SYSTÈME DE COMMANDE INTÉGRÉ DE ROBOT CHIRURGICAL FONDÉ SUR UN ORDINATEUR INTÉGRÉ

摘要

This invention relates to an integrated control system for a surgical robot based on embedded computers, the system comprises a main control terminal and a controlled terminal, the main control terminal and the controlled terminal perform the exchange; a remote control device and pedals are connected with the host computer; the host computer performs the exchange of the control signals and the status signals with the controlled terminal through a control cabinet; when the pedal is depressed, the remote control device controls motions of a certain tool with which a mapping relationship is established; when the pedal is released, the corresponding motion control is cut off; wherein the certain tool is a surgical tool or an imaging tool; the host computer performs the exchange of the control signals and the status signals with the controlled terminal through a control cabinet; the control cabinet is used to implement an overall switching of the status for the integrated control system, control actions of the surgical tool driving modules and the imaging tool driving module; the actions of the surgical tool and the surgical actuator are driven by the surgical tool driving modules, \the imaging tool driving module drives a body of the imaging tool and the imaging illumination module carried by the imaging tool to move. The invention can effectively solve the problem that the manual single-hole laparoscopic surgery cannot be widely used in clinical practice.