Nghiên cứu chuyển động tạo hình bề mặt, lập phương trình tính toán đường cong lưỡi cắt kéo mổ đầu cong dùng trong y tế áp dụng với mổ moayo 160, đầu cong, mũi nhọn

NGHigN Cflu - TRAO 0(!)l NGHieN CU-U CHUYEN BONG TAO HiNH Bt MAT, LAP PHU-QNG TRiNH TfNH TOAN Ol/dNG CONG LU-Ol CAT K^O M DAU CONG DUNG TRONG Y Tt AP DUNG V&r KfiO M MOAYO 160, OAU CONG, MUI NHON/tCl 'Binh Tiln Long, 'LI Vdn Thdm 'Trfldng Dji hpc Bdeh khoa Hd Ndi 'Trfldng Cao ddng nghi Ky thudt Cdng n g h | T6M TAT Hien nay, keo mo dgng ddu cong dung dephdu thudt d cdc benh viin nUdc hdu het dadc nhdp ngoai, gia thdnh rat cao Mac du nUdc cdng cd mgt sg cd sd sdn xudt loai keo ndy nhUng chat luting so vdi keo dUdc nhap ngoai mgt khodng cdch khd xa, khodng cdch tap trung d chdt lUdng last cat Vi keo mo ddu cong la loai chi tiet cdhinh dang, ket cdu lUdi cat tUdng doi phiic tap, lUdi cdt cong chieu Sau dap cong, nhiet luyen, tdi nguyen cong mdi tinh ladi cdt, cdc cd sd sdn xudt thadngsa dung mdi bdng tay tren mdy mdi dd Dieu ndy lam cho lUdi cdt cong khong deu, khong trdn, goc cdt khdng on dinh Khi 1dm viec, lUdi cdt khong tiep xuc theo diim, keo bi nhay gdy kho khdn cho bdc si mo, nhdt Id cdc dudng cdt yeu cdu phdi chinh xdc De tao ladi cdt co bien dgng vd goc chinh xdc, ddp Ung cdc yeu cdu ky thudt ngdy cdng cao cua keo moy tl", ta phdi diing phUdng phdp mdi tren mdy mdi sdc, cd dieu khiin vdi sii trd giup cita dogd dethay the phUdng phdp mdi tao hinh lUdi cdt bdng tay hien Muon vay ta cdn: - Xdc dinh dugc cdc chuyen dgng tao hinh be mat di tao nen lUdi cdt; - Thiet lap dUdc phUdng trinh be mat vd phUdng trinh dadng cong lUdi cdt; - Xdc dinh dUdc tga dd cua cdc diem thugc ladi cdt Do Id cd sd lif thuyet md bai bdo ndy lam sdng to, giup cho vile thiet kecdc chuyen ddng thiet ke dogd vd lap trinh dieu khiSn trin mdy CNC hoac Robot de tao lUdi cdt cd bien dgng vd goc chinh xdc, ddp Ung cdc yeu cdu ky thudt ngdy cdng cao cita keo moy tShien vd tUdng lai (Phdn thiet ki khong de cap bdi bdo ndy) Bdi bdo dd tien hdnh tinh todn vd ve mo phong bien dgng ladi cdt doi vdi kio moMoayo 160 ddu cong mm nhgn/tit Phuang phdp tinh todn vd ve mo phong cd thS dp ditng dUdc vdi cdc loai kio mo ddu cong hoac sdn pham cd ket cdu tUdng tii Tit khda: Keo mo dau cong, Tao hinh long mo, DUdng cong ladi cdt TAP CHl C O KHl VIETNAM • So (Thang nam 2012) "* Q NGHIEN ClJfU - TRAO 0(!)l ABSTRACT Currently, the operating scissors the curved head use surgical in the hospital in the country, mostly imported, prices arc very high Although there are some domestic manufacturing base have been producing this scissors , but quality is compared with Scissors is also imported a considerable distance, that focusing on quality blade Since the operating scissors the curved head is the detailed have shapes and structures blade is relatively complex, three-dimensional curved blade After scissors curved, thermal treatment, to work stage the blade grinding fine, the production facilities used by hand grinding on grinding stone This makes the blades are not bent, not slippery, unstable angle cut When working two adjacent blades are not in point, jump blades , it difficult for the doctors during surgery, especially when the road cut to exact requirements To create a contour and blad^ angle accuracy to respond to the technical requirements higher quality of the operating scissors health, we must use the method of grinding on grinding, controlled with the help of the map fixtures to replace the imaging method of sharpening the blade by hand today For this we need: - Determining the movements shaping the surface to create cutting edge; - Set up the equation the surface, as well as of the blade curve; - Determine the coordinates of the point of the blade That is the theoretical basis this press article clarityed, allowing the design of motion, design fixtures and control programming on CNC machines or robots to create a cutting edge and angle accuracy to respond to the technical requirements of the operating scissors increasing the current health and future (Ihe design is not mentioned in this article) The article has conducted simulations to calculate and draw the blade contour for operating scissors Moayo curved head 160 and spearhead /blunt Method of calculation and simulation can be applied with the curved.head surgical scissors or products of similar structure Keywords: scissors curved head, make the heart mo, curve blade TAP C H i CO KHi VIET NAM V ,S.6 (Thang nam 2012) NGHIEN CtfU TRAO DOI I.DATVANDE Ph^n mui keo ve irSi (mOi til) Cdc loai keo md ddu cpng deu cd hinh ddng ket cau rdt phflc tap vd chia thdnh phan: Phan dau, phdn mang vd phan chdn keo, xem hmh vd I'-gJ Phdn d ^ ;j Y L Phin mui keo v4 p (mOiniipn) n I Phan mang Hinh 4; Cdu tao phan dau keo mJit phdng XOY r-\V- ~) Phan ehan I -J J Ddi vdi keo ludn cd Ifldi cat phai vd Ifldi Hinh 1; Keo cat mong mdt dau cong mui nhon/nhgn - Lfldi cat phai la Ifldi eat ndm d ben phdi dpc trfldc mat (dau keo hfldng Ien tren), phan cong quay Ien tren Trong cac cdng thflc tinh todn cd them chfl R vdo chi sd " Lfldi cat trai Id Ifldi eat nam d ben trai dgc trfldc mat (dau keo hfldng Ien tren), phan cong quay Ien tren Trong eac cdng thflc tinh todn cd them chfl L vao chi sd Hinii 2: Keo mo Moayo dju cong miii iihon/tu Cdc gdc gdc dp cua lfldi cat gom gdc trfldc y vd gdc sau a nam tiet dien cat chinh dfldc ehi tai hinh 4, hinh Phan dau Id phan quan nhat cua keo Theo hinh Hinh chieu dfldng cong eua ^^ d dd ed Ifldi cat, Ifldi eat cong chieu, xem hinh Trong hinh ta lay mat phang di qua mang keo lfldi eat tren mat phdng Oxy la mpt phdn dfldng trdn ed ban kinh R^.^^ hoac R^.^^ (Ve trai/ve phdi) va tdm chdt keo Idm he tpa dp tuyet ddi Oxyz Theo hinh 5, Long mo lfldi eat thudc mat phang Oxz Id mdt phan dxidng trdn ed ban kinh R^; Mat khac dau keo lai dflpc udn cong mat phang Oyz vdi ban kinh cong R^^, R^^j^ Nhfl vdy long mo cua lfldi keo la mdt phan eua mat xuyen ( ban kinh vdng xuyen R^, Bdn kinh mat xuyen R^) Hinh 3; Cau tao phan dau keo Nhfl vay, phan dau keo cd cdu tao rat phfle tap Bi^n dang lfldi cat chinh la giao tuyen eua • phan m^t tru ed day la hinh chieu eua dfldng cong Ifldi eat mat phang Oxy vdi mat x u y e n ' ^ TAP CHI CO KHf VIET NAM V Sd (Thang nam 2012) NGHIEN cflu - TRAO D(il cd ban kinh xuyen R^ vd bdn kinh R_^^ Vi vay, de xdc dinh dflpc bien dang lfldi cdt, ta can xdc dinh dflpc; d- Long mo Hinh 5: Long mo lfldi keo - Cae chuyen ddng tao hinh nham tao nen be mat Idng mo vd mat ben eua lfldi cat Phflpng trinh be mat Idng mo vd he phflpng trinh xdc dinh giao tuyen tao nen dfldng cong cua Ifldi cat - Gidi he phflpng trinh, xdc dinh tpa dp cua cdc di^m thudc dfldng cong lfldi cat va ve dfldng cong Ifldi eat dp dung ddi vdi keo md Moayo 160 dau cong mui nhpn/tu XAC DINH CAC CHUYEN DONG TAO HINH BE MAT LONG MO VA CHUYEN DONG TAO NEN BE MAT TRUCfC DE TAO NEN BIEN DANG L U O I CAT CUA CAC LOAI KEO MO DAU CONG Theo nguyen Iy tao hinh, de tao hinh Idng mo Ifldi cat (Be mat C) ta can cho phan be mat C cua chi tiet chuyen ddng quay trdn quanh mdt tdm ed dinh O^ cd bdn kinh quay bang bdn kinh (R_) cua phan cong lfldi cdt mat phdng Ojy|Z| Dung cu ed chuyen ddng quay trdn quanh true eua nd va true dting cu gifl nguyen vi tri True dung cu song song vdi triic Oy va ndm mat phang vudng gdc vdi mat phang Oxz Khi dd, be mdt C (Idng mp) cua chi tilt se tap mdt hp b l mat BI mat khdi thuy K ludn tilp tuyen vdi vdi hp be mat C trpng qud trinh chuyen ddng, nghia Id tiep tuyen vdi hp b l mat C cfla chi tiet trpng qud trinh chuyen dpng tap hinh (chuyen ddng tflong ddi so vdi dung cu) TAP CHI CO KHI VIET NAM Hinh 6: Be m?t Idng mo C ciia chi tiet; Dfldng die tinh E va mat khdi thuy K cua dung cu Trong trfldng hpp nay, tap hpp cua ho dfldng cong C cua chi ti^t chinh Id mot hinh xuyen cd ban kinh cua vdng xuyen Rm bang ban kinh cua Idng mo Ifldi keo, ban kinh eua xuyen RX (tinh tfl tdm xuyen den diem nam tren be mat xuyen) la ban kinh cong cua dau keo mat phang song song vdi mat phdng Oyz Mat khdi thuy K eiia dung cu va mat C (long mo) eua ehi tiet qua trinh tao hinh ludn tiep xuc vdi theo dfldng Dfldng chinh la dfldng dae tinh E cfla dung cu Dfldng dac tinh E chinh la mdt phan dfldng trdn cd ban kinh bdng ban kinh long mo Rm cua chi tiet Phflpng trinh eua be mat xuyen (be mat Idng mo) dflpc viet nhfl sau: f ( x - x J ^ + ( z - z J ^ = Rm^ (1) (2) Trpng dd: "R_, z^^, y^^^ Ian Iflpt la bdn kinh cong (khpang cdch tfl true tdm vdng xuyen tdi be mat I d n g m p , Dp vudng gdc vdi true Ox vd tpa dp cua tdm vdng xuyen trpng mat phang Ozy." R^, x^, y„,„ Ian Iflpt Id bdn kinh cong va S6 (Thdng nam 2012) NGHIEN Cflu-TRAODOI tpa dp cua tam dfldng trdn Idng mo (mat xuyen song song vdi true Oy Chi ti^t ed chuyen ddng mat phang Ozx) quay quanh true Ox SP dd mdi Idng mo Ifldi keo dflpc chi De tao be mat Idng mo cua phan dau cua Keo, ta dung dung cu la da dia hoac dd cdn tren hinh ve 7, sfl dd Dd gd mai Idng mo dflpc ehi cd bdn kinh tflpng dflpng bang ban kinh cua long tren hinh ve mo Rm Da cd chuyen ddng quay trdn quanh true !»-P, XJDSi Hinh 7: So mai he mill long mo C ciia lUdi kto Hinh 8: Dd ga mai be mat long mo C ciia lfldi keo TAP CHl CO KHf VIET NAM *l* Sd (Thdng nam 2012) NGHIEN CUfU - TRAO D | De tao nen mat trfldc cua Ifldi k^o, ta cho chi tiet chuyen dpng theo qui luat cua dfldng cong lfldi cat vd mat dau cua dd hpp vdi mat ddy gdc y hX„ = R^cosp-X„, = R^cosp-R^cos|5c ^Y„ = R,sinP-(|y,J-^y„) (5 (6 Van de Id tim phflpng trinh xdc dinh dfldng cong lfldi cdt vdi tpa dd cdc di6m x,y,z H £ P H U O N G T R I N H XAC D I N H B I £ N DANG LUOI CAT ciiA K £ O M DAU C O N G Lfldi cdt Id giao eua be mat Idng mo (mdt phan cua mat xuyen) dflpc xdc dinh bdi he phflpng trinh (I) vd (2) vdi phan be mat tru cd day (Hinh chi^u cua lfldi cdt tren mat phdng Oxy) ed phflpng trinh (3) Ddi vdi ve trdi: (x -x^,^)^ + (y+ y^^^)^ = R^^ ^ (3) Trong dd: x^^, y^^^, R^ Ian Iflpt Id tpa dp tdm vd bdn kinh cong eua dfldng trdn la hinh chieu cua Ifldi cat (chinh Id day eua mat tru) tren m^t phang Oxy Gidng YM Ien tren hinh ve thupc mat phang Oyz ta cd quan h?: Nhfl vdy, ta cd he phflpng trinh (4): (x-xJ'-t{z-zJ' = K' (y-yoJ' + (z-\f = K' (x -x„)' -1- (y+ y„,)' = R^ ' Hinh 9: Set dd tinh toan dfldng cong lfldi cdt (4) Z„=Rx-^Rl-y;, Z« =fo-./R [R,,sinp-(|>.„ l + y j ] De gidi he phflpng trinh tren, ta chuyin sang he tpa dp c\ic Hdy quan sdt hinh ve Trpng mat phang Oxy ta cd: Nhfl vdy, ta cd he phflpng trinh xdc dinh dfldng cpng lfldi cdt (8) Y„ = RcSinP-(|y„.Ky,) X „ = R,cpsP-x,, Hinh chieu cua dfldng cong lfldi kep Id mpt phan cua cung trdn (Dfldng dd dam) cd bdn kinh R^, cd tdm (x„j, y,,): m (8) '., = 1' - VR-;-lRcsin|i-(K, l + y.)]' Trpng HI phflpng trinh (8) vdi cdc gia tri R( chp trfldc thi tpa dp cua dfldng cong lfldi cat - Bat dau tfl diem cd tpa dp (x,,, y^) tflong phu thupc tham sd Rx vd gdc p Gidi he phflpng flng vdi (R^,P„) trinh tren vdi cdc dilu kiln biln, ta se dflpc tpa dO cac diem thudc dfldng cong tflpng flng - Kit thuc tai diem cd tpa dd (x , y ) tflong flng vdi (R^,p; ' ' GLAI HE PHUONG TRlNH XAC DINH TQA DO c A c D I £ M T H U O C B I £ N D ^ G Llffll Vdi dilm M bat ky thudc dfldng cpng CAT CUA K £ O M MOAYO 160, DAU CONG tren ta cd; MUI NHON/TU TAP CHJ CO KHf VIETNAM • Sd (Thang nam 2012) NGHIEN c a u TRAO D6\ Kep md Mpayo 160, dau cong mui nhpn/tfl la Ipai kep mp dau cpng cd vl phai nhpn, ve trai til Ap dung he phflpng trinh (8), ta cd cdc he phflpng trinh xdc dinh tpa dp cua lfldi kep 4.1 Vl trdi He phflpng trinh xdc dinh dfldng cpng lfldi cat dfloc viet nhfl he phflpng trinh (9)- K = \i.^°f-\,, (9) Z„ = R.„ -^Rk-[R