基于LabVIEW的手术机器人虚拟仿真平台设计

doi:10.16180/j.cnki.issn1007-7820.2019.02.004

Abstract

Abstract:

In order to clearly observe the motion state of the surgical robot, a method of constructing a 3D virtual simulation platform based on LabVIEW was proposed. The graphical programming software LabVIEW serving as a construction platform, combined with SolidWorks mechanical modeling, LabVIEW GUI front panel, 3D display control and LabVIEW Robotics toolkit to build a 3D virtual simulation platform for surgical robots high visualization realistic model effects. According to the self-designed master and slave mechanical arm, the process of constructing the virtual simulation platform was described in detail, and the real-time parameter control of the surgical robot in the master-slave control system was realized. Finally, the end position movement of the surgical robot was tested with MATLAB. The test results showed that the trajectory path was consistent, and the virtual simulation platform of the surgical robot could be constructed by this method.

Key words: surgical robot, virtual simulation platform, graphical programming, mechanical modeling, visualization, master-slave control

CLC Number:

TP242

HAO Jiajun,WANG Yagang,MA Jiangtao. Master-slave Control System Simulation of Surgical Robot Based on LabVIEW[J].Electronic Science and Technology, 2019, 32(2): 14-19.

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关节	a_i/mm	α_i/(°)	d_i/mm	θ_i/(°)
1	0	0	280.6+d₁	0
2	270	0	0	θ₂
3	0	-135	0	θ₃
4	0	-90	493.09	θ₄
5	0	90	0	θ₅
6	0	0	d₆	0

关节	a_i/mm	α_i/(°)	d_i/mm	θ_i/(°)
1	0	0	-119.15	θ₁
2	1	-90	0	0
3	0	0	37.82	0
4	216	0	0	θ₄+90
5	297.02	0	0	θ₅-90

Master-slave Control System Simulation of Surgical Robot Based on LabVIEW

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