腹腔镜持镜臂运动控制器的硬件设计与实现

Hardware design and realization of the motion controller of clamping endoscopic mechanical arm

在自主研发的腹腔镜持镜臂样机的基础上,针对微创手术的实际需求,利用DSP在数字信号处理方面的优势以及CPLD在构建逻辑功能方面的灵活性,设计并实现了基于DSP+CPLD平台的硬件系统。利用CPLD模块产生控制机械臂电机运动的PWM波形,并作了相应的信号优化处理,在CPLD内部设计了码盘信号采集模块、电机抱闸控制与限位开关保护模块。采用访问外部寄存器方式实现了DSP和CPLD的数据传输,最终实现持镜臂的速度控制和位置控制,并且可以满足运动控制的实时性和稳定性要求。

According to actual requirements in the minimally invasive surgery, and taking the advantage of DSP in digital signal processing and the flexibility of CPLD in constructing logic functions, this paper designed and implemented the hardware system based on DSP and CPLD platform. And the research object is based on clamping endoscopic mechanical arm. The CPLD module generates PWM waveform that controlling the mechanical arm motor, and corresponding signal optimization. And the CPLD module includes encoder signal acquisition module, motor brake control and limit switches protection module. The data transmission of DSP and CPLD is realized by accessing external register. Finally, the speed control and the position control of the clamping endoscopic mechanical arm is realized, and its controller meets the real-time and stability requirements of the motion control.