IOSR Journal of Engineering (IOSRJE) ISS (e): 2250-3021, ISS (p): 2278-8719 Vol. 07, Issue 05 (May. 2017), V1 PP 31-35 www.iosrjen.org Stuy on the Control System of the En Effector in Minimally Invasive Surgery Robot Wang Hao 1 Zhang Xue 2 Ran Guangpeng 3 (College Of Mechanical Engineering, Shanghai University Of Engineering Science, Shanghai 201620, P.R.China)PROJRCT UMBER: 16K0113 Abstract: As A ew Research Fiel, Minimally Invasive Surgical Robot Technology Has Great Value For The Research An Development Of Motion Control System. From The Aspects Of Robot Configuration, Surgical Trajectory Planning An Control System, This Paper Introuces The Design An Implementation Of The Minimally Invasive Surgical Robot En Effector. The Control Strategy Of Minimally Invasive Surgery Robot, The Selection Of Control System Harware An The Software Development Process Are Describe. A ew Type Of Minimally Invasive Surgery Robot Aopts The Parallel Structure An The Control Strategy Base On The Calculate Torque/Displacement, Which Realizes The Control Of The Trajectory Tracking, An Can Complete The Simple Minimally Invasive Operation Uner The Doctor's Operation. Key Wor: Minimally Invasive Surgical Robot; Robot Configuration; Trajectory Planning; Control System1 I. ITRODUCTIO Minimally Invasive Surgery Is To Open One Or More 0.5cm~3cm Incision In Patients In Vitro, The Surgical Instruments Were Implante Into The Patient Through A Small Woun, An The Doctor With The Help Of An Image Visualization System To Perform The Specific Surgical Treatment For The Removal An Repair Of Disease Cells. Compare With Traitional Open Surgery, Minimally Invasive Surgery Has Many Avantages, Such As Less Trauma, Less Bloo Loss, Faster Postoperative Recovery An So,Therefore, It Has Been Wiely Use In The Fiel Of Surgery[1]. But Because Of The Minimally Invasive Surgery Has A Series Of Problems ee To Be Solve, Such As During The Operation Process, The Doctor Han Eye Coorination Is Poor, Easy To Fatigue, Less Freeom Of Surgical Instruments, Resulting In Poor Flexibility In Operation, Han Tremor Seriously Affect The Accuracy Of Surgery, Etc.. In Orer To Effectively Solve The Problems In Minimally Invasive Surgery, The Robot Technology Is Introuce Into Minimally Invasive Surgery, The Combination Of The Two Is Boun To Be The Main Direction Of The Future Development Of Minimally Invasive Surgery[2]. Minimally Invasive Surgical Robot System Overcomes The Shortcomings Of Traitional Minimally Invasive Surgery, While Proviing A Goo Working Environment For The Doctor, In The Premise To Ensure The Safety Of Patients Uner Greatly Improve The Quality Of Minimally Invasive Surgery. At Present, Minimally Invasive Surgical Robot Technology Has Become The International Multituinous Universities An Research Institutes Of The Research Focus, Which Stuies In The Minimally Invasive Surgical Robot Technology In The Unite States An The European Research Institutions In The International Leaing Level,One Of The Most Representative Of The Unite States In 1996 Computer Motion R & D Zeus Robot System[3]An In The Unite States In 1999 Surgical Da Vinci Robot System[4]. In 2001, Da Vinci Minimally Invasive Surgery Robot System Develope By The American Intuitive Surgical Company Successfully Passe The Foo An Drug Aministration Certification [5], Has Achieve The Commercialization Of Minimally Invasive Surgery Robot System. 2 Robot Configuration Inepenent Research An Development Of The Parallel Robot Configuration Has Been Use On The En Effector Of A ew Type Of Minimally Invasive Surgery Robot, By The Double Parallel Parallelogram Mechanism Realize Reliability Centere Maintenance An Decoupling Function,Has The Avantages Of Simple Structure, Goo Flexibility, The Structure Configuration As Shown In Figure 1. The En Effector Can ot Only Realize The Pose Position Of The Operating Range, But Also Ensure The Stability An Flexibility Of The Robot. 31 P a g e
Stuy On The Control System Of The En Effector In Minimally Invasive Fig.1 The En Effector Of The Minimally Invasive Surgical Robot The En Effector Of The Surgical Robot Is Compose Of One Or Two An Three Or Four Joints. The First Joint Is Rotating Joint To Realize The Rotation Of The En Actuator; The Secon Joint Is A Rotating Joint To Realize The Rotation Of The Front Parallelogram Mechanism; The Thir Joint Is A Rotary Joint,Which Uses The Parallelogram Mechanism To Convert The Rotary Motion Into The Linear Motion Of The Joint Four, An The Linear Stretching Motion Of The Surgical Instrument Is Realize; The Fourth Joint Is A Rotating Joint To Realize The Rotation Of The Surgical Instrument. 3 Surgical Trajectory Planning In The Process Of Minimally Invasive Surgery,Doctors Can Operate Robots, First, The Surgical Instruments Were Move From The Distal To The Proximal Point, An The Location Of The Incision Was Precisely Locate. After The Doctor Again Through The Operation Of The Robot En Effector Do Fixe-Point Motion, Surgical Instruments Will Be Slowly Inserte Into The Patient's Boy Along The Incision Point That Has Given Before Operation Scheme, An Accoring To The Specific Situation Aroun The Incision Point At A Certain Angle Swing, To Reach Any Position Of The Operation Area, The Completion Of The Lesion Cells In Vivo Excision An Repair Of Concrete The Surgical Treatment Of The Task. 4 Robot Control System 4.1 Stuy On The Control System By Analyzing The Kinematics An Dynamics Of The En Effector Of The Surgical Robot, That Can Get The Motion Space, Displacement An Velocity About Each Joints Of The En Effector. In Orer To Improve The Surgical Robot En Effector Has Goo Stability In The Work Process, So Installing Force An Displacement Sensor At The Joint Of The Surgical Robot En Effector, Which Better Reflects The Working State About The En Effector Of The Surgical Robot. Different From The PD Control System Or PD Control System Base On Gravity Compensation, Aiming At The Design Of The En Effector Of The Surgical Robot, A Control Strategy Base On Torque An Displacement Error Compensation Is Presente, Ensuring In The Motion Process To Meet The High Precision Control Requirements, Improving The Reliability Of The En Mechanism. Accoring To The Lagrange Equation Establish The Dynamic Moel Of The Robot En Effector, An The Terminal System Is Consiere As An Iealize Linear System, Introucing Corresponing Control. Accoring To The Dynamic Equation Get The Effective External Loa Control Equation About The En Effector. F1 M (s)(s Ke K pe) ( s, s) s G(s) Among: F 1 Joint Driving Force Uner Dynamics; S Actual Position Of Joint; s Actual Spee Of Joint; s Theoretical Trajectory Of Joint; s Theoretical Acceleration Of Joint; ( s, s) s Inertia Force; K K p Differential Constant An Proportionality Constant; E The Deviation Between The Actual Position An The Theoretical Position Of Each Joint; G(S) Gravity Term. Consiering The Effect Of The Contact Force Between The Surgical Instruments An The Environment In The 32 P a g e
Force an isplacement sensor Limit switch Stuy On The Control System Of The En Effector In Minimally Invasive Process Of Operation, The Joint Driving Force Of The Robot Is Obtaine Uner Static Conition: F JF 2 3 Among: J Force Jacobian Matrix; F3 Effective Loa. Minimally Invasive Surgery Robot Joint Effective External Loa: F F F M (s)(s K e K e) ( s, s) s G(s) JF 1 2 p 3 4.2 Design Of Harware Structure In Orer To Meet The ees Of The Minimally Invasive Surgery Robot Control System, Such As Accurate Drive, High Spee Operation An Data Processing. The Control System Is Base On The Upper An Lower Computer Control Unit Of High Performance Inustrial Computer An Motion Control Car To Buil Control Structure Of Robot, An The Communication Moe Of PCI Fiel Bus Is Aopte. The PCI Fiel Bus Communication Moe Is Also Use Between Minimally Invasive Surgery Vieo Cart An High Performance Inustrial Computer. The Harware Structure Of The En Effector Of The Robot Is Shown In Figure 2. High performance inustrial computer PCI bus A/D conversion Motion control car Image acquisition car Drive 1 Drive 2 Drive 3 Drive 4 Joint 1 Joint 2 Joint 3 Joint 4 Information acquisition Camera Vieo Cart Fig. 2 Harware Structure Of The Control System Of The En Effector Of Surgical Robot The Upper Control Unit Of The Control System Is Mainly Compose Of High Performance Inustrial PC, Which Completes The Processing Of Information An Real-Time Monitoring Of The Signal; The Lower Computer Control Unit Is Mainly Compose Of Motion Control Car, Which Completes The Communication Between The Upper Computer Control Unit An The Signal Data, The Upper Computer Control Unit An The Lower Computer Control Unit Are Connecte Through The PCI Communication Bus.In The Control System, Inustrial PC Can Do Kinematics An Trajectory Planning Accoring To The Control Comman, An The Results Of Information Will Be Transmitte To The Lower Computer Control Unit, The Lower Computer Control Unit Through The Motion Control Car, Servo Motor An Driver Accurately Control Each Joint s Pose An Velocity Of The Minimally Invasive Surgery Robot En Effector, The Inustrial PC Complete To Monitor The Working State Of The Motor In Real Time By The Signal Of The Motor An The Force Sensor. The Minimally Invasive Vieo Cast Will Collect The Image Information From The Operating Area By The Micro HD Camera, Which Is Sent To The Image Acquisition Car For Processing,An Through The PCI High-Spee Bus Transmission To The Inustrial PC Machine, Realizing The Real-Time Monitoring Of The Whole Operation Process, Which Will Reuce The Risk Of Surgery To Ensure The Safety Of Patients. 4.3 Design Of Software Structure The Design Of Software System Structure Is An Important Part Of The Whole Control System. The Function An Reliability Of The Software Will Directly Affect The Performance Of The Control System. The Control System Of The En Effector Of The Minimally Invasive Surgical Robot Aopts The Winows7 System, Using The C Language As The Programming Language. 33 P a g e
Feeback signal Stuy On The Control System Of The En Effector In Minimally Invasive The Software Structure Of The Control System Is Shown In Figure 3. Main Operating system interface Mechanism motion parameter setting Trajectory control moe Motion monitoring moule Vieo monitoring moule Control algorithm Communication Image processing Motion function Camera Motor / encoer Fig.3 Software Structure Of Control System Control System Software Development An Design Phase, As Shown In Figure 4. Development esign Theoretical planning Analysis Real time monitoring an ebugging Programming / compiling Create a project file an write the source coe Debugging Grammar check, etc. Fig.4 Software Development Design The Development Phase Of The Software Is The Application Coe Which Is Written By The User Base On The C Language Development Environment, Which Is Suitable For The En Effector Of The Robot,An Finally Get The Target Coe, To Achieve All The Functions Of The En Effector. The Operating Process Of The Control System Software, As Shown In Figure 5. Start Device initialization Monitoring system Each joint is in place? Trajectory motion moel Exit En Emergency stop Point motion / linkage moule Fig.5 Software Flow Chart Alarm 34 P a g e
Stuy On The Control System Of The En Effector In Minimally Invasive Mainly Inclues: The Parameters Of Surgical Robot Setting, Equipment Initialization; The Robot En Position Is Transmitte To The Monitoring System For Real-Time Monitoring, Implementation Of Monitoring The Whole Operation Process; If The Joint Di ot Arrive At The Designate Location, Location Using Motion Pattern Ajustment; The Joint Real-Time Emergency Stop, Reset An Automatic Alarm Function. II. COCLUSIO Minimally Invasive Surgical Robot System Is An Interisciplinary Research Area Which Combines Meical Science, Robotics An Mechanics. The Ultimate Goal Of Minimally Invasive Surgery Robot System Is ot A Substitute For The Surgeon, But As A Tool To Expan The Operation Ability Of The Doctors, An Overcome The Shortcomings Of Manual Movement Limitation Of Minimally Invasive Surgery, Give Full Play To The Avantages Of Minimally Invasive Surgery, So As To Improve The Operation Efficiency, Alleviate The Work Intensity Of Doctors. The Research Of The En Effector Of A ew Type Of Minimally Invasive Surgery Robot, Aopting The Parallel Structure An The Control Strategy Base On The Calculate Torque/Displacement. The Trajectory Planning Of The Surgical Operation Is Realize By The Trajectory Motion The Robot En Effector Joints.Analysis Of Experimental Data Shows That The Robot En Control System Has Goo Stability. The ext Step Will Be To A Three Degrees Of Freeom To The Existing En Mechanism To Help The Surgical Robot To Achieve More Sophisticate An Minimally Invasive Surgery. REFERECE [1] Vu T D, Aycar O, Appenrot. Online Localization An Map-Ping With Moving Object Tracking In Dynamic Outoor Environ-Ments[C]//IEEE Intelligent Vehicles Symposium. Piscataway, J, USA: IEEE, 2007: 190-195. [2] Zhang Guanrong, Zhang Heng, Wang Sheng.Robot Assiste Laparoscopic Surgery [J].Journal Of Jiangsu University:Meical Science,2004,14(3):243-244. [3] Ginhoux R, Gangloff J, De Mathelin M, Et Al. Active Filtering Of Physiological Motion In Robotize Surgery Using Preictive Control[J]. IEEE Transactions On Robotics, 2005, 21(1): 67-79. [4] Broeers I A M J, Ruura J. Robotics Revolutionizing Surgery: The Intuitive Surgical Da Vinci System[J]. Inustrial Robot, 2001, 28(5): 387-391. [5] Satava R M. Surgical Robotics: The Early Chronicles-A Personal Historical Perspective. In Surgical Laparoscopy, In: Enoscopy & Percercutaneous Techniques, Lipincott & Willikins, Inc, Philaelphia, 2002,12: 6-16. 35 P a g e