Study on the Master-slave Control System of the Fracture Reduction Surgery

Aiming at the negative factors brought by environment in fracture reduction surgery, a master-slave control system of the fracture reduction surgery was studied. The system was composed of teleoperation control and master hand operation control. In this paper, the teleoperation mode adopts B/S(Browse/Server) mode. The operator realizes the real-time control of the remote reset robot by accessing the Web, and the working status information of the robot is fed back to the Web interface in real time. In this paper, the design of the fuzzy PID-smith predictor compensation algorithm controller is completed to compensate the network delay in the control process, and the effectiveness of the algorithm is verified through simulation experiments. For the operation control of the master hand, the heterogeneous master hand design was selected in this paper to establish the mapping relationship between the master hand and the reduction robot, and the slave robot was controlled by the inverse kinematics solution of the fracture reduction robot. The Savitzky-Golay least square fitting method was used to solve the problem of physiological tremor during the reduction operation with the main hand. The simulation experiment of this method is carried out. Experimental results show that Savitzky-Golay least square fitting algorithm has good filtering effect.