基于PLC的神经外科机器人控制系统研究

结合医疗外科机器人的应用环境，在比较不同外科机器人控制系统的特点的基础上，提出了基于PLC的神经外科机器人控制系统的设计方法．根据系统需要完成的任务特点，确定了硬件构架和软件体系．分析了控制系统涉及的几个关键问题，根据临床手术的需求，详细讨论了系统实施的安全策略、提高系统定位精度的措施以及不能采用示教编程控制方式的原因．经过多例临床实验，验证该机器人操作方便、性能稳定，可以弥补医疗机器人系统安全性不高、手术效率低、维护难度大、成本高等缺陷．

A Control System of Neurosurgery Robot Based on PLC

Based on the application circumstances of surgical robots, the characteristics of some different surgical robot control systems are compared., and a design method of neurosurgery robot control system based on PLC is put forward. The hardware structure and software architecture are determined based on features of tasks performed by the robot system. Some key technologies related with robot control system are analyzed, and the safety strategy for system implementation, the ways to improve localization precision of the system, and the reasons for not adopting teaching control are discussed in detail according to clinical requirements. Many clinical experiments show that this robot is reliable and easy to use, and can overcome some problems of surgical robot systems, such as low security, low efficiency, hard maintenance and high cost.