparoscopic surgery,combines with the development of articulated surgical robots,studies and develops the control system of a micro articulated surgical robot.The main contents of the dissertation are as follows:(1)The micro articulated surgical robot has 8 degrees of freedom,it is driven by micro-motors,and each degree of freedom is controlled by a micro-motor,ensures that the size of the surgical robot meet the requirements of minimally invasive surgery.In the system architecture,the Phantom Omni is used as the handheld controller,NI CompactRIO embedded measurement and control system sent the data of the handheld controller to each micro-motor,the master-slave control of the surgical robot is completed.(2)The dissertation develops softwares on the NI CompactRIO platform with LabVIEW software under FPGA mode.The data format is strictly set to ensure the accuracy of the data.Speed measurement and the PID control of each micro-motor is realized,unsatisfactory working range of micro-motors is avoided,the micro-motors are kept in the state of continuous uniform rotation,and high motion control precision is achieved.(3)The master-slave control under the strategies of joint-joint and position-direction are implemented.In the PC software design,the data of the handheld controller is collected to PC,and the data is filtered and initialized,filtering process eliminates the hand shake of the operator.Processed data is sent to the slave computer and then given to micro-motors,thus the control process from the handheld controller to the surgical robot is completed,and high real-time of master-slave control is achieved.According to the system design requirements,the surgical robot control system is tested and verified.After the experiments,the tracking error of each joint to the preset rotating angle is strictly limited in ±0.01 rad,the speed tracking error of each joint is limited in ±0.1rad/s,each joint can flexibly rotate at least ±30 degrees.In master-slave control process,high motion precision and flexibility of the robot is achieved,high real-time of the master-slave following is also achieved.