Wearable fracture reduction and rehabilitation robot control system and method

Abstract

The invention discloses a wearable fracture reduction and rehabilitation robot control system and method. The wearable fracture reduction and rehabilitation robot control system comprises an upper computer software module, a communication module, a force sensor module, an embedded driver module and a motor module. A mechanism kinematics forward and inverse solution algorithm and a trajectory planning algorithm are embedded in the upper computer software module, a multi-thread communication mode of RS485 serial communication and USB-to-CAN bus communication is adopted, hardware of the embedded driver module is composed of a control circuit and a driving circuit, and a power supply chip, a driving chip, a communication chip and a control chip are integrated on the same control circuit board. The control system driver is high in hardware design integration level, and the requirements for miniaturization and convenience are met; meanwhile, the development difficulty is low, and an upper computer can issue a control instruction through a simple serial port protocol; the driver adopts a driving and control integrated design, and the motor bottom layer control real-time performance is high; and integrated control of fracture reduction and rehabilitation can be realized.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular to a miniaturized control system and control method of a wearable fracture reduction and rehabilitation robot. Background technique [0002] In the mid-1990s, robot technology began to be introduced into the field of orthopedics. Because of its obvious advantages in improving surgical accuracy, reducing surgical difficulty, reducing surgical injuries, and reducing the labor intensity of doctors, orthopedic medical robots have become the solution to traditional fracture reduction surgery and fracture rehabilitation. An effective tool for difficult clinical problems. Among them, the wearable fracture reduction and rehabilitation integrated robot described in patent CN111685880A has become an advantageous solution for orthopedic medical robots because of its compact structure, small overall size and mass, high rigidity, and high reset accuracy. [0003] However, due to the high ...

AI Technical Summary

Problems solved by technology

[0003] However, due to the high requirements for the portability and reliability of wearable fracture reduction and rehabilitation robots in the orthopedic medical field, the existing control systems of wearable fracture reduction and rehabilitation robots still have the following deficiencies: 1) Development is difficult and costly And it is difficult to meet the requirements of miniaturization and convenience

As described in the patent CN106873401A, the robot control system uses the purchased motion control card as the main controller to realize the corresponding control function, and the control cost is high

The controller needs to adapt to the communication protocol of the motor driver, which increases the difficulty of development. At the same time, this type of motion control system is large in size and low in convenience.

2) Poor real-time performance and reliability

Such as the robot control system based on the serial communication protocol described in the patent CN106217376A, this RS485 communication method is carried out in the form of master station polling, the system has poor real-time performance and reliability, and it is easy to cause "dead chain" phenomenon of some nodes

3) Lack of an integrated control method for fracture reduction and rehabilitation

The fracture reduction surgical robot system described in patent CN107970064A only proposes a fracture reduction trajectory control method and lacks a fracture rehabilitation stage control method

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