Study on distributed control system for a medical robot

Radio frequency ablation destroys a tumour by delivering radio frequency energy through a needle probe, minimally invasive surgery robot of five degrees freedom has been developed for assisting surgeons to place the probe accurately at the target. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Therefore an effective control system is a crucial issue for the medical robot. Through studying of the minimally invasive ablation surgical operation, we have determined a distributed control system architecture based on CAN bus for a medical robot. The distributed control system has been designed according to the requirements and the safety of the patients and the surgeons. The experiments results have shown that the determined parameters of proportional-integral-derivative (PID) and the control system meet the requirements of the ablation surgical robot.