三自由度静脉穿刺机械手臂设计分析  

Design of Three Degree of Freedom Venipuncture Robot Arm

作　　者：郭克友[1] 谭梦玲 王建利 胡巍 

机构地区：[1]北京工商大学材料与机械工程学院

出　　处：《机械设计与研究》2018年第1期13-16,共4页Machine Design And Research

摘　　要：静脉穿刺技术由于其具有受创伤口小、给药快速、技术门槛低等特点广泛应用于临床医学。但对于血管难以找到以及血管小的人群而言，凭医生经验的静脉穿刺技术容易造成失败，从而对患者造成二次伤害，近年来自动进针技术逐渐兴起有望解决这个技术难题，但现有的产品均存在机械复杂、难以精确控制等问题从而很少实现医疗应用。通过设计一个三自由度的自动静脉穿刺机械手臂，首先通过图像处理技术得到静脉血管的位置，由此引导机械手臂的运动，精准、快速的实现静脉穿刺。本研究主要阐述的是机械运动部分，通过三个手臂控制一个动平台在三维坐标中的运动，驱动部件为舵机，由单片机控制舵机的运动，由霍尔原件感知舵机的角度位置．实现了精准的定位与精细的操控。Intravenous puncture technique is widely used in clinical medicine because of its small trauma, rapid administration and low technical threshold. But for the blood vessels are difficult to find the small blood vessels, doctor＇s experience with the venipuncture technique is likely to cause failure, resulting in secondary injury to patients, in recent years, automatic needle technology is expected to rise to solve this technical problems, but the existing products are complex mechanical, difficult to accurately control so that rarely achieve medieal applications. By designing a three-degree-of-freedom automatic venipuncture robot, the position of the venous blood vessel is obtained through the image processing technique, which leads to the movement of the robot arm is accurate and fast. This study focuses on the mechanical movement part, through three arms to control a moving platform in the three-dimensional coordinates of the movement to drive components for the steering gear, by the single-chip control of the steering gear movement, the original sensor from the Hall of the steering position , to achieve a precise positioning and fine control.

关 键 词：舵机驱动 运动控制 并联机械手臂 运动学 

分 类 号：TH122[机械工程—机械设计及理论]