关键词: 脊柱微创手术, 导航机器人, DSP处理器, 电机细分控制, 控制器局域网

Abstract: A conceptual medical robotic system applicable for establishing surgical platform in the process of Minimally Invasive Spine Surgery（MISS） is proposed in this paper.The design and implementation of the motion control system of a 5 degree-of-freedom navigation robot is discussed in detail.An innovative microstepping method for stepper motor control is put forward.Since the stator currents are sinusoidal instead of square，the actuators’ step-by-step oscillations are eliminated as well.By means of this sensing subsystem，it has achieved the close-loop control of the end-effector.The Controller Area Network（CAN） is utilized to connect the DSP controllers.The final examination to the control system has testified its excellent reliability and stability.

Key words: Minimally Invasive Spine Surgery（MISS）, navigation robot, DSP controllers, microstepping method, Controller Area Network（CAN）