STRAIN-GAUGING UNIT OF CONTROL SYSTEM OF ROBOTIC MANIPULATOR Russian patent published in 2019 - IPC A61B5/103 A61H15/00 A61H99/00 

FIELD: medicine; control systems.

SUBSTANCE: strain-gage unit of control system of robotic manipulator refers to medical equipment. Robot manipulator control system strain-gaging unit comprises indenter. Indenter is rigidly connected with manipulator. Manipulator comprises power sensor and limit switch. Limit switch is found in the patient for an angiometric examination. Diagnostic unit is implemented in the form of push-button switch. Signal from the diagnostic unit is transmitted through a digital input of the input / output module to the central processor, as well as to the digital input of the controller. Controller generates a signal to the first input of the serial port of the personal computer. Signal from the analogue-to-digital converter output is transmitted to the second input of the serial port of the personal computer. Analog-to-digital converter input receives signal from power sensor output indenter musculoskeletal testing system MES 9000. Sensor indenter system of musculoskeletal testing is installed on final link of manipulator. Force transducer output is connected to controller analogue input. Controller has an output digital channel, through which data are transmitted to the main line. Main line is connected to manipulator control system.

EFFECT: invention provides more effective control of the interaction force of the robotic manipulator plate with soft tissues in the diagnosed points, high objectivisation of the strain-logometry with the appearance of a sensation of pain in the patient.

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