{"title":"微创手术机器人控制系统的研究","authors":"Da Liu, Linan Cong, Jingmeng Liu, Dong Xu","doi":"10.1109/RAMECH.2008.4690884","DOIUrl":null,"url":null,"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.","PeriodicalId":320560,"journal":{"name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"The research on the control system of the minimally invasive surgical robot\",\"authors\":\"Da Liu, Linan Cong, Jingmeng Liu, Dong Xu\",\"doi\":\"10.1109/RAMECH.2008.4690884\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":320560,\"journal\":{\"name\":\"2008 IEEE Conference on Robotics, Automation and Mechatronics\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-12-02\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 IEEE Conference on Robotics, Automation and Mechatronics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RAMECH.2008.4690884\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE Conference on Robotics, Automation and Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAMECH.2008.4690884","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The research on the control system of the minimally invasive surgical robot
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.
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