微创手术机器人\"Mciro Hand A\"主从控制策略研究

Surgical robots for minimally invasive surgery (MIS) have important significance on enhancing surgeon\'s ability, improving the precision, and shortening learning cycle. This paper introduces the control system of \"Micro Hand A\", a novel master-slave MIS robot for MIS. Intuitive control strategy, scaling control strategy and incremental control strategy are applied to map the motion between the master and the slave. MIS requirements are met and problems encountered in traditional MIS are overcome. Results of the ring-bar experiment and suturing-knot tying experiment clearly demonstrate the efficacy of the control system and the effectiveness of the control strategies.