ROS手术机器人控制系统设计与实现  

Design and Implementation of ROS Surgical Robot Control System

作　　者：刘玲云 孟庆轩 于立杰 Liu Lingyun;Meng Qingxuan;Yu Lijie(AVICHE Shandong Medical Technology Co.,Ltd.,Jinan Shandong 250104;Shandong Qilu cell therapy Engineering Technology Co.,Ltd.,Jinan Shandong 250104)

机构地区：[1]航电中和山东医疗技术有限公司,山东济南250104 [2]山东省齐鲁细胞生治疗工程技术有限公司,山东济南250104

出　　处：《中国仪器仪表》2025年第2期70-73,共4页China Instrumentation

摘　　要：本文针对ROS手术机器人控制系统的设计与实现进行了深入研究。通过分析手术机器人的特点和需求,设计了1套基于ROS的控制系统架构。该系统采用模块化设计,包括运动规划、轨迹控制、力反馈等模块,实现了手术机器人的精确控制,本文详细阐述了各模块的实现方法和关键技术,并通过实验验证了系统的可行性和有效性。This article conducts in-depth research on the design and implementation of the ROS surgical robot control system.By analyzing the characteristics and needs of surgical robots,a ROS based control system architecture was designed.The system adopts a modular design,including motion planning,trajectory control,force feedback and other modules,to achieve precise control of the surgical robot.The article details the implementation methods and key technologies of each module,and verifies the feasibility and feasibility of the system through experiments.effectiveness.

关 键 词：ROS 手术机器人 控制系统 运动规划 轨迹控制 力反馈 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]