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

Construction of Spine Biomechanical Test System Based on LabVIEW and Six-Axis Robot Arm and Preliminary Reliability Study

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。

Objective To construct a new biomechanical testing system of in vitro spine based on LabVIEW and six-axis robot arm and conduct preliminary reliability studies,so as to make preparation for further studies on coupled motion testing.Methods By programming on LabVIEW platform,using Ethernet and Profibus to communicate the data of the robot arm with PC in real time,the displacement control and load control were realized,and the end position and rotation angle of the robot arm were read in real time.Through the force/torque sensor and data acquisition(DAQ),board DAQ,processing,storage and other functions were acquired.Using the digital micrometer and special stationary fixture,the 6-direction translation accuracy test was completed,and the data were analyzed.The flexion,extension,lateral flexion and rotation were applied on sheep spine specimen to draw the load-displacement curve,analyze and compare the experimental result,and verify the effectiveness of the bi-omechanical platform.Results A biomechanical test system with high precision for spine in vitro based on Lab-VIEW and 6-axis robot arm was developed and established,of which the average translational precision was 8.1μm and the average translational accuracy was 56.7μm.The program of control,data acquisition,data processing and storage were written,and the biomechanical test of the sheep spine was completed effectively.Conclusions This biomechanical test system based on Labview and 6-axis robot arm could complete the conventional three-dimensional spinal motion test with high precision and be used to conduct coupled motion test research in the next step.