CN104622550B - Control system for full-automatic orthopedic traction robot - Google Patents

Control system for full-automatic orthopedic traction robot Download PDF

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Publication number
CN104622550B
CN104622550B CN201310562977.8A CN201310562977A CN104622550B CN 104622550 B CN104622550 B CN 104622550B CN 201310562977 A CN201310562977 A CN 201310562977A CN 104622550 B CN104622550 B CN 104622550B
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circuit
microcontroller
direct current
pneumatic transmission
unit
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CN104622550A (en
Inventor
杨奇峰
周永强
邹风山
徐方
刘世昌
褚明杰
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Shenyang Siasun Robot and Automation Co Ltd
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Shenyang Siasun Robot and Automation Co Ltd
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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
    • 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
    • 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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  • Health & Medical Sciences (AREA)
  • 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)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Nursing (AREA)
  • Vascular Medicine (AREA)
  • Manipulator (AREA)

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

A kind of control system that robot is drawn for full-automatic orthopaedics
Technical field
The present invention relates to a kind of control system of orthopaedics auxiliary hitch, more particularly to one kind is led for full-automatic orthopaedics Draw the control system of robot.
Background technology
Now hospital carries out boneseting main or operates by doctor to fracture of forearm, and a doctor leads to forearm Draw, another one doctor boneseted, due to boneseting, the time is long, therefore the doctor for drawing can tire out very much, thus promote The generation of orthopaedics pulling equipment.
In prior art, the utilization driven by rotating wheel screw mandrel that common orthopaedics auxiliary hitch has is rotated to realize to patient The traction of arm；The mechanical air pump of some utilizations, pinches the mechanical air pump and adjusts the flexible of extension type cylinder by hand, with Realize the traction to patient's arm.The shortcoming of above-mentioned orthopaedics auxiliary hitch is to draw used dynamics not to patient's arm It is enough accurate, and doctor being boneseted, synthetism, the operation such as planter cast while also need to the power that frees hand to adjust traction Degree, have impact on the treatment of doctor.
At present, to be concentrated mainly on intelligence degree higher for the research both at home and abroad in terms of fracture of lower arm treats automation, very Extremely can completely substitute the full-automatic medical robot of working doctor.But this robot architecture is extremely complex, safeguard protection Measure is few, and reliability is difficult to ensure, it is virtually impossible to clinical practice.
Therefore, prior art needs further improvement and develops.
The content of the invention
Present invention seek to address that above-mentioned problems of the prior art, propose a kind of for full-automatic orthopaedics traction machine The control system of people, has the spinfunction of certain angle to realize that doctor draws hand during bonesetting, reduces the labor of doctor Fatigue resistance.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of control system that robot is drawn for full-automatic orthopaedics, it includes microcontroller and Gripping platform, and it is special Levy and be, the microcontroller is connected respectively with electric-motor drive unit, Pneumatic Transmission unit communication, the electric-motor drive unit, The mechanical performance element that the Pneumatic Transmission unit draws robot with full-automatic orthopaedics is connected, the Pneumatic Transmission unit It is connected with the Gripping platform, the mechanical performance element is connected with the Gripping platform；The electric-motor drive unit is used Deflecting force is produced in the mechanical performance element is controlled, the Pneumatic Transmission unit is used to control the Gripping platform generation stretching Power and chucking power；The microcontroller is provided with a switch element, for controlling the electric-motor drive unit, the Pneumatic Transmission The running status of unit；The microcontroller, the electric-motor drive unit, the Pneumatic Transmission unit perform list with the machinery Unit forms a Propagation Neural Network.
Described control system, wherein, the electric-motor drive unit includes the first isolation circuit, analog to digital conversion circuit and the Two isolation circuits, first isolation circuit, analog-digital conversion circuit as described and second isolation circuit with the microcontroller Device is communicated to connect, and first isolation circuit is connected with the first drive circuit, first drive circuit and the first direct current Machine is connected, and first direct current generator is connected with the mechanical performance element, and first direct current generator is configured with first Code-disc, first code-disc is connected with the micro-controller communications, first drive circuit and first direct current generator it Between access the first current sampling circuit, first current sampling circuit is connected with analog-digital conversion circuit as described；Described second Isolation circuit is connected with the second drive circuit, and second drive circuit is connected with the second direct current generator, and described second is straight Stream motor is connected with the mechanical performance element, and second direct current generator is configured with the second code-disc, second code-disc with The micro-controller communications connection, accesses the second current sample electricity between second drive circuit and second direct current generator Road, second current sampling circuit is connected with analog-digital conversion circuit as described.
Described control system, wherein, the mechanical performance element includes the gear drive for producing deflecting force And for the lead-screw drive mechanism of Gripping platform described in coarse adjustment, first direct current generator is connected with the gear drive Connect, second direct current generator is connected with the lead-screw drive mechanism, the gear drive, the lead-screw drive mechanism It is connected with the Gripping platform.
Described control system, wherein, the Pneumatic Transmission unit include source of the gas, the source of the gas successively with water-oil separating Device, pressure regulator valve, oil sprayer are connected, and the oil sprayer is connected respectively with gas circuit, air bag adjustment gas circuit is driven, the drive gas Road has been sequentially communicated five position three-way valves, proportioning valve, cylinder, and the cylinder is connected with the Gripping platform；The air bag adjustment Gas circuit has been sequentially communicated two-position three-way valve, pressure-reducing valve, pressure gauge and air bag；Five position three-way valve, the two-position three-way valve are equal Communicate to connect with the first programmed logical module of the microcontroller, first programmed logical module is connect by a digital-to-analogue Mouth is connected with proportioning valve communication connection, the digital analog interface with the universal serial bus of the microcontroller；The proportioning valve The driving gas circuit between the cylinder, the adjustment of the air bag between the pressure gauge and air bag gas circuit are micro- with described The A/D interface communication connection of controller.
Described control system, wherein, the switch element includes laser sensor switch, limit switch, controlling switch With floor push, the laser sensor switch, the limit switch, the controlling switch and the floor push with it is described The second programmed logical module communication connection of microcontroller；The microcontroller is configured with a touch-screen and a supply unit.
A kind of control system that robot is drawn for full-automatic orthopaedics that the present invention is provided, realizes a doctor with regard to energy The effect of enough complete independently bonesetting work, not only solving must have two doctors to cooperate work during doctor's bonesetting A difficult problem, and Flexible Control is realized, nearly can be coordinated with doctor, the security of bonesetting process is substantially increased, The labour intensity of doctor, and ability of the present invention with Approximation of Arbitrary Nonlinear Function are reduced, by neutral net itself Study, the pid parameter under a certain optimal control law can be found, during forward-propagating from input layer Jing hidden layers successively Process, and be transmitted to output layer, every layer of neuron（Node）State only affect the state of next layer of neuron, improve full-automatic Orthopaedics draws the accuracy of robot manipulation.
Description of the drawings
Fig. 1 is the general 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 control system sets up neutral net in the present invention.
Specific embodiment
Technical scheme is described in detail below in conjunction with accompanying drawing and specific embodiment.
As shown in figure 1, a kind of control system that robot is drawn for full-automatic orthopaedics that the present invention is provided, it includes micro- Controller 1 and Gripping platform 20, and the microcontroller 1 communicates respectively with electric-motor drive unit 35, Pneumatic Transmission unit 36 Connection, the electric-motor drive unit 35, the Pneumatic Transmission unit 36 draw the machinery of robot with full-automatic orthopaedics and perform Unit 37 is connected, and the Pneumatic Transmission unit 36 is connected with the Gripping platform 20, and the electric-motor drive unit 35 is used for Control the mechanical performance element 37 and produce deflecting force, the Pneumatic Transmission unit 35 is produced for controlling the Gripping platform 20 Tensile force and chucking power, the mechanical performance element 37 is connected with the Gripping platform 20；The microcontroller 1 is provided with one Switch element, for controlling the running status of the electric-motor drive unit 35, the Pneumatic Transmission unit 36, the microcontroller 1st, the electric-motor drive unit 35, the Pneumatic Transmission unit 36 form one and propagate nerve net with the mechanical performance element 37 Network.
The microcontroller 1 according to external command, complete to stretch, deflect, clamp etc. the coordination control of action and with outside The communication of equipment.
The electric-motor drive unit 35 drives the Gripping platform 20 to produce deflecting force by mechanical performance element 37 Realize the yaw motion of wrist.The microcontroller 1 according to external command, in combination with motor code wheel reading value and current sample Value, sends motor action instruction, Jing after isolation circuit carries out electrical isolation, completes the drive control of motor.During this period, once Exception is detected, such as, situations such as there is excessively stream, overvoltage, excess temperature and more than effective limit switch value, correspondence is stopped immediately Motor movement, in case damaging to patient.
The Pneumatic Transmission unit 35 mainly realizes the adjustment of tensile force and chucking power.Air pressure after purified treatment, one Road under the Regulation Control of proportioning valve 16, is acted on cylinder through five position three-way valves 13, realizes the adjustment of tensile force；It is another Under control instruction effect, the inflatable and deflatable of air bag 21 is realized after two-position three-way valve 14 in road.
The mechanical performance element 37 mainly includes gear drive 27 and the two parts of lead-screw drive mechanism 34.Motor Rotary motion controls the yaw motion of the Gripping platform 20 after the deceleration of the gear drive 27 increases and turns round；Additionally, Coarse adjustment motor is rotated past after lead-screw drive mechanism 34, and rotary motion is changed into linear motion, controls the Gripping platform 20 The coarse adjustment put.
In order to the solution of the present invention is further described, below more illustrated in detail.
As shown in Figure 3, the electric-motor drive unit 35 includes the first isolation circuit 22, analog to digital conversion circuit 28 and second Isolation circuit 29, first isolation circuit 22, analog-digital conversion circuit as described 28 and second isolation circuit 29 with it is described Microcontroller 1 is communicated to connect, and first isolation circuit 22 is connected with the first drive circuit 23, first drive circuit 23 It is connected with the first direct current generator 26, first direct current generator 26 is connected with the mechanical performance element 37, described first Direct current generator 26 is configured with the first code-disc 25, and first code-disc 25 is communicated to connect with the microcontroller 1, and described first drives Access the first current sampling circuit 24 between circuit 23 and first direct current generator 26, first current sampling circuit 24 with Analog-digital conversion circuit as described 28 is connected；Second isolation circuit 29 is connected with the second drive circuit 30, and described second drives Dynamic circuit 30 is connected with the second direct current generator 33, and second direct current generator 33 is connected with the mechanical performance element 37, Second direct current generator 33 is configured with the second code-disc 32, and second code-disc 32 is communicated to connect with the microcontroller 1, described The second current sampling circuit 31, second current sample are accessed between second drive circuit 30 and second direct current generator 33 Circuit 31 is connected with analog-digital conversion circuit as described 28.
Further, as shown in Figure 4, the mechanical performance element 37 includes the gear drive for producing deflecting force Mechanism 27 and the lead-screw drive mechanism 34 for Gripping platform described in coarse adjustment 20, first direct current generator 26 and the gear Transmission mechanism 27 is connected, and second direct current generator 33 is connected with the lead-screw drive mechanism 34, the gear drive machine Structure 27, the lead-screw drive mechanism 34 are connected with the Gripping platform 20.
As shown in Figure 4 in another preferred embodiment of the present invention, the Pneumatic Transmission unit 36 includes source of the gas 9, institute State source of the gas 9 to be connected with oil water separator 10, pressure regulator valve 11, oil sprayer 12 successively, the oil sprayer 12 respectively with drive gas circuit, Air bag adjustment gas circuit is connected, and the driving gas circuit has been sequentially communicated five position three-way valves 13, proportioning valve 16, cylinder 18, the gas Cylinder 18 is connected with the Gripping platform 20；The air bag adjustment gas circuit has been sequentially communicated two-position three-way valve 14, pressure-reducing valve 17, pressure Power table 19 and air bag 21；Five position three-way valve 13, the two-position three-way valve 14 may be programmed with the first of the microcontroller 1 Logic module 8 is communicated to connect, and first programmed logical module 8 is by a digital analog interface 15 and the communication link of the proportioning valve 16 Connect, the digital analog interface 15 is connected with the universal serial bus of the microcontroller 1；Between the proportioning valve 16 and the cylinder 18 The driving gas circuit, between the pressure gauge 19 and the air bag 21 air bag adjustment gas circuit with the microcontroller 1 A/D interface is communicated to connect.
Further, as shown in Figure 1, the switch element includes laser sensor switch 3, limit switch 4, control Switch 5 and floor push 6, the laser sensor switch 3, limit switch 4, the controlling switch 5 are opened with described riding Close 6 to communicate to connect with the second programmed logical module 38 of the microcontroller 1；The microcontroller 1 is configured with a touch The supply unit 2 of screen 7 and.
Especially, the present invention drives correspondence motor using the control of three ring closed loop algorithms, as shown in figure 5, making position ring, speed Ring and electric current loop adopt different pid parameters, are the abilities that it has Approximation of Arbitrary Nonlinear Function, and structure and study are calculated Method is simply clear and definite, by the study of neutral net itself, can find the pid parameter under a certain optimal control law.
The learning process of the control system of the present invention is made up of forward-propagating and backpropagation, during forward-propagating, Input information is successively processed from input layer Jing hidden layers, and is transmitted to output layer, every layer of neuron（Node）State only under the influence of The state of one layer of neuron.If desired output can not be obtained in output layer, backpropagation is proceeded to, by error signal along former The connecting path for coming is returned, and by the weights for changing each layer neuron, makes error signal minimum.Wherein PID controller adopts Jing Allusion quotation Increment Type Digital Hydraulic PID, its algorithm is：
Du(k)=KP[e(k)-e(k-1)]+KIe(k)+KD[e(k)-2e(k-1)+e(k-2)]
In above formula, KPFor proportionality coefficient, KIFor integral coefficient, KDFor differential coefficient.
Its specific process, as shown in Figure 6, the microcontroller 1 is initialized, and is set by the grade man-machine interaction of touch-screen 7 For to the input vector of the microcontroller 1 and target output, the output ginseng of each node in hidden layer, output layer is then obtained Number, then obtains the deviation of target output and reality output amount, obtains Reversal value value, carries out weight computing, then judges Whether its learning process terminates, if it has not, the output parameter of each node in hidden layer, output layer is then reacquired, in calculating State deviation；If it has, then terminating learning process.
When the control system of the present invention is used, full-automatic orthopaedics hauling machine is controlled according to the parameter and related data of input Device people, the pulling force of generation can be delivered to its large arm, be then transferred on the Gripping platform 20 by the forearm of fracture patient, make The top of the Gripping platform 20 can produce the trend of rotation, but in the presence of the force snesor of the Gripping platform 20, not Actual can produce rotation.Meanwhile, when doctor to patient fracture arm boneset when, control system can also real-time judge go out greatly The size of exerting oneself of husband, there is provided a reliable stress digital quantity, such control system just can be corresponded to according to exerting oneself for doctor The size of the reinforcing of the Gripping platform 20 is adjusted, the soft readjustment that full-automatic orthopaedics draws robot is realized, control process is made It is more intelligent, and increased the security of equipment.Additionally, correspondence motor is driven using the control of three ring closed loop algorithms, can be with The arm for making the wounded rotates in safe range, and then adjusts the direction position of arm, makes patient escape injury, and further enriches The function of machine, eliminates the work of supernumerary power.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and Therefore the restriction to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art For, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the guarantor of the present invention Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.

Claims (3)

1. it is a kind of for full-automatic orthopaedics draw robot control system, it includes microcontroller and Gripping platform, its feature It is that the microcontroller is connected respectively with electric-motor drive unit, Pneumatic Transmission unit communication, the electric-motor drive unit, institute State Pneumatic Transmission unit with full-automatic orthopaedics draw robot mechanical performance element be connected, the Pneumatic Transmission unit with The Gripping platform is connected, and the mechanical performance element is connected with the Gripping platform, and the electric-motor drive unit is used for Control the mechanical performance element and produce deflecting force, the Pneumatic Transmission unit is used to control the Gripping platform generation tensile force With chucking power；The microcontroller is provided with a switch element, for controlling the electric-motor drive unit, the Pneumatic Transmission list The running status of unit；The microcontroller, the electric-motor drive unit, the Pneumatic Transmission unit and the mechanical performance element Form a Propagation Neural Network；
The switch element includes laser sensor switch, limit switch, controlling switch and floor push, the laser sensor Switch, the limit switch, the controlling switch and the floor push with the second FPGA of the microcontroller Module is communicated to connect；The microcontroller is configured with a touch-screen and a supply unit；
The electric-motor drive unit includes the first isolation circuit, analog to digital conversion circuit and the second isolation circuit, first isolation Circuit, analog-digital conversion circuit as described are connected with second isolation circuit with the micro-controller communications, first isolation Circuit is connected with the first drive circuit, and first drive circuit is connected with the first direct current generator, first direct current Machine is connected with the mechanical performance element, and first direct current generator is configured with the first code-disc, first code-disc with it is described Micro-controller communications connect, and between first drive circuit and first direct current generator the first current sampling circuit is accessed, First current sampling circuit is connected with analog-digital conversion circuit as described；Second isolation circuit and the second drive circuit phase Connection, second drive circuit is connected with the second direct current generator, second direct current generator and the mechanical performance element It is connected, second direct current generator is configured with the second code-disc, and second code-disc is connected with the micro-controller communications, described Access the second current sampling circuit between second drive circuit and second direct current generator, second current sampling circuit with Analog-digital conversion circuit as described is connected.
2. control system according to claim 1, it is characterised in that the mechanical performance element is included for producing deflection The gear drive of power and the lead-screw drive mechanism for Gripping platform described in coarse adjustment, first direct current generator with it is described Gear drive is connected, and second direct current generator is connected with the lead-screw drive mechanism, the gear drive, The lead-screw drive mechanism is connected with the Gripping platform.
3. control system according to claim 2, it is characterised in that the Pneumatic Transmission unit includes source of the gas, the gas Source is connected successively with oil water separator, pressure regulator valve, oil sprayer, and the oil sprayer adjusts gas circuit with gas circuit, air bag is driven respectively It is connected, the driving gas circuit has been sequentially communicated five position three-way valves, proportioning valve, cylinder, the cylinder and the Gripping platform phase Connection；The air bag adjustment gas circuit has been sequentially communicated two-position three-way valve, pressure-reducing valve, pressure gauge and air bag；Five position three-way valve, The two-position three-way valve is communicated to connect with the first programmed logical module of the microcontroller, first FPGA Module is communicated to connect by a digital analog interface with the proportioning valve, the universal serial bus phase of the digital analog interface and the microcontroller Connection；The driving gas circuit between the proportioning valve and the cylinder, the air bag between the pressure gauge and the air bag are adjusted Whole gas circuit is communicated to connect with the A/D interface of the microcontroller.
CN201310562977.8A 2013-11-13 2013-11-13 Control system for full-automatic orthopedic traction robot Active CN104622550B (en)

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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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CN2061047U (en) * 1989-07-28 1990-08-29 王益飞 Adjustable lower limbs tractor
CN2055719U (en) * 1989-10-30 1990-04-11 孙官琪 Pneumatic magnetotherapy tractor for cervical vertebra
CN2277753Y (en) * 1995-11-13 1998-04-08 肖劲夫 Controllable pneumatic resilience tractor
CN2774428Y (en) * 2005-03-21 2006-04-26 蒋安连 Multifunction bone fracture traction physiotherapeutic machine
WO2008156881A1 (en) * 2007-06-13 2008-12-24 Amei Technologies, Inc. Adjustable fixation devices incorporating drive systems
CN102283731A (en) * 2011-07-06 2011-12-21 于志国 Portable combination type bone setting machine
CN202654203U (en) * 2012-07-09 2013-01-09 金晓东 Automatic traction restorer for forearm fracture

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