【摘要】 辅助显微手术机器人(RAMS)的软件系统运行于PC及DSP,作为重要子系统,是RAMS精确、稳定运行的关键。介绍了机器人的计算机与电子控制系统之体系结构,阐述了软件系统的设计,给出HPI引导加载功能的实现,讨论了主从和PC控制的工作模式下多轴运动控制DSP软件的实现细节。最后通过重复定位精度和动物显微手术实验,验证了RAMS软件系统的性能满足显微手术的要求。更多还原

【Abstract】 RAMS’s software system running in PC and DSP is an important part of robot assistant microsurgery system(RAMS),and it ensures system’s accuracy and stability.Firstly the architecture of RAMS’s computing and electronic control system were given,and then the design of software system was discussed including the realization of HPI bootload function and that of DSP software under both master-slave control mode and PC-control mode.Finally,the experimental datum ofrepeating precisionsin positional control and animal’s microsurgery was proposed to show that RAMS’s software system met the demand of microsurgery.更多还原