Control System of the Remote-controlled Surgical Robot for Guiding Puncture Needle

Abstract

The mechanical arm for needle guidance consists of puncture link, RCM angle adjustment, and passive adjustment of mechanism position. The position of the passive mechanism was locked by manual adjustment, which requires certain locking moment, and the precision can reach 1 mm. In the process of angle adjustment of RCM, it was required that each joint should have an adjustment range of (+) 45 degrees and an adjustment accuracy of 0.5 degrees. Puncture requires high initial acceleration to penetrate human skin tissue. In this paper, the control system of the manipulator was studied.