一种用于微创手术的球形机器人控制架构
The control architecture of a spherical robot for Minimally Invasive Surgery
AI总结：
本研究针对微创手术对精度与安全的需求，提出一种模块化主从式球形机器人控制架构，经仿真与实体实验验证功能有效，具备与其他手术机器人集成的潜力，可助力提升机器人辅助手术能力。
摘要：
微创手术（Minimally Invasive Surgery, MIS）中使用的控制系统对确保手术全程的精度与安全性起着关键作用。本文提出了一种为MIS手术机器人系统开发的控制架构。该控制系统采用模块化结构，可适配腹部与胸部区域的多种手术流程。本文提出的控制系统采用主从式架构理念，并搭配实验模型一同展示。研究通过执行Siemens NX仿真，并将仿真结果与使用该机器人实验模型开展的多次实验运行结果进行对比，完成了功能验证。该系统凭借紧凑的尺寸与刚性，有望与其他机器人系统集成。未来工作将致力于探索并优化这种潜在的协作模式，以提升机器人辅助手术的整体能力。
英文摘要：
Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular structure of the control system allows for compatibility with a range of procedures in abdominal and thoracic regions. The proposed control system, employing the master-slave concept, is presented alongside the experimental model. Functional validation is obtained by performing a Siemens NX simulation and comparing the results with several experimental runs using the experimental model of the robot. With its compact size and stiffness, the system holds promise for integration with other robotic systems. Future efforts will be dedicated to exploring and optimizing this potential collaboration to enhance the overall capabilities of robotic-assisted surgery.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
