CN111110411A - Dynamic hip joint prosthesis control system - Google Patents
Dynamic hip joint prosthesis control system Download PDFInfo
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- CN111110411A CN111110411A CN201911395356.9A CN201911395356A CN111110411A CN 111110411 A CN111110411 A CN 111110411A CN 201911395356 A CN201911395356 A CN 201911395356A CN 111110411 A CN111110411 A CN 111110411A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
Abstract
The invention relates to the field of rehabilitation prosthesis orthopedics, in particular to a dynamic hip joint prosthesis control system. A dynamic hip prosthesis control system comprising: the gait information processing system comprises a gait information acquisition module, a gait information processing module, a control module, a motor driving module, a communication module, a motor power supply module, a control power supply module, an optical coupling isolation module and a Kalman filtering module; the control system receives the foot pressure information and the bending and stretching information of the knee joint and the film joint through the communication module and acquires the foot pressure information and the bending and stretching information of the knee joint and the film joint, processes the received information to generate a control signal, and the motor driving device receives the control signal through the communication module and drives the power film joint prosthesis to operate, so that the patient is driven to walk. The dynamic film bug control system provided by the invention has the advantages of reducing the force required by the patient to walk and facilitating the patient to walk.
Description
Technical Field
The invention relates to the field of rehabilitation prosthesis orthopedics, in particular to a dynamic hip joint prosthesis control system.
Background
Many patients need hip surgery because of some tumors, trauma, pressure sores and vascular disease. The number of hip joint amputations belongs to the high amputation, and the operation has great influence on the life and the mind of amputees. The artificial hip joint can greatly compensate the influence when being worn, and the traditional unpowered hip joint comprises an artificial lower limb hip joint applied by Ottobock industries, Inc. in 2001 and a utility model patent applied by Henan province artificial limb center in 2002, namely a hip disjunction joint for the artificial limb. Most of the traditional hip joint artificial limbs are bionic hydraulic damping systems, and cannot provide power and have no control system. Conventional hip joints require the patient to perform walking with twice as much physical effort as a normal person.
Disclosure of Invention
The power hip joint prosthesis control system aims to solve the problems and save the physical power wasted by patients in the walking process, so that the patients can walk conveniently.
The invention provides a dynamic hip joint prosthesis control system, which is used for controlling a dynamic hip joint prosthesis with a motor so as to help a high amputation patient walk, and comprises the following components: the gait information processing system comprises a gait information acquisition module, a gait information processing module, a control module, a motor driving module, a communication module, a motor power supply module, a control power supply module, an optical coupling isolation module and a Kalman filtering module; the gait information acquisition module is used for acquiring a heel differential pressure signal, a sole differential pressure signal, a hip joint flexion angle signal, a hip joint extension angle signal, a knee joint flexion angle signal and a knee joint extension angle signal; the information processing module is used for converting the heel differential pressure signal and the sole differential pressure signal into a single-ended pressure signal; the control module receives and processes the single-end pressure signal, the hip joint flexion angle signal, the hip joint extension angle signal, the knee joint flexion angle signal and the knee joint extension angle signal to generate a control signal; the control module is respectively connected with the gait information processing module, the control power supply module, the communication module and the motor driving module so as to control the dynamic hip joint prosthesis; the motor driving module receives the control signal and drives the power hip joint prosthesis to run so as to drive the patient to walk; the communication module is used for realizing the communication connection between the motor driving module and the gait information acquisition module and the control module; the motor power supply module supplies power to the motor driving module; the control power supply module supplies power to the control module; an opto-coupler isolation module; when the CAN communication is carried out between the motor driving module and the control module, the motor locked-rotor current interferes the CAN bus; and the Kalman filtering module is used for predicting the movement intention of the human body by utilizing the prediction function of Kalman filtering, so that the problem that the motor operation lags behind the movement intention of the human body is solved.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: further comprising: and the human-computer interaction module controls the motion mode of the hip joint prosthesis after the patient wears the dynamic hip joint prosthesis.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: the man-machine interaction module is a button system module or a touch screen system module.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: wherein, communication module includes: the CAN bus communication module is used for realizing the communication between the motor driving module and the control module; and the IIC communication module is used for realizing the communication between the gait information acquisition module and the control module.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: the differential pressure signal is collected by a pressure strain gauge type pressure sensor.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: the function of the optical coupling isolation module is realized by a chip with the model of TIL 117.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: the function of the control module is realized by a main control chip with the model number of STM32F767IGT 6.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: wherein, the motor is a brushless direct current motor.
In the dynamic hip joint prosthesis control system provided by the invention, the following characteristics can be further provided: the voltage provided by the motor power supply module is 12V, and the voltage provided by the control power supply module is 3.3V.
Action and Effect of the invention
The embodiment provides a dynamic hip joint prosthesis control system, which comprises a power supply module, a gait information acquisition module, a gait information processing module, a communication module, an optical coupling isolation module, a motor driving module, a control module and a Kalman filtering module. Therefore, the control system of the dynamic hip joint prosthesis can detect heel pressure information, sole pressure information and flexion and extension angle information of the hip joint and the knee joint of the hip joint amputation patient, so that walking gait information of the hip joint amputation patient is calculated, and hip joint flexion and extension angle information of the dynamic hip joint prosthesis is further calculated in real time. The nine control modules send the rotation angle of the motor to the motor driving module to control the motor to rotate. The human body movement intention can be predicted through a Kalman filtering algorithm, so that the problem that motor control lags behind the human body movement intention is solved. The acceleration, the speed, the position and the torque information of the motor rotation can be obtained through the communication between the communication module and the motor driving module, and the speed of the motor is realized. The hip joint flexion and extension angle information of the dynamic hip joint prosthesis obtained by the PID closed-loop shaft inertia measurement unit can be controlled to realize the impedance control of the motor and the flexibility of the system. Through CAN opto-coupler isolation module for keep apart the influence of motor locked-rotor current to the CAN bus when motor and control module carry out the CAN communication. The sole pressure information, the hip joint and the knee joint flexion and extension angle information, the motor position, the speed and the torque information can be sent to the upper computer module through the communication module for data analysis. Through the cooperation of the modules, the dynamic film forming joint prosthesis control system provided by the invention has the advantages of saving the effort required by a patient in walking and facilitating the patient to walk.
Drawings
FIG. 1 is a schematic view of a dynamic hip prosthesis control system in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a motor drive module in an embodiment of the invention;
FIG. 3 is a diagram illustrating film over joint prosthesis in a standing state according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating film over knee prosthesis in a sitting position according to an embodiment of the present invention; and
FIG. 5 is a diagram illustrating film over prosthesis walking state in an embodiment of the invention.
Detailed Description
In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the invention is specifically described below by combining the embodiment and the attached drawings.
FIG. 1 is a schematic view of a dynamic hip prosthesis control system in an embodiment of the present invention.
As shown in fig. 1, the present invention provides a dynamic hip prosthesis control system 100 for controlling a dynamic hip prosthesis having an upper computer to assist a high amputee in walking, comprising: the gait recognition system comprises a gait information acquisition module 1, a gait information processing module 2, a control module 3, a motor driving module 4, a communication module (not shown), a motor power supply module 5, a control power supply module 6, an optical coupling isolation module 7, a Kalman filtering module (not shown), a human-computer interaction module 8 and an upper computer module 9;
the gait information acquisition module 1 is used for acquiring a sole pressure differential signal, a heel pressure differential signal, a hip joint flexion angle signal, a hip joint extension angle signal, a knee joint flexion angle signal and a knee joint extension angle signal, and the gait information acquisition module 1 is realized by a pressure strain gauge type pressure sensor and a nine-axis inertia measurement unit.
The pressure sensor senses the pace and the gait of the hip amputee through the deformation time interval of the pressure strain gauges arranged on the sole and the sole. The signals collected by the pressure sensor comprise heel differential pressure signals and sole differential pressure signals.
The nine-axis inertial measurement unit detects a hip joint flexion angle signal, a hip joint extension angle signal, a knee joint flexion angle signal and a knee joint extension angle signal of a patient. The model of the nine-axis inertia measurement unit is LPMS-ME 1; by arranging the three nine-axis inertia measurement units LPMS-ME1 at the hip joint, the middle of the thigh and the middle of the shank of the leg, the flexion and extension angles of the hip joint and the knee joint can be calculated by the nine-axis inertia measurement units.
The gait information processing module 2 converts the heel differential pressure signal and the sole differential pressure signal into a heel single-end pressure signal and a sole single-end pressure signal.
The control module 3 receives and processes the signals into a heel single-end pressure signal, a sole single-end pressure signal, a hip joint flexion angle signal, a hip joint extension angle signal, a knee joint flexion angle signal and a knee joint extension angle signal to generate control signals; the control module 3 is respectively connected with the gait information processing module 2, the control power supply module 6, the communication module and the motor driving module 4, so that the dynamic hip joint prosthesis is controlled. The function of the control module 3 is realized by a control main chip of STM32F767IGT6, the kernel is Cortex-M7, the highest frequency is a high-performance central processing unit of 216MHz, the high-performance central processing unit is provided with a plurality of high-performance peripherals such as CAN, USART, IIC, USB and ADC, and the high-performance central processing unit is used for being electrically connected with other modules, for example, the motor driving module 4 is electrically connected with the control module 3 through a CAN peripheral, and the gait information acquisition module 1 is communicated with the control module 3 through the IIC peripheral.
The motor driving module 4 receives the control signal, drives the motor to rotate, and then the motor drives the power hip joint prosthesis to run, so that the patient is driven to walk.
Fig. 2 is a schematic diagram of a motor drive module in an embodiment of the invention.
As shown in fig. 2, the motor drive module 4 includes: a PID controller 401, a brushless dc motor 402, and an impedance controller 403. The position, speed and acceleration information of the PID controller 401, the brushless DC motor 402 and the brushless DC motor 402 form an inner ring of a control algorithm; the torque information in the impedance controller 403 and the brushless dc motor 402 constitute the outer loop of the control algorithm. The inner and outer ring hybrid control can realize the accurate control of the position and the speed of the dynamic hip joint prosthesis and can also ensure the flexibility of the dynamic film-forming joint prosthesis.
And the communication module comprises a CAN bus communication module and an IIC communication module.
The CAN bus communication module is used for realizing communication between the motor driving module 4 and the control module 3 and sending information of speed, acceleration, position and torque of the brushless direct current motor 402 to the control module 3.
The IIC communication module is used for realizing communication between the gait information acquisition module 1 and the control module 3.
The motor power module 5 supplies power to the motor driving module 4. The voltage provided by the motor power module 5 is 12V.
And the control power supply module 6 is used for supplying power to the control module 3. The voltage provided by the control power supply module 6 is 3.3V, so that the influence of high voltage and high current of the motor on the communication of the control module 3 is avoided.
The optical coupling isolation module 7 CAN be used for isolating the influence of motor locked-rotor current on a CAN bus when the motor and the control module 3 carry out CAN communication. The function of the optical coupling isolation module 7 is realized by a chip with model number TIL 117.
The Kalman filtering module predicts the movement intention of the human body by using the prediction function of Kalman filtering, so that the problem that the operation of the motor lags behind the movement intention of the human body is solved.
The human-computer interaction module 8 is used for controlling the movement mode of the hip joint prosthesis after the patient wears the dynamic hip joint prosthesis. The human-computer interaction module 8 is a button system module or a touch screen system module.
The upper computer module 9 is connected with the control module 3 through a communication module. The control module 3 sends the information in other modules to the upper computer module 9, so that patients or related personnel can read the system data more clearly in the upper computer module 9.
FIG. 3 is a diagram illustrating film over joint prosthesis in a standing state according to an embodiment of the invention. FIG. 4 is a diagram illustrating film over knee prosthesis in a sitting position according to an embodiment of the invention. FIG. 5 is a diagram illustrating film over prosthesis walking state in an embodiment of the invention.
As shown in fig. 3 to 5, the hip prosthesis includes: m5 locknut 1, locating plate 2, BM5 bolt 3, connecting plate 4, connecting plate 5 No. two, subtract heavy fretwork 6, the stopper is beaten screw 7, M3 locknut 8, connecting plate 9 No. three, connecting plate 10 No. four, initiative connecting rod 11, generation long shank pipe 12, air spring 13, pin 14, backup pad 15, fixed plate 16, hip joint chamber 17 of accomodating, lubricated gasket 18, linear electric motor 19.
The fixing plate 016 is connected with the hip joint accommodating cavity 017 through bolts, a supporting plate 015 is arranged at the bottom of the fixing plate 016, a pair of gas springs 013 are arranged on two sides of the supporting plate 015 and connected through pins 014, the gas springs 013 rotate around the tail end of the supporting plate 015, and the free ends of the gas springs 013 are connected with a fourth plate through the pins 014; the positioning plate 02 is connected with the fixing plate 016 through a BM5 bolt 03 and an M5 locknut 01, and the rotation center of the substitute long bone leg tube 012 can be changed by adjusting the installation position of the positioning plate 02; no. one connection board 04, No. two connection boards 05, No. three connection boards 09, connection mode is between No. four connection boards 010 and is the stopper screw 07 cooperation flange bearing connection, and wherein No. one connection board 04, No. two connection boards 05 and generation bone leg pipe 012 the central axis remain two liang of parallels throughout, and M3 locknut 08 is spacing to No. three connection boards 09. The third connecting plate 09 and the fourth connecting plate 010 are always kept parallel and are parallel to the central connecting line of the two connecting holes on the side surface of the positioning plate 02; the driving connecting rod 011 is connected with a fourth connecting plate 010 and the free end of a linear motor 019 arranged inside the substitute long bone leg tube 012; no. one connecting plate 04, No. three connecting plates 09, No. four connecting plates 010's arch surface has all set up the oval heavy fretwork 06 that subtracts, and oval fretwork design has reduced the influence of fretwork to pole mechanical properties to the at utmost.
When the membrane joint prosthesis is in a sitting posture state, the telescopic rod of the linear motor 019 is contracted, the driving connecting rod 011 moves downwards, the included angle between the driving connecting rod 011 and the fourth connecting plate is increased, the mechanism starts to move, the substitute long leg tube 012 rotates forwards around the remote center rotor to be in a near horizontal position with the bottom plate of the fixing plate 016, the horizontal distance between the third connecting plate 09 and the fourth connecting plate 010 arranged at the centripetal end of the substitute long leg tube 012 is shortened, the second connecting plate 05 and the first connecting plate 04 are respectively driven to rotate around the rotating shaft arranged on the positioning plate 02 and are always kept horizontal with the substitute long leg tube 012, at the moment, the first connecting plate 04, the second connecting plate 05, the third connecting plate 09 and the fourth connecting plate 010 do not need to bear external loads, and the relative positions of the connecting plates are kept unchanged; the gas spring 013 is in an extended state, and the cylinder body of the gas spring 013 is kept parallel to the bottom of the fixing plate 016.
When the membrane joint prosthesis is in a standing posture, the telescopic rod of the linear motor 019 is in an extension state, the long leg tube 012 and the bottom of the fixing plate 016 are in a nearly vertical state, at this time, the gas spring 013 is contracted to a state that the spring in the cylinder body is in a compression state, at this time, partial gravity of a human body acts on the fixing plate 016 through the hip joint accommodating cavity 017, force is redistributed on the connecting rod mechanism and the gas spring 013 in the compression state through the fixing plate 016, and finally, component force is converged on the long leg tube 012 to achieve the purpose of supporting, and at this time, the mechanism mainly bears partial gravity of the human body.
When the film forming joint prosthesis is in a walking posture, the oscillation angle of the generation long bone leg tube 012 is controlled within the interval from 20 degrees in the front to 5 degrees in the back under the action of the linear motor 019, at this time, the link mechanism performs regular and repetitive actions on the premise of keeping the relative position along with the oscillation of the generation long bone leg tube 012, and the gas spring 013 also performs regular telescopic motion along with the oscillation of the mechanism. At the moment, the mechanism bears two forces of self weight and partial gravity of human body which are alternately changed.
Effects and effects of the embodiments
The embodiment provides a dynamic hip joint prosthesis control system, which comprises a power supply module, a gait information acquisition module, a gait information processing module, a communication module, an optical coupling isolation module, a motor driving module, a control module and a Kalman filtering module. Therefore, the control system of the dynamic hip joint prosthesis can detect heel pressure information, sole pressure information and flexion and extension angle information of the hip joint and the knee joint of the hip joint amputation patient, so that walking gait information of the hip joint amputation patient is calculated, and hip joint flexion and extension angle information of the dynamic hip joint prosthesis is further calculated in real time. The nine control modules send the rotation angle of the motor to the motor driving module to control the motor to rotate. The human body movement intention can be predicted through a Kalman filtering algorithm, so that the problem that motor control lags behind the human body movement intention is solved. The acceleration, the speed, the position and the torque information of the motor rotation can be obtained through the communication between the communication module and the motor driving module, and the speed of the motor is realized. The hip joint flexion and extension angle information of the dynamic hip joint prosthesis obtained by the PID closed-loop shaft inertia measurement unit can be controlled to realize the impedance control of the motor and the flexibility of the system. Through CAN opto-coupler isolation module for keep apart the influence of motor locked-rotor current to the CAN bus when motor and control module carry out the CAN communication. The sole pressure information, the hip joint and the knee joint flexion and extension angle information, the motor position, the speed and the torque information can be sent to the upper computer module through the communication module for data analysis. Through the cooperation of the modules, the dynamic film forming joint prosthesis control system provided by the invention has the advantages of saving the effort required by a patient in walking and facilitating the patient to walk.
Further, the present embodiment provides a dynamic hip prosthesis control system, further comprising: the human-computer interaction module can select an operation mode, such as a walking mode and a sitting posture mode, from the button system module or the touch screen system module, so that the patient can use the device conveniently.
Further, because the present embodiment proposes a dynamic hip prosthesis control system, further comprising: the control module can send information in other modules to the upper computer module, and system data can be read more clearly in the upper computer module.
The above embodiments and modifications are only used to illustrate specific embodiments of the present invention, but the present invention is not limited to the scope described in the above embodiments and modifications, and various modifications or modifications can be made by those skilled in the art without inventive efforts within the scope of the appended claims.
Claims (9)
1. A dynamic hip prosthesis control system for controlling a dynamic hip prosthesis having a motor to assist walking in an upper amputee, comprising: the gait information processing system comprises a gait information acquisition module, a gait information processing module, a control module, a motor driving module, a communication module, a motor power supply module, a control power supply module, an optical coupling isolation module and a Kalman filtering module;
the gait information acquisition module acquires a heel differential pressure signal, a sole differential pressure signal, a hip joint flexion angle signal, a hip joint extension angle signal, a knee joint flexion angle signal and a knee joint extension angle signal;
the gait information processing module is used for converting the heel differential pressure signal and the sole differential pressure signal into a single-ended pressure signal;
the control module receives and processes the single-end pressure signal, the hip joint flexion angle signal, the hip joint extension angle signal, the knee joint flexion angle signal and the knee joint extension angle signal to generate a control signal; the control module is respectively connected with the gait information processing module, the control power supply module, the communication module and the motor driving module so as to control the dynamic hip joint prosthesis;
the motor driving module receives the control signal and drives the power hip joint prosthesis to run so as to drive the patient to walk;
the communication module realizes the communication connection between the motor driving module and the gait information acquisition module and the control module;
the motor power supply module supplies power to the motor driving module;
the control power supply module supplies power to the control module;
the optical coupling isolation module; isolating the interference of motor locked-rotor current to a CAN bus when the motor driving module and the control module carry out CAN communication;
the Kalman filtering module predicts the movement intention of the human body by utilizing the prediction function of Kalman filtering, so that the problem that the operation of the motor lags behind the movement intention of the human body is solved.
2. The dynamic hip prosthesis control system according to claim 1, further comprising:
and the human-computer interaction module is used for controlling the motion mode of the hip joint prosthesis after a patient wears the dynamic hip joint prosthesis.
3. The dynamic hip prosthesis control system according to claim 2,
the human-computer interaction module is a button system module or a touch screen system module.
4. The dynamic hip prosthesis control system according to claim 1,
wherein, communication module include:
the CAN bus communication module is used for realizing the communication between the motor driving module and the control module; and
and the IIC communication module is used for realizing the communication between the gait information acquisition module and the control module.
5. The dynamic hip prosthesis control system according to claim 1,
and acquiring the differential pressure signal by a pressure strain gauge type pressure sensor.
6. The dynamic hip prosthesis control system according to claim 1,
the function of the optical coupling isolation module is realized by a chip with the model of TIL 117.
7. The dynamic hip prosthesis control system according to claim 1,
the function of the control module is realized by a main control chip with the model number of STM32F767IGT 6.
8. The dynamic hip prosthesis control system according to claim 1,
wherein the motor is a brushless DC motor.
9. The dynamic hip prosthesis control system according to claim 1,
the voltage provided by the motor power supply module is 12V, and the voltage provided by the control power supply module is 3.3V.
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| CN201911395356.9A CN111110411A (en) | 2019-12-30 | 2019-12-30 | Dynamic hip joint prosthesis control system |
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| CN201911395356.9A CN111110411A (en) | 2019-12-30 | 2019-12-30 | Dynamic hip joint prosthesis control system |
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