Design of the control system and home point positioning device for minimally invasive vascular interventional surgery robot

To realize the accurate positioning and stable holding of surgical tools by minimally invasive vascular interventional surgery (VIS) robot, a control system and a home point positioning device are designed. Constitutions of the robot system and its upper-lower control system based on PMAC (programmable multi-axis controller) are introduced firstly. Meanwhile, the quintic interpolation motion planning and three-loop PID algorithms are designed, which improve both the robot's response speed and stability. To find the base point of the robot's motion, the home point positioning method and device are proposed based on Hall sensors and information of motor motion. The experiment results show that the presented home point positioning device works stably and accurately.