胰十二指肠切除术后康复推拿机械手的设计

Design of massage manipulator for rehabilitation after pancreaticoduodenectomy

针对胰十二指肠切除术后患者主要出现的腹胀、腹痛等问题,运用中医推拿手法理论,以机械手臂为工具,制定合理的康复治疗方案。将中医9种推拿手法分解到三维平面上进行运动学分析,建立自由度矩阵,通过计算每个舵机的转速和转动时间来控制六自由度机械手臂的动作,实现推拿动作的模拟,使用推、按等手法对脾俞、胃俞、大肠俞等穴位进行治疗。经测试,机械手臂所模拟的推拿动作施力方向和施力频率较为准确,符合预期要求,为胰十二指肠切除术后患者常见并发症的康复治疗提供了新思路和新方法。

A reasonable rehabilitation program was formulated using the theory of traditional Chinese medicine massage and the robot hand as a tool for relieving abdominal distension and abdominal pain in patients after pancreaticoduodenectomy.The 9 massage manipulations of traditional Chinese medicine are decomposed into three-dimensional planes for kinematic analysis, and the matrix for the degree of freedom is established. The rotation speed and rotation time of each steering engine are calculated for controlling the action of the manipulator with 6 degree of freedom, so as to realize the simulation of massage manipulations. The acupoints of Pishu, Weishu, Dachangshu are treated by pushing, pressing and other manipulations. The test results show that the force direction and frequency of the massage manipulations simulated by the robot hand are accurate, which meets the expected requirements. The designed massage manipulator provides a new idea and method for the rehabilitation of patients suffering from common complications after pancreaticoduodenectomy.