30 4 2008 7 ROBOT Vol.30, No.4 July, 2008 1002-0446(2008)04-0340-06 150080 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 200240, 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] 7 863 (2007AA04Z248) 2007-12-13
30 4 341 1 2 [7] [8] 1 Fig.1 Laparoscopic robot and control system 2 (Physical prototype and structure feature of the robot) 4 1 1 2 SCARA 1 2 3 SCARA 4 5 6 7 1 3 (Control system of laparoscopic robot) 3.1 (1) (2) (3) (4) (5) 3.2 DSP Windows 2000 DSP 7 1 7 2 1 5 6 2 DSP FPGA 1 8 400 µs S 1 MHMD /
342 2008 7 A4 Maxon 2 3 4 Maxon ADS 5 6 7 LSC 7 5 6 HCTL2017 DSP 14 MHz SN74HC138 24 V [7] 3 Fig.3 3 Flow chart of the control system software 2 Fig.2 Architecture of control system for laparoscopic robot 3.3 3.3.1 Microsoft Virtual C++ 6.0 3.3.2 1) 2) 3) 4) 5) 6) 3.3.3 1) 2 2)
30 4 343 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(%) 10 25 40 50 70 80 (s) 0.1 0.071 0.04 0.036 0.028 0.02 VC 2 4(a) (b) (c) (d) 10% 25% 40% 50% 2 2 ms 6.9 s 4(a) 10% 2 0.9 s
344 2008 7 4(b) 25% 2 4(c) (d) 1 2 70% 2 70% 2 4.2 K p K i K d K v K q 2 3 2 Tab.2 Tuning for proportion gain K p 1 3 5 8 10 12 15 20 (s) 0.08 0.048 0.036 0.03 0.028 0.026 0.022 0.020 (pulse) 2050 680 410 260 200 170 135 100 (pulse) 181 57 35 20 17 14 11 8 3 Tab.3 Tuning for integral gain K p 8 8 8 8 8 8 8 K i 0.1 0.3 0.5 0.8 1 1.2 1.5 (s) 0.028 0.030 0.030 0.030 0.030 0.030 0.030 (pulse) 260 250 250 245 240 235 230 (pulse) 20 16 12 9 5 1 5 2 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) 1 1.3 [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
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