基于EtherCAT和TwinCAT的微创手术机器人  

Minimally invasive surgical robot based on EtherCAT bus and TwinCAT motion controller

作　　者：王涛 潘博[1] 付宜利[1] 王树国[1] Wang Tao;Pan Bo;Fu Yili;Wang Shuguo(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室

出　　处：《华中科技大学学报（自然科学版）》2018年第12期1-7,共7页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61305139);国家高技术研究发展计划资助项目(2012AA041601)

摘　　要：在分析几种微创手术机器人控制系统架构的基础上,提出了基于Ethercat总线和TwinCAT运动控制器的控制系统架构,该系统架构采用集中式控制和分布式I/O(输入和输出).基于该控制系统提出了主从控制映射算法,编写了相应的程序,并设计了相关实验对该控制系统和控制算法的有效性进行了验证.实验结果表明:该控制系统稳定可靠,实时性强,灵活易扩展,应用于微创手术机器人系统中极具优势.On the basis of studying the domestic and overseas relevant minimally invasive surgical(MIS) robot control architecture,a new control structure was proposed based on EtherCAT bus and TwinCAT motion controller.This control architecture realizes centralized computation and distributed I/O(input/output) ideology.According to this control system,the master-slave hand-eye coordinate control algorithm was implemented.Some relative experiments were designed to verify this control system and algorithm.The experimental results show that the control system is stable and reliable,real-time,flexible and easy to expand.It is very advantageous in MIS robot system.

关 键 词：微创手术机器人 控制系统 EtherCAT总线 TwinCAT运动控制器 主从控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]