SURGICAL ROBOT INTEGRATED CONTROL SYSTEM BASED ON EMBEDDED COMPUTER

摘要

A surgical robot integrated control system based on an embedded computer (230), comprising a main control end (100) and a controlled end (200), wherein the main control end (100) interacts with the controlled end (200). Remote control devices (120, 121) and pedals (140, 141) are connected to a main control computer (130). The main control computer (130) performs interaction of a control signal and a status signal with the controlled end (200) through a control cabinet (201). When the pedals (140, 141) are depressed, the motions of certain tools (350, 351, 352, 362), the remote control devices (120, 121) establishing a mapping relationship therewith, are controlled by the remote control devices; when the pedals (140, 141) are released, the corresponding motion control is cut off. The control cabinet (201) is used to realize the overall switching of the state of the integrated control system and control the actions of surgical tool driving modules (330, 331, 332) and an imaging tool driving module (360). Surgical tools (350, 351, 352) and surgical actuators (380, 381, 382) are driven to act by the surgical tool driving modules (330, 331, 332), and the imaging tool driving module (360) drives an imaging tool (362) body and an imaging lighting module (370) carried by the imaging tool (362) to move. The integrated control system can effectively solve the problem that a manual single port laparoscopic surgery cannot be widely applied to clinical practices.