基于STFT的微创手术机器人运动控制系统设计

Design of Motion Control System of Minimally Invasive Surgery Robot Based on STFT

摘要:

针对微创手术机器人运动过程受到信号干扰而导致机器人主从臂控制效果差、控制精度较低的问题，提出了基于STFT的微创手术机器人运动控制系统设计。主控制器通过蓝牙的无线传输方式与主机连接，采用I/O口模拟SCI硬件流控方式，实现MCU与蓝牙通信，为系统提供基础数据。设计时钟基准电路的并联振荡模式，方便失控程序重启。根据运动控制器结构，设计预留模数转换接口，并对机器人主从操作臂展开详细分析。使用基于STFT短时傅里叶变换方法抑制外界干扰，在LM629运动控制专用集成芯片支持下设计控制流程，完成基于STFT的微创手术机器人运动控制系统设计。设计对比实验，结果表明该系统与期望主臂运动轨迹的终点坐标（10mm，-35mm，45mm）和从臂运动轨迹的终点坐标（18mm，-45mm，25mm）一致，能够精准控制微创手术机器人运动精度，为医学手术智能化开展提供设备支持。

Abstract:

In order to solve the problem of poor control effect and low control precision of the master-slave arm caused by signal interference in the motion process of minimally invasive surgery robot, a motion control system design of minimally invasive surgery robot based on STFT is proposed. The main controller is connected with the host computer through Bluetooth wireless transmission mode. The I/O port is used to simulate SCI hardware flow control mode to realize the communication between MCU and Bluetooth and provide basic data for the system. The parallel oscillation mode of clock reference circuit is designed to facilitate the restart of out of control program. According to the structure of motion controller, A/D conversion interface is designed and analyzed in detail. The STFT based short-time Fourier transform method is used to suppress external interference, and the control process is designed with the support of LM629 Motion Control ASIC. The motion control system of minimally invasive surgery robot based on STFT is designed. The experimental results show that the system can accurately control the motion accuracy of minimally invasive surgery robot, and provide equipment support for the intelligent development of medical surgery.