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生物机电

Biomechatronics

课程介绍 Course Introduction

学分:3 | 先修课:控制理论、生物力学、电路 | 学期:第七学期

本课程融合机械、电子、控制与生物医学知识,研究人体与机电系统的交互与协同。学生学习执行器、传感器、人机接口、肌电控制、外骨骼与假肢设计原理,掌握运动意图识别、闭环控制与触觉反馈等关键技术。课程结合康复机器人、智能假肢、手术机器人等前沿案例,培养学生在医疗机器人与神经工程领域的系统集成与创新能力。

This course integrates mechanical, electronic, control, and biomedical knowledge to study interactions between the human body and mechatronic systems. Students learn actuators, sensors, human-machine interfaces, EMG control, exoskeleton, and prosthetic design, with motion intent recognition, closed-loop control, and haptic feedback. Cases include rehabilitation robots, smart prosthetics, and surgical robots, building system integration and innovation skills.

大作业 Final Project

作业标题:上肢康复外骨骼系统设计与控制 / Upper-Limb Rehabilitation Exoskeleton Design and Control

设计上肢康复外骨骼系统,包括机械结构、执行器选型、sEMG信号采集与闭环控制。实现助力训练与运动意图识别功能。

Design an upper-limb rehabilitation exoskeleton system, including mechanical structure, actuator selection, sEMG signal acquisition and closed-loop control. Implement assistance training and motion intent recognition functions.

实施步骤 Implementation Steps

📋 示例:设计一款上肢康复外骨骼,比如肘关节屈伸助力装置。你需要设计连杆机构和驱动系统,用表面肌电信号识别运动意图,然后实现力控制算法,在仿真中测试它能不能平稳地辅助患者完成屈肘60度的动作。
步骤 1
需求与运动学分析
本步骤对生物医学工程问题进行深入分析,明确临床需求和技术指标。生物医学工程的核心是将工程技术与医学需求相结合,需要从临床应用场景出发,分析生理机制、技术可行性和安全要求。通过文献调研和临床需求调研确定设计输入。

• 检索PubMed、IEEE Xplore等数据库,调研国内外研究现状和技术发展趋势
• 分析临床应用场景和用户需求,明确适应症、使用人群和关键性能指标
• 识别技术难点和风险点,制定技术路线和关键性能参数指标
产出:需求分析报告(含文献综述、临床需求、技术指标、风险分析、技术路线) | 质量标准:调研充分、需求明确、指标合理、技术路线可行
步骤 2
机械与执行器设计
本步骤进行生物医学系统或器械的方案设计,将临床需求转化为具体的技术方案。生物医学设计需同时考虑功能性、生物相容性、安全性和法规合规性,在多目标约束下寻求最优解。采用模块化设计方法,确保系统可验证、可制造、可维护。

• 进行系统架构设计,划分功能模块,确定各模块接口规范和通信协议
• 选择关键元器件和材料,依据ISO 10993或GB/T 16886评估生物相容性
• 设计电路原理图或机械结构,使用Altium Designer或SolidWorks完成详细设计
产出:设计文档(含系统架构图、原理图/结构图、BOM表、材料选型说明、接口规范) | 质量标准:设计合理、参数正确、材料合规、满足临床需求
步骤 3
sEMG采集与意图识别
本步骤是生物医学工程项目的重要环节,将工程技术与医学需求紧密结合解决临床问题。生物医学工程需严格遵循医疗器械相关法规和标准,确保安全性和有效性。采用专业的生物学、医学和工程学交叉方法开展工作。

• 依据医疗器械相关法规(如NMPA、FDA、CE)和标准(ISO、GB、YY)开展工作
• 使用专业工具(MATLAB/COMSOL/SolidWorks/SPSS等)进行设计、计算和数据分析
• 进行生物相容性和安全性评估,确保符合临床应用要求
产出:专业报告(含方法描述、实验数据、分析结果、风险评估、结论建议) | 质量标准:方法合规、数据准确、安全有效、符合医学伦理
步骤 4
闭环控制设计
本步骤进行生物医学系统或器械的方案设计,将临床需求转化为具体的技术方案。生物医学设计需同时考虑功能性、生物相容性、安全性和法规合规性,在多目标约束下寻求最优解。采用模块化设计方法,确保系统可验证、可制造、可维护。

• 进行系统架构设计,划分功能模块,确定各模块接口规范和通信协议
• 选择关键元器件和材料,依据ISO 10993或GB/T 16886评估生物相容性
• 设计电路原理图或机械结构,使用Altium Designer或SolidWorks完成详细设计
产出:设计文档(含系统架构图、原理图/结构图、BOM表、材料选型说明、接口规范) | 质量标准:设计合理、参数正确、材料合规、满足临床需求
步骤 5
系统集成与报告
本步骤是生物医学工程项目的重要环节,将工程技术与医学需求紧密结合解决临床问题。生物医学工程需严格遵循医疗器械相关法规和标准,确保安全性和有效性。采用专业的生物学、医学和工程学交叉方法开展工作。

• 依据医疗器械相关法规(如NMPA、FDA、CE)和标准(ISO、GB、YY)开展工作
• 使用专业工具(MATLAB/COMSOL/SolidWorks/SPSS等)进行设计、计算和数据分析
• 进行生物相容性和安全性评估,确保符合临床应用要求
产出:专业报告(含方法描述、实验数据、分析结果、风险评估、结论建议) | 质量标准:方法合规、数据准确、安全有效、符合医学伦理

Steps

Step 1
Requirements and Kinematic Analysis
This step conducts in-depth analysis of biomedical engineering problems, clarifying clinical requirements and technical specifications. The core of biomedical engineering is combining engineering technology with medical needs, requiring analysis of physiological mechanisms, technical feasibility and safety requirements starting from clinical application scenarios. Determine design inputs through literature review and clinical needs investigation.

• Search databases such as PubMed and IEEE Xplore, investigate domestic and international research status and technology development trends
• Analyze clinical application scenarios and user needs, clarify indications, target population and key performance indicators
• Identify technical difficulties and risk points, develop technical route and key performance parameter specifications
Deliverable: Requirements analysis report (including literature review, clinical needs, technical specifications, risk analysis, technical route) | Quality standard: Thorough investigation, clear requirements, reasonable specifications, feasible technical route
Step 2
Mechanical and Actuator Design
This step performs biomedical system or device scheme design, translating clinical needs into specific technical solutions. Biomedical design must simultaneously consider functionality, biocompatibility, safety and regulatory compliance, seeking optimal solutions under multi-objective constraints. Adopt modular design methods to ensure system verifiability, manufacturability and maintainability.

• Perform system architecture design, divide functional modules, determine interface specifications and communication protocols for each module
• Select key components and materials, evaluate biocompatibility according to ISO 10993 or GB/T 16886
• Design circuit schematics or mechanical structures, complete detailed design using Altium Designer or SolidWorks
Deliverable: Design document (including system architecture diagram, schematic/structural diagram, BOM table, material selection description, interface specifications) | Quality standard: Reasonable design, correct parameters, compliant materials, meeting clinical needs
Step 3
sEMG Acquisition and Intent Recognition
This step is an important element in biomedical engineering projects, closely integrating engineering technology with medical needs to solve clinical problems. Biomedical engineering must strictly follow relevant medical device regulations and standards, ensuring safety and effectiveness. Work is carried out using interdisciplinary methods of biology, medicine and engineering.

• Work according to relevant medical device regulations (NMPA, FDA, CE) and standards (ISO, GB, YY)
• Use professional tools (MATLAB/COMSOL/SolidWorks/SPSS, etc.) for design, calculation and data analysis
• Perform biocompatibility and safety evaluation, ensuring compliance with clinical application requirements
Deliverable: Professional report (including method description, experimental data, analysis results, risk assessment, conclusions and suggestions) | Quality standard: Compliant methods, accurate data, safe and effective, compliant with medical ethics
Step 4
Closed-Loop Control Design
This step performs biomedical system or device scheme design, translating clinical needs into specific technical solutions. Biomedical design must simultaneously consider functionality, biocompatibility, safety and regulatory compliance, seeking optimal solutions under multi-objective constraints. Adopt modular design methods to ensure system verifiability, manufacturability and maintainability.

• Perform system architecture design, divide functional modules, determine interface specifications and communication protocols for each module
• Select key components and materials, evaluate biocompatibility according to ISO 10993 or GB/T 16886
• Design circuit schematics or mechanical structures, complete detailed design using Altium Designer or SolidWorks
Deliverable: Design document (including system architecture diagram, schematic/structural diagram, BOM table, material selection description, interface specifications) | Quality standard: Reasonable design, correct parameters, compliant materials, meeting clinical needs
Step 5
System Integration and Report
This step is an important element in biomedical engineering projects, closely integrating engineering technology with medical needs to solve clinical problems. Biomedical engineering must strictly follow relevant medical device regulations and standards, ensuring safety and effectiveness. Work is carried out using interdisciplinary methods of biology, medicine and engineering.

• Work according to relevant medical device regulations (NMPA, FDA, CE) and standards (ISO, GB, YY)
• Use professional tools (MATLAB/COMSOL/SolidWorks/SPSS, etc.) for design, calculation and data analysis
• Perform biocompatibility and safety evaluation, ensuring compliance with clinical application requirements
Deliverable: Professional report (including method description, experimental data, analysis results, risk assessment, conclusions and suggestions) | Quality standard: Compliant methods, accurate data, safe and effective, compliant with medical ethics
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