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Master-slave control strategy for abdominal minimally invasive surgery robotic system

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3 Author(s)
Yili Fu ; State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China ; Ying Yu ; Shuguo Wang

According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a master-slave control system is studied. In order to solve the problem of low responsivity caused by traditional inverse kinematics transformation method, a algorithm based on equivalent differential transformation suitable for real-time master-slave surgical robot control is put forward, and the accumulated error of the algorithm is eliminated by feedback mechanism. A fast trajectory planning method efficient in real-time master-slave surgical robot control is put forward to replace traditional trajectory prediction and off-line calculation. Finally, in order to avoid the impact on the accuracy of the system coursed by hand-trembling of operators, a digital filter is designed to help filtering the master manipulator signal.

Published in:

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Date of Conference:

7-11 Dec. 2011