| 基于直流减速电机的内镜缝合器电控系统研制 |
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| 引用本文： | 杨玉婷,宋成利,吕坤勇,刘孝忠,周 宇.基于直流减速电机的内镜缝合器电控系统研制[J].教育技术导刊,2019,18(11):66-70. |
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| 作者姓名： | 杨玉婷 宋成利 吕坤勇 刘孝忠 周 宇 |
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| 作者单位： | 1. 上海理工大学 医疗器械与食品学院,2. 现代微创医疗器械及技术教育部工程研究中心，上海200093,3. 上海科技大学 信息科学与技术学院，上海 201210 |
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| 基金项目： | 国家自然科学基金项目（51735003）；上海市科委基金项目（18441900200） |
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| 摘 要： | 旨在设计以直流减速电机为动力元件，利用编码器精准控制的闭环控制系统。研究霍尔编码器控制原理，利用霍尔编码器实现电机转动圈数控制、调速以及定位功能|研制内镜缝合器电动控制系统，阐述系统驱动机构组成部分，以及器械运动控制算法，利用参数调节合适的PWM波占空比，以实现对器械运动的精准控制，并通过外部传感器进行验证。结果表明，当PWM波占空比在80%～100%之间时，运动速度合理，电机测试精度变化范围大致为-0.007%～0.567%，精度较高。该研究为内窥镜器械的电动控制系统开发提供了理论基础，且具有良好的应用前景。
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| 关 键 词： | 内镜缝合器 直流减速电机 霍尔编码器 精准控制 |
| 收稿时间： | 2019-07-14 |
Development of Electronic Control System Endoscopic Closing Device Based on DC Geared Motor |
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| YANG Yu-ting,SONG Cheng-li,LV Kun-yong,LIU Xiao-zhong,ZHOU Yu.Development of Electronic Control System Endoscopic Closing Device Based on DC Geared Motor[J].Introduction of Educational Technology,2019,18(11):66-70. |
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| Authors: | YANG Yu-ting SONG Cheng-li LV Kun-yong LIU Xiao-zhong ZHOU Yu |
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| Institution: | 1. School of Medical Instrument and Food Engineering， University of Shanghai for Science and Technology|2. Institute for Minimally Invasive Therapy，Shanghai 200093， China|3. School of Information Science and Technology， Shanghai Tech University， Shanghai 201210， China |
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| Abstract: | The purpose of this paper is to design a closed-loop control system based on the DC gearbox motor， which is precisely controlled by the encoder， and to develop an electric control system for the endoscopic closing device by using hall encoder to precisely control the number of motor revolutions， speed regulation and precise positioning function. The experimental system adopts the single-chip microcomputer and hall encoder to control the number of rotation turns of the motor motion， studies the control principle of hall encoder， adjusts the proper duty ratio of PWM wave by using parameters， and realizes the precise control of the instrument motion， and verifies it by external sensor. The components of the driving mechanism of the system and the control algorithm of the movement of the instrument are described. By experimental verification， the PWM duty ratio was between 80% and 100%， movement speed is reasonable， the motor test precision of the range is in 0.007% ~ 0.567%， roughly accuracy is higher， this research for the endoscopic equipment of electric control system provides a theoretical basis， it has good application prospect. |
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| Keywords: | endoscopic closing device DC geared motor Hall encoder precise control |
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