According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal.
Master-Slave Control Technology Research for Abdominal Minimally Invasive Surgery Robot
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Fu, Y, Li, H, & Xie, Q. "Master-Slave Control Technology Research for Abdominal Minimally Invasive Surgery Robot." Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 2: Biomedical and Biotechnology Engineering. Vancouver, British Columbia, Canada. November 12–18, 2010. pp. 569-575. ASME. https://doi.org/10.1115/IMECE2010-40240
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