微创手术机器人远程监控系统设计

Design of remote monitoring and control system for minimally invasive surgical robot

远程监控机器人系统能够实现远距离控制本地机器人。它在危险环境作业中具有不可替代的作用。同时在远程医疗中也具有相当广阔的应用前景。为了建立基于互联网的手术机器人远程监控系统,实现控制数据及视频画面的传输,利用Video for Window(sVFW)在机器人端捕捉摄像头视频信号,H.263算法完成视频信号压缩。信息的传送采用Visual Basic6.0的Winsock控件。详细介绍了远程控制结构和控制协议,以及通信两端软件基于Visual Basic6.0的实现。通过对自主设计的手术机器人实验表明,该远程监控方案是可行、有效的。最后展望了远程监控的发展趋势以及本系统需要改进的地方。

The remote control system can control the local robot far away.It plays an important role when working in dangerous environment.Also,it has been applied in telemedicine.ln order to build up the remote monitoring and control system for minimally invasive surgical robot.VFW was used to capture video data,then compressed with H.263 algorithm.Winsock control of Visual Basic6.0 was used to transmit all in- formation. The design of the robot motion control structure ,robot control protocol and communication soft- ware based on Visual Basic6.0 are described in detail.The experimental results indicate that the scheme is feasible and provides a basis for Internet based supervisory control of minimally invasive surgical robot.Fi- nally,it points out the trends of the remote control system and future work.