ROBOT. Design and Realization of a Control System for Laparoscopic Robot

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1 ROBOT Vol.30, No.4 July, (2008) TP241.3 B Design and Realization of a Control System for Laparoscopic Robot FU Yi-li, PAN Bo, YANG Zong-peng, WANG Shu-guo (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin , China) Abstract: According to characteristics of minimally invasive robotic surgical tasks, a control system for laparoscopic robot is designed. The robot open control structure based on motion control board is studied, the servo system and the corresponding controller hardware interface board are designed, and software of the control system is developed with object-oriented technology and modularization methodology. The surgery planning and control platform for laparoscopic robot is established using concepts of dexterity and manipulability. Control performance of the system is improved through adjusting servo parameters. Experiment shows that the proposed control system for laparoscopic robot is of high reliability and stability, and is adaptive to multi-mission, so it can meet the demands of minimally invasive surgery. Keywords: minimally invasive surgery; laparoscopic robot; control system 1 (Introduction) MIS minimally invasive surgery [1] [2] [3,4] Munoz WLR [5] Computer Motion AESOP3000 [6] (2007AA04Z248)

2 [7] [8] 1 Fig.1 Laparoscopic robot and control system 2 (Physical prototype and structure feature of the robot) SCARA SCARA (Control system of laparoscopic robot) 3.1 (1) (2) (3) (4) (5) 3.2 DSP Windows 2000 DSP DSP FPGA µs S 1 MHMD /

3 A4 Maxon Maxon ADS LSC HCTL2017 DSP 14 MHz SN74HC V [7] 3 Fig.3 3 Flow chart of the control system software 2 Fig.2 Architecture of control system for laparoscopic robot Microsoft Virtual C ) 2) 3) 4) 5) 6) ) 2 2)

4 (Servo parameter adjusting) PID 4.1 1) N max 2) I max 3) Gain 4) (a) (b) (c) Fig.4 (d) 4 2 Response curves of motor of joint 2 with gain variation 1 Tab.1 Tuning for driver proportion gain Gain(%) (s) VC 2 4(a) (b) (c) (d) 10% 25% 40% 50% 2 2 ms 6.9 s 4(a) 10% s

5 (b) 25% 2 4(c) (d) % 2 70% K p K i K d K v K q Tab.2 Tuning for proportion gain K p (s) (pulse) (pulse) Tab.3 Tuning for integral gain K p K i (s) (pulse) (pulse) K p K p K p K i K i K d PID 2 Gain 70% K p =0.8 K i =1.2 K d =10 5 (Experiment validation) 18 mm (700,300,0) [9] R = ROT (Z,β)ROT (Y,α)ROT (a,γ) ROT α Y β Z γ a 1) α = 30 β = 45 γ = 0 2) 100 mm 3) 5 6

6 Z PID 6 (Conclusion) PID Fig.5 5 Pictures of laparoscopic robot in experiment 6 Fig.6 Angle variation curve of robot joints in experiment (References) [1] Ortmaier T J. Motion Compensation in Minimally Invasive Robotic Surgery[D]. Germany: Technical University of Munich, [2] Munoz V F, Vara-Thorbeck C, DeGabriel J G, et al. A medical robotic assistant for minimally invasive surgery[a]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Piscataway, NJ, USA: IEEE, [3] [J]. 2003, 13(6): Du Zhijiang, Sun Lining, Fu Lixin. Development and perspective of robot assisted surgery[j]. High Technology Letters, 2003, 13(6): [4] [J]. 2002, 26(1): Zhang Jiangan, Lin Liangming, Wang Guomin. The recent study and key technologies of an aided endoscopic surgical robot system[j]. Chinese Journal of Medical Instrumentation, 2002, 26(1): [5] Munoz V F, Fernandez-Lozano J, Gomez-de-Gabriel J, et al. On laparoscopic robot design and validation[j]. Integrated Computer- Aided Engineering, 2003, 10(3): [6] Mettler L, Ibrahim M, Jonat W. One year of experience working with the aid of a robotic assistant (the voice-controlled optic holder AESOP) in gynaecological endoscopic surgery[j]. Human Reproduction, 1998, 13(10): [7] [J]. 2007, 24(1):

7 of Oceanic Engineering, 2001, 26(4): [4] [D]2006 Hou Wei. System Control and Experiments on Autonomous Underwater Vehicle with Capabilities of Landing and Sitting-bottom[D]. Tianjin: Tianjin University, [5] [D] 2007 Wang Xiao-ming. Research on Motion Control of Autonomous Underwater Vehicle[D]. Tianjin: Tianjin University, [6] [J] (2) 2 5 Zhang Jun, Yang Yi-dong, Cao Dong. Concept research for space shuttle autolanding[j]. Aerospace Control, 2004, 22(2): 2 5. [7] [J] (1) Shen Hong-liang, Tao Ju, Wei Li-xin, et al. Optimal design of autolanding trajectory for a space shuttle[j]. Flight Dynamics, 2004, 22(1): Fu Yi-li, Pan Bo, Li Kang. Structural design and kinematics simulation on the interior peeping mirror operational robot[j], Journal of Machine Design, 2007, 24(1): [8] [J]. 2004, 26(6): , 552. Tang Can, Wang Tian-miao, Chou Wu-sheng, et al. Design and realization of robot control system for neurosurgery[j]. Robot, 2004, 26(6): , 552. [9] Pan B, Fu Y L, Wang S G. Position planning for laparoscopic robot in minimally invasive surgery[a]. Proceedings of the IEEE International Conference on Mechatronics and Automation[C]. Piscataway, NJ, USA: IEEE,

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