Design of Robot Control System for Knee Joint Replacement Surgery Based on STM32

At present, the combination of intelligent robots and medical surgery has become a trend. Considering the requirements of high motion accuracy and good safety of robot in minimally invasive surgery, and in order to give full play to the advantages of strong artificial initiative, this article combines the advantages of robots and humans and uses camera information to locate and design a knee joint replacement surgery robot system based on STM32, which is used for the safe surgical tasks of knee joint replacement. This system is composed of STM32 embedded micro-controller, camera, permanent magnet synchronous motor, torque sensor, harmonic reducer, etc., using joint torque sensor and a harmonic reducer to realize the flexible control of the robotic arm; using inverse kinematics combined with B-spline algorithm solves the problem of unsmooth motion trajectory, speed, and acceleration of the robotic arm. It uses the camera to dynamically collect data, and then combines the human-computer interface to control the robot. The end of the robot uses position-based impedance control to realize the safe area control of the surgical process. The simulation results show that the robot system has a friendly human-computer interaction interface convenient for users. The impedance control simulation realizes the adjustable and controllable end position accuracy. The robot movement process is smooth and continuous, which meets the requirements of minimally invasive surgery accuracy and safety. The simulation results show that the human-machine interaction interface of the robot system is friendly, and the user is convenient to use. The simulation of impedance control realizes the adjustable and controllable precision of the end position, and the movement process of the robot is stable and continuous, which meets the requirements of precision and safety of minimally invasive surgery, and has an excellent guiding significance for the realization of minimally invasive surgery.