Design of robot control system for minimally invasive surgery of knee joint

摘要

In this paper, a control system for knee joint minimally invasive surgery robot is designed based on computer and motion control card. It realizes the CT image conversion and modeling of knee joint, and provides a scientific method for the modeling of surgery. A human-computer interaction interface for minimally invasive surgery of knee joint is designed, and the operation is conveniently controlled. A robot motion control card based on ARM+FPGA is designed. The control program of the speed and position of the knee joint minimally invasive surgery robot was designed, which realized the operation, such as cut in, truncation, cleaning, implantation, cleaning, hemostasis, anti-inflammatory and so on. A multi joint neural network based on central pattern generator is designed to realize the cooperative operation of 4 surgical robot arms for minimally invasive knee surgery robot. The motion control system of minimally invasive surgery robot for knee joint can solve the problem of intelligent control of the robot. It has low cost and high reliability, and has good practical application prospect and market prospect.