基于STM32的脊柱手术钻孔辅助装置控制系统  

Control system of drilling assistant device for spinal surgery based on STM32

作　　者：李翔昱 汤卿[1] 徐邦杰 姚进[1] LI Xiang-yu;TANG Qing;XU Bang-jie;YAO Jin(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]四川大学机械工程学院,四川成都610065

出　　处：《机电工程》2020年第7期851-855,共5页Journal of Mechanical & Electrical Engineering

基　　金：四川省重点研发项目(重大科技专项)(2017SZ0096)。

摘　　要：针对椎弓根内固定手术中实施钻孔时操作强度大、风险高的问题,对已经设计完成的钻孔辅助装置机械系统进行了配套的电路及控制系统的设计。对椎弓根内固定术钻孔操作中存在的困难进行了分析,给出了钻孔辅助装置配套控制系统的设计方案;基于STM32微控制器设计了可以进行拖动状态、微调状态和锁紧状态快速切换的钻孔机械臂关节阻尼控制系统;设计了钻孔自动进给控制系统,以及钻孔操作配套的状态辅助显示系统;完成了试验样机的制作,并且进行了测试试验。研究结果表明:该装置设计合理,能够满足拟定的设计要求,为医生实施手术钻孔提供便利和判断依据,减轻医生钻孔实施过程中的劳动强度,并且能够帮助解决脊柱手术由于钻孔时可能存在的生理颤振给手术带来的风险问题。Aiming at the problem of high intensity and high risk of drilling for pedicle fixation,the circuit and control system of drilling auxiliary device was designed.Difficulties that exist in the drilling operation of pedicle internal fixation were analyzed,the design scheme of the control system were given.Based on the STM32 microcontroller,a joint damping control system for drill manipulator was designed,which could quickly switch between drag state,fine adjustment state and lock state.The automatic feed control system for drilling and the auxiliary display system for drilling operation were designed.The prototype was manufactured and tested.The results show that the design of the device is reasonable and can meet the proposed design requirements.It can provide convenience and judgment basis for doctors to carry out surgical drilling,reduce labor intensity during the process of drilling,and help solve the risk of spinal surgery caused by the possible physiological flutter during drilling.

关 键 词：脊柱钻孔手术 微控制器 磁粉离合器 阻尼控制 

分 类 号：TH781[机械工程—仪器科学与技术] TP24[机械工程—精密仪器及机械]