The research on the control system of the minimally invasive surgical robot

Abstract

This paper presents a robotics control system of the parallel serial robot for the minimally invasive surgery. Respectively, for the serial part, which is a 6 degree of freedom mechanical arm, this system presents a control unit based on the Field Programmable Gate Array and a transmission unit based on the Universal Serial Bus; for the parallel part, which is a 4 degree of freedom structure, this paper discusses a method based on the PID parameters debugging of the Programmable Multi Axes Controller. This control system with the parallel serial robot is the newest member of a growing family of minimally invasive surgical robots under development.