Design And Research Of Flexible Arm System For Transcranial Magnetic Stimulation(TMS)

According to the statistics of the Mental Health Center of the China Center for Disease Control,the total number of mental patients in China exceeds 100 million.However,the general public’s awareness of mental illness is less than 50%,and the rate of visits is low,which will have various effects on patients and society as a whole.The emergence of transcranial magnetic stimulation therapy has brought hope to patients.The treatment technology itself is very mature,but because the single treatment process averages more than 20 minutes,and the treatment equipment is generally more than 2kg,the medical staff’s physical strength is greatly consumed,and the handheld operation positioning is not accurate,which makes the treatment effect unsatisfactory.The existing equipment for mechanically assisted transcranial magnetic stimulation is expensive.To solve these problems,a flexible robotic arm dedicated to transcranial magnetic stimulation therapy equipment has been developed.First of all,based on the analysis summary for transcranial magnetic stimulation treatment at home and abroad based on the advantages and disadvantages of auxiliary equipment,auxiliary mechanical arm using transcranial magnetic stimulation treatment of the scheme and plan developed a mechanical arm system with flexible properties,in the flexible study,this paper proposes a flexible joints design method based on elastic series drives the method adopts the physical mechanism to replace the traditional force sensor,reducing the costs of medical equipment research and development,more important is compared with the traditional rigid mechanical arm,its flexible features make it has better performance of human-computer interaction,can avoid damage rigidity,higher security In order to better realize man-machine interaction of the robot arm,a PC software based on C# language is designed for the robot arm to observe its running state in real time and control its movement.Secondly,the kinematics and dynamics analysis was carried out on the mechanical arm in the MATLAB software based on Monte Carlo sampling joint Angle method,get the robotic arm to complete scope of work space,validate the mechanical arm to meet the demand of practical work space design based on Solid Works software to measure the inertial parameters of each connecting rod,and through the Newton-euler iterative method to calculate the torque of each joint equation.Again,for the flexible manipulator trajectory planning problems,in order to prevent by joint torque changes too fast,and lead to the case of joint torque,and puts forward a model based on instruction torque changes combined with Taylor series the trajectory of backstepping method,and through the genetic algorithm optimization,the optimal planning of mechanical arm joint torque variation of trajectory,and then in Simulink simulation show that the method is compared with the advantages of traditional polynomial interpolation algorithm.Finally,in order to study the actual control of flexible joint performance,to set up a complete mechanical arm transcranial magnetic stimulation of the control system,hardware system and flexible characteristics of the third joint design position control and force control of two groups of experiments to study the flexible drive joint controllability and reliability in the force control experiments,designed a dedicated to measure the flexible drive stiffness coefficient of the experimental platform,to a first order linear fitting of experimental data,the stiffness of flexible drive the calibration coefficient is put forward a kind of parameter design method of adaptive inertia filter,effectively solve the force signal acquisition process the contradiction between precision and real-time performance The maximum residual error of the position control experiment is only 0.03 rad,and the steady-state error is much higher than that of the doctor’s hand-held positioning precision force control experiment.The maximum residual error of the steady-state force control experiment is only 0.4n,and the experimental results confirm the controllability and reliability of the method of replacing the force sensor with physical structure.