虚拟仪器下的生物摩擦力测试系统设计  

Design of Test System of Biological Friction Based on Virtual Instrument

作　　者：郭岩 李于洪 张宾 贺同见 宋伟 GUO Yan;LI Yuhong;ZHANG Bin;HE Tongjian;SONG Wei(Chengdu Special Equipment Inspection Institute,Chengdu 610031,China)

机构地区：[1]成都市特种设备检验院,四川成都610031

出　　处：《自动化仪表》2019年第2期19-22,共4页Process Automation Instrumentation

基　　金：国家自然科学基金重大基金资助项目(51290291)

摘　　要：借助光纤传感器、伺服电机和西门子可编程逻辑控制器(PLC),设计了一套基于组态王的力采集系统,用于采集医疗器械手术机器人手臂与生物肠道接触的力。该系统以组态王作为人机界面。首先,通过实时曲线趋势图监测接触力相位变化;通过控制界面更改运动装置的控制变量参数,并将相应的信息通过力采集界面和历史曲线趋势图进行记录。然后,通过光纤传感器及其对应的解调仪,进行相位信息的测量,并将其转换成力。最后,通过西门子PLC,使用梯形图编写控制程序,控制伺服电机以不同运动状态让测试端头进入肠道,进行测量。采用该方法,可以将上位机软件采集到的不同运动状态下端头与肠道接触的力进行对比,组建一个数据库,为手术机器人临床操作的参考,从而避免手术过程中由于缺乏力反馈而造成的组织出血和变性。With the help of optical fiber sensors,servo motors and Siemens programmable logic controller(PLC),a force acquisition system based on KingVIEW is designed to collect the contact force between the arm of medical instrument surgery robot and the bio-intestinal tract.KingVIEW is used as the man-machine interface in the system.Firstly,the phase change of contact force is monitored by real-time trend curve,and the parameters of control variables are changed via control interface,and the corresponding information is recorded by force acquisition interface and historical trend curve.Then,the phase information is measured and converted through the optical fiber sensor and its corresponding demodulator,and transformed into force.Finally,through the Siemens PLC controller,the ladder diagram is used to write the control program,and the servo motor is controlled to let the test tip enter the intestine tract in different motion states for measurement.By using this method,the contact forces between the tip and up to serve as a reference for the clinical operation of the surgical robot,so as to avoid the tissue bleeding and variability caused by lack of force feedback during the operation intestine in different motion states collected by the upper computer software can be compared,and a database can be set.

关 键 词：微光纤压力传感器 可编程逻辑控制器 丝杠模组 组态王 伺服电机 

分 类 号：TH39[机械工程—机械制造及自动化]