Two-degree-of-freedom soft driver for rotary conveying

Abstract

The two-degree-of-freedom soft driver comprises a driving soft body, a hole channel allowing a puncture needle to pass through is formed in the driving soft body, and a forward secondary spiral cavity channel and a reverse secondary spiral cavity channel are formed in the peripheral side of the hole channel. The outline trend of any one of the forward secondary spiral cavity channel and the reverse secondary spiral cavity channel is a sine secondary spiral curve; when the forward secondary spiral cavity channel and / or the reverse secondary spiral cavity channel are / is expanded, the expansion direction of the forward secondary spiral cavity channel and / or the reverse secondary spiral cavity channel is in frictional contact with a puncture needle penetrating through the hole channel, and therefore inclined tangential acting force is generated. By adopting the three-dimensional fluctuation principle of the forward secondary spiral cavity and the reverse secondary spiral cavity, linear and rotary decoupling conveying of the puncture needle is achieved, the device has the advantages of being simple, small in size, long in conveying stroke and the like, the problems that in the clinical puncture process, the space is limited, the stroke is small, and a rotary and linear conveying decoupling mechanism is complex are solved, and the locking function is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of soft drive, and in particular to a two-degree-of-freedom soft drive for rotational conveying. Background Art

[0002] Rotary drive and linear drive are two common drive forms. In many application scenarios, linear motion and rotary motion are often required to be carried out synchronously or in coordination to meet the operating requirements of the actuator. For example, when performing a puncture biopsy, the biopsy needle needs to puncture and rotate to shear the tumor tissue to collect the biopsy sample. This operation is performed manually in clinical practice, which requires extremely high operating ability of the doctor. By designing an automatic control device, doctors can be assisted in remote operation to complete the delicate operation of rotary delivery.

[0003] The existing Chinese patent application document with publication number CN214326271U discloses a screw conveying device with a rotating screw that can move linearly, which includes a conveying cylinder, a rotating screw, a positioning structure, a linear moving mechanism and a linear driving mechanism. A feed port is provided at one end of the conveying cylinder, and a discharge port is provided at the other end. The rotating screw is arranged in the conveying cylinder, and is used to convey the material from the feed port to the discharge port. The positioning structure is positioned and connected to the rotating screw. The linear moving mechanism includes a sliding part and a fixed part, the sliding part is linearly slidably connected to the fixed part, and the sliding part is positioned and connected to the positioning structure. The linear driving mechanism is connected to the sliding part, and is used to drive the sliding part to move linearly.

[0004] The conveying device in the prior art is difficult to achieve long-stroke conveying. Due to the size of the motion guide rail, the rotating conveying module needs to rely on a complex mechanical transmission system, so it is difficult to be miniaturized and arranged in the clamping device of the puncture needle, and there is room for improvement. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a two-degree-of-freedom soft drive for rotational conveying.

[0006] According to the present invention, a two-degree-of-freedom soft driver for rotational transportation includes a driving software, wherein a hole for allowing a puncture needle to pass through is arranged in the driving software, and a positive secondary spiral cavity and a reverse secondary spiral cavity are arranged on the circumferential side of the hole, and the contour direction of any of the positive secondary spiral cavity and the reverse secondary spiral cavity is a sinusoidal secondary spiral curve; when the positive secondary spiral cavity and / or the reverse secondary spiral cavity expands, the expansion direction thereof comes into frictional contact with the puncture needle passing through the hole, thereby generating an inclined tangential force.

[0007] Preferably, the number of the forward secondary helical channels is four, and the number of the reverse secondary helical channels is four.

[0008] Preferably, the medium that causes the forward secondary helical cavity and / or the reverse secondary helical cavity to expand includes gas or liquid; the forward secondary helical cavity and / or the reverse secondary helical cavity expands under the action of gas pressure; or, the forward secondary helical cavity and / or the reverse secondary helical cavity expands under the action of liquid volume.

[0009] Preferably, for the driving sequence of the forward secondary spiral channel, by sequentially designing four different driving sequences, the input pressure of the forward secondary spiral channel is defined as: P1-1, P1-2, P2-1, P2-2;

[0010] f P1-1 (t) = 0.1sin(2πt)

[0011] f P1-2 (t) = -0.1sin(2πt)

[0012] f P2-1 (t) = 0.1sin(2πt-1 / 2π)

[0013] f P2-2 (t) = -0.1sin(2πt-1 / 2π)

[0014] To realize positive rotation and conveying motion, P1-1 is the input pressure of the first positive secondary spiral channel, P1-2 is the input pressure of the second positive secondary spiral channel, P2-1 is the input pressure of the third positive secondary spiral channel, P2-2 is the input pressure of the fourth positive secondary spiral channel, and t represents time.

[0015] Preferably, the same preset gas pressure is input into the four forward secondary spiral cavities at the same time to lock the position of the puncture needle in the channel.

[0016] Preferably, for the driving sequence of the negative secondary spiral channel, by sequentially designing four different driving sequences, the input pressure of the negative secondary spiral channel is defined as: P3-1, P3-2, P4-1, P4-2;

[0017] f P3-1 (t) = 0.1sin(2πt)

[0018] f P3-2 (t) = -0.1sin(2πt)

[0019] f P4-1 (t) = -0.1sin(2πt-1 / 2π)

[0020] f P4-2 (t) = 0.1sin(2πt-1 / 2π)

[0021] Negative rotation and conveying movement can be realized, P3-1 is the input pressure of the first negative secondary spiral channel, P3-2 is the input pressure of the second negative secondary spiral channel, P4-1 is the input pressure of the third negative secondary spiral channel, P4-2 is the input pressure of the fourth negative secondary spiral channel, and t represents time.

[0022] Preferably, the phase relationship between the forward secondary helical cavity and the reverse secondary helical cavity is adjusted to achieve a pairwise decoupling motion;

[0023] The crests and troughs of the positive and reverse secondary helical cavities are staggered in a spiral, the intersection points are staggered in sequence, and a uniform curvature change is retained to ensure the consistency of the contact force of the entire drive at different points. The formula of the secondary helical curve is as follows:

[0024] x(θ)=(R+rcos(θ·n))·cos(θ)

[0025] y(θ)=(R+rcos(θ·n))·sin(θ)

[0026] z(θ)=R·θ·tan(α)

[0027] Among them, θ∈[0,2π / n], R: the radius of the primary spiral; r: the amplitude of the fluctuation on the secondary spiral; θ: the spiral angle, used to describe the movement position of the spiral along the curve; α: the slope, which determines the longitudinal change rate of the spiral; n: the number of crossings within 1 spiral cycle.

[0028] Preferably, any of the forward secondary spiral channels and the reverse secondary spiral channels are connected to a pressure controller or a flow controller.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention realizes the decoupled delivery of linear and rotation of the puncture needle by adopting the three-dimensional wave principle of the forward secondary spiral cavity and the reverse secondary spiral cavity. It has the characteristics of simplicity, small size, and long delivery stroke. It solves the problems of limited space, small stroke, and complex decoupling mechanism of rotation and linear delivery in the clinical puncture process, and has a locking function.

[0031] 2. The present invention staggers the intersection points in sequence by staggered spiral expansion of the crests and troughs of the forward secondary spiral cavity and the reverse secondary spiral cavity, and retains a uniform curvature change, thereby ensuring the consistency of the contact force size of the entire drive at different points. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 This is a schematic diagram of the structure of the pneumatic software driven rotary linear conveying decoupling that mainly embodies the three-dimensional fluctuation of the present invention;

[0034] Figure 2 This is a schematic diagram of the distribution of the forward cavity and the reverse cavity mainly embodied in the present invention;

[0035] Figure 3 The present invention mainly embodies the pressure control curves of the four drive chambers;

[0036] Figure 4 It is a schematic diagram of a spatial quadratic spiral curve with different phases mainly embodied in the present invention;

[0037] Figure 5 This is a simulation diagram of the distribution of contact points on the surface of the puncture needle that mainly reflects linear motion and rotational motion over time according to the present invention.

[0038] As shown in the figure: 100, driving software; 101, forward secondary spiral cavity; 102, reverse secondary spiral cavity; 103, puncture needle. DETAILED DESCRIPTION

[0039] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0040] like Figure 1 As shown, a two-degree-of-freedom soft drive for rotational delivery provided by the present invention includes a driving software 100, a hole for allowing a puncture needle 103 to pass through is set in the driving software 100, and a positive secondary spiral cavity 101 and a reverse secondary spiral cavity 102 are set on the peripheral side of the hole. The contour direction of any positive secondary spiral cavity 101 and the reverse secondary spiral cavity 102 is a sine secondary spiral curve. When the positive secondary spiral cavity 101 and / or the reverse secondary spiral cavity 102 expands, the expansion direction thereof is in frictional contact with the puncture needle 103 passing through the hole, thereby generating an inclined tangential force.

[0041] The technical solution of the present application adopts the three-dimensional wave principle of the forward secondary spiral cavity 101 and the reverse secondary spiral cavity 102 to realize the linear and rotational decoupled delivery of the puncture needle 103. It has the characteristics of simplicity, small size, and long delivery stroke, and solves the problems of limited space, small stroke, and complex rotational and linear delivery decoupling mechanism in the clinical puncture process. By designing the forward secondary spiral cavity 101 and the reverse secondary spiral cavity 102, rotational linear decoupling motion can be realized. It realizes the rotational or linear delivery of the biopsy needle and has a locking function. Compared with the traditional rotary linear delivery device, this invention has the characteristics of simplicity, small size, and long delivery stroke.

[0042] like Figure 2 and Figure 3 As shown, specifically, the number of the forward secondary helical channels 101 is four, and the number of the reverse secondary helical channels 102 is four. The medium that causes the forward secondary helical channels 101 and / or the reverse secondary helical channels 102 to expand includes gas or liquid. The forward secondary helical channels 101 and / or the reverse secondary helical channels 102 expand under the action of gas pressure; or, the forward secondary helical channels 101 and / or the reverse secondary helical channels 102 expand under the action of liquid volume.

[0043] More specifically, the driving software 100 has eight independent driving cavities inside, and each driving cavity is a sinusoidal quadratic spiral curve.

[0044] For the driving sequence of the forward secondary spiral channel 101, by sequentially designing four different driving sequences, the input pressure of the forward secondary spiral channel 101 is defined as: P1-1, P1-2, P2-1, P2-2;

[0045] f P1-1 (t) = 0.1sin(2πt)

[0046] f P1-2 (t) = -0.1sin(2πt)

[0047] f P2-1 (t) = 0.1sin(2πt-1 / 2π)

[0048] f P2-2 (t) = -0.1sin(2πt-1 / 2π)

[0049] To achieve positive rotation and conveying motion, P1-1 is the input pressure of the first positive secondary spiral channel 101, P1-2 is the input pressure of the second positive secondary spiral channel 101, P2-1 is the input pressure of the third positive secondary spiral channel 101, P2-2 is the input pressure of the fourth positive secondary spiral channel 101, and t represents time. At the same time, the same preset gas pressure is input to the four positive secondary spiral channels 101 to lock the position of the puncture needle 103 in the channel.

[0050] For the driving sequence of the negative secondary spiral channel, by designing four different driving sequences in sequence, the input pressure of the negative secondary spiral channel is defined as: P3-1, P3-2, P4-1, P4-2;

[0051] f P3-1 (t) = 0.1sin(2πt)

[0052] f P3-2 (t) = -0.1sin(2πt)

[0053] f P4-1 (t) = -0.1sin(2πt-1 / 2π)

[0054] f P4-2 (t) = 0.1sin(2πt-1 / 2π)

[0055] Negative rotation and conveying movement can be realized, P3-1 is the input pressure of the first negative secondary spiral channel, P3-2 is the input pressure of the second negative secondary spiral channel, P4-1 is the input pressure of the third negative secondary spiral channel, P4-2 is the input pressure of the fourth negative secondary spiral channel, and t represents time.

[0056] By adjusting the phase relationship between the forward secondary helical cavity 101 and the reverse secondary helical cavity 102, the decoupled motion of the two combinations is realized. The crests and troughs of the forward secondary helical cavity 101 and the reverse secondary helical cavity 102 are staggered spirally unfolded, the intersection points are staggered in sequence, and the uniform curvature change is retained to ensure the consistency of the contact force of the entire drive at different points. The formula of the secondary helical curve is as follows:

[0057] x(θ)=(R+rcos(θ·n))·cos(θ)

[0058] y(θ)=(R+rcos(θ·n))·sin(θ)

[0059] z(θ)=R·θ·tan(α)

[0060] Among them, θ∈[0,2π / n], R: the radius of the primary spiral; r: the amplitude of the fluctuation on the secondary spiral; θ: the spiral angle, used to describe the movement position of the spiral along the curve; α: the slope, which determines the longitudinal change rate of the spiral; n: the number of crossings within 1 spiral cycle.

[0061] The 3D display of the quadratic spiral curve drawn according to the above formula is as follows Figure 4 shown. Figure 5 The simulation results of the contact points on the surface of the puncture needle 103 are displayed, realizing the decoupled peristaltic motion of the rotational transport of the spiral curves arranged in forward and reverse order within the same drive unit.

[0062] It should be noted that any positive secondary spiral channel 101 and any negative secondary spiral channel 102 are connected to a pressure controller or a flow controller to ensure the stability of the drive. At the same time, the same preset gas pressure is input into the four positive secondary spiral channels 101 and / or the negative secondary spiral channels to lock the position of the puncture needle 103 in the channel. It should be further noted that the internal structures of different cross sections in one cycle of the soft drive are different.

[0063] The structural design dimensions of the present application can change the cavity aperture, spiral angle, overall drive length (i.e., the period of cavity fluctuation), material hardness and other design parameters according to the actual application requirements to achieve different clamping force, clamping size, conveying rotation speed and other performance requirements. The manufacturing method of the present application can be implemented by soft material additive manufacturing, soft material injection molding and other methods. The control fluid of the present application is not limited to gas pressure control, and liquid can also be used for flow control. By controlling the volume of the liquid in the cavity, the fluctuation of the cavity size can be achieved.

[0064] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0065] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A two-degree-of-freedom software driver for rotational conveying, characterized in that: The invention comprises a driving software (100), wherein a hole is provided in the driving software (100) for allowing a puncture needle (103) to pass through, and a positive secondary spiral cavity (101) and a negative secondary spiral cavity (102) are provided on the peripheral side of the hole, and the contour direction of any of the positive secondary spiral cavity (101) and the negative secondary spiral cavity (102) is a sinusoidal secondary spiral curve; When the forward secondary helical cavity (101) and / or the reverse secondary helical cavity (102) expands, the expansion direction thereof comes into frictional contact with the puncture needle (103) passing through the cavity, thereby generating an inclined tangential force.

2. The two-degree-of-freedom soft drive for rotational conveying according to claim 1, characterized in that: The number of the forward secondary helical cavities (101) is four, and the number of the reverse secondary helical cavities (102) is four.

3. The two-degree-of-freedom software driver for rotational conveying according to claim 1, characterized in that: The medium that causes the forward secondary helical cavity (101) and / or the reverse secondary helical cavity (102) to expand includes gas or liquid; The forward secondary helical cavity (101) and / or the reverse secondary helical cavity (102) expand under the action of gas pressure; Alternatively, the forward secondary helical cavity (101) and / or the reverse secondary helical cavity (102) expands under the action of the liquid volume.

4. The two-degree-of-freedom software driver for rotational conveying according to claim 1, characterized in that: For the driving sequence of the forward secondary spiral cavity (101), by sequentially designing four different driving sequences, the input pressure of the forward secondary spiral cavity (101) is defined as: P1-1, P1-2, P2-1, P2-2; f P1-1 (t)=0.1sin(2πt) f P1-2 (t)=-0.1sin(2πt) f P2-1 (t)=0.1sin(2πt-1 / 2π) f P2-2 (t)=-0.1sin(2πt-1 / 2π) To achieve positive rotation and conveying motion, P1-1 is the input pressure of the first positive secondary spiral channel (101), P1-2 is the input pressure of the second positive secondary spiral channel (101), P2-1 is the input pressure of the third positive secondary spiral channel (101), P2-2 is the input pressure of the fourth positive secondary spiral channel (101), and t represents time.

5. The two-degree-of-freedom software driver for rotational conveying according to claim 1, characterized in that: The same preset gas pressure is simultaneously input into the four forward secondary spiral cavities (101) to lock the position of the puncture needle (103) in the cavity.

6. The two-degree-of-freedom software driver for rotational conveying according to claim 1, characterized in that: For the driving sequence of the negative secondary spiral channel, by designing four different driving sequences in sequence, the input pressure of the negative secondary spiral channel is defined as: P3-1, P3-2, P4-1, P4-2; f P3-1 (t)=0.1sin(2πt) f P3-2 (t)=-0.1sin(2πt) f P4-1 (t)=-0.1sin(2πt-1 / 2π) f P4-2 (t)=0.1sin(2πt-1 / 2π) Negative rotation and conveying movement can be realized, P3-1 is the input pressure of the first negative secondary spiral channel, P3-2 is the input pressure of the second negative secondary spiral channel, P4-1 is the input pressure of the third negative secondary spiral channel, P4-2 is the input pressure of the fourth negative secondary spiral channel, and t represents time.

7. The two-degree-of-freedom software driver for rotational conveying according to claim 1, characterized in that: By adjusting the phase relationship between the forward secondary helical cavity (101) and the reverse secondary helical cavity (102), a decoupled motion of the two-by-two combination is achieved; The crests and troughs of the positive secondary helical cavity (101) and the reverse secondary helical cavity (102) are staggered spirally unfolded, the intersection points are staggered in sequence, and a uniform curvature change is retained to ensure the consistency of the contact force magnitude of the entire drive at different points. The formula of the secondary helical curve is as follows: x(θ)=(R+rcos(θ·n))·cos(θ) y(θ)=(R+rcos(θ·n))·sin(θ) z(θ)=R·θ·tan(α) Among them, θ∈[0,2π / n], R: the radius of the primary spiral; r: the amplitude of the fluctuation on the secondary spiral; θ: the spiral angle, used to describe the movement position of the spiral along the curve; α: the slope, which determines the longitudinal change rate of the spiral; n: the number of crossings within 1 spiral cycle.

8. The two-degree-of-freedom software driver for rotational conveying according to claim 1, characterized in that: Any of the forward secondary helical cavity (101) and the reverse secondary helical cavity (102) is connected to a pressure controller or a flow controller.

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