Design Of Control System For Minimally Invasive Surgical Robots

The stability of the minimally invasive surgical(MIS)robot control system plays a core role in the quality,safety and reliability of MIS.Thus,a new MIS robot control system integrated a FPGA-based controller and an industry PC was proposed for the requirement of MISR with real-time,scalability and versatility.And performance of the proposed control system was compared and verified by simulations and experiments.The main research contents of this thesis are as follows:Firstly,the structures of master manipulator and slave manipulator were analyzed,and the forward and inverse kinematic models based on D-H modeling method were established.which laid a foundation for the master-slave trajectory tracking control of the master-slave robotic manipulator.Secondly,for the control requirements of real-time,scalability and versatility.the design scheme of the motion control system was proposed.The structure of centralized calculation and distribution control was adopted,which improved the operation efficiency.The control signals of master-slave controller were analyzed.The hardware design principle and the functional modules of motion control system based on FPGA were designed in detail,including FPGA minimun system,PWM control module,encoder module,potentiometer module,digital input and output module and Ethernet POWERLINK module,etc.Then,the software design of the master-slave control system was presented,which contained the software framework design and the functional module of the motion control system.Besides,the algorithm of BP neural network incremental PID control was put forward in the joint servo control,which improved the stability and reliability of the MIS robot for trajectory tracking control.Finally,the trajectory tracking control of the master-slave robotic manipulator was carried out by simulations and experiments.The results showed that the proposed control system had an effective tracking performance.