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）

摘要： 设计了一套医疗机器人系统用于辅助脊柱微创外科手术操作。详细论述了这款5自由度脊柱微创手术导航机器人运动控制系统的设计与实现。提出了具有创新性的步进电机细分驱动模式，将电机定子电流从方波形状转变成为了正弦波形状，消除了步进电机的步间振荡现象。利用传感机构实现了对机器人末端工具的位姿反馈，并以此构成了对机器人末端工具的闭环控制。通过CAN实现了数字信号处理器之间的网络互联。最后对该系统进行实验，结果验证了控制系统具有良好的可靠性和稳定性。

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