Self-feedback drive control system of double shape memory alloy wires and testing platform of drive control system

Abstract

The invention discloses a self-feedback drive control system of double shape memory alloy wires and a testing platform of the drive control system. The drive control system comprises an SMA (Shape Memory Alloy) driver, wherein the output end of the SMA driver is used for outputting driving voltage and / or current to a first SMA wire and a second SMA wire, a PID (Proportion Integration Differentiation) controller is connected to the input end of the SMA driver, the PID controller is used for receiving input target position information and outputting voltage and / or current duty cycle signals of the first SMA wire and the second SMA wire to the SMA driver, a self-sensing feedback unit is connected between the output end of the SMA driver and the input end of the PID controller, and the self-sensing feedback unit is used for feeding displacement information, resistance information and force information back to the input end of the PID controller. The self-feedback drive control system and the testing platform thereof disclosed by the invention are simple in structure, small in size and free of an external sensor and have the advantages of realizing driving and executing integration actually, broadening the design space of a minimally invasive surgery instrument and providing a feasible scheme for a dedicated robot for single incision surgery.

Description

technical field [0001] The invention relates to a shape memory alloy driver suitable for minimally invasive surgery, in particular to a self-feedback double shape memory alloy wire driving control system and a test platform thereof. Background technique [0002] With the popularization of the minimally invasive concept and the rapid progress of minimally invasive techniques, a more minimally invasive technique, single-port laparoscopic surgery, has become a reality on the basis of traditional laparoscopic surgery. The advantages of this technology are that the surgical scar is more concealed, there are fewer intra-abdominal adhesions, less postoperative pain, and faster postoperative recovery. The production of surgical robots suitable for single-port endoscopic surgery has become one of the international frontiers that many scholars and scientific research institutions pay attention to. [0003] At present, for the single-port endoscopic surgical robot, the commercialized ...

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Problems solved by technology

[0003] At present, for single-hole endoscopic surgical robots, commercialized systems have not yet appeared. One of the important reasons is that in the traditional driving mode of existing robots, the driving device and the actuator are separated, and the size of the existing driving device is too large. Large, occupying a large amount of external space, resulting in insufficient surgical operation space, increased surgical difficulty, and impossible to enter the human body to complete complex surgical operations

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