Development of Recyclable Endoscopic Surgical Robot System

手术机器人系统的开发和评估。机器人手臂由球形超声波马达（SUSM）作为驱动器和使用光纤的位置传感系统组成。该系统由电机驱动器、主从式机器人和控制软件组成。1.研制了一种基于超声波电机的机械手。与传统的超声波电机相比，新型超声波电机的尺寸为三分之一到四分之一。SUSM表现出良好的响应性和较高的定位精度。SUSM最大扭矩和转速分别为3.7mNm和62 rpm。评价了使用光纤的位置传感系统。结果表明，该系统的定位精度小于0.1mm。为保证手术机器人的安全性和防止误动作，设计了基于相位差控制的电机驱动器。相位差的自动跟踪功能允许机器人系统安全地控制扭矩。该驱动器和控制方法消除了机器人手臂的振动。研制了主从式机器人系统样机。该系统采用双向机构，主机构采用超声波电机。因此，手部的力被快速准确地传递到主手部。另一方面，在MRI环境中测试MRI兼容性。获得了良好的MRI图像用于医学诊断。

A surgical robot system was developed and evaluated. The robot arms compose of a spherical ultrasonic motor (SUSM) as the actuator and a position sensing system using optical fibers. The system compose of a motor driver, the master-slave type robot, and the control software.1.A manipulator using a SUSM was developed. Compared with conventional ultrasonic motors, the novel SUSM's size is one-thirds to quarter. the SUSM demonstrated a good responsibility and high positioning accuracy. the SUSM's maximum torque and rotational speed are 3.7mNm and 62 rpm, respectively. The position sensing system using optical fibers was evaluated. The results shows that the positioning accuracy is less than 0.1mm. Thus, the feasibility of the surgical manipulator was demonstrated.2.The motor driver using the phase difference control was developed for the safety of the surgical robot and the protection of the miss motion error. An auto following function of the phase difference allowed the robot system to control the torque in safety. The vibration of the robot arm has been eliminated by the driver and the control method. A prototype master-slave robot system was developed. The system employed the bilateral mechanism, and the ultrasonic motors are used at the master mechanism. Therefore, the force at the hand is transferred to the master-hand quickly and accurately. On the other hand, the MRI compatibility was tested in An MRI environment. Good MRI images was obtained for medical diagnosis.