CN104626148B - The orthopaedics arm-and-hand system that a kind of pneumatic mode based on power controls - Google Patents

Abstract

The present invention discloses the orthopaedics arm-and-hand system that a kind of pneumatic mode based on power controls, DSP core module, for key control unit, is used for processing the man-machine interaction with touch-screen；DSP core module processes the button of I/O module and foot-operated input information, and transmission outputs information to I/O module accordingly；DSP core module gathers the output valve through A/D module end force snesor, and by the aperture of DA chip corresponding output valve control electro-pneumatic proportional pressure valve, in order to control the size of power output；Power module is system power supply.The present invention is controlled as the inner ring of feedback quantity by the double-closed-loop control to electro-pneumatic proportional pressure valve, the i.e. current signal of electro-pneumatic proportional pressure valve control signal input, and is controlled as the outer shroud of feedback quantity by the pressure sensor signal collected.By double-closed-loop control, drag force and tractive force can be accurately controlled, by touch-screen or button, power be carried out step-by-step operation.

Description

The orthopaedics arm-and-hand system that a kind of pneumatic mode based on power controls

Technical field

The present invention relates to motion simulation Medical Devices, be specifically related to what pneumatic mode based on power in bone surgery controlledOrthopaedics arm-and-hand system.

Background technology

Along with the development in the fields such as automation, electronics, and the demand that medical operating is to sophisticated equipment, increasing machineTool people starts to apply in medical operating system--medical robot.Existing medical robot mainly includes surgery machinePeople, medical treatment are accompanied and attended to robot etc., and above-mentioned robot must use and be greatly improved the precision of medical operating, stability and safetyProperty.

At present, in fracture of lower arm correcting process, except a doctor carry out boneseting, synthetism, the operation such as planter cast, in addition it is also necessary toOne doctor, patient's arm is mainly drawn, pulls by it.Wherein, the doctor carrying out drawing, pulling operation relies primarily onIts muscle power operates, and technology containing low, simultaneously because bonesetting, synthetism, planter cast need the long period, at least needs several ten pointsClock, therefore in correcting process, the muscle power for doctor also has the biggest consumption.Deposit in above-mentioned fracture of lower arm correcting processDeficiency, be highly desirable to develop a kind of equipment replacement and wherein draw high the doctor of work.

Summary of the invention

The technical problem to be solved in the present invention is to provide a kind of pneumatic mode based on power to control orthopaedics manipulator systemSystem, has high stability, reliability, security.

Technical scheme includes the orthopaedics arm-and-hand system that a kind of pneumatic mode based on power controls, including DSPNucleus module, touch-screen, power module, I/O module, A/D module, electric-gas proportional pressure valve control module；Described DSP core mouldBlock, for key control unit, is used for processing the man-machine interaction with described touch-screen；Described DSP core module processes described IO mouldThe button of block and foot-operated input information, and send and output information to described I/O module accordingly；Described DSP core module collectionThrough the output valve of described A/D module end force snesor, and control described electric-gas ratio pressure by the corresponding output valve of DA chipThe aperture of power valve, in order to control the size of power output；Described power module is system power supply.

Preferably, described touch-screen is by RS232 serial ports and described DSP core module communication；Described touch-screen is systemHost computer, described DSP core module is system slave computer, the setting during display controls in real time and collection data.

Preferably, described power module, including the dc source of 1.9V, 3.3V, 5V, 24V；Wherein, described 1.9V is used forThe power supply of DSP core module kernel, described 3.3V powers for described DSP core module, the optocoupler of isolation, and described 5V is used for instituteState DA chip power supply.

Preferably, described I/O module, it is used for gathering button and foot-operated information, described button and foot-operated information through described IO mouldThe light-coupled isolation of block, is input to described DSP core module.

Preferably, described A/D module is made up of amplifying circuit and filter capacitor；Described A/D module include an AD unit and2nd AD unit, a described AD unit is for gathering the DA chip output current signal feedback as inner ring closed-loop controlAmount；Described 2nd AD unit gathers the signal feedback quantity as outer shroud closed-loop control of force snesor.

Preferably, described A/D module, to signal multiple repairing weld, is removed maximum and the minimum of a value of sampled signal, is asked for afterwardsThe mean value of sampled signal, obtains the signal value that error is less, as the inner ring of pneumatic control and the closed-loop control of outer shroud of powerFeedback quantity.

Preferably, described pneumatic proportional valve control module includes D/A module and electric-gas proportional pressure valve.

Preferably, described D/A module uses DA chip based on SPI communication, carries out signal amplification through described amplifying circuitAfter, the control signal input of output to described electric-gas proportional pressure valve；Described Electropneumatic proportional valve is straight by a proportion electro-magnetConnect driving main valve plug, make the displacement of main valve plug and input current linear, it is achieved valve outlet port flow or the continuous control of pressureSystem.

Preferably, described amplifying circuit is made up of four LM2904D.

Beneficial effects of the present invention, by the double-closed-loop control to electric-gas proportional pressure valve, i.e. electric-gas proportional pressure valveThe current signal of control signal input controls as the inner ring of feedback quantity, and by the pressure sensor signal collected as insteadThe outer shroud of feedback amount controls.By double-closed-loop control, drag force and tractive force can be accurately controlled, by touch-screen orPerson's button carries out step-by-step operation to power.Tractive force and the drag force of patient's arm are being provided more stable, reliable, safeControl.

Accompanying drawing explanation

Fig. 1 is the control system physical structure of the orthopaedics arm-and-hand system of the present invention.

Fig. 2 is the pneumatic control closed loop algorithm figure of the orthopaedics arm-and-hand system of the present invention.

Fig. 3 is the AD sampling processing figure of the orthopaedics arm-and-hand system of the present invention.

Fig. 4 is the main program flow chart of the orthopaedics arm-and-hand system of the present invention.

Detailed description of the invention

With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.

The present invention provides the orthopaedics arm-and-hand system that a kind of pneumatic mode based on power controls, and including DSP core module, touchesTouch screen, power module, I/O module, A/D module, electric-gas proportional pressure valve control module；Described DSP core module, for core controlUnit processed, for processing the man-machine interaction with described touch-screen；Described DSP core module processes button and the pin of described I/O moduleThe input information stepped on, and send output information to described I/O module accordingly；Described DSP core module collection is through described A/D moduleThe output valve of end force snesor, and the aperture of described electric-gas proportional pressure valve is controlled by the corresponding output valve of DA chip, useTo control the size of power output；Described power module is system power supply.

The present invention is by the double-closed-loop control to electric-gas proportional pressure valve, i.e. electric-gas ratio pressure valve control signal inputsThe current signal of end controls as the inner ring of feedback quantity, and by the pressure sensor signal collected as the outer shroud control of feedback quantitySystem.By double-closed-loop control, drag force and tractive force can be accurately controlled, by touch-screen or button, power be enteredRow step-by-step operation.Tractive force and the drag force of patient's arm are being provided more stable, reliable, safe control.

Described DSP core module uses the TMS320F2812 chip of TI company, the pneumatic control of the integrated power of DSP core moduleThe algorithm of system, uses double-closed-loop control, has been carried out the closed loop control of inner ring by the current value of A/D module collection DA chip outputSystem；The current value of the force snesor output gathered by A/D module carries out the closed-loop control of outer shroud.

Described touch-screen uses the touch-screen of the Kunlun on-state company, is led to described DSP core module by RS232 serial portsLetter；Use Modbus communication protocol.

Described touch-screen is system host computer, and described DSP core module is system slave computer, setting during display controls in real timeDetermine and gather data.

Described power module, including the dc source of 1.9V, 3.3V, 5V, 24V；Wherein, described 1.9V is used for DSP coreThe power supply of module kernel, described 3.3V powers for described DSP core module, the optocoupler of isolation, and described 5V is used for described DA coreSheet is powered.

Described I/O module, for gathering outside button in addition to touch-screen and foot-operated information, improves human-computer interaction function；Described button and foot-operated information, through the light-coupled isolation of described I/O module, are input to described DSP core module.

Described A/D module is made up of amplifying circuit and filter capacitor；Described A/D module includes that an AD unit and the 2nd AD are mono-Unit, a described AD unit is for gathering the DA chip output current signal feedback quantity as inner ring closed-loop control, the most directlySampling from the output of DA chip, be amplified signal through amplifying circuit, electric capacity carries out hardware filtering the most after filtering,It is directly inputted to the AD port of DSP core module；Described 2nd AD unit gathers the signal of force snesor as outer shroud closed loop controlThe feedback quantity of system, signal is amplified by the signal i.e. collected by force snesor through amplifying circuit, the most after filtering electricityHold and carry out hardware filtering, be directly inputted to the AD port of DSP core module.

Described A/D module, to signal multiple repairing weld, removes maximum and the minimum of a value of sampled signal, asks for sampling letter afterwardsNumber mean value, obtain the signal value that error is less, as the inner ring of pneumatic control of power and the feedback of the closed-loop control of outer shroudAmount.

Described pneumatic proportional valve control module includes D/A module and electric-gas proportional pressure valve.

Described D/A module uses DA chip MAX539 based on SPI communication, after described amplifying circuit carries out signal amplification,Output is to the control signal input of described electric-gas proportional pressure valve；Described Electropneumatic proportional valve is directly driven by a proportion electro-magnetDynamic main valve plug, utilizes the relation of spring force and displacement, makes the displacement of main valve plug and input current linear, it is achieved valve outlet portFlow or the continuous control of pressure, take this to realize the control of the position of pneumatic actuator, speed and power.

Described amplifying circuit is made up of four LM2904D.

The system flow of the embodiment of the present invention is as follows:

1, by touch-screen or button, this orthopaedics manipulator control system is carried out order input, observe by controlling simultaneouslySystem feedback is to the related system data of touch-screen.

2, using Modbus communication protocol between touch-screen and DSP, touch-screen is as the host computer of system, and DSP is as beingSystem slave computer, both carry out real-time Communication for Power by SCI serial ports.

3, the control parameter set by touch-screen, carries out system initialization, carries out power for system and controls to prepare.

4, after obtaining corresponding control signal, electric-gas proportional pressure valve is carried out corresponding power control.

5, detect limit signal and foot-operated signal in real time, after detecting that limit signal or foot-operated signal trigger, carry outJerk controls.

Wherein, the principle of the pneumatic control of described power is as follows:

The thrust that cylinder produces the following is with the chucking power relation being applied on patient's arm:

F=f+F₀

Wherein, F is the thrust that cylinder produces, and f is the frictional force of system itself, F₀For the chucking power on patient's arm.

Thrust F that cylinder produces is also shown as:

F=P*S

Wherein, P is the pressure of cylinder interior, and S is the lifting surface area of cylinder bore diameter

Electric-gas proportional pressure valve of the present invention is accurate linear control valve, controls input current and cylinder interior pressureBeing directly proportional by force, the control electric current of the pressure of cylinder interior and Electropneumatic proportional valve is in two dimensional surface coordinate system, and it is that straight line closesSystem, it can thus be appreciated that the electric current of D/A module output and cylinder interior pressure relation are as follows:

P=k*I+P₀

Wherein, I is the electric current of D/A module output, and k is the slope of straight line, P₀Intersection point for straight line Yu y-axis.

Arm-and-hand system of the present invention uses traction and fixing device, it is achieved during tradition Orthopedic correction, to patient's armTraction and pulling, can save tradition bone surgery during one be responsible for specially traction and pull doctor.Utilize firstThe control technology entered makes this manipulator be far longer than the control accuracy of staff, touch-screen and common key-press directly control, operationVery convenient；The doctor being responsible in bone setting therapeutic stretching can be substituted and complete all of work, and can stablize, transport reliablyOK.

One embodiment of the invention, as it is shown in figure 1, include: power module, touch-screen based on Modbus bus, DSP coreControl panel, i.e. DSP core module, I/O module, A/D module, electric-gas proportional pressure valve control module.

Wherein, power module is whole system power supply.

Touch-screen is based on Modbus bus, the button on each touch-screen and the corresponding address of output display.When touchingTouching screen certain button upper when being triggered, by SCI serial ports, send instruction and data to DSP core control panel, DSP core controlsButtress is according to Modbus bus protocol, after verifying the data received, extracts corresponding address and the data of triggering, and rootAccording to defined address function, peripheral module is controlled accordingly；When DSP core control panel sends data to touch-screenTime, also according to the corresponding display that certain address of predefined is corresponding, send corresponding data message to corresponding address, touchTouch after screen receives, be decoded according to Modbus agreement, appropriate address demonstrates correct information.

DSP core control panel, including SCI telecommunication circuit, A/D convertor circuit, IO drive circuit.SCI telecommunication circuit for andThe communication function of touch-screen, finishing man-machine interaction；IO drive circuit respectively by input and export optocoupler and the external world carry out photoelectricity everyFrom, for gathering outside button, foot-operated information and mechanical position limitation information in addition to touch-screen, provide simultaneously and control magnetic valveSwitching signal and emergent stop signal.Amplifying circuit and filter capacitor that A/D convertor circuit is made up of four LM2904D form.

Electropneumatic proportional valve control module, is controlled D/A module by SPI communication circuit, and D/A module is used for and Electropneumatic proportional valve phaseThe input current signal answered, the aperture of Electropneumatic proportional valve changes, from directly controlling gas according to the size variation of DA output electric currentThe pressure of cylinder interior, reaches accurately to control the effect of thrust.

As described in Figure 2, the closed loop control process that aerodynamic force controls is:

11, first by control signals such as DSP core control panel collection touch, buttons, adding in control signal is parsedPower or subtract force signal.

12, DSP core control panel is according to afterburning in control signal or subtract the size of power, and calculating should be given and electric-gas ratioThe current value of valve, and calculate to the control data with D/A module input, the control data calculated should be led to according to current valueCross SPI communication port and be sent to corresponding D/A module.

13, the current value of D/A module output is gathered respectively as current feedback signal and pneumatic by two-way A/D module respectivelyThe size of the power of executing agency's end force snesor is as the feedback signal of power；The current value of D/A module output that will collectCompare with calculating current value, do inner ring control；Meanwhile, by the size of the power of force snesor collected and control signalThe size requiring pneumatic actuator power output is made comparisons, and does outer shroud control.

As it is shown on figure 3, A/D module resampling process is:

21, A/D module is sampled as hardware filtering circuit and includes internal 12 the AD conversion module groups of signal amplification circuit and DSPBecome.Use hardware filtering circuit, effectively remove signal noise impact.

22, after hardware filtering, need after signal is amplified by amplifying circuit, then transmit the input of the A/D module to DSPEnd.

23, the signal collected using software filtering further, i.e. 5 signals of continuous acquisition, remove maximum afterwardsAnd minimum of a value, finally remaining 4 signal values being done mean value and processes, formula is as follows:

$y=\frac{1}{3}(\underset{i=1}{\overset{5}{\mathrm{\Σ}}}{x}_i-x_{\max }-x_{\min })$

Wherein x_i(i=1,2,3,4,5) it is 5 sampled values of continuous acquisition.

As shown in Figure 4, the main control flow process of the embodiment of the present invention is:

31, after powering on, initialize systematic parameter, touch-screen display initializes, IO configures and output carries out initialChange.

32, DSP passes through SCI telecommunication circuit, and in real time whether monitoring touch-screen is sent to instruction and data, monitoring simultaneously withThe information such as the key-press input of I/O module, foot-operated input, limit signal.When system monitoring to touch-screen be sent to director data orWhen person has IO input information to trigger, the instruction of system analysis touch-screen or IO input information.

33, according to the information parsed, it is judged that the associative operation that system is carried out.

34 if jerk or limit signal trigger, and system stops the increase to thrust immediately or reduces operation, andGive and the relevant prompting such as warning, and corresponding information is shown on the touchscreen, prevent patient by secondary injury.

If 35 systems judge to carry out afterburning operation, then according to afterburning size, calculating should be to the output electricity with D/A moduleFlow valuve, is sent to D/A module by SPI communication circuit by calculating income value, controls the aperture of electro-pneumatic proportional pressure valve, meanwhile, rootAccording to the current value of the DA input collected as inner loop feedback value and the size of power that collected by force snesor as outer shroudValue of feedback carries out double-closed-loop control；According to system data conversion relation noted earlier, reach accurately to control the effect of thrust.

36, same, if system judges to carry out subtracting power operation, then it is controlled according to afterburning computational methods and flow process,Reach accurately to control the effect of thrust.

The detailed description of the invention of present invention described above, is not intended that limiting the scope of the present invention.Any basisVarious other done by the technology design of the present invention change and deformation accordingly, should be included in the guarantor of the claims in the present inventionIn the range of protecting.

Claims (8)

1. the orthopaedics arm-and-hand system that a pneumatic mode based on power controls, it is characterised in that include DSP core module, touchTouch screen, power module, I/O module, A/D module, electric-gas proportional pressure valve control module；

Described DSP core module, for key control unit, is used for processing the man-machine interaction with described touch-screen；Described DSP coreThe button of I/O module described in resume module and foot-operated input information, and send and output information to described I/O module accordingly；InstituteState the DSP core module collection output valve through described A/D module end force snesor, and by the corresponding output valve control of DA chipMake the aperture of described electric-gas proportional pressure valve, in order to control the size of power output；Described power module is system power supply；

Described A/D module is made up of amplifying circuit and filter capacitor；Described A/D module includes an AD unit and the 2nd AD unit,A described AD unit is for gathering the DA chip output current signal feedback quantity as inner ring closed-loop control；Described 2nd ADUnit gathers the signal feedback quantity as outer shroud closed-loop control of force snesor.

Orthopaedics arm-and-hand system the most according to claim 1, it is characterised in that described touch-screen by RS232 serial ports withDescribed DSP core module communication；Described touch-screen is system host computer, and described DSP core module is system slave computer, shows in real timeShow the setting in control and gather data.

Orthopaedics arm-and-hand system the most according to claim 1, it is characterised in that described power module, including 1.9V,The dc source of 3.3V, 5V, 24V；Wherein, described 1.9V is for the power supply of DSP core module kernel, and described 3.3V is for describedDSP core module, the optocoupler of isolation are powered, and described 5V is used for described DA chip power supply.

Orthopaedics arm-and-hand system the most according to claim 1, it is characterised in that described I/O module, be used for gathering button andFoot-operated information, described button and foot-operated information, through the light-coupled isolation of described I/O module, are input to described DSP core module.

Orthopaedics arm-and-hand system the most according to claim 1, it is characterised in that described A/D module to signal multiple repairing weld,Remove maximum and the minimum of a value of sampled signal, ask for the mean value of sampled signal afterwards, obtain the signal value that error is less, makeFor the inner ring of pneumatic control of power and the feedback quantity of the closed-loop control of outer shroud.

Orthopaedics arm-and-hand system the most according to claim 1, it is characterised in that described electric-gas proportional pressure valve controls mouldBlock includes D/A module and electric-gas proportional pressure valve.

Orthopaedics arm-and-hand system the most according to claim 6, it is characterised in that described D/A module uses based on SPI communicationDA chip, after described amplifying circuit carries out signal amplification, output to described electric-gas proportional pressure valve control signal inputEnd；Described Electropneumatic proportional valve is directly driven main valve plug by a proportion electro-magnet, makes the displacement of main valve plug and input current linearRelation, it is achieved valve outlet port flow or the continuous control of pressure.

Orthopaedics arm-and-hand system the most according to claim 1, it is characterised in that described amplifying circuit is by four LM2904DComposition.