股骨干骨折复位机器人主从控制系统的设计  

Design of Master-Slave Control System for Femoral Shaft Fracture Reduction Robot

作　　者：史刚 朱世磊[2] 张自启 李钊[1] 刘淼[1] 祁富贵[1] 王鹏飞 殷悦[1] 李雪阳 焦腾 SHI Gang;ZHU Shilei;ZHANG Ziqi;LI Zhao;LIU Miao;QI Fugui;WANG Pengfei;YIN Yue;LI Xueyang;JIAO Teng(College of Military Biomedical Engineering,The Fourth Military Medical University,Xi’an Shaanxi 710032,China;Department of Medical Engineering,The 5th Hospital of PLA,Yinchuan Ningxia 750004,China)

机构地区：[1]第四军医大学军事生物医学工程学系,陕西西安710032 [2]解放军第五医院医学工程科,宁夏银川750004

出　　处：《中国医疗设备》2018年第7期17-21,共5页China Medical Devices

基　　金：国家自然科学基金青年项目(31600796);后勤科研重点项目(BWS14044)

摘　　要：目的研究设计复位力量大、操作精度高、数字化主从控制的股骨干骨折复位机器人,降低医务人员手术强度和辐射风险、提高复位精度和稳定性。方法分析骨折治疗的方法及流程,设计骨折复位机器人的工作流程,以嵌入式微控制器LPC1788为核心,选用微控制器的串行通信引脚接收复位指令,分析处理完成后通过微控制器的PWM引脚输出控制信号,信号经差分变换后传输给从机械臂的伺服驱动系统,精确控制操作杆执行复位指令,引入反馈监测和童锁功能,增强了系统可靠性。结果在软硬件联合调试过程中,控制系统在正常操作和模拟各种异常或错误操作的情况下,全程无任何错误输出。结论股骨干骨折复位机器人的主从控制系统运行安全稳定,能有效滤除各种错误,输出准确、操作性强,具有重要的临床意义。Objective In order to reduce the medical personnel operation intensity and radiation risk,improve the accuracy and stability of reduction,this article designed a master-slave control robot which was more powerful,high precision and working in digital pattern.Methods First of all,the methods and procedures of fracture treatment were analyzed and the working process of fracture reduction robot was designed.The control signal was output through the PWM pins of the microcontroller after the analysis was completed.Then,the signal was transmitted by differential transformation to the servo drive system from the manipulator.Finally,the reset instruction was executed by the accurate control of the operating rod,and feedback monitoring and lock function were introduced,which enhanced the system reliability.Results There was no wrong operation under the condition of the control system operating normally and simulating various abnormal or wrong operations during the software hardware joint debugging process.Conclusion The master slave control system of femoral shaft fracture reduction robot is safe and stable,and it can effectively filter out all kinds of improper operation,output accurately and operably,which has important clinical significance.

关 键 词：骨折复位 主从控制 医用机器人 医学数字化 股骨干骨折复位机器人 

分 类 号：R318[医药卫生—生物医学工程]