CN104622550A - Control system for full-automatic orthopedic traction robot - Google Patents
Control system for full-automatic orthopedic traction robot Download PDFInfo
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- CN104622550A CN104622550A CN201310562977.8A CN201310562977A CN104622550A CN 104622550 A CN104622550 A CN 104622550A CN 201310562977 A CN201310562977 A CN 201310562977A CN 104622550 A CN104622550 A CN 104622550A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B2017/564—Methods for bone or joint treatment
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- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Nursing (AREA)
- Vascular Medicine (AREA)
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Abstract
The invention discloses a control system for a full-automatic orthopedic traction robot. The control system for the full-automatic orthopedic traction robot comprises a micro controller and a clamping platform, wherein the micro controller is in communication connection with a motor drive unit and a pneumatic transmission unit, the motor drive unit and the pneumatic transmission unit are both connected with a mechanical executing unit of the full-automatic orthopedic traction robot, the motor drive unit is used for controlling the mechanical executing unit to produce deflecting force, the pneumatic transmission unit is used for controlling the clamping platform to produce drawing force and clamping force, and the mechanical executing unit is connected with the clamping platform; a switch unit is used for controlling the operation states of the motor drive unit and the pneumatic transmission unit; a propagation neural network is formed by the micro controller, the motor drive unit, the pneumatic transmission unit and the mechanical executing unit. The control system for the full-automatic orthopedic traction robot has the advantages of being automated, safe, easy to operate and high in efficiency.
Description
Technical field
The present invention relates to a kind of control system of orthopaedics auxiliary hitch, particularly relate to a kind of control system for full-automatic orthopaedics traction robot.
Background technology
Present hospital carries out bonesetting to forearm fracture and mainly still operates by doctor, a doctor draws forearm, and another one doctor boneset, because the bonesetting time is long, therefore the doctor drawn can be very tired, so just promoted the generation of orthopaedics pulling equipment.
In prior art, what common orthopaedics auxiliary hitch had utilizes driven by rotating wheel screw mandrel to rotate with the traction realized patient's arm; What have utilizes mechanical type air pump, pinches described mechanical type air pump regulate the flexible of extension type cylinder, to realize the traction to patient's arm by hands.The shortcoming of above-mentioned orthopaedics auxiliary hitch is that to draw to patient's arm the dynamics used accurate not, and doctor carrying out boneseting, synthetism, also need the dynamics that frees hand to adjust traction while the operation such as planter cast, have impact on the treatment of doctor.
At present, it is higher that the research both at home and abroad in fracture of lower arm treatment automatization mainly concentrates on intelligence degree, even can substitute the full-automatic medical robot of working doctor completely.But this robot architecture is very complicated, and safety precautions is few, and reliability not easily ensures, almost cannot clinical practice.
Therefore, prior art needs further improvement and develops.
Summary of the invention
The present invention is intended to solve above-mentioned problems of the prior art, proposes a kind of control system for full-automatic orthopaedics traction robot, draws the spinfunction that hands has certain angle, reduce the labor intensity of doctor to realize doctor in the process of bonesetting.
For achieving the above object, the present invention adopts following technical scheme:
A kind of control system for full-automatic orthopaedics traction robot, it comprises microcontroller and Gripping platform, it is characterized in that, described microcontroller is connected with electric-motor drive unit, Pneumatic Transmission unit communication respectively, described electric-motor drive unit, described Pneumatic Transmission unit all draw robot mechanical performance element with full-automatic orthopaedics is connected, described Pneumatic Transmission unit is connected with described Gripping platform, and described mechanical performance element is connected with described Gripping platform; Described electric-motor drive unit produces deflecting force for controlling described mechanical performance element, and described Pneumatic Transmission unit produces tensile force and chucking power for controlling described Gripping platform; Described microcontroller is provided with a switch element, for controlling the running status of described electric-motor drive unit, described Pneumatic Transmission unit; Described microcontroller, described electric-motor drive unit, described Pneumatic Transmission unit and described mechanical performance element form a Propagation Neural Network.
Described control system, wherein, described electric-motor drive unit comprises the first buffer circuit, analog to digital conversion circuit and the second buffer circuit, described first buffer circuit, analog-digital conversion circuit as described is all connected with described micro-controller communications with described second buffer circuit, described first buffer circuit is connected with the first drive circuit, described first drive circuit is connected with the first direct current generator, described first direct current generator is connected with described mechanical performance element, described first direct current generator is configured with the first code-disc, described first code-disc is connected with described micro-controller communications, the first current sampling circuit is accessed between described first drive circuit and described first direct current generator, described first current sampling circuit is connected with analog-digital conversion circuit as described, described second buffer circuit is connected with the second drive circuit, described second drive circuit is connected with the second direct current generator, described second direct current generator is connected with described mechanical performance element, described second direct current generator is configured with the second code-disc, described second code-disc is connected with described micro-controller communications, access the second current sampling circuit between described second drive circuit and described second direct current generator, described second current sampling circuit is connected with analog-digital conversion circuit as described.
Described control system, wherein, described mechanical performance element comprises for generation of the gear drive of deflecting force and the lead-screw drive mechanism for Gripping platform described in coarse adjustment, described first direct current generator is connected with described gear drive, described second direct current generator is connected with described lead-screw drive mechanism, and described gear drive, described lead-screw drive mechanism are all connected with described Gripping platform.
Described control system, wherein, described Pneumatic Transmission unit comprises source of the gas, described source of the gas is connected with oil water separator, pressure regulator valve, oil sprayer successively, described oil sprayer adjusts gas circuit be connected with driving gas circuit, air bag respectively, described driving gas circuit is communicated with five position three-way valves, proportioning valve, cylinder successively, and described cylinder is connected with described Gripping platform; Described air bag adjustment gas circuit is communicated with two-position three-way valve, air relief valve, Pressure gauge and air bag successively; Described five position three-way valves, described two-position three-way valve all communicate to connect with the first programmed logical module of described microcontroller, described first programmed logical module is communicated to connect by a digital analog interface and described proportioning valve, and described digital analog interface is connected with the universal serial bus of described microcontroller; Described driving gas circuit between described proportioning valve and described cylinder, the air bag between described Pressure gauge and described air bag adjust gas circuit and all communicate to connect with the A/D interface of described microcontroller.
Described control system, wherein, described switch element comprises laser sensor switch, limit switch, gauge tap and foot switch, and described laser sensor switch, described limit switch, described gauge tap and described foot switch all communicate to connect with the second programmed logical module of described microcontroller; Described microcontroller is configured with a touch screen and a supply unit.
A kind of control system for full-automatic orthopaedics traction robot provided by the invention, achieving a doctor just can the effect of complete independently bonesetting work, not only solve in doctor's bonesetting process and two doctors must be had to cooperatively interact the difficult problem of work, and achieve Flexible Control, can coordinate with doctor nearly, substantially increase the safety of bonesetting process, reduce the labor intensity of doctor, and the present invention has the ability of Approximation of Arbitrary Nonlinear Function, by the study of neutral net self, the pid parameter under a certain optimal control law can be found, successively process from input layer through hidden layer in forward-propagating process, and be transmitted to output layer, the state of every layer of neuron (node) only affects the neuronic state of lower one deck, improve the accuracy of full-automatic orthopaedics traction robot manipulation.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of control system in the present invention;
Fig. 2 is the structural representation of microcontroller in the present invention;
Fig. 3 is the structural representation of electric-motor drive unit in the present invention;
Fig. 4 is the structural representation of mechanical performance element and Pneumatic Transmission unit in the present invention;
Fig. 5 is the schematic flow sheet of the three close-loop control of electric-motor drive unit in the present invention;
Fig. 6 is the schematic flow sheet that in the present invention, control system sets up neutral net.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, technical scheme of the present invention is described in detail.
As shown in Figure 1, a kind of control system for full-automatic orthopaedics traction robot provided by the invention, it comprises microcontroller 1 and Gripping platform 20, and described microcontroller 1 respectively with electric-motor drive unit 35, Pneumatic Transmission unit 36 communicates to connect, described electric-motor drive unit 35, described Pneumatic Transmission unit 36 all draws robot mechanical performance element 37 with full-automatic orthopaedics is connected, described Pneumatic Transmission unit 36 is connected with described Gripping platform 20, described electric-motor drive unit 35 produces deflecting force for controlling described mechanical performance element 37, described Pneumatic Transmission unit 35 produces tensile force and chucking power for controlling described Gripping platform 20, described mechanical performance element 37 is connected with described Gripping platform 20, described microcontroller 1 is provided with a switch element, for controlling the running status of described electric-motor drive unit 35, described Pneumatic Transmission unit 36, described microcontroller 1, described electric-motor drive unit 35, described Pneumatic Transmission unit 36 form a Propagation Neural Network with described mechanical performance element 37.
Described microcontroller 1, according to external command, completes the cooperation control of action and the communications with external equipment such as stretching, deflection, clamping.
Described electric-motor drive unit 35, in order to produce deflecting force, drives described Gripping platform 20 to realize the yaw motion of wrist by mechanical performance element 37.Described microcontroller 1, according to external command, simultaneously in conjunction with motor code wheel reading value and current sampling data, sends motor action instruction, carries out, after electrical isolation, completing the drived control of motor through buffer circuit.During this period, once exception be detected, such as there is the situations such as overcurrent, overvoltage, excess temperature and exceed effective limit switch value, stopping corresponding motor movement immediately, in case damage patient.
Described Pneumatic Transmission unit 35 mainly realizes the adjustment of tensile force and chucking power.Air pressure is after purified treatment, and a road, acts on cylinder through five position three-way valves 13 under the Regulation Control of proportioning valve 16, achieves the adjustment of tensile force; Another road, after two-position three-way valve 14, under control instruction effect, realizes inflation and the venting of air bag 21.
Described mechanical performance element 37 mainly comprises gear drive 27 and lead-screw drive mechanism 34 two parts.The rotary motion of motor, after the deceleration increasing of described gear drive 27 is turned round, controls the yaw motion of described Gripping platform 20; In addition, coarse adjustment motor rotate past lead-screw drive mechanism 34 after, rotary motion becomes rectilinear motion, controls the coarse adjustment of described Gripping platform 20 position.
In order to further describe the solution of the present invention, below carry out more detailed explanation.
As shown in Figure 3, described electric-motor drive unit 35 comprises the first buffer circuit 22, analog to digital conversion circuit 28 and the second buffer circuit 29, described first buffer circuit 22, analog-digital conversion circuit as described 28 and described second buffer circuit 29 all communicate to connect with described microcontroller 1, described first buffer circuit 22 is connected with the first drive circuit 23, described first drive circuit 23 is connected with the first direct current generator 26, described first direct current generator 26 is connected with described mechanical performance element 37, described first direct current generator 26 is configured with the first code-disc 25, described first code-disc 25 communicates to connect with described microcontroller 1, the first current sampling circuit 24 is accessed between described first drive circuit 23 and described first direct current generator 26, described first current sampling circuit 24 is connected with analog-digital conversion circuit as described 28, described second buffer circuit 29 is connected with the second drive circuit 30, described second drive circuit 30 is connected with the second direct current generator 33, described second direct current generator 33 is connected with described mechanical performance element 37, described second direct current generator 33 is configured with the second code-disc 32, described second code-disc 32 communicates to connect with described microcontroller 1, access the second current sampling circuit 31 between described second drive circuit 30 and described second direct current generator 33, described second current sampling circuit 31 is connected with analog-digital conversion circuit as described 28.
Further, as shown in Figure 4, described mechanical performance element 37 comprises the gear drive 27 for generation of deflecting force and the lead-screw drive mechanism 34 for Gripping platform described in coarse adjustment 20, described first direct current generator 26 is connected with described gear drive 27, described second direct current generator 33 is connected with described lead-screw drive mechanism 34, and described gear drive 27, described lead-screw drive mechanism 34 are all connected with described Gripping platform 20.
In another preferred embodiment of the present invention, as shown in Figure 4, described Pneumatic Transmission unit 36 comprises source of the gas 9, described source of the gas 9 is connected with oil water separator 10, pressure regulator valve 11, oil sprayer 12 successively, described oil sprayer 12 adjusts gas circuit be connected with driving gas circuit, air bag respectively, described driving gas circuit is communicated with five position three-way valves 13, proportioning valve 16, cylinder 18 successively, and described cylinder 18 is connected with described Gripping platform 20; Described air bag adjustment gas circuit is communicated with two-position three-way valve 14, air relief valve 17, Pressure gauge 19 and air bag 21 successively; Described five position three-way valves 13, described two-position three-way valve 14 all communicate to connect with the first programmed logical module 8 of described microcontroller 1, described first programmed logical module 8 is communicated to connect with described proportioning valve 16 by a digital analog interface 15, and described digital analog interface 15 is connected with the universal serial bus of described microcontroller 1; Described driving gas circuit between described proportioning valve 16 and described cylinder 18, the air bag between described Pressure gauge 19 and described air bag 21 adjust gas circuit and all communicate to connect with the A/D interface of described microcontroller 1.
Further, as shown in Figure 1, described switch element comprises laser sensor switch 3, limit switch 4, gauge tap 5 and foot switch 6, and described laser sensor switch 3, described limit switch 4, described gauge tap 5 all communicate to connect with the second programmed logical module 38 of described microcontroller 1 with described foot switch 6; Described microcontroller 1 is configured with touch screen 7 and a supply unit 2.
Especially, the present invention adopts three ring closed loop algorithms to control to drive corresponding motor, as shown in Figure 5, position ring, speed ring and electric current loop is made to adopt different pid parameters, that it has the ability of Approximation of Arbitrary Nonlinear Function, and structure and learning algorithm are simply clear and definite, by the study of neutral net self, can find the pid parameter under a certain optimal control law.
The learning process of control system of the present invention is made up of forward-propagating and back propagation, in forward-propagating process, input information successively processes from input layer through hidden layer, and is transmitted to output layer, and the state of every layer of neuron (node) only affects the neuronic state of lower one deck.If the output expected can not be obtained at output layer, then proceeding to back propagation, error signal is returned along original connecting path, by revising the neuronic weights of each layer, making error signal minimum.Wherein PID controller adopts classical Increment Type Digital Hydraulic PID, and its algorithm is:
Du(k)=K
P[e(k)-e(k-1)]+K
Ie(k)+K
D[e(k)-2e(k-1)+e(k-2)]
In above formula, K
pfor proportionality coefficient, K
ifor integral coefficient, K
dfor differential coefficient.
Its concrete process, as shown in Figure 6, described microcontroller 1 initializes, by human-computer interaction device such as touch screen 7 grade to described microcontroller 1 input vector and target output, then the output parameter of each node in hidden layer, output layer is obtained, then the deviation of target output and actual output is obtained, obtain Reversal value value, carry out weight computing, then judge whether its learning process terminates, if NO, then again obtain the output parameter of each node in hidden layer, output layer, calculate above-mentioned deviate; If yes, then learning process is terminated.
When control system of the present invention uses, full-automatic orthopaedics traction robot is controlled according to the parameter inputted and related data, the pulling force produced can be delivered to its large arm, be then delivered on described Gripping platform 20 by the forearm of fracture patient, make described Gripping platform 20 top can produce the trend of rotation, but under the effect of the force transducer of described Gripping platform 20, actually can't produce and rotate.Simultaneously, when doctor to patient fracture arm boneset time, control system also real-time judge can go out the size of exerting oneself of doctor, a reliable stressed digital quantity is provided, such control system just correspondence can regulate the size of described Gripping platform 20 reinforcing according to exerting oneself of doctor, achieve the soft readjustment of full-automatic orthopaedics traction robot, make control procedure more intelligent, and add the safety of equipment.In addition, adopt three ring closed loop algorithms to control to drive corresponding motor, the arm of the wounded can also be made to rotate in safety range, and then the position, direction of adjustment arm, patient is escaped injury, has enriched the function of machine further, eliminate the work of supernumerary's power.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (5)
1. the control system for full-automatic orthopaedics traction robot, it comprises microcontroller and Gripping platform, it is characterized in that, described microcontroller respectively with electric-motor drive unit, Pneumatic Transmission unit communication connects, described electric-motor drive unit, described Pneumatic Transmission unit all draws robot mechanical performance element with full-automatic orthopaedics is connected, described Pneumatic Transmission unit is connected with described Gripping platform, described mechanical performance element is connected with described Gripping platform, described electric-motor drive unit produces deflecting force for controlling described mechanical performance element, described Pneumatic Transmission unit produces tensile force and chucking power for controlling described Gripping platform, described microcontroller is provided with a switch element, for controlling the running status of described electric-motor drive unit, described Pneumatic Transmission unit, described microcontroller, described electric-motor drive unit, described Pneumatic Transmission unit and described mechanical performance element form a Propagation Neural Network.
2. control system according to claim 1, it is characterized in that, described electric-motor drive unit comprises the first buffer circuit, analog to digital conversion circuit and the second buffer circuit, described first buffer circuit, analog-digital conversion circuit as described is all connected with described micro-controller communications with described second buffer circuit, described first buffer circuit is connected with the first drive circuit, described first drive circuit is connected with the first direct current generator, described first direct current generator is connected with described mechanical performance element, described first direct current generator is configured with the first code-disc, described first code-disc is connected with described micro-controller communications, the first current sampling circuit is accessed between described first drive circuit and described first direct current generator, described first current sampling circuit is connected with analog-digital conversion circuit as described, described second buffer circuit is connected with the second drive circuit, described second drive circuit is connected with the second direct current generator, described second direct current generator is connected with described mechanical performance element, described second direct current generator is configured with the second code-disc, described second code-disc is connected with described micro-controller communications, access the second current sampling circuit between described second drive circuit and described second direct current generator, described second current sampling circuit is connected with analog-digital conversion circuit as described.
3. control system according to claim 2, it is characterized in that, described mechanical performance element comprises for generation of the gear drive of deflecting force and the lead-screw drive mechanism for Gripping platform described in coarse adjustment, described first direct current generator is connected with described gear drive, described second direct current generator is connected with described lead-screw drive mechanism, and described gear drive, described lead-screw drive mechanism are all connected with described Gripping platform.
4. control system according to claim 3, it is characterized in that, described Pneumatic Transmission unit comprises source of the gas, described source of the gas is connected with oil water separator, pressure regulator valve, oil sprayer successively, described oil sprayer adjusts gas circuit be connected with driving gas circuit, air bag respectively, described driving gas circuit is communicated with five position three-way valves, proportioning valve, cylinder successively, and described cylinder is connected with described Gripping platform; Described air bag adjustment gas circuit is communicated with two-position three-way valve, air relief valve, Pressure gauge and air bag successively; Described five position three-way valves, described two-position three-way valve all communicate to connect with the first programmed logical module of described microcontroller, described first programmed logical module is communicated to connect by a digital analog interface and described proportioning valve, and described digital analog interface is connected with the universal serial bus of described microcontroller; Described driving gas circuit between described proportioning valve and described cylinder, the air bag between described Pressure gauge and described air bag adjust gas circuit and all communicate to connect with the A/D interface of described microcontroller.
5. control system according to claim 1, it is characterized in that, described switch element comprises laser sensor switch, limit switch, gauge tap and foot switch, and described laser sensor switch, described limit switch, described gauge tap and described foot switch all communicate to connect with the second programmed logical module of described microcontroller; Described microcontroller is configured with a touch screen and a supply unit.
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| CN201310562977.8A CN104622550B (en) | 2013-11-13 | 2013-11-13 | Control system for full-automatic orthopedic traction robot |
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| CN201310562977.8A CN104622550B (en) | 2013-11-13 | 2013-11-13 | Control system for full-automatic orthopedic traction robot |
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| CN104622550B CN104622550B (en) | 2017-05-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726058A (en) * | 2016-12-12 | 2017-05-31 | 成都育芽科技有限公司 | A kind of medical robot control system |
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