A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device

Abstract

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 stopper, 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 stopper, and the limit stopper 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

[0001] The present invention relates to the field of piezoelectric drive technology, and in particular to a bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device. Background Art

[0002] Micropuncture of organisms is a common supporting technology in the intersection of medicine and engineering, and is also an important application direction of robotics. Robotic puncture devices can break through the limits of human manual operation capabilities and achieve safe and accurate puncture of organisms. At present, the puncture objects are focusing on cells and blood vessels of different sizes and shapes, which puts forward demanding characteristics of multiple degrees of freedom, large stroke, high resolution, large output range, and high output resolution for robotic puncture devices. Robotic puncture devices based on electromagnetic drive use a transmission mechanism of gears and racks, which makes it difficult to achieve sub-micron precision. At the same time, the realization of multi-degree-of-freedom motion is also accompanied by the use of multiple electromagnetic motors, resulting in a large structural size. In addition, in the absence of special electromagnetic shielding devices, the problem of electromagnetic interference cannot be ignored; robotic puncture devices based on fluid drive, artificial muscle drive, and rope drive have common problems of low displacement resolution and low motion accuracy, which limits their application in the field of fine puncture of micro-organisms. Summary of the invention

[0003] In view of the problem that the existing robot puncture device is difficult to have multiple degrees of freedom, large stroke, high resolution, large output range, and high output resolution, the present invention proposes a bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device, and the specific scheme is as follows:

[0004] A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device, the piezoelectric puncture device comprising:

[0005] Curved needle, piezoelectric driver, locking device, flow block, optical axis, limit stopper, rear housing, inner end cover and outer end cover;

[0006] The curved needle is connected to the front end of the optical axis through a flow block, and a limit block is provided at the rear end of the optical axis, and the limit block is arranged inside the rear shell; a piezoelectric driver is provided under 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.

[0007] Furthermore, a preferred embodiment is proposed, wherein the piezoelectric puncture device further comprises: a front linear bearing, a rear linear bearing and a shaft cylinder; the shaft cylinder is arranged outside the inner end cover, and the front linear bearing and the rear linear bearing are installed at the front and rear ends of the shaft cylinder.

[0008] Furthermore, a preferred embodiment is proposed, in which the front linear bearing is fixed to the shaft cylinder via a front flange, and the rear linear bearing is fixed to the shaft cylinder via a rear flange.

[0009] Furthermore, a preferred embodiment is proposed, wherein the piezoelectric puncture device further comprises: a front shell; and the front shell is sleeved on the outside of the shaft cylinder.

[0010] Furthermore, a preferred embodiment is proposed, wherein the piezoelectric driver includes a driving foot, a bending composite linear piezoelectric unit, a flexible flange, a ball head, and a first piezoelectric stack; the driving foot is fixedly mounted on the top end of the bending composite linear piezoelectric unit; the flexible flange is fixedly mounted on the bottom end of the bending composite linear piezoelectric unit; the ball head and the gasket are respectively adhered to the top and bottom of the first piezoelectric stack, and the ball head contacts the center of the boss of the flexible flange, and transmits the output motion of the first piezoelectric stack to the bending composite linear piezoelectric unit through the annular thin wall of the flexible flange.

[0011] Furthermore, a preferred embodiment is proposed, wherein the piezoelectric driver further comprises an outer cylinder and a gasket, wherein the outer cylinder is sleeved on the outside of the curved composite linear piezoelectric unit, and the gasket is installed in the inner bottom center groove of the outer cylinder.

[0012] Furthermore, a preferred embodiment is proposed, wherein the piezoelectric driver also includes four ball head screws, which are circumferentially symmetrically installed in the cylinder and contact the outer side of the curved composite linear piezoelectric unit, so as to provide a supporting force of the driving foot that is equal to the pressure of the optical axis and opposite in direction.

[0013] Furthermore, a preferred embodiment is proposed, wherein the curved 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; the four-partition piezoelectric ceramic group is fixed between the flexible beam and the base by the first pre-tightening screw, the inner cylinder is fixed on the base, and the flexible beam is respectively fixed to the inner cylinder and the flexible beam; the flexible beam is provided with a completely symmetrical flexible hinge mechanism, and the series-parallel flexible mechanism is connected to the flexible beam using a series-parallel beam structure.

[0014] Furthermore, a preferred embodiment is proposed, in which the flexible hinge mechanism of the flexible beam is any one of a completely symmetrical straight circular structure, a straight beam structure, and an elliptical structure.

[0015] Furthermore, a preferred embodiment is proposed, wherein the locking device includes 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 installed in the middle of the locking mechanism through the first wedge block, the second wedge block and the second pre-tightening screw, and the second piezoelectric stack is used to realize single-degree-of-freedom linear motion output, and the locking mechanism adopts a series-parallel beam structure, and the linear motion output of the locking foot at the top of the locking mechanism is realized through the direct drive of the second piezoelectric stack.

[0016] The present invention is beneficial in that:

[0017] The invention solves the problem that the existing robot puncture device is difficult to have multiple degrees of freedom, a large stroke, high resolution, a large output range, and high output resolution.

[0018] The present invention provides a bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device, which has the remarkable characteristics of compact structure, small size, light weight and self-locking when power is off. Through the bipedal multi-dimensional decoupling trajectory collaborative stepping drive, a large adjustable puncture force range, high puncture force resolution and two-degree-of-freedom, large stroke, high displacement resolution and non-retraction motion output are achieved.

[0019] The use of a piezoelectric driver in the present invention can achieve rapid response and high-precision displacement control, so that the puncture device can accurately locate and puncture micro-scale biological tissues, meeting the needs of medical and biological science fields for fine operations.

[0020] The present invention is based on a design of bipedal coordinated stepping, which effectively realizes motion control with two degrees of freedom. This design allows the puncture device to move precisely in multiple directions, adapting to the puncture requirements of different angles and positions, and improving the flexibility and coverage of the operation. Compared with the traditional electromagnetic drive device, the piezoelectric drive structure is simpler and does not require a complex transmission mechanism and a large number of electromagnetic components. This not only reduces the size and weight of the overall device, but also reduces the manufacturing cost and maintenance difficulty. Since the piezoelectric drive does not require a large number of electromagnetic components, the puncture device reduces the possibility of electromagnetic interference during operation, avoids interference with the surrounding environment and other equipment, and improves the stability and reliability of the device.

[0021] The piezoelectric puncture device designed by the present invention takes into account the needs of cross-scale applications. It can play a role in the delicate puncture tasks of tiny organisms, and can also adapt to scale changes within a certain range, which makes the puncture device have efficient application potential in different application scenarios. The piezoelectric driver can achieve real-time monitoring and adjustment of the puncture device through a precise control system to ensure safety and stability during operation. This is particularly important in the medical field. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A partial cross-sectional view of the three-dimensional structure of the two-degree-of-freedom cross-scale piezoelectric puncture device according to the first embodiment;

[0023] Figure 2 A partial cross-sectional view of the three-dimensional structure of the three-degree-of-freedom linear piezoelectric actuator described in Embodiment 5;

[0024] Figure 3 A partial cross-sectional view of the three-dimensional structure of the curved composite linear piezoelectric unit described in Embodiment 8;

[0025] Figure 4Schematic diagram of a single degree of freedom locking device according to Embodiment 10, wherein: Figure 4 (a) is a schematic diagram of the three-dimensional structure of a single-degree-of-freedom locking device. Figure 4 (b) is a schematic diagram of the principle of linear motion of the single-degree-of-freedom locking device along the positive direction of the z-axis;

[0026] Figure 5 It is a schematic diagram of the principle of linear motion of the three-degree-of-freedom linear piezoelectric actuator along the positive direction of the z-axis according to the eleventh embodiment;

[0027] Figure 6 Schematic diagram of the bending composite piezoelectric structure principle according to the eleventh embodiment, Figure 6 (a) is a schematic diagram of the bending motion of the composite piezoelectric structure along the positive direction of the x-axis. Figure 6 (b) is a schematic diagram of the principle of the bending composite linear piezoelectric unit moving in the positive direction of the x-axis. Figure 6 (c) is a schematic diagram of the bending motion of the composite piezoelectric structure along the positive direction of the y-axis. Figure 6 (d) is a schematic diagram showing the principle of linear motion of the curved composite linear piezoelectric unit along the positive direction of the y-axis;

[0028] In the figure: 1, curved needle; 2, piezoelectric driver; 2-1, driving foot; 2-2, ball head screw; 2-3, curved composite linear piezoelectric unit; 2-4, outer cylinder; 2-5, flexible flange; 2-6, ball head; 2-7, first piezoelectric stack; 2-8, gasket; 2-31, series-parallel flexible mechanism; 2-32, inner cylinder; 2-33, flexible beam; 2-34, four-partition piezoelectric ceramic group; 2-35, base; 2-3 6. First pre-tightening screw; 3. Locking device; 3-1. Locking mechanism; 3-2. Second piezoelectric stack; 3-3. First wedge block; 3-4. Second wedge block; 3-5. Second pre-tightening screw; 4. Flow block; 5. Optical axis; 6. Front flange; 7. Front linear bearing; 8. Front housing; 9. Shaft cylinder; 10. Rear linear bearing; 11. Limit block; 12. Rear housing; 13. Rear flange; 14. Inner end cover; 15. Outer end cover. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0031] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0032] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Implementation method 1, see Figure 1 The present embodiment is described as a bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device, the piezoelectric puncture device comprising:

[0034] Curved needle 1, piezoelectric driver 2, locking device 3, flow block 4, optical axis 5, limit stopper 11, rear housing 12, inner end cover 14 and outer end cover 15;

[0035] The curved needle 1 is connected to the front end of the optical axis 5 through the flow block 4, and a limit stopper 11 is provided at the rear end of the optical axis 5, and the limit stopper 11 is arranged inside the rear shell 12; a piezoelectric driver 2 is provided below the optical axis 5, and the piezoelectric driver 2 is fixedly connected to the locking device 3, and one side of the locking device 3 is fixedly mounted on the inner end cover 14, and the inner end cover 14 is provided with an outer end cover 15.

[0036] The use of a piezoelectric driver in this embodiment can achieve rapid response and high-precision displacement control, so that the puncture device can accurately locate and puncture microscopic biological tissues, meeting the needs of medical and biological science fields for fine operations.

[0037] This embodiment is based on the design of bipedal coordinated stepping, which effectively realizes two-degree-of-freedom motion control. This design allows the puncture device to move precisely in multiple directions, adapt to the puncture requirements of different angles and positions, and improve the flexibility and coverage of the operation. Compared with the traditional electromagnetic drive device, the piezoelectric drive structure is simpler and does not require a complex transmission mechanism and a large number of electromagnetic components. This not only reduces the size and weight of the overall device, but also reduces the manufacturing cost and maintenance difficulty. Since the piezoelectric drive does not require a large number of electromagnetic components, the puncture device reduces the possibility of electromagnetic interference during operation, avoids interference with the surrounding environment and other equipment, and improves the stability and reliability of the device.

[0038] The piezoelectric puncture device designed in this embodiment takes into account the needs of cross-scale applications. It can play a role in the delicate puncture tasks of tiny organisms, and it can also adapt to scale changes within a certain range, which makes the puncture device have efficient application potential in different application scenarios. The piezoelectric driver can achieve real-time monitoring and adjustment of the puncture device through a precise control system to ensure safety and stability during operation. This is particularly important in the medical field.

[0039] Embodiment 2. This embodiment is a further limitation of the bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in embodiment 1. The piezoelectric puncture device also includes: a front linear bearing 7, a rear linear bearing 10 and a shaft cylinder 9; the shaft cylinder 9 is arranged outside the inner end cover 14, and the front linear bearing 7 and the rear linear bearing 10 are installed at the front and rear ends of the shaft cylinder 9.

[0040] The addition of front and rear linear bearings in this embodiment can effectively support the movement of the optical axis in the shaft barrel 9, reducing friction and vibration during movement. This design can significantly improve the stability of the puncture device and ensure that the movement trajectory during the puncture process is more accurate, thereby further improving the accuracy and controllability of the operation. The shaft barrel 9 is arranged outside the inner end cover 14, which effectively separates the internal electronic and mechanical components from the external environment, and improves the durability and reliability of the equipment. The reasonable installation of the front and rear linear bearings at both ends of the shaft barrel not only enhances the stability of the optical axis, but also simplifies the assembly process, making the overall structural layout more compact and controllable. The linear bearing can effectively reduce the friction resistance of the optical axis in the shaft barrel, so that the piezoelectric driver can control the movement of the optical axis more smoothly. This not only improves the sensitivity of the operation, but also extends the service life of the equipment and reduces the wear caused by friction.

[0041] Combined with the aforementioned advantages, the overall working stability of the device has been significantly enhanced. The stable motion trajectory and precise control capabilities enable the trocar to perform well in a variety of complex and delicate operating scenarios, especially in medical and bioscience applications that require high precision and long-term operation.

[0042] Embodiment 3. This embodiment is a further limitation of the bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in Embodiment 2. The front linear bearing 7 is fixed to the shaft cylinder 9 through the front flange 6, and the rear linear bearing 10 is fixed to the shaft cylinder 9 through the rear flange 13.

[0043] In this embodiment, the front and rear linear bearings are firmly fixed to the shaft cylinder 9 through the front and rear flanges to form a stable support structure. This design can not only effectively reduce the mechanical vibration and instability caused by loose or displaced bearings, but also ensure that the puncture device can maintain a stable trajectory and movement during operation. The use of the front flange 6 and the rear flange 13 simplifies the installation and replacement process of the bearings. This modular design allows maintenance personnel to perform maintenance and repairs more easily, improves the reliability and maintainability of the equipment, and reduces maintenance time and cost. Fixing the bearings on the shaft cylinder can reduce the lateral movement and swing of the optical axis, thereby improving the control accuracy of the piezoelectric driver over the movement of the optical axis.

[0044] Embodiment 4: This embodiment further limits the bipedal cooperative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in Embodiment 2. The piezoelectric puncture device further includes: a front shell 8; the front shell 8 is sleeved on the outside of the shaft cylinder 9.

[0045] In this embodiment, the front housing 8 is mounted on the shaft cylinder 9 as an outer part, which can effectively protect the internal mechanical and electronic components from the influence of the external environment. This design can prevent dust, water vapor or other external impurities from entering the shaft cylinder, reduce the risk of damage to the equipment due to environmental factors, and thus improve the long-term stability and durability of the equipment.

[0046] Implementation method 5: See Figure 2 This embodiment is described. This embodiment is a further limitation of the bipedal cooperative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in Embodiment 1, wherein the piezoelectric driver 2 includes 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 mounted on the top of the bending composite linear piezoelectric unit 2-3; the flexible flange 2-5 is fixedly mounted on the bottom of the bending composite linear piezoelectric unit 2-3; the ball head 2-6 and the gasket 2-8 are respectively attached to the top and bottom of the first piezoelectric stack 2-7, and the ball head 2-6 contacts the center of the boss of the flexible flange 2-5, and transmits the output motion of the first piezoelectric stack 2-7 to the bending composite linear piezoelectric unit 2-3 through the annular thin wall of the flexible flange 2-5.

[0047] In this embodiment, the driving foot 2-1 is fixedly mounted on the top of the curved composite linear piezoelectric unit 2-3, and the flexible flange 2-5 is fixedly mounted on its bottom, forming a stable driving unit. This design effectively transmits the driving force and reduces energy loss by directly connecting the driving foot 2-1 and the piezoelectric unit, thereby improving the driving efficiency and motion accuracy. The design of the curved composite linear piezoelectric unit 2-3 can reduce mechanical vibration and noise during the driving process. This structure can output motion more smoothly, which is particularly important for puncture operations that require precise control, such as minimally invasive surgery or laboratory operations. The ball head 2-6 and the gasket 2-8 are attached to the top and bottom of the first piezoelectric stack and are connected to it through the annular thin wall of the flexible flange 2-5. This design enables the output motion of the piezoelectric unit to be flexibly transmitted to the working end of the puncture device, with fast response speed and wide range of motion, adapting to different work requirements and environmental changes.

[0048] The design of integrating the driving foot 2-1, the curved composite linear piezoelectric unit 2-3, the flexible flange 2-5, and the ball head 2-6 in this embodiment optimizes the structural layout of the device, making it more compact and efficient. This not only saves space, but also reduces friction and wear between components, prolongs the service life of the device and improves stability. The tight integration and firm fixation of all key components improve the operational reliability and safety of the device. It reduces accidents caused by loose or falling parts, which is particularly important in high-risk medical or experimental operations.

[0049] Embodiment 6. This embodiment is a further limitation of the bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in embodiment 5. The piezoelectric driver 2 also includes an outer cylinder 2-4 and a gasket 2-8. The outer cylinder 2-4 is mounted on the outside of the curved composite linear piezoelectric unit 2-3, and the gasket 2-8 is installed in the inner bottom center groove of the outer cylinder 2-4.

[0050] Embodiment 7. This embodiment is a further limitation of the bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in embodiment 6. The piezoelectric driver 2 also includes four ball head screws 2-2, which are circumferentially symmetrically installed in the cylinder 2-4 and in contact with the outer side of the curved composite linear piezoelectric unit 2-3, and are used to provide a supporting force with equal pressure and opposite direction between the driving foot 2-1 and the optical axis 5.

[0051] This embodiment is explained in conjunction with the sixth embodiment. The installation method of the outer cylinder 2-4 and the gasket 2-8 mentioned in the sixth embodiment, as well as the ball screw 2-2 in the seventh embodiment, are helpful to enhance the stability and accuracy of the piezoelectric driver. The installation of the outer cylinder 2-4 and the gasket 2-8 makes the movement of the curved composite linear piezoelectric unit 2-3 more stable, reduces unnecessary vibration and displacement, and thus improves the accuracy of the puncture device during operation.

[0052] The use of four ball screws 2-2 mentioned in the seventh embodiment, which are circumferentially symmetrically installed in the cylinder and in contact with the curved composite linear piezoelectric unit 2-3, can provide a support force in the opposite direction of the optical axis 5. This support force is a key factor in balancing the pressure between the driving foot and the optical axis, ensuring the stability and controllability of the puncture during operation. Due to these designs, the operating accuracy of the entire puncture device is improved. The user can control the movement of the puncture device more finely, so that it can perform precise punctures at the required position and depth, which is particularly important for medical and laboratory applications. These further limitations not only enhance the performance, but also optimize the structural design of the device. By introducing components such as the outer cylinder 2-4, the gasket 2-8 and the ball screw 2-2 into the piezoelectric driver, mechanical stress and force transmission can be better managed, making the entire device more durable.

[0053] Implementation Method 8: See Figure 3Description of this embodiment. This embodiment is a further limitation of the bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in embodiment five, wherein the curved composite linear piezoelectric unit 2-3 includes a series-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 mounted between the flexible beam 2-33 and the base 2-35 by the first pre-tightening screw 2-36, the inner cylinder 2-32 is fixedly mounted on the base 2-35, and the flexible beam 2-33 is respectively fixedly connected to the inner cylinder 2-32 and the flexible beam 2-33; the flexible beam 2-33 is provided with a completely symmetrical flexible hinge mechanism, and the series-parallel flexible mechanism 2-31 is connected to the flexible beam 2-33 using a series-parallel beam structure.

[0054] In this embodiment, the curved composite linear piezoelectric unit 2-3 adopts a complex structure of a series-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 the puncture device to achieve highly precise motion control during operation, thereby ensuring excellent performance in minimally invasive surgery and other occasions requiring high precision. The four-partition piezoelectric ceramic group 2-34 is fixed between the flexible beam 2-33 and the base 2-35 by the first pre-tightening screw 2-36, and the fixation of the inner cylinder 2-32 enhances the overall stability. The design of the flexible beam 2-33 utilizes a completely symmetrical flexible hinge mechanism 2-31, so that the piezoelectric unit has optimized mechanical properties when working and can withstand greater stress without losing stability. The combination of the series-parallel flexible mechanism 2-31 and the flexible beam 2-33 adopts a series-parallel beam structure, which further enhances the stability and controllability of the overall structure. This design not only optimizes the mechanical properties, but also takes into account various mechanical challenges that may be encountered during use, thereby ensuring the reliability of the puncture device and its stability in long-term use.

[0055] Embodiment 9. This embodiment is a further limitation of the bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in embodiment 8. 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 elliptical structure.

[0056] Implementation Method 10: See Figure 4This embodiment is a further limitation of the bipedal cooperative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in Embodiment 1, wherein 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 installed 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 to realize single-degree-of-freedom linear motion output, the locking mechanism 3-1 adopts a series-parallel beam structure, and the linear motion output of the locking foot at the top of the locking mechanism 3-1 is realized through the direct drive of the second piezoelectric stack 3-2.

[0057] In this embodiment, the second piezoelectric stack 3-2 in the locking device 3 is installed 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, and can realize the linear motion output of a single degree of freedom. This design utilizes the piezoelectric effect, provides high-precision position control and motion stability, and ensures that the locking foot at the top 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. This design realizes the linear motion output of the locking foot through the direct drive of the second piezoelectric stack 3-2 while maintaining a compact structure. This compact design not only saves space, but also improves the efficiency and response speed of the device, and is suitable for applications that require fast operation and precise control. By adopting the second piezoelectric stack 3-2 and its driving mechanism, 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 that require highly accurate positioning and stability, and can ensure the safety and success rate of the operation. Since the design takes into account the advantages of the series-parallel beam structure and piezoelectric technology, this implementation method has strong adaptability and can cope with different working environments and needs. Whether in surgical instruments in the medical field or other industrial applications, it can provide stable and precise motion control solutions.

[0058] Implementation method 11: See Figure 5 and Figure 6 This embodiment provides a specific example of a bipedal cooperative stepping two-degree-of-freedom cross-scale piezoelectric puncture device described in Embodiment 1, and is also used to explain Embodiments 2 to 10, specifically:

[0059] A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device, comprising a curved needle 1, a piezoelectric driver 2, a locking device 3, a flow block 4, an optical axis 5, a front flange 6, a front linear bearing 7, a front shell 8, a shaft cylinder 9, a rear linear bearing 10, a limit stopper 11, a rear shell 12, a rear flange 13, an inner end cover 14, and an outer end cover 15, wherein the front linear bearing 7 and the rear linear bearing 10 are respectively installed at the front and rear ends of the shaft cylinder 9, the front flange 6 and the rear flange 13 respectively fix the positions of the front linear bearing 7 and the rear linear bearing 10, and the The optical axis 5 and two linear bearings form an axis system. The curved needle 1 is connected to the front end of the optical axis 5 through the flow block 4. A stopper 11 for limiting is installed at the rear end of the optical axis 5. The piezoelectric driver 2 is fixedly connected to the locking device 3, and one side of the locking device 3 is fixedly mounted on the inner end cover 14. The inner end cover 14 is fixedly mounted on the shaft cylinder 9 to ensure that the foot ends of the piezoelectric driver 2 and the locking device 3 are in contact with the optical axis 5 at the same time. The front shell 8, the rear shell 12, and the outer end cover 15 are fixedly connected to the shaft cylinder 9 to realize the overall appearance packaging of the two-degree-of-freedom piezoelectric puncture device.

[0060] The piezoelectric driver 2 can realize spatial orthogonal three-degree-of-freedom linear motion output, wherein the linear motion along the positive direction of the x-axis is used to adjust the positive pressure between the piezoelectric driver 2 and the optical axis 5, thereby regulating the puncture force of the curved needle 1, the linear motion along the positive direction of the y-axis is used to drive the optical axis 5 to realize the rotational motion output around the z-axis, and the linear motion along the positive direction of the z-axis is used to drive the optical axis 5 to realize the linear motion output, and the locking device 3 can realize the single-degree-of-freedom linear motion output along the positive direction of the z-axis, which is used to suppress the movement retreat of the optical axis 5 along the negative direction of the z-axis, thereby realizing The output force of the optical axis 5 is adjustable over a wide range, and can be output in linear and rotational motion without retraction; the rotational motion of the optical axis 5 is used to achieve large-range rapid positioning and small-range precise posture adjustment of the curved needle 1, which can adapt to the curvature of complex-shaped organisms such as curved capillaries to obtain a suitable puncture angle; the linear motion of the optical axis 5 is used to achieve large-stroke rapid positioning and small-stroke precise puncture of the curved needle 1; the output force of the piezoelectric puncture device is adjustable over a wide range to meet the puncture force requirements of different organisms, and ultimately can complete the task of fine puncture of organisms of different sizes and shapes.

[0061] The piezoelectric driver 2 includes a driving foot 2-1, a ball head 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 mounted on the top of the bending composite linear piezoelectric unit 2-3, the flexible flange 2-5 is fixedly mounted on the bottom 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 adhered to the top of the first piezoelectric stack 2-7 to prevent the first piezoelectric stack 2-7 from being damaged by lateral force, the ball head 2-6 is in contact with the center of the boss of the flexible flange 2-5, and the gasket 2-8 is adhered to the first piezoelectric stack 2-7 The bottom is used to realize the center positioning of the first piezoelectric stack 2-7. The gasket 2-8 is installed in the center groove of the inner bottom of the outer cylinder 2-4, and the output movement 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, thereby realizing the linear motion output of the driving foot 2-1 along the positive direction of the z-axis. The four ball head screws 2-2 are circumferentially symmetrically installed in the cylinder 2-4 and in contact with the outer side of the bending composite linear piezoelectric unit 2-3, and are used to provide the driving foot 2-1 with a supporting force that is equal to the positive pressure of the optical axis 5 and opposite in direction, so as to avoid large bending deformation of the annular thin wall of the flexible flange 2-5 due to the generation of bending moment, ensure that the ball head 2-6 is not subjected to large lateral forces, and ensure the output displacement of the driving foot 2-1.

[0062] The curved composite linear piezoelectric unit 2-3 includes a series-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, wherein the four-partition piezoelectric ceramic group 2-34 is fixedly mounted between the flexible beam 2-33 and the base 2-35 by the first pre-tightening screw 2-36, the inner cylinder 2-32 is fixedly mounted on the base 2-35, and the flexible beam 2-33 is respectively fixedly connected to the inner cylinder 2-32 and the flexible beam 2-33; the four-partition piezoelectric ceramic group 2-34 can realize two free motions along the x and y directions. The flexible beam 2-33 is provided with a completely symmetrical straight circular flexible hinge mechanism, and the series-parallel flexible mechanism 2-31 adopts a series-parallel beam structure, which is used to convert the two-degree-of-freedom bending motion of the four-partition piezoelectric ceramic group 2-34 along the positive direction of the x-axis and the y-axis into the two-degree-of-freedom linear motion of the series-parallel flexible mechanism 2-31 along the positive direction of the x-axis and the y-axis; the bending composite piezoelectric structure composed of the flexible beam 2-33, the four-partition piezoelectric ceramic group 2-34, the base 2-35 and the first pre-tightening screw 2-36 can also be set as a patch structure, or a stacked structure, or a piezoelectric tube structure.

[0063] The locking device 3 includes 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 installed 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, and 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 series-parallel beam structure, and through the direct drive of the second piezoelectric stack 3-2, the locking foot at the top of the locking mechanism 3-1 can realize the linear motion output along the positive direction of the x-axis.

[0064] The above further describes in detail the technical solution provided by the present invention in conjunction with the accompanying drawings in order to highlight the advantages and benefits, and is not intended to be a limitation of the present invention. Any modification, combination of implementation modes, improvement and equivalent substitution of the present invention within the spirit and scope of the present invention shall be included in the protection scope of the present invention.

Claims

1. A two-foot coordinated stepping two-degree-of-freedom cross-scale piezoelectric puncture device, characterized in that: The piezoelectric puncture device comprises: A curved needle (1), a piezoelectric driver (2), a locking device (3), a flow block (4), an optical axis (5), a limit stopper (11), a rear housing (12), an inner end cover (14), and an outer end cover (15); The curved needle (1) is connected to the front end of the optical axis (5) through a flow block (4); a limit stopper (11) is provided at the rear end of the optical axis (5); the limit stopper (11) is arranged inside a rear housing (12); a piezoelectric driver (2) is provided below the optical axis (5); the piezoelectric driver (2) is fixedly connected to a locking device (3); one side of the locking device (3) is fixedly mounted on an inner end cover (14); the inner end cover (14) is provided with an outer end cover (15); 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 mounted on the top end of the bending composite linear piezoelectric unit (2-3); the flexible flange (2-5) is fixedly mounted on the bottom end of the bending composite linear piezoelectric unit (2-3); the ball head (2-6) and the gasket (2-8) are respectively adhered to the top and bottom of the first piezoelectric stack (2-7); the ball head (2-6) contacts the center of the boss of the flexible flange (2-5), and transmits the output motion of the first piezoelectric stack (2-7) to the bending composite linear piezoelectric unit (2-3) through the annular thin wall of the flexible flange (2-5); 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 installed 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 to realize single-degree-of-freedom linear motion output; the locking mechanism (3-1) adopts a series-parallel beam structure, and the linear motion output of the locking foot at the top of the locking mechanism (3-1) is realized through the direct drive of the second piezoelectric stack (3-2); The piezoelectric driver (2) further comprises an outer cylinder (2-4) and a gasket (2-8); the outer cylinder (2-4) is sleeved on the outside of the curved composite linear piezoelectric unit (2-3); and the gasket (2-8) is installed in a central groove at the inner bottom of the outer cylinder (2-4); The curved composite linear piezoelectric unit (2-3) comprises a series-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 mounted between the flexible beam (2-33) and the base (2-35) via the first pre-tightening screw (2-36); the inner cylinder (2-32) is fixedly mounted on the base (2-35); the flexible beam (2-33) is respectively fixedly connected to the inner cylinder (2-32) and the flexible beam (2-33); the flexible beam (2-33) is provided with a completely symmetrical flexible hinge mechanism; the series-parallel flexible mechanism (2-31) is connected to the flexible beam (2-33) using a series-parallel beam structure.

2. A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device according to claim 1, characterized in that: The piezoelectric puncture device further comprises: a front linear bearing (7), a rear linear bearing (10) and a shaft cylinder (9); the shaft cylinder (9) is arranged outside the inner end cover (14), and the front linear bearing (7) and the rear linear bearing (10) are mounted at the front and rear ends of the shaft cylinder (9).

3. A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device according to claim 2, characterized in that: The front linear bearing (7) is fixed on the shaft cylinder (9) via a front flange (6), and the rear linear bearing (10) is fixed on the shaft cylinder (9) via a rear flange (13).

4. A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device according to claim 2, characterized in that: The piezoelectric puncture device further comprises: a front housing (8); the front housing (8) is sleeved on the outside of the shaft cylinder (9).

5. The bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device according to claim 1, characterized in that: The piezoelectric driver (2) further comprises four ball head screws (2-2), which are circumferentially symmetrically mounted in the cylinder (2-4) and in contact with the outer side of the curved composite linear piezoelectric unit (2-3), and are used to provide a supporting force with equal pressure magnitude and opposite direction between the driving foot (2-1) and the optical axis (5).

6. A bipedal collaborative stepping two-degree-of-freedom cross-scale piezoelectric puncture device according to claim 1, characterized in that: 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 elliptical structure.

Images