| 显微手术机器人系统中软件系统的设计与实现 |
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| 引用本文： | 张慧明,张建勋.显微手术机器人系统中软件系统的设计与实现[J].计算机工程与设计,2006,27(1):1-3,148. |
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| 作者姓名： | 张慧明 张建勋 |
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| 作者单位： | 北京大学,微处理器研发中心(深圳基地),广东,深圳,518055;南开大学,信息自动化研究所,天津,300071 |
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| 基金项目： | 国家科技攻关项目;中国科学院资助项目 |
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| 摘 要： | 辅助显微手术机器人（RAMS）的软件系统运行于PC及DSP，作为重要子系统，是RAMS精确、稳定运行的关键。介绍了机器人的计算机与电子控制系统之体系结构，阐述了软件系统的设计，给出HPI引导加载功能的实现，讨论了主从和PC控制的工作模式下多轴运动控制DSP软件的实现细节。最后通过重复定位精度和动物显微手术实验，验证了RAMS软件系统的性能满足显微手术的要求。
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| 关 键 词： | 软件系统 DSP 显微手术 机器人 主从 HPI |
| 文章编号： | 1000-7024（2006）01-0001-03 |
| 收稿时间： | 2004-12-16 |
| 修稿时间： | 2004-12-16 |
Design and realization of software system in robot assistant microsurgery system |
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| ZHANG Hui-ming,ZHANG Jian-xun.Design and realization of software system in robot assistant microsurgery system[J].Computer Engineering and Design,2006,27(1):1-3,148. |
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| Authors: | ZHANG Hui-ming ZHANG Jian-xun |
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| Affiliation: | 1. Center (Shenzhen |
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| Abstract: | RAMS's software system running in PC and DSP is an important part of robot assistant microsurgery system(RAMS),and it ensures system's accuracy and stability.Firstly the architecture of RAMS's computing and electronic control system were given,and then the design of software system was discussed including the realization of HPI bootload function and that of DSP software under both master-slave control mode and PC-control mode.Finally,the experimental datum ofrepeating precisionsin positional control and animal's microsurgery was proposed to show that RAMS's software system met the demand of microsurgery. |
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| Keywords: | DSP HPI |
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