腹腔微创手术机器人主从控制技术与试验.PDF

34 6 ROBOT Vol.34, No.6 2012 11 Nov., 2012 DOI 10.3724/SP.J.1218.2012.00646 12 1 1 1 2 1. 150080 2. 150001 TP241 A 1002-0446(2012)-06-0646-06 Mater-slave Control Technology for Abdominal Minimally Invasive Surgery Robot and Its Experiments PAN Bo12 FU Yili1 FENG Mei1 WANG Shuguo1 XU Dianguo2 (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China; 2. School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, China) Abstract: According to task features of RMIS (robot-assisted minimally invasive surgery), based on the functional require- ment analyses of master-slave control, a hardware platform of robot master-slave control system is constructed by adopting control architecture of industrial computer and motion control card. A real-time control algorithm of master-slave operation is investigated based on differential transformation method, and then the auxiliary function of master-slave control is designed. Master-slave control experiment, experiment on biological tissue and animal experiment are carried out after robot system integration. Experiments demonstrate that the system has good master-slave control performance, which satisfies the actual demand of minimally invasive surgery. Keywords: minimally invasive surgery; robot configuration; master-slave operation; animal experiment 1 Introduction 4 6 0.5 cm