The invention discloses a kind of
microsurgery robot controlling
system having force feeling. It comprises operation level, controlling strategy level and execution level. Wherein, the operation level comprises
top management system computer and master hand
operating system, to monitor and control the
system information, and to
record the working area map display and the doctors' operating information; the controlling strategy level comprises master-slave
hand position projection module, activation algorism module, main hand communication module and image collect and display module, to complete the calculation of motion and force projection between the main hand and the subhand;execution level comprises motion controlled unit,
alternating current servo-driver, generator and compact disk, to complete the input of the main operation hand moving
signal and the adjoin switch
signal, and to output the actuating controlling
signal to the suboperation hand and realize the
robot movement. The invention can replace the main doctor to complete the basic motion of the operation, increase the force feedback function, make the doctor know the patient's condition more actually. The open standardized
software system and modularized
hardware structure, breaks the conventional binding relation of
robot's
software and hardware.