Abstract
We developed a slave manipulator and its controller for microsurgery in various surgical fields. This slave manipulator targets neurosurgery and vitreoretinal surgery thus far. On each arm, there are three translational motion axes, two rotational axes and three additional axes for detachable instruments depending on the type of surgery. Detachable axes are used to drive the forceps. We designed a neurosurgery forceps and a control unit for vitreoretinal as well. Robot controlling software was developed on LINUX with real-time extension. This software composes of communications module, trajectory calculation task and servo controlling task. Communications module receives the target data from master manipulator through the UDP network socket. Trajectory calculation task calculates the ideal trajectory polynomial by interpolation of desired targets using the weighted least square method. Servo controlling task calculates the target position and velocity in every servo cycle, and outputs command signal to each servo amplifier.
