Design of under-layer control sub-system for robot assistant microsurgery system

Robot applied in medical area is an important research field of special type robot. This paper first introduces the development of robot applied in medical area, and proposes the architecture of robot assistant microsurgery system (RAMS) with the technical requirement in microsurgery process. Then it describes hardware and software design in under-layer control sub-system (UCS) of RAMS´s control system, and gives the experimental results of microsurgery on animal with this robot, which demonstrate that RAMS satisfies the technical requirements of motion character and precision in high security. This under-layer control sub-system can be used in many high precision required systems. It also refers some related important problems in the design of whole system.