CN118634008B - A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device - Google Patents
A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3476—Powered trocars, e.g. electrosurgical cutting, lasers, powered knives
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3494—Trocars; Puncturing needles with safety means for protection against accidental cutting or pricking, e.g. limiting insertion depth, pressure sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B2017/347—Locking means, e.g. for locking instrument in cannula
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Abstract
一种双足协同步进式两自由度跨尺度压电穿刺器，涉及压电驱动技术领域。解决了现有的机器人穿刺器难以兼备多自由度、大行程、高分辨力、大出力范围、高出力分辨力的问题。所述压电穿刺器包括：曲针、压电驱动器、锁止装置、流量块、光轴、限位挡块、后壳体、内端盖和外端盖；所述曲针通过流量块与光轴前端相连，所述光轴后端设有限位挡块，所述限位挡块设置在后壳体内部；所述光轴下方设有压电驱动器，所述压电驱动器与锁止装置固定连接，并将锁止装置一侧固装在内端盖上，所述内端盖设有外端盖。本发明应用于生物体微穿刺领域。
A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device relates to the field of piezoelectric drive technology. It solves the problem that the existing robot puncture device is difficult to combine multiple degrees of freedom, large stroke, high resolution, large output range, and high output resolution. The piezoelectric puncture device includes: a curved needle, a piezoelectric driver, a locking device, a flow block, an optical axis, a limit block, a rear shell, an inner end cover and an outer end cover; the curved needle is connected to the front end of the optical axis through the flow block, and the rear end of the optical axis is provided with a limit block, and the limit block is arranged inside the rear shell; a piezoelectric driver is provided below the optical axis, and the piezoelectric driver is fixedly connected to the locking device, and one side of the locking device is fixedly mounted on the inner end cover, and the inner end cover is provided with an outer end cover. The present invention is applied to the field of micro-puncture of biological bodies.
Description
Technical Field
The invention relates to the technical field of piezoelectric driving, in particular to a double-foot-coordination synchronous advancing type two-degree-of-freedom trans-scale piezoelectric puncture outfit.
Background
Biological micro-puncture is a common support technology in the field of medical industry intersection and is also an important application direction of robot technology. The robot puncture outfit can break through the limit of the manual operation capability, and realize the safe and accurate puncture of organisms. At present, a puncture object focuses on cells and vascular organisms with different sizes and different forms, and strict characteristic requirements of multiple degrees of freedom, large stroke, high resolution, large output range and high output resolution are provided for a robot puncture outfit. The robot puncture outfit based on electromagnetic driving uses a transmission mechanism of a gear and a rack, submicron precision is difficult to realize, meanwhile, the realization of multi-degree-of-freedom motion is accompanied by the use of a plurality of electromagnetic motors, so that the structural size is large, in addition, the problem of electromagnetic interference cannot be ignored under the condition of no special electromagnetic shielding device, and the common problem of lower displacement resolution and motion precision of the robot puncture outfit based on fluid driving, artificial muscle driving and rope driving is solved, so that the application of the robot puncture outfit in the field of microminiature organism fine puncture is limited.
Disclosure of Invention
Aiming at the problems that the existing robot puncture outfit is difficult to have multiple degrees of freedom, large stroke, high resolution, large output range and high output resolution, the invention provides a double-foot cooperative synchronous advancing type two-degree-of-freedom trans-scale piezoelectric puncture outfit, which comprises the following specific steps:
a dual-foot synchronous advancing two-degree-of-freedom trans-scale piezoelectric puncture outfit, the piezoelectric puncture outfit comprising:
curved needle, piezoelectric driver, locking device, flow block, optical axis, limit stop, back shell, inner end cover and outer end cover;
the curved needle is connected with the front end of the optical axis through a flow block, a limit stop is arranged at the rear end of the optical axis and is arranged in the rear shell, a piezoelectric driver is arranged below the optical axis and is fixedly connected with the locking device, one side of the locking device is fixedly arranged on an inner end cover, and an outer end cover is arranged on the inner end cover.
Furthermore, a preferable mode is provided, the piezoelectric puncture outfit further comprises a front linear bearing, a rear linear bearing and a shaft barrel, the shaft barrel is arranged outside the inner end cover, and the front linear bearing and the rear linear bearing are arranged at the front end and the rear end of the shaft barrel.
Furthermore, a preferred embodiment is also proposed in which the front linear bearing is fastened to the shaft cylinder via a front flange and the rear linear bearing is fastened to the shaft cylinder via a rear flange.
Furthermore, a preferable mode is also provided, and the piezoelectric puncture outfit further comprises a front shell, wherein the front shell is sleeved outside the shaft barrel.
Further, a preferred mode is provided, the piezoelectric driver comprises a driving foot, a bending composite linear piezoelectric unit, a flexible flange, a ball head and a first piezoelectric stack, wherein the driving foot is fixedly arranged at the top end of the bending composite linear piezoelectric unit, the flexible flange is fixedly arranged at the bottom end of the bending composite linear piezoelectric unit, the ball head and a gasket are respectively adhered to the top and the bottom of the first piezoelectric stack, the ball head is in contact with the boss center of the flexible flange, and output motion of the first piezoelectric stack is transmitted to the bending composite linear piezoelectric unit through an annular thin wall of the flexible flange.
Further, it is also proposed that the piezoelectric actuator further comprises an outer cylinder sleeved outside the curved composite linear piezoelectric unit and a spacer installed in an inner bottom center groove of the outer cylinder.
Further, a preferred mode is also provided, the piezoelectric driver further comprises four ball screws, and the four ball screws are circumferentially and symmetrically arranged in the cylinder and are in contact with the outer side of the bending composite linear piezoelectric unit, and the four ball screws are used for providing supporting force for driving the feet to be equal to the optical axis pressure and opposite to the optical axis pressure.
Further, a preferred mode is provided, the bending composite linear piezoelectric unit comprises a series-parallel flexible mechanism, an inner cylinder, a flexible beam, a four-partition piezoelectric ceramic group, a base and a first pre-tightening screw, wherein the four-partition piezoelectric ceramic group is fixedly arranged between the flexible beam and the base through the first pre-tightening screw, the inner cylinder is fixedly arranged on the base, the flexible beam is fixedly connected with the inner cylinder and the flexible beam respectively, the flexible beam is provided with a fully symmetrical flexible hinge mechanism, and the series-parallel flexible mechanism is connected with the flexible beam through the series-parallel flexible beam structure.
Furthermore, a preferable mode is also provided, and the flexible hinge mechanism of the flexible beam is any one of a completely symmetrical straight circular structure, a straight beam structure and an elliptic structure.
Further, a preferred mode is also provided, the locking device comprises a locking mechanism, a second piezoelectric stack, a first wedge block, a second wedge block and a second pre-tightening screw, the second piezoelectric stack is arranged in the middle of the locking mechanism through the first wedge block, the second wedge block and the second pre-tightening screw, the second piezoelectric stack is used for achieving single-degree-of-freedom linear motion output, the locking mechanism adopts a serial-parallel beam structure, and the linear motion output of locking feet at the top end of the locking mechanism is achieved through direct driving of the second piezoelectric stack.
The invention has the advantages that:
The invention solves the problems that the existing robot puncture outfit is difficult to have multiple degrees of freedom, large stroke, high resolution, large output range and high output resolution.
The invention provides a double-foot cooperative synchronous advancing type two-degree-of-freedom trans-scale piezoelectric puncture outfit, which has the remarkable characteristics of compact structure, small volume, light weight and power failure self-locking, and realizes the non-rollback motion output with large adjustable puncture force range, high puncture force resolution, two degrees of freedom, large stroke and high displacement resolution through the cooperative stepping driving of double-foot multidimensional decoupling tracks.
The piezoelectric driver is used in the invention to realize quick response and high-precision displacement control, so that the puncture outfit can accurately position and puncture biological tissues with micro dimensions, and the requirements of the medical and biological science fields on fine operation are met.
The invention is based on the design of adopting the biped cooperative stepping, and effectively realizes the motion control of two degrees of freedom. The design allows the puncture outfit to accurately move in multiple directions, meets the puncture requirements of different angles and positions, and improves the flexibility and coverage range of operation. Compared with the traditional electromagnetic driving device, the piezoelectric driver has simpler structure and does not need a complex transmission mechanism and a large number of electromagnetic elements. This reduces not only the size and weight of the overall device, but also the manufacturing costs and maintenance difficulties. Because the piezoelectric driver does not need a large number of electromagnetic elements, the possibility of electromagnetic interference is reduced when the puncture outfit is operated, the interference to the surrounding environment and other equipment is avoided, and the stability and the reliability of the equipment are improved.
The piezoelectric puncture outfit designed by the invention considers the requirement of cross-scale application, can play a role in the fine puncture task of a tiny organism, and is also suitable for the scale change in a certain range, so that the puncture outfit has high-efficiency application potential in different application scenes. The piezoelectric driver can realize real-time monitoring and adjustment of the puncture outfit through an accurate control system, and safety and stability in the operation process are ensured. This is particularly important in the medical field.
Drawings
FIG. 1 is a partial cross-sectional view of a three-dimensional structure of a two-degree-of-freedom trans-scale piezoelectric penetrator in accordance with one embodiment;
FIG. 2 is a partial cross-sectional view of a three-degree-of-freedom linear piezoelectric actuator according to a fifth embodiment;
FIG. 3 is a partial cross-sectional view of a three-dimensional structure of a curved composite linear piezoelectric unit according to an embodiment eight;
Fig. 4 is a schematic diagram of a single-degree-of-freedom locking device according to a tenth embodiment, in which fig. 4 (a) is a schematic diagram of a three-dimensional structure of the single-degree-of-freedom locking device, and fig. 4 (b) is a schematic diagram of a principle of linear motion of the single-degree-of-freedom locking device along a positive z-axis direction;
fig. 5 is a schematic diagram of a three-degree-of-freedom linear piezoelectric actuator according to an eleventh embodiment in which the three-degree-of-freedom linear piezoelectric actuator moves linearly along the positive z-axis direction;
Fig. 6 is a schematic diagram of a bending composite piezoelectric structure according to an eleventh embodiment, fig. 6 (a) is a schematic diagram of bending motion of the bending composite piezoelectric structure along the positive x-axis direction, fig. 6 (b) is a schematic diagram of linear motion of the bending composite linear piezoelectric unit along the positive x-axis direction, fig. 6 (c) is a schematic diagram of bending motion of the bending composite piezoelectric structure along the positive y-axis direction, and fig. 6 (d) is a schematic diagram of linear motion of the bending composite linear piezoelectric unit along the positive y-axis direction;
1, a curved needle, 2, a piezoelectric driver, 2-1, a driving foot, 2-2, a ball screw, 2-3, a curved composite linear piezoelectric unit, 2-4, an outer cylinder, 2-5, a flexible flange, 2-6, a ball, 2-7, a first piezoelectric stack, 2-8, a gasket, 2-31, a serial-parallel flexible mechanism, 2-32, an inner cylinder, 2-33, a flexible beam, 2-34, a four-section piezoelectric ceramic group, 2-35, a base, 2-36, a first pre-tightening screw, 3, a locking device, 3-1, a locking mechanism, 3-2, a second piezoelectric stack, 3-3, a first wedge block, 3-4, a second wedge block, 3-5, a second pre-tightening screw, 4, a flow block, 5, an optical axis, 6, a front flange, 7, a front linear bearing, 8, a front housing, 9, a shaft cylinder, 10, a rear linear bearing, 11, a limit stop, 12, a rear housing, 13, a rear flange, 14, an inner end cover and an outer end cover.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and for simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected, mechanically connected or electrically connected, directly connected or indirectly connected through an intermediate medium, or communicating between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Embodiment one, this embodiment will be described with reference to fig. 1. The embodiment of the dual-foot synchronous advancing type two-degree-of-freedom trans-scale piezoelectric puncture outfit comprises:
Curved needle 1, piezoelectric driver 2, locking device 3, flow block 4, optical axis 5, limit stop 11, back shell 12, inner end cover 14 and outer end cover 15;
The curved needle 1 is connected with the front end of the optical axis 5 through a flow block 4, a limit stop 11 is arranged at the rear end of the optical axis 5, the limit stop 11 is arranged inside a rear shell 12, a piezoelectric driver 2 is arranged below the optical axis 5, the piezoelectric driver 2 is fixedly connected with the locking device 3, one side of the locking device 3 is fixedly arranged on an inner end cover 14, and the inner end cover 14 is provided with an outer end cover 15.
The piezoelectric driver is used in the embodiment, so that quick response and high-precision displacement control can be realized, the puncture outfit can accurately position and puncture biological tissues with micro dimensions, and the requirements of the medical and biological science fields on fine operation are met.
The embodiment is based on the design of adopting double-foot cooperative synchronization, and effectively realizes the motion control of two degrees of freedom. The design allows the puncture outfit to accurately move in multiple directions, meets the puncture requirements of different angles and positions, and improves the flexibility and coverage range of operation. Compared with the traditional electromagnetic driving device, the piezoelectric driver has simpler structure and does not need a complex transmission mechanism and a large number of electromagnetic elements. This reduces not only the size and weight of the overall device, but also the manufacturing costs and maintenance difficulties. Because the piezoelectric driver does not need a large number of electromagnetic elements, the possibility of electromagnetic interference is reduced when the puncture outfit is operated, the interference to the surrounding environment and other equipment is avoided, and the stability and the reliability of the equipment are improved.
The piezoelectric puncture outfit designed by the embodiment considers the requirement of cross-scale application, can play a role in the fine puncture task of a tiny organism, and is also suitable for the scale change in a certain range, so that the puncture outfit has high-efficiency application potential in different application scenes. The piezoelectric driver can realize real-time monitoring and adjustment of the puncture outfit through an accurate control system, and safety and stability in the operation process are ensured. This is particularly important in the medical field.
The second embodiment and the present embodiment are further defined by the two-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit according to the first embodiment, wherein the piezoelectric puncture outfit further comprises a front linear bearing 7, a rear linear bearing 10 and a shaft barrel 9, the shaft barrel 9 is arranged outside an inner end cover 14, and the front linear bearing 7 and the rear linear bearing 10 are mounted at the front end and the rear end of the shaft barrel 9.
The addition of the front-rear linear bearings in the embodiment can effectively support the movement of the optical axis in the shaft barrel 9, and reduce friction and vibration in the movement process. The design can obviously improve the stability of the puncture outfit, ensure that the motion track in the puncture process is more accurate, and further improve the accuracy and controllability of the operation. The arrangement of the shaft sleeve 9 outside the inner end cap 14 effectively separates the internal electrical and mechanical components from the external environment, improving the durability and reliability of the device. The front and rear linear bearings are reasonably arranged at the two ends of the shaft barrel, so that the stability of an optical axis is enhanced, the assembly process is simplified, and the overall structure layout is more compact and controllable. The linear bearing can effectively reduce friction resistance of the optical axis in the shaft barrel, so that the piezoelectric driver can control movement of the optical axis more smoothly. This not only improves the sensitivity of operation, but also extends the service life of the device, reducing wear due to friction.
In combination with the aforementioned advantages, the operational stability of the overall device is significantly enhanced. The stable motion trail and accurate control capability make the puncture outfit excellent in various complex and fine operation scenes, particularly important in medical and bioscience applications requiring high-precision and long-time operation.
In the third embodiment, the present embodiment is further defined by the dual-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit described in the second embodiment, the front linear bearing 7 is fixed on the shaft barrel 9 through the front flange 6, and the rear linear bearing 10 is fixed on the shaft barrel 9 through the rear flange 13.
In this embodiment, the front and rear linear bearings are firmly fixed to the shaft cylinder 9 by the front and rear flanges, forming a stable supporting structure. The design can not only effectively reduce mechanical shock and instability caused by looseness or displacement of the bearing, but also ensure that the puncture outfit can keep stable track and movement in the working process. The use of the front flange 6 and the rear flange 13 simplifies the mounting and replacement process of the bearing. The modularized design enables maintenance personnel to maintain and repair more easily, improves the reliability and maintainability of equipment, and reduces the maintenance time and cost. The fixed bearing is arranged on the shaft barrel, so that lateral movement and swing of the optical axis can be reduced, and the control precision of the piezoelectric driver on the movement of the optical axis is improved.
The fourth embodiment is further defined by the dual-foot cooperative synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit according to the second embodiment, wherein the piezoelectric puncture outfit further comprises a front shell 8, and the front shell 8 is sleeved outside the shaft tube 9.
In the present embodiment, the front housing 8 is externally fitted to the shaft tube 9, so that the internal mechanical and electronic components can be effectively protected from the external environment. The design can prevent dust, water vapor or other external impurities from entering the inside of the shaft barrel, and reduce the damage risk of equipment caused by environmental factors, thereby improving the long-term stability and durability of the equipment.
Embodiment five, this embodiment will be described with reference to fig. 2. The embodiment is further defined for the dual-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit in the first embodiment, wherein the piezoelectric driver 2 comprises a driving foot 2-1, a bending composite linear piezoelectric unit 2-3, a flexible flange 2-5, a ball head 2-6 and a first piezoelectric stack 2-7, the driving foot 2-1 is fixedly arranged at the top end of the bending composite linear piezoelectric unit 2-3, the flexible flange 2-5 is fixedly arranged at the bottom end of the bending composite linear piezoelectric unit 2-3, the ball head 2-6 and a gasket 2-8 are respectively adhered to the top and the bottom of the first piezoelectric stack 2-7, the ball head 2-6 is in contact with the boss center of the flexible flange 2-5, and output motion of the first piezoelectric stack 2-7 is transmitted to the bending composite linear piezoelectric unit 2-3 through the annular thin wall of the flexible flange 2-5.
In the embodiment, the driving foot 2-1 is fixedly arranged at the top end of the bending composite linear piezoelectric unit 2-3, and the flexible flange 2-5 is fixedly arranged at the bottom end of the bending composite linear piezoelectric unit, so that a stable driving unit is formed. The design effectively transmits driving force and reduces energy loss by directly connecting the driving foot 2-1 with the piezoelectric unit, and improves driving efficiency and movement precision. The design of the curved composite linear piezoelectric element 2-3 can reduce mechanical vibration and noise during driving. This configuration allows for a smoother output motion, which is particularly important for lancing procedures that require precise control, such as minimally invasive surgery or laboratory procedures. The ball head 2-6 and the gasket 2-8 are stuck on the top and the bottom of the first piezoelectric stack and are connected with the first piezoelectric stack through the annular thin wall of the flexible flange 2-5. The design ensures that the output motion of the piezoelectric unit can be flexibly transmitted to the working end of the puncture outfit, has high response speed and wide motion range, and is suitable for different working requirements and environmental changes.
The design of the integrated driving foot 2-1, the bending composite linear piezoelectric unit 2-3, the flexible flange 2-5 and the ball head 2-6 optimizes the structural layout of the device, so that the device is more compact and efficient. This not only saves space, but also reduces friction and wear between components, extends the service life of the device and improves stability. The tight integration and secure fixation of all critical components improves the operational reliability and safety of the device. This feature is particularly important in reducing accidents caused by loosening or falling of parts, especially in high risk medical or laboratory procedures.
In a sixth embodiment, the present embodiment is further defined by the dual-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit in the fifth embodiment, the piezoelectric driver 2 further includes an outer cylinder 2-4 and a spacer 2-8, the outer cylinder 2-4 is sleeved outside the curved composite linear piezoelectric unit 2-3, and the spacer 2-8 is installed in an inner bottom central groove of the outer cylinder 2-4.
The seventh embodiment is further defined by the two-foot co-advancing two-degree-of-freedom trans-scale piezoelectric puncture outfit according to the sixth embodiment, the piezoelectric driver 2 further includes four ball screws 2-2, and the four ball screws 2-2 are circumferentially symmetrically installed in the cylinder 2-4 and contact with the outer side of the curved composite linear piezoelectric unit 2-3, so as to provide a supporting force with which the driving foot 2-1 is equal in pressure and opposite in direction to the optical axis 5.
The present embodiment will be described with reference to the sixth embodiment. The mounting of the outer cylinder 2-4 and the spacer 2-8 as mentioned in the sixth embodiment, and the ball screw 2-2 in the seventh embodiment all contribute to the enhancement of the stability and accuracy of the piezoelectric actuator. The installation of the outer cylinder 2-4 and the gasket 2-8 enables the motion of the bending composite linear piezoelectric unit 2-3 to be more stable, reduces unnecessary vibration and displacement, and improves the accuracy of the puncture outfit during operation.
The use of four ball screws 2-2 mentioned in the seventh embodiment, which are circumferentially symmetrically installed in the cylinder and contact the curved complex linear piezoelectric unit 2-3, can provide a supporting force in the opposite direction to the optical axis 5. This supporting force is a key factor in balancing the pressure between the driving foot and the optical axis, ensuring stability and controllability of the puncture outfit during operation. The operating accuracy of the whole puncture outfit is improved due to the designs. The user is able to more finely control the movement of the penetrator to enable accurate penetration at a desired location and depth, which is particularly important for medical and laboratory applications. These further limitations not only enhance performance, but also optimize the structural design of the instrument. By introducing the components of the outer cylinder 2-4, the spacer 2-8 and the ball screw 2-2 into the piezoelectric actuator, the mechanical stress and the transmission force can be better managed, so that the whole device is more firm and durable.
Embodiment eight, this embodiment will be described with reference to fig. 3. The embodiment is further defined for the dual-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit in the fifth embodiment, the bending composite linear piezoelectric unit 2-3 comprises a serial-parallel flexible mechanism 2-31, an inner cylinder 2-32, a flexible beam 2-33, a four-partition piezoelectric ceramic group 2-34, a base 2-35 and a first pre-tightening screw 2-36, the four-partition piezoelectric ceramic group 2-34 is fixedly arranged between the flexible beam 2-33 and the base 2-35 through the first pre-tightening screw 2-36, the inner cylinder 2-32 is fixedly arranged on the base 2-35, the flexible beam 2-33 is fixedly connected with the inner cylinder 2-32 and the flexible beam 2-33 respectively, the flexible beam 2-33 is provided with a completely symmetrical flexible hinge mechanism, and the serial-parallel flexible mechanism 2-31 is connected with the flexible beam 2-33 through the serial-parallel flexible beam structure.
In the embodiment, the bending composite linear piezoelectric unit 2-3 adopts a complex structure of a serial-parallel flexible mechanism 2-31, an inner cylinder 2-32, a flexible beam 2-33, a four-partition piezoelectric ceramic group 2-34, a base 2-35 and a first pre-tightening screw 2-36. The combination of these components enables highly accurate motion control of the penetrator during operation, thereby ensuring excellent performance in applications requiring high accuracy, such as minimally invasive surgery. The quarter section piezoceramic stack 2-34 is secured between the flexible beam 2-33 and the base 2-35 by a first pretension screw 2-36, the fixation of the inner cylinder 2-32 enhancing the overall stability. The design of the flexible beams 2-33 utilizes the completely symmetrical flexible hinge mechanisms 2-31, so that the piezoelectric unit has optimized mechanical properties during operation and can bear larger stress without instability. The combination of the series-parallel flexible mechanisms 2-31 and the flexible beams 2-33 adopts a series-parallel beam structure, so that the stability and controllability of the whole structure are further enhanced. The design not only optimizes the mechanical characteristics, but also considers various mechanical challenges possibly encountered in the use process, thereby ensuring the reliability and long-term use stability of the puncture outfit.
The ninth embodiment and the present embodiment are further defined by the dual-foot-coordination synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit according to the eighth embodiment, where the flexible hinge mechanism of the flexible beam 2-33 is any one of a completely symmetrical straight circular structure, a straight beam structure and an oval structure.
Embodiment ten, this embodiment will be described with reference to fig. 4. The embodiment is further limited to the two-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit in the first embodiment, the locking device 3 comprises a locking mechanism 3-1, a second piezoelectric stack 3-2, a first wedge block 3-3, a second wedge block 3-4 and a second pre-tightening screw 3-5, the second piezoelectric stack 3-2 is arranged in the middle of the locking mechanism 3-1 through the first wedge block 3-3, the second wedge block 3-4 and the second pre-tightening screw 3-5, the second piezoelectric stack 3-2 is used for achieving single-degree-of-freedom linear motion output, the locking mechanism 3-1 adopts a serial-parallel beam structure, and the linear motion output of a locking foot at the top end of the locking mechanism 3-1 is achieved through direct driving of the second piezoelectric stack 3-2.
In this embodiment, the second piezoelectric stack 3-2 in the locking device 3 is mounted in the locking mechanism 3-1 through the first wedge block 3-3, the second wedge block 3-4 and the second pre-tightening screw 3-5, so that linear motion output with a single degree of freedom can be realized. This design utilizes the piezoelectric effect to provide high precision position control and motion stability, ensuring that the locking foot at the top end of the locking mechanism 3-1 can accurately and reliably perform the required linear motion during operation. The locking mechanism 3-1 adopts a series-parallel beam structure, and the design can realize the linear motion output of the locking foot through the direct drive of the second piezoelectric stack 3-2 while keeping the structure compact. The compact design not only saves space, but also improves the efficiency and response speed of the device, and is suitable for applications requiring fast operation and precise control. By adopting the second piezoelectric stack 3-2 and the driving mechanism thereof, the motion output of the locking mechanism 3-1 has good stability and reliability. This is particularly important in minimally invasive surgery or other applications where highly precise positioning and stability is required, enabling safety and success rates of the procedure to be ensured. Because the advantages of the series-parallel beam structure and the piezoelectric technology are considered in design, the implementation mode has strong adaptability and can cope with different working environments and requirements. A stable, accurate motion control solution can be provided, whether in surgical instruments in the medical field or in other industrial applications.
Embodiment eleven, this embodiment will be described with reference to fig. 5 and 6. The present embodiment provides a specific example of the dual-foot-assisted synchronous two-degree-of-freedom trans-scale piezoelectric puncture outfit according to the first embodiment, and is also used for explaining the second to tenth embodiments, specifically:
The utility model provides a two degrees of freedom cross-scale piezoelectricity puncture outfit of synchronous advance type of double foot, includes curved needle 1, piezoelectricity driver 2, locking device 3, flow piece 4, optical axis 5, front flange 6, preceding linear bearing 7, preceding casing 8, a section of thick bamboo 9, back linear bearing 10, limit stop 11, back casing 12, back flange 13, inner end cover 14 and outer end cover 15, wherein the front and back both ends of a section of thick bamboo 9 are installed respectively front linear bearing 7 and back linear bearing 10, preceding flange 6 and back flange 13 fix the position of preceding linear bearing 7 and back linear bearing 10 respectively, optical axis 5 constitutes the shafting cooperation with two linear bearings, curved needle 1 links to each other with optical axis 5 front end through flow piece 4, optical axis 5 installs the dog 11 that is used for limiting in the rear end, piezoelectricity driver 2 links firmly with locking device 3 to fix locking device 3 one side on inner end cover 14, inner end cover 14 is fixed on a section of thick bamboo 9, guarantee that piezoelectricity driver 2 and locking device 3's foot end contact with optical axis 5 simultaneously, preceding casing 12, back casing and outer end cover 9 realize the whole degree of freedom encapsulation of freedom with the outer end cover 9.
The piezoelectric actuator 2 can realize spatial orthogonal three-degree-of-freedom linear motion output, wherein linear motion along the positive direction of the x axis is used for adjusting positive pressure between the piezoelectric actuator 2 and the optical axis 5, so as to regulate and control puncture force of the curved needle 1, linear motion along the positive direction of the y axis is used for driving the optical axis 5 to realize rotational motion output around the z axis, linear motion along the positive direction of the z axis is used for driving the optical axis 5 to realize linear motion output, the locking device 3 can realize single-degree-of-freedom linear motion output along the positive direction of the z axis and is used for inhibiting motion rollback of the optical axis 5 along the negative direction of the z axis, so that large-range adjustable and rollback-free linear and rotational motion output of the optical axis 5 are realized, the rotational motion of the optical axis 5 is used for realizing large-range quick positioning and small-range accurate gesture adjustment of the curved needle 1, so as to adapt to curvature of complex organisms such as curved capillaries, to obtain proper puncture angles, the linear motion of the optical axis 5 is used for realizing large-stroke quick positioning and small accurate puncture of the curved needle 1, and the output of the piezoelectric puncture device can meet the large-range adjustable puncture force of different organisms in a large-range, so that the puncture force of different final requirements of different organisms can finish different puncture force and different biological demands.
The piezoelectric driver 2 comprises a driving foot 2-1, a ball screw 2-2, a bending composite linear piezoelectric unit 2-3, an outer cylinder 2-4, a flexible flange 2-5, a ball head 2-6, a first piezoelectric stack 2-7 and a gasket 2-8, wherein the driving foot 2-1 is fixedly arranged at the top end of the bending composite linear piezoelectric unit 2-3, the flexible flange 2-5 is fixedly arranged at the bottom end of the bending composite linear piezoelectric unit 2-3, the first piezoelectric stack 2-7 can realize single degree-of-freedom linear motion output along the positive direction of the z axis, the ball head 2-6 is stuck at the top of the first piezoelectric stack 2-7 and is used for avoiding the first piezoelectric stack 2-7 from being damaged by lateral force, the ball head 2-6 is contacted with the boss center of the flexible flange 2-5, the gasket 2-8 is adhered to the bottom of the first piezoelectric stack 2-7 for realizing the central positioning of the first piezoelectric stack 2-7, the gasket 2-8 is arranged in a central groove at the bottom of the inner side of the outer cylinder 2-4, the annular thin wall of the flexible flange 2-5 is used for transmitting the output motion of the first piezoelectric stack 2-7 to the bending composite linear piezoelectric unit 2-3 so as to realize the linear motion output of the driving foot 2-1 along the positive direction of the z axis, the four ball screws 2-2 are circumferentially and symmetrically arranged in the cylinder 2-4 and are contacted with the outer side of the bending composite linear piezoelectric unit 2-3 for providing the supporting force of the driving foot 2-1 with the positive pressure of the optical axis 5 in the same direction and opposite to the positive pressure, the large bending deformation of the annular thin wall of the flexible flange 2-5 caused by bending moment is avoided, the ball head 2-6 is ensured not to be subjected to large lateral force, and the output displacement of the driving foot 2-1 is ensured.
The bending composite linear piezoelectric unit 2-3 comprises a serial-parallel flexible mechanism 2-31, an inner cylinder 2-32, a flexible beam 2-33, a four-division piezoelectric ceramic set 2-34, a base 2-35 and a first pre-tightening screw 2-36, wherein the four-division piezoelectric ceramic set 2-34 is fixedly arranged between the flexible beam 2-33 and the base 2-35 through the first pre-tightening screw 2-36, the inner cylinder 2-32 is fixedly arranged on the base 2-35, the flexible beam 2-33 is fixedly connected with the inner cylinder 2-32 and the flexible beam 2-33 respectively, the four-division piezoelectric ceramic set 2-34 can realize two-degree-of-freedom bending motion output along the x and y directions, the flexible beam 2-33 is provided with a completely symmetrical straight circular flexible hinge mechanism, the serial-parallel flexible mechanism 2-31 adopts a serial-parallel type beam structure and is used for converting the two-degree-of-freedom bending motion of the four-division piezoelectric ceramic set 2-34 along the positive direction of the x axis and the y axis into the serial-parallel flexible mechanism 2-31 along the positive direction, and the two-degree-of-freedom bending flexible mechanism 2-33 is also provided with a four-division piezoelectric ceramic set 2-35 or a four-division piezoelectric ceramic set 2-35 which can form a piezoelectric composite linear structure or a piezoelectric ceramic structure with the four-division piezoelectric ceramic set 2-35.
The locking device 3 comprises a locking mechanism 3-1, a second piezoelectric stack 3-2, a first wedge block 3-3, a second wedge block 3-4 and a second pre-tightening screw 3-5, wherein the second piezoelectric stack 3-2 is arranged in the middle of the locking mechanism 3-1 through the first wedge block 3-3, the second wedge block 3-4 and the second pre-tightening screw 3-5, the second piezoelectric stack 3-2 can realize single-degree-of-freedom linear motion output along the positive direction of the x axis, the locking mechanism 3-1 adopts a serial-parallel beam structure, and the locking foot at the top end of the locking mechanism 3-1 can realize linear motion output along the positive direction of the x axis through direct driving of the second piezoelectric stack 3-2.
The technical solution provided by the present invention is described in further detail above with reference to the accompanying drawings, which is to highlight the advantages and benefits, not to limit the present invention, and any modification, combination of embodiments, improvement and equivalent substitution etc. within the scope of the spirit principles of the present invention should be included in the protection scope of the present invention.
Claims (6)
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