基于EtherCAT和TwinCAT的微创手术机器人
|
摘要
在分析几种微创手术机器人控制系统架构的基础上,提出了基于Ethercat总线和TwinCAT运动控制器的控制系统架构,该系统架构采用集中式控制和分布式I/O(输入和输出).基于该控制系统提出了主从控制映射算法,编写了相应的程序,并设计了相关实验对该控制系统和控制算法的有效性进行了验证.实验结果表明:该控制系统稳定可靠,实时性强,灵活易扩展,应用于微创手术机器人系统中极具优势.
On the basis of studying the domestic and overseas relevant minimally invasive surgical(MIS) robot control architecture,a new control structure was proposed based on EtherCAT bus and TwinCAT motion controller.This control architecture realizes centralized computation and distributed I/O(input/output) ideology.According to this control system,the master-slave hand-eye coordinate control algorithm was implemented.Some relative experiments were designed to verify this control system and algorithm.The experimental results show that the control system is stable and reliable,real-time,flexible and easy to expand.It is very advantageous in MIS robot system.
On the basis of studying the domestic and overseas relevant minimally invasive surgical(MIS) robot control architecture,a new control structure was proposed based on EtherCAT bus and TwinCAT motion controller.This control architecture realizes centralized computation and distributed I/O(input/output) ideology.According to this control system,the master-slave hand-eye coordinate control algorithm was implemented.Some relative experiments were designed to verify this control system and algorithm.The experimental results show that the control system is stable and reliable,real-time,flexible and easy to expand.It is very advantageous in MIS robot system.
引文
[1]Munoz V F,Varathorbeck C,Degabriel J G,et al.Amedical robotic assistant for minimally invasive surgery[C]//Proc of IEEE International Conference on Robotics and Automation.San Francisco:IEEE,2000:2901-2906.
[2]Guthart G S,Salisbury J K J.The IntuitiveTM telesurgery system:overview and application[C]//Proc of IEEE International Conference on Robotics and Automation.San Francisco:IEEE,2000:618-621.
[3]Díaz C E,Fernández R,Armada M.State of the art in robots used in minimally invasive surgeries:natural orifice transluminal surgery(NOTES)as a particular case[J].Industrial Robot,2015,42(6):508-532.
[4]李建民,王树新,张建勋,等.微创手术机器人控制策略[J].天津大学学报:自然科学与工程技术版,2011,44(10):884-889.
[5]Hagn U,Nickl M,J?rg S,et al.The DLR MIRO:a versatile lightweight robot for surgical applications[J].Industrial Robot,2008,35(4):324-336.
[6]Kazanzidesf P,Chen Z,Deguet A,et al.An open-source research kit for the da Vinci?Surgical System[C]//Proc of 2014 IEEE International Conference on Robotics and Automation.Hong Kong:IEEE,2014:6434-6439.
[7]Liang K,Li J,Kong K,et al.Control system design of a novel minimally invasive surgery robot[C]//Proc of2011 IEEE/ICME International Conference on Complex Medical Engineering.Harbin:IEEE,2011:394-399.
[8]Sang H,Wang S,Li J,et al.Control design and implementation of a novel master-slave surgery robot system,Micro Hand A[J].International Journal of Medical Robotics and Computer Assisted Surgery,2011,7(3):334-347.
[9]潘博,付宜利,冯美,等.腹腔微创手术机器人主从控制技术与实验[J].机器人,2012,34(6):646-651.
[10]Tang A,Cao Q,Tan H,et al.Motion control of a master-slave minimally invasive surgical robot based on the hand-eye-coordination[J].Computer Aided Surgery,2016,1(1):57-71.
[11]Ai Y,Pan B,Fu Y,et al.Control system design for a novel minimally invasive surgical robot[J].Computer Assisted Surgery,2016,21(S1):45-53.
[12]马如奇.微创腹腔外科手术机器人执行系统研制及其控制算法研究[D].哈尔滨:哈尔滨工业大学图书馆,2013.
[13]Wang T,Pan B,Fu Y,et al.Design of a new haptic device and experiments in minimally invasive surgical robot[J].Computer Assisted Surgery,2017,22(S1):240-250.
[14]Niemeyer G D,Nowlin W C,Guthart G S.Alignment of master and slave in a minimally invasive surgical apparatus:United States,6766204[P].2004-07-20.
[15]Niemeyer G D.Aspects of a control system of a minimally invasive surgical apparatus:United States,6772053[P].2004-08-03.
[2]Guthart G S,Salisbury J K J.The IntuitiveTM telesurgery system:overview and application[C]//Proc of IEEE International Conference on Robotics and Automation.San Francisco:IEEE,2000:618-621.
[3]Díaz C E,Fernández R,Armada M.State of the art in robots used in minimally invasive surgeries:natural orifice transluminal surgery(NOTES)as a particular case[J].Industrial Robot,2015,42(6):508-532.
[4]李建民,王树新,张建勋,等.微创手术机器人控制策略[J].天津大学学报:自然科学与工程技术版,2011,44(10):884-889.
[5]Hagn U,Nickl M,J?rg S,et al.The DLR MIRO:a versatile lightweight robot for surgical applications[J].Industrial Robot,2008,35(4):324-336.
[6]Kazanzidesf P,Chen Z,Deguet A,et al.An open-source research kit for the da Vinci?Surgical System[C]//Proc of 2014 IEEE International Conference on Robotics and Automation.Hong Kong:IEEE,2014:6434-6439.
[7]Liang K,Li J,Kong K,et al.Control system design of a novel minimally invasive surgery robot[C]//Proc of2011 IEEE/ICME International Conference on Complex Medical Engineering.Harbin:IEEE,2011:394-399.
[8]Sang H,Wang S,Li J,et al.Control design and implementation of a novel master-slave surgery robot system,Micro Hand A[J].International Journal of Medical Robotics and Computer Assisted Surgery,2011,7(3):334-347.
[9]潘博,付宜利,冯美,等.腹腔微创手术机器人主从控制技术与实验[J].机器人,2012,34(6):646-651.
[10]Tang A,Cao Q,Tan H,et al.Motion control of a master-slave minimally invasive surgical robot based on the hand-eye-coordination[J].Computer Aided Surgery,2016,1(1):57-71.
[11]Ai Y,Pan B,Fu Y,et al.Control system design for a novel minimally invasive surgical robot[J].Computer Assisted Surgery,2016,21(S1):45-53.
[12]马如奇.微创腹腔外科手术机器人执行系统研制及其控制算法研究[D].哈尔滨:哈尔滨工业大学图书馆,2013.
[13]Wang T,Pan B,Fu Y,et al.Design of a new haptic device and experiments in minimally invasive surgical robot[J].Computer Assisted Surgery,2017,22(S1):240-250.
[14]Niemeyer G D,Nowlin W C,Guthart G S.Alignment of master and slave in a minimally invasive surgical apparatus:United States,6766204[P].2004-07-20.
[15]Niemeyer G D.Aspects of a control system of a minimally invasive surgical apparatus:United States,6772053[P].2004-08-03.