基于ARM微控制器的医疗机器人主从夹持控制系统设计与实现

doi:10.3969/j.issn.1674-1633.2016.11.003

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摘要利用ARM微控制器，基于本实验室自主研发的医疗机器人用关节式主操作手和从操作手的手指系统，构建了主从遥操作夹持控制系统。本文设计了AT91RM9200 ARM 微控制器与外围器件的硬件电路，并在运行于硬件平台的LINUX操作系统上开发了相应的硬件驱动程序。实验表明该系统可以有效控制缝合针的夹持操作。

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	邱波
	王树新
	李群智

关键词 ：医疗机器人, 主从遥操作, ARM 微控制器

Abstract：This paper presented a method for using ARM microcontroller to build a grasping control system of master-slave teleoperated manipulation. The system was built based on the finger device designed for medical robot developed in our lab. The hardware circuit of the AT91RM9200 ARM microcontroller and its peripheral devices were designed, and the hardware device drivers on the LINUX operating system which were run on the hardware platform were developed. The results showed that the system could effectively control the grasping operation of the suture needle.

Key words： medical robot master-slave teleoperated manipulation ARM microcontroller

收稿日期: 2016-10-26

TP24

基金资助:教育部博士点基金资助（No. 20030056030）。

通讯作者: 王树新 E-mail: qiubo_sohu@hotmail.com

作者简介:

引用本文:

邱波，王树新，李群智. 基于ARM微控制器的医疗机器人主从夹持控制系统设计与实现[J]. 中国医疗设备, 2016, 31(11): 14-17.
QIU Bo, WANG Shu-xin, LI Qun-zhi. Design and Implementation of Master-Slave Grasping Control Systems for Medical Robots on ARM Microcontroller. China Medical Devices, 2016, 31(11): 14-17.

链接本文:

http://cs.china-cmd.org/zgylsb/CN/10.3969/j.issn.1674-1633.2016.11.003 或 http://cs.china-cmd.org/zgylsb/CN/Y2016/V31/I11/14

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