Control Strategies of Minimally Invasive Surgery Robot

摘要

Based on the analysis of MIS constraints,the control strategies of master-slave robot for assisting MIS were investigated.A survey on characterizing the motion of MIS robot was conducted leading to the establishment of intui-tive control strategy,relative motion control strategy and scaling control strategy,which further resulted in the solution of eye-hand motion incoordination,motion changing and interface problems during surgery.Furthermore,based on MicroHand A MIS robot system,experiments were carried out to verify the effectiveness of the control strategies.It has been revealed that the proposed control strategies can not only solve the problems existing in MIS but make the complex operations easy.Accurateness and effectiveness of the control strategies have been verified.