经肛内镜缝合器的电控模块设计与研究  

Design and Research of Electronic Control Module for Transanal Endoscopic Suture Device

作　　者：周泽峰 李逸明 朱洪旺 宋成利[1] 

机构地区：[1]上海理工大学健康科学与工程学院,上海

出　　处：《软件工程与应用》2022年第3期564-572,共9页Software Engineering and Applications

摘　　要：目的:设计一种适用于经肛内镜缝合器的电控模块,实现对缝合器缝合动作的精准控制,为经肛门内镜微创手术缝合带来便利。方法:设计经肛内镜缝合器机械结构、电控模块及控制算法,搭建样机实验平台,对电机输出性能及样机进行测试。结果:在空载下,电机转速相对误差最大为7.36%,且电机转速n与PWM信号间存在关系:n = 4.023 ×D − 74.1,缝合动作的理论计算与测试数据基本吻合。结论:本文所设计的电控系统,可以实现对经肛内镜缝合器缝合动作的控制,可为后续缝合自动化提供参考。Objective: An electronic control module for the endoscopic suture device was designed to realize the precise control of the suture action of the suture device and bring convenience to the endoscopic suture device. Methods: The mechanical structure, electronic control module and control algorithm of the transanal endoscopic suture device were designed, and the prototype experimental platform was built to test the output performance of the motor and the prototype. Results: Under no load, the maximum relative error of motor speed is 7.36%, and there is a relationship between motor speed n and PWM signal: n = 4.023 ×D − 74.1. The theoretical calculation of stitching action is basically consistent with the test data. Conclusion: The electronic control system designed in this paper can realize the control of the suture action of the transanal endoscopic suture device, which can provide reference for subsequent suture automation.

关 键 词：结直肠手术 经肛内镜 电动缝合器 电机控制 霍尔传感器 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]