No Framework For Stereotactic Surgery System

Medical robot has played an increasingly important role in the recent decade.The research team has designed frameless steretaxy surgical operation system for brain surgery. It gathers frameless steretaxy, computed imaging, infrared signal tracking,robot automation and other high-tech.The robot surgery system requires high accuracy of position, so the research on machine position control is carried out in paper.The author researched the surgery robot's position machine, position control arithmetic, and processing of the position feedback data systemically.During the course of design, the first task is to model the selected position machine, and to establish PID position control dynamic framework equation, and to utilize MATLAB for simulating to attain the best control parameters.The second one is to adopt optics encode as position sensor, and to use RS-232 criterion interface to make the multifunction control and PC communicate. The final one is to apply Visual Basic language to program the test GUI, which can inspect accuracy and celerity of communication and precision of position servo control system.Steady state errors of the surgery robot position control meet request during testing.lt runs steadily and has small tracking error.