실시간 운영체제 기반의 복강경 수술 로봇의 모터제어 시스템에 관한 연구

A Study of a RealTime OS Based Motor Control System for Laparoscopic Surgery Robot

This paper reports on a Realtime OS based motor control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. The system has a conventional master-slave robot configuration and the control system consists of joint controllers, host controllers, and power units. The robot features (1) a compact slave robot with 5 DOF (Degree Of Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously, and (2) direct 1:1 correspondence in the joint of master and slave robot that simplifies control algorithm and enhances reliability. Each master, slave and GUI (Graphical User Interface) host has a dedicated RTOS (RealTime OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) Each master and slave controller set pair has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication. Total 4 pairs of the master/slave manipulators as current are monitored by one host controller for operation monitoring and higher level motion control. The system showed acceptable performance in both position control precision and master-slave motion synchronization and is now under further development for better safety and control fidelity for clinically applicable prototype.