摘要
微创手术机器人是医疗机器人的一个重要研究领域。文中提出一种利用工控机、多个可编程多轴控制器、数据采集卡构建的机器人上层控制系统,并对系统的软件实现方案做了详细的讨论。以此方案组成的上层系统实现了系统的稳定通讯和实时控制,提高了系统可靠性,缩短了开发周期,同时大大降低了成本。由此系统实现的控制方案在临床动物实验上获得了满意的效果,从而为微创手术机器人控制系统的开发提供了一种新思路。
Minimally invasived surgery robot is an important research field of the medical robot.This paper presents an IPC control system for robot which makes use of IPC multi-programmable multi-axis controllers and data collection module,also discusses the software of system detailedly.The IPC system with this solution realized steady communication,and achieved a satisfactory result in real time control,enhanced the reliability of the system,shortened the development cycles,and also greatly reduced the costs.With satisfactory results in clinical animal experiments of the control system,provides a new path for the development of the minimally invasived surgery robot control system.
出处
《自动化与仪表》
北大核心
2010年第10期5-7,19,共4页
Automation & Instrumentation
基金
国家高技术研究发展计划(863)项目(2007AA04Z247)
