Automation of a Mechanical Childbirth Simulator Using Electropneumatic Components
Résumé
This paper presents some new automatic procedures for a mechanical childbirth simulator BirthSIM. BirthSIM is a
complete training system for simulating labor during childbirth. This simulator also tests new techniques for obstetric
practice. BirthSIM consists of a dynamic pelvic model which simulates a pregnant human female and in which the
newborn’s head is located in the vaginal canal. The newborn’s head is connected to a linear pneumatic actuator driven
by two five-port proportional valves.
A global characterization of the static flow stage of the electropneumatic proportional valve Festo has been carried out.
An analytical model has been obtained using characteristic 3D graphs where a set of curves gives the output mass flow
rate as a function of the electrical input for different values of the pressure ratio (upstream/downstream). This model is
useful for carrying out the synthesis of linear control laws for feedback control in position, velocity or force tracking
according to the desired trajectories. The medical conditions are translated into an automation problem by the
synthesis of input trajectories for the electropneumatic system. Position feedback control is necessary to position the
head of the newborn on a horizontal axis. Also, position or force control is important in order to produce the movement
of the head, the mother’s natural contractions and the mother’s pushing action.
In this study some control procedures has been proposed. Different childbirth cases can be simulated by the
electropneumatic system. The validity of the proposed control method for simulating childbirth modes has been
evaluated by means of experiments with an expert obstetrician.
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