Master-slave control strategy for abdominal minimally invasive surgery robotic system

• Published in: 2011 IEEE International Conference on Robotics and Biomimetics pp. 460 - 466
• Main Authors: Yili Fu, Ying Yu, Shuguo Wang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.12.2011
• Subjects: Joints; Kinematics; Manipulators; Master-slave; Surgery; Trajectory
• ISBN: 1457721368; 9781457721366
• DOI: 10.1109/ROBIO.2011.6181329

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.