摘要
针对变路径微创医疗机器人手术前端柔性精准穿刺的关键技术问题,采用嵌入式控制方法,突破柔性精准微创穿刺机器人的控制技术;主要通过上位机运动参数交互控制指令设置、摇杆控制指令输出、微控制器的串口指令接收和DMA大数据快速采集,进行控制信号的A/D精准转换和平均值滤波处理,并通过驱动器的细分和数字脉冲信号控制实现机器人所用步进电机的速度曲线逼近工程技术需求的S型加减速曲线,完成穿刺变路径、进针和旋转的多自由度方位主从操作精准控制。
To solve the key technical problems of flexible and precise puncture of minimally invasive medical robot surgery,the embedded control method is used to break through the control technology of flexible precise minimally invasive puncture robot.The signals of A/D precise conversion and average filtering are provided with the setting of interactive control instructions for motion parameters of upper computer,output of rocker control instructions,receiving of serial port instructions of microcontroller and fast acquisition of DMA big data.The speed curve of the stepper motors used by the robot are created the S-type acceleration and deceleration curve required by engineering technology through the subdivision of the driver and the control of digital pulse signal.,
作者
孙椰望
孙阿祥
黄琳
邵鸿翔
罗扉
杨鲁伟
SUN Yewang;SUN Axiang;HUANG Lin;SHAO Hongxiang;LUO Fei;YANG Luwei(CAS Key Laboratory of Cryogenics,Technical Institute of Physics and Chemistry,Beijing 100190,China;Luoyang Institute of Technology,Luoyang 471023,China;Luoyang Beijing Enterprises Water Group,Luoyang 471003,China)
基金
中国科学院低温工程学重点实验室青年科技创新项目(编号:CRYOQN202107),机器人柔性微创腰椎神经区的粘滞特性变动机理研究
国家自然科学基金(编号:518050535),精密机床结合部非均匀接触对精度稳定性影响机理研究
国家智能机器人重大专项(编号:2019YFB1310900),复杂微器件高精度柔性检测装配体化机器人系统。
