The control algorithm of craniofacial plastic surgical robot

摘要

This paper mainly introduces a kind of auxiliary robot for craniofacial plastic surgery. It contains mechanism design of the robot, the design of the control system, and experimental verification in order to prove the effectiveness of drilling bone. The robot make use of the stability and accuracy of the motor movement, combining with the 2D/3D imaging techniques, through the pressure sensor, position sensor, speed sensor real-time measure stress and displacement. By the force feedback, know the depth of the drill hole. In the drilling bone, the robot solve the error and injury problems because of the hand shaking in the surgery, improve the stability of the operation. In the motor control, because of the robot have nonlinear mechanical structure, the traditional PID control could not bring stability speed and fast response. Due to the fuzzy control need not to establish accurate model, so design a fuzzy controller to make motor run more stable and accurate. Finally the animal experiment was carried out, obtain the force during the process of drilling the bone, the results prove experiment achieve the goal.