机器人2012，Vol.34Issue(2)：129-136,8.DOI:10.3724/SP.J.1218.2012.00129
微创血管介入手术机器人控制系统与零位定位装置设计
Design of the Control System and Home Point Positioning Device for Minimally Invasive Vascular Interventional Surgery Robot
摘要
Abstract
To realize the accurate positioning and stable holding of surgical tools by minimally invasive vascular inter-ventional surgery (VIS) robot, a control system and a home point positioning device are designed. Constitutions of the robot system and its upper-lower control system based on PMAC (programmable multi-axis controller) are introduced firstly. Meanwhile, the quintic interpolation motion planning and three-loop PID algorithms are designed, which improve both the robot's response speed and stability. To find the base point of the robot's motion, the home point positioning method and device are proposed based on Hall sensors and information of motor motion. The experiment results show that the presented home point positioning device works stably and accurately.关键词
医疗机器人/血管介入手术/PID控制/零位定位Key words
medical robot/vascular interventional surgery/PID control/home point positioning分类
信息技术与安全科学引用本文复制引用
段星光,陈悦,于华涛..微创血管介入手术机器人控制系统与零位定位装置设计[J].机器人,2012,34(2):129-136,8.基金项目
国家863计划资助项目(2009AA044002,2009AA045201) （2009AA044002,2009AA045201）
教育部高等学校博士点基金资助项目(20111101110004). （20111101110004）
