CN107783468A - A kind of six degree of freedom management platform remote operating control system - Google Patents
A kind of six degree of freedom management platform remote operating control system Download PDFInfo
- Publication number
- CN107783468A CN107783468A CN201711046464.6A CN201711046464A CN107783468A CN 107783468 A CN107783468 A CN 107783468A CN 201711046464 A CN201711046464 A CN 201711046464A CN 107783468 A CN107783468 A CN 107783468A
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- CN
- China
- Prior art keywords
- management platform
- remote operating
- degree
- microcontroller
- control system
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000007493 shaping process Methods 0.000 claims abstract description 15
- 230000036541 health Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 5
- 238000009593 lumbar puncture Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/025—Pointed or sharp biopsy instruments for taking bone, bone marrow or cartilage samples
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00212—Electrical control of surgical instruments using remote controls
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2231—Master slave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2609—Process control
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Pathology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Rheumatology (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Immunology (AREA)
- Hematology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention provides a kind of six degree of freedom management platform remote operating control system, it is related to medical instruments field, including microcontroller, host computer, puncture motor, driving and outside expanded circuit, remote operating equipment, voltage conversion and shaping circuit and management platform, the microcontroller is connected with the host computer by Ethernet, the microcontroller drives and outside expanded circuit outgoing management and driving stepper motor signal to described, the microcontroller passes through control area net(CAN) network and the puncture motor connection, the driving connects with outside expanded circuit and the voltage conversion with shaping circuit communication, the voltage conversion connects with shaping circuit and management platform communication, the remote operating equipment is connected with the upper machine communication.The system can realize real time remote control, in the case where adjusting puncture angle under doctor controls and avoiding doctor from being often exposed to X-ray line, help to protect the health of doctor.
Description
Technical field
The present invention relates to medical instruments field, and in particular to a kind of six degree of freedom management platform remote operating control system.
Background technology
Spinal puncture is one of conventional inspection method of Neurological Clinics, can be not only used for diagnosis available for treating, it is grasped
Make it is simple and easy, it is also safer.In order to safely and effectively implement this operation, doctor need to understand lumbar puncture contraindication,
The anatomy of correlation and the method that at utmost reduction complication is caused danger.Understand the indication of lumbar puncture, contraindication and
Correct operating method, dangerous incidence can be minimized.
Doctor is when operation puncturing is carried out at present, although short due to often being punctured the time under X-ray line,
Under multiple accumulation or substantial amounts of X-ray line can be eaten, very big influence is caused to the health of doctor, in the operation of X-ray line
Under guiding, remotely carrying out remote operating and puncturing make it that doctor avoids this harm, the control accuracy of whole system with it is selected
The moving component of type is related to corresponding processing element precision.
The content of the invention
Being existed based on prior art, which needs doctor directly to operate, can not be remotely controlled the problem of processed, and the present invention proposes one kind
Six degree of freedom management platform remote operating control system, can realize real time remote control, the adjustment puncture angle in the case where doctor controls
Spend and avoid doctor from being often exposed under X-ray line, help to protect the health of doctor.
The invention provides a kind of six degree of freedom management platform remote operating control system, including microcontroller, host computer,
Puncture motor, driving and outside expanded circuit, remote operating equipment, voltage conversion and shaping circuit and management platform, the micro-control
Device processed is connected with the host computer by Ethernet, the microcontroller to it is described driving with outside expanded circuit outgoing management with
Driving stepper motor signal, the microcontroller by control area net(CAN) network and the puncture motor connection, the driving with it is outer
Portion's expanded circuit and the voltage conversion connect with shaping circuit communication, and the voltage conversion and shaping circuit and the management are flat
Platform communication connection, the remote operating equipment are connected with the upper machine communication；The voltage conversion is free to six with shaping circuit
Degree management platform control signal is changed and filtered, and to ensure the stability of motion, and uses ADC digital-to-analogue conversions by motion
Positional information feeds back to host computer, to carry out moving closed-loop control and movement monitoring；The driving is with outside expanded circuit to control
Signal processed is integrated in order to the output of entirety.
Further, the six degree of freedom management platform uses TCP/LWIP communication protocols, and the host computer can be with institute
State microcontroller and carry out quick information exchange, to meet requirement of real-time control.
Further, the management platform sends position feed back signal to the microcontroller.
Further, when receiving external control information, the management platform sends position feedback to the microcontroller
External interrupt can occur for signal.
Further, the remote operating equipment sends posture information to the host computer.
Further, the driving is powered with outside expanded circuit to force snesor, and the force sensor signals pass through mould
Transmitted after number conversion to the microcontroller.
Further, the driving sends stepper motor speed and direction with outside expanded circuit to stepper motor driver
Control signal, the quantity of the stepper motor driver is at least two.
Further, the power-supply system is powered to the driving with outside expanded circuit.
Further, the voltage that the power-supply system is powered to the driving with outside expanded circuit is 12V or 5V.
Further, the power-supply system is powered to stepper motor driver.
Further, the power-supply system to the voltage that stepper motor driver is powered be 24V.
The beneficial effects of the present invention are the present invention proposes a kind of six degree of freedom management platform remote operation control system
System, can realize real time remote control, in the case where adjusting puncture angle under doctor controls and avoiding doctor from being often exposed to X-ray line,
Contribute to the health of protection doctor.The system is applied to the long-range control in real time of all class management (Steward) motion platforms
System processed, will using Kinematic Algorithms in host computer computer based on ethernet communication technology and microcontroller bottom control technology
Outside wants operation equipment movable information to be decoded, by control information by Ethernet at a fixed time it is interior (10ms with
It is interior), it is sent to microcontroller and generates control information, uses driving and outside expanded circuit and voltage conversion and shaping circuit
Real-time servo antrol is carried out to mechanism kinematic.
Brief description of the drawings
Fig. 1 is a kind of structural representation of six degree of freedom management platform remote operating control system of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Case is further described.
As shown in figure 1, the invention provides a kind of six degree of freedom management platform remote operating control system, including microcontroller
Device, host computer, puncture motor, driving and outside expanded circuit, remote operating equipment, voltage conversion and shaping circuit and management are flat
Platform, microcontroller are connected with host computer by Ethernet, microcontroller to driving with outside expanded circuit outgoing management and stepping
Motor drive signal, microcontroller is by control area net(CAN) network with puncturing motor connection, driving and outside expanded circuit and voltage
Conversion connects with shaping circuit communication, and voltage conversion and shaping circuit connect with management platform communication, remote operating equipment with it is upper
Machine communication connection；Voltage conversion is changed and filtered to six degree of freedom management platform control signal with shaping circuit, to ensure
The stability of motion, and the positional information of motion is fed back into host computer using ADC digital-to-analogue conversions, to carry out motion closed-loop control
With movement monitoring；Driving is integrated in order to the output of entirety with outside expanded circuit to control signal.
Six degree of freedom management platform uses TCP/LWIP communication protocols, and host computer can quickly be believed with microcontroller
Breath exchanges, to meet requirement of real-time control.Management platform sends position feed back signal to microcontroller.Receiving outside control letter
During breath, management platform sends position feed back signal to microcontroller can occur external interrupt.
Remote operating equipment sends posture information to host computer.Driving is powered with outside expanded circuit to force snesor, and power passes
Sensor signal is transmitted after analog-to-digital conversion to microcontroller.Driving sends to stepper motor driver with outside expanded circuit and walked
Stepper motor speed and direction control signal, the quantity of stepper motor driver is at least two.
Power-supply system is powered to driving and outside expanded circuit.Electricity of the power-supply system to driving and the power supply of outside expanded circuit
Press as 12V or 5V.Power-supply system is powered to stepper motor driver.The voltage that power-supply system is powered to stepper motor driver is
24V。
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of six degree of freedom management platform remote operating control system, it is characterised in that including microcontroller, host computer, wear
Pierce motor, driving and outside expanded circuit, remote operating equipment, voltage conversion and shaping circuit and management platform, the microcontroller
Device is connected with the host computer by Ethernet, and the microcontroller is to the driving with outside expanded circuit outgoing management with walking
Stepper motor drive signal, the microcontroller are described to drive and outside by control area net(CAN) network and the puncture motor connection
Expanded circuit and the voltage conversion connect with shaping circuit communication, the voltage conversion and shaping circuit and the management platform
Communication connection, the remote operating equipment are connected with the upper machine communication.
2. six degree of freedom management platform remote operating control system as claimed in claim 1, it is characterised in that the management is flat
Platform sends position feed back signal to the microcontroller.
3. six degree of freedom management platform remote operating control system as claimed in claim 2, it is characterised in that receiving outside
During control information, the management platform sends position feed back signal to the microcontroller can occur external interrupt.
4. six degree of freedom management platform remote operating control system as claimed in claim 3, it is characterised in that the remote operating
Equipment sends posture information to the host computer.
5. six degree of freedom management platform remote operating control system as claimed in claim 4, it is characterised in that it is described driving with
Outside expanded circuit is powered to force snesor, and the force sensor signals are transmitted after analog-to-digital conversion to the microcontroller.
6. six degree of freedom management platform remote operating control system as claimed in claim 5, it is characterised in that it is described driving with
Outside expanded circuit sends stepper motor speed and direction control signal, the stepper motor driver to stepper motor driver
Quantity be at least two.
7. six degree of freedom management platform remote operating control system as claimed in claim 6, it is characterised in that the power supply system
Unite and powered to the driving with outside expanded circuit.
8. six degree of freedom management platform remote operating control system as claimed in claim 7, it is characterised in that the power supply system
It is 12V or 5V to unite to the voltage of the driving and the power supply of outside expanded circuit.
9. six degree of freedom management platform remote operating control system as claimed in claim 7, it is characterised in that the power supply system
Unite and powered to stepper motor driver.
10. six degree of freedom management platform remote operating control system as claimed in claim 9, it is characterised in that the power supply
System to the voltage that stepper motor driver is powered be 24V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711046464.6A CN107783468A (en) | 2017-10-31 | 2017-10-31 | A kind of six degree of freedom management platform remote operating control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711046464.6A CN107783468A (en) | 2017-10-31 | 2017-10-31 | A kind of six degree of freedom management platform remote operating control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107783468A true CN107783468A (en) | 2018-03-09 |
Family
ID=61431893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711046464.6A Pending CN107783468A (en) | 2017-10-31 | 2017-10-31 | A kind of six degree of freedom management platform remote operating control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107783468A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646090A (en) * | 2019-01-21 | 2019-04-19 | 北京理工大学 | Puncture needle control method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803952A (en) * | 2010-03-05 | 2010-08-18 | 南开大学 | Motion control system of CT image navigation spinal mini-invasive operation robot |
| US20130112133A1 (en) * | 2009-10-22 | 2013-05-09 | Continental Automotive Systems Us,Inc | Stepper Motor Controller |
| CN203911823U (en) * | 2013-10-30 | 2014-10-29 | 中国科学院近代物理研究所 | Ethernet-based electromotor controller and control system |
-
2017
- 2017-10-31 CN CN201711046464.6A patent/CN107783468A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130112133A1 (en) * | 2009-10-22 | 2013-05-09 | Continental Automotive Systems Us,Inc | Stepper Motor Controller |
| CN101803952A (en) * | 2010-03-05 | 2010-08-18 | 南开大学 | Motion control system of CT image navigation spinal mini-invasive operation robot |
| CN203911823U (en) * | 2013-10-30 | 2014-10-29 | 中国科学院近代物理研究所 | Ethernet-based electromotor controller and control system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646090A (en) * | 2019-01-21 | 2019-04-19 | 北京理工大学 | Puncture needle control method and device |
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