Development of Control System for Colonoscopic Robot

Hai Yan Hu; Juan Li; Wei Dong Li; Wei Da Li; Li Ning Sun

doi:10.4028/www.scientific.net/AMM.278-280.556

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Development of Control System for Colonoscopic Robot
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 278-280Development of Control System for Colonoscopic...

Development of Control System for Colonoscopic Robot

Abstract:

The continuum robot features continuously deformable backbone as opposed to traditional serial or parallel robot. It has good potential application in diagnose of gastrointestinal diseases and minimally invasive surgery. Aimed at the advantages of continuum robot, a colonoscopic robot with continuum structure is developed. In order to realize the control of colonoscopic robot, a control system with distributed structure is developed. The personal computer of this control system is constructed as upper level computer and the motion controllers based on DSP or ARM are used as lower level computer. The structure of colonoscopic robot is introduced in this paper. The kinematic base of control system is proposed. The control system, including the overall structure, the hardware and software, are analyzed respectively.

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Periodical:

Applied Mechanics and Materials (Volumes 278-280)

Pages:

556-560

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.278-280.556

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Online since:

January 2013

Authors:

Hai Yan Hu, Juan Li, Wei Dong Li, Wei Da Li, Li Ning Sun

Keywords:

Colonoscopic Robot, Continuum Structure, Control System, Motion Controller

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