神经反射弧调节机器臂教学装置的研制

Development of teaching device for robot arm with adjustment of neural reflex arc

目的:设计一种神经反射弧调节机器臂教学装置,用于医学本科生的虚拟仿真神经反射弧调节实验教学。方法:利用现代计算机技术、人工智能和电子技术,在人体骨骼标本右上肢(肱骨)、左上肢(肱骨)、右下肢(股骨)和左下肢(股骨)上连接舵机固定支架,固定4部舵机,舵机连轴器与连杆分别连接肱骨和尺骨,或连接股骨和胫骨,舵机的转动受脉冲宽度调制(PWM)控制。采用超低功耗16位单片机MSP430X149作为系统的中心微控制器,由MSP430X149微控制器的控制程序选择电路控制输出的舵机。结果:机器臂教学装置,能够使医学生直观的观察到反射弧协调控制的全过程,使教师从多个知识点进行系统讲解,其教学内容形象、生动和逼真,有效提高了学生的学习兴趣。结论:研制的神经反射弧调节机器臂教学装置已成为学校生理学形象化实验教学的模型设备,该教学装置能够使医学生进行虚拟仿真神经反射弧调节完整真实实验,有助于提高医学实验教学效果。

Objective:To design a kind of teaching device for robot arm with adjustment of neural reflex arc,which was used to the experimental teaching of the adjustment of neural reflex arc of virtual simulation for medical undergraduates.Methods:The modern computer technique,artificial intelligence and electronic technique were adopted to connect fixed trestle of steering engine on the right upper limb(humerus),left upper limb(humerus),right lower limb(femur)and left lower limb(femur)of the specimens of human skeleton.And four steering engines were fixed.The coupling and connecting rod of steering engine were connected to humerus and ulna,or femur and tibia,respectively.The rotation of steering engine was controlled by pulse width modulation(PWM).The 16 bits single chip microcomputer(MSP430X149)with ultra-low power was adopted as the central microcontroller of the system,and the control program of MSP430X149 microcontroller was used to select the steering engine of control output of circuit.Results:The teaching device of robot arm could enable students to intuitively observe the whole process of coordinated control of reflex arc,and enable teachers to systematically explain that from multiple knowledge points,and its teaching content was visual,vivid and realistic,which effectively improved the learning interest of students.Conclusion:The developed teaching device of robot arm with adjustment of nerve reflex arc has become a model equipment for visualized experimental teaching of physiology in university.And this teaching device can enable medical students to carry out a complete and real experiment of the adjustment of nerve reflex arc of virtual simulation,which is helpful to improve the teaching effect of medical experimental.