A control system of a split minimally invasive surgical robot
A control system and minimally invasive surgery technology, applied in the field of control systems, can solve the problems of inconvenient development and maintenance, poor software and hardware openness, and poor real-time performance, and achieve easy debugging and maintenance, clear structure, and convenient development and maintenance Effect
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specific Embodiment approach 1
[0008] Specific implementation mode 1: Combination figure 1 with figure 2 To explain this embodiment, the control system of a split minimally invasive surgical robot described in this embodiment includes a hardware subsystem and a software subsystem. The hardware subsystem includes a master console 0-1 and a slave manipulator 0-2. , The main console 0-1 includes hub industrial computer 1, control panel 2, foot switch 3, control circuit 4, first main operator 5, second main operator 6, display 7, 3D display system 8 and industrial router 9. The hub industrial computer 1 consists of a power supply structure 1-1, a first data interface 1-2, a second data interface 1-3, a third data interface 1-4 and a communication interface 1-5, a control panel 2 and a foot switch 3 are connected to the first data interface 1-2 through the control circuit 4, the power supply interface 1-1 is connected to the control circuit 4, the first main operator 5 is connected to the second data interface 1...
specific Embodiment approach 2
[0017] Specific implementation manner two: combination figure 1 with figure 2 To illustrate this embodiment, the slave manipulator 0-2 of the control system of the split minimally invasive surgical robot described in this embodiment includes a first split manipulator 10, a second split manipulator 11, and a third split manipulator. Robotic arm 12,
[0018] The first split manipulator 10 and the third split manipulator 12 are both composed of a first multi-axis controller 101, a first drive unit 102, a second drive unit 103, a first external encoder 104, and a second external encoder Consisting of the encoder 105, seven third drive units 106, seven third external encoders 107, seven first DC motors 108 and seven first DC motor encoders 109, each first DC motor 108 corresponds to One of the first DC motor encoder 109 forms a closed control loop. The first multi-axis controller 101, the first drive unit 102, the second drive unit 103, and the seven third drive units 106 are connec...
specific Embodiment approach 3
[0021] Specific implementation mode three: combination figure 1 with figure 2 To explain this embodiment, the software subsystem of the control system of a split minimally invasive surgical robot described in this embodiment includes a human-computer interaction layer 17, a core control layer 18, and a device control layer 19.
[0022] The human-computer interaction layer 17 includes a parameter configuration module 17-1, a specific function module 17-2, a data recording module 17-3, a data display module 17-4, and a status display module 17-5. The parameter configuration module 17-1 is used for recording The master-slave control ratio setting of the robot system before or during the operation and the corresponding relationship between the master hand and the slave hand manipulator; the specific function module 17-2 is used to record the adjustment of the first master operator 1 and the second master operation during the operation The position of the hand 2, the specific functio...
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