基于MEMS的微创手术机器人位姿检测及精细控制

摘要

针对微创手术提出的高精度和高实时性要求,采用基于光电传感器和微机械陀螺的双重闭环控制模式,实现微创手术机器人的位姿检测与精细控制.编码器、光栅尺所检测的各关节实时位移,输入到运动控制卡中,构成第一层反馈环节；基于微机械陀螺检测的角速度信息,利用基于二次插值构造的数字积分方法,在DSP中进行积分得到角位移,供上位机调用,构成第二层反馈环节.试验验证该双闭环检测控制模式能有效弥补电机运转偏差和各杆件加工误差；构造的数字积分方法在满足实时性要求的前提下,具有很高的精度,最大偏差不超过0.0172°；可以很好的保证微创手术机器人的微小动作要求.%According to the high precision and real-time requirement of minimally invasive surgery, the control mode of double closed loops based on photoelectric sensors and micromechanical gyroscopes was adopted to carry out the pose detection and fine control of minimally invasive surgical robot.Real-time deformation of joints detected by encoders and the grating scale was inputted to the motion control card.So the first feedback loop was created.Then the angular velocity detected by micromechanical gyroscopes was integrated in DSP,with the digital integration method based on quadratic interpolation.And the angular de-formation was called by the host computer.Thus ,the second feedback loop was built.Experiments verified that the detecting and control model of double closed loops was able to make up the deviation of motors and members efficiently.What's more,the great precision of the digital integration method was proved,and the maximum deviation didn't exceed 0.0172°, with the premise of the integration way, which met the real-time requiremenu.The exiguity action of the minimally invasive surgical robot could be ensured