Mechanical finger and simulation manipulator

Abstract

The invention discloses a mechanical finger and a simulation manipulator, and relates to the technical field of simulation robotics.The mechanical finger comprises a finger body, a temperature sensing driving part and a locking structure, the finger body comprises at least two knuckles arranged in the first direction, and the knuckles at least can rotate relatively; the number of the temperature sensing driving pieces is at least one, the temperature sensing driving pieces are connected with the two knuckles, and the temperature sensing driving pieces are used for deforming when the temperature changes so as to drive the two adjacent knuckles to rotate relatively; the number of the locking structures is at least one, each locking structure comprises an adsorption part and an adsorption matching part, the adsorption parts and the adsorption matching parts are arranged on the two knuckles so as to move along with the two knuckles when the two knuckles move relatively, and at least one of the adsorption parts and the adsorption matching parts has a power-on state and a power-off state. According to the technical scheme, after quick driving of the temperature sensing driving piece, accurate positioning can be achieved by switching on and switching off the locking structure, and the use requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of simulation robots, and in particular to a mechanical finger and a simulation mechanical hand. Background Art

[0002] Cardiovascular and cerebrovascular diseases have attracted much attention due to their prevalence, serious consequences and high mortality rate. Interventional surgery is one of the most effective treatment methods at present. It is gradually becoming a new trend in the medical field due to its advantages such as less trauma, less pain for patients, faster recovery after surgery and reduced radiation damage to doctors and patients. Traditional interventional surgery is performed directly by doctors wearing protective clothing, and the doctors' bodies are easily damaged by radiation. However, the current interventional surgery robot simulates the human hand shape, and the control accuracy from the end is difficult to guarantee, making it difficult to achieve the needs of rapid clamping, precise twisting and posture fine-tuning of the guidewire catheter, thus increasing the uncertainty and risk of the operation. Summary of the invention

[0003] The main purpose of the present invention is to provide a mechanical finger and a simulated mechanical hand, aiming to at least solve the technical problem in the related art that the control accuracy of the slave end imitating the human hand shape is difficult to ensure.

[0004] To achieve the above object, the present invention provides a mechanical finger, comprising:

[0005] The finger body comprises at least two finger joints arranged along a first direction, and the finger joints are at least rotatable relative to each other;

[0006] There is at least one temperature-sensitive driving member, the temperature-sensitive driving member is connected to the two finger joints, and the temperature-sensitive driving member is used to deform when the temperature changes to drive the two adjacent finger joints to rotate relative to each other; and

[0007] A locking structure, at least one of which is provided, wherein the locking structure comprises an adsorption portion and an adsorption matching portion, wherein the adsorption portion and the adsorption matching portion are provided on the two knuckles to follow the movement when the two knuckles move relative to each other, and at least one of the adsorption portion and the adsorption matching portion has a power-on state and a power-off state;

[0008] In the power-on state, the adsorption portion and the adsorption matching portion are adsorbed to limit the relative movement of the two knuckles;

[0009] In the power-off state, the adsorption portion and the adsorption matching portion can move relative to each other, so that the two knuckles can move relative to each other.

[0010] In one embodiment, the at least two knuckles include a first knuckle and a second knuckle;

[0011] The adsorption portion includes a first electrostatic adsorption film arranged on the first finger joint, and the adsorption matching portion includes a second electrostatic adsorption film arranged on the second finger joint, a portion of the second electrostatic adsorption film is slidably connected to the surface of the first electrostatic adsorption film, and the first electrostatic adsorption film and the second electrostatic adsorption film are used to be connected to the positive and negative poles of a power supply respectively to have the power-on state and the power-off state.

[0012] In one embodiment, the second electrostatic adsorption film is slidably disposed along a first direction relative to the first electrostatic adsorption film.

[0013] In one embodiment, a sliding groove extending along a first direction is provided on the first finger joint;

[0014] The first electrostatic adsorption film is arranged on the side wall of the slide groove, and a portion of the second electrostatic adsorption film is slidably arranged in the slide groove along a first direction.

[0015] In one embodiment, the locking structure further includes an elastic reset portion drivingly connected to the second electrostatic adsorption film, and the elastic reset portion is used to provide a driving force for the second electrostatic adsorption film to move in a direction away from the second knuckle.

[0016] In one embodiment, the finger joints are movably arranged relative to each other along a first direction.

[0017] In one embodiment, corresponding to two adjacent finger joints, two temperature-sensing driving members are provided, and the two temperature-sensing driving members are spaced apart along a second direction, wherein the second direction intersects with the first direction.

[0018] In one embodiment, the temperature-sensitive driving element includes memory metal.

[0019] In one embodiment, the mechanical finger further includes an elastic support member having two ends fixedly connected to two adjacent knuckles respectively.

[0020] In one embodiment, the elastic support member is configured to be gradually thinner from both ends toward the middle.

[0021] In one embodiment, at least one of the knuckles is provided with a camera; and / or,

[0022] The outer side of each finger joint is covered with a flexible pad.

[0023] The present invention further provides a simulated manipulator, comprising at least two mechanical fingers, wherein the mechanical fingers include:

[0024] The finger body comprises at least two finger joints arranged along a first direction, and the finger joints are at least rotatable relative to each other;

[0025] There is at least one temperature-sensitive driving member, the temperature-sensitive driving member is connected to the two finger joints, and the temperature-sensitive driving member is used to deform when the temperature changes to drive the two adjacent finger joints to rotate relative to each other; and

[0026] A locking structure, at least one of which is provided, wherein the locking structure comprises an adsorption portion and an adsorption matching portion, wherein the adsorption portion and the adsorption matching portion are provided on the two knuckles to follow the movement when the two knuckles move relative to each other, and at least one of the adsorption portion and the adsorption matching portion has a power-on state and a power-off state;

[0027] In the power-on state, the adsorption portion and the adsorption matching portion are adsorbed to limit the relative movement of the two knuckles;

[0028] In the power-off state, the adsorption portion and the adsorption matching portion can move relative to each other, so that the two knuckles can move relative to each other.

[0029] In the technical solution of the present invention, the finger body includes at least two knuckles arranged along a first direction, and each of the knuckles can at least be arranged to rotate relative to each other. The temperature-sensitive driving component connects the two knuckles, and the temperature-sensitive driving component is used to deform when the temperature changes to drive the relative rotation between the two adjacent knuckles. The locking structure includes an adsorption portion and an adsorption matching portion, and the adsorption portion and the adsorption matching portion are arranged on the two knuckles to follow the movement when the two knuckles move relative to each other. At least one of the adsorption portion and the adsorption matching portion has a power-on state and a power-off state. In this way, when the mechanical finger is in use, by heating the temperature-sensitive driving component, the temperature-sensitive driving component can be deformed to quickly drive the two knuckles. The knuckles rotate relative to each other to simulate the bending of fingers. When the two knuckles rotate relative to each other, the adsorption part and the adsorption matching part will also be driven to generate relative movement. By only energizing at least one of the adsorption part and the adsorption matching part, the adsorption of the adsorption part and the adsorption matching part can be quickly achieved, so that the adsorption part and the adsorption matching part remain fixed, thereby limiting the relative movement between the two knuckles and allowing the mechanical finger to maintain a fixed posture. When the posture needs to be readjusted, the locking structure can be powered off or the voltage can be slowly reduced. With this arrangement, after the rapid driving of the temperature-sensing drive component, precise positioning can be achieved by powering on and off the locking structure to meet usage requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 A schematic structural diagram of an embodiment of a mechanical finger provided by the present invention;

[0032] Figure 2 for Figure 1 A schematic diagram of the enlarged structure of part A;

[0033] Figure 3 for Figure 1 Schematic diagram of the structure of the bending mechanical finger;

[0034] Figure 4 A schematic structural diagram of another embodiment of the mechanical finger provided by the present invention;

[0035] Figure 5 A schematic structural diagram of another embodiment of the mechanical finger provided by the present invention;

[0036] Figure 6 This is a schematic structural diagram of an embodiment of a simulation robot provided by the present invention.

[0037] Description of Figure Numbers:

[0038] 1000. Simulated manipulator; 100. Manipulator finger; 1. Finger body; 11. First knuckle; 111. Slide groove; 12. Second knuckle; 2. Temperature sensing drive member; 3. Locking structure; 31. Adsorption part; 311. First electrostatic adsorption film; 32. Adsorption matching part; 321. Second electrostatic adsorption film; 33. Elastic reset part; 4. Elastic support member; 5. Camera; 6. Flexible pad.

[0039] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0042] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0043] Cardiovascular and cerebrovascular diseases have attracted much attention due to their prevalence, serious consequences and high mortality rate. Interventional surgery is one of the most effective treatment methods at present. It is gradually becoming a new trend in the medical field due to its advantages such as less trauma, less pain for patients, faster recovery after surgery and reduced radiation damage to doctors and patients. Traditional interventional surgery is performed directly by doctors wearing protective clothing, and the doctors' bodies are easily damaged by radiation. However, the current interventional surgery robot simulates the human hand shape, and the control accuracy from the end is difficult to guarantee, making it difficult to achieve the needs of rapid clamping, precise twisting and posture fine-tuning of the guidewire catheter, thus increasing the uncertainty and risk of the operation.

[0044] The main purpose of the present invention is to provide a mechanical finger and a simulated mechanical hand, aiming to at least solve the technical problem in the related art that the control accuracy of the slave end imitating the human hand shape is difficult to ensure.

[0045] See also Figures 1 to 3In one embodiment of the present invention, the mechanical finger 100 includes a finger body 1, a temperature-sensitive driving member 2 and a locking structure 3, wherein the finger body 1 includes at least two finger joints arranged along a first direction, and each of the finger joints can at least be relatively rotated; the temperature-sensitive driving member 2 is at least one, and the temperature-sensitive driving member 2 is connected to the two finger joints, and the temperature-sensitive driving member 2 is used to deform when the temperature changes to drive the two adjacent finger joints to rotate relative to each other; the locking structure 3 is at least one, and the locking structure 3 includes an adsorption portion 31 and an adsorption matching portion 32, and the adsorption portion 31 and the adsorption matching portion 32 are respectively arranged on the two finger joints to follow the movement when the two finger joints move relative to each other, and at least one of the adsorption portion 31 and the adsorption matching portion 32 has a power-on state and a power-off state; in the power-on state, the adsorption portion 31 and the adsorption matching portion 32 are adsorbed to limit the relative movement of the two finger joints; in the power-off state, the adsorption portion 31 and the adsorption matching portion 32 can move relative to each other, so that the two finger joints can move relative to each other.

[0046] In the technical solution of the present invention, the finger body 1 includes at least two finger joints arranged along a first direction, and each of the finger joints can at least be relatively rotatable. The temperature-sensing driving component 2 connects the two finger joints, and the temperature-sensing driving component 2 is used to deform when the temperature changes to drive the relative rotation between the two adjacent finger joints. The locking structure 3 includes an adsorption portion 31 and an adsorption matching portion 32, and the adsorption portion 31 and the adsorption matching portion 32 are respectively arranged on the two finger joints to follow the movement when the two finger joints move relative to each other. At least one of the adsorption portion 31 and the adsorption matching portion 32 has a power-on state and a power-off state; in this way, when the mechanical finger 100 is in use, by heating the temperature-sensing driving component 2, the temperature-sensing driving component 2 can be deformed and quickly brought into contact with the finger joints. The two knuckles are driven to rotate relative to each other to simulate the bending of the fingers. When the two knuckles rotate relative to each other, the adsorption part 31 and the adsorption matching part 32 are also driven to move relative to each other. It only needs to energize at least one of the adsorption part 31 and the adsorption matching part 32 to quickly achieve the adsorption of the adsorption part 31 and the adsorption matching part 32, so that the adsorption part 31 and the adsorption matching part 32 remain fixed, thereby limiting the relative movement between the two knuckles and keeping the mechanical finger 100 in a fixed posture. When the posture needs to be readjusted, the locking structure 3 can be powered off. With this arrangement, after the temperature-sensing drive component 2 is quickly driven, precise positioning can be achieved by turning on and off the power of the locking structure 3 to meet the use requirements.

[0047] The adsorption part 31 and the adsorption matching part 32 can be in various forms. For example, the adsorption part 31 can be set as an electromagnet, and the adsorption matching part 32 can be set as an iron sheet or other metal sheet that can be adsorbed by the electromagnet. When the electromagnet is powered on, the metal sheet is adsorbed so that the metal sheet and the electromagnet are fixed, thereby limiting the movement of the two knuckles. When adjustment is required, the electromagnet can be powered off. In the embodiments of the present invention, please refer to Figure 2 The at least two finger joints include a first finger joint 11 and a second finger joint 12; the adsorption portion 31 includes a first electrostatic adsorption film 311 arranged on the first finger joint 11, and the adsorption matching portion 32 includes a second electrostatic adsorption film 321 arranged on the second finger joint 12, and a portion of the second electrostatic adsorption film 321 is slidably connected to the surface of the first electrostatic adsorption film 311, and the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are used to be connected to the positive and negative poles of the power supply respectively, so as to have the power-on state and the power-off state. In this way, when the temperature-sensitive driving component 2 drives the second finger joint 12 to bend, the second electrostatic adsorption film 321 is driven to slide relative to the first electrostatic adsorption film 311 in the direction close to the second finger joint 12. When the two finger joints need to be locked, the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are energized by a power supply. Since the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are respectively connected to the positive and negative electrodes of the power supply, the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are adsorbed together under the action of the electrostatic field, thereby limiting the relative sliding of the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 under the action of friction, thereby limiting the movement of the first finger joint 11 and the second finger joint 12. When the posture needs to be readjusted, the power can be turned off to make the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 separate instantly, so that the first finger joint 11 and the second finger joint 12 can move relatively.

[0048] It is understandable that the electromagnet is usually made of soft magnetic material and has the characteristics of fast magnetization and demagnetization. However, magnetization and demagnetization take a certain amount of time. During this time, the temperature-sensing drive component 2 may be affected by the external environment, resulting in a small deviation between the posture of the first knuckle 11 and the second knuckle 12 and the preset posture; while the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are used, both of which are acted on by the electrostatic field and respond more quickly, thereby making the finger body 1 more accurate.

[0049] The second electrostatic adsorption film 321 can slide along the first direction or along other directions relative to the first electrostatic adsorption film 311. Since the two knuckles are arranged along the first direction, that is, the first direction is usually the length direction of the finger body 1, if the second electrostatic adsorption film 321 is movable along other directions, such as the width direction and the thickness direction, it will cause the first knuckle 11 and the second knuckle 12 to have insufficient space for the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 to be arranged. In order to ensure that the second electrostatic adsorption film 321 can always be opposite to the first electrostatic adsorption film 311 during the movable stroke of the second knuckle 12 relative to the first knuckle 11, the movable stroke of the second knuckle 12 relative to the first knuckle 11 should be reduced accordingly, which limits the function of the mechanical finger 100. Therefore, in the embodiment of the present invention, the second electrostatic adsorption film 321 can be slidably arranged along the first direction relative to the first electrostatic adsorption film 311.

[0050] In order to guide the sliding of the second electrostatic adsorption film 321, in an embodiment of the present invention, a slide groove 111 extending along the first direction is provided on the first finger joint 11, the first electrostatic adsorption film 311 is provided on the side wall of the slide groove 111, and part of the second electrostatic adsorption film 321 is slidably provided in the slide groove 111 along the first direction. In this way, the range of movement of the second electrostatic adsorption film 321 is limited to a certain extent by the slide groove 111, so as to avoid the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 being relatively large in the relative movement process between the first finger joint 11 and the second finger joint 12, which results in a longer adsorption time when the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are powered on, that is, the setting of the slide groove 111 can further reduce the response time and improve the accuracy.

[0051] Furthermore, the slide groove 111 is arranged in an arc shape. The arc-shaped slide groove 111 can arrange more of the first electrostatic adsorption films 311 and the second electrostatic adsorption films 321 in the limited space of the first finger joint 11, and the contact area between the two is larger, and the fixation is more stable when power is turned on.

[0052] In order to ensure that the relative movement of the first finger joint 11 and the second finger joint 12 can be limited after the first electrostatic adsorption film 311 and the second electrostatic adsorption film 321 are adsorbed, in the embodiment of the present invention, please refer to Figure 2 and Figure 3, the locking structure 3 also includes an elastic reset portion 33 connected to the second electrostatic adsorption film 321, and the elastic reset portion 33 is used to provide the second electrostatic adsorption film 321 with a driving force to move in the direction away from the second finger joint 12. Through the setting of the elastic reset portion 33, the second electrostatic adsorption film 321 is always in a taut state. When the second electrostatic adsorption film 321 is adsorbed and fixed, if the second finger joint 12 needs to continue to move, it will drive the second electrostatic adsorption film 321 located between the first finger joint 11 and the second finger joint 12 to rotate, and the second electrostatic adsorption film 321 and the temperature sensing drive member 2 are not at the same activity center, resulting in interference between the two and being unable to move, so that the movement of the first finger joint 11 and the second finger joint 12 can be limited. Of course, the second electrostatic adsorption film 321 can also be set as an elastic film, which can also be achieved, but in the process of repeated elastic deformation of the second electrostatic adsorption film 321, wrinkles or damage are easy to appear. If the second electrostatic adsorption film 321 is set very thick, it will affect the generation of the electrostatic field. Therefore, in this embodiment, it is preferred to adopt the elastic reset portion 33.

[0053] The present design does not limit the specific form of the elastic reset portion 33 , and the elastic reset portion 33 may be a spring or an elastic sheet made of an elastic material such as rubber.

[0054] In order to improve the flexibility of the mechanical finger 100, in an embodiment of the present invention, the knuckles can be arranged to move relative to each other along the first direction. There are many ways to drive the knuckles to move relative to each other along the first direction, for example, two magnetic parts are arranged between two knuckles, and the obstruction of the temperature-sensitive driving part 2 is overcome by the attraction or repulsion of the two magnetic parts to achieve movement along the first direction. In the embodiment of the invention, please refer to Figure 4 , corresponding to two adjacent finger joints, two temperature-sensing driving members 2 are provided, and the two temperature-sensing driving members 2 are arranged at intervals along the second direction, wherein the second direction intersects with the first direction; with such an arrangement, when the temperature of one of the temperature-sensing driving members 2 is changed, the two finger joints can rotate relative to each other, and when the temperatures of the two temperature-sensing driving members 2 are changed at the same time, the two finger joints can realize activities along the first direction under the action of the simultaneous expansion or contraction of the two temperature-sensing driving members 2, and the second finger joints 12 can also realize rotation in two directions, which is more flexible to use and has a simpler structure than additionally providing two magnetic members.

[0055] The temperature-sensing driving component 2 is in various forms, such as heat shrink film, memory metal, etc., which can be deformed when the temperature changes. In the present embodiment, memory metal is preferably used. Compared with heat shrink film, it is easier to change the temperature of the memory metal. It is only necessary to connect the memory metal to the two poles of the power supply and turn on the power to generate heat. The heat shrink film needs to be heated by blowing hot air, etc., which will cause the structure of the mechanical finger 100 to be more complicated. In addition, the deformation of the memory metal is easier to control than that of the heat shrink film, which is conducive to improving the precision.

[0056] Correspondingly, in order to improve the precise positioning effect of the locking structure 3 on the two knuckles, please refer to Figure 4 , corresponding to two adjacent knuckles, two locking structures 3 may also be arranged at intervals in the second direction.

[0057] It should be noted that the present design does not limit the specific number of the knuckles, for example Figure 1 and Figure 4 As shown, the number of the knuckles is two. Figure 5 As shown, the number of the knuckles is three. Of course, the number of the knuckles can be set to be more, such as four or five. The more knuckles there are, the more flexible the robotic finger 100 will be. The fewer knuckles there are, the simpler the structure of the robotic finger 100 will be, and the simpler the operation will be. In summary, when setting the number of the knuckles, just set it according to actual needs.

[0058] In order to improve the driving stability of the temperature-sensing driving component 2, in an embodiment of the present invention, the mechanical finger 100 also includes an elastic support component 4 whose two ends are respectively fixedly connected to the two adjacent knuckles; such an arrangement enables the two adjacent knuckles to be supported by the elastic support component 4 rather than only by the temperature-sensing driving component 2, so as to avoid uncontrollable influence on the deformation of the temperature-sensing driving component 2 under the action of gravity of the knuckles, and the elastic support component 4 itself can be elastically deformed, and the relative movement of the two knuckles will not be hindered.

[0059] It is understandable that if the elastic support member 4 is thicker, the obstruction caused when the two knuckles rotate relative to each other will be greater, and if the elastic support member 4 is thinner, it will not provide good support for the two knuckles. Therefore, in the embodiment of the present invention, in order to ensure that the elastic support member 4 has a good support effect while not causing a large obstruction to the relative movement of the two knuckles, the elastic support member 4 is gradually thinned in the direction from both ends toward the middle; in this way, the elastic support member 4 is thick on both sides and thin in the middle, and can disperse the stress when supporting the two knuckles, so that the bearing capacity is greater. At the same time, when the two knuckles move relative to each other, the elastic support member 4 will deform in the thinner middle part, and the obstruction is very small.

[0060] In order to improve the accuracy of the operation of the mechanical finger 100, in the embodiment of the present invention, at least one of the knuckles is provided with a camera 5. Among the multiple knuckles, only some of the knuckles may be provided with the camera 5, each knuckle may be provided with the camera 5, or even each knuckle may be provided with multiple cameras 5. Of course, the more the number of cameras 5, the higher the cost. When the mechanical finger 100 is provided with only one camera 5, it is preferably provided on the knuckle at the end, that is, on the knuckle used to contact with external objects such as a very small guidewire catheter in an interventional surgery, so that the contact situation can be determined more accurately.

[0061] In an embodiment of the present invention, the outer side of each of the knuckles is covered with a flexible pad 6. The flexible pad 6 is configured to simulate human skin, thereby reducing the possibility of damage to the object during contact with external objects, especially very small objects. At the same time, the flexible pad 6 can also protect structures such as the locking structure 3 and the temperature-sensing drive component 2.

[0062] The present design does not limit the specific material of the flexible pad 6, and it can be silicone, TPE, hydrogel, etc.

[0063] The present invention also proposes a simulated manipulator 1000, which includes at least two mechanical fingers 100. The specific structure of the mechanical fingers 100 refers to the above-mentioned embodiments. Since the simulated manipulator 1000 adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0064] In the technical solution of the present invention, the finger body 1 includes at least two finger joints arranged along a first direction, and each of the finger joints can at least be relatively rotatable. The temperature-sensing driving component 2 connects the two finger joints, and the temperature-sensing driving component 2 is used to deform when the temperature changes to drive the relative rotation between the two adjacent finger joints. The locking structure 3 includes an adsorption portion 31 and an adsorption matching portion 32, and the adsorption portion 31 and the adsorption matching portion 32 are respectively arranged on the two finger joints to follow the movement when the two finger joints move relative to each other. At least one of the adsorption portion 31 and the adsorption matching portion 32 has a power-on state and a power-off state; in this way, when the mechanical finger 100 is in use, by heating the temperature-sensing driving component 2, the temperature-sensing driving component 2 can be deformed and quickly brought into contact with the finger joints. The two knuckles are driven to rotate relative to each other to simulate the bending of the fingers. When the two knuckles rotate relative to each other, the adsorption part 31 and the adsorption matching part 32 are also driven to move relative to each other. It only needs to energize at least one of the adsorption part 31 and the adsorption matching part 32 to quickly achieve the adsorption of the adsorption part 31 and the adsorption matching part 32, so that the adsorption part 31 and the adsorption matching part 32 remain fixed, thereby limiting the relative movement between the two knuckles and keeping the mechanical finger 100 in a fixed posture. When the posture needs to be readjusted, the locking structure 3 can be powered off. With this arrangement, after the temperature-sensing drive component 2 is quickly driven, precise positioning can be achieved by turning on and off the power of the locking structure 3 to meet the use requirements.

[0065] During actual use of the simulated manipulator 1000, if it is necessary to twist the guidewire catheter during an interventional procedure, the temperature-sensitive drive components 2 in each of the two manipulator fingers 100 are used to bend the two knuckles at the ends of the two manipulator fingers 100 inward to clamp the guidewire catheter. After clamping, the guidewire catheter is precisely clamped by energizing the respective locking structures 3. The temperature of the temperature-sensitive drive component 2 in one of the manipulator fingers 100 and the energizing voltage of the locking structure 3 are gradually changed, or the two manipulator fingers 100 cooperate simultaneously to repeatedly perform the operation after precisely clamping the guidewire catheter, thereby achieving precise twisting of the guidewire catheter.

[0066] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mechanical finger, characterized in that: include: The finger body comprises at least two finger joints arranged along a first direction, and the finger joints are at least rotatable relative to each other; There is at least one temperature-sensitive driving member, the temperature-sensitive driving member is connected to the two finger joints, and the temperature-sensitive driving member is used to deform when the temperature changes, so as to drive the two adjacent finger joints to rotate relative to each other; as well as, A locking structure, at least one of which is provided, wherein the locking structure comprises an adsorption portion and an adsorption matching portion, wherein the adsorption portion and the adsorption matching portion are provided on the two knuckles to follow the movement when the two knuckles move relative to each other, and at least one of the adsorption portion and the adsorption matching portion has a power-on state and a power-off state; In the power-on state, the adsorption portion and the adsorption matching portion are adsorbed to limit the relative movement of the two knuckles; In the power-off state, the adsorption portion and the adsorption matching portion can move relative to each other, so that the two knuckles can move relative to each other.

2. The mechanical finger according to claim 1, characterized in that: The at least two knuckles include a first knuckle and a second knuckle; The adsorption portion includes a first electrostatic adsorption film arranged on the first finger joint, and the adsorption matching portion includes a second electrostatic adsorption film arranged on the second finger joint, a portion of the second electrostatic adsorption film is slidably connected to the surface of the first electrostatic adsorption film, and the first electrostatic adsorption film and the second electrostatic adsorption film are used to be connected to the positive and negative electrodes of the power supply respectively to have the power-on state and the power-off state.

3. The mechanical finger according to claim 2, characterized in that: The second electrostatic adsorption film is slidably disposed along a first direction relative to the first electrostatic adsorption film.

4. The mechanical finger according to claim 3, characterized in that: The first finger joint is provided with a sliding groove extending along a first direction; The first electrostatic adsorption film is arranged on the side wall of the slide groove, and a portion of the second electrostatic adsorption film is slidably arranged in the slide groove along a first direction.

5. The mechanical finger according to claim 2, characterized in that: The locking structure further comprises an elastic restoring portion drivingly connected to the second electrostatic adsorption film, wherein the elastic restoring portion is used to provide a driving force for the second electrostatic adsorption film to move in a direction away from the second knuckle.

6. The mechanical finger according to claim 1, characterized in that: The finger joints can be relatively movable along the first direction.

7. The mechanical finger according to claim 6, characterized in that: Corresponding to two adjacent finger joints, two temperature-sensing driving members are provided, and the two temperature-sensing driving members are arranged at intervals along a second direction, wherein the second direction intersects with the first direction.

8. The mechanical finger according to any one of claims 1 to 7, characterized in that: The temperature-sensitive driving component includes memory metal.

9. The mechanical finger according to claim 1, characterized in that: The mechanical finger also includes an elastic support member with two ends respectively fixedly connected to two adjacent finger joints.

10. The mechanical finger according to claim 9, characterized in that: The elastic support member is gradually thinned from both ends toward the middle.

11. The mechanical finger according to claim 1, characterized in that: At least one of the knuckles is provided with a camera; and / or, The outer side of each finger joint is covered with a flexible pad.

12. A simulation manipulator, characterized in that: The method comprises at least two mechanical fingers, wherein the mechanical fingers are the mechanical fingers as claimed in any one of claims 1 to 11.

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