Mechanical structure of micro-robot used for exploring mechanical property of human skin

Abstract

The invention discloses a mechanical structure of a micro-robot used for exploring mechanical property of the human skin. The mechanical structure comprises a motion control part, a probe fixing platform part and a probe steel-frame structure part, wherein the motion control part comprises a base a, a plurality of brakes are fixedly arranged on the base a, each brake comprises an outer ring and aninner ring, each outer ring is fixed to the base a, and each inner ring can rotate in the outer ring and moves vertically; a plurality of ball sliding groups are uniformly and fixedly arranged on theperiphery of the base a, each ball sliding group comprises an outer layer and an inner layer, each outer layer is fixed to the base a, the bottom end of each inner layer is fixed to the correspondinginner ring of each brake and vertically moves along with the corresponding inner ring of each brake, and a displacement sensor is arranged on the inner layer of each ball sliding group. For the mechanical structure of the micro-robot used for exploring mechanical property of the human skin, the brakes are adopted for driving the probe fixing platform to move vertically, so that a probe generatescontinuous deformation on the skin, by virtue of the data measured by the sensors and the finite element structural analysis method, the features including the anisotropy, viscoelasticity, nonlinearity and like of the skin can be accurately analyzed.

Description

technical field [0001] The invention relates to the technical field of micro-robots used in exploring the mechanical properties of human skin, in particular to a mechanical structure of a micro-robot for exploring the mechanical properties of human skin. Background technique [0002] The research on the biological characteristics of skin tissue not only helps doctors to identify whether skin tissue has lesions, but also can effectively optimize the surgical operation plan and improve the safety of the operation. In vivo biomechanical methods were mostly used to measure the mechanical properties of the skin in the early stage. In the living state, the human body was anesthetized, and the skin properties were directly measured with medical instruments. This method does not take into account the anisotropy of skin tissue and the influence of nerves, body fluids, metabolism, and physical and chemical environments on the mechanical properties of the skin. [0003] With the conti...

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Problems solved by technology

Scientist Lanir proposed in the article "A structure theory for the homogeneous biaxial stress-strain relationships in flat collagenous issues" to do a two-dimensional tensile test on the abdominal skin, that is, to apply force to the skin in two mutually perpendicular directions to generate deformation. The device Inconvenient to use and can only measure the skin vertically or horizontally

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