权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

A study on development of vibration control gyroscopes for surgical microscopes

手术显微镜振动控制陀螺仪的研制研究

基本信息

批准号：
10555073
负责人：
MATSUHISA Hiroshi
金额：
$ 6.85万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 1999
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-10555073/
关键词：
Surgery microscope Carrier arm Vibration control Momentum exchange CMG Single gimbal Variable gain control Velocity feedback 運動量交換機構ジャイロ制振装置直接フィードバック加速度センサ

项目摘要

In this research project, a gyroscopic vibration control system for surgical microscope was developed. Surgical operations under microscopes are sometimes seriously disturbed by the vibration of visual fields. These microscopes are usually supported by some carrier arms to enhance the utilities. Thus,vibrations of the arms are easily induced even by usual movements of doctors or nurses in the operating room. It is considered that the momentum-exchange type vibration control devices are suitable for these applications. Especially, gyroscopic actuators yield good control effects even when the frequency range is less than 10Hz. An experimental CMGs system was developed assuming the typical specification of surgical microscopes. This system has six identical gimbals, and each gimbal supports a rotor of uniform steel disk, which is 59mm in diameter and 10mm in thickness. The typical rotational frequency is 3600rpm in all rotors. These six gimbals makes three pairs, and in each pair, two gimbals are connected by a spar gear and a parallel crank. The pair of gimbals are driven by a DC servomotor, thus the output torques around the orthogonal three axes can be controlled independently. The CMGs unit is miniaturized to be attached near the free end of arm, and the weight is less than 3kg. A mock-up of microscope carrier arm was build for the experiments, which consists of a base unit and double arms with three joints, and the carrier is 1.5m in totallength. The PC based DSP system was employed for the feedack control. Three servo-type accelerometers were installed near the free end of the arm together with the CMGs unit. A variable gain velocity feedback control was rearranged for this purpose, and their block diagrams were developed under MATLAB/Simulink Realtime Workshop environment. Thus, the effectiveness of the gyroscopic system for the vibration damping of surgical microscope was experimentally confirmed.

本研究计画主要针对手术显微镜之陀螺振动控制系统进行开发。显微镜下的外科手术有时会受到视野振动的严重干扰。这些显微镜通常由一些载体臂支撑，以增强实用性。因此，即使医生或护士在手术室中的通常运动也容易引起臂的振动。动量交换型振动控制装置被认为适合于这些应用。特别是陀螺作动器，即使在频率范围小于10 Hz时也能产生良好的控制效果。假设手术显微镜的典型规格的实验CMGs系统的开发。该系统有六个相同的万向节，每个万向节支撑一个直径为59 mm，厚度为10 mm的均匀钢盘转子。所有转子的典型旋转频率为3600 rpm。这六个万向节组成三对，并且在每一对中，两个万向节由梁齿轮和平行曲柄连接。该对万向节由直流调速器驱动，因此可以独立地控制围绕正交三个轴的输出扭矩。CMG单元被小型化以附接在臂的自由端附近，并且重量小于3 kg。为实验搭建了显微镜载臂实物模型，该模型由一个基座和三关节双臂组成，载臂全长1.5m。采用基于PC机的DSP系统进行反馈控制。三个伺服型加速度计安装在臂的自由端附近以及CMG单元。为此，重新设计了一种变增益速度反馈控制，并在MATLAB/Simulink Realtime Workshop环境下给出了控制框图。因此，实验证实了陀螺系统对手术显微镜振动阻尼的有效性。