基于关节机器人的人体脊柱生物力学试验装置研究

Research of Joint-Robotics-based Design of Biomechanics Testing Device on Human Spine

介绍一套基于机器人的用于生物力学特性研究的实验装置的硬件和软件构成。用Visual C++把机器人的底层指令控制,位姿和力矩信息传输,控制算法集成在一个统一的可视化控制平台下,方便控制和管理。采用混合力/位移控制方法对人体脊柱进行加载,可以很好地测试脊柱功能单元(Functional spinal unit,FSU)各组织结构的功能和受力状态,克服了以往力和位移测量分离的缺点,大大提高了测量精度,很容易地确定脊柱退变和各类手术对脊柱功能单元各组织结构所承担负载的影响。

This paper introduces the hardware and software of a biomechanical robot-based testing device. The bottom control orders, posture and torque data transmission, and the control algorithms are integrated in a unified visual control platform by Visual C＋ ＋, with easy control and management. By using hybrid force-displacement control method to load the human spine, we can test the organizational structure and the force state of the FSU （Functional spinal unit） well, which overcomes the shortcomings due to the separation of the force and displacement measurement, thus greatly improves the measurement accuracy. Also it is esay to identify the spinal degeneration and the load-bearing impact on the organizational structure of the FSU after various types of surgery.