Piezoelectric puncture outfit for precise control of forest cells

Abstract

The invention provides a piezoelectric puncture outfit for precise control of forest cells, and belongs to the technical field of piezoelectric control, the piezoelectric puncture outfit integrates a piezoelectric actuator, a puncture rotor, a power-off self-locking module, a resonance auxiliary puncture module and a displacement measurement module; the piezoelectric actuator can accurately drive the puncture rotor to stably move at high precision in the axis direction; the puncture rotor is fixedly connected with the displacement measurement module through a bolt, so that the grating ruler can synchronously move along with the rotor, and the axial displacement of the puncture rotor can be accurately controlled; the power-off self-locking module is responsible for inhibiting the displacement and rollback phenomenon of the puncture rotor and locking the rotor to prevent the rotor from sliding during power off; the resonance auxiliary puncture module is responsible for assisting the needle head in puncturing, so that the needle head can easily puncture into cells, and cell damage is reduced. The method not only has wide application prospects in the field of forest tree breeding, but also can provide powerful technical support for high-precision displacement control requirements in the field of biomedical treatment and the like.

Description

Technical Field

[0001] The present invention belongs to the field of piezoelectric control technology, and specifically relates to a piezoelectric puncture device for precise control of forest cells. Background Art

[0002] In recent years, micro-nanomanipulators have been widely used in aerospace, medical, precision engineering, and robotics, directly impacting a country's competitiveness and equipment level in advanced manufacturing. Traditional precision actuation is primarily achieved through electromagnetic drive, but these motors suffer from complex structures, bulky size, low motion accuracy, and susceptibility to electromagnetic interference, making them unable to meet the technological development requirements of these high-end equipment sectors. Piezoelectric materials, operating under the inverse piezoelectric effect, easily achieve nanometer-level resolution. By combining flexible structures with diverse actuation methods, they can meet the technical requirements of balancing small size with multi-degree-of-freedom output characteristics. Furthermore, piezoelectric actuation offers high output force, fast response speed, and good electromagnetic compatibility. It has been applied in various systems with nanometer-level positioning capabilities and has become a core research direction in precision actuation technology. However, piezoelectric ultrasonic actuators and direct-drive piezoelectric actuators suffer from low output power, low output force, and limited range, making them insufficient for applications requiring large ranges. In contrast, piezoelectric actuators based on inertial actuation offer advantages such as low power consumption, high resolution, and simple structure, but they also suffer from limitations such as low output force and displacement retraction. Summary of the Invention

[0003] The present invention proposes a piezoelectric puncture device for precise manipulation of forest cells, aiming to solve the problems of small travel range, poor positioning accuracy, output force and manipulation accuracy, inability to easily penetrate cells, and easy damage to cells in the existing micro-nano manipulators, improve the manipulation accuracy and efficiency of the micro-nano manipulators, and provide strong technical support for their application in the field of forest breeding.

[0004] The present invention is achieved through the following technical solutions: A piezoelectric penetrator for precise manipulation of tree cells: The piezoelectric puncture device includes a housing, a power-off self-locking module, a puncture needle, a resonance puncture module, a puncture mover, a linear bearing, a displacement measurement module, a piezoelectric driver and a bracket body; The surface of the shell is provided with a through hole to facilitate the connection of the upper shell and the lower shell to ensure the sealing of the puncture device; The power-off self-locking module is fastened to the inside of the bracket body with screws to suppress the displacement and retreat of the puncture mover, and locks the mover to prevent it from sliding when the power is off; The resonance-assisted puncture module is fixedly connected to the puncture mover by a bolt connection method to assist the needle in puncture; The linear bearing is fixed to the bracket body with screws, and is used to guide the axial movement of the puncture mover to ensure the control accuracy of the puncture mover; The displacement measurement module is connected to the end of the puncture mover by a bolt and is used to measure the output displacement of the mover; The bottom of the lower shell is provided with a groove, and the bracket body is embedded in the groove of the lower shell; The piezoelectric driver can drive the puncture mover to perform high-precision stable movement along the axial direction.

[0005] Furthermore, a rubber vibration isolator is connected between the resonance puncture module and the puncture mover to reduce the output displacement of the mover affected by the resonance puncture module when working in a resonance state.

[0006] Furthermore, the power-off self-locking module includes a diamond-shaped amplifying mechanism, a pre-tightening block and a piezoelectric stack; The pre-tightening block and the piezoelectric stack are clearance-matched inside the diamond-shaped amplifying mechanism, and the pre-tightening block and the piezoelectric stack are fastened with set screws; The diamond-shaped amplification mechanism is used to amplify the displacement of the piezoelectric stack and convert the lateral displacement of the piezoelectric stack into a longitudinal displacement, and has a faster displacement response than the piezoelectric stack.

[0007] Furthermore, the resonance puncture module includes a longitudinal vibration end cap, a first longitudinal vibration ceramic, a longitudinal vibration rod and a vibration isolation device; The first longitudinal vibration ceramic is attached to one side of the longitudinal vibration rod along the axial direction of the puncture mover, and is used to excite the needle to move in the longitudinal vibration direction along the axial direction; The longitudinal vibration end cap is connected to the end of the longitudinal vibration rod in a bolted manner, and is used to fasten the first longitudinal vibration ceramic to prevent it from falling off, and is also used to connect the puncture needle; The vibration isolation device is connected to the longitudinal vibration rod with bolts to ensure that the resonance-assisted puncture module does not affect the movement accuracy of the mover when vibrating.

[0008] Furthermore, one end of the puncture mover is connected to the grating ruler by bolts to ensure that the grating ruler and the puncture mover start and stop at the same time; the other end of the puncture mover is connected to a vibration isolation device to ensure that the resonance assisted puncture module does not affect the movement accuracy of the mover when vibrating.

[0009] Furthermore, the piezoelectric driver includes a driving foot, a second longitudinal vibration ceramic, a metal matrix, a bending vibration ceramic and a metal base; Connecting the wire to the second longitudinal vibration ceramic and the bending vibration ceramic through the through hole on the surface of the shell; The polarization directions of the longitudinal vibration ceramics are arranged in a positive and negative pattern. When observing a partition of the bending vibration ceramic piece separately, its polarization direction also shows the characteristics of alternating positive and negative patterns. All piezoelectric ceramics are tightly fitted on the metal substrate, and the driving foot and the metal base are connected to the upper and lower ends of the metal substrate by bolts; the metal base is connected to the bracket body by screws to ensure the stability of the entire piezoelectric driver during operation.

[0010] Furthermore, the top of the driving foot adopts a hemispherical design, and the main body of the driving foot adopts a cylindrical design; The second longitudinal vibration ceramic is attached to the upper side of the metal substrate in the longitudinal direction and is used to excite the driving foot to perform longitudinal movement; The bending vibration ceramic is longitudinally bonded to the underside of the metal substrate to stimulate the driving foot to perform in-plane bending movement.

[0011] A control method for a piezoelectric puncture device for precise manipulation of forest cells: By giving the second longitudinal vibration ceramic and the bending vibration ceramic of the piezoelectric driver two trapezoidal wave periodic excitation signals with a phase difference of 90 degrees, the ceramic piece generates longitudinal vibration deformation motion and in-plane bending deformation motion; The driving foot of the piezoelectric actuator generates a motion trajectory and is in full contact with the mover. The deformation motion is converted into friction through the driving foot, thereby driving the puncture mover to move continuously and smoothly along the axial direction; in turn, it drives the puncture needle to move along the axis, achieving high-precision control of cell puncture.

[0012] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0013] A computer-readable storage medium is used to store computer instructions, which implement the steps of the above method when executed by a processor.

[0014] Beneficial effects of the present invention A piezoelectric puncture device designed for precise manipulation of forest cells utilizes a piezoelectric inertial drive principle, achieving nanometer-level precision in puncture displacement, two-degree-of-freedom motion, and a self-locking function. This technology effectively addresses the complex structure, bulky size, low motion accuracy, and susceptibility to electromagnetic interference of traditional precision actuators, while also providing a displacement retraction suppression function. Furthermore, the integrated displacement sensor in the structural design mitigates the inevitable risk of accidental tissue penetration and other injuries, further enhancing the safety of the puncture procedure.

[0015] (1) The present invention aims to address the limitations of the control force accuracy and displacement accuracy of existing micro-nano manipulation puncture devices when puncturing forest cells, particularly the inability to meet the requirements for high-precision cell puncture. To this end, a nanoscale puncture device for cell puncture is proposed. This puncture device is not only easy to miniaturize and has a rapid response, but also has significant advantages such as high resolution, self-locking when powered off, and no electromagnetic interference. It provides strong technical support for applications in the medical field, precision engineering, and other fields.

[0016] (2) The core of the present invention lies in the use of a motor that utilizes the inertial stick-slip drive principle, with an operating voltage between 600Vp-p and a response speed of milliseconds. This piezoelectric inertial drive motor cleverly converts the stator's microscopic vibrations at the nanometer level into the mover's macroscopic motion at the millimeter level through the friction effect, thereby achieving long-stroke linear motion of the mover. This innovative design not only solves the problems of traditional trocars, such as the large size, large number of optical path components, and high cost, but also avoids the complex and additional motion transmission mechanism, making the trocar faster and lighter.

[0017] (3) In addition, the present invention also realizes the axial motion function of large stroke and high resolution by adopting different excitation methods. Specifically, two trapezoidal wave periodic excitation signals with a phase difference of 90° can be used to drive the piezoelectric inertial driver to output continuous positive motion, one of which is applied to the longitudinal vibration ceramic and the other is applied to the bending vibration ceramic, thereby realizing the large stroke motion of the mover in the axial direction; at the same time, the positive and negative reverse application of the trapezoidal wave signal originally applied to the bending vibration ceramic can be applied to the current bending vibration ceramic to drive the piezoelectric inertial driver to output continuous reverse motion to meet the return motion of the mover. This flexible and changeable excitation scheme makes the present invention have a wide range of application prospects in the fields of medical care, precision engineering and so on.

[0018] (4) Furthermore, the present invention includes a power-off self-locking module. When the entire module is working, a periodic excitation signal is applied to the power-off self-locking module to adjust the positive pressure between the driving foot and the puncture mover, thereby playing a good role in inhibiting the retreat; and when the entire module stops working and the power is cut off, the power-off self-locking module can firmly lock the mover to prevent it from sliding freely.

[0019] In summary, the present invention successfully solves the limitations of existing micro-nano manipulation puncture devices in terms of puncture motion resolution and displacement retraction by adopting innovative piezoelectric inertial drive technology and flexible excitation schemes, and opens up a new path for the development of high-precision micro-nano manipulators. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A piezoelectric puncture device for precise manipulation of forest cells according to embodiment 1 comprises: Housing 1, upper housing 1-1, lower housing 1-2, power-off self-locking module 2, diamond-shaped amplifying mechanism 2-1, pre-tightening block 2-2, piezoelectric stack 2-3, puncture needle 3, resonant puncture module 4, longitudinal vibration end cap 4-1, first longitudinal vibration ceramic 4-2, longitudinal vibration rod 4-3, vibration isolation device 4-4, puncture mover 5, linear bearing 6, displacement measurement module 7, grating head 7-1, grating scale 7-2, piezoelectric driver 8, driving foot 8-1, second longitudinal vibration ceramic 8-2, metal substrate 8-3, bending vibration ceramic 8-4, metal base 8-5 and bracket body 9; Figure 2 is a three-dimensional schematic diagram of the shell structure; Figure 3 A schematic diagram of the polarization of the piezoelectric ceramic piece of the piezoelectric actuator; Figure 4 The polarization intention of the piezoelectric stack of the power-off self-locking module; Figure 5 Schematic diagram of longitudinal vibration deformation motion and bending vibration deformation motion of piezoelectric actuator; Figure 6 Schematic diagram of the longitudinal movement of the power-off self-locking module; Figure 7 Schematic diagram of the corresponding excitation scheme for the longitudinal vibration deformation motion and the in-plane bending vibration deformation motion of the piezoelectric driver according to the seventh embodiment, wherein, in the forward motion signal, U m is the maximum value of the voltage amplitude of the trapezoidal wave continuous AC signal, -U m is the minimum value of the voltage amplitude of the trapezoidal wave continuous AC signal; further, in the negative motion signal, U m is the maximum value of the voltage amplitude of the trapezoidal wave signal, -U m It is the minimum value of the voltage amplitude of the trapezoidal wave signal. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] The experimental methods used in the following examples are conventional methods unless otherwise specified. The materials, reagents, methods, and instruments used are conventional in the art and can be obtained commercially by those skilled in the art unless otherwise specified.

[0023] Combine Figures 1 to 7 , describing the following embodiments: A piezoelectric puncture device for precise manipulation of forest cells: The piezoelectric puncture device includes a housing 1, a power-off self-locking module 2, a puncture needle 3, a resonance puncture module 4, a puncture mover 5, a linear bearing 6, a displacement measurement module 7, a sandwich piezoelectric driver 8 and a bracket body 9; The piezoelectric driver 8 can drive the puncture mover 5 to move precisely along the axial direction; the puncture mover 5 is firmly connected to the micro-strain force measuring module to ensure the stability of the output force and the accuracy of the measured force; the power-off self-locking module 2 is responsible for suppressing the displacement retreat of the puncture mover 5, and locking the mover to prevent it from sliding when the power is off; the resonance puncture module 4 can help the needle penetrate the cell better; the displacement measurement module 7 is used to measure the output displacement of the mover, further ensuring the safety of puncture.

[0024] The piezoelectric driver 8 drives the puncture mover 5 to move along the axial direction; the resonant puncture module 4 and the puncture mover 5 are connected by a rubber vibration isolation device; the displacement measurement module 7 is used to measure the displacement of the mover; the power-off self-locking module 2 is used to suppress the retreat phenomenon of the puncture mover 5 and ensure the self-locking state of the puncture mover 5 when the power is off.

[0025] In actual movement, the piezoelectric driver 8 drives the puncture mover 5 to move along the axis direction, indirectly driving the puncture needle to move along the axis, thereby achieving the effect of cell puncture.

[0026] The bracket body 9 is embedded in the bottom seat of the lower shell 1-2 to ensure the stability of the connection between the puncture device and the shell. The linear bearing 6, the power-off self-locking module 2 and the grating head 7-1 are tightly connected to the bracket body 9 with screws to ensure the movement accuracy and stability of the puncture device.

[0027] The power-off self-locking module 2 includes a diamond-shaped amplifying mechanism 2-1, a pre-tightening block 2-2, and a piezoelectric stack 2-3. The pre-tightening block 2-2 and the piezoelectric stack 2-3 are loosely fitted inside the diamond-shaped amplifying mechanism 2-1, and the pre-tightening block 2-2 and the piezoelectric stack 2-3 are fastened with a set screw. The diamond-shaped amplifying mechanism 2-1 is used to amplify the displacement of the piezoelectric stack 2-3 and convert the lateral displacement of the piezoelectric stack 2-3 into a longitudinal displacement, and the displacement response is faster than that of the piezoelectric stack 2-3. This structure has the advantages of fast response speed and high control accuracy, can ensure the precise locking of the puncture actuator 5, thereby improving the accuracy of the output displacement, and can quickly complete self-locking when the power is off.

[0028] The resonant puncture module 4 uses a single-partition longitudinal vibration piezoelectric ceramic piece, and the resonant longitudinal movement it generates makes it easier for the needle to penetrate the cells, reducing damage to the forest cells. It specifically includes a longitudinal vibration end cap 4-1, a first longitudinal vibration ceramic 4-2, a longitudinal vibration rod 4-3 and a vibration isolation device 4-4. The first longitudinal vibration ceramic 4-2 is attached to one side of the longitudinal vibration rod along the axial direction of the puncture mover 5, and is used to excite the needle to move in the longitudinal vibration direction in the axial direction. The longitudinal vibration generated makes it easier for the needle to penetrate the cells and reduce cell damage. The longitudinal vibration end cap 4-1 is connected to the end of the longitudinal vibration rod 4-3 by bolts, and is used to fasten the first longitudinal vibration ceramic 4-2 to prevent it from falling off, and is also used to connect the puncture needle 3. The vibration isolation device 4-4 is bolted to the longitudinal vibration rod 4-3 to ensure that the resonance-assisted puncture module does not affect the movement accuracy of the mover when vibrating. The resonance-assisted puncture module 4 is fixedly connected to the puncture mover 5 by a bolt connection method through a vibration isolation device 4-4, and assists the needle in puncturing, which can help the needle penetrate the cells better and reduce cell damage; A rubber vibration isolator is connected between the resonance puncture module 4 and the puncture mover 5 to reduce the output displacement of the mover when the resonance puncture module 4 works in a resonance state, thereby improving the puncture accuracy of the puncture device.

[0029] The puncture mover 5 can adopt a cylindrical structure. This design is more convenient for cooperating with linear bearings to perform axial linear motion. This design not only improves the rigidity and stability of the structure, but also reduces the overall size to make the structure more compact. One end of the puncture mover 5 is connected to the grating scale 7-2 by bolts, ensuring that the grating scale 7-2 and the puncture mover 5 are started and stopped at the same time, while also facilitating the installation and removal of the grating scale 7-2 and the puncture mover 5. At the same time, its other end is connected to a vibration isolation device 4-4 to ensure that the resonance-assisted puncture module does not affect the movement accuracy of the mover when vibrating.

[0030] The piezoelectric driver 8 includes a driving foot 8-1, a second longitudinal vibration ceramic 8-2, a metal substrate 8-3, a bending vibration ceramic 8-4, and a metal base 8-5. The second longitudinal vibration ceramic 8-2 is longitudinally attached to the upper side of the metal substrate 8-3 to stimulate the driving foot 8-1 to perform longitudinal movement; while the bending vibration ceramic 8-4 is longitudinally attached to the lower side of the metal substrate 8-3 to stimulate in-plane bending movement. The structure of the piezoelectric driver 8 adopts piezoelectric technology, specifically a sandwich structure, which can effectively convert electrical energy into mechanical energy. This design enables the piezoelectric driver to more efficiently drive the puncture mover to perform high-precision stable movement.

[0031] The surface of the housing 1 features openings to facilitate external mounting and wiring for the puncture device, ensuring its structural stability and tightness. Through these openings, wires are connected to the second longitudinal vibration ceramic 8-2 and the bending vibration ceramic 8-4, providing them with the necessary electrical signals. It is noteworthy that the polarization directions of the longitudinal vibration ceramic are aligned in a positive and negative direction, and the polarization directions of the bending vibration ceramics are also aligned in a positive and negative direction when viewing a single section of the ceramic sheet.

[0032] All piezoelectric ceramics fit tightly against the metal substrate 8-3, ensuring efficient energy transfer. The actuator foot 8-1 and the metal base 8-5 are bolted to the top and bottom of the metal substrate, securing the ceramics and preventing them from falling off. The metal base 8-5 is also screwed to the bracket body 9, ensuring the stability of the entire piezoelectric actuator during operation.

[0033] In the embodiment, the wires are connected to the second longitudinal vibration ceramic 8-2 and the bending vibration ceramic 8-4 through the through holes on the surface of the housing 1 to provide them with necessary electrical signals. It is worth noting that the polarization directions of the longitudinal vibration ceramics are arranged in a positive and negative direction, and the polarization directions of the bending vibration ceramics are also arranged in a positive and negative direction when looking at a partition of the ceramic sheet alone. All piezoelectric ceramics are tightly fitted on the metal substrate 8-3 to ensure efficient energy transfer. The driving foot 8-1 and the metal base 8-5 are connected to the upper and lower ends of the metal substrate by bolts to fix the ceramic sheet and prevent it from falling off. The metal base 8-5 is connected to the bracket body 9 by screws to ensure the stability of the entire piezoelectric driver during operation.

[0034] In the embodiment, the driving foot 8-1 should be made of wear-resistant material to withstand long-term friction and wear. The top of the driving foot 8-1 adopts a hemispherical design to ensure sufficient contact with the puncture mover 5. Its contact method adopts point contact to reduce the contact area and reduce friction resistance. The driving foot 8-1 can efficiently transmit metal movement to the mover, thereby achieving precise motion output.

[0035] The main part of the driving foot 8-1 adopts a cylindrical design, and six small flat surfaces are cut out of a smaller regular hexagon on the basis of the cylinder, so that a torque wrench can be used during the installation process, thus ensuring the accuracy of the installation.

[0036] The second longitudinal vibration ceramic 8-2 is arranged along the longitudinal direction on the shorter side of the metal base rod and is used to excite the piezoelectric driver 8 to perform longitudinal movement; The bending vibration ceramic 8 - 4 is arranged along the longitudinal direction on the longer side of the metal base rod and is used to excite the piezoelectric driver 8 to perform in-plane bending motion.

[0037] This design enables the piezoelectric driver 8 to not only drive the puncture mover 5 to move axially, but also to perform longitudinal adjustments to control the preload force between the driving foot 8-1 and the puncture mover 5, greatly improving the motor's motion performance and stability.

[0038] In actual use, the shape design of the bending vibration ceramic 8-4 is not limited to a circular ring structure, and a rectangular structure can also be adopted, which mainly depends on the mechanical structure of the metal substrate.

[0039] The bending vibration ceramic 8-4 is located on the side away from the driving foot 8-1 to increase the swing amplitude of the driver, thereby increasing the step distance of the puncture device.

[0040] The piercing mover can also be cylindrical. This design facilitates linear motion in the displacement output direction in conjunction with linear bearings. Threaded holes are designed at the front and rear ends of the mover. This design not only improves structural rigidity and stability, reduces overall dimensions for a more compact structure, but also facilitates integration with other components. The mover is not limited to cylindrical structures; it can also adopt a square cross-section or other closed geometric cross-sections.

[0041] A control method for a piezoelectric puncture device for precise manipulation of forest cells uses voltage excitation signals applied to the longitudinal and flexural ceramics of the piezoelectric actuator, causing the driver foot of the piezoelectric actuator to generate a motion trajectory and maintain full contact with the mover. By controlling the voltage excitation signal across the piezoelectric ceramic, the driver foot propels the mover axially, thereby driving the puncture needle along its axis, achieving high-precision control of cell puncture.

[0042] In an embodiment, the voltage excitation signal can be a trapezoidal AC signal. This signal format has excellent stability and controllability, ensuring stable and efficient operation of the piezoelectric driver 8. Furthermore, it is easy to generate and precisely control, facilitating practical applications of the puncture device.

[0043] At this time, by giving two trapezoidal wave periodic voltage excitation signals with a phase difference of 90 degrees to the second longitudinal vibration ceramic 8-2 and the bending vibration ceramic 8-4 of the piezoelectric driver 8, the ceramic piece generates longitudinal vibration deformation motion and in-plane bending deformation motion; The driving foot 8-1 of the piezoelectric driver 8 generates an elliptical motion trajectory and is in full contact with the mover. The deformation motion is converted into friction force by the driving foot 8-1, thereby driving the puncture mover 5 to move continuously and smoothly along the axial direction; as the puncture mover 5 moves, the puncture needle 3 also moves accordingly along the axial direction, thereby achieving fine adjustment of cell puncture.

[0044] Furthermore, by flexibly adjusting the positive or negative sign of one of the excitation signals, the direction of the driving force can be easily changed, enabling reverse drive of the puncture device. This driving method offers advantages such as fast response speed and high control precision, meeting the requirements of nanoscale cell puncture.

[0045] The proposed excitation scheme offers the advantages of flexibility and simplicity. It is suitable for applications requiring both large-scale motion and small-scale, high-precision motion. It fully leverages the advantages of the piezoelectric actuator based on the inertial drive principle to achieve fast, accurate, and stable cell puncture.

[0046] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0047] A computer-readable storage medium is used to store computer instructions, which implement the steps of the above method when executed by a processor.

[0048] The above is a detailed introduction to the piezoelectric puncture device for precise manipulation of forest cells proposed in the present invention, and the principles and implementation methods of the present invention are explained. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A piezoelectric puncture device for precise manipulation of forest cells, characterized by: The piezoelectric puncture device comprises a housing (1), a power-off self-locking module (2), a puncture needle (3), a resonance puncture module (4), a puncture mover (5), a linear bearing (6), a displacement measurement module (7), a piezoelectric driver (8) and a bracket body (9); The surface of the housing (1) is provided with a through hole to facilitate the connection between the upper housing (1-1) and the lower housing (1-2), thereby ensuring the sealing of the trocar; The power-off self-locking module (2) is fastened to the inside of the bracket body (9) by screws, thereby suppressing the displacement and retreat of the puncture mover (5) and locking the mover to prevent it from sliding when the power is off; The resonance-assisted puncture module (4) is fixedly connected to the puncture mover (5) by means of a bolt connection, thereby assisting the needle in puncturing; The linear bearing (6) is fixed to the bracket body (9) with screws and is used to guide the axial movement of the puncture mover (5) to ensure the control accuracy of the puncture mover (5); The displacement measurement module (7) is connected to the end of the puncture mover (5) by means of bolts and is used to measure the output displacement of the mover; The bottom of the lower shell (1-2) is provided with a groove, and the bracket body (9) is embedded in the groove of the lower shell (1-2); The piezoelectric driver (8) can drive the puncture mover (5) to perform high-precision stable movement along the axial direction.

2. The piezoelectric puncture device according to claim 1, characterized in that: A rubber vibration isolator is also connected between the resonance puncture module (4) and the puncture mover (5) to reduce the effect of the resonance puncture module (4) on the output displacement of the mover when operating in a resonance state.

3. The piezoelectric puncture device according to claim 2, characterized in that: The power-off self-locking module (2) comprises a diamond-shaped amplifying mechanism (2-1), a pre-tightening block (2-2), and a piezoelectric stack (2-3); The pre-tightening block (2-2) and the piezoelectric stack (2-3) are clearance-matched inside the diamond-shaped amplifying mechanism (2-1), and the pre-tightening block (2-2) and the piezoelectric stack (2-3) are fastened with a set screw; The diamond-shaped amplifying mechanism (2-1) is used to amplify the displacement of the piezoelectric stack (2-3) and convert the lateral displacement of the piezoelectric stack (2-3) into a longitudinal displacement, and has a faster displacement response than the piezoelectric stack (2-3).

4. The piezoelectric puncture device according to claim 3, characterized in that: The resonance puncture module (4) comprises a longitudinal vibration end cover (4-1), a first longitudinal vibration ceramic (4-2), a longitudinal vibration rod (4-3) and a vibration isolation device (4-4); The first longitudinal vibration ceramic (4-2) is attached to one side of the longitudinal vibration rod along the axial direction of the puncture mover (5) and is used to excite the needle to longitudinally vibrate along the axial direction; The longitudinal vibration end cap (4-1) is connected to the end of the longitudinal vibration rod (4-3) in a bolted manner, and is used to fasten the first longitudinal vibration ceramic (4-2) to prevent it from falling off, and is also used to connect the puncture needle (3); The vibration isolation device (4-4) is connected to the longitudinal vibration rod (4-3) by bolts, ensuring that the resonance-assisted puncture module does not affect the movement accuracy of the mover when vibrating.

5. The piezoelectric puncture device according to claim 4, characterized in that: One end of the puncture mover (5) is connected to the grating ruler (7-2) by bolts, ensuring that the grating ruler (7-2) and the puncture mover (5) start and stop at the same time; the other end of the puncture mover (5) is connected to a vibration isolation device (4-4), ensuring that the resonance-assisted puncture module does not affect the movement accuracy of the mover when vibrating.

6. The piezoelectric puncture device according to claim 5, characterized in that: The piezoelectric driver (8) comprises a driving foot (8-1), a second longitudinal vibration ceramic (8-2), a metal matrix (8-3), a bending vibration ceramic (8-4) and a metal base (8-5); Connecting the wire to the second longitudinal vibration ceramic (8-2) and the bending vibration ceramic (8-4) through a through hole on the surface of the housing (1); The polarization directions of the longitudinal vibration ceramics are arranged in a positive and negative pattern. When observing a partition of the bending vibration ceramic piece separately, its polarization direction also shows the characteristics of alternating positive and negative patterns. All piezoelectric ceramics are tightly fitted on the metal substrate (8-3), and the driving foot (8-1) and the metal base (8-5) are connected to the upper and lower ends of the metal substrate by bolt connection; the metal base (8-5) is connected to the bracket body (9) by screws to ensure the stability of the entire piezoelectric driver during operation.

7. The piezoelectric puncture device according to claim 6, characterized in that: The top of the driving foot (8-1) adopts a hemispherical design, and the main body of the driving foot (8-1) adopts a cylindrical design; The second longitudinal vibration ceramic (8-2) is attached to the upper side of the metal base (8-3) in the longitudinal direction and is used to excite the driving foot (8-1) to perform longitudinal movement; The bending vibration ceramic (8-4) is longitudinally attached to the lower side of the metal substrate (8-3) to stimulate the driving foot (8-1) to perform in-plane bending movement.

8. A control method for the piezoelectric puncture device for precise manipulation of forest cells according to any one of claims 1 to 7, characterized in that: By giving two trapezoidal wave periodic excitation signals with a phase difference of 90° to the second longitudinal vibration ceramic (8-2) and the bending vibration ceramic (8-4) of the piezoelectric driver (8), the ceramic piece generates longitudinal vibration deformation motion and in-plane bending deformation motion; The driving foot (8-1) of the piezoelectric driver (8) generates a motion trajectory and is in full contact with the mover. The deformation motion is converted into friction force through the driving foot (8-1), thereby driving the puncture mover (5) to move continuously and smoothly along the axial direction; and then driving the puncture needle (3) to move along the axis, thereby achieving high-precision control of cell puncture.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method according to claim 8 is implemented.

10. A computer-readable storage medium for storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the method of claim 8 is implemented.

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