| Minimally Invasive Surgery is quickly developing and widely used due to the advantages of shorting the recovery time and reducing the tissue damages incurred from incision. The use of robot into minimally invasive surgery is gradually accepted by surgeon by virtue of enhancing quality of minimally invasive surgery, reducing the surgeon's intensity of labor. Therefore, surgical robot technology and its equipment have gradually become the hotspot in the research field of medical robotics and have attracted the interest of robotic researchers.The work is supported by the National 863 high-tech project"Research on minimally invasive Robot for laparoscopic surgery. We research on the control system of surgical robot according to control requirements. Console circuit board, motor driver module and some relative modules are designed. Finally all of them will be assembled to be a whole system.Firstly the kinematics and inverse kinematics of the robot is analyzed by using D-H method and geometric method. And Jacobian matrix is calculated using vector product method.Secondly the control system is composed of hardware and software. We construct the hardware system by designing a relay console, an integral circuit, a serial communication board and a module of motor drive. In software, we create a serial communication class by C# and design program for MCU and PLC.Thirdly we construct a vision system to provide doctors with clear view. Moreover, we make out the pedal switches and operating desk as accessories. All components of control system will be contained in the operating desk.At last we do some experiments and tests, such as PLC program simulation, motor driving test to make sure that all parts of system are proper functioning. |
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