【摘要】 设计了一套医疗机器人系统用于辅助脊柱微创外科手术操作。详细论述了这款5自由度脊柱微创手术导航机器人运动控制系统的设计与实现。提出了具有创新性的步进电机细分驱动模式,将电机定子电流从方波形状转变成为了正弦波形状,消除了步进电机的步间振荡现象。利用传感机构实现了对机器人末端工具的位姿反馈,并以此构成了对机器人末端工具的闭环控制。通过CAN实现了数字信号处理器之间的网络互联。最后对该系统进行实验,结果验证了控制系统具有良好的可靠性和稳定性。更多还原

【Abstract】 A conceptual medical robotic system applicable for establishing surgical platform in the process of Minimally Invasive Spine Surgery(MISS)is proposed in this paper.The design and implementation of the motion control system of a 5 degree-of-freedom navigation robot is discussed in detail.An innovative microstepping method for stepper motor control is put forward.Since the stator currents are sinusoidal instead of square,the actuators’step-by-step oscillations are eliminated as well.By means of this sensing subsystem,it has achieved the close-loop control of the end-effector.The Controller Area Network(CAN) is utilized to connect the DSP controllers.The final examination to the control system has testified its excellent reliability and stability.更多还原