机器人辅助脊柱微创手术系统设计与实现  

Design and Implementation of Robotic Assistant Spinal Surgery System

作　　者：鞠浩[1] 张建勋[1] 安刚[1] 裴晓旭[1] 

机构地区：[1]南开大学机器人与信息自动化研究所,天津300071

出　　处：《南开大学学报（自然科学版）》2008年第4期31-35,共5页Acta Scientiarum Naturalium Universitatis Nankaiensis

摘　　要：研制了机器人辅助定位系统以解决脊柱微创外科手术中的高精度定位问题.分析建立了机器人的运动学模型,设计了一套以TI公司的DSP芯片TMS320LF2407A为核心的控制系统,介绍了该系统平台的工作原理、硬件设计与软件设计.系统已在实际环境下进行试验,满足设计要求.A robotic assistant surgery system is designed to deal with high precision problem in spinal surgery. Kinematics model of the robot is analyzed and founded. The control system of the robotic assistant surgery system based on TMS320LF2407A is also designed. Working principle, design of hardware and software is described. This system has been applied to clinical experiments in real environment and successfully applied to the task.

关 键 词：机器人辅助手术系统 电机控制 数字信号处理 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]