摘要
以手术机器人从手机构为对象,研制了手术机器人从手夹持力信号数据采集系统。在末端夹持手指安装了应变传感器。传感器采集的加持力信号传递给以NE592为核心的信号处理电路进行处理,将处理过后的信号传递给数据采集卡进行数据采集并通过串口接口上传到计算机;计算机监测系统软件由虚拟仪器开发平台LabVIEW完成,实现对采集卡上传的数据进行监控分析;在LabVIEW中调用Matlab Script节点,实现LabVIEW与Matlab的混合编程。实验表明,该采集系统能够很好地完成手术机器人从手夹持力信号数据采集任务,为手术机器人从手其他的深入研究提供了可靠的平台。
Using the surgical robot hand designed, a hand clamping force signal data acquisition system is studied. Strain sensor is installed at the end of the clamping fingers. Sensor acquisition signal of the clamping force is transmitted to a signal processing circuit whose core element is NE592 integrated chip. The processed signal will be transmitted to a data acquisition card for data acquisition and these data will be uploaded to the computer through serial interface. Computer monitoring system software is designed by LabVIEW virtual instrument development platform. The software is able to monitor and analyze these uploaded data. The LabVIEW and Matlab mixed programming is realized through calling Matlab Script node in LabVIEW. Experiment results show that the acquisition system can finish the surgical robot hand signal data acquisition task well. Research results may provide a reliable platform to other further research of surgery robot hand clamping force.
出处
《机械设计与制造》
北大核心
2015年第2期164-167,共4页
Machinery Design & Manufacture
基金
沈阳市科技创新项目(F13-297-1-00)
国家自然科学基金项目(51305277)
关键词
手术机器人
夹持力
监控分析系统
Surgical Robot
Clamping Force
Monitor and Analysis System
