Master-slave control technology of isomeric surgical robot for minimally invasive surgery

摘要

The master-slave control technology of isomeric surgical robot for minimally invasive surgery (MIS) is studied in order to meeting the requirement for robot MIS. The master-slave control hardware platform is built based on distributed fieldbus. The incremental control method based on separation of gesture from position is proposed by analyzing the master-slave structure configuration of the MIS robotic system, which solves the workspace mismatch problem between the master hand and slave arm caused by the isomeric structure, and realizes the hand-eye coordination control of MIS robot, position and gesture adjustment of the master hands, and operating precision selecting, et al. The master-slave trajectory tracking and animal experiments are carried out. The experimental results show that the master-slave control hardware platform for MIS robot built in this paper can satisfy the master-slave operation requirement of the surgical robot for MIS. The proposed master-slave control method based on separation of gesture from position is able to eliminate the influence caused by isomeric master-slave structure, and achieve the hand-eye coordination operation for the doctor. Meanwhile, the realization of control functions, such as adjusting master hands, operation precision selecting, and so on, increases the usability of the surgical robotic system.