| 基于LabVIEW与6轴机械臂的脊柱生物力学测试系统构建及初步可靠性研究 |
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| 引用本文： | 晏怡果,谢勇,王程,姚女兆,薛静波,欧阳智华,谭菁华,浣溢帆,齐蔚霖,王文军.基于LabVIEW与6轴机械臂的脊柱生物力学测试系统构建及初步可靠性研究[J].医用生物力学,2019,34(1):47-56. |
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| 作者姓名： | 晏怡果 谢勇 王程 姚女兆 薛静波 欧阳智华 谭菁华 浣溢帆 齐蔚霖 王文军 |
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| 作者单位： | 南华大学附属第一医院脊柱外科 |
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| 基金项目： | 湖南省技术创新引导计划临床医疗技术创新引导项目（2017SK50201），衡阳市骨科内植物研发重点实验室（2018KJ115） |
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| 摘 要： | 目的构建基于LabVIEW与6轴机械臂的新型离体脊柱生物力学测试系统,进行初步的可靠性研究,为下一步耦合运动测试研究做准备。方法通过LabVIEW平台编程,用以太网及Profibus通讯的方式,将机械臂的数据实时与计算机进行通讯,实现位移控制、载荷控制,实时读取机械臂末端位置和旋转角度,通过力/扭矩传感器和数据采集卡实现数据采集、处理、储存等功能;使用数显千分表和特制固定夹具完成6个方向平移精准度测试,并对数据进行分析;使用该平台对羊脊柱标本进行屈伸、侧屈和旋转测试,绘制出载荷-位移曲线,分析对比并获得实验结果,验证该生物力学平台的有效性。结果开发并建立了一套基于LabVIEW与6轴机械臂的高精准度离体脊柱生物力学测试系统,其平均平移精密度为8.1μm,平均平移准确度为56.7μm。编写相关机械臂控制及数据采集、处理、储存程序,并有效完成羊脊柱生物力学测试。结论该基于LabVIEW与6轴机械臂的脊柱生物力学测试系统能高精准度地完成常规的脊柱三维运动测试,可用于下一步开展耦合运动测试研究。
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| 关 键 词： | 脊柱 机械臂 载荷/位移控制 生物力学 |
| 收稿时间： | 2018/2/22 0:00:00 |
| 修稿时间： | 2018/5/7 0:00:00 |
Construction of Spine Biomechanical Test System Based on LabVIEW and Six-Axis Robot Arm and Preliminary Reliability Study |
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| YAN Yiguo,XIE Yong,WANG Cheng,YAO Nvzhao,XUE Jingbo,OUYANG Zhihu,TAN Jinghu,HUAN Yifan,QI Weilin and WANG Wenjun.Construction of Spine Biomechanical Test System Based on LabVIEW and Six-Axis Robot Arm and Preliminary Reliability Study[J].Journal of Medical Biomechanics,2019,34(1):47-56. |
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| Authors: | YAN Yiguo XIE Yong WANG Cheng YAO Nvzhao XUE Jingbo OUYANG Zhihu TAN Jinghu HUAN Yifan QI Weilin and WANG Wenjun |
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| Institution: | Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China,Department of Spinal Surgery, the First Affiliated Hospital of University of South China and Department of Spinal Surgery, the First Affiliated Hospital of University of South China |
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| Abstract: | |
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| Keywords: | spine robot arm load/displacement control biomechanics |
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