电动吻合器电控模块的设计与研究  

Design and research of electric control module for powered stapler

作　　者：王佩瑶[1] 周宇[1] 凌宇秀 葛文明 刘子悦 宋成利[1] WANG Peiyao;ZHOU Yu;LING Yuxiu;GE Wenming;LIU Ziyue;SONG Chengli(School of Medical Instrument and Food Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学医疗器械与食品学院,上海200093

出　　处：《生物医学工程研究》2020年第3期271-276,共6页Journal Of Biomedical Engineering Research

基　　金：国家自然科学基金资助项目(51735003);上海市科委项目(18441900200)。

摘　　要：本研究旨在研制电动吻合器的电控模块配合对应的机械结构,实现对吻合器压榨动作的控制,为吻合器的电动化提供研究方法。通过分析电动吻合器系统框架,设计了电动压榨装置、电控模块的硬件和软件部分,并对选用的直流减速电机进行了基础性能研究,搭建了电动压榨实验系统,实现机电联调,为电动吻合器提供压榨动作的基础研究。结果显示,本研究所设计的电控模块可以实现对电机的精准控制,电机转速最大时相对误差为3.068%;电动压榨装置前端执行器的闭合角度θ与主控板捕获到的电机转角α之间存在如下关系:θ=-0.02α+12.516,利用此公式可以实现对机械结构动作的精确控制。该电控模块可以实现对电动压榨装置的控制,为后续吻合器的电动控制提供设计基础。To design an electronic control module of the powered stapler to realize the clamping action control in anastomosis with the corresponding mechanical structure,and to provide a method for the motorization of the stapler.Through analyzing the framework of the electric stapler system,we designed the electric clamping device,hardware and software of electronic control module,studied the basic performance of the selected DC motor,and set up the experimental system of electric clamping to realize the electromechanical control.It provided the basic research of clamping movement for powered stapler.The results showed that the electronic control module could realize accurate control of the motor.The relative error was 3.068%when the motor speed was set to a maximum speed.The relationship between closing angle of the end effectorθand the motor revolving angle were as follows:θ=-0.02α+12.516.This formula could be used to realize accurate control of the movement of the mechanical structure.The results reveal that the electronic control module can control the electric clamping device and provide the design basis for the electric control of the powered stapler.

关 键 词：电动 吻合器 压榨 直流电机 机电控制 

分 类 号：R318[医药卫生—生物医学工程]