An Orthopedic Manipulator System Based on Force-based Pneumatic Control

Abstract

The invention discloses an orthopaedic manipulator system based on pneumatic control of force. The system comprises a DSP core module and a power module, wherein the DSP core module serves as a core control unit and is used for processing man-machine interaction with a touch screen; the DSP core module processes input information of keys of an IO module and a pedal and transmits corresponding output information to the IO module; the DSP core module acquires an output value of a force sensor at the tail end of an AD module and controls the opening degree of an electricity-gas proportional pressure valve through the corresponding output value of a DA chip so that output force can be controlled; the power module supplies electricity to the system. Due to double closed-loop control over the electricity-gas proportional pressure valve, in other words, a current signal at the control signal input end of the electricity-gas proportional pressure valve serves as inner loop control of feedback quantity, and an acquired pressure sensor signal serves as outer loop control of the feedback quantity. Due to the double closed-loop control, pulling force and traction force can be accurately controlled, and stepping operation is performed on force through the touch screen or the keys.

Description

technical field [0001] The invention relates to motion simulation medical equipment, in particular to an orthopedic manipulator system controlled in a force-based pneumatic manner in orthopedic surgery. Background technique [0002] With the development of automation, electronics and other fields, as well as the demand for advanced equipment in medical surgery, more and more robots have begun to be used in medical surgery systems - medical robots. Existing medical robots mainly include surgical robots, medical escort robots, etc. The use of the above-mentioned robots has greatly improved the accuracy, stability and safety of medical operations. [0003] At present, in the process of forearm fracture correction, in addition to a doctor performing operations such as bone setting, bone setting, and plastering, a doctor is also needed, who mainly pulls and pulls the patient's arm. Among them, doctors who perform traction and pulling operations mainly rely on their physical stre...

AI Technical Summary

Problems solved by technology

Among them, doctors who perform traction and pulling operations mainly rely on their physical strength to operate, and their skills are low. At the same time, it takes a long time, at least tens of minutes, for bone setting, bone setting, and plastering. There is also a lot of consumption

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