中国医疗设备2018，Vol.33Issue(7)：17-21,5.DOI:10.3969/j.issn.1674-1633.2018.07.004
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
摘要
Abstract
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Key words
fracture reduction/master-slave control/medical robots/medical digitization/femoral shaft fracture reduction robot分类
医药卫生引用本文复制引用
史刚,焦腾,朱世磊,张自启,李钊,刘淼,祁富贵,王鹏飞,殷悦,李雪阳..股骨干骨折复位机器人主从控制系统的设计[J].中国医疗设备,2018,33(7):17-21,5.基金项目
国家自然科学基金青年项目(31600796) （31600796）
后勤科研重点项目(BWS14044). （BWS14044）
