Design Of Remote Control System For Minimally Invasive Surgery Robot Based On Internet

Remote control robots have had far-reaching social impacts in the medical field with the development of the Internet and robotics.Remote minimally invasive surgery not only has the advantages of high success rate,low cost and small wounds,but also limits the isolation of the region between doctors and patients to improve the executable rate of surgery.The application of minimally invasive surgery robots is of great significance for the sharing of medical resources and the further application of spinal minimally invasive techniques.Reliable communication and efficient control strategies have always been the focus and difficulty of remote robot control systems.Simultaneously it is the fundamental to improve surgical accuracy and ensure the success rate of surgery.This project proposes a remote control system design scheme with the Internet on the basis of the spine minimally invasive surgery robot independently developed by the First Affiliated Hospital of Zhengzhou University.Firstly,the paper uses the DH parameters to carry out the kinematic modeling and simulation of the surgical robot on the basis of analyzing the composition of the surgical robot and clearing the system control object.On the one hand it uses the MATLAB robot toolbox to complete the positive solution and the inverse solution analysis,on the other hand it proposes a fuzzy PID control method on the research of robot control technology based on stepping motor.At last it combines the theory and practice to prove the improvement of response time and overshoot of fuzzy PID control technology by modeling,simulation and data analysis,compared with open loop control and traditional PID control.Secondly,it designs a system hardware design scheme with remote communication and field control based on the remote control technology,which consisting of a PC host computer,an ARM controller and a touch screen.Simultaneously,it introduces the realization principle and the selection of important component parameters in detail about the minimum system circuit,the storage circuit,the drive circuit and the communication circuit on hardware system.At end giving the PCB template after many adjustments and improvements.Thirdly,it determine the system communication scheme between the u IP protocol stack and socket which based on embedded network.Simultaneously,it development in detail the process of serial port,network card,camera module in embedded software and control software in PC.At end it introduces the main steps of local control touch screen in human-machine interface.Finally,the paper verifies the system’s function after analysis and carries out the PCB test,the communication test,PC control software test based on Qt and the Human machine interface test based on the touch screen.At end,it verifies the solution about the feasibility of the remote control system on the basis of overall test and analysis of the control system was completed on the robot experimental platform.