JPS62161366A - Method for operating part of patient and operation apparatusused therein - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention provides a method for treating patients in response to changes in their physiological and morphological conditions.
It relates to medical robots that operate actuating devices for patients, especially patients.
arthroscopic surgery
such as those that can serve as limb-acting devices to assist in performing the procedure.
Regarding high-precision medical robots. "Robot" is the name of the American Robotics Association (Ro-bot).
by ENGINEERING 5TITUTE OF AMERICA)
If so, various programs can execute predetermined operations and
Operate supplies, tools or other compatible equipment to perform various tasks.
A reprogrammable multi-function operating device and
is justified. Also, it is predicted that "high-precision robots"
perform various tasks in the same manner as humans under various conditions, including conditions in which
It is defined as a multi-functional mechanical device that can perform many tasks. child
In this case, high precision robots are used as assistive devices in the surgical field.
function, reduce surgical costs, and improve medical or diagnostic
It will be effectively used as a medical robot that can improve quality. Generally, medical treatment or
Costs necessary to maintain the same quality of treatment and health management
The costs required to improve the economy are rapidly increasing compared to society's ability to pay.
It's growing. It also accounts for approximately 80% of the costs of many acute care hospitals.
is accounted for by personnel expenses. Currently, most labor in hospitals
Force can be used for routine, repetitive tasks that can be automated or automated.
It is assigned. Therefore (already used in the manufacturing industry)
) Adopting high-precision robots for health management will save labor.
It is possible to reduce costs. On the other hand, most medical or surgical treatments are currently performed by humans.
We've reached our limit. For example, microstructures or extremely large
Accurate and constant treatment of large tissues over a long period of time
is extremely difficult for humans. In this case a high precision robot
By developing and adopting it in medical or surgical operations.
, to carry out treatments or diagnoses that exceed the limits of human ability.
and improve quality. Also an emergency care hospital
, staff or patients may be exposed to various hazardous environments or
are drugs, e.g. radiation, sterile conditions, toxic gases, antitumor
In addition, sterility, infectious agents, and excess barium are present in the drug.
There is a risk of exposure to the environment. In such cases
High-precision robots can help staff or patients
It is effectively used to avoid such dangers. (Prior art) Reproduction of parts, tools, or specialized equipment to perform various jobs.
Health management with a programmable structure and multifunctional operation
The use of equipment is well known to those skilled in the art. healthy again
Execute programmed actions in management work
It is also well known to those skilled in the art to use devices capable of operating
. The device may be disconnected or malfunctioning.
For prosthetic or erect use for functional performance or augmentation of limbs
Manipulate assistive devices and syringes to control and administer drug doses to patients.
computer-based drug supply device, predetermined program
Exercise equipment operated according to the program, limbs after surgery
Continuous motion forcing device for forced exercise, for disabled people,
A computer-based environmental acclimatization system equipped with industrial robots.
equipment, stress testing machine with Buri program for diagnosis,
remotely controlled handling of harsh materials or extremely small objects.
operator-controlled electric wheelchairs, automatic patient
patient transfer equipment, auxiliary powered operating table in the operating room, patient positioning system
Examples include control equipment, etc. In this case known to the person skilled in the art
Most health management devices do not perform medical functions.
, the important characteristics of robots as defined by the American Robotics Association.
A high-precision medical robot that lacks the least of sexuality
It's hard to say. Here, equipment that performs medical functions refers to equipment that performs medical functions.
Refers to something that can be used to diagnose or treat Qi. Therefore, any of the devices for health management that are well known to those skilled in the art
does not apply to the above-mentioned high-precision medical robots, and
Physiological or morphological parameters of the patient can be determined using appropriate transducers.
detect the parameters, diagnose according to changes in the parameters, and perform necessary
We have not yet developed a medical device that can change treatment as needed. high
Precision medical robots have physiological or morphological parameters and
For example, cut dimensions, size double weight and comparative weight double
Location and contrast locations of various tissues or parts of the human body:
Pressure, force, torque, stress and deformation of various tissues: temperature
; PH; respiratory waveform; electrocardiogram waveform; brain waveform; blood pressure waveform;
Constructed to provide membrane-type signals; blood flow signals; myoelectric signals
It is preferable that Medical robots are used when performing medical treatment such as arthroscopy.
It is suitable as something to assist in. What is arthroscopy? Diagnosis
Or, during corrective surgery, the inside of the joint, such as the usual method, is inserted into the joint.
This refers to opening (visually inspecting) the small cavities of the joints.
Arthroscopes that use optical fibers to provide light inside
, by the orthopedic surgeon directly with the naked eye or with a TV monitor camera.
A complex optical lens mechanism allows you to observe the target area using
Equipped. The surgeon examines the area to be treated through the arthroscope.
While observing the
Insert a vent hole to examine damaged cartilage, bone, and joint tissue.
, excise. Other treatment instruments like electric rotary cutters
can be inserted into the other side of the joint cavity for treatment. this
In order to facilitate observation, inject liquid to expand the target area.
or further to remove items removed during surgery.
Another cavity is opened. Arthroscopy used for knee diagnosis and treatment is versatile.
It is also used for injuries to the ankle, elbow, lower back, and shoulder.
The basic treatment technique is the same as for the joints described above. medical examination
In many fields, arthroscopy is a form of arthroscopy that uses X-rays.
It is rapidly being replaced by one that performs joint cavity imaging.
Ru. This arthroscopy can be used to treat a patient's various joints only in the outside.
The damage can be treated. A loss as heavy as that of a hospitalized patient
Even in the case of a wound, by performing surgery based on arthroscopy.
Immediately able to walk. Arthroscopy techniques are low cost and effective.
Other fields of orthopedics as it allows for more effective diagnosis and treatment
It is also being used for high-precision medical robots.
It was hoped that it would be provided. (Problem to be solved by the invention) However, when performing arthroscopy conventionally, the patient's
Difficulty positioning the raised leg safely, effectively, and accurately
This poses a major problem in providing the best treatment.
there was. For example, a surgeon may hold a patient's limb while
Surgery will be performed using a joint mirror or various equipment.
. In this case, the surgeon moves the patient's limbs and holds them in the desired position.
Although they may work with surgical assistants,
This was a cause of high costs. In this case, the surgeon
Intra-articular
Observation of each tissue in the area is impaired and the quality of the surgery is reduced.
It had become. Diagnostic or arthroscopic examination of the patient's foot
When performing a tourniquet, the doctor should, for example,
in a completely horizontal position at a height that allows blood to drain naturally.
Stretched position, fully bent with the lower part bent about 90 degrees to the upper part
Bent position, lower part 1 bent at an angle of approximately 135 degrees with respect to the upper part.
In a semi-flexed position, move the ankle to the knee of the other leg and
The so-called ``4'', where the feet are placed in a figure 4 shape on a horizontal surface.
The intention is often to move it to a ``character'' position. further surgery
The doctor bends the foot outward in order to visually observe the desired area of the knee.
(or if you want to apply force in the lateral direction)
be. Rotated inside or outside for visual observation
or want to change the patient's foot position from one position to another.
In most cases, the leg can be freely displaced as planned by the surgeon.
There was a need for a device that could i.e. used for surgery and diagnosis
With conventional equipment for arthroscopy and techniques for operating it.
There is a problem that the characteristics of arthroscopy are not fully demonstrated.
In this case, limb movement devices that directly reflect the doctor's intentions are implemented.
If developed, surgical labor would be reduced and diagnosis and treatment time would be reduced.
Time can be reduced and, in many cases, a surgical assistant may not be necessary. It also improves maintenance and consistency of diagnosis and treatment quality.
Good morning. On the other hand, when directly controlling limb movement devices, there is a different method in the operating room.
This may cause problems. In other words, the surgical environment is kept sterile.
the operating device so that it can be controlled by the surgeon.
There is a need to. This problem is caused by the patient's limb movement device itself.
In many cases, surgeons have to
without compromising sterility and without physical contact with
Limb movement device without taking your eyes or hands off your hands
It is desirable to be able to control the That is, maintaining sterile conditions.
Operate Rondo, manual switch, foot switch at the same time as holding
switch, lead-through or
directly controls limb motion devices through power lead-through
It is desirable to make the device operational without having to do so. others
Voice-controlled operating devices allow surgeons to use both hands and
Now that my eyes are free, I can concentrate on the surgery. However, traditional voice control configurations cannot be used in this type of medical device.
When applied, recognition accuracy is particularly high when there are various types of noise in the surroundings.
In general, the response operation time by voice command is long.
It was therefore unsuitable for medical use. Typical speech recognition configurations are subject to time and state 1 constraints.
Therefore, human speech cannot be recognized accurately and speech recognition may fail.
In case of failure, control devices such as devices for moving the patient's limbs.
The device must be corrected by the operator. Suitable for medical equipment
As a voice control configuration, even when voice recognition fails,
, this can be corrected and controlled effectively and reliably, and without delay.
Something that can be operated is required. Additionally, traditional voice control configurations pose other problems for medical devices.
can't be solved either. For example, there was noise in the operating room.
It is highly selective when multiple people are talking at the same time.
A new audio collection device is required. Also, such voice collecting device
It is necessary to ensure that the sterility of the operating room is not compromised by
be. When using a well-known microphone, the patient's head
or between the microphone attached to the body and the audio control circuit.
Because of the presence of connecting lines in the
There is a risk that sterility in the operating room may be compromised.
be. In addition, the surgical masks worn by surgical staff are
Do not use the audio collection device as the audio may be muted or muffled.
This distortion can be avoided without compromising the sterility prevention effect of the surgical mask.
It also needs to be corrected. There is also a place to attach an existing surgical mask.
It is also necessary to take into account differences in the shape of the face, the way the mask is attached, etc.
be. (Means for Solving the Problems) The present invention responds to changes in the physiological or ecological state of a patient.
The patient's physiological or
detects the ecological state and represents the corresponding treatment condition.
a treatment condition detection device that generates a treatment condition signal;
Detects the position of the actuating device relative to the patient and positions it accordingly.
A position detection device that outputs a position signal, a treatment condition signal and
Input the position signal and adjust the treatment condition signal and the patient's desired physiological or
The system compares signals representing the biological state and provides the patient with the desired physiology.
- determining the position of the actuating device to provide an ecological condition;
A signal processing device that generates a position control signal that represents this position
and moves the actuating device to the determined position in response to the position control signal.
and a positioning device for positioning. Here,
``dynamic device'' means a device that produces a desired physiological or ecological effect.
Point. According to another embodiment of the invention, the patient's physiological and ecological
A device is provided for detecting and changing the condition, and the device includes a
a treatment condition detection device, as described above, and a patient control signal in response to a control signal;
an actuating device and a position that provides the desired physiological and ecological state of the
It includes a detection device, a signal processing device and a positioning device.
It will be done. In the signal processing device, the patient's desired physiological
, which determines the ecological state and generates signals representing this.
obtain. The signal processing device also determines the desired physiological and ecological state of the patient.
Determine the operating state of the actuating device that can give the
Generates a control signal so that the actuating device can achieve a predetermined operating state.
It is composed of sea urchins. In the signal processing device, the position control signal of the actuating device is
A signal with a predetermined range that represents the safe operating position of the drive device.
The position control signal is out of the safe area.
When the transmission of position control signals to the positioning device is stopped.
It is configured as follows. Similarly, in signal processing equipment,
Where the control signal of the actuating device indicates the safe operating condition of the actuating device.
The control signal for the actuator is compared to a signal with a certain range.
control to the actuating device when is outside the predetermined range of the safety signal.
The signal transmission is configured to be stopped. Furthermore, in the signal processing device, preferably a separate actuating device is used.
a predetermined range of operating positions and different operating states of the operating device.
A predetermined range of these predetermined operating positions and
to the patient through a range of operating conditions or a combination of these.
The physiological, ecological, and effects of
Actions that provide optimal physiological and ecological conditions to patients
The operating position and operating state of the device are selected and the operating position and
and a corresponding control signal for the actuating device is generated.
It is composed of sea urchins. According to a particularly preferred embodiment of the invention, the patient's limbs are
Positions as needed and responds to gripping control signals
Equipped with a gripping and moving device that moves the limbs to the desired position.
A patient limb motion device is provided. This limb motion device
The position of the limbs when being grasped by the grasping and moving device is
Detects and generates a limb position signal representing the limb position
A position sensing device is included. In addition, the movement devices of the limbs include
The limb position signal is a signal representing a selected limb position.
Compare and move the limb from the detected position to the selected position
Determines the movement path for the gripping and movement device, generates a control signal, and
(Secondly, the limbs are selected from the detected positions along the movement route.)
A signal processing device is included for moving the signal to the desired position. In limb motion devices, control signals are
and the position of the limb (i.e. the anatomical natural position)
If the control signal is outside the specified safe range compared to the signal within the specified range.
to stop supplying the control signal to the gripping and moving device when
It is composed of According to yet another embodiment of the invention, for diagnosis or treatment.
A method of operating a part of a living body is provided. How this works
The method includes a step of positioning an actuating device with respect to a part of the living body;
The process of monitoring the physiological and ecological status of the patient and the
The position of a part of the living organism that brings about the desired change in physical and ecological conditions.
The process of determining the position and driving the operating device to the determined position.
The method includes a step of positioning a part of the living body. (Function) According to the present invention configured as described above, especially when a surgeon
When administering treatment, the surgeon does not have to move the patient directly.
a person's affected area can be positioned at will in a predetermined position.
Realize the action. (Example) Figure 1: Two main features of the high-precision medical robot of the present invention
A block diagram of the operating parts is shown, and this medical robot
responds to changes in the patient's physiological and ecological status,
actuating device 10 (e.g., tissue constrictor, laser, electric
operating or operating diagnostic or therapeutic equipment, etc.
An operating device for changing the operating state is included. This operation
The device detects the desired physiological and ecological state of the patient and
output an electronically readable signal representative of the treatment condition of
A treatment condition detection device 14 is included. Treatment condition inspection
The output device 14 is, for example, an electronic thermometer that detects the patient's body temperature.
Blood pressure sensor to detect patient's blood pressure, set of affected parts of patient's body
X-ray device, nuclear magnetic imaging device, positron to detect the position of the tissue
Emission scanner or fluoroscope, patient's electrocardiogram, brain waves
shape, electrodes that detect myoelectric signals or electroretinectal responses,
Sensors that determine the position of the limbs, pressure in the patient's tissues or
is a pressure sensor that detects respiratory waveforms. The operating device has
Furthermore, the position of the actuating device lO with respect to the patient is detected and
to output an electronically readable position signal representing the position
a position detection device, preferably a computer 18.
A signal processing device is included. The computer 18 includes the treatment condition detection device 14 and the position detection device 14.
Input the treatment condition signal and position signal from the output device 16.
, representing treatment condition signals and the patient's desired physiological and ecological state.
the patient's desired physiological and ecological state.
Shifting or movement of the actuating device 1° to other positions capable of giving
Determine the operating state and express its position and operating state, respectively.
Generate position control signals or treatment condition control signals to perform operations.
such as to give the working device 10 its position or operating state.
Output is generated. Position signals and actuator control signals
When sent, there is a transition to the position corresponding to the position signal.
or before setting the computer to the operating state according to the treatment condition signal.
These signals and the safety of actuating device 10 are first connected by computer 18.
Preprints representing all predetermined ranges of position and operating conditions.
The programmed signals are compared. position signal or
This occurs when the actuator control signal is outside the predetermined safety range.
These signals will not be output and excessive force may be applied to the patient.
Prevented. On the other hand, the computer 18 controls the predetermined safety range.
within the patient's surroundings and provide the patient with the desired physiological and ecological conditions.
the position or operating state of the actuating device 10 that may be given;
is required to find its permissible position or state. However, the computer 18 uses the software described below.
programmed with software. The software has
Scrap planer 20, feature extraction unit 22, input/output processor 2
4 and an execution controller 26. in this case,
The treatment condition signal from the treatment condition detection device 14 is preprocessed.
Before being processed by the processor 28 and sent to the feature extraction unit 22
noise is removed from the signal. Also Buri Processor 2
8, from the environmental safety sensor f30 to the patient control device.
Representing a hazard such as interference or interference with electronic
A readable signal and an operator exchanger 32 will be described later.
Actuating device 1 during surgery, which is activated by such an operation.
electronically readable indicative of desired position or operating state of 0;
The available signals are input. As the converter 32,
Suitable voice recognition device and operation to be placed in a germ-free operating room
Rondo, foot control devices, etc. may be used. Feature extraction unit 22
As a result, only the characteristic parts of the signal of interest at that time can be recognized.
The signal bandwidth is reduced.
Ru. The signal that has passed through the feature extraction unit 22 is sent to the task planar 20.
The task planar 2゜ is translated by the execution controller 2.
Generate control signals suitable for implementation by 6. One-way output
Blosset f 24 Nyoshitashu prana 20 is alarm 3
4 and the display/control unit 36. Alarm 34
(which may be audible, visible or a mixture of both)
the surgeon or operator when in a dangerous operating condition.
A warning will be given for. As the display control section 36,
to inform the operator of a specific condition, or to indicate the position of the actuating device 10.
A visual indicator that displays information indicating the location or operating status.
, audible indicators such as speech synthesizers, video display devices, etc.
is used. The control unit controls the operation of the actuating device 10.
Control voice recognition device, foot switch, special key back
(specialized keypads),
Operation rondo etc. are used. On the other hand, the execution controller 26
In part, when a predetermined position is determined by a computer
, actuating device in response to position control signals from computer 18.
It also functions as a positioning device for positioning the device 10. Execution controller 26 also receives control from computer 18.
Sending a signal to the actuating device 10 to bring the actuating device 10 into the desired operating state
It functions to make it happen. Preferred limb motion devices are suitable for hand and foot motion during surgeries such as arthroscopy.
Although the patient's limbs are moved according to the instructions of the surgeon,
The actuating device changes to the human body in response to changes in the body's physiological and ecological conditions.
positioning or activating a portion of the
A wide range of health care components that provide the desired physiological and ecological conditions
It can be applied to the field. First, the configuration and operation of the limb movement device of the present invention,
Or if necessary, the assistant can operate and arrange the
Software controlling the operation of the preferred embodiment of the invention
Let me explain about a. Structure and operation The limb movement device 38 shown in FIGS. 2 to 6 has seven displacements.
It has degrees of freedom, four of which are hydraulically operated, and the remaining
Atmospheric pressure is used for these three. The limb operating device 38 is a hand
Attached to the rail 40 on the side of the standard surgical table 42 in the operating room.
Can be set. Hydraulic series that drives the limb operating device 38
The controller is operated by a hydraulic pump device housed in the control box 44.
Operation controlled. On the other hand, the force that drives the limb operating device 38 is
The pressure cylinder is a pneumatic servo device housed in the control box 44.
46, and its air pressure source is normally installed in the operating room.
such as installed gas supply pipes or gas cylinders.
A compressed source of 40-60 psi is used. I
BM Hersonal Computer 18 (signal processing device)
) is connected to the control box 44 to control the electromechanical structure of the control box 44.
A control signal is provided to the component element. One degree of freedom of displacement of the limb operating device 38 is shown in particular in FIG.
provided by the layered structure 48 shown. Limb movement device 3
A device for fixing 8 to the table 42 is also attached to the layered structure 48.
has been done. The device for fixing the limb operating device 38 is
The notch 50 formed in the attachment block 52 and the tightening plate
54 and a tightening bolt 56. Notsuchi 50 is a hand
Standard 3/8 inch mounted on the side of the surgical table
x 11/8 inch (approximately 0.95 ++tm x 28.
5 am) rail 40 (see Figure 2) (: can be fitted)
is formed. The attached plate 54 is attached to the mounting block 52.
It is pivotally connected to the rail 40 by a tightening bolt 56.
It is solid and held in place. Formed on the tightening plate 54
The notch 58 is located at the bottom of the rail 40 of the operating table.
It is formed so that it can be fitted into the Turn the attached bolt 56
This causes the tightening plate 54 to press against the rail 40.
The movement device 38 of the limbs is attached as appropriate (two fixed.
The shaft 60 is approximately 4 inches from the base edge of the mounting block 52.
(approximately 100 II). The first arm portion 62 pivots around the pivot shafts 60, 60.
possible (the first degree of freedom of displacement of the limb movement device 38 is
eggplant). Swivel @60.60 and other pivot axes (described below)
As a center, the movement devices 38 of the limbs are movable relative to each other.
It is. This pivot axis will be referred to as the connection part in the following explanation.
Sometimes. A first hydraulic actuator 64 connects the mounting block 52 and the shoulder structure 4.
8 and the pusher of the first hydraulic actuator 64.
The rod 66 extends through the pivot shafts 60, 60.
, the first arm portion 62 is 180 degrees relative to the mounting block 52.
It has been made into a Noh play in the same town. In this case, the pivot shafts 60, 60 are relative to the mounting block 52.
It will be permanently installed. Turning position sensor 6 that detects the turning position of the shoulder
8 (l0KQ potentiometer can be used)
) is connected to one of the pivot shafts 60, 60 and the first arm portion 62.
The mounting block 5 of the first arm portion 62 is connected between the
The angle relative to 2 is measured. The second arm portion 70 is approximately 14 inches from the first pivot axis 60.
via a pair of second pivot shafts 72 spaced apart from each other by f (approximately 35 scratches).
and is pivotally connected to the end of the first arm portion 62 (to prevent movement of the limbs).
forming the second displacement degree of freedom of the device 38). Second pivot axis 7
2 is rotatable together with the first arm part 62: 2, the first arm part 62
is fixed to the arm portion 62. Second rotation position sensor 74 (
IOKΩ potentiometer can be used)
Between one pivot shaft 72 and the second arm portion 70 (= connection
and the second arm portion 70 is connected to the first arm portion 62.
The angle is measured. The second hydraulic actuator 76
The arm portion 62 and the second arm portion 70 are connected to each other.
The push rod 78 of the second hydraulic actuator 76 is 1
inch (approximately 2.5 (Fl) bottom and 1 inch (approximately 2.5 m)
) is attached to the second arm part 70 at a spaced apart position.
The pivot point 80 is operably disposed on the pivot portion 80 . Second hydraulic actuation
A pivot portion 82 on the back of the container 76 is disposed within the first arm portion 62.
and the second arm portion 70 is opposed to the first arm portion 62.
It can be rotated 90 degrees. The third arm portion 84 extends from the second pivot shaft 72 by 6 inches (
A pair of third pivot shafts 8 separated by approximately 15QII) 7111
6, and is pivotally connected to the end of the second arm portion 70 (hand
forming the third degree of freedom of displacement of the foot motion device 38). third
The pivot shaft 86 is fixed to the third arm portion 84 and
It is possible to rotate together with the arm portion 84 of No. 3. Third turning position
position sensor 88 (use a Ω potentiometer for 10)
) is one pivot shaft 86 and the second arm part 7
0, and the second arm of the third arm portion 84
The angle relative to the arm portion 70 is measured. Third hydraulic operation 70
The push rod 92 is connected to the third pivot shaft 86.
1 inch (approximately 2.sm) below and 1 inch (approx.
disposed within the second arm portion 70 and spaced apart from each other by approximately 2.5 (to)).
The pivot point 94 is operably disposed with respect to a pivot point 94 provided therein. Third
The pivot portion 96 on the back of the hydraulic actuator 90 is the third arm portion.
84 , and the third arm portion 84 is located within the
The second arm portion 70 can be rotated by 90 degrees. The fourth arm portion 98 is approximately 12 inches from the third pivot axis 86.
A pair of fourth pivot shafts 100 separated by about 30 scratches
It is pivotally connected to the end of the third arm portion 84 through the
forming the fourth displacement degree of freedom of the operating device 38). The fourth turn
The rotating shaft 100 is rotatable with respect to the third arm portion 84.
It will be installed. Fourth rotation position sensor f 102 (IOK
Ω potentiometer can be used), but on the other hand
is connected between the pivot shaft 100 and the third arm portion 98.
, the angle of the fourth arm portion 98 with respect to the third arm portion 84
degree is measured. The fourth hydraulic actuator 104
Small Art t-m (aAoQ Tomo J-1 this
06 is 1 inch (approximately 2.5 ivy) relative to the fourth pivot axis 100.
) at the bottom and a fourth spaced 1 inch (approximately 2.5 as) apart.
is operable relative to the pivot 108 within the arm portion 98;
There is. Also, the back pivot portion 11 of the fourth hydraulic actuator 104
0 is located within the third arm portion 84 and the fourth arm portion 84 is positioned within the third arm portion 84.
The arm section 98 can rotate 90 degrees with respect to the third arm section 84
be made into The fourth arm portion 98 is connected to the third arm portion 84
and parallel to the third arm portion 84
It is installed in the Noh theater with a 180 degree rotation. from the fourth pivot shaft 100 to the end of the fourth arm portion 98
The differential mechanisms 112 are spaced approximately 14 inches (approximately 36 (II) apart).
(See especially Figure 5)
38 and two more displacement degrees of freedom). Differential mechanism 112
Accordingly, the pivot axes 72 and 86. Vertical swing (pitch) centered on the axis parallel to 100
movement and axes perpendicular to the pivot axes 72, 86, 100
A yaw motion about the line is provided. Two pairs of bevel gears 114 and 116 are perpendicular to each other
118 and 120 respectively to form a differential gear mechanism.
be done. The large bevel gear 114 is connected to each sprocket.
122, and a large bevel gear 114 and
and sprockets 122 are attached to both ends of the shaft 118,
It forms one half of the differential gear mechanism. The shaft 118 itself is pivotally connected to the fourth arm portion 98 and the shaft 11
8 is parallel to the pivot axes 72, '86, 100.
Therefore, a pitch motion is given. little bebe
The bevel gear 116 is a shaft located between the large bevel gears 114.
120, the remaining half of the differential gear mechanism
to do. A short chain runs around each sprocket 122.
A chain 124 is attached to each end of the chain 124.
A pressure actuator 126 is connected. One end of the four pneumatic actuators 126 is a tension device 128
(See especially FIG. 6) through the proximal end of the fourth arm portion 98.
connected to. Four pneumatic actuators 126 (two in the drawing)
) and the two chains 124 are the fourth
two large bevel gears 114 for the arm portion 98 of
Change the angle formed by the bevel gears 114 and the angle formed between the bevel gears 114
, that is, used to change the position of the small bevel gear 116.
can be used. Between the fourth arm portion 98 and the shaft 118,
Angle θ of the differential gear mechanism 112 with respect to the fourth arm portion 98
Pitch position sensor 130 (IOKO's potentiometer)
(a shomeometer can be used) are connected. Also
There is a bevel between one of the small bevel gears 116 and the shaft 120.
Measure the angle φ of the bell gear 116 with respect to the fourth arm portion 98.
yaw position sensor 132 (IOKO potentiometer)
data can be used) are concatenated. The block of the roll axis is located closest to the end of the limb actuator 38.
A hook 134 is attached to the small bevel 116. Also
Within the lock 134 is a seventh displacement mechanism for the limb actuator 38.
The roll axis 136 (see especially Fig. 6)
It is pivoted. The roll shaft 136 is partially attached to the patient.
The mounting member 138 is fixedly attached to the mounting member 138. Each atmospheric pressure operation
A ventilator 140 is attached to each side of the block 134 and is attached to each side of the block 134.
The other end of the pressure actuator 140 is a tension device (see especially FIG. 3).
128 is attached to the other end of the part member 138 attached.
Ru. There is a roller between the block 134 and the roll shaft 136.
A roller that measures the angle between the block axis 136 and the block 134.
position sensor 142 (10KΩ potentiometer
) are connected. There are environmental safety sensors on the sides and bottom of the limb operating device 38.
A sensor 144 (see especially FIG. 3) is attached. Each environmental safety sensor i44 is a long latex rubber tube.
One end of the environmental safety sensor 144 is sealed and the other end is pressure sensitive.
connected to a switch. The pressure switch has a specified input pressure.
is configured to close the electrical contacts when the
. The above pressure value is due to the rubber tube being hit or crushed and deformed.
set to a low enough value so that the electrical contacts are closed when
determined. All pressure switches are connected in parallel and none
This is detected when either pressure switch is closed.
configured so that Also, the total pressure switch is supply line 1
46 to the computer 18. During normal manufacturing, the entire limb motion device 38 is made up of fluids, surgical gowns, etc.
to prevent the hands and feet from entering the movable parts of the limb operating device 38.
vinyl plastic sleeve 148 (especially the first
(see Figure 2). A patient-mounted body 150 that is worn directly on a patient (especially in Fig. 3)
(see Figure 6) can be adapted to the back of the patient's leg.
A curved plastic member 152 having the shape of
It will be done. The plastic member 152 can support the sole of the patient's foot.
A molded plastic foot sole member 154 is attached.
be done. The lower part of the sole member 154 is moved to accommodate the patient's foot.
and can be secured in place by a thumb nut.
Two adjustable foot pads 156 are attached.
. The foot pad 156 connects the patient's foot to the patient attachment 15.
0 is correctly matched and maintained. plastic parts
152 and foot pad 156 are used to control the force applied to the patient's foot.
and the patient-wearing body 150 can be easily cleaned.
Sea urchin covered with foam rubber cushion and vinyl plastic
Overturned. 2 VelCrO® laces 158
is properly wrapped around the patient's leg to attach the patient's leg to the patient attachment body 15.
plastic to ensure it is held in place relative to the
It is attached to the lock member 152. In this case, one string 1
58 around the patient's ankle.
152 and secure the patient's heel against the sole member 154.
The other string 158 can be held at the end of the patient's δε
By wrapping the patient's legs against the patient attachment body 150.
Can be loaded accurately and reliably. Heel sensor 160 at the heel of the patient-worn body 150°
is arranged, and the heel sensor 160 is the environmental safety sensor 14.
It is configured similarly to 4. That is, the heel sensor 160
The patient should be fitted into the heel pocket of the fitted body 150.
They are attached to the mounting body 150 at two locations. This heels
The patient's heel is placed inside the patient-mounted body 150 by the turn-f 160.
Proper positioning is easily detected. movement equipment for limbs
If the patient's heel moves out of its proper position while using the
, the heel sensor 160 generates an alarm signal, and the alarm
The system signal is detected by computer 18. computer
When the alarm signal is detected, the limb movement device 3
The heel of the patient-mounted body 150 is
Maintain proper positioning of the patient's heel within the pocket
Therefore, force can be prevented from being applied to the patient's legs and
Specially reposition the patient's legs to avoid causing pain
There is no need to The patient-mounted body 150 is attached to the patient member 138.
It is attached with two bolts. On the other hand, the patient attachment body 150 can be attached to and detached from the patient member 138.
It can be attached to the part member 138 using an attachment/detachment mechanism so that
. This makes it easy to put on the patient-worn body 150 from the patient's feet.
I can escape. This attachment/detachment mechanism is activated when a force exceeding a specified value is applied.
The limb motion device 38 may be configured to detach from the limb motion device 38.
preferable. This prevents excessive force from being applied to the patient's legs.
It functions as a so-called ``mechanical fuse'' that stops the Ma
An electronic sensor is incorporated into the attachment/detachment mechanism.
This information is sent to computer 18 when a force is detected.
appropriate measures are taken to prevent the force being applied to the patient.
It can be configured as follows. an air line connected to the pneumatic actuators 140 and 126;
connected to hydraulic actuators 64, 76, 90, 104;
hydraulic lines and various position sensors 68, 74,
88. The signals connected to 102, 130, 132, 142
All signals and electrical lines are collected within the first arm section 62.
one supply cable 146 (particularly in FIGS.
(see FIG. 3) and is connected to the control box 44. Various position sensors 68 , 74 , 88 , 102 . Signal/power lines connected to 130, 132, 142
In is the computer 18 and power supply 16 in the control box 44.
2 (see Figure 8). Inside the supply cable 146
also contains another signal line, and one of this signal line
One end is connected to the computer 18 in the control box 44, and the other end is connected to the shoulder structure.
48 (see Figure 4)
) is connected to. Also, the operator's hand controller
166 is also connected to electrical connector 164. Still referring to FIG. 7, four hydraulic actuators 64, 7
6, 90, and 104 are each equipped with a single hydraulic actuation mechanism.
provided. The hydraulic operation mechanism is a double-acting hydraulic cylinder 16g.
It is equipped with two I'' control valves 170 and a hydraulic pressure generator 172.
These are all 1/18 inch (about 1.4 mm) plus
They are connected to each other by tick tubes. The hydraulic generator 172
It has two entrances and exits, and one outlet sends out a ball flow.
and introduce a return flow at the other inlet to remove the oil from the internal tank.
It is provided as a reversible device for returning to the link. Also in
The interface circuit 174 connects the hydraulic generator 172 and the control
connected to the computer via the valve 170 and the communication line.
Continued. According to a preferred embodiment, four hydraulic actuators are used.
Hydraulic cylinders 168 are located in South Carolina, USA.
Compact Air Hydraulic's model in Minster.
Dell 5118x212-RC! -HYD -FT hydraulic system
Linda, each with a diameter of false inches (about 3.2 fim)
It has an opening with a piston stroke of 2 1/2 inches (approximately 6
．． 35am). In addition, the control valve 170 is
Brision Dynamis in New Prythin, Cat.
12 in the model A2011-BB-120/60 of Cook Co.
It is an AC valve for 0 V, while the hydraulic generator is manufactured by Mineso, USA.
Model #108 from Oildyne Co., Mineabo, TA.
DA 19-AL-LVT powerplant. hydraulic parts
All are located in L'Egli, Rotcesta, New York, USA.
140-53-00 Noshi 8 inch plastic
connected by a tube. However, in the hydraulic operating mechanism, the control valve 170
When opened, hydraulic generator 172 is activated. Pressure oil is
A piece of the hydraulic cylinder 168 from the negative hole of the hydraulic generator 172
is supplied to the side, and the piston of the hydraulic cylinder 168 moves.
Pressure oil is discharged from the other side of the hydraulic generator 172 and other parts.
is returned to the hole. If you want to stop the movement of a hydraulic actuator, use oil
Pressure generator 172 is turned off and control valve 170 is closed.
and pressure oil is directed to either side of the hydraulic cylinder 168.
entry or exit is prevented. Also included in the interface circuit 174 is one retriggerable monitor.
It has a built-in visual timer, and its terminal is connected to the computer.
18. The output of this timer is
Voltage controlled by logical value to supply power to other parts of the ground circuit
Connected to regulator. When the computer 18 is operating normally, the computer
The controller 18 generates pulses at regular intervals, and
The timer is triggered and the voltage regulator and input
Interface circuit 174 is energized. Monitoring timer setting
The number is the time constant of the pulse expected from the computer 18.
is slightly long, so during normal operation of the computer 18
power supply to the interface circuit 174 is interrupted.
do not have. Also, computer 18 had a malfunction in its related circuits.
When, the monitoring timer sends the signal to the interface circuit 174.
Hydraulic supply 172 and
Control valve 170 is de-energized to prevent hydraulic actuator 168 from discharging.
Reliably prevent movement. FIG. 8 shows hydraulic and pneumatic actuators 126, 140 (
The pneumatically operated mechanism is equipped with a total of six pneumatically actuated devices.
shown. Each actuation mechanism includes a pneumatic actuator 176 and a tension device.
position 128, atmospheric pressure servo device 46, and interface circuit
178 are included. Pneumatic actuator 176 is the preferred implementation.
In the example (Bridgestone Corporation, Tokyo, Japan) diameter 1
8mm is used. The pneumatic actuators 126 are each 300 mm long;
The pneumatic actuators 140 are each 200 mm long and are preferably
The pneumatic navigation device 46 used in this embodiment is a Bridgestone
A (1! FAS (registered trademark) model EIVO-
102-04 atmospheric pressure servo device. All pneumatic parts
Regris 140-53 with V8 in Y- (approx. 3mm)
-00 plastic tube. Also each
The atmospheric pressure servo device 46 includes a compressed gas supply source 180 and a power source 16.
2, and connected to interface circuit 178.
. Additionally, interface circuit 178 connects communication line 182 to
The preferred embodiment is connected to computer 18 via
In this case, the atmospheric pressure servo device 46 consists of two devices.
, are configured to be able to control two actuators, respectively. Therefore, in the pneumatically operated mechanism, the pneumatic servo device 46 is
Actuated by computer 18 to pneumatic actuator 176
The supplied gas pressure is controlled. Supplied to pneumatic actuator 176
As the supplied gas pressure increases, the pressure of the pneumatic actuator 176 increases.
The diameter increases, the length decreases, and it is connected to the arm etc.
A force is applied between the ends. Gas is supplied to the pneumatic actuator 176.
When not supplied, the pneumatic actuator 176
184, a cap 186, and a retaining plate 188.
It is pulled linearly by a tensioning device 128. one sided
When gas is supplied to the pressure actuator 176, the tension spring 184
is compressed, and the cap 186 and retaining plate 188 are
contact, and force is transmitted from the pneumatic actuator 176 to the cap 186.
be reached. At this time, the tension spring 184 is not excessively deformed.
This can be prevented. The pneumatic actuator 176 that is linked to the pneumatic servo device 46 is a controller.
Controlled by computer 18, compliance adjusted
be done. During normal operation, the paired pneumatic actuator 176
Displacement freedom! , i.e. opposite to each other through a single connection.
They are connected to each other so that they can be easily used. By each pneumatic actuator
force in only one direction (i.e. as the length of the actuator decreases)
The two actuators act in series to give
It is necessary to maintain the desired position. in this case,
Keep the pressure on one actuator at a constant level and press the pressure on the other actuator.
Adjust the pressure to the appropriate level to obtain the desired position.
more achievable. The constant set pressure of the first actuator is low
, the displacement occurs virtually without resistance and is compliant.
performance becomes high. On the other hand, the constant set pressure of the actuator in option 1 is high.
If the
Ianska becomes lower. In the preferred embodiment, this code
The weight of the patient's limbs (= varies depending on the weight of the patient's limbs)
Set as required to move the patient's specific limbs
Only force is delivered reliably to the patient. There are four hydraulic pressure generators in the control box 44 (see especially Figure 2).
172 and three atmospheric pressure servo devices 46 (each with two atmospheric pressure
actuator 176 ) and interface circuit 17
4, 178 are built-in. There is also a power supply inside the control box 44.
A power source 162 is included, and in the preferred embodiment power source 16
2 includes Buffalo, Hammondo, New York, USA.
Used by Lectronics Model A/GFOL 101
5V DC at 10A. 15V DC at 3A, -15V DC at 3A, DC - at 2A
24V DC is obtained at 5V and 2A. power supply 162
Power is supplied to interface circuits 178, 174 and
The pressure is applied to the pressure servo device 46. The computer is located at IB in Boca Raton, Florida, USA.
A personal computer from Company M can be used, and a monochrome model can be used.
computer, keyboard, Intel (registered trademark) 8087 number
Value COBROSETCH-9-(US CALFOR OUTPUT BROSETCH 2)
4 is the data translation DT 2801 circuit board
(Death in Marlborough, Massachusetts, USA)
(manufactured by Translation), and the computer 1
8, and its 16 analog inputs.
channels (7 of which are position sensor signals, 1
one for the control signal for the operator) and one for the digital controller signal.
16 channels for output (4 of which are control valves 17
0 for controlling the oil pressure generator 172, 8 for controlling the hydraulic pressure generator 172, and 2 for controlling the hydraulic pressure generator 172.
The environmental safety sensor 144 and Heelsen-F 16
(for detecting the zero state). computer
There is also a second circuit board inside the
Tecomar Lab T in Perrando
ender (registered trademark) circuit board with 16 analog
Log output terminals (six of which are used to control the atmospheric pressure servo device 46)
). Communication line 182 (see especially Figure 8)
and 190 (see especially FIG. 7) are located on the back of the computer 18.
The two circuit boards mentioned above and the interface in the control box 44 are
It is connected to face circuits 174 and 178. Also
In this case, according to a preferred embodiment, communication line 190 is
Data Translation (registered trademark) DT2801
Ribbon cable connected to circuit board and consisting of 40 conductors
while the communication line 182 is Teamar (registered).
(registered trademark) Lab Tendθr circuit board analog output
A ribbon consisting of 34 conductors is connected to the connector.
cable. Also in computer 18 are Japanese
BAR-100 speech recognition/synthesis for 880 companies in Tokyo
A built-in audio circuit 192 is included. The audio circuit 192
A wireless link for telemetry that inputs audio signals from
and a speaker in the control box 44 that generates an audible response.
C2 is connected. The voice recognition section of the voice circuit 192 determines the input recognition level.
The microphone connected to the voice recognition circuit until a predetermined level is reached.
The doctor repeats predetermined commands to Crohon.
to recognize the doctor's voice pattern by
They will be "trained". This allows voice recognition.
During normal operation of the limb motion device 38, the physician
It is possible to obtain a pattern that matches the voice command. Ma
Similarly, the voice synthesis section of the voice circuit 192 generates an audible response.
training to create a voice pattern before allowing it to occur.
-ning. Once this speech recognition/synthesis pattern is
Once completed, the disk drives in computer 18
Permanently written on a floppy disk for later use.
will be recorded. Hand controller 166 for the operator (Figs.
9) is the selection switch 194 and the function switch f19.
6, 198, and a selection and function switch 194.
, 196 and 198 are connected via the pendant cable 200.
and is connected to the computer 18. During normal operation,
The pendant cable 200 is the operator's hand control.
connector 164 (see especially Figure 4) (two connected
Ru. selection switch] 94 is a multi-position selection switch;
A separate voltage is generated from the switch for each position. Similarly, when the function switch f196°198 is activated,
A separate voltage is generated. Select and function in this case? 194, 196
, 198 and associated circuitry are housed in a small metal box.
. The metal box and all of these switches allow fluid to enter the circuit.
latex rubber sheet to prevent
Therefore, it is liquid-tight. Usually used during arthroscopic surgery
A metal box has a spring clip that can be attached to the trocar sleeve.
The controller 166 is attached to the back of the doctor.
It will be placed within reach. selection switch 1
The knob 94 shows the function of each position of the selection switch 194.
On the metal box for washing (2) There are instruction letters as shown in Fig.
administered. The functions of each function switch 196 and 198 are also gold.
It is displayed in the appropriate place on the belonging box surface. Also, the selection switch 194
Easy for the operator to view the controller from the side on the edge of the knob
Suitable characters or symbols may be used to make it easy to identify. Change
The selection switch 194 has Grayhill (registered trademark)
)'s 2301026 10 position BOD code switch
Function switches 196 and 198 each have a G
Rayhill's 39-1 push button instantaneous contact switch
can be used. On the other hand, during normal use, the hand controller 166
Sterilize using a well-known gas sterilization method before using indoors.
However, even if the hand controller 166 is used,
Sterility is ensured not to be compromised. According to the preferred embodiment, the doctor's voice is as shown in FIG.
Smoothly using an audio collector 202 as shown in FIG.
The sound will be recorded. The audio collector 202 includes a doctor's surgical mask.
It can be stored inside without compromising the sterilization function of the Scrub 212.
The doctor's sound reaches an electrical transducer like a microphone
Can be housed within a surgical mask for maximum voice level
Made of plastic polymer material such as PVC
A single shell 204 is contained. Shell 204 is in the art
made by means well known to those skilled in the art, i.e. by injection molding or thermoforming.
, substantially rectangular in shape with rounded corners and edges.
is attached. The shell 204 has a substantially cylindrical and flat surface.
A ridge portion 206 is provided which is inclined and protrudes from the portion.
, when in use it is glued to the surgical mask. heat theory surgical mass
A variety of configurations may be used. Microphone 2
A hole 208 having a diameter slightly larger than the outer diameter of the shell 20
It is formed at one end of the ridge portion 206 of No. 4. shell 20
4 from the edge of the hole 208 to the edge of the flat part of the shell 204.
A slit extending to the shell 204 is provided to slightly change the shell 204.
The hole 208 is configured to be enlarged by shaping the hole 208.
ing. Therefore, in use, the hole 208 in the shell 204
The microphone 210 can be inserted while unfolding. micro
Insert the phone 210 into the hole 208 without play and make sure it is held well.
can be set. The shell 204 is a microphone 210
Both sides are placed at the position where the sound level collected is maximum.
A surgical mask (
2 will be attached. The cord 216 of the microphone 210 has
A small spring clip 218 is attached, and the spring clip 2
18 itself can be attached in place on the doctor's clothing, thereby
Cord 216 (Do not expose the microphone to excessive force.)
210 is prevented from dislodging from shell 204. Ko
The code 216 can be connected directly to the signal receiver or later.
connected to a small signal transmitter attached to the doctor, such as the one described above.
It will be done. According to a preferred embodiment, microphone 210 is located in Tokyo.
Sony's condenser microphone ECM-150T
It is preferable to use the adhesive body 214, and the adhesive body 214 is
3M950) run of 3M Canada Ltd.
Spha tape can be used. The operator's hand controller 166 and voice recognition
The voice circuit 192 that performs recognition/synthesis is connected to the limb movement device 38.
It is linked with these so that it can be visually observed and controlled freely. Every time the setting value is changed by the selection switch 194, a sound is emitted.
Circuit 192 selects the audible signal selected by selection switch 194.
Generates a response. Therefore, the surgeon must switch the functions 196, 198 twice.
You can press one side to start the operation. Function switch 19
6, 198 is programmed to perform a predetermined function.
functions that are usually opposite to each other, e.g. start and stop,
Increase and decrease in constant rotation or increase and decrease in knee flexion
programmed to give. When the functions SWIN'j 196 and 198 are activated respectively,
an audible response is generated and the function being performed is
It can be done. The surgeon also masters the pre-programmed commands.
You can select one function by speaking to the microphone 210.
, then - by the function switch 196 or 198.
You can select to start the function and press selection switch 194.
Activates and sends the programmed command - to the microphore.
You can initiate the desired action by speaking to someone. Input channel 220 for telecommunications (see especially FIG. 10)
) is located in Ontario, Canada.
Radio 5hack (registered trademark) 7M Wa
An earless microphone system may be used. at low power
Pocket-sized remote transmitter with two AA-sized batteries
Can be driven in the pocket of a shirt under a surgeon's surgical gown
can be put in. The transmitter m 222 is an electrical connector compatible with the microphone 210.
Connection can be made using a connector, and an appropriate connector can be used. Faith
Signal conditioning (i.e., in-band limits) is provided by the transmitter 222.
This is done by Receiver 224 (particularly FIGS.
(Refer to Figure 10) is Radio 5hack (R recorder [)
A 7M wireless microphone base device can be used and
The output terminal of the microphone is connected to the microphone of the audio circuit 192.
Connected to the phone input terminal. Operation by surgical staff As shown in Figure 2, patient 12 was operated on for arthroscopy.
The patient was placed lying on a surgical table 42, and his hands were removed according to well-known surgical procedures.
The technique is performed. Sterilized stockings for the leg to be operated on
Or a soft bandage may be applied. Limb movement device 38, computer 18, control box 44 and
The mobile platform 226 is approximately 1 meter from the table 42 in the operating room.
preferably closest to the surgical site, separated by a distance within
It will be placed in place. The limb movement device 38 is located in the control box 44.
It is taken out from the holding device placed on the back and placed on the table 4.
It is attached to the right place on the side of 2. This is rail 40
A notch 50 (specifically
(see Figure 4).
It will be done. The limb operating device 38 has a mounting block 52 that is
About 50 degrees from the center of the hand or foot knee i-L la
Mounting block 5 along rail 40 until located at distance
Tighten the correct tightening bolt 56 by sliding the
It is fixed to the rail 40 of the section. The cord 230 of the control box 44 is connected to a 110 V AC power source.
power cord for computer 18.
is plugged into the outlet provided on the back of the control box 44.
The control box also includes communication lines 182 and 190.
The ribbon cable 228 taken out from the computer
into the corresponding outlet on the back of the computer 18. In addition, the wire for the speaker led out from the control box 44 is also connected to the controller.
Jack marked l'-5pxj on the back of computer 18.
A vibrator 232 that is inserted into the tank and also supplies compressed gas.
is the control box 44 and the operating room compressed gas supply outlet or
Connected between compressed gas cylinders. In this case gas supply
The pressure is adjusted to 40-60 psi. When performing voice control, it is connected to the microphone 210.
An audio collector 202 is used, but at this time the sheet
234 and adhere the adhesive body 214 of the audio collector 202.
With the surface exposed, the audio collector 202
02 is a surgical mask 2 placed on one side of the surgeon's mouth.
12. Microphone spring clip 218
is clipped to the collar of a surgeon's clothing, for example.
On the other hand, the microphone cord 216 can be used as an extension cord if necessary.
Display “M Engineering C” on the back of the computer 18 using the
It is inserted into a jack with a . Then code 216
The power switch of the microphone 210 attached to the end
turned on. When using the input channel 220, the connection configuration described above is
Can be changed. That is, the microphone cord 216 can be connected remotely.
Plug into the control transmitter 222 and place the transmitter at the surgeon's port.
put it in a bag. Micro receiver 224 for remote control
The output terminal for the phone is "M-C" on the back of the computer 18.
The receiver is connected to the jack shown in
transmitter 222 and receiver 18, then transmitter 222 and receiver
224 power switches are turned on. When using the hand controller 166 for the operator,
Hand tools are removed from boxes that have been sterilized and packaged using normal sterilization methods.
Hand controller connector 1
Connect to 64. Hand control if surgeon desires
166 to a trocar for arthroscopy.
We can do it too. Next, the file containing the operating software is
Loppi disk to computer 18 disk drive
After plugging the computer 18 and control box 44 into
turn on. Computer 18 automatically executes the necessary software
and displays the following message on the video monitor of computer 18.
Show messages. For Doctor Goo's voice pattern, press "ALTlj." For Rob's voice pattern, press "ALT2 j." For Chef's voice pattern, press "ALT3 J." For Glenn's voice pattern, press "ALT4. Enter key j. Here "Doctor Day", "Rob", "Chef" and
"Glenn" is a speech circuit 19 for speech pattern recognition/synthesis.
An individual who trains 2 in the manner described above.
It is a name. Using voice control, the operator's name will appear on the video monitor.
Then press the specified key. This corresponds to the operator's
Voice recognition data and Arthrob
ot) System synthesis data is computer 18 memo
input into the li. If the operator's name does not appear on the monitor
The operator presses the rvpuJ key, then presses "enter."
Press J to perform voice training
There is a need. As a result, it was sold by two NF companies in Tokyo.
Voice training software is a voice recognition/synthesis circuit
192. This software
When performing training, instructions were given by NF2 company.
used in methods. Meanwhile, the operator presses [ALT I J].
-With human power, Doctor Day's voice recognition data (this is
(not normally used) and system speech synthesis data.
Powered. Next, the operator selects the surgical target via the computer 18.
Enter which foot of patient 12 (right or left).
Toyoshi control software is executed. In this case operation
The user should press “2” or “r” to indicate whether the foot is right or left foot.
- and then press the enter J key. Operator
etc. and devices are all located at the location where the limb movement device 3g is installed.
After being cleaned at , the operator presses key "2". This allows the computer 18 and the audio circuit 192 to
"Get ready (81!: TUP) J's voice is not emitted.
It will be done. The operator then presses the gray key “-”.
and press the “MOVE” button via the computer 18.
A voice is emitted, and the limb movement device 38 is a surgical table.
42, and the patient-mounted body 150 is
It is extended to be on the same level as the rail 40. necessary
The mule operator must ensure that the main part of the limb operating device 38 is on the rail 40.
The limb movement device is moved in the direction of the table 42 so that it is at right angles to the table.
Press 38 slowly. When the limb motion device 38 stops moving, the patient's leg
It is attached to the patient attachment body 150. If necessary, “〈−
” and “->” to move the limbs.
moving the operating device parallel to the rail 40 to the patient.
This facilitates the mounting of the patient-mounted body 150. Next, attach the heel of the patient's foot to the heel 6ε of the patient-mounted body 150.
Tightly tighten and secure. foot pad 15
6 can be moved well so that it comes into contact with both sides of the patient's legs.
Ru. The patient's feet are preferably mounted within the patient attachment 150.
When the heel sensor 160 is activated, the computer
The message is displayed on the display section 18 as a message. heelse
If sensor 160 is not activated, the operator must
Take out the patient's foot from the body 150, and make sure that the patient's heel is
Reattach it again to ensure that it matches the mounting body 150. If it comes off from the patient-mounted body 150 during normal operation
The heel sensor 160 detects this and the computer
The operation of the operating device 38 is automatically interrupted via the controller 18;
Operator (Second alarm is issued. If the patient's feet are correctly attached to the patient attachment 150.
When the operator presses the "<-" and "->" keys,
The limb motion device 38 is moved so that the patient's feet are on the table.
42, and then the operator
LT” and rAJ keys at the same time to
Enter that the patient's foot is accurately positioned for 18.
do. The computer 18 allows the operator to accurately determine the patient's foot position.
Check whether it has been positioned. If the foot position is not accurately determined, the operator should press rN.
Press the J key to make further adjustments. Operator is rYJ
When the key is pressed, the computer 18 moves from the center of the patient's kneecap.
Ask them to measure the length from the bottom of the heel. This measurement
Enter the fixed value and press the Enter J key. control
The software is placed in the patient's "full extension" position and
Created using data. That is, setting the safe operating limits of the limb operating device 38,
Movement of limbs to obtain 5 pre-programmed positions
calculation of the exact position of the operating device 38, and
Includes calculation of the exact path of motion. Safe operating limits are
Part of the person's foot (toe, lower leg, and upper leg)
The limb movement device 38 determines the natural range of motion when moving.
It is represented by an imaginary line indicated at 31 in the operating space. This provisional
The movement space of the limb movement device 38 is determined by the imaginary line,
Outside this space, the movement of limbs is controlled by computer 18.
The device 38 is provided so that it does not move. to the patient
5th place precisely pre-programmed for opening operation
position (stance, full extension, full flexion, half flexion and figure 4)
is measured in the same way. In this case, the resolving motion is the patient's knee or
flexes the lower back without affecting the angles of other joints.
It refers to the action of stretching or stretching. The actuator is displayed to the operator via the display section of the computer 18.
Comps of 126, 140 (hereinafter referred to as “list”)
Permission to begin testing of Ryans is requested. On the other hand, if the operator presses the "N" key, this verification process will be skipped.
, compliance is brought to a preset level. When the operator presses the rYJ key, the limb movement device 3
8 moves the patient's foot to the figure 4 position. this position
When the patient's foot is moved, the weight of the patient's foot causes the limb to move.
placed in the list of the limb movement device 38 until it changes position.
The compliance of installed pneumatic actuators is increased. On the other hand, once this behavior is detected, compliance is
C=decreased and again at the beginning (=programmed position)
be returned. Compliance required to return to this original position
The value of the
It will be maintained unless changed. In this way, the movement of the limbs is
The compliance of the list in position 38 is based on the weight of the patient's foot.
can be measured accordingly. When the compliance of the limb motion device 38 is measured
, the operator usually presses the "F2" key, then the gray "-"
Press the key to place the patient's feet in the stance position and remove the tourniquet.
Easy to prepare for solution application or put on sterilizing clothing.
state. During surgery, the surgeon uses two different interface devices.
of limbs without taking your eyes off the object during combination surgery.
The position and operation of the operating device 38 can be changed. That is, in
What is the interface circuit?Hand controller 1 for the operator
66 and an audio circuit 192. On the other hand, computer 18
non-surgeon assistant to press keys on the keyboard of
You can use The limb movement device 38 was rapidly stopped.
In such cases, the operator should press the l'-5pace j key.
All functions in progress are immediately interrupted by pressing
. The same stopping action is the same as when the surgeon said "stop".
By pressing the "stop" button on the controller 166
Of course, you can also get it. The computer 18 includes an audio circuit 192 and a hand controller.
A single command sheet receives both commands from the troller 166.
The limb motion device 38 performs the desired function.
programmed to do so. The command sequence is (1) Caution
Prefix step, (2) Selection command step, (
3) operation steps. Each voice command and command from hand controller 166
The following table shows how the command sequence is executed depending on the
Shown below. Clearance of specification (no change in content) Directive Voice
chondroran-kens
Command Operation Step Operation
Operator manual input / stem output Operator input and / stem output
Attention Surgeon: “Yes”: Surgeon responds:
none. Priffy "Joint Surgery" Sound response. Selection S
Say "W" with a chuckle. turn
. Select Surgeon speaks by voice Surgeon selects 7 steps
The system is a voice command “Select” word “Select word” Select
Select SW and emit 3W. Repeat. place
Desired function The position corresponds to the desired function position. Repeat the "selected word". Operation The surgeon is the system The surgeon is the system
The stem is the "action word" of the sono command "action" word.
Noh sw Emit the selected movement. Repeat. Press 196 or 198 corresponding to the work "Action word"
I'll do it. repeat. Hand controller 166 and audio circuit 192 are all fingers
Command sequences can be entered using only one input device
So it can be used independently. Handco. The operation of the controller 166 and the audio circuit 192 is as follows.
Although explained separately, these two-man powered devices are as described above.
It should be understood that they can be used in conjunction with each other.
cormorant. As mentioned above (: the hand controller 166 is typically an arthroscopic
Clipped onto the test trocar and placed in the correct position for surgery
Retained. When the surgeon uses the hand controller 166
If you want, turn the selection switch 194 to
18 of the start of the command sequence. This is it
The function of the [Caution prefix step] described above is executed.
be done. Each time selection switch 194 is turned to a new position
, the computer 18 uses the audio circuit 192 to select
The new position of switch 194 is announced audibly. surgery
When the surgeon hears the function of the desired limb movement device, the surgeon
stops the selection switch 194 from rotating. push button machine
The function switches 196 and 198 select the selection switch y-1.
94 positions and different limbs as shown in the table above.
A function of the operating device is called. Function switch 196 young
Alternatively, by pressing one of 198, computer 1
8 indicates the action to be taken by voice, and the limb movement device 3
8 is moved as necessary. Setting of selection switch 194
The functions of the function switches 196 and 198 are controlled by the hand control.
by reading the label written on the surface of the controller 166.
It can be visually recognized. Mi Aishi [Mi Kaba Tsubasa Art Studies 11!21
÷If the surgeon desires voice input, the limb control device 38
The position or movement of can be changed by issuing three command words.
It becomes. This three-word command sequence was misrecognized.
to prevent the limb control device from being activated by a given command.
It is used as a means of confirmation. Attention Briffic';z [ARTHROBOT j
The command sequence is started and the sound for speech recognition/synthesis is started.
A warning is generated by the voice circuit 192, so the command word is not heard.
You can At this time, the voice response “Yes” will be generated.
Especially υ, beware of computer 18 BRIFIX
recognition and start of a new command sequence may be entered.
Ru. The surgeon then selects the 10 selected command words listed in the secondary table.
When one of these occurs, the computer 18 sends an audio signal.
Path 192 repeats the selection command word. Directive word
occurs and this is not identified, the computer
Computer 18 emitted a short beep and the surgeon
repeats the selection command word for recognition again. surgeon's
The selected command word that was uttered was “After recognition of ARTHROBOT J”
If it is not recognized within 20 seconds, the audio circuit 192 is disconnected.
Doctors caution prefix “ARTHRO-BOT J
occurs and the command sequence is restarted.
The voice recognition function is stopped by the voice circuit 192. con
The command word recognized by the computer 18 is sent to the voice circuit 192.
When not specified by the surgeon by voice response from
1: The surgeon again selects the selected command word or command sequence.
Generate a “no” to override the request. This is a directive
When Siegens is finished, computer 18 F)
The words ``5o-rryj'' are answered.Then the surgeon
is illuminated for 20 seconds to repeat the desired selection command word.
, if the desired selection command word is not generated within this time,
The audio circuit 192 uses the caution prefix [ARTHROB
until the command sequence is started again at OT j.
Stop cognitive functions. Once the surgeon's desired selection command words are recognized consecutively,
, the movement of the limb movement device 38 is performed according to the preferred movement shown in the table below.
It is started with a command word. Valid for computer 18
When a motion command is recognized, the operation of the limb control device 38 is started.
The operation command is confirmed by voice via the voice circuit 192.
recognized. If the spoken operation command is not recognized, press
A short beeping sound was emitted from computer 18.
, the surgeon speaks again to acknowledge the movement command.
. Despite the outbreak of surgeons, “ARTHRO-BOT”
If the surgeon's command is not recognized within 26 seconds after affirmation of J.
Then, the audio circuit 192 selects [ARTHROBOT J].
the audio circuit until the command sequence is restarted.
192 recognition function is stopped. Surgeon commands incremental movement
(i.e. arm, waist, knee or foot) select - to move
-or both of the commands are repeated to determine the position of the limb actuator 38.
is changed continuously, so the entire command sequence is repeated.
There is no need to -71 ÷ S 7 S 7 meetings ÷ Tsukiguchi! A copy of the umbrella and meeting statement (no changes to the contents) for the ARM, with the legs facing the table.
Movement outside Moving the leg in the direction away from the table FLBX Lumbar flexion EX
TEND Stretch the lower back KN EE against FLFJX Bend the knees
bend EXTEND Knee extension FOOT IN Turn your foot inward
Ru. OUT Turn your feet outward. RFJLEASK limb movements for WRIST
Dissolve the list of operating devices HOLD Maintain the list of operating devices of limbs Other commands NO Confirm that it is incorrect HALT Operating devices of limbs
The environmental safety sensor 144 is activated when an obstacle is detected in the operation during surgery.
When activated, the operation of the limb control device 38 is immediately stopped.
An alarm will be issued to the operator. The operator must ensure that this obstruction has been removed or
that the operating device 38 of the device is still operating safely.
When it is determined, the hand controller 166 or voice command (second
The movement device of the limbs can be moved continuously in the desired direction.
Ru. At the end of the surgery, the limb motion device 38 is moved longitudinally.
, a tourniquet is applied according to practice C2. then the limbs
The motion device allows the patient's feet to be easily removed from the patient attachment 150.
Extendable: Moved to fully extended position as shown in Figure 2. next
[ALT J and IN keys on the computer 18 keyboard]
By pressing - at the same time, the limb movement device will be reduced to a small size.
Moved to a small nested position. this
Accordingly, the limb operating device 38 has a minimum size C; folded.
It is possible to easily remove it from the surgical table 42. Change
By loosening the tightening bolt 56, the limb operating device can be removed.
from the rail 40 and remove it from the back of the control box 44.
It will be held in place by a holding bracket. ■Software Computer 18 for controlling the limb movement device 38
The software used for this will be described later. con
Preferred operating system for computer 18
For example, use IBM's DOS version 3.0. limbs
During normal operation of the device, two auxiliary software
program, a law firm located in Seattle, Washington, USA.
Prokey from RoseEfoft
(registered trademark) version 2.13# and NEO company's voice
Spurse Utilities (Voice Plus
Utilities) Vershore 1.01 Soft Pa
cages may be used. Prokey
is an IBM personal computer key for special functions.
You can also use the voice pulse utility to program
Rites are connected to the audio circuit 192 of NEOBAR-10.
used to give one or more programs to run. hand
All custom software for the foot movement device 38 is “C”
written in the language. "A program that can execute CJ code"
"Cj-7" bike for conversion to ram is US new
Combutinoho in Red Punk, Shashi Province
Applications' 086TM version 2.3 compiler
So, the number 8087 in computer 18 is small.
configured according to the manufacturer's specifications to navigate the
Ru. The attached software list also includes
DO83,0 so that the execution of step 18 is done automatically.
AUTOEXEC used by the program! , B.A.
Program the T file and the keyboard of computer 18.
AUTOART used by pro keys to program
I (includes PRO files).
The contractor is provided with a computer 18 and a limb motion device 38.
To make sure that you understand the operation well, the program is explained below.
Explain briefly. When computer 18 is energized, DO83,0 operator
system is the disk drive unit of the computer 18.
The data is read from the disk in the storage. operation system
Once the system is loaded, the file is
AUTOEXFli(!, fingers listed in BAT)
The instruction is read and executed. This list of commands includes
keyboard of the computer 18 for use in the operating device 38 of the
Set up the pro key commands that make up the code and the audio circuit 192.
command to start the process and prompt the operator to input from the keyboard.
Directives are included. The final instructions for the file
The foot motion device control software is executed. The control software consists of an initial value setting section and a control loop section.
However, each operation constant and flag are set in the initial value setting section.
determined. When the control loop section is first entered, the operator
Use the keyboard to properly position the patient and move the limbs.
Prompts you to adjust the device position and enter the patient's leg length
be done. The software includes position sensors for limb movement devices.
The known position of the limb motion device determined from
The data will be used to determine whether limb motion devices should be used for this patient.
A safety range is determined. Pre-programmed patient position
position (stance, full extension, full flexion, half flexion, figure 4)
The size of the patient's limbs is also factored into the software.
software is formed. After completing the position standardization, the operating parameters can be further adjusted as appropriate.
The patient's foot is changed automatically and the patient's foot is
position. List (actuator) compliance
The wrist moves against the force of gravity due to the weight of the patient's feet.
Increments are made until the foot cannot be maintained in the desired position. next
of the wrist until it maintains the desired foot position.
Compliance is decremented. Confry at this time
ance is determined as the appropriate value for this patient. this patient
, the compliance of the list from now on is at the decision level.
Do not apply excessive force to the patient's leg.
This prevents -The force control loop consists of three sections that are called sequentially.
In the first section, the operator's keyboard,
The presence or absence of input from the audio circuit or hand controller is detected.
and when this input is recognized, Nable-Ten is called.
Accordingly, the operation of the limb operating device is suitably changed. second
A section of the limb motion device containing a position sensor
and all related sensors are called and the hand control
rollers are set. Third section of control loop
of the sensor as indicated by operator input.
Readings and desired mode of movement are translated into limb movement
The operation of the electromechanical components of device 38 is suitably modified. Many of the operations performed by the operator's input are performed by the control software.
Contained within fair subroutines, e.g.
invalid location, “world” or “patient” coordinates.
movement along the travel path and mutual variation of control parameters.
Examples include functions such as updating or displaying. The world coordinates above
Or, patient coordinates are two coordinates commonly used in robot terminology.
Refers to the reference system. World coordinates are one segment of the same robot
to define the spatial location of the target relative to other segments.
used, while the patient coordinates are equal to the known tool coordinates.
part of the body (corresponding to the tool in this case) relative to another part
Used to define spatial location. Also control software
Other subroutines called from each part of the software are
, beyond the position determined to be safe for a particular patient.
A routine for testing the movement of the limb motion device 38 by
Stopping or maintaining the foot operating device 38 at a desired position
routines, and routines that perform other functions.
Ru. ■Other embodiments In the above embodiment, the displacement degree of freedom is 7, and hydraulic pressure or air pressure
of a dynamic structure with a power element
Each connecting portion may be configured to have only a braking function. this
The simple structure of the limb movement device provides some of the basic functions at a low cost.
This is preferred. This simple example (hereafter simply
(referred to as "other embodiments") are the embodiments described above (hereinafter simply referred to as "other embodiments").
The same configuration as the first embodiment (referred to as J), that is, the degree of freedom of displacement is
7 uses 4 arms and 3 wrists for the same work
Driven in space. In this case, the surgeon will grab your arm and
Release the braking mechanism using the controller or audio circuit
and manually move the arm to another desired position or orientation. desired
position or orientation, the operator should turn the hand control again.
Activate the braking mechanism using the troller or audio circuit to reach the specified level.
Hold the arm in a position or orientation. In other embodiments, the hydraulic or pneumatic pressure used in the first embodiment may be used.
Do not apply pressure to the moving parts in a manner that would activate a friction or ratchet mechanism.
A braking mechanism consisting of a pressure or other power actuator
Alternatively, it can be replaced with a device as shown in FIG. concerned
The braking mechanism includes a push rod 236 and a fixed plate 238.
Eh, pneumatic actuator 240 (Brldgestone R
You can use the uberturator (trademark).
It is driven by Braking mechanism:: is the first embodiment
A similar servo valve is provided. In other embodiments, each hydraulic actuator may be connected to this brake.
The operation of each part in the list of embodiments of solution 1 can be replaced with the structure.
The device has the same braking mechanism and rodless cylinder actuator.
The chain suspended around the idler sprocket and
It will be replaced. The braking mechanism of other embodiments may be adjusted by the operator.
The driving or stopping configuration is the same as that of the first embodiment or
Be made concise. Simplified limb movements shown in Figure 13
According to the configuration that controls the operation of the device, this limb movement device
The handle 24 is provided with one or more handles.
2 to connect part or all of the limb movement device.
Department can be released. That is, the handle 242 is the pivot shaft described above.
60, 72, 86, 100 or differential mechanism 112
Each corresponding connection, or the above-mentioned pivot or differential
The first one operates continuously and variably under computer control of the structure.
This corresponds to the actuator in Figure 4. The handle 242 allows the operator to control the arm of the limb motion device.
position the patient and orient the patient wearer appropriately, while controlling the movements of the limbs.
Release the connection of the operating device and release the handle 242 to remove this
The connecting part can be fixed again in the desired position. However, the connection
The parts can be selectively positioned, and the positioning and placement of the limbs
direction can be controlled separately. Fig. 14 shows the embodiment of Fig. 13.
A simplified actuator configuration used in
, to facilitate movement of the wrist mechanism of the limb movement device
, the operator can fix or release the wrist, and can also
Operation to facilitate other movements of the arm mechanism of the operating device
person can lock or release other actuators. pneumatic actuator
The mechanism for activating the
Is it possible to increase the total pressure to the actuator without using a capable servo valve?
Adjust to one of two conditions: or remove all pressure.
It includes an electromagnetically controlled pneumatic valve. hand
The switch 244 of the link 242 causes the connection release circuit 24
6 is activated, the valve driver 248 is activated, and the air valve
250 is opened and the pressure of the pneumatic actuator 252 is released.
. The embodiment shown in FIG. 13 further includes an arm mechanism for the limb movement device.
Compensate for the weight of the structure and the weight of the patient's limbs to improve surgeon control.
In order to facilitate
Lightweight with a rotary braking connection with a dynamic structure similar to that of the embodiment described above.
A tube structure may be provided. Bridge One
By means of a pneumatic actuator such as a Rubberturator.
, the linear actuation shown in FIG. 12 to secure the connection.
It may be driven using a rotary actuator rather than a device. limbs
each actuation to minimize the weight of the arm mechanism of the operating device.
Two coupling parts adjacent to each other are driven by the vessel. Additionally, the operating configuration of the limb operating device may be
The pressure actuator and the control circuit linked thereto are
ey (trademark) pneumatic servo actuator (California, USA)
Atch Ray Control of Los Angeles, State
(Ley 0ontro1s) etc. can be used.
other actuators and associated control circuits, or other pneumatic
Or replace it with a hydraulic actuator and its associated control circuit.
It can be changed by Dynamic structure of limb movement apparatus
Arthroscopy diagnosis of other parts of the body than the legs or knees,
Can be modified to be used for treatment. Limb motion device of the present invention
The device is used for surgery other than arthroscopy, such as fracture treatment and regenerative surgery.
Modify it to suit your needs. Limb motion devices allow easy manipulation and positioning of each part of the body at the same time.
A reprogrammable replacement for traditional surgical tables.
Fully automatic limb movement device with flexible and multi-functional
can be configured. In addition, the limb movement device of the present invention can be used after surgery.
To improve the movement of the patient's joints, repeat the joints to get the best results.
As a reprogrammable continuous operation device to operate properly
Design changes are possible. Furthermore, the present invention provides protection against physical stress.
Reprogramming to change behavior in response to changes in patient response
Multi-functional training equipment or stress testing equipment
It can also be used as a stand. (Effects of the Invention) According to the present invention as described above, (1) the quality of diagnosis and treatment is improved;
(2) Diagnosis and treatment costs can be reduced (3) Risk reduction
Reduces the risk of exposing patients and surgical staff to dangerous environments
, for example, by automatically controlling the patient's limbs and correcting X-rays immediately after surgery.
In addition to ensuring accurate irradiation, staff can be placed far away from the X-ray source.
You will be protected from exposure to radiation. Furthermore, the limb movement device of the present invention can be used as a tissue retractor during surgery.
For example, it can be used for traction to better observe the surgical area.
traction tissue by detecting and controlling tissue pressure.
It can be configured as a device that minimizes damage. of the present invention
Limb motion devices can change the physiological and ecological parameters of the patient.
for example, the localization of the tissue receiving laser irradiation.
Depending on the anatomical color, temperature, or surface, the laser light
Direction or speed of operation with varying power, duration and wavelength
It is also possible to provide a radar actuator for changing the speed. Parameters such as the patient's electrocardiogram signal, myoelectric signal, or electroencephalogram signal
When detecting the heart, nerves, muscles, and brain,
Automatically, accurately and precisely place diagnostic or therapeutic electrodes near tissue
Positioned to minimize damage to adjacent tissue to a minimum of J%.
It can be used for The present invention also applies to X-ray equipment, nuclear magnetic resonance scanners,
from an imaging device such as a child-emitting scanner or fluoroscope.
Patient biological parameters can be used. like this
Advanced medical robots by detecting and analyzing parameters
The radioactive tip of the fiber optic device is inserted into the patient's body by
automatically, extremely accurately and patient-directly.
can be inserted with minimal damage. Furthermore, the present invention
is a micro-manipulation device that manipulates anatomical tissues.
Also, changes in sensor and patient parameters for small tissues
Normally, the operating device is activated in response to
Small equipment can be operated accurately, and the operation device is safe and sufficient.
It is a huge labor saving as it is only necessary to intervene when the process cannot be processed.
can be achieved. In addition, the invention has significant medical advantages. For example, the original
It is necessary to be visible in the − mode of the limb movement device due to the light.
as a control device in operating rooms or other medical settings.
It can be used even when separated, and until now it has been attached to many medical devices.
Manually and visually operated using a switch or knob
There is no need for such control. Therefore, in the operating room,
Traditionally, surgeons operated switches or knobs with their hands or feet.
It is necessary to interrupt the surgery, and care must be taken.
However, according to the device of the present invention, these problems can be eliminated.
, can be controlled accurately and effectively. Also, as mentioned above, the sound mechanism
An anesthetist wearing a mask similar to a surgical mask,
Nurses, etc. can access patient data and diagnoses without using their hands.
Ability to reliably record ablation treatment procedures. using this audio mechanism
It also reduces labor and reduces the number of diagnostic and treatment procedures
It can achieve a wide range of effective effects, such as improving the quality of
to be accomplished. Copyright belongs to ^ndron1c Devlces, Inc.
AR'l'll'1OBO'r and ANDRONIC
It is a trademark of the company. AUTOG
Owned by Devices. @ c ha ARTIIROBO'l' and ANDl
tONIO is a trademark of the company. ech. echo Medical robot ARTI (ROBOT)
Iqcho sound pt: input turn and Arthro
Bot control program
　　　　　　　　　　　　　　　　　　　　　　　　　
Let's do 5. echo To input the voice pattern of Doctor Day
Enter the key Altl. echo key AL to input Rob's voice pattern
Enter L2. echo Key A to input Glen's voice pattern
Enter lt3. echo Key A to input the chef's voice pattern
Enter lt4. echo Key for inputting voice patterns for people other than the above.
-Enter ALt5. ech. To AUTO8 RT1. PRO <aH=><altl nhubby a:brlan, apb a:arthro
ll, spb<enter vpl a:arLhr
oll 4040400 Gloss 1008 1<Enter
ー〉arthro 11 <Enter> Make copy a: rob, spb a: arthro Il
, spb<z turn vpl a:arthroI
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Turn artroll<Enturn<alt-n<alt=n<alt3> Copy a: glenn, spb a: arthro
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II 404040 0 30 100 8 L<
Enturn arthroxr<Enturn<alt-n<alt-n<alt4> Copy a:geof, spb a:arthroI
l, spb<enter vpl a:arthroI
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is a keyboard, voice or hard drive controller. Note: The lower byte contains the ASCII characters of the key.
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48 *-256$define A
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ern ine debug; ext, e
rn tnt debugger (64); ex
tern int realpoa(7);ax
tern 1nt phthon ;eK
s e rn 1 n'-pr epropOG+
On path:, 1xtern int
realing+extern in
9arety;QKT-ern int,
5lovnnode;exern tn
t Lr1llnned+eX tern
ine cycler + cyCle-
position ctime :exern
int external-rotat
ion;extern int wrparmn
(20); ex for list ctrl
tern double hx, by,
kx, ky, m1nq; W! Part 1 and knees
extern double offsetl, o
ffset2. oHset3. offaot5 :e
Xtern rloIJble elevate,
fleX-ang; pre-programmed
xt, ern doll) 12 elev,
flex l anatomically ex e
rn double yaw-center
; ext, ern dQtlt) Le pi
tch center;extern double
e roll center:extcrn
5truCt +1set 5at(7
);exeern sL;ruc qstat
a 5tate ('! ); e (tern
5 truth sp! 11r;nr+p
ar+ns(7);extern 5truct'
spu+np pump(4); Mathematical function re
Turn definition extqrn double 5qrt(), Q
in(L cosO, tan□, asin□. ta GLOBVAR8, H860202 ARTI(ROfi All global
global variable int cant;
Switch program int PERIOD −
5; 1ntside -1; surgical table
Bow 2-retire int 5houl+j representing the side of the bull
ρ”;1; Bow representing the actual position of the shoulder
Rarity ipt pots (7);
Directly read the current pot JO1nt+
Joint counter global variables
as int 1ne+nory(6)(7)=J
[99991,199991, (99991,1999
91, [position memory int attention in n++tucomp = r+'AI,
s+<; automatic list compliance criteria
・lnt pend on = TRUE;
Bengt usable flag int out
t:bimuS -0; Panokgu 2nd round
Make dac updatable in ref dac =
FkLSε; Brand new 5T DAC from Banokgu 2 Kund
function 1:1nt-pQn()teQBed = l'A
Ll;[E: The knobs and buttons on the pendant are
Indicator tnt pQndRample+
^DC reading from the pendant f direct int tim
er(4) =lO,0,0+01; due
Tisa Ikultai's set in also fault (7
) = 10,0,0,0,0,0,01;
Error daC(6) for clause -1120,1
28,128,128,12B,1281; BR8
TI/1 dynamic int dac(6) = 10.
0,0,0,0,01; BRPl'['actuator
Update directly int debug
7 lie day patzger 7 lang int de
bugger (64): Daypatzger
variable array int renlpos(ma);
Temporary position memory int pnthnn = O;
Toggle 7 toggle for movement routine
lrN; preprOp03.0npath" o
; int aLo for travel path routine
wmode=O:int trained
rz O; Indicates that the location will be remembered
flag int eycLer, cycLq posi
tion, ctlme; Ml autopsy cycle variation
int external rotatlon:
Indicates that external rotation has been called)
Ha, 9a, a4. a8. s2,24. , a, 12.
81; Listco/Glaia doul+Le, leg, 5 fiiftx,'
sl+1fty, zO; patient standardization
double hx, hy, kx,
ky, m1nq; lumbar and knee seat d
oble offsetl, offset2
．． offset3. offset5 :do
BLE ELEVATE, FLEX-ANG
; Pre-programmed, 1o
ub1a +] tev, flex:
M open scientific movement +1 double y
awcentqr = 1! ]06:+1o
ub1. e pi ren eh cent, ur = 18
741; douhte roll-center
= 2083: 5 tructs 5 sets
5et(7);5tructsstntesta
te(7);5truct spams par
ms(7);5truct spump pum
p(4) = l (0,0x0003.OF
F. (0,0xOOLB, OFF. (0OCO, OFF to 0,0. (0,0x0600. Ok?h'.); Mathematics cut turn definition double 5qrt(), 5in()+co
s() + tan(), asxn(), +hcos
()tnt mode ”I O;int
are W(3in continuous-m
otion = No: Mark f'A r/ for c86
6 header file 1ifndef -5tdioh lifdef-C60BIQ file define NULL (OL) $else ldefine NULL O $endif ldefine EOF (-1) File
Standard termination of $define EO8'\0' string
[9 end $define ARBAD Oasc
ii Lead 9derine AWRITE l
asczi light $define AUPDATE
2 ascii update (processed with this) ldefi
ne BREAD 4 binary update 11def1
ne BWRITE5 binary write $defi
ne 13UPDATE6 Binary update #defi
ne SEF, K CURL tel for current
Find $defjne 5EEK-END 2
Find tel for termination 11define 5EE
K-8ET O Find the absolute one shift This depends on the execution time
Maximum number of files that can be ovend at one time. Matao
Bere noyon/added by stem (: limited. $define SYS 0PEN 32typed
ef char FILE:$define getc
harN fgetc(stdin) $define
getc(x) fgetc(x) $define
putchar(x) fputc(X, 5tdQ
ut) #define putc(x, y) fpu
tc(x,”/)extern FILE 'l'
fopen(+, rice fr eopen(n; ex
tern long 1telL(), 1seek
(), ftell() fseek(); ext
ern char rice gets□, come fgetsO
;$andif $define 5tdioh End of standard header file 5TRUCTS, H860123 All structures used by the ARTIIRf31 program
Template 5truCt 5sat Sat Inode: Tatsuyuso-)'
(07, hold, move, freely int pos:
Desired pot reading (direct int duty:
Duty cycle for speed control
type of actuator (/
Ill pressure, frinoji) tnt r-hys;
Forward hysteresis < r Sanno style (near 1 si
history/IJint r-bys; reverse hysteresis
Phosphorus λ (hydraulic type (-1nt cloc for use only by illusion)
k; Boost for duty cycle timer
Inoku 1nF-Outadr+ Hydraulic type
pop p, DACr to atchLeys int vu+ask; valve mask int
resf3t: Reset motor and valve.
off and int xgain;
Position error gain int vgain;
Speed error gay:y (atchLeysf:
, χ・1 and int deIltd;
Length of waiting time after setting is achieved int Lnc:
Incremental factor int mah for each joint;
Mano 7 humote ° constant, squirrel l only 5
truct spump jnt 0GrVe;
Determining the motor in use] n'e ma 5 k
+ Bompmoke bitmask int
+nation: Current motor status (
F'0RWARD, REVER8double f
low;
l (11iint de1℃axl differential
pot value w, r, t, time int motor;
If the motor status is hydraulic, the valid status is FO.
RWARO,ROF)i′! 1tchle”/S, the motor outputs the DAC output
nt valve; valve-shaped 75 (OPEN
, 5HIJT) In the case of hydraulic type, the joints are rigid when the valve is closed.
Atchleys, air is supplied when the valve is closed.
wait; Posterior joint reaches predetermined position
ACTONCOM, C86020's 101 membrane reads the keyboard buffer,
Row is uttered and the joint is commanded. Note: The letters in the keyboard buffer are on the keyboard, 5AR-
10/spare/toha'driver or operator's...
It is from one of the throat controls. 11nclutie “5tdio, h” $1ncl
uda 'defines, h"$1ncL++de
'5truces,h'$1include'
extrnvar, h”act-on-command
s-from the keyboard but
ferNstatic int the-determ
ined 5elecHon, the deterrer
miaction, have the 5ele
ction and been-varied
; Bwitch(mntje) case O: Mode 0 is for normal operation of Arthrobot.
. input via keyboard or 5AR-10 voice recognition device.
The commands are: friend interrupt driver 111 and 5AR-10
Keyboard from Transparent Hoodla software
placed in the buffer. I-Tsudokono-Roller is interrupted drive
so knot read the controller and keyboard buffer
(1f (pend-on) check-to see if the hand
control has any comator-
us (tbe det@r+n1ned-selectio
:>. the determined action);
Here, the keyboard buffer I is read and the command word is uttered.
and the determined aqua 3 is suitably set.
will be played. make a declaration on the
cjetermined 5 selection
anBctLon (&the detHrmined-selection
. &the-determined action. & have the 5 selection and
act'l○been-verifi); 1niti where selection i6 and akunoyo/ are started after B
ate the determined-select
ion-and-action(the-determinition)
ined 5election. the-determined action. &have-the-8election-and a
ctt. be verifi); break; if(key 5canN == (-1)
)return(-1); increment(key()+ &modq
): break; case 2: The actual office is called. + r (key-scanf) == (-11)
return(-,L); 5tore(keyf l, lIcmode
) +ADJCOIAI3. C860124 11ncLude'5tdlo, h" 11nclude "deflnes, h"11nc
Lude '5tructs, h'11nclu+1
e “exe, rnvar, h”adj” st t
he wr4st-compliance (1) ets
e if (1 n 0 && i < 9) wrco
IIIpmap(0) = 1; Arthrobotl
When storing each programmed position, the
code else if (wrcompmILp(0)
> 8) wrcompmap(0) = 8;
pokeb(308,0xbOOOO,'O' + wr
compmap(0) );vrparms(13)
w wrcompmap(wrcompmap(0)
); wrparmn(14) = 4095 / wr
parms (13): ADJIJ43T, C86012
3 This route/(2) allows the user to check the parameters of the joint.
It can be arranged. 11nclude '5tdia, h"1tnclu
de “defines, h”111nctude
"attracts, h'int i, reply
: double number, number2;1ockup(
TRυE); clearscreen (10,24); 1f(1
, , Q&&i<ma)", pnrmslJ), f-hys); 5can
f ("%d\n', &parms(+), f-h
ys): Yaw i6 and pinch require the same constant.
So, when you update the Yo constant, the pinch constant is automatically updated.
It will be done. if Ci day 4) parma(5), f-hya
= parms(4), f hys; prlntf
("H-hys (wriat: delay),
now%rl:”. parms(1), r-hys):5canf
(“%d\n”, &parms(1), r hys)
;if (i = 4) parms(5), r-
hys = par + n5 (4), r-hys; pr
intf ('χgain, nOW%d: ',
parms(i),xgaln);5canf(”%
d\n”, &parms(1), xgain):
if (i == 4) pnr+no(
5), vHain = parma(4), vga
in; if (i = -s 4 ) par
ms(5), dead = parms(4:],
dead; printf ('Mush mode c
onst/lnt, nov%d: @1clears
clean (10,24);Lockup(FALS
Ii:) : twr(+ Adjustment of list parameters I
uckup (TRIJE): clearScreen (10, 24); lnu'/
ecL[5lJr (12,O):prjot['
(“Adjujit Wri, 9th parume
ters\n\n”);f(”Wr+st mode:
l = normal, 2 = 1ock YA
W &PI'rCHitch trackjng\n
'Xn') + printf ('Wrist +nod
e, now %d: ', wrparms(
0));5cant'(%d\n',&wrpa
r+ns(+)));printf(V offs
et, now %d: w, wrpar+n
q(l]);5canf (s%d\n”, &w
rparma(1)):pr1nt4(”pitch
WindOw, now%d: ”, wrp
ar+n5(2:]) ;5canf ("%d\n"
+ &yrparms(2));printf(”
0vershoot constant, now%d
: ”, wrparms(3));5canf
("%d\n", &wrparms(3));pr
intf ('pitch velocity sca
ling factor, now tl)d:'
. wrparms(4) ); 5canC('%d\n", &wrpar+n5(
4));printf ("Count down
timer, now%d: ”,
wrparms[:5));5Canf ('%d\
n', &wrparms(5));ELEVATE
0FPSE'r PARAMliTER8pri
ntf (YaW 0ffsGt const for
elevate, nov%d:1゜wrparl
l18(10) ) ; 5canf ('%d\n", &, wrpar+n
1(H):l);printf(”pitch el
evat offset, now%d: ',
wrparms(11));5canr('%dsn
”, &wrpar+r+5(11)):pr+ntf'
(”Roll extc!rul/5levat
e of rset, now %d: 1°
wrpartnll(12)) * QCanr ('%d\"1", &wrp:+r
ms(12)); C0kAPL, tANc2 5CAL
ING FACTOR3printf ('COMP
LIAN (J 5CALING (8:hard-64
:5oft). nOt? %d;', wrparms(13
));5canf (“d\n”, &wrpar+
nn(13)) ;nrparmo(14) = 40
95/wrparms(13);prinR('W
RIST COMPLIIJEN'rARY C0N5
TANT = %d\nl. printf ('Pitch tracking o
ffset constant, now%dwrpa
rms(15)): acanf("%d\n', &wrparms(
15));printf(”Roll tracki
ng offset constant, now%d
;wrparms(16:l) ;5canf ('%d\n", &wrpar+n5
(16)) ;clearscreen (10,2
4); 1ockup (FALSE); ANATOM, C851203 This louch allows calculation adjustment of the anatomical movement of the leg.
With this routine executed, the routine REVER1,
C and FORWARD, C is the incremental angle and increase of the called waist.
The bend angle is input as a parameter. $1nclude “5tdio, h”$1nclu
de 'defines, h'$1ncLude
'5tructs,h"$1ncLude"ax
trnvar, h'anatom(de, df) double de, df : double an(<Q, llngl, an((2
, an63. ang4. ang5. an((6;dou
ble elv, flx ;lr (train
ed ) if ((set(1)-mode !=MOVE
) &, & (set(2), mode != M
O■) (set(3), mode!=MOVE))
Lock JP (TR[]Ifi) ;angl =
pots (1'l US RAD PERPOTI + o
ffsetl;calc arm coor4in
a eang2 = pots (2) this RAD P
ERPOT2 + offset2; calc ar
m coordinaEean(13g pots(
3) * rhD PERPOT3 + -1ba5
et3; ang5 = pots(5) −J
RAD PERPOT5 + offset5
;calc pitch attitude
o = ang4 == ang6 = 0.0
:for lag(&elv, &t'lx, an((
0, angl, ang2. ang3. ang4. ang
5. arelev= (elv / PI) book
180.0 ; flex = (fix /
PI) Book 1B0.0; elav +=
de; elv = (elev/ 180.0) years old P■;fl
x = (flex / 180.0): I, PI
:r evJag (&an%, &angl,
&ang2 誂ang3, *ang4, &a
n((5, i=ang6set(1), pos = (
angl-oRsatl) / RAD PEI(P
OTl:5et(2), pos= (ang2- oR
sat2)/ HAD PERPOT2;5et(3)
, pos = (ang3-offset3) /
RAD PER-POT3;5et(1,), mode
= MOV[i: ;5et(2), mode =
lvlOVE, ;5et(3), moae = MO
VE; After moving, Binotebosotka was suddenly given a seven no.
. 1ockup (FAI, SIM): lse ball CIeilrS-2roen(22,24)+move
cursor(22,0):prxntf(”An
Atomic motion is not av
available untllls 5caled8o
');prjot4('\n"); movecursor(24,0) :AROU'r
, C860122 Direct communication with AFL-103 to verify audio for other functions
Speech synthesis using a set of routines arout(x)
・N=? memorized by the device? Speak Yahu word X. ) include"5tdio, h' $1nCludp "def+nes, h"$1ncl
uda "5 tructs, h"gdt+fln+=
5AHIO DATA POR'l' 0:
<0350#defrnesA) (10ST, A'rl
JU POR'[” 0x0351ur+stgne
d char output 5trln3(
6);1r1t 1: +f (debug) prirHf (”arout: word %rl\
n”+X):lfc x<L ll xn33
)return(0); if(1nporeb(SARIO-3'T'ATUS
-PORT) & 0XOOO4) rsj, srn
(0); qtrcpy(output string, ”O
A Xrl ); if (xn9) output string (2) = Cunsig
ned char) (xlout, put-stri
ng(3) = (unsigned char
) (x%for(i = O; oueput s
tring'(i)! = Oi i→ )w
hile((1nportb(5ARIO-8TAT'
US PORT) &1,! 1. (1nportb
(5ARIO5TATIJSj'ORT) &);
　　　　　　　　　　　　　　　　　　　　　　　　　
”outportb(8ARIODAT
A PORT, output string
(i));return(x): ] ARTIII(OIl, C860202ARTI(RO
BOT H 1t11 BRII) G118TONE Arthrobot! Control program 11ncL+
ole '5tdio, h'11nclude'
dsfinea, h'l 1nclude 5true
cts, h@11nclude'globvars
, h”main(I tnt i,j; clearscreen(0,24); mavecur
aor (0,32');5etup);
Initial stage of the system 1.H”
2 constant mainmsnu(); cant w TRUE while (cant)
tie/loop do ctrl-1loop(1; ir (autocomp) all cut matlc vvrlat complian
ce-scaling(1; dtreset(1; clearscreen(0,24); move+:u
rs+)f(0,O);prLntf("0ood
bye flora AR'rllROBOT It
Xn') ;unlink from-inte
rrupt(USWREIUPPLIED-CLOCK
-ROtJ'rlVECTOR); do ctrl 1oop() 5napshot',);process();
Distribution processing dtvrport (8
, outputs ); AtJ'rOCOMP, C8
60130 This routine;
” position, the squirrel must be moved to maintain the correct position.
The minimum side of the strike is determined. $1*clu+te 'derinpa, h"j1n
cLu+Ie '5tructs, h"11ncL+
+1st grade @ex*rnvar, h'au t, oma
t lc-wrist-comp 1aru:e-s
eal ingT Move to the 4th character position recal+('5'); 4th character position
The position is represented by position 5 a*tay (1oooo );
Wait 10 seconds until it reaches the figure 4 position lol
ile (wrist at 5et-position
n(1&&wrcompmap(0) > 1)a
dju+1t-the-wriθt-complian
ce('-'); Compliance 1de
lay(1500); printf(” ”); ! Excessive I strike
Indicates that a weak point has been reached・Old Le (!wrist
at-set-post tronf 1 h,k
wrcompm+tp(0) < 9adju++t-
the-wrist coproduct pLiance('+'
); Compliance by 1 jalay (1!
') f) O): auLocomp = FALSE: 1 End of automatic compliance standardization of the list.
ENDThis routine makes sure that the actual position of the list is the same as the desired set position.
Same or no, return to Bepurresbonos. wrist-at set position (1
giint rlag, joint;flag =
'I'RFIli:; C flag=I'ALS[i:; break: reeurn(j'Lag);
robot control unSigned znt +n5
ec；unsignOd Long get th
e-time of aa'yN;unsigned
Long base, max-ticks; max
ticks = mri13c *-18,'2 ticks
ks/sea/1000 m5ec7sec = ti
cksmax ticks = (unsigned
long ) msec from 1B2L / loO+
)OL; base = get the-time
of-dayN;while (get the-
time of day()-base < may-
ticks )do ctrl 1oop();
Normal control loop execution scale the wri
Called immediately after atl two broom standardization, the operator
We urge you to verify the standardization of your compliance standards. 5cale the wrist() 1 n t ch : 1ockI+p(1'RIJF:) :el+401"
1cIJ+! I+ (10,2-1); 111ove
cursor (12,0); print; ff(”
”); Makes a 7 “hi” sound to the operator.
[, be careful prlntf ("l'he arL
l+robul, is abouL Lo qca
le the wrisL cby\n'); printf ("movmouth1g 1Jle le
g 1nto th+4 't°1g1lre
4' position. printf (“If co+appliance
scaling ts dGsired u
nd arLhr. is clear, \ka); printf ('enter 'y': ”); W old
1e((ch -keyH) ” (-1) );
clearscreen (10,24); movac
ursor (12,O)+if (ch tsu'y'
ll ch ko'Y') hold-the-Wrl
sLO; list if not fixed yet
auLocomp y TRUJ flag
Set the autocono appliance base printf('T
he compliance or the
wrlst is shown in thr
lgbt corner \”); printf('
of the 5clean, Co+opLtanc
e ranges from l (veto
8 (fir+o)\n\n@);1se printf('CompHance not 5ca
led8n”Lautocomp = FAL8B; 1ockup (FAT, SE): l 5cale the-wristBRto
atiS, c 86013
0 Kono Routine (:yo+JBrjdgestonI3
Rubber operation 6 hC1ltl controlled 0$j
nclude "5Laio, h"#define
YAW 4 $define PITCH5 $definp ROLL 6 $1nCLude "defines, h" $1nc
lude "st, ructs, h'sLatlc
int 1nodeflag(7);
Set the speed value to 'freO' on the first bus nuuliLe
temp; 5w1tch (set (joint), mode)C
! 1S8 HOLD: Ca5e 1vlOVE 2 center starting point first move (7), hold is f
Oif (modeflag(jo
int)==FREE) Bus set mode is
FRIlellmodcflag(joint) =
1. JOVE;5tate (jojnt), motor
= 2048; Set the starting point to the middle position modef
lag(,jolt) =MOVE;wrparms
(1B) = rilALsE;5et(PPrCi(
:1. pos += wrparms(11);b
hoLd(joint): break; Ca8e TRA(':to: modellag(joint) ff TRACK;
0hnLd (joint): 5et (jotnt), pos = 5tate (JO
tnl, ), pOt; pitch in track
Reset treak case FRI: modeflag(joint) x FRFiJst
ate (joint), motor = O; 5et (
joint), pos = 5tate (joint
), po℃; free middle wrist rest bre
ak; Ca5e MIIGH: modeflag (joint) = FRHE;
break using the same reset as free mode; case LOCK: (if previous mote becomes FRE) FIE to emergency fix
Keep 1f (modeflag(joint)==F
RE[e) Set mode is 11'RW Fi
flet (joint), mode = FREE; b
reQk; bdrlver (joint); BHOLD is 1r for xdges tone
Same as HHOLD. This routine is! to change the pressure
more compensates for the force of the actuator. This routine is a proportional grounder
and velocity feedback. bhold (1) intl; int offset: ini xerror, verror, moto
r;xerror = 5et(1), pos -5t
ato(t), pot; controls the maximum absolute value of xerror.
If (xerro
r > parms(i), r hya ) xer
ror=parms(1), r-elsa if
(xerror <-parms(1), r hys
)xerror = -parms(verror
= 5tate(1), deltax main parms
(1), vgaln;if(xerror <-par
ms(i), f hys ll xerror > p
arms(i), t-offset = ((xer
ror rice palms (1), xgaln) / ;3
2) -vatelseoffset = Q; 5w1tch (i) Pitch and yaw operation
Do the devices need to be connected (casI3 YAW: if (r, at(PI'rCl+:1.+nod+)
+ == TRACK) Pinotetrakki/
Gubinochitrano? / unrelated to gukoushi else if usual list fixed 7-do S
tate(4), motor −= a-th set/2;
Since the gear ratio is 2=1, the factor is 2statc(5
), motor +== o[+geL/2; yaw
1 rim lr (5tate (5), moto'r > 409
5) st, ate (5:], mutor = 40
95;else u (5Lata(5), motor
< u ) 3LatQ(5), m0tOr = o
;break; case l'l'i''Cl-1: lf(Bet(1), mode --TRA(':K
) [5late(i), motor W wrparm
s(15:l + (5tate(il, pot
-pitch center) rice 2;5 tat
o(YAW:l, m0tOr x 5tate(PI
T()I), m0tOr; e1θe state [a], motor += offset;
5bate (5), motor += area also: supplement
Number shift trim if (st4teC4), motor) 4095)
5tate(4), motor = 4095;el
θe if (5tate(4), motor < O
) 5tate (4), motor = O;br
e a k 1 Case R(ILL: if (5et(ROLL), +node = TR
ACK) O-root trunking abate(
i), mator = wrparms(16:l
+ (5tate (i), p. "0th - cencer) I2.6゜1se Sbate (i), motor += offse
t; break; ) Switch end if (5tate(i), motor > 4095
) 5tate (1), motor = 4095:
else if (5tate(1), 1notor
< O) 5tate(1), motOr = Q;
tool test only (two pairs, pitch and yaw are among the parameters)
Yaw and pitch are centered by 2048 for a constant value of
1275 or roll joint (two pairs ctr
l parameter and related if (wrparmq(0'l
= 2) 2 measures pitch and yaw to the center
costate(41motor = parms(4)
, dead; The initial value is set to 204B and 5cate (5
:1. motor = palms(5), dead;
l end of bhold Br 1ddt3s BDR for tone actuator
IVER is the same bdrxver as HD RI VER
(i) int i; 1nt dacOIIL+ COMP LI+lI:
QIIt + tia COIJ = 5tate (1),
+uot,)ry wrpar+n5(13)+
4091f' (5et(i), +21od
e = * = FRFI, lfi l l Bet(1)
, mode --MIJS)! )comp-dac
out = dacout; Complement value is main 1 + t
u: Seven throats lse Since it is a complementary value, pl + P2 = constant comp-dacout, = wrparms (14)
-dacout;if (dace)ut) 255
1 dacout to maximum pressure (Nidorim "Kurira"
f) dacout = 255; if (comp-dacout 2.55) c
Trim omp-dacout to maximum pressure ((HOHp-
da(!0LIe z 255; dac(parms[
1), outdr) = dacout; po
Send sn to DAC array CEN-WR8T, C1351
213 Find out the value of NoriStbot when the list is centered
11+nclude "std+o, h"
#】nclude “defLnes,h”1Fin
aludr4 0tructS, h'$1nclu11
e 'exLrnvar, h'cen wrst, (
) char dunamy(15); clearsc
reen(0,24); movacurSor(0
,0) ;prlntr("center Wrl
St jhell press 'C'
tMn press IEN'L'ER\nl)
+jca++1'("%'Xf+"j&mountain+uu+I
y(0:l :yaw canLer = p
uts(4); pit+:h canLt=r=
1)ot++(5) ;roll-cenLer
;pots(6) 1prinLf(C1u+LOr
Od vnluea: YAW = %f,
PITOII = %f, ROLL = pull＼
11', yaw-center, pltcb-ca
nmoer, roll-canter) :CHAN(I
Some of the voice recognition parameters are changed by the routine in EV, C, 86020.
The parameters that can be changed are as follows. rth = rejection threshold eho = word start detection threshold thl
W word boundary detection threshold thu = new
New score threshold if = self-learning flag tbl = self-learning score threshold vcf
- Voice side rejection flag rJbzf - Rejection buzzer flag echbr - Echo back flag $Inalude 'std+o, I+'#10el
ude'd+3fine3. h”#10clu+
le "5 tructs, h"1inelu+I
'exLrnvar, h”CIl FI II p u
,,-tII G VOI Cer u CC
1g+l l L l o++ par II
I e ter S I )uoajH;u+td
Mountain nr sa++d sLr]nHt, (32B
), roe'! IVdqtat+c uIj
signed inL rth = 40.
thO=40. thl ++ ・1
0; 5Latjc un+t1g+u:d orL 1
1' = 0. tbL=30. vcf
Irjbzl' = O, ecbbr = O:1
ockup('1'RIILd) ;movecu
rsor<0.0); clear+Jcre
en(0,24);prinLf('SAR10Voi
ceRecognitionparamctorR
outine \n');printf("gnter new va, jun
s or <CR> for no change
efrush thr+-1coyboard-bu
(Ver()θendcomm/Ind-to-the
-shsxoc”, recasve-st, rr
ng) Takes the current 1st shift of the variable. 5 and co+n+nond-to-the l:I
ARlo("a'\r"+receive=,5s
canf(recoive-string, ”%
d @, &rtl) ):eentl-c
o+++mund-to-tbe-8ARIO(”AS
r”, receive-sscanr(reca
1vI3sLrurg, ”%d%d %J %LJ
%IJ'. 5scanl'(raci=ive-st, rit+g
, '%d %d %d ”, &vcf. ask-operator-for-1nput(”W
ord Begin DetectionThre3h
old (%3d): ', &thO); ask ope
rator-ror 1nput(”Word Bo
undary DetectionThresbold (%3d): ”, &tfil); ask
-opQrator for 1nput('Upd
ate 5corIIThresh01+1(%3d)
:w, &thu);ask-opera
tor for-impue ('8elf Lanrn
ing Flag (Chi3d): ”, &lf
); ask operator-for 1n
pue(”5elf Learning 5core
Threshold (%3d): w, &thl); ask-
operator for-1nput(”Voice
Control Flag ($3d): ”,
&vcf ); ask operator for
jnput('Reject Buzzer Flag
(%3d): ”, &rJbzf);a, sk
operator-for jnput(”Bcbo
Back Flag (%3d): ”, &ec
hbf ); Write the changed parameters again 5
print, f(θend-string, ”E,
%d\”+rtll);5end-co+n+
nand to thq 5ARIO(5end st
ring, recasve8 also ring): 5pr1ntf(Bend-str1*g, ”A%
d1%d1%d, %d, %d\r"+ th
. thu, if, thl); echbf); send-comtaand to-the-8ARJ
O(5end string+ r@ceive-s
end command-to-the 5ARIO(
'M\r', receives-stringmove
cursor(CLO); clearscree
n((L24); mainmenu() 1ock++p(FALSE); ask-operator for-1nput(p
ointer to query-st, ring. to-var unsigned char body pointer-t
o-query strlng;11 t
Next post
a ble :printf(pointllllr-
'to-quflry-8t'1ng+ no point
ter to-tqhile(key 5can(1*
s (-1) );if(('keyscan(1
&0xOOff) -0xQOOd)
key(); printf(*\ns): e L+qs 5canf('%d'', pointer to v
ariable ); body poznter-tO-Va
rlal)le &= 0xOOff:θand
coInmand to th++ 5AR10(5e
nd, receive )ur+signed
chnr *5end, *receive;1d
efinn 5ARIODATA-PORT 0
x03501define 5ARIO-8TATU
S PORT 0x0351int l; if((jnportb(SARIO-3'rArll
S PORT) &Ox<0040)
l11OxO040) printf(” SAR, -1011ar small var
e error! \n' ):return
(0); wbile((1nportb(5ARIO-3TAT
US-PORT ) & 0XOOO20xOO02)
;outportb(5ARIO'8'rATU8P
ORT, 0xOO); Thiable for <
i=O; 1lend(i)! =O;
i++ )wbjle((1nportb(8no
RIO-8'rATIIS POR'J')
&== 0xOO02); outpor tb(5AR10-1)A'l°A
FOR'r, 5end (i 〕 ) Tran
When Super Rent Notsdon is on, the output goes to the keyboard.
1 sent = 0; O while ((1nportb(5ARIO5TATU
S PORT ) &'-0xOOO1); receive(1) = 1nportb(5ARJ
O-DATA PORT )if(receiJe(i
)! = '\r'&& isdLgit(r
receive(1) == 0) rec13
1Ve(i) −”; while(receive(1−+−))!
a'\rl);receive(i)t
m'\Of; wbile ((1nportb(8ARIO-8TAT
U8-PORT) &0xOO02); outportl 5ARIO-8TATUS-PO
RT, 0xO1); Bnable 1nte DACRF13. DAC output of Bridgestone actuator by C86011 flow δQ-chin
is refreshing. This routine also interrupts the timer
Since it is activated more, I will run it with tsukund @ 11nclude 'st mountain o, h'11oclude
o ”deflnnns,h'1tncl+le
"5 tructs, h' number 1 nclurle" ex
t,rnvar,h”dac-refre+3bO-ir (ref dac == TRIJE)ltd
ac(0, dac(0)); 1 tdac(L dac(L)); 1 tdac
(thank you dac(2));1tdac(13,dac(
3)); 1tdac (14, dac (4)); ltdac (15, aac (5)); ] DE8ELACT, CB6.02+15 This procedure is key
Read board pan 7a and decide on the required selection or un.
and then return the determined selection or action. Note: This routine is executed by adding one character at the beginning of the command character.
Determine the source of the command Source of the command character
Subscript keyboard None 5AR-
10 Voice recognition device #1ncLude "defknes, h"#1nc
lude '5Lructa, h'jinclutl
e'exLrnvar, b'make-a de
ciaion-on the determined-
θelecttOn-and-p2-determin
ed-θelectron, p2-deter
mined-actlon. p2-has the-selection-and
actlon-been-verified)i
nt p2 determined-select
ion, lp2 determined-p2
has-the-selectron-and-act
ion-been-verified; static
unsigned long when the-
8ARIOm1 crop turned on; unsigned long getJhe-ti
me-of day();5tatic unsig
ned int was-the-most r
cent-respoken, the-moa
t-recentWQrd: 5tatic unsigned int
command, previous +comman
d 5source: 5tatic urlglled int
special-command; unsigned
d int key (); ART item ROBOT
Pat will turn off if more than 20 seconds have passed since the command word was given.
be made into All voice commands are called ARTHROBOT.
phone got-turned-on
) on 0xO16CL )if(atten
tion == YES ) θet Lhe rsJ
eat buz, zer flagCl1ALSE);
attention w No; last command
If a word is not uttered, utter the same word if (was
the most recent response
-word-spokenwas-themost r
eCent response word 5poke
n = the most recent response
nse word ); keyboard buffer return
If there is no character in (-1), 1 f (key 5can
() ”= (-1) )return(-1)
; At this point there is at least a - key in the buffer.
command = key();
5special, -command-F'ALS2;5
w1tch (command) First, handle special cases case EMERGENCY-8TOP COMMA
ND:Ca5e”: the most-recent response
wordEMERGENCY 5TOP-RESPON
SE; was-the-most-recent
sponse-spoken=5peak(th
e most recent-response vr
ord) ;*p2-determined 5e
lection =sCOMMAND; 1*p2 determined action
= 0; years old p2 has the-F3elec
tion and action-=YES; 5special command=TRIJE
;break; cBae VOICg: command 5source = VOICE
;special-command = TRUE
;reaki case HAtJD-C0Ni'ROL, :c
ommancjsource = HAND C0
Ni'ROL; special-command =
TRUE+break; calle ARTHROBOT-COIA4AN
D:eetJhe-reject buzzer
flag(TRLJE); the most rec
ent+ response word =was
Jhe most-recent response
*ord-=5peak(the most rec
ent-response-word ); when
the-8ARLOm1cropl+ooe-got
turned. get-the-time of-dayO;ate
tion=YE
S p2 determined-selection
= o; reached p2 determined-a
ction -0; reach p2 1eas-t
he second day election and-actlon-
been-verified = No; 5pec
ial command w TRUE;brea
k; case 0KAY COMMAND: the
most recent response wor
dOKAY RESPONSE; was the most recent res
pose, -5poken = 5peak(t
he most-recent response
ord); body p2 has the 5elec
tion and-verified = YFS
;5special command w TRUg;
break; Ca[][l No Cot-11,4AND:5
et-the-reject-buzzer flag
tM-most recent-response-W
ordNo RESPONI was the most recent reSpO
nSe-spoken=5peak(the-mo
recent-response word)
;attention body p2 determined-day selection
tree p2 jetermtnea action not yet p2
has the 5 election-and-aCt
iOn been-verified special
command = TRUE; 1) reak; default: break: Process the selection command here if(special-command-TRI
JE)return(-1): if(previous-character=x
VOICE&&attention
== , NO)lse switch(command) ca8eELEVATg-COMMAND :thq
Jpost-response-vrord
=*J18-the-m08trecent res
ponse Wordspeak (the most
recent response vrord G*
p2 determined-selection
=*p2-determined action
= O; break; case FULL-fD: TgNSION C
OMMAND: the most recent
response two word ==wasJhe
most recellL respo+11
e vvordspeak(the +nostJ-
recent response-word);
p2-determined 5 selection
= FULL p2 deLormined a
ction = 0:break; case FI()URE-4COMMAND:t
he most-recent response-
word =waθ-the-most-rec
ent response-word-speak(t
he-most-recent response-w
ord );-*p2 aetermnea-se
xection = FIGURE 4 p2 d
etermxnedactlon = (L
case WRIST COMMAND :the
most-recent-response word
d =+wasjhe-most-recen
t-response word-speak (the
-most-recent-response-wor
d): Button p2-determined 5elec
t1on = WRIST-next p2determi
nedaction = O; break; case FOOT-COMMAND: the
most-recent response-word
=Wllθ-the-noost-rece
nt-response-word-speak(th
e-most-recent response-wo
rd ); *p2 detcrmined-sele
ction = FOOT-US p2dsterm1
ned-actlon-0rcase KN
EE-COMl, AAND: the most
recent response-wordwas-
the toast recent respo
nse word-w 5peak(the mo
recent-response word
); Law p2-determined 5electio
n = KNEE-unp2-determined
-action=O:bri=ak; case HIP COMMAND:tl+e
most-recent-response-word
waeJhe-mos t-recent-respo
nse-word-w 5peak(the-mos
t-recent-response-word)
;Button p2-determinod-selection
= HIP-*p2determined-ac
tion = O:break; case ARM-COMMAND:the m
ost recent response-wordW
aBJhe 1II08j rfICGIlt l'G
GpoIlseword-” 5peak(the m
osjrecent-respons-word L!
p2jetermined-selection =
ARM button p2 determined action
n! O; This Nostem is currently a keyboard or
is an additional two-select command that can be executed by voice only.
However, these 7 functions are hand control 2.
I think it will be implemented more. case OOMPLIANECOOMMAND
:the most,,-recent-respon
se word was-the-most-recen
trer3ponse-word-m 5peak(
the most-recent-respons@-
word); tree p2-detsrmikoed-se
leclLon=COMPL p2dete
rminad-action = O;bre
ak; case iTIJPJOM) aND :the;
ost-recent-response-word'
W(1G-the-most-recent resp.
once-word-speak (the-kawaoSt-
recent-response vvora)
;*p2-determined-seLqction
= OI! i'L'LIFtp2 determ
ined action = O; break
; Characters '+' and '-' 14 specially processed keystrokes with AC/CON commands
and varies depending on selection. Assign to action
It will be done. This feature makes the keyboard truly a hand control.
It can be used in place of . case MINUS COMMAND :5w1
tch(-*p2-determined 5elec
) case glJVATE-COMMA
ND :case FULL E)C['ENSI
ON-COMMAND: case HALF-F
LEX COMMAND: case FULL-
FLEX-COMMAND :CaSe FIGUR
Ehi4-00M4-0O: case 5IiTUP,
J: OMMAND : the most recce
nt responseSe word=was
-the most-recent response
word-=5peak(the-most r
cent-response-word);*p
2 determined-action
ts p2 Jas the-select
ion and action-=YES; break; Ca5e ARM-COMMAND: the-to
astrecent response vvord
= was the most recent r
espol]se w□rd-=speak(the-
most-recen also-responsew(+rd
); tap2 aeterminedaction
=*p2haB the 5eLect
on and actlon-,, ygs; break; case HIP COMMANI): the mo
recent request word
FLEX-RESPONSE; was-the most recent-respo
nse -wordspoken = 5peak
(the m05t recent responses
e word); rice p2 determined-
action FLEXCOMk4AND; US p2Jas the 5election an
d actionbeen Verified f
f YES; break; case KNEE-COMk4AND: the
most recent response
ordFLEX RFSPONSE; was-the most-recent-respo
nse wordllpoken = 5peak
(the most-recent-response
-word ); *p2pdetermined a
ctionFLEX COMMAND; US p2Jas the 5election-an
d-actionbeen verified =
YES; break; case FOO'T COMMAND: the
-most recent response-wo
rdIN RESPONSE; was the most recent respo
rrse word spoken = 5peak
(the most recent-response
wor4); rice p2 determined-a
ctionIN-COMMAND; tree p2 has the 5 selection
and actlonbeen veril'i
ed = YES; break; case WRIST COIJMAND :th
e roost recent response
wordRgLl'EA! 'IE RE;5PO
NSE; was-the-most-recent
esponse wordsspoken = 5pea
k(the most recent responses
e word ); button p2 deter+n1ned
actionRELEASE COMMAND; has the-selection a
nd action-been verzfied
” YES;break; case COMPLIANCE-CωhabutsuND:
the most-recent response
wordLESS RIESPONSE; waθ-the-most-recent resp
once word spoken = 5peak
(the most recent reaction
-word ); not p2 determined
actionLESS Co.ND; Keyaki p2-has-the-selection and
-action-been verified? d m
YES; break; default: break; break; case PLUS COMMAND: 5w1
tch (rice p2 cletermined 5el
) case ELBVATE CO
MMAND: case FULL-EX'['E
NSION-COMMAND: case HAL
F-FLBX COMMAND: case FUL
L FIJX C01vOJAND :calis
'FIGURg-4(EOMMAND: case
5ETUP COMMAND: the most
-recent response wordS'rO
P RESPONSE; waθ-the-moat-recent respo
nse WOrd-epoken = 5peak(t
he most rec8nt response w
ord); US p2 determined ac
tionGT'OP-COMMAND; IT)2 has the-selection a
nd actiOn-beenVerified
= YES; break; case ARM COMMAND: the m
ost recent response wordO
U'r RESPONSE; was the most recent reSp
once wor(1-spoken = 5pe
ak(tbe most recent response
se word ): end p2 determined
action OUT Co. ND; US p2 has the 5 selection
and action-been verxfied
= YES; hrPak: case HIP-COMMAND: the m
ost recent,,-response-wo
rdEXTEND-RESPONSE; wHθ-the most recent-res
ponse word spoken w 5pea
k(the-most-recent responses
e word );-*p2 determined
actionEXTEND-COMMAND; not p2-has-the 5electlon and
-actionbeen-verified w Y
ES;break; case KNBR-001JMAND: the
” oat-recent-response-wor
d+1CXTEND 18PONsg; was-the-most-recent respo
nse vvordspoken = 5peak
(the most recent responses
e word); rice p2 determined-a
ctionEXTEND-COMMAND; *p2-has-the-selection and
-actionbeen-verified w Y
ES;brelLk; case FOOT COMMAND :the
most recent response word
OtJT RESPONSE; was the most recent response
nse word [1poken = 5paak(t
he-most recent response
ord);*p2 determined act
ionOUT-COMMAND; tree p2 has the 5 selection
and action-been verlfl
ed = YES; break; case WRIST COIJMAND :th
e most recent response-
wordHOLD R1ζ8PONSE; was-the-mHt-recent rtispo
nse wordSpoken = 6peak(
tbemost-recent response w
ord”):1p2-deter+njned a
ccio 口■ (OLDCo)ノ0aND; Book p2 has-the 5 selection-and
action-been verxfled=
YES;Breal to Ca5e OOMPLIAJ'JCE-COk4MA
ND :Shibe moStrecent-rQ
spoIISQ wordJf)RE-RESPO
NSE; wag-the most recent respo
nse word spoken = 5peak (
the most-recent response
word ); *p2 determined ac
tionll, ノ; 1 cheer REJOM + 4 sake D; not yet p2
bPis tJu+ 5election and
action-been ver+f'ted =
YES; break; default: break; break; to regular command case MOVE CoMJAAND : the
most recent response9e word
=waθ−the most recent
reSponse word-= 5peak(the
most recent response word
d): Next p2 determined action
= MOVE-COMMAIJD; tap2 has-
the 5 selection-and-action
been--YES; break; case S'rOP-COMMAND: the-
most recent response word
=W5Lθ−the most 7ecen
t response word-m 5peak(t
he most-recent-response-w
ord); next p2-has the-selecti
on-and action-been--YES; next p2 determined-action = S
TOP-COMMAND; br8ak; caRe MIJA19E COMMAND:
tllII-mo+3 mo-recent response
se-word =RESPONI; waθ-the most-recent res
ponse-word-speak (the-Ioos
t-recent response two words
) ; tap2 cletermioed action
;RKLEASEE COMM-Thu p2 bas
the 5 selection and a, c
Lion-= YES; break: case ) IOLD COMMAND: he
most recent response Wor
d = wa8 the-+nos also-rec
ent respoIlse word-= 5p
eak(tbe most recent, resp
once-word ):tp2 determine
ed action=HOLD-COMMAND;
rest p2 has the 5=lection a
nd action-= YES; break; case IN COMMAND: the mo
recent response wor
d==Wa[1tile mosire
cent respoIls(+ word-=
5peak(Lhe-+noSL-recGnt r
esponse Word) Nio p2dater
lninedaction=ND to INCOML4:end
p2hasLhase,LecttonandF1et
LOIl-Yr';S; break: ctssa 0IJT COMMAND: the
mosshireCen'-response-word=
Wait, I+emost, recentrespo
nseword-=speak(tl+el+105t
I'e Cent response w□rd)
Knee*p2 detI3rmined actio
n = 0LIT COIJMAND; *p2 t
+X+s Lhe sel++ction ana
l nation-= YES; 1) r(!ak; case FIJX COMJAAND :th
i most recent re++1+on
se word = WFIθ−the m
ost recent rQspoIISQ W
Ord-” 5Deak (LIIR+++oIII
t, -recent reSponse word
) ; Tree p2 de LOrllllnnnd ac
jl On = rll-EX COMMANI); *
p2J+as the 5 selection an
d action-1= YIES; break; casp, EX'L'ENL) CIJIAMAN
D : Llltl moSL-reesnt I
'l+++1lOIlne WOId
: WaB the m, 08trecent-resp
onSe word-=5peak(Lhe +++
ost recsnt rQspoIISQ word
); book p2 determj++ed acLi
on = EXTEND COMMANI) f:
p2 has thq 5 selection and
action-ified = Yl; brG(Lk; Additional action/yo/Cnne LESS eOMMANl): 1, ++
e most rfJCe+l l,re3poI+3
'/1QId =+Wail Lhe
lll0Sj rI3cent rG8poIl
so Word-=5peak(the most
recent response word); wood
p2 determxllQd aCtion
= LESS-CO Ak4ANDNio11211F1
．． 1 the 5eleCjlOn-and acj
roll-Snow YE! J; break: case MIJRE COk4MAND: Ll
le l1IO5L-rGCOrlL reSpOII
SO-Word =W+lθ-tbqmostr
(1centrc, +Ipor+seword-=Sp
Gak(Lfll!1llOUjrecQIILrl!
Illp0111110word);*p2 dCte
rmined action = MOHIu-COI
JMΔND;-*p211as the 5 select
ion and-action-= Y ratio S; breIILk; The rest are commands only from the keyboard and are strictly for debug purposes.
used only. doI'all 1. I-: Wood p2 deLOrmio++d r, +″1nc
Lion = co+n river++ d; *p2 d
etarmjru++1 ir,tion
=z O:1:p2 ++Cor, Lhr+
r, alr+cLion a++d *aL(on
ht+t+-=YEconi(: break; DISPERR, C860129 This routine is called with 7 oirs@rstflag'
When this happens, it will alert you to the usage status and fix the arm. then works
Asking users whether they would like to see the work resumed.
Ru. If "rsLflag" is sad, i inc l u
d e “defines, h”11include
'5tructs, h"111ncLude je
xtrnvar, h'disperr(err, jo
int+ rstflag) Int err+ joi
nL, rstflag; Inj ir r8p
ly+ θtatic Int ignore+1f (r
stflag == TRUE)ignore = F
ALSE; if (rstflag =)FALSEe)ign
ore = TRUE; if (ignore == FALSE) 1f
(err != FALS[ii)1ockup('
L'ROE); clearscreen (10, 24): prxn
tff ("\07"); movecursor (24+O); f'or
(i=o; j<7; +1-1) set[x),
mode = LOCK: switch (err) case PO'rERR: prjntf ('Malfunction In p
ot%d, pot =%d″, joint. pots(joint)) r break; if (err != FALSE) movecu
rsor (15, O); prlnR (I■gnor
e errors from now on'i'
(y/n) ');wbxle((reply = I
ce') ) == (-1) );if (re
ply == +yI)ignore = TRU
E: 1ockup (FALSE); DISPLAY, C851213 This routine displays the status of all joints.
#1ncLude "5tt1.io, h'1ine
lude "defines, h" humiliation1include
'8truCtO,h”int i, bad
; double at, a2. a3. a5+ WX+
'N'l+wx = wy = 0.0; 1ockup ('rRUIj); cLearscreen (10, 24); move
cursor (10,0): prxntf ('J
o1nt\tModeXSt8a t\tPo t'%
, n') ;for (i=Q; t<'y;
++1) printf ("%d\t%c'vL%
d\t%d\n', ir 5et(i), mode
, 5etpots(i)); al = pots(1) This RAD PERPOT
I + 0ffSetCa2 = pots (2) US R
AD-PERPOT2 ←offset2; a3 =
pots (33 RAD PER-POT3 + of
fset3;bad = arm2world C&
wx, &wy, al, a2. a3):for leg(
&elev, &flex, 0.0. aL, a2. a3,
0.0,0.0,0.0);al book=57.2
957'7951;a2 Kodama 57.2957'79
51:83 books = 57.29577951;ele
v *-= 57.29577951; flex
body = 57.29577951; if (bad
= -1) printf ('Bad data in arm2
world\n"Lprjntr("\r+, Arm
coordxnates (%, Of, %, 04.%
,Of)\n', al. pru+uf (World coordinate
es (%, Ofmm, %, Ofmm)\n", wx
. pr+nLf ('elGvate = %3.
2f flex == %3.2f\r+
” + e l eV llf (pend on
== TRUE) prlntf ('Pendant
is on, sample = %d\n”,
pends1se printf ("Pendant is off'X
n"); 1ockup (FALSE); DIS SCA and C860129 This routine
The program position will be displayed. $1nclude '5tdio, h"#1ncl
ude ”defines, h'1inelude
"5 tructs, h"#tnclude"eX
trnVar, h'd+5-scaleN double x, y, angle, angle2
．． angle3:]nt l+ko: 1ockup (TRUE); clearscreen (15, 24); move
cursor(15,O) :printf(”po
sxtion x y patl
pot2 potj\11-/. for (1=o; l<5; 1++)
nnl(lul, = mumory(j)(1)
Tree RAD P[IR-PO'['l + offset
lang1a2 = +++amory(1)(2)
*IIAI)-PEI(-PO'l"2 + of
'fset2aogLe3 = mamory(1)(
3) This RAD PlfflRPOT3 + off
set3J Tomi 1 + 1; arln2WOrld(&x, &”/+ ang
Lel, 811g1t12+ al1gle3
) :prlntf(" %2.0d %6.
2f %6.2f %6.0d %6. Od%6. Od
\n” + j ,X +y+memory(1)(1
), memory(i)(2), memory
(i) (3)] if (side = W 1) printf('1ef leg'sn'); if
(side wx -1) prlntf("right 1egXn"); pri
ntf("leg m %6.2f 5hiftx-
%6.2f 5111fty =%6.2r\nle
g, 5hiftx, 5hifty); printf(”
elevate-%6.2f flex
ang=%6.2f Xn'levate, fl
ex ang); 1ockup (FALSE); return l-115. 11nclude ”5tdi6.h'$1nC1u
de “deNnes, h”$znclude
``sructs,)1''$1include ext
rnvar, h'arm2world(x, y, at,
a2. a3) double book X + *y+ a
l + a 2 + a 3:exLearn doub
le 51nO+ cos(1:lnt 0kay: double 1eno, 1ent, 1en2, 1en
3. temp-a, xcoord, ycoord, pi
:1eno shi370.00 : 1enl = 152.40 ; 1en2 = 304.80 : 1Gn3 = 374.00 ; pi = 3.141592654 ; okay
= 1: if (0kay = 11 emp-a = at + a2; xaoord
= ]enO; xcoord += (1enl tree coθ(al)
) :x+〕oord += (1en2 coming co
s(a2)USC□5(al) ) :xcoora −
= (1en2 * 5in(a2) end 5zn(a
l) ) :xcoord += (1en3 rice c
os(a3) −* coe(temp a) )
:xcoord −= (1en3 comes exn(a3)
* sin(temp a) ) :ycoord
= (1eni end 5tn(al))
:ycoord += (1en2 tree cog(a2)
Rice 51n(al) ) :ycoord += (1
en2 t-5in(a2) terminal cos(al))
:ycoord +w (1en3 * coe(a
3) *81n(temp a));ycoord 4
x (1en3 * 5in(a3)ll coe(t
emp a)); Kx x xcoord; tree y Mycoora 1 return (0); else t@turn (-1); FOR-LEG, C851203, 851115 this le
The chin is the angle of elevation from the joint angle of the arm to the hip of the leg and the knee.
Calculate the bending angle of 11nclude “5tdio,h”$1nctu
de 'defines, h"11nclude3
'θtructS, h'double body elevt,
Button flexx, aO, al, a2. a3. a4. a5.
a6: exLearn double Japanese in (
)+coe(), acos+1. asin()+5
qrt(1, atan(1: double elv,
fix, u, v, x, y, ul + 11. a
tt, hhx, hhy, kkx, kky, p
i ; double fix offset ang
, temp ang, r, u2. v2. ul2. r2.
A, B, C, NAaO Shoulder rotation al Joint] a2 Joint 2 a3 Joint 3 a4 Yaw a5 Pitch 86 Roll WIDTHPAP width 1) EP'rHPAP depth ul Upper leg length Il Lower leg Length 18gl111 Total length 5hiftx Shoulder horizontal to arm 5hyf
tx Shoulder x, y perpendicular to arm
7-m coordinates u, v of pitch axis
Calculation of leg coordinates H and lower leg pi = 3.141592654 :ul = lo
g / 2.0; 11 = ul; x, y calculation arm2world(&x, &y, al, a2.a3)
: Calculation of u, v u w x −5hiftx ; v”” Y
-5hifty; Calculation of knee X r = Jqrt ((WIDT'H*tVTDTH)
+ ((11-DuiPTH)-*(11-DEPT
H)) : u2=u*-u; ul2 = ul; r2=r; v2 = v books vI Affi 4*(u2+v2); 8I+ 4 books V books (r2- ul2- u2- v2)
;(': = ((r2-ul2) tree(r2-u
l2)) + ((u2-v2) tree (u2-v2))
;C+=2*r2:k(u2-v2)+
2 uJ2 bottles (v2-u2) + 4 taste u2 bottles (v2 r
2) ;NC-C/A; NB≠B/A; kky = (-NB + 5qrt(CNB
NB) -4* NC))/2 :kkx
= 5qrt(ul2 − (kky tree kky)
);elv=asin(kky/u]);a
lso ulv w acos(kkx/uL);i
f (elv < Ll, O) elv wOlOr fix offset3ng m atan (WIDT
H/ (11-DEPTH) ) :if (((
v-kky)n0.0) &&((u-kkx)>
0.0) ) Lamp-aflg ff atan
((v-kky) / (u-kkx) )
;else if (((v-kky) < 0.0
) && ((u-kkX)n0.0) )if ((
(u-kkx)/r)n0,5)temp-ang=
asin((v-kky)/r) :els
e ternp ang = -acos((u-kk
x) / r) : else if (((v-k
ky) <sail 0) && ((u-kkx) < 0.
0) ) [ if (((u-kkx)/r) n0.5) temp-
ang = (-pi/2.0) + aein((v
-kkY) / r) :alse temp a
ng e+ −neoθ((u−1(kx)/r
); atL -temp-ang + fix-of
fset allg; flx w att -elv
; 1f (1'Jxn0.0) flx 0.0; 1Hexx w fl'x: GET'S'rAT8. C860129 This routine is
11nc detects position and error status from each joint
lu+le “5tdio, h”11ncluda
"defines, h'11nclude"et
ructs, h'$1include 'extr++
var, h”getstatuL+0 tnt i, error: for (1=O; igu7;++1) pots(
iJ = 5tate(i), pot: potv after Q
Get error value arrow ++++ fault(i)
; Check for failure if (erro
r! = 0) dIs+arr(error, i, -1):ruu
lL(1) w O: HANDCON'r, the file on C86020 contains readings from the new hand controller 1
There are four routines associated with direct detection and action. 1inelude "5tdio, h'11nclu
de 'defines, h'11nalurf
"5 tructs, h" current-desir
ed 5election, current-de
sired action )int current
desired 5elect1on,curre
nt desired-act5tatic int
presentj-selection, pr
EVIOUS J-s. present-pacton, previ
ous”aQaverage-penaanc sam
ple；average-pendant sample
e w +rxamine the pendan
t-pendant sample ); if(average pendant sample
＞= O) Has a stable Be/Danote reading.
Ru. This will decide whether to select or accept/con. if(average pendant sample
(800) selection, and this recognition is also present -p-3disctiOn =
CategoryOriZd-8allection(pe
ndant sample );if(presen
tp-action! = O)f++th
the-keyboard-buffer():if
(present-p, -action != O&&
trained ==YES) switch(cu
rrent deslred 5O1ection
) case to stop the arm and hold the wrist. ARM COMMAND:
Ca5e HIjCOMMAND: Increment finger when the button is released
After execution of the order case KNEE Co) JMAND:
case FOOT OOMMAND knee and-m
alntajnt, he-present-pO8t
tion-Ofthe-armO; break; default : break; present action = O,'p
revjous p-act, inn = Q; ar
e we rn C0ntlnllllOuS mot+o
n = No: 1f(preθent-p-sel
0&& present-p
5election jx prevlous-pst
uff: 5election-or-action
1nto-the keyboard-present
p-5exactton, present
p-action); praVlous p
-5el;+ct1on = present-p
-selectlon;lse pendant-sample);ifCpreS
enjp action! = preVious
-Tl-actiOn'lc&present-p-
Pkctton 0
)stuRs+! 1action or actl
on-into the-keyboard-er(
present-p 5 selection, pr
esentj:+action);prevlo
us-p-action M present-p-
actiOn;zf(is-the-arm movi
ng() == YES&&present-p-
action > w O) stuff 5ele
action-or-action-1nto-the
keyhufl'er (present-p-sele
ction, presLIot-p-octio
n); previous-action
w present-p action; are'w
e in-contlnious-motlong
tygs;These are for this routineexamine the-pendant-1nput
(digital-value) int dlgl
La, 1. value; first efjne SAMP
LES'ro LOOK-AT 311de
fl++o ARRAY-8IZhi
8AMPLK8 To-Lc
IOK, ATprevious-pondant-v
aluea(SAMPLFiS-To-LOOK-AT
) = digital for (i = O: i < RAMPLEi(T
o-LOOK AT; i++ ) preview
s-pendant-values(i) =
previous-values(1+1)
; for(average = O, i −0: 1
< SAMPLIES-To-LOOKl++) average += prGVlous-pen
aflnl, valnps(i); aVerage
/= SAMPLES To LOOK A'T
';for(stable-readings = 1
．． i = O; i <To-LOOK-AT;
i← ト )ir(jab8(previous
-pendant-values(i) -value
e) VWINDOW) stab
le-readings = O; 1f(sta
ble-readings) pokeb(314,
0xbOOOO,I + );return(ave
rage ); 1se pokeb(314,0xbOOO,'?'):r
etern (-1); category 5 selection (aver
age value )1nt average
value; $define NUMBEROF 5
ELEC'rl(ING 10,, [4095,
2763, 330B, 2379. 3662°25
57, 3016. 222513868. 2
655int i, rotar
y swxtch position;for(rot
ary SWI tch-position = (-
1) + i = O: 1 <N[IVBljR(
11-IL, n1ci'1ON8:, i++ )+
f(+abq(avuragu value −LI
+a-aelocLion-) < sw+N
L)t)w)rotary-switch p
position = i; +f'(rotary-
switch position < 0
) pok8b(316,0xbOOOO,”?'
); else pokeb(316,0xbOOOO,
'O' + rOtary-position)
; return(rotary 5w1tch-posi
);categorize action
(average value) int ave
rage value; 11definn N[JM
BEROF AC'r4ONB 4= [409
5,433,206,1501;int
i, push button-set
ing;for(pusb-buLLon set
ing = (-1) + i = O; N
IJMBER0FAC'rrONS; i4-+
)if(1abs(average value -t
he action-) < AWINDOW
)pusll button 8eLt1ng
= 1 :if(push-button se
Vting < O) pokeb(3LLL
QxbOOOO,"i");++1sopoksb
(318,0xbOOO,'O'+pusbbutto
n-setting): ruturn(push t)tJLtc+ns
etting >; HOM Gai C851213,85
08213 This routine is executed when IN+ is pressed in fixed mode.
, the absolute value of the button/positioned arm position is
Use the nested arm to move the arm to the home 1 position.
It is something that can be done. 11nclude '5tdio, h"$1ncLu
dG'defines, h"$1include'
5Lructs, h"11ncludo'extr
nvar, h”home(I double angle, angle2.angl
e3. pi, n5tpotl, n5tpoL2. n5t
pot3: pi -3,1415! j2654 ; place
The experimentally determined pot reading at the desired nesting position o
uLpOLL! 1700 ;n5tpoL
2 = 1363: ++BLpot:s 1,000 2815; arm
so t, (1
) −poθ= n5tpotl ;5et(2), p
oS = n5tpot2 :5et(3), pos
= t+5LpoL3; 5et(f)1. dur
,y=PlnRIOD:voL(11,doLy=
PhiRI・)D;qaL(2TJuty = l'l
i:RIOD;5et(,'5,1.+juty=
PEHIOD; HYDRO, C851203 Each type of actuator has its own control subroutine.
do. A routine controls a hydraulic actuator. hydraulic actuator
1ocjinclude "defines, h'
1inelude “5tructs, h”11in
clude 'extrnvar, h'hyIJro
(joint) Int joi, It,; switch (set(joxnt:1.mode)
case LOCK: 5tate (Joint), motor = OFF:
5tate (joint), valve = F3HT
Jr; 5et (, 1oxnt), poB= 5tate
(Joint), pot; reakl case ll0LD: case MOVIE: case FREE: hhnld (joint): br*ak+ hdriver (joint); HHOLD is the living body of IIYI)RO routine
and the pulse width jot error, clock,
deadtm:clock = pnrms(i),
clock; deadtm = 5tate(i), w
ait:error = (set(i), po day-5
tate(i), pot) not parms(i). if ((par+n8(i), r-hys < er
ror && parms(i), f hys >1
1 deadtm> 1) if (set(i), mode = MOVE)se
t(i), mode = HOLD; 5tate(1)
, motor = OFF'; 5tate (1), va
lve = 5HUT; if (deadtm ==
O) First position? dsadtm =
parms(i), dead; if it is the first position
wait tie lse if (deadtmn1) count continuation
If it is in the line, 1-deadtIf1;
Kaku/Todakun else dendtm = O; Flag
If (timar(clock) > 5et(i)
, duty) state (i), motor = OF
F;1se state(i), valve = 0PEN;if
(error <= parms(i), r
h'ys) itatll(1), motor x R1
1iVljRFIJ1se state (1), motor m FORWARr)
;] state(i), wait = deadtm;HD
RIVER is the main body of the hydraulic routine,
Turn the bits up and down that actually turn on and off the pops, motors, etc.
move. hdr4ver(i) 1ntt; intj; J y parms(1), ouLqdr; out
blts &= parms(1), raset;Ou
l, hltB l-= pump□), IIIask
&5tate(1), motor:outbtbs
l= parms[+], vmask & 5tat
e(i), valve; INCREM, C851203 This routine allows you to increment or decrement a joint via the keyboard.
The person who uses the product selects Yozu 111 and then the joint number using the key.
Manpower. The keys 1÷'' and ``-'' move the joints one at a time.
To exit this mode, press key 111 again. 1inelude '5tdio, h"1znclu
de "deflnes, h'11nclude
'5truets,h'1tnclude'ex
trnvar, h”increment (code,
mode) int code, *mode; static Int Jnt=o; 5tatic int adj; if (*+node =z O) 1ockup(TRITE); clearscreen (2, 24); movecu
rsor (2,0): prxntf (' J OI NT knee NG,
REMENT',,n\n")+printf ('
O-6Joint numberXn');pr
lnLr (” + Extend join
t\n -Contract jointpru+
tf (”c Coarse adjust
f Fine adjustment
tf (”i Exjt increment
t +node\n1);for (jnt=o;
jnt<4; ++jnt) set(jnt), m
od@= I(OLD; Each joint is hol
5et (jnt) in d mode, duty -PIERI
OD; Execute adj in all duty cycles
= 10; node = l; 1ockup (FALSE); 1se if (code 47 && code < 5
5) jnt = code -48; else if (code = -x '+')s
et(jnt), pos += parms(jnt)
, tnc * adj; else if (code
=? '-') setCjnt], poe -w p
arms (jnt), inc button adj; else
if (code = 'c') adj = 10: else if (code = 'f') adJ
= l; else if (code =w 's')5et
(Jnt), duty −1:jf (set(Jn
t), duty == 0) set (, Int), du
ty = l; else if (code;
4 'a') set (jnt), duty +=y l
;if (set(jnt), duty > PERI
OD) 5et(jnt), duty = P[i:H
40D1se if (code != 'i') for (
Jnt"O;Jnt<'y; ++Jnt) set
(jnt), mode = LOCK; next mode
= o; mainmenu(); INC-XY, CB51213. 850731 this le
The machine reads the current position of the arm and adds an offset.
to set a new position for the arm. This routine
Or is it true that the speed of each joint reaches the final position at the same time?
Change each speed so that 1nclude '5t
dio, h'1include 'defines, h
"1nclude"5tructs, h"1ncl
udC"extrovar, h'nc-xy (dx+
dy) int dx, dy; int badl, bad2. jnt, eme
rganc7; double X, Y; d Oub 1 e a n g e l + a
n f51 e2 + a n g Le 3:
emergeCy x O; for (jnt=0; jnt(4; jnt
++) if (set(jnt), mode == L
OCK) enoenergy: ir (!emergency) badl = bad2 = O; angle
= pots (1) Next RAD-PIERPOTI
+offsetl;angle2=potS(2
) * RAD PERPOT2 + offget2
;Angle3 = h pozs(3) next rlAD P
H! R-POT3 + Mfset3; if (deb
ug) printf('・KimotoKimoto**KikuKiki\n1);p
rintf(”calling arm2world
with a14f a2=%fa 3 =% r\n
”, angLel, angle2.angle3)
:badl = arm2world(&x, &y,a
nglel, ang1e2. angle3);+f
(debug) printf(”returns bad=%d x=
%f y=%f\n" + bad l I X +
7) rX += dx; Y +=dy; if (debug) printf('after incrementi
ng call world2arm wxthV;%
f\n"+X+'/L bad2= world2arm (&angle,
&angle2. &angle3. x, y);
1f(debug) printf('returns bad=%dal-
%fa2=%f a3=%f\n", bad2゜i
f ((badl < 0) II (bad2 <
L)))x −= dx; y−Mdy; lse [5et(1), po9 = (angle −off
setL) / RAD-PERPOTI; new desired
Position set (2), pOθ= (angle2- of
fset2) / RAD-PER-POT2; new
Desired position set t(3) -poθM(angle3- off
smut3) / RAD PER-POT3;for
(jnt=o; Jnt<4; jnt++) se
t(jnt), mode w MOVg; setspe
ed(); The speed of each joint reaches at the same time
INSELACT, C860206 The selections and actions determined by this routine
will be started. and several other housekeeping and condition-related matters.
You can also select related functions. Wancluds ”5tdio, h'11inclu
de “defines, h”$Jnclude
, 5 tructs, h”ed-the-determined-p2-commanci; znt the-determined-select
tion, the-determined-act
ion. US p2 co+nmand verified; $de
fine RESET 0if (US p2 co
mmand verified == No
)return(-1) ; 5w1tch(the-determined 5el
) [case: EMERGENCY STOP-COll
lMAND :case” : put the-Pirm-into emerge
ncy 5top(1:not p2 co(nmand-v
erified=RESET;onpath
= FALSE; re'Lurll: b r e a k : case ELEVATEJO ■, IAND :, 5W
1tCh(the determined act
ion) case MOVE-COMMAND:
elevate tree-area (1: button p2-
command-verified = RESET;
break: rest p2 command-verified = RF
iSg'[': break+ default: break; break+ case FULLJXTgNSIONJωAUND:
5w1tch (the-determined act
ion ) case MOVFi-COMMAND:f
ll extension the area(
);)kp2 command-ver[ied =
RESE'L';brealc+ case STOjCOMMAND knee and-ma
while the-present-posit
izn-of- also on his arm); *p2-com
mand-verified=RFiSET;re
akl diJault: break; 1) r e a k ; Ca5e HALF FLEX CQMMAND+5w
1tch (thedetermined action
) case MOVE C01JJAND: hatf
flexJhe-arm:l: rice p2 comma
nd-verified=RESF:'L';b
r e a k ; case 5TOP C0Ib1AND:and-m
aintaxn the present posi
tion-Of-thllll-arm();*p2-c
command-verified=RESET;b
reak: default: break; ful 1-flex-the arm(1;*p2-
comunand-verx field=RKSl
li:'r;1) r e a k : case 5TOP Co gift MND knee and-ma
llltairI-LhQ-pre3ellL-pO8
ittOn-Of-the-arm(); button p2 co
mmand-verified=RESET:br
eak ; default: b r e a k : reaL case FIGURE-4-COMMAND:5w1
tch (the Jetermined action
) case MOVE-COM) JAND: figure
e 4-the arm (1; US p2-command
-verxfied = RESE'r;break; case STOP-COMMAND: and ma
intain-tbe-present-pooi''J
ion-of-the-armO;*p2 coaun
and-verified=IIESET;bre
aic; default: break; reaki case ITUP-COWJAND:5w1tch
(the determined-acHoo)ca
se MOVE-CO1 Crystal Buddha ND:5etup-the
-ar+n(): button p2-command verified = RE
S[ii'r;break; case 5TOP-CO1 & French ND: break; default: break : brealc;
on ) case IN CiOMMANrl:mo
ve arm-1n(); Next p2. command-verified=Rg
SE'r;break; case OU'r-COMMAND:move-ar
m out (); It p 2 COmIn and -v e r l
break
: case STOP-COMMAND:and-mai
tain-the present position
n-of-the-arm (1:10 p2 command
d-verif'ied = RESg'r;brea
k; default: break; break; cas@HIP-001A French ND: 5w1tch
on ) case FLEX-COMMAND:fl
ex-the-hip(1; not p2-command-verified x RE
SE'r;break; case gXTEND-COMjMND:exte
nd-the-hip()nee*p2-con+mand-verified =
RBIT; break; case 8TOP-COM) + French ND: 1! nd-
Main tain-the-pr e B e
nt-pos i t i 0n-Of-the-
a r In(); *p2-command-ver
ified w RESB'[';break;default: break;bread: case KNEE-00)J)AAND:5w1t
ch(thedetermined-actlon)
■ case FLEX and IjOMMAND: flex-
the kn@e(1; rest p2 com+nand-vetj I'ied =
RIBIT;break: case FiXTEND-COMMAND:ext
endjhe-knee()knee1fp2-co+n+nand-verxfied
= RFSE'l';break; case STOP-COMMAND: and-ma
i nta in-the-pre sen t-po
siti on-o f-tb e-a r+n()
;Next p2 commar Tsukasa-vertfied =
RIESET; break; default: break; break+ case FOOT COIJMAND: 5w1tc
h(the-determined-action)
case IN-Co)JMAND:rotate
foot 1n();-*pz conunand-
veri fied” RFj3ET:break; case OtJ'I'-COMMAND:rota
te-foot out(); rest p2-commP1n
d-ver1 fied=RESE"l':bre
ak; case 5TOP COMMAND: and-ma
in ta 1n-th e-pre sent
, -pO8i ti 0n-OfJb e-a rl+
+(); law p2-command-verifie
d = RESK'! ';break: default: break: break: case COMMAND to WRIS'r: 5w1t
ch(the-determined-action
) case RELEASE-COMMAND:re
lease,, 3he-wrist(); not p2-co
mmand-verified=RESET:br
eak; case HOLD-COMMAND: hold-t
he-wristO; next p2-command verified w RE
SE'r;break; case 8TOP-COMMAND:ancjma
while-the present-position
on-of'the-arm(): rest p: jcomma
nd verxfied = RF:SE'I';b
reak: default: b r e ak ; break; Ca8e COMPLIANCE COMMAND:
5w1tch (the determined-act
ion ) case LESS JOMMAND: ad
j'ust the-wrist compliant
e('+'); home p2-command-verified = RE
Sa'r;t)reak+ case MOFJE-COMMAND:adjus
t the wrisj compliance('
-' ): button p2-command-verified = RE
SET; break: case STOP-COMIJNJD knee main
tainjhe-present-position-
of the-arm();*p2-command
verified = RESE'r;break; default: break: ror (joint = = o: joxnt <4;
joint++) set(jolt), mode
= MOVE; home (1: break; CUR3ORUP: 1rtc-xy (0,25);
upper movement break; case CUR8ORDOWN :znc xy
(0, -25); Downward movement bre
ak; case CUR8ORLEFT:tnc xy
(2mad5ide, O); left motion bre
ak; case CUR8OR-RIGHT:1nc-
xy (-2511side, O);
Right motion break; case AL'l'-I:
increment mode increment('i', &mo
de); break; case ALT-J: adjuatc);
Adjustment of joint parameters break; case ALT-W: adj ustwr();
List parameter xtbreak; case ALT M:
List My Unity for (3olnt=
4: joint<7; 5et(Joint), mo
de = k#sH: external rotation
n = O; break; case ALT T:
List tracking mode 5et (5),
mode = TRACK; Track pitch
Set to operating mode 5et (6), mode = T
RACK
external rotation=O;
break; case ALTC: cen wrst (1; squirrel
1) reQk + case ALT B: 5cale the wrlst(): auto
Motion Comb Brianos cent up break r case ALT S:
Current position memory 5tore('s', &mode
); b r e a k ; QaSe ALT A: 5cale(); Work empty
Free standardization between 5cale the-wrist(1;
break + case 'Q':
Execute nest calculation neSt(); break + case ALT V:
change-the volce
- Recognition parameter break: case 'D':
Status display display (C break; case 'A': dis-8 caled;
Display of parameters break; case AL'r O:
Safety leg limit switching 5afety A-'1'Rt
lE : break : case ALTjl : move
Path on/off switching path Aw TRUE
; break : case ALT 11 : pend-On ”= TRUE;
7 #7/#7 (D'iJ exchange b r e a k + case ALT D: De
+7) Switching debug Ava TRUE; break1 case ALT-Z: position
position/') 7 da (D switching cycler A=TRUE; cycle position y O: break; case '%I: Temporary switch
1ockup to return to Dos (TRUE);
Temporary 1:, 7-A hold-i movec
ursor(0,O); clearscreen(0,24);system(
'command, com' ) movecursa
rc O,O); clearscreen(0,24); mainmen
u(); 1ockup(FALSE); appropriate
control fll[break; return to 1111 break; this pJcommand-verified = R
ESET; KEY, CE] 60129 This routine functions from the C86V2.3 library.
key-scan""key-getc'"
These functions directly retrieve characters from the keyboard (two ways to obtain them).
be. key() int pressed; if(key-scan() +=x (-1))r
eturn(-1); pressed = key getcH; if((p
ressed & 0xOOff) = O)re
turn(pressed); else ret
urn(pressea &0xOOff);1
1nclude ”5tdio, h@＄jnclud
e 'defines, h"jinclude"
5 tructs, h”Mlnc+++r11!”p
ytrnvar, h”1lockup (lockf
lag) int lockflag; if (lockflag = TRtJE) dwrp
ort (8, outbit, s & 0xEOOO
); ref dac = TRUE; else wtchdogO; Write valve setting value
and trip the timer ref dac = FALSE
; ■ MAINMENU, C860129 This routine/subscribes the main menu selection list.
#1nclude "5tdio, h" $znc
lude 'defines, h'#1nclude
'5 tructs,h'$1include 'e
xtrnvar, h'mainmenu() 1ockup(TRUE); clearscreen(0,24); movecur
sor (0, 23) lprintf (' ART
[(ROBOTHquicJputa(0,23゜clearscreen(2,23):movecur
sor(2,0); printf('fl-Arm f2-Ele
vate0rey-: Move. In, Flex, Re1ease, Less\n#);
printf(”f3-Hlp f4-Ful
l Gray +: 5top. Out, Extend, Ho1d, More\n1);
prlntf('f5- Knee f6- Hal
f FlexSPACE: Emerg-ency
Halt\n”); printf(”f7- Foot f8 = Fu
ll Flax\n");printf('f9- Wrist flo -Fi
gure 4 A: Displaysca
led valuesXn');prjntf("
l -Comp 2-5etup
D: Displayjoint 5tatus＼
n'L printf('
Alt A: 5calthe work
ace＼n”);printf(”M
oving the arm Alt B: 13
etupfor auto compliance
\n1); printf('
ALt C: Centerthe
wr1stXn'); printf(“Alt Q: Re5erved
, Alt D: Setdebug m
ode\n');printf('Alt R: Re5erved
Aft K: Re5erved＼n
”L prerrtf('Aft S: 5tore
current Aft F: Re5e
rved\n"L prlntf('Aft T: Set wrlst
Tracking mode Aft G :\n
1); prlntf('Alt U: Re5erved
Alt H: path on
or off＼n")+printf('Aft V
: Change record parameters
Aft I: mental Jo1o't c
ontrol Xn');printf('Al
tW: Adjust write parameter
ters Aft J :Joint parameter
ters \n");printf('Alt
: Program exit Al
t K :\n');printf('Alt Y : Re5erved
Alt L: lag 5
afe 11m1ts XSn',);prin
tf(”Alt Z: Toggle position
ion cycler Alt M 2nd wr1st
mush mode\n");printf('
G: Perform nest calculation
trons Alt N :nesting to h
ome \n”); printf(” %%:
Temporarily g, o to DO9Al
t O:\n1); printf(″
Alt P: pen, dant on
or off \n1) ;; Compliance level
pokeb (30
B, 0xbOOOO,'O' + wcompmap
(0) );1ockup(FALSE): quick-puts(rl c, str, in
g-polnter) string un
signed 5hort r,'c. unsigned char button string p
ointer；unslgned 5hort v+d
eo-segment; unsigned 5hor
t peek(); Device flag zf((peek(0x0410.0xOOOO) &
0xO030) =vxdeo segment
= 0xbOOOO; Monochrome else
video-segment = 0xb800
: Color Poe for Cr Mr US 160
+ c rice 2; pokeb (r, video segm
ent, rice (strxng pointer + ten
)! snow 0+ r +-2 ); quick puta (r, C, attrlbut
e potnter) FA property quickly (; put
unslgnQd 5hort r, Q:unsl
gnea char rice attribute poi
inter;unlillgned 5hort vi
deo 8egment+unsigned 5hor
t peekO; device flag if((peek(0x04LO, 0xOOOO) &
0xO030) ==v1deo segment
'! 1 0Xk) OOO; Monochrome els
e vlaeo-segment = 0xb8
00; Color board for (r= r button 1
60+c rice 2+l; pokeb(r, vxdeo-s
egment, attrbute! ≠
O; r+=2 A ・ NEST, C851203 This routine uses the current position of the arm as a nested position.
Translate the location. This routine/is the variable “offsetL”,
“offset2”, “offset3” must be set.
Establish diagonal standards. $1nclude “5tdlO,h”$1nclu
de 'defines, h'1inelude
”5 tructs, h'1include'ext
rnvar, h”nest() double rrstangl, nstang2.n
stang3; Desired arm nest angle (radians) nstangl = -1,570796327;ns
tang2 = -1,570796327:nsta
ng3 = 2.9723926827 where arm
Assuming that the pot is properly nested, read the new school
Calculation of positive offset offsetl = nstangl − pots (1
) *-RAD-PER-POTl;offset2
= nstang2- pots (2) next RAD-PE
R-POT2;offset3=nstang3
- pots (3) *-RAD-PERPOT3';
printf (”Ne5t offs++t val
ueS: o14f, i:+2=%f, to o3x%
nl. offsetl, offset2. offset3
): printf (”Pot values for
offset: pl=%d, p%%d. pots(1), pots(2). pots (3)): 1) ATH, C851213, 850919 this route
From the current position to the programmed position flI
I! A midpoint along the travel path is determined. good1nclude '5tdio, h'$1nclu
de 'defines, h'$1include
5 tructs, h"$1include 'eX also r
nvar, h'athH General symbols used pre'propos onpath otsO 0VE RAD-PERPOTl, 2, 3 of'fsetl, 2.3 set(), pos set(), mode double angle+ angle2. ang
l e3+ xl + Ml, x2 + Y'L X
+Y+5lope. 1ntercept. char dummy : Int t) ad, mOVlng, l :X=Y=Xl
=Yl=X2=Y2=O,O;5tep=100
; noving ” O+ for (i = l ; i <4; ++1
)1f (5et(i), mode = 'm')
movjng = 1: (movlng != 1) Moving (if PATH-1, move to a different point or move)
Inside (if PATH!=1, no matter what you call, it's the middle point)
Calculate Lockup (TRUE): onpath = 1: Arm is within the movement path
Get the current position of the arm indicating that it is in the angle w pots (1) US RAD-PER-
POTI + offsetl ;angle2 y
pots (2) US RAD-PERPOT2 + 0ff
llet2; angle3 ta pots (3) rice
RAD-PIICRPOT3÷offset3 ;current
get the (X,Y) position of bad = arm2vrorld(&Xl, &yl
, angle, angle2. angle3
); the desired programmed position [11(x,y)
obtained angle = rne+nory(prepr
opos) (1) US RAD-PKR-POTI +of
fsetl :angle2=rr+emory(
prepropos3(2) US RAD-PER-POT
2 + offset2; angle3 = mem
ory (prepropos) (3) Next RAD-PER
-POT3 +onset3; bad * arto
2world(&X2. &y2. angle,
angle2. angle 3); of straight path
Calculation 5lope = (y2- yl) / (X2- x
i) :1ntercept my2- Cs1o
pe coming X2); Decision from step X or y if ((slope-1) && (slope
< 1) ) if (X2>xL) X M xi + 5tep 1 if (x>= x2)
t ; else if (xi ＞= x2 )X ”
xi -B t@p ; 1f (X<-x2) x ; x2 ; onpath x O; y = (slope rice + 1ntercept
;6□se'Lf ((s□.pe < -1) l
l (s□.pe > 1) )if (Y2nyl
) y = yl + 5tep: if (y>tight y2) onpath = O; x = (y-b + tθrcopL) / 5lopu:
else if (yl ＞= y2) y = y
L -5tep; 1f (y<-y2) y-y2; onpath! MO: x w (y-intercept) / 5lope
; Find a predetermined angle bed = world2arm (&angleL,
&angle2. &a+Iglf13+ x+ Y
);1ockup(FALSE);if (bad!--1)ror U=i;1<4;i++)Sstl
:i),rnode=rlOVE:5et(su,p
os = (angle −ofTsetL) /
RAIl-PgR-POTI; aeL(2), po
s = (angle2-offset2) /
RAD, -PKRjO'I'2;5et(3),po
s = (aτ1g1e3- ofTset3) /
RAD-PER-PO'l'3;lse prjntf('WatJ Path require
s arm to 1 leave allowed wor
kspace\n 1) printf(' Tree * Half Please use pe
ndant to move arln. Thank you, \n1) onpath = O: ] PROCESS, C860123 This subroutine is executed by Arthrobot through distribution processing.
Make it look like you're in control. During each iteration of the main loop,
This procedure is a task that is normally processed in parallel by the joint rollers.
11nclude "5tdio"
, h"11nclude 'defines, h'j
include ”5tructs,h'1inel
ude "extrnvar, h"1definθT
IMEOUT 0 process H [ int i, pitchmode; int mov
ing: 5tatic int dntinoer t= CB
lf (onpath) path(); pitchmode = 5et(5), mode;
Description of existing pitch modes mOV11g = O+
Flag indicating that the arm is moving
ar (i=o; i<=6; ++i)
First, if (set(1), m
ode == MOVE) moving = l; if (set(5), mode != FREE)
case HYDRO: hydro(1); break; case BRIDOES: bridges(i); break; outputs l=WDON; dwrport(8, outbits); 5et(5
), mode w pitchmode;
Return the pitch to normal state again 1f (moving) ctlme = 200; if ((!n+oving) && (cycler
)) [if rctime) 1-OL1me : l se ++cyc1e-pO51tlOn :if (cyc
le-position 4) cycle posIL
son = 0:recall (cycle po
position+49); re-use uncode
for (i=o; i<TTMER8; ++
i) Increase duty time ++ time
r(i) : if (timer(i), > PER10D)
Periodized cell timer(i) code 0; RECALL, C851213 This routine recalls the set location from storage.
Now. Noji calls out a new position towards the new set position. Roux
Chin's J Hunger is also called $1nclude” 5tdio, h'$1ncl
ude 'defines, h"$1include
'5tructs,h'$1include'ex
trnvar, h'recall (code) xnt code: int pose, 1: poI9e -code -49+if (mem
ory(pose)(0)! = 9999)
The arm is standardized and the program for (1=o;
i<7; ++i)5et(i), pos = m
emory (pose) (1) ;if ((!p
athon) &&(i<4) ) set(1
), mode = MOVE; set(5), pos
w 5tate (5), pot: pitch is always
adapted pr'epropoI3P p08ei
General-purpose position indicator set if (pat
hon) path(); 5etspeed+1 : 1se clearscreen(23,24> :move
cursar(24,0) :printf(”\
tPO8ITION NOT TRAINED”)
; REVEPSE, CB51203.851031゜ko
The routine takes the barrier coordinates (X, Y) C millimeters).
Required joint $tncludo 'defines,
h"$1include "5tructs, h"$1
nclude ``extrnvar, h'world
2arm(al, a2+a3.x+y) double
*al, 'Ja2. rice a3 + x + y; e
xtern double acos(L 5in()
+5qrt(): lnt okay, regxon
:double 1eno, 1enl, 1en2,
1en3. pi, tamp al, temp a2. t
emp a3; double 1enl 1en22,
1en32. ang h"lB+h'fs rdoub
le tempx, rl, rl2. r2+r22. c.
ar ang, xnest, yrrest, alrr6
st. a2nest, a3nest; double org x, orlx2. y2. hy
p-1en, 5ide3, 5ide32. arrg b
l,ang b2double org xl,or
g-yl+hYT)len2:1enOw 370
．． 00 ; 1enl = 152.40 ; 1en2
= 304.80; 1en3 = 374.
00:pi-3,141592654;1
en12 = 1enl rice 1enl; 1en22
= 1enZ button 1en2; 1en32.
= 1ens rice 1en3 :okay=l; region=O; ang,, -hys=2.0;tempx=
55.2 ; Next xnest -1eno
Come rl -220,9077862;
Rice 5qrt (tempx rice tempx+yne
st4'ynest) rl2 = r1 rl; r2 = 369.1324618;
Rice 1enl + 5qr-t (len33-1e
n22) Not r22 = r2 * r2:
cor ang = 0.252554276:
Not acos (ynest/rl) US xnest
−425,2: ynest = −213,9; alnest w −pi/2.0; a2nes
t--pi/2. O: a3nest = 2.972392682;
org x = a x −1eoo; org
x2 = org=x to org−x; y2=y*y; if (((org x2 + y2) <
= rl2) &&(y<=0) ) region A region Ml ; hypJen = 5qrt(org, 1x2 +
y2 ) ;temp al = ((-1) next aco
s(org-x/hyp-1en))-cor
-arrgtemp-a2=a2nest;La
mp a3 = a3nest ; else if
(((org-x2 + y2) <=
r22) && (Y(=O)) region B region = 2; hyp len = 5qrt(orLx2 + 72
) ;hyp 1en2 = hyp ten *'
hyp-1en : tamp al = ((-1)
Next acos (orLx / hyp len)) -
car anorg xi w org x −(1
enl 釆cos(tampal));org-yl
= y −(1enl $ sln(temp al
) ;5ide32= (org-xi Shuo
rg xi) + (or, 1H-yl * org-
yl);5lde3” 5qrt(side32
) :ang bl = acos((len
12+5ide32-hyp 1en2)/(2*1
enl rice ang-b2 = pi-ang-bl
;temp a2 = (-1)*(acos((si
de32+1en22-1en32)/lemp a3
= pl −acos((len22 + 1en3
2-5ide32)/else if (((or
g x2 + y2) n r22) &&
(y<=O)) region C reglon = 3; -hyp len = 5qrt(org-x2 +
y2 ) :temp al = (-1) * ac
os(org-x/hyplen):5ld
e3- hyp len -1enl;5ide32
=5ide3rice5xde3;temp-a2=
(-1) Next acos ((1en22 + 5ide3
2-1gn32) /lemp a3 = pi -a
cos((1en22 + 1en32-5ide32
) /else if (((org x2 + y2
) >r2'2)&&(y>O) ) regio
n = 4; temp-al = 0.0; org, -x w x -1enO-1enl
;5ide3 = 5qrt(CorLx coming org
x)+y2) :5ide32=
5xde3 11- 5ide3 ;anILbl
= acos(org-x/5ide3);
temp-a2 = arrg bl-aco゛
s((1en22+5ide32-1en32)/(i
len2rice5ide3)) ; temp a3 = pi - acos ((lerr
22+1en32-side32)/(2-*1en2
rice 1en3)); okay = O; (okay = 1) hys = (ang hys / 1B0.0) rice
p1;xf (temp-al-hys) <=O
) tamp al = O, O: else
okay = O; 1f (temp-ai < (-1 US pi/2))
ir ((temp-al + hys)
= -pi/2)tempal=-
pi/2: else okay = O; lf (temp-a2-0.O)
Joint safety check jf ((temp a
2-hys) <= O) temp-
a2 = 0.0; else okay =
O; xf (temp a2 < (-1 pi/g))
if ((tamp a2 + hys) ＞= -p
i/2) temp-a2=-pi/2:e
lse 0kay =o; if (temp a3-a3nest)
Joint safety check 1f ((temp
a3 − hys) ＜= a3nest)
tamp a3 = a3neSt;
else oklIy = O: if (temp a3 < (a3nest −(p
i/2)) )if ((temp-a3 +
hys) >= (a3nest-(pi/2))
) temp-a3else okay =
O; 1f (okay == 1) mal = temp-al: rice a2) tennp a2; rice a3 = tamp-a3; return (0); else return (-1); REV, -LEG, CB60129.851114
The arm should be adjusted from the desired elevation angle of the lumbar region and the flexion angle of the knee.
Find a O+ a l +...n6. $tnclude '5tdio, h"$iwclu
de "dafines, h'11include
'5tructs,h"$1include"gx
trnvar, h'r6vjag(ao, al, a2.
a3. a4. a5. a6. elevt, flexx)
double rice aO1 rice” 1+*a2.rice a3.
rice a4. US a5* next a61 elevt, flexx
;extern double 51nO, cosO
+ acos+1: double elv, flx
, u, v, x, y, ul, 11. px,d ;+nt
bad; double ango, angl, ang2. ang
3. ang4. ang5+ang6; aO Shoulder rotation al Joint 1 a2 Joint 2 a3 Joint 83 a4 Yaw a5 Pitch a6 Roll WIDTHPAP width DEPTHPAP depth ul Upper leg length 11 Lower leg length leg Total leg length 5tliftx 5hift horizontally to the arm
Vertical x, y pitch to the arm
Arms u, v of pitch axis Leg coordinates of pitch axis
9, = 3.1415°2654; J'',
Tnm wholesale non ul = leg / 2.0; 11 = ul; u = V = X = y = o, o; ango
= 0.00 ; Shoulder rotation is now
stay at the value ang4 = 0.0;
Since it is a planar routine, sea 0.0ang6 =
0.0: Planar routine
So roll = a. Convert elevation and flexion angles to radians elv -e
levt: fix = flexx; Calculation of u, v u mul US cog (elv): u + x
11 lf, cos(elv) 'It cos(f
ix) -11 rice 51n (elv) to 5 inu +w
(-1) *-(DEPTH coming cos((olv+ft
x)) -WIDTH 5 inv W ul rice 5
in(elv) ;v+ml rice 51n(elv) rice
cog(flx) + 11 cos(elv) 11
5inv+m(-1) rice (DEPTH* 5xn((e
lv+flx)) + WrDT[(US0081x +
Calculation of YX −u + 5hxftx ly w V +
5hift'Y ; Arm joint (two-pair inverse conversion routine bad = wo
rld2arm(&angl, &ang2.&artg
3. x, y) :ir (bed != -1) Pitch angle calculation ang5 = elv 4- flx + (pi/2
) -angl -arrg2- ang3 ; arm
Return the corner rice ao = ango; mal = angl; rice a2 = ang2; *a3 tomi ang3; rice a4 = ang4; rice a5 = ang5; *a6 = ang6: ] else aout(33); ”LIMIT
” says SAFE, C851203.
This is to test the position because there is a position, 5cal
The safety level is determined by the patient data calculated in e and c.
TRUE JP indicates the position FALS E indicates the non-safe position
Indicated by a turn. $1nclude '5tdio,h''$1nclu
de 'dafineg, h'$1include
"5 tructs, h'1xnclude 'ext
rnvar, h'5are(x+y) double x, y: double tempa, tempb; if (
safety, = FALSE) return (T
RUE); Skip if not accelerated.
if (y = 0) tempa = (x-shiftx) rice (x-shH
tx) + (y-shifty) rice (y-sh
if ty) ;tempb = (leg-GR
IP DEPTH) rice (leg-GRIP DEPT
H); lf (tempan tempb) return (FALSE); (Ilse return (TRLIE): else tempa = (x-shiftx-Leg/2.
0) Rice (x-shiftx-1eg/2.0) + (y
) un(y); tempb = (leg/2.0-0RIP-DEF
rH) Rice (leg/2.0-GRIP DEPrH);
if (tempa > tempb) return
(FALSE); 1se return (TRUE); ] 5CALE, CB60123.850918 ruchi/
is the length of the patient's leg, whether it is the right or left leg, and whether it is the affected leg.
The location of the blib agram is determined by the location of rthrobot.
The general symbol used to standardize the position is: 5ide l = left't -1= r
lightoffsetl, offset2. of'
fset3Rinri-PERPOTI, RAD PER-
POT2. MD PERPOT3memory (
pose) (pot) pose o to 4
Pot. 1+4.5hirtx, 5hifty; $1nclu
de "5tdio, h"1inelude "d
efines, h'$1include ”5truc
ts, h"#1nclude"extrnvar,
h'5cala (1 external double cos+), 5i
n()l$deflne PI 3゜141592
654$defxne YPO3ITION 100
．． 00 Height of leg from arm $defin
e LENO37Q, O 1st arm segment $d
efine GRrP WIDTH125,0 patient installed
Body width $define YAW 5WING 789.
0$define ROLL 5WING 200.0
doul) IG u, v, xly+angla1. a
ngle2. angle3; double temp
x, tempy: int 5hLdr pos,
yaw, roll, pitch, position, b
ad :char dummy(15); 1ockup(TRUE); clearscreen(0,24):movecur
sor(0,0); flex ang = 90 : elevate = 45 : printf(" Arthoscopic Leg
Positioning Scaling Route
ifl e%n\n 1 ) printf('Is l
eg positioned in FULL EXT
ENSIONposition'i' (y/n, jummy(0) = bdos(1) :pr+n
tf("\n'): if (dummy(0)!='y') clear
clean(0,24);movecursor(0,
0): mai nmen u() : 1ockup(FALSE); 1se printf("Xn'X,n Please en
ter heel to knee length 1
nscanf("%F\n', &1eg) ;pr
intr("\n'); trained = TRUE; 5afety = TRUE: leg = leg2.0 + ang]el = pots (1) US RAD PET (
POTI + 0ffSetl ; angla2 =
pots (2) US RAD PERPOT2 + off
set2: angle3 = pots(3) rice
RAD PERPOT3 + Of'fset3;
arm2world(&x,&y, angle+
arrgle2. angle3);tempx=
X + 5hiftx = (x + (1, RIP DEPT
H)-(leg):5hifty=YPO8ITI
ON ;hx m 5hiftX; these
The value of mhy = 5 is used by the anthr'o routine.
lift'y: zO=sqrt((leg/2-0RIP-DEPr
H) Rice (l e g/2-DKPTI() + (GRIP
WIDTH-*GRIP WIDTH)) ;m1n
l = Leg coming (OFLIP WIDTH) / (
21 (leg-ORIP-DEPTH)); print
f(” 5hiftxblind%f 5hifty+%fz
o-+%f'<n'. 5fiftx, 5hifty+zO)if (5
ide == -1) Right side 5hldr
pos = 3289: else
Left side sMdr-pos = 740
: for (poaition = 1; 'po
position <6; ++position
) yaw = yaw center;
O, O[Ij, centered pitph = pit
ch center: 0.0 degrees, centered
rolled = roll Center r
000 degrees, centered 5w1tch (pos
ition) case l:
Lee L? Ji
hxniri゛′shiO u = (leg-GRIP DEPrH) 釆co
s(elevate * PI / 1B0.0
u= u + (GRIP WIDTH+5in(e
levate US PI /180.0) )v =
(1+4-GRIP DEPTIi) *5in(e
levate wood PI / 180.0v = v
-(, GRIP WIDTH book cos(elevate
Not yet PI /180.0) :X = u
+ 5hiftx :y = v + 5h
ifty :bad = world2arm(&a
nglel, &ang1e2゜&angle3. x
, y) if (bad<0) elevate = elevate -1:w
hile ((bad < O) && (eleva
ten0));printf(”elevate wg
%f\n', elevate) ;roll z
pots (6) + (5ide unwrparms
(12) : yaw w yaw center
+ (5ide * wrparms(10)):
break; case 2': complete stretching
u ” tempx - ahiftx lv w te
mpy -5hifty;roll w pots(
6); yaW - yaml center; break + case: complete bending O u = (leg/2.0) + ((leg/2.0
) -GRIP DEPTI() *cos(flex
ang*PI/180.0) :u, = u −(
(GRIPWIDTH) 5in (flex ang)
Jr'I/180.0)); v -(-1) t((leg/2.0)-01(IP
DEPTI() coming PI/180.0)) ; y = V + 5hift'l : bad =
world2arm(&ang1el, &ang1e
2゜&angle3,χ,y);if'
(() ad < Q) rlex ang = flex ang -1:w
hlle ((bad < O) && (flex
aTlg > o) ); prlntf(”flex
arrg = %f\n”, flex ang);ro
ll = roll center; yaw
= yaw center + (5ide -*
YAW-8WIN(]/4) ;! J = (0,
80*Ieg) -GRIP DEPTH;v=
GRIP WIDTH-leg / 2.3 ;r
oll = roll center + (5ide
US abs (pots(6)-roll, center)
); yaw = yaw center + 0.5 trees (5
ide rice abs (pots(6)-ran-cente
r)); break: u = (0,800 US log) -0 RIP D
EPTH;v = -GRIP WrDTI(; it (5ide ===+ -1) (right side yaw = yaw center -YAW 5Wf
N() ; roll w rob-center +
ROLL 5WTNG ; else Left side yaw = yaw-center + YAW-8W
ING ; roll z roll center −
ROLL-8WINC) ; break ; Convert (u, v) to (x, y)
Calculating the angle of 3 bed! world2arm(&angle,
&angle2. &angle3. x, y)
; Convert corner to poila if ('bad ! --1) 191,. 1.・Positi. . %d pro5r
amnoed 'sn', posit1on) ;pr
intf(”x=%f y−%f\
n"+X1y): printf("Xn"); +namory (position -1) (o)
= 5hldr-pos :memory (poa
ition −1) (1) = (angle −
offsetl) /RAD-PERPOTI; memoryY (+) position -1) (2)
= (angle2-offset2) /RAD
PERPOT2; memory (position -1) (3)
= (angle3-offget3) /RAD
PERPOT3; memory (positon-1) (4)
= yaw; memory (position −
1) (5) = pitch; memory (p
ositelon -1) (6) = roll:
] 1se printf(' $-*-Position %d
rrot programmed＼n1positi
on) prlntf(” Please do pos
ition %d manually\n', po
sitlon) printf(“XN%f y!%f\
n” g X1y) ; printf ('\n1); ! 1ockup (FALSg);
The file is commanded via the new hand controller.
Contains a routine that performs the specified access/con. glance 1include ”atdio, h'1inclu
de "defines, h'111nclude
``5tructs, h''jinclude 'ex
trnvar, h″1abs(value) int value; if(value < O) return(-value); else
return(value):speak(5a
rlo word number) unit 5
arlOword number; if(are
we jn continuous moti
on == No )return(
・arout(5arlo word number
lse return(1); znt Sett1ng+ unslgned char received-j
unk(12B); send-command to
-the-8ARIO(”!, receive
d-junk);xf(setting=TRU
E) send-command to the-8A
RIO ('B, l\r'. received-junk) send command to-the-3ARI
O('Ml\rl. ric@1ved-junk); ■ 1se send command to the-8ARIO
(”B, O\r-send command to-
the 5ARIO('ITILJ＼r1゜r ece
1Ved j unk): 5g Wfl
5tuff 5election-or-action
1nto-the keyboard-buffer
(pendant 5 selection, pendan
t action )irVL pendant
5 selection, pendant-aot
ion; if(pendant-action ==
O) switch(pendant-selection
n) case O: 5tuff kbuf (, ELEVATfe Co)J
MANDbreak: case l: 5tuff kbuf(FULI, -[EXTENSI
ON-break; GaSe2: 5tuff kbuf (HALF-FLFiX-CO
M) JANDbreak; case 3: 5tuff kbuf (FULL FLEX COMM
ANDbrBak; Ca513 4: s tu f fJ<bu f (FIGURFi 4
-C0M! JANDbreak+Caae 5: 5tuff-kbuf(WRIST COMMAND
); break; Ca5e 6 : 5tuff kbuf (F'OOT COMMAND
); hraak : Ca5e 7 : s tIItT kbu f (KNEG-COIJ14
AND ); 1 cak; case 8: 5 tuff kbuf (IIIP COMMAND
);break; case 9: 5tuff kbuf(AR)J-COWAND)
;break; default: break; else switch (pendant-action) c
asel: 5tuff'kbuf(M(NUE3 COMMAN
D); b r e a k + case 2: 5tuff kbuf (+"LUSCOMMAND
);break; case 3: 5tuff kbuf(5TOP COMMAND
); break; atuff kbuf (a-character)
unB1gn@d int a character
er；5tatl,c unsigned 1ntO
x0300, 0xlEQl, 0x3002. 0x
2EO'! ,0x2004,0x1205,0:c21
0(3+0x2207°0x230B, 0x1709
．． 0x24OA, 0x250Bpx260C, 0x3
20D, 0X310E, 0XlBOF. 0x1910.0xlO1l, 0x1312.0xl
F'L3ρx1414.0X1615,0X2F16,
0Xll17゜0x2DlB, 0x1519.0x2
CIA, 0xlAIB, 0x2BIC, 0xlBL
D, 0x071E, 0xOCIF. 0X3920.0XO221, 0X2822.0x04
23. px0524.0X0625,0X0826,0
X2827゜0XOA2B, 0XOB29.0XO9
2A, 0xOD2B, px332c, 0XOC2D
, 0X342E, 0X352F. 0xOB30.0x0231.0x0332.0x04
33,0x0534.0x0635,0x0736. O
x0837゜0x0938.0xOA39.0x273
A, 0x273B, 0x333C, 0xOD3D, 0
x343EIQx353F. 0x0340.0xlB41.0x3042.0x2E
43ρx2044.0x1245,0x2L46,0x
2247°0X2340.0X1749.0X244A
, 0x254B, 0x264C, 0x324D, 0x
314E, 0x184F. 0 to 1950. Ox1051.0x1352.0xL
F53,0x1454.0x1655,0x2F561
0xl157゜0X2D5B, 0x1559.0x2
C5A, 0xlA5B, 0x2B5C, 0xlB5D
, 0x075E, 0xOC5F. 0x2960. Ox1g61.0x3062. Ox
2'B63ρx2064.0x1265. ．． 0x216
6.0x2267°0x236B, Ox1769. Qx
246A, 0x256B, 0x266C, 0x326D
, 0x316E, 0xlB6F. 0x197Q, 0x1071. Q+c1372.0
xlF73ρK 1474 + Ox1675+OX2
F'76+OX 1177. 0x2D78. 0x15γ9. 0IC2C7A,
0xLA7BIOxaday7C,0KIB7D,0X2
97E, 0XOE7F. ); unsigned in head, ta
il placedjSable int, erru
pt, s(1: head = peek(0xOO
1a. tazl = peek (0xOO1c. plac@ = tail; La1l + shi 2; 1f (tail == 0xO03e) tai
l = 0xOO], e if(head == taxl) retur
n(0); if((a character & 0xOOff
)--' 0xOOOO) pokew(plaCe
, 0xO040, a charaCter );
else pokew(place, 0xO04
0゜ASCIIjo 5can code and-k
ey(a character) ); pokew
(0xOO1c, 0xO040, tail);
return(1); enable xninterruptsT); ] flush-the-keyboard-buffe?
+1unsigned int beta: Keyboard
The read buffer has a head part from which characters are read and a tail part where characters are placed.
ing. This routine erases the tail of the keyboard buffer.
〇Note: 0xO040: 0xOO1a is segment 0
xO040 and head position 0xO040: 0xOO1c is
Tail position disable-i in segment 0xOO40
interrupts (Lhead = peak(0
xOO1a, 0XOO40): Get the head
pokew(0xOO1c, 0xO040,he
ad ); into the tail enable-inte
rrupts();isJhe arm;oving
()int Jotnt, mOVing;mov
ing = FALSE; for (Joint=o; Jolr+t<4;
joint++ )if(abs(5et(j*i
nt'), pos-5tate(jolt). parms(joint), fJ+ys)mov
ing = TRIJEit)reak; tor(joint = 4; Jotni < 7
; joint++ )if(abs(5et(j
oint), pos-5tate(joint)
. moving = TRUg; reakr return (moving); put the arm 1nto emerge
y stop(1dwrport (s, outbi
ts &0XEOOO); squeeze everything out
5napshot(1;
Get new value of jl for (joint=0;
joint<]; tenJo in t) set(
joint), pos ffi 5tate (Join
t), pot; if (joint < 4) set (joint), mode y LOCK; 1
ss set (joint), mode = FREE; 5t
op-and masntasn-1he prese
nt position-of tbe-arm(+
dwrport(8, outbits & 0xaOO
O);5napshot(); for(joint ! O; joint <
7+ joint++ ) elevate-
the, arm() recall('ν); wrparms(1B)! TRUg:full
extension the-arm()rec
all('2'); half flex-the-arm() recal
N '4'); full flex-the arm (1 recal
l('3'): figure-4-the-arm()recall(
'5'); setupthe-arm() recall('6'); move-arm-in(1 15et(0), poa-am (ahoulder
-11parms(0), ino button 2); 5et(0
), mode +w MOVE: turtle move-arm outj) s, et(0), pos 4= (5holder
41 parms(0), inc 2); 5et(o
), mode w MOVE; flex the hi
p() sf (trained) anatom (ANG 5TEP since 2.0.0.0)
;1se inc
); lse , inc xy (0, -50); flex th
e-knee (1 1r (tratned) anatom (0,0,-ANG 5TEP not 2.0
); 1se 1nc xy (-50, O); extend-the-knee () if (trained) anatom (0, 0, ANG-8TIICP not yet 2.
0); 1se rotate foot-1n() 5et(4), pos -= (side comes palms
(4), 1na) ;rotate-foot-
out() set(4), pos 4-M(side not parms
(4), 1nc);ir (external-rot
ation =w O) [external rotation y l;
Free list or reset from snap
flag 5et(6), pos += (5ide * pa
r+na(6), trra); release
the wrjst(1ror(joint w 4
; joint <11; Jotnt++
) set (joint), mode = FREE
;external-rotaLion=O:ho
ld the wrlstH for< joint ” o; joint <
'/; joiTIt++ ) [S times '5PEID, C851203 This routine sets the speed of the hydraulic joint1
1nclude “gtdio, h”11nclude
e 'definea, h"11nclude @
5 tructs, h"11include'extr
nvar, h”5etspeed() double deltal, delta2. de
lta3. temp;int 5peedl, 5
peed2.5peed3; deltal = abs
(set(1), pos-pots(1)) ;de
lta2 = abs(set(2)°pos −po
ts(2)); delta3 = abs(set(
3)'pos -pozs(3)) ;if (de
delta2) 1f (deltal>d
elLa3) temp = deltac lse temp ta delta3; 1se if (delta2 delta3) temp w
g delta2; lse temp = delta3; 5peedl = )'ERIOD $ deltal
/lamp;5peed2 = PERIOD rice del
ta2/lemp;5peed3 = PERIOD
US del ta3/l amp ;if (speed
l < 1) Ensure speed (ni
- thicker than 5speedl = l; xf (speed2 < 1) speed2 = L ir (speed3 < 1) speed3 = l; 5et(1), duty = 5speedl; 5et(
2), duty = 5peed2; 5et(3), d
uty = 5peed3; SHT electric IP, C8602
07 This routine initializes the joint settings and 110 parts.
(! i9゜also this routine:: more simulated
Division processing routine (; parameter array is set step
ru0 11nclude '5td1o, h"11nclu
da 'deflnea, h"11ncluae
'5tructs,h'11ncLude'axt
rnvar, h@etupH external int dac refresh (
); int i; char reply (to); debug x O;
Setup of joint parameters parms (0), type w HYDRO;
Horizontal shoulder joint palms(0), f h
ys * 15; parms(0), r, -hys w
-15;parms(0),c16ck=O;p
arms(0), outadr = O; parms(
0), vmask = 0xOO04; parms(0
), xgain = l; parms(0), vgat
n = l; parms(0), dead = 2; p
armS(1), f'Jys = 30:purm:+
(1,), r hys = -30: parms
(1), clock = 1: parms (1), ou
tadr = l; parms(1), vmask =
OxO020iparma(1), xgaln =
l;parms(1),vgain-1;parms(1),dead Q 2;parms(1
), jnc = 10; parms(2), typo
= +1YDRO; 1st elbow joint par
ms(2), f-hys =++ 30; parms(
2), r,, -hys w -30; parms(2)
, clock w 2; parms(2), outad
r-2: parms(2), vmask = 0xOL
OO;paris(2), xgain W l;par
ms(2), vgain w l; parms(2),
dead = 2; parms (3) J-hys =
35; parms(3), r-hys = -35; p
arms(3), clock = 3; par+n5(
3), outadr = 3; pnrms(3), v+
++ask = 0x0800ipar+n5(3
), xFSain ” l; par+n5(3), vg
ain” Cparms(3), dead = 2:
parms(3), inc = 10; Note: listpa
ctrx H defined as (again below)
Required list parameters wrparms(0) = l; wrist m
ode l=normal 2=lockyaw&pi
tch3 = pi tchtrack wrparms (1) = O; valve (pair
andVoffcentwrparms(2) = 6;
Bituwi/do wrp, rms(3) = 4
; Opart neat constant wrparms(
4) = l; Pitch speed magnification wrpar
ms(5) = 50; Initial value setting of timer
Count of (number of cycles) wrparms(10) =
-150 yaw off cent constant, related to el eva te
used by wrparms(11) = 120; ele
The pitch increment wrparms(1
2) = 100; used by 5cale, c
2 sets of wrparms (13) x 8;
Magnification motor for: wrparms (1
4) = 4095 / tqrparms(13);
Complement constant wrparms(15) = 2050
; Bitchto-poor-soking-o-7-senoto-constant flag wrparms (19) w l; Pitch speed
degree variable rms(4), type s-BRIDGE
S; Listyo (Pino?) parms (4),
jhya x Q; Hysteresis of list ctrl
lysis window parmIJ(4), r''+ys=
200; Period parm to limit actual speed
s(4), outadr = O:parms(4),
vmask = 0x2000; parms (4),
xgaio = 25; parms(4), vga
in = 2! j; Velocity feed/cut
gain parms(4), dead = 2048
;par+na(4), inc=100;pa
rms(4), msh = 2048; ma
node/tool 7-code constant (650) parms (5), ty
pe = BRIDOES; wrist pitch (
-3-) par+n8(5), fhys = Q; p
arms (5), r-hysta 200: parm
s(5), outadr w l; parms(5),
vmask = 0x4000; parms(5), x
gain = 25: parma(5), vgain
w 25; parms(5), dead += 204
8;parms(5), inc = 10;parms
(5), msh w 2048; 650par
ms(6),, type -BRIDOES;
List roll parmsl: 6), f hys = O
;parms(6), f hys = 200;par
ms(6), outadr = 2; parms(6)
, vmask w Ox, 8000; parms (6)
, xFSain = 25; paris (6), vga
in = 15; pnrms(6), dead = O
;parms(6), inc =x 400;n*rm
nrA), mqh = r 2048: Io
o. offsetLl --2952,0*RAD-PERP
OTl;orfs8t2 = -2768, 0 bodies RAD
P[i:RPO'r2; experimentally determined of
fset3 = 1.3'79748483-1362
Tree RAD PI POT3;offseL5=
-pitcb center * RAD-P
i POT5; memory (5) (0)
x 740; memory (5) (1) =
2810 imenuory (53(2) =
1822; memory (5) (3) w 1
864: memory (5) (4) = yaw
center; memory (5) (5) =
1395 ;memory (5) (6) = ro
ll-center ;dtresetN;
Digital and Analog I10 Part 5
etcclock(120); 5etport(8); dwrport(8,0): for (i=o; i<7; ++1)
Initial state of node cent if (i < 4) set (i), mode = LOCK; l5e set (i), mode = FRfEE; 5et (1
), duty = PERIOD; 5et(j), po
s= acH(i, 1.O): paris(1), re
set = (pum+)(parl'1S(1), 0
utadr), InaSk lparms(1), vm
ask) state[i), wait = O: movecur
sor (0,29);prlntf(”kRTHR
OI30T II SE'rυPXo” ) ;5c
anf ("%3\n"+ &raply(0));1
f (reply(03 child +r') parms(0)
・χgain ox-1; 5ide = -1; memory (5) (0) w 3289: 1in
k-to-1interrupt(dac-refrea
ll+ 256+ USI? R-8UPPLIg
D-CLOCK-ROUTINt, /ECTOR);5
napshot, (); adjust the-wrist-complian
ce(6);5NAPSI(OT,C860122 This routine samples the
position include "defines,h"
'1fnclude"5tructs,h"#1n
clude “extrnvar, h” static
int js-tM heel-being pu
l]ed out = No. previous-state-of-jotnt 3
;1nt tamp (1o); lnt 1+ j ; for (i=o; l<10; ++1)te
"p(") = Q+ disxntr(); Prohibits interruption processing
5etadc (0,9,1,0,10); 1
0 readings (2 pairs adc, Teyanonel gain 1 set)
for (1=o; 140; ++1)
Read the pot of the node tamp(i) x adcO
; enablelntr(1+ interrupt thread up again f
o r (1=O; l<'7; ++1)
Calculation of pot displacement of all joints if (tamp(
i) < 10 ll temp(1) n4085
) fault(i) ;POTRRR;5tate(
1), dsltax y tempCi) -5tat
e(i), pot; 5tate(i), pot = t
emp(i); find out whether or not lf(temp(8:l < 2048
) is the Jeel-being-pulled
-out y ygs;if(5et(3), mod
E! =LIX:K)prOvious-sta
te of-joint 3 = 5et(3)
, mode; later restoration ++et (3), mode w ll0LD;] ■ 1se if (1sths-hae□-being-pull
ed-0゜t ;: YES ) is-the-he
el-belrrgJulled-out = N
o; Check environmental sensors for arm, wrist or obstructions.
Let's see if there's anything warm about it. if(temp(9) < 2048)
Stop-and-maintain-the pre
sent-position-of-the-arm(
Cif (5tate(0), pot >
(S) IOULDER-50) && 5tate
(0), pOt < (St(OULDER
+ 50) && 5et(0), mode --
MOVE) set(0)
, mode = LOCK; if (state(0)
, pot > 8+1OULDER)shoulder
e=-1; e 1 s e )n FI?
5holder to determine the actual polarity of 1 position =
1: if (abs(state(6), pot-yaw
-center) < LOo, 0) if (ext
srnajrotatlon > Q) set (6),
poa -w (side comes parms(6), 1
nc) :external-rotation=
O; 8TORg, C851203 The operator presses IS@ and then presses the number of the position to be recorded. 1inelude '5 tructs, h'tnt
pose, i+ 1f (-*mode = 0) 1ockup (TRt[e): clearscreen (2, 24); n+ove
cursor (2,0);prir+tf (”S
'['01(E POS I TI ON\n\n”
);printr("5 standard posiLl
ons:\T]\tl -E1eVQje\ll\t2
-1i'uLI Extension\n1);pri
ntf ('\t3- Full Flex\n'Xt
4- Half'Flex\n'st5-[i1+g
ura FourXn\n"):printf'('
Press l-b to 5tore posjti
on\0″); *mode = 2; 1ockup (FALSE); 1se 1f (code > 48 && code <
754) pose ” code -49+ for (i=o; jgu7;+←1)memor
y(pose)(x) ex pots(i);mov
ecurSor(24,0);printr(”
\tPosition %a trazned',
pose+1); i$mode = O; mainmenu();
Return the number of ticks (-seconds (218.2 ticks)
uzsigned long get the-tlm
e of-dayOunsigned Ion) (cl.
ock ticks; unsigned 5hort
peek(Gdisintr(): clock tlks = pOek(OxO
06e, 0XOO40); clock ticks
= clockticks * 0xiO000L +
peek (OxO06c. enabintrf); return (clock ticks); WT
CI (DOG, C85121r!. When this routine is called, the monitoring timer is switched.
Ru. This routine is used to control the digital voltage regulator.
Fixed Mano ``)゛Rator is seven sorted. $1nclude '5tdio, h"$1nclu
de "defines, h'$1include
``5tructa, h'wanclude'extr
nvar, h'wtchdog() outputs l=WDON; dvvrport (8, output3);ou
tbits 4m WDOFF ;dWrport (
8, outbits) ;” $1include “atdlo, h”FILE
Come fpi, reach fpo, , -*fopen□;un
signed char storage (256)
;int 5top, i, le
ngth, character, ret;5r
v-arv crstrjp (c, v) Int
Q; char tree V []: if (c<3) prxntf('Count error\n'); f
pi = fopen(v(1), 'r'
); fpo = fopen(v[2), ”w
” );ret = fgets(st.rage,
2゜7.19,)8character = fg
etc(fpi); length = 5trl
en(storage);for(5top=
O, i = length −1; StO'p'=!
O&&in0;i-) awitch(storag
e(i)) [case": Ca5e '\t': case '\r': break; default: 5top≠1; , break;
aracter == '\t'II char
acter == 1\n1ll jsupp
er(character)11 1sd1git
(character) ) lengthLh y
5trlen(storage);stora
ge(length) = '\nl;s
storage(length + l) = '
\0': fputs (storage, fpo
);fputc(character, fp
o );lse [length = 5trlen(storage
); storage(length ] =
” ;storage (length ÷ 1) = l\
OI; fputs (stortsg, e, fp
o);fputc(character, fp
o ); while (ch, 1racter !=
EOF && rQt! = EOF');
fclose(fpi); fclose(fpo): DT[(FiAD, H851023 This file contains the DT2801 analog I10 board C
] Contains constants and macros used by 7 software.
Data R translation board, engineering VA standard address $define
DTC3R0x02ed$define DTDAT
Mask 0x02ea status bit $define ERROR0x80 $define 0BFE 0x40$defi
ne Ck4'ND 0x08$define
READY 0xOO04jdef1ne OBF
0xO1$define writewait
1while (importb(DTC8R)
&IBF);1; EPILn()UE, T(; end of any assembly
codeQCODg ENDS; MODEL, H: defxne memory model
for 1 library assembly code
FALSE equi O; for small m
odelTRtJaequ lbaorb
xg model; small model:=
Qbigmodel and Qmedmodel
are false; medium modec=
Gbxgmodel Is false, (
ilmedmodel 18; big +nod
el+= Qbigmodel is
true, Qmedmodsl isGBIGMO
DEL EQtJ FALSE: 5el
ect this for modelGMED
MODEL EQU FALSE; me
dlum model swztchf1 1f Gbignoode1 %out BIG MODIEL ASSE)aLY
1se if Qmedmodel %out MEDIUIJ M(IDEL ASSE
1aLYlse %out SMALL MODEL ASSEMBL
Yndif ndir end+f; GBIGCODE means far
procedures; GIBIC)D
ATA means 4 byte data
pointersGbigcodeequ
lbigmodel or Gmedmodel)Gb
igdataequ (3bigmode
l; if you set QCOMFILJ
the COM memory model;
will be selectedGCOMF
ILgequ O; θBIGCO
DEmeans far procedures;
QBTGDATA means 4 bytes
data pointers
equ (Qb1g+nodal o
r Qmec3model)Qbi((data
equ Qb1g+nodal; DEli'fN
EAHGIJMICIJ'['BA! 3ERELATI
VEFR(')IJBPIF OB[l':0
DE QAB EQtJ 6 L8te QAB EQU 4 NDIF GCODESE())JEN'l' BYTEPUBL
ICIc0DE+GCODE El(DS 1; IDATAB 5E(WEN'r PAR
A PLJBLICIDA'rAB'GDA'rB
IENDSGDATACIGMEN'r
BY'rE PUBLTC'DATAC'Gsb
1abel byte Qsw 1abel word QDATACENDS QDATAT SEf) MIuN'r B
YTE PUBLTC'DATAI'Gjb
1abel b+7LeQ1w 1abel
wordGDATAT END3 QDATAT 5EQIJIENT BY
'rlE PURLIC'DATAT'GDATAT
ENDS laDATAII 5EGIJN'r
BYTE PUBLrC' DATAIJ 'Qub
1abe1. hyLe G3uyv lar+(Il worslJD
ATATI EtJl)SQDATAVSE
GlvlTi:N'rBY'i'EPUBLJC'DA
TAV'0DATAV END3 if IaCOIJIJILFDG
ROUP GROUPQCODE, (JDAT
AB, 9DATAC, GDATAT, GDATATωC
0DE 5EGk4EN'l'BY['E PU
RLTC'C0DE'AS8UME C8:
DGROUP, DO:DGnOUP1se DCIRQUP GROUPGDATABj
lDATAC, (IDATAT, QDATAT, QDA
TAU. GCODE SBG MEN'r BYTE PU
BIJC'C0DE'ASSUMI7 C8:
σC0DE, DS:DGROUPndj f; IEND OF PROLOGUE, h;
DISINTR, ASM
851023; Rootea DISINTR
and ABINTR reads the AD converter:
Literary Application/'3] Interruption Processing Enable
Used to make bulls and dogs. INCLUDE 114 (LDEL, HrNc
LtJDEPROLOGUE,HPUBLICDISI
NTR DTSINTRPR('Ic NEARLT ET DTSINTRRNDP PtJBLTCIABrN'rR ENABNT'RPR(') CNEARTI ET ENABIN'rR1leNriP INCLUDE apTt, ocum, HND A DC, C851023 adc (data) gives star tadcm command.
All parameters must be set appropriately before
. adcO can be called at any time. jinclude ``dthead,h'adc('
) lni dajaL+ datah; r eadwa I L r
Wait until data ready datal -1npo
rtb(DTDAT Month Reading of lower byte
Readwait;
datah = 1n up to upper byte ready
portb (DTDAT);
Return (data + (da
tah <<8)); li number 1 - pack and return
-ADl, C851Q23 Qdz (channel, gain, mote') fj) trigger
from the specified channel using the specified game.
Load analog data 1. 1. :: Feng,)
T,-,,,9,'4tttr! IWIt')9-'
fl. act(channel, gain, mode)
char Ctlannel+ gain, mod
e;int data;Commandwa I L + Ready 2
:5 if (mode 0) outputb (DTC8R, 0x8C); a
-d 1se outportb (DTC8R, 0XOQ) that triggered the immediate command;
a-d do not trigger immediate command wrltewait;
outputM DT waits until command is processed
DAT, galn) ; Gainpa 5/-evening
near) Wri tewat l+ command is processed.
You can also wait until it is processed (DTDAT,
channel); Channel Centr
eadwaft; data m1nportb (DTDAT); read
wait; data x data + (inpor
tb(DTDAT) <<8); COm! Nan
dWa1 j+ L/de
Samurai until you (importb(DTC8R)
& ERROR) printf(”Adl err
or -");dterror(1; re also urn (-1); tse return (data);
Clear the screen containing lines. cle/1rsscreen(first, 1st
)tnt first+ 1aAt; stru'ct rllll'gVal l 1ntaX
+ bx+ ax, dX, al, di * ds
+ esBtruCtregval sreg+sre
g, ax x 0x600; 5ysint
Clear the screen using syeg, cx w 0xl
OOIt first; sreg-dx = t (Ox
lOO'US 1ast) + 0x50; sreg, b
x = OxOγ00; 5ysint (OxlO+
&sreg, &sreg) ;DTCLEAR,C8
51023 This routine clears all processes and
Reset $1include 'dhead, h”d
tclearf dtstop(); instruction
Stoppage of two commands;
outpartb waiting for ready flag (DTC
8R, 0XQI ); Clear command DTERRO
R,C' 851023
dterror() is the data translation board error register
Decode data and print diagnostics. Hon Luci
must be called because an error has occurred. Matamoto Luci
dtclear□ is called by 5bort i,
errorl, error2; if (inp
ortb (DTC8R) & ERROR) prinR
(”DT213QI Composite error
flag detected\dtStOpO;
Stop execution command C0mIn1In
(] Walt; Lady 72
outportb waiting for Nog (DTC8R, 0x02)
; Reading error command r e Q d Wa 1
t+ wait for lady 7 rug e
rrorl = 1nportb(DTDAT);
r eadwa IL:
waiting for lady flag error2 w 1npo
rtb (DTD, AT); 1f (error
& 0xQl ) printf ('--Error
O: Re5erved 'Jl'); if (er
rorl 11.0XO2) printf (' -
-Error l: Command 0VerWr1
te error (error & 0x04
) printf (”--Error 2; C1o
ck set error＼n”);if (erro
rl k 0xOB ) printf (”--Err
or 3: Digital port 5 select
errc)T\if (errorl & 0xlO
) printf (” = Error 4: Digi
tal nort set arrnr\n'). if (error 8c 0x20)pr
+ntf'('-Error 5: DAC5
select error\n');if (er
rorl for 0x40 ) prlntf (”-Er
ror 6: DAC clock error
;if (error & 0xBO) print
f (”--Error 7: DAC@conve
rsions error\n1); if (Err
or2 & 0xO1) printf (” --Er
ror B: ADCchannel error＼
n”):if (qrror2 & 0x02)
printf (”-=Error 9: AD
Cgain error XT1'); if (
errorZ & 0x04 ) printf (”
--Error 10: ADC clock e
rror \n1);if (errorZ & 0
x08 ) pr=ntf (”--Error
11: AI) Cmultiplexer err
or \n');1f (Error2 &
QXIO) prlntf (' = Error 12
: ADCi conversions error
'Xn'');lf (errorZ & 0x20
) printf (” --Error 13:
Data where commandpr+ntf
(' --Error 14: Re5ervedXn
');if (Error2,!c 0x80)p
rxntf (”-Error 15: Re5erv
edXn');dtclear(1;US=1ea
r error flag Next time I rebooted the DT2801 board.
Program to set. The preferred cent-up directive is
Force commands must be carried out before they can be used. 1inelude "dLhead, h"dt, re
set, () ・5tlnrt l+ outporLb(DTcSR, (h:of);
Stop command i = 1nportb (DTDAT);
in read register (emit nitator wh1
g (!((1nportb(DTcSR)) & R
EADYλ) Readyflag's 0utpOrtb(D
TcSR, 0xOO); Reset instruction while
e (!((importb(DTcSR)) 3c
O[3F')) OBF 7 lag 11inp
ortb (DTDAT); read register
Emit data into i = 1nportb (DTcS
R);while (!((inportb(DTcS
R)) & RPADY)) Lady Flag DT
ST'OP, CB51023 dtstopH is used to stop all processing and
Provides an exit function for subsequent block modes. 1inelu+1e ”dthead, h'dLsto
p() outportb(DTcSR,0XOF); finger
Stopping the command... There is no need to wait. jnpor is also b (DT
DAT); Empty the data register (DAT);
emit DWRPORT, C851023 dwrport() is 2 for this digital I10 boat.
Write out 16 bits of data for both. 17'O boat
I10 mode is the actual routine (using 28etport).
must be set. $tnclude "6thend,h'awrpor
t (port, data) unslgned +n
t data; int, port; unslIi (led char 1 () W, 111
g11+low = data &0xOOFF;h
lgll = (data & 0xFFOO)
>n8;swjtCh (port) [case s: com+nandwa 1 t: lady7ra
Sog standby qutportb (DTcSR, 0x07
); Output of command vrxtewait;
Standby outputportb(DT) while the input bag is full
DAT, 0x02): Boat select data
Data writewaxt: Enter Kabanov 1
ouLportb(DTDA'r, low
); Data output writewaiL: outporLb (1) TDAT, old gh); r8ak
i case 11: cononandwalt; Ladyflag's
Standby ouLporLb (r)'L”CuR,Ox8”
7) iW r l tewa i L: outporLb(D'l'l)A'l', 0XO2
);writ+l1wait;while the cover sofa is full
t+ u t p Or t b (DT DAT +
lOW) :writeWalLroutportb(DTDAT, higha);b
reak; default: prlntf ('Illegal dwrportf
) port numberXn”);return
(-1); break: command wait; if, (1nportb(DTcSR) &l +E
RROR) printf('Wrport error
--'); d terror(1; return (-1): 1se return (Q); MOVECU, C851Q2'3 The cursor moves in the 1st row, 11th column, and 1st direction using 1ifi)
movecursor (row, col
umn) Int row, column; struct reHval (1nt aX+ bx
, ax, dx, 811 dt, ds. 5truct regvaL sreg; sreg
, ax = 0x200; sreg, dx w (OxlOO tree row) + c
olumn; S r e g −bX ” O; 5ys1nt (OxlO, &sreg, &areg
); SETADC, C851023 setadc(schanneL, echanneL
, gain, mode) start the A/D conversion.
5channel and echannel are for conversion respectively.
Start and end channels and set gain 1iadc
In and legal are respectively gay y l, 2.4.8
The omode, which is O~3 corresponding to , contains two flags.
This is a short mode, and bit 0 turns on the external clock.
Bit 1 turns the external trigger on and off. $1nclu+ie 'dthead, h'5etad
c(5channel, echflnnel, g+
+in, mode, reads) s b Or is also 5
channel, echanneL gain,
mode; lnt reads; COm+nandWalt;
Lady 7 Lanog standby ouLportb (DTC
3R, 0xOD); adc parameter command cera vri
tewaiN day
outputb(DTDAT) is ready.
, gain): Seven points of gain Wr.
l te Wa l t:
outporLb(
D'rDAT, 5chnnnel); Start
Set of channels Wr I tewa It:
data is ready
Ruma outporLb (DTDAT, echann
el): End channel set Wrlt8
Walt; Estimate ou
tportb(DTDAT, reads & 0x
OOFF); Set of conversion numbers Wr 1 tew
a 1 tt monotonous
hey? outportb(DTDAT, reads
&0XFFOO); Dummy number, L rank pie
command wait;
Ready flag standby if (importb(D
TC8R) & ERROR) Error check
printf('5tartadc() error-
-”); dterror(); return(-1); lse commnnndvait;
+, waiting output port b (DTC
8R, ((mode << 6) l OxOg))
;Mode bit transfer return (0); 8E'['CLOCK, C851023setcLoc
k (period) l: Period of the internal clock of 1
is set to (5μ5ec). single channel multiple
For D/A, the period is 68μsec minimum directness, 2
Channel multiple D/A l: For period 121
eC is the minimum value, and for multiple A/p the period
75 μsec is a small value. 1include 'dhead, h"5etclo
ck(perxod) int perlod; short low, higl]; low = 0xoOFF &period; hig
b w (OxF[i'OO＆period)
>8;00mmandWait;
Waiting for ready flag c) u tport
b (DTC8R, 0x03) ; Clock command
sect writewalt;
Wait until input becomes ready 1] u tpor tt
)(DTDAT, ,low): Low byte
output writewaxt;
Standby outputb(D'rDAT, hi again)
gh); Upper byte output CommandWa
lt; Waiting for L'di7lag
if (importb(DTC8R) & ERRO
R) printf("5etclock error
--”); dterror(): return(-1); 1se return(0); Acquired 0 0 Non-trigger output port 0 1 Non-trigger output port 0 2 Non-(Trigger input port 0 and 1 3 Trigger input port 0 4 Trigger input port 1 5 Trigger input port 0 and 1 6 Non-trigger output port 0 ) Non-trigger output port 1 8 Non-trigger output port 0 and 1 9 Trigger output port 0 10 Trigger output port 1 11 Trigger output port O and 1 This routine returns O if successful; otherwise -l
Return to int mode; switch (mode) case O: tq1ti]u (!(inpbrtb(D1'Cj
jR) & 11r+, :ADY))outport
b(D'rCOR+ 0x04);whilo (
inporl, h(l')'l'c! 'IR) &
+BI+')outportb(DTDAT,0XO
O);braak; castl 1: while (!(inportb(DTC8R)&
READY))011tpOrtb(DTC8R,0
x04); whlle (inportb(DTC8
R)&IBF)outportb(DTDAT,
0xO1); break; CaSθ 2; whzle (!(jr+portb(DT08R)
&RgAT)Y))outportb(DTC8R,
0x04);while (inportb(DTC
8R) & IBF) OutpOrtb(DTDAT
, 0XO2);break; case 3: whlle (!(inportb(DTC8R)&
READY))outportb(DTC8R,0x
84);while (importb(DTC8R
) &IBF)o;+tportb(DTIMr, 0
xOO);break+ case 4: while (!(+nportb(Di'C3H)r
k I(At)Y))ooLportb(D'rC
8R, 0x84) :while++ (jnport
b(DTC3R) & I[]F)ouLport
b(DTDAT, 0XOL); b r e a k ; oas85: whH8(!(inpQrtb(DTC8R)&HE
ADY))outportb(DTC8R,,0XB4
);while (importb(DTC8R)&
TBF) oI+Lportb (DTDAT, 0x02)
;break; case 6: while <! (jnportb(DTC8R) &
'READY))outportb(DTC8R,0
x05);while ((inportb(DTC8
R)) & IBF)outportb(DTDAT,
0xOO);break; outporLb(1)'f'cE[,0x05):w
bile (1npor tb(DTC8R) & r
BF )011 LporL+>(1)'l'l)^'
l',0XOI); break: Ca5O8:. wbtle (!(xnportb(DTC8R)&
R1ηAr1Y))ouvporLb(DTC8R,
0XO5);while (inporLb(DTC
8R) & IBF)outportb(DTDA
TI 0XO2);break; case 9: while (!(inportb(DTC8R)&
READY))outportb(DTC8R,0x8
5);while (importb(DTC8R)
& TBF)outportb(DTDAT,0xO
O);braak1 case 10: while (!(inpartb(DTC8R) &
R1? ADY))outportb(DTC8R,0
X85); wbile (jnportb(DTC8R
) & IBF) OutpOrtb(DTDAT,
0XQI): hra angle: case 11: wbile (!(importb(DTC8R)
&R to Ar)Y)) outporLb(DTC8
R, 0x85); while (inporLb(D
″r08R)&TBF) outporLb(DT
DA'r, 0x02); break; defaultL: printf (Jllegal DIOn+ode
detected in 5etport8n');r
eturn (-1); break; while (!(1nporLb(D'rC8R)&
READY))1f (inportb (DTC8
R)&Ii:RROR)prxntf (Jn 5e
tport: ”); dterror(); return (-1); TecmFlr Lab Te++
Made by der Board's '7/Rechiteyanfu DAC.
be moved. $defxne BAI 0x330 1tdac (channel, value) 1nt
channel, value; static
znt muxsel=o ;muxsel &=
0xE7; Both mu and x are
Outportb to Able (BASE+4.mu
Xsel): muxsel &= 0XF8;
Channel change muxsel l=c
hannel &0XO7;outportb (B
ASE+4. muxsel);outportb (
BASE4-5. value); data output
force if ((channel & 0x08) ==
O) Enable preferred nnux muxse
l l= 0x08; lse muxsel l= 0xlO; outporLb (BASE+4.muxs
el) ;; IN'rCONTL, ASM
85111
B Kurtl interrupt support package mode1
．． prologue including h, public including h pnable-1nterrLrpta public di
sable-interrupt senable 1
interrupts proc' near
ti et enllble 1interrupts en
dpdisable-interrupts pr
oc nearli et disable 1interrupts en
nd with dpepilogue, h; lNTR8ERV, ASM
85111B; Hon Luci
code before entering the C routine attached to the interrupt.
; Process up. It also processes exit codes. Including model, h; title 'Interrupt support package tprol
ogue, h; this rule given by 1ntrinit, c
initial value setting of the program; when the next entry point is reached; 1ntrinit l: the code generated by
If the next state is X (rare ff1);
cs is set to CS value by computer;
Set the return address point to the area containing the following 0, s
p and S! Location to save 1 41 Required stack size 61 Data segment value 8, Address of function to be executed Qcode ends Qdatab seg+nentextrn h
eaptop:wordsaveslze dw
0 Qdatab ends Good segment; Entry point of interrupt service routine up eq
u 8 public 1ntrserv intrserv proa farpush a
s push es push di push bp mOV L) plsp Then the stack will be
Visible Les di, dword ptr ap(b
p) mov es:(dt), sp mov es:2(di), ss mov ds, es:6(di) data
Set of segments if 13b1gmode1 mov S! l, heaptop+2 star
segment lse mov ss, es:6(di) stack
H's segment eodH' mov sp, es:4! -dj) ad+ISp, SaV+311izu mOV '5avasizo, +Jpadd s
p, J+eaptop push ax p++Oh bX push+ cx puab dx p++sb s+ push 0s pusb di ``mouth()vfip+5p if: tablBmpdal call dsord par es:8(di)
1se pop di pop as pop 51 pop dx pop CX pop bx pop ax mov sp, es:4(di) Next call
Out: rLiy'! Adjustment sub 5avesize,
SP MOV SS, ES: 2 (DI) + NOV SP, ES: (DI) POP BP DI POP AS POP DS ADD SP, 4 IRET All Completed IR + and RSERV 'E -EPLLOG, including θura End; IRQSERV, ASM
851118; Specific to hardware interrupts
External NTR8ERV, same moclel as ASM, h
Contains; Title: IIRQ interrupt support package'
Run the code generated by r1rqinlt, including prologue and h.
If the following condition is true (rare gl); C3 is set directly by csj by the computer;
The return address point is set to the area containing the following.
0, location to save sp and ss 41 2 stack size 61 data segment value 8, address of function to be executed Gcode ends Qdatab segmenttextrn-M
aptOp2Word savesize dw 0Qdatab
ends L3code segme'nt; r
Entrance ap equ of RQllj included service routine
8 public ic 1rqservzrqserv
proa farcli
pus to disable external interrupts
h da push (3B push dl push bp mov bp, sp then
You can see the tack les di, dword p
trm□v es: (di), spmov
, 8S:2(dt), S5mov
da, es:6(di) data segment
cent up if Gbigmodel mOV 83. heaptop+2
Tuck segment lse mov 5s, es:6(di) star
segment ndir rnov sp, esIA(di]add
sp+savestzemOV 8aV
lISIZ9+5padd sp, heap
toppush ax push bx push ax push dx push 5i push es push di mOV bp+Jp sti Insert external interrupt
Enable Gbigmodel chll award ptr es:8(di
) call word ptr 8(di). 1
1 Disable external interrupt
sable moval, 20h
out sends the end of the interrupt to 8259
20h, al ri 01) di 1) 01) Qs pop 5i Pop dx 1) OP C! pOp bx pop ax mov sp, es:4(di)
8 N- for next call tsub 5aves
ize,,spmov ss,es:2(di
) mov sp, as: (di)pop
bp pop di pOI) es pop, (IS add sp, 4 stl external interrupt
enable 1ret all complete
1rqserv endp lnclude gpilogue, hnd IN'rRrNIT, C851118 Interrupt processing (: Set initial value for $1nclude
e'5tdio, h'unsigned cha
rUS allocH; function 1ntracrv, asrn
5 truct intcode (unsigned char farcall:
int including far call opcode (US farip)
(C far call ip value jifndef -c86-BIG unslgned farcs;
08 value endif unsigned 5avesp: sp
Value save location unsigned 5avess:
ds value leaving location unsigned 5tac
s1ze; place 9 star sokno height number uns
igned fardsi location lds value int
(from farfunc) 0: executed
1definmu5IZE IC(sizeof(str
uct 1ntrcode))intrinit(fu
nc, 5tack', vecno) int
c) 0: Function u that handles interrupts
nsigned 5tacL Ikuno
unsigned VeCn of the stack required by
O+ Interrupt trap vector number [unsigned char ustack; 5tr
uat 1ntrcode *icp+extern
1ntrserv(1; Copy computer support
Service function 5 truct tint as, ss, d
s, es; l Segreg5; segment register
segread the star (&segregs):
Obtain cs and ds values 1cp=alloc(S
IZE IC); This is the interrupt start location 1ap
-) farcall=ox9a; direct seg
Inter-ment call 1cp-en farip=intrserv
; Interrupt service routine address inde
f' C60BIO lCp->farc's=segreg8. C3+
Get O3 value endH icp-n raras=segregs, ds +1
f(stack<0x80) stack=ox80;
mdos requires this 11Cp->sta
cs 1ze=s tack; 1cp-n farfu
nc=func; Function you want to execute pok
ew (vecno end 4.O+1cp);
'ffJΔPect) Shinoly door 1. , ft11fd
ef -C60BIQ pokew(vecno*a+2.o, ((unsig
ned tong) icp) >16); else pokew (vecno button a+ 2 + O+ t3
e grligs, ds) +
'1 f) 5)) S1end i r Come to America, come to the future, come to the United States, come to the United States *: Future, come to the future, come to the future
Come on, come on, come on, come on, come on!
840815 pieces
Revised 85111s 釆米 coming * 釆 future coming coming coming back This procedure:: Combines the C function with the interrupt and calls the interrupt from the C function.
Two procedures are given to untie the . C le by 2 steps
- Chin is kept appropriately short. The C routine is short and at predetermined points this procedure calls the following routines: 1rqinit enable in'interruptsdisable
1interrupts argument function,=FN= combined for interrupts
Rubeyo C1nt 5tack-space = INT
= At least 512 stack spaces required for the same function
I want a part-time job int number w IN'r w C
Iz% task generated for function General variables: None Local variables: 1interrupt (256) = STR = Ori 2
Array of field of null interrupt vector Original interrupt vector enable-mask (16) w US =lIR
Enable Q interrupts (interrupts 8 to 15) Constants: Interrupt mask register of R18259 future*-next
*+ Come here come come here 1 define IMR0xO021 interrupt mask register
Star5truct int off seg (u
nsigned 5hort original o
ffs'et. original segment; 1stat
ic 5truct int-off-sag
1interrupt (256); 5tatic
unsigned 5hort enable-n
Iask(16)=10.0,0,0,0,0,0,0
．． 0x00fe, 0x00fd, 0x00fb, 0xO
Of7,0xOOef. 0x00df, 0xOObf, 0xO07f l;5t
atic unsigned 5hort dis
able mask(16) =i 0,0,0,0,
0,0,0,0.0X0001,0X0002,0X0
004,0X000B,0XOOIO. 0x0020, 0xO040, 0xO0801; 1in
k to-interrupt(function,
int 5tack 5pace, 1nt-1
nt (-*function)() + int
5 tack 5 pace, int-number
;[int-number next 4. Q);1
interrupt (1nt number), or
original segment = peek(in
t-number 4+2.0); if(int-n
number > 7 && int-number
<16) irqinit(function,
int 5tack 5pace, 1nt-ou
tportb(IMR), 1nportb(IMR)
& enable-(int number) )
; else 1ntrinit(function,
int 5tackspace, 1ntenab
le 1interrupts(); unlink, f
rom jnterrupt(Int-number
) unsigned 5hort int
number;disable-1interrupts
□；if(int number >'7&&
int nunover < 16 ) outpo
rtb(IMR,,1nportb(IMR) 1d
enable mask (int-number)
); pokew (int-number rice 4.
O,1interrupt (int-orig
inajoffset ); poked(int number lk 4 + 2
．． o+ tnte'rrupt (1nt-), o
riginal-segment); enable
1interrupts(); 1RQTNIT, CB5
111B This routine sets the initial value for the IRQ interrupt process.
Nawareru 11nclude “5tdio, h”u
nsigned char button allacT ); Function 1
rqSsrv, asm is required 5truct i
ntrcode(unsigned char farcall:
int containing far call opcode (not farip)
f); 1p value of far call jifndef
-Ca6 BIC! unsigned farcs; far calls
08 value endif unslgnea 5avesp: 5p
(The place where ri is evacuated is unsignea Ba'1e
8Br aJi value uns
igned 5taC8iZe+ Required stack
number of bytes unsigned fard5;
where lds value int (book farfunc) [l
; Function 1 to be executed; $define 5IZlle-IC(sizeofi
rqinit(runc, 5tack, vecno)i
r+t (unfunc) H; interrupt
Function to process unsigned 5tack;
Number of stack bytes required by the function un
signed vecno; interrupt
Wrap vector number unsigned char *
ustack;5tructinttrσode not IC
p;extern 1rqserv(1;
``Puter's IRQ service function 5truct (
int Ca, 881d8+85+1 segment register
3Cgread (&segregs) to get data;
Get cs and ds values 1cp=alloc(SIZE
-IC); This is the interrupt start location 1cp-on
farcall=ox9a; K-contact segment
tcp->faripxirqaervHIR
Q interrupt service routine address 11fndef-C
86BIG icp->farcsxsegregs;cs;
Get ds value $endir icp-n fards town egregs, da;
stack<0x80) stack()x80;
mdos requires this 1cp->staCslze
mstacLiap->far funamfunc;
The function you want to execute is pokew(vecn
o coming 4,0. Lap); Interrupt vector set
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[Brief explanation of drawings]

FIG. 1 is a simplified block diagram illustrating the medical robot of the present invention, FIG. 2 is a diagram showing the robot of the present invention configured as a device for moving the limbs of a patient and used in arthroscopic surgery, and FIG. The figure is a perspective view showing the structure of the limb operating device in Figure 2, Figure 4 is an enlarged and simplified side view of the layered structure of the limb operating device, and Figure @5 is a movable list of the limb operating device. Fig. 6 is a simplified perspective view of the patient-worn body and wrist of the limb movement device, and Fig. 7 is a block diagram of the hydraulic actuation mechanism used in the limb movement device. Figure 8 is a block diagram of the pneumatic operating mechanism used in the limb movement device, Figure 9A is a side view of the hand controller for the operator used in the limb movement device, and Figure 9B is the same. FIG. 9C is a plan view of the controller, FIG. 9C is a perspective view of the controller, FIG. 10 is a block diagram of the audio mechanism used in the limb movement device, and FIG. 11 is a perspective view of the audio collector used in the audio mechanism. , FIG. 12 is an explanatory diagram showing a movable bridge structure of a braking mechanism used in a limb operating device according to another embodiment of the present invention, FIG. 13 is a perspective view of the same limb operating device, and FIG. It is a connection block diagram of the actuator of a control part. DESCRIPTION OF SYMBOLS 10... Actuation device, 12... Patient, 14... Treatment condition detection device, 18... Computer, 20... Task planer, 22... Feature' extractor, 24... Input/output processor , 26... execution controller, 28...
・Briprocessor, 30...Environmental safety sensor, 32・
...Exchanger, 34...Alarm, 36...Display control device, 38...Operation device, 40...Rail, 42...
...Surgical table, 44...Control box, 46...Air pressure nervo device, 48...Layered structure, 50...Notch, 52...Mounting block, 54...Tightening plate,
56...Tightening port, 58...Knop, 60...
Swivel axis, 62... Arm portion, 64... Hydraulic actuator,
66... Push rod, 68... Turning position sensor, 70...
...Arm part, 72... Rotating shaft, 74... Rotating position sensor, 76... Oil pressure, 78... Push rod, 80. 82... Pivot part, 84... Arm part, 86... Rotating axis, 88... Rotating position sensor, 90... Hydraulic actuator, 92... Push rod, 94.96... Cardinal branch, 98
...Arm part, 100... Rotating axis, 102... Rotating position sensor, 104... Hydraulic actuator, 106...
Push rod, 108, 110... Pivotal part, 112...
Differential mechanism, 114, 116... Bevel gear, 118
゜120... axis, 122... splot, 124...
...Chain, 126...Pneumatic actuator, 128...
Tension device a, 130... pitch position sensor, 132...
...Yaw position sensor, 134...Block, 136.
...Roll shaft, 13B...Mounting bar member, 140...
- Air pressure actuator, 142... Roll position sensor, 144
...Environmental safety sensor, 146... Supply line, 150.
...Patient attachment body, 152...Plastic member, 15
4... Sole member, 156... Foot pad, 158
... String, 160... Heel sensor, 162...
Power supply 1.164...Electrical connector, 166...Hand controller, 168...Hydraulic pressure '/') '/3'
, 170... Control valve, 172... Hydraulic pressure generator, 17
4... Interface circuit, 176... Air pressure actuator, 178... Interface circuit, 180... Supply source, 182... Communication line, 184... Tension spring,
186... Cap, 188, 190... Holding plate, 192... Audio circuit, 194... Selection switch, 194, 196, 198... Function switch, 200... Pendant cable, 202...・Audio collector, 204...Shell, 206...Modern part, 2
08...hole, 210...microphone, 212...
- Surgical mask, 214... Adhesive body, 216... Cord, 218... Spring clip, 220... Input channel, 222... Transmitter, 224... Receiver,
226 Car stand, 228... ribbon cable, 230...
... Code, 232 ... Pipe, 234 ... Chute, 236 ... Push rod, 238 ... Fixed plate,
240...Air pressure actuator, 242...Handle, 24
4...Switch, 250...Air valve, 252...
pneumatic actuator

Claims (1)

[Claims] 1. Positioning the actuating device relative to a portion of the patient;
monitoring the position of the actuating device relative to the portion of the patient;
The process of monitoring the physiological and ecological state of the patient;
determining a desired position of a portion of the patient capable of producing a desired change in ecological status; and actuating an actuating device to position the portion of the patient at the desired position. How to manipulate, diagnose, and therapeutically treat patients. 2. Comparing a series of desired safe positions of the limb and the desired position of the patient's part before the actuation process, and disabling the actuation process when the desired position is outside the desired safe position range; The method according to claim 1, comprising the steps of: 3. A treatment condition detection device that detects the physiological and ecological condition of the patient and outputs treatment conditions according to this condition; and a treatment condition detection device that detects the position of the actuation device that produces the desired condition in the patient relative to the patient; a position sensing device outputting a position signal representative of the actuating device; inputting a treatment condition signal and a position signal; comparing the treatment condition signal with a signal representing a desired physiological and ecological state in the patient; and a positioning device responsive to the position control signal to position the actuator at the desired position. An operating device that operates an operating device on a patient in response to a change in condition. 4. A treatment condition detection device that detects the physiological and ecological state of the patient and outputs treatment conditions according to this state, and an actuation device that responds to a control signal and produces the desired physiological and ecological state of the patient. a position detection device that detects the position of the actuating device relative to the patient and outputs a position signal representative of this position; inputs a treatment condition signal and a position signal; and compares the treatment condition signal with a signal representative of a desired condition; a signal processing device for determining a desired position of the actuating device and generating a position control signal representative of the desired position; and a positioning device for positioning the actuating device at the desired position in response to the position control signal. Manipulating devices that detect and modify the physiological and ecological state of the patient. 5. The device of claim 4, wherein the signal processing device is configured to determine a desired physiological or ecological state and generate a signal representative of the desired state. 6. The signal processing device determines a desired operating state of the actuating device to produce a desired physiological and ecological state of the patient, generates a control signal for the actuating device, and causes the actuating device to achieve the desired operating state. 5. The device according to claim 4, wherein the device is configured to allow the user to take the following steps. 7. The signal processing device compares the position control signal with a safety range signal representing a desired safe position of the actuating device and inhibits transmission of the position control signal to the positioning device when the position control signal is outside the safety range. Claim No. 4 consisting of
Apparatus described in section. 8. The signal processing device compares a series of signals representing the safe operating state of the actuating device with the control signal of the actuating device, and when the control signal of the actuating device is outside the safe range, the control signal of the actuating device is 7. The apparatus of claim 6, wherein the apparatus is configured to inhibit transmission of the information to the operating device. 9. accessible by the signal processing device, which includes treatment condition signals, actuator control signals, position signals, desired physiological,
Claims comprising a storage device for storing a signal representative of the ecological state, a position control signal, a series of signals representative of the desired safe position of the actuator, and a series of signals representative of the safe operating state of the actuator. Apparatus according to scope 5 or 8. 10. The signal processing device determines a series of desired positions of the actuating device, a series of operating states of the actuating device, and a physiological and ecological operation for the patient in the series of desired positions and the series of operating states. and evaluating the physiological and ecological operation for the patient in combination with a series of desired positions and a series of operating states, and from a series of desired positions and a series of operating states of the operating device to a desired position and a desired operating state. and generating a desired physiological and ecological condition in the patient and generating actuator position and control signals corresponding to the selected position and operating condition.
Apparatus described in section. 11. A grasping and moving device that grasps a patient's limb and moves it to a selected position in response to a control signal, and a position of the limb that detects the position of the limb while the limb is being grasped by the grasping and moving device and represents the detected position. A limb position detection device that generates a signal compares the limb position signal with a signal representing the selected limb position, determines a path for moving the limb from the detected position to the selected position, and generates a control signal. A signal processing device for moving the limb from a detected position along a movement path to a selected position via a gripping and moving device. 12. The signal processing device compares the control signal with a series of signals representing an anatomically safe set of movement paths and positions of the limb, and when the control signal is outside the safe range, transmits the control signal to the grasping and movement device. 12. The limb operating device according to claim 11, which is configured to prohibit transmission. 13. A voice recognition device that recognizes a spoken command word representing a desired position of the actuating device and generates a voice command signal representing the command word, the signal processing device inputting the voice command signal and responding accordingly. 12. The apparatus of claim 11, wherein the apparatus is configured to generate a position control signal. 14. A voice recognition device that recognizes a spoken command word representing a desired operating state of the actuating device and generates a voice command signal representing the command word, the signal processing device inputting the voice command signal and responding accordingly. 12. The device of claim 11, wherein the device is configured to generate a control signal for an actuating device. 15. A patient-worn body for attaching a limb movement device to the limb; the patient-worn body includes a sensor that detects displacement from the limb movement device and generates an alarm signal when displacement is detected; and a signal processing device. 12. The device according to claim 11, wherein the device changes the path of movement when an alarm signal is detected, and maintains the attachment of the limb operating device to the limb through the path of movement. 16. The device according to claim 15, wherein the patient attachment body is detachably attached to a limb movement device. 17. The device according to claim 16, wherein the patient attachment is removed from the limb operating device when a force greater than a predetermined force is applied to the limb by the limb operating device. 18. The device according to claim 11, further comprising a force limiting device for limiting the maximum force applied to the limb via the limb operating device. 19. Claim 18 in which the maximum force is made variable
Apparatus described in section. 20. the signal processing device activates the limb motion device and detects the weight of the limb to determine the maximum force and the minimum force applied by the limb motion device to maintain the limb in the desired position; 20. The device according to claim 19, wherein the minimum value is determined according to the maximum force. 21. The signal processing device determines the coordinates of the movement path of the part of the limb from the detected position to the predetermined position with respect to the joint of the limb, generates a control signal, and moves the part of the limb through the gripping and moving device. 12. A device according to claim 11, adapted to be moved in dependence on coordinates. 22. The signal processing device compares the stored coordinates for the joints representing a series of anatomically natural movement paths of a part of the limb with the movement path coordinates, and changes the determined movement path coordinates to allow the grasping and movement device to move. 22. The device of claim 21, wherein the device is configured to maintain an anatomically natural movement of a portion of the limb while the portion of the limb is being moved. 23. Claims comprising a storage device that is accessible by a signal processing device and stores a plurality of signals representing a movement path for moving a limb from a detected position to one of a plurality of preselected positions. Apparatus according to clause 11. 24. A patent in which the signal processing device is configured to change the stored movement path signal in proportion to the length of the limb to move the limb to any preselected position along an anatomically natural movement path. Apparatus according to claim 23. 25. The device according to claim 24, comprising a limb length detection device that detects the length of the limb and generates a signal representing the length so as to be detected by a signal processing device. 26. A control device for operator control of the limb movement device, including a multifunction switch connected to a signal processing device and generating a signal representing the selected limb position, the multifunction switch being visually recognizable by the operator. 12. The device of claim 11, wherein the device is mounted to move the limb actuator into a position that allows continuous access to the operator without searching for the multi-function switch. 27. The apparatus according to claim 26, wherein the control device for operator control is sterilized so that it can be used in an operating room. 28. The device according to claim 11, further comprising a voice recognition device that recognizes a spoken command word representing the selected position of the limb and generates a signal representing the selected position of the limb. 29. The device according to claim 11, which includes an audio converter that converts audio into electrical signals without impairing the functionality of the surgical mask. 30. The device according to claim 29, comprising an audio collector for maximizing the audio level input to the audio converter. 31. The device according to claim 29, wherein the audio converter is disposed within a surgical mask, and the audio level input to the audio converter is maximized. 32. The device according to claim 30 or 31, comprising a noise filter device for removing background noise from the audio before it reaches the audio transducer.