A master haptic feedback device, soft magnetic drive body and method of making the same

Abstract

The application discloses a master end haptic feedback device, a soft magnetic driving body and a preparation method thereof. The soft magnetic driving body comprises at least two magneto-rheological solid blocks and a soft rubber main body, the magneto-rheological solid block is a strip-shaped solid block formed by mixing and pressing a magneto-rheological liquid and a solidified material, and the soft rubber main body is an arc-shaped strip, and the magneto-rheological solid block is embedded and fixed in the soft rubber main body. When the soft magnetic driving body is assembled on one side of an operating shaft of a master end mechanism, the inner concave surface of the soft rubber main body is used for abutting against the surface of the operating shaft, in a cross section perpendicular to the axial direction of the operating shaft, the magneto-rheological solid blocks are distributed in the circumferential direction, and the length direction of the magneto-rheological solid blocks is perpendicular to the axial direction of the operating shaft. The magneto-rheological solid blocks are embedded in the soft rubber main body, the soft rubber main body is in contact with the operating shaft and generates a feedback resistance, only the deflection of the magneto-rheological solid blocks needs to be controlled during work, the soft rubber main body generates pressure on the operating shaft, the volume of the magneto-rheological solid blocks is relatively smaller, the response speed is improved, and the energy consumption is reduced.

Description

Technical Field

[0001] This application relates to the field of vascular interventional robot technology, and more specifically to a master-end tactile feedback device, a soft magnetic actuator, and a method for preparing the same. Background Technology

[0002] Interventional vascular surgery is a procedure that uses instruments such as needles, guidewires, and catheters to perform diagnosis and treatment via blood vessels, guided by medical imaging equipment. However, traditional interventional vascular surgeons are exposed to ionizing radiation from X-rays for extended periods, and wearing heavy lead aprons for long periods can damage their skeletal system. Therefore, interventional vascular robots are needed to assist surgeons in performing these procedures.

[0003] Vascular interventional surgical robots typically consist of a master mechanism and a slave mechanism. The surgeon operates in the master mechanism, while the slave mechanism directly controls the movement of the guidewire and catheter. The master mechanism needs to feed back the resistance experienced by the slave mechanism to the surgeon's operating axis. The flexible magnetic tactile feedback device in the master mechanism of interventional surgical robots often uses a motor-driven permanent magnet to generate a controllable magnetic field or a single electromagnetic coil to adjust the magnetic field strength, thereby achieving feedback control. Structurally, they generally employ a simplified electromagnet-encased design; the magnet module is often a monolithic, large-volume magnetic block structure. This type of large, monolithic magnetic block structure leads to a slow response speed, and the higher magnetic force required to drive the large-mass magnet further increases energy consumption, resulting in low overall efficiency. Summary of the Invention

[0004] Based on this, the purpose of this application is to provide a master-end haptic feedback device, a soft magnetic actuator and a method for manufacturing the same, so as to improve the response speed.

[0005] In a first aspect, this application discloses a soft magnetic actuator used in the main end mechanism of a vascular interventional surgical robot, which applies pressure to the operating shaft of the main end mechanism under the drive of a magnetic field. The soft magnetic actuator includes at least two magnetorheological solid blocks and a soft rubber body. The magnetorheological solid blocks are strip-shaped solid blocks formed by mixing and curing a magnetorheological liquid with a curing material. The soft rubber body is an arc-shaped strip, and the magnetorheological solid blocks are embedded and fixed in the soft rubber body. When the soft magnetic actuator is assembled on one side of the operating shaft of the main end mechanism, the concave surface of the soft rubber body is used to conform to the surface of the operating shaft. On a cross section perpendicular to the axial direction of the operating shaft, the magnetorheological solid blocks are distributed circumferentially, and the length direction of the magnetorheological solid blocks is perpendicular to the axial direction of the operating shaft.

[0006] Secondly, this application provides a method for manufacturing a soft magnetic actuator, which includes the following steps:

[0007] The magnetorheological liquid and the curing material are thoroughly mixed in proportion and compacted, and then heated and cured to obtain a magnetorheological solid block of a predetermined shape; Place at least two magnetorheological solid blocks on the positioning bushing inside the mold cavity; Liquid soft rubber is poured into the mold cavity to immerse the magnetorheological solid block; After the liquid soft glue has cured, the positioning bushing is pulled out and liquid soft glue is injected into the corresponding hole. After the liquid soft glue has cured a second time, the soft magnetic drive body is removed from the mold cavity.

[0008] In one embodiment, the mass ratio of magnetorheological liquid to curing material is 16:1, and the curing material is cellulose, rice paste, or resin.

[0009] In one embodiment, the magnetorheological fluid and the curing material are mixed and compacted, and then heated and cured at 100-130 degrees Celsius.

[0010] In one embodiment, the positioning bushing is inserted into the mold cavity through a hole on the bottom surface of the mold cavity. A magnet is provided inside the positioning bushing. The magnetorheological solid block is placed on the end face of the positioning bushing and generates a magnetic attraction force with the magnet. The magnetorheological solid block is fixed on the positioning bushing by the magnetic attraction force.

[0011] In one embodiment, the positioning bushing corresponds one-to-one with the magnetorheological solid block.

[0012] In one embodiment, the liquid soft gel is liquid silicone.

[0013] Thirdly, this application provides a master-end tactile feedback device, which includes the soft magnetic drive body of the above technical solution, and also includes an operating shaft and a magnetic field generator. The soft magnetic drive body is assembled on one side of the operating shaft, the concave surface of the soft rubber body is attached to the surface of the operating shaft, at least one magnetorheological solid block is located above the operating shaft, and at least one magnetorheological solid block is located below the operating shaft; the magnetic field generator is located radially outside the operating shaft, and the magnetic field generated by the magnetic field generator is used to deflect the upper and lower magnetorheological solid blocks respectively to generate a clamping force on the operating shaft.

[0014] In one embodiment, there are two magnetic field generators located on opposite sides of the operating axis, with a soft magnetic drive located between the two magnetic field generators.

[0015] In one embodiment, the main tactile feedback device further includes an upper support rod and a lower support rod, with the upper end of the soft magnetic actuator hinged to the upper support rod and the lower end of the soft magnetic actuator hinged to the lower support rod.

[0016] This application embeds a magnetorheological solid block within a soft rubber body. The soft rubber body contacts the operating shaft and generates feedback resistance. During operation, it is only necessary to control the deflection of the magnetorheological solid block, and the soft rubber body will then exert pressure on the operating shaft. Compared with the existing large-volume integrated magnetic blocks, the magnetorheological solid block required for driving in this application is relatively smaller, which is beneficial to improving the response speed, requiring less magnetic force, and reducing energy consumption.

[0017] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, some embodiments are listed below for detailed description. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the assembly of a soft magnetic drive body and an operating shaft according to at least one embodiment.

[0019] Figure 2 This is a schematic diagram of the orthographic projection of a soft magnetic actuator and an operating axis, representing at least one embodiment.

[0020] Figure 3 A flowchart illustrating a method for fabricating a soft magnetic actuator according to at least one embodiment.

[0021] Figure 4 A schematic diagram illustrating the fabrication process of a magnetorheological solid block according to at least one embodiment.

[0022] Figure 5 A schematic diagram illustrating the fabrication process of a soft magnetic actuator according to at least one embodiment.

[0023] Figure 6 This is a schematic diagram of the mold cavity and positioning bushing for at least one embodiment.

[0024] Figure 7 This is a schematic diagram of a mold cavity for at least one embodiment.

[0025] Figure 8 This is a cross-sectional schematic diagram of the positioning bushing according to at least one embodiment.

[0026] Figure 9 This is a three-dimensional schematic diagram of a master-end haptic feedback device according to at least one embodiment.

[0027] The structures shown in the above views have been appropriately scaled down / enlarged to fit the drawing size and ensure clarity, and there is no limitation on the size of the structures shown in the views. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application.

[0029] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, those skilled in the art can combine and integrate the different embodiments or examples described in this specification without causing conflict.

[0030] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] First Embodiment The first embodiment is a soft magnetic actuator used in the main end mechanism of a vascular interventional surgical robot, which applies pressure to the operating axis of the main end mechanism under the drive of a magnetic field. When the surgeon rotates or moves the operating axis axially, the pressure of the soft magnetic actuator on the operating axis causes the operating axis to have rotational feedback resistance and axial movement feedback resistance.

[0033] The specific structure of the soft magnetic actuator is as follows: Figure 1 As shown. The soft magnetic actuator 10 includes at least two magnetorheological solid blocks 12 and a soft rubber body 11. The soft rubber body 11 is an arc-shaped strip, and the magnetorheological solid blocks 12 are embedded and fixed in the soft rubber body 11. Figure 1In the example, there are two magnetorheological solid blocks 12, one above the other, with an angle between them of less than 180 degrees and greater than 120 degrees. In other embodiments, there are more than two magnetorheological solid blocks, for example, there are four magnetorheological solid blocks, specifically two parallel to each other on top and two parallel to each other on the bottom.

[0034] If only one magnetorheological solid block is set, the single small-volume magnetorheological solid block will deflect under the drive of the magnetic field, and the pressure of the soft rubber body on the operating shaft will be relatively small, making it difficult to meet the feedback resistance requirements of the operating shaft.

[0035] Specifically, the magnetorheological solid block 12 is a strip-shaped solid block formed by mixing and pressing a magnetorheological liquid with a curing material. The curing material is cellulose, rice slurry, or resin. The magnetorheological liquid is generally a suspension formed by micron- or nano-sized ferromagnetic particles (generally carbonyl iron particles) immersed in a non-magnetic carrier liquid. When the magnetorheological liquid and the curing material are mixed and cured into a strip-shaped solid block, if the long side of the magnetorheological solid block 12 has an angle greater than 60° with the magnetic field lines, the magnetorheological solid block 12 will rotate in the direction where the angle increases and approaches 90° under the influence of the magnetic field. In practice, as long as the magnetorheological solid block 12 is placed in a magnetic field near the side where deformation is intended, the magnetorheological solid block 12 will deform along the intended direction.

[0036] The magnetorheological solid block 12 is encased in the soft rubber body 11. Therefore, when a magnetic field is applied, the magnetorheological solid block 12 rotates at an angle, causing the soft rubber body 11 to deform accordingly. The soft rubber body 11 serves to connect the magnetorheological solid block 12, limit its rotation angle to prevent it from rotating too much, and allows the magnetorheological solid block 12 to automatically reset due to its elasticity.

[0037] Combination Figure 1 and Figure 2 As shown, when the soft magnetic drive body 10 is assembled on one side of the main end mechanism operating shaft 20, the concave surface 13 of the soft rubber body 11 is used to conform to the surface of the operating shaft 20. When a corresponding magnetic field is applied, the magnetic lines of force extend radially along the operating shaft 20, and the pressure between the concave surface 13 and the surface of the operating shaft 20 causes the operating shaft 20 to have resistance to movement. In practice, the concave surface 13 of the soft rubber body 11 can be provided with knurling to increase the friction between the soft magnetic drive body 10 and the operating shaft 20, or knurling can be provided on the surface of the operating shaft 20 to increase the friction between the soft magnetic drive body 10 and the operating shaft 20.

[0038] like Figure 2As shown, in a cross-section perpendicular to the axial direction 21 of the operating shaft 20, magnetorheological solid blocks 12 are distributed circumferentially, with their length direction perpendicular to the axial direction 21 of the operating shaft 20. When a corresponding magnetic field is applied, magnetic field lines extend radially along the operating shaft 20, and the magnetorheological solid blocks 12 rotate toward the operating shaft 20 (directions A and B), causing the soft rubber body 11 to deform and generate radial pressure on the operating shaft 20. As the magnetic field strength increases, the deformation of the soft rubber body 11 becomes larger, increasing the pressure on the operating shaft 20. Simultaneously, the contact area with the operating shaft 20 increases, resulting in greater feedback resistance on the operating shaft 20.

[0039] In practice, the soft plastic body 11 is made of a soft plastic material with a certain degree of elasticity, such as silicone, rubber, TPE and other materials.

[0040] Second Embodiment The second embodiment is a method for fabricating a soft magnetic actuator, which can be used to fabricate the soft magnetic actuator of the first embodiment. The overall process of fabricating the soft magnetic actuator is as follows (refer to...). Figure 4 , Figure 5 The process involves first fabricating a magnetorheological solid block, then placing it into a mold cavity and pouring in liquid soft resin for the first time. Finally, the positioning bushing is removed for a second pour of liquid soft resin. This method allows the molded magnetorheological solid block to float in the middle of the soft magnetic actuator, preventing it from shifting due to gravity. This results in a more precise positioning of the magnetorheological solid block embedded in the soft magnetic actuator, which improves the control accuracy of the magnetic field over the soft magnetic actuator.

[0041] Specifically, such as Figure 3 As shown, the method for fabricating a soft magnetic actuator includes the following steps: Step S1: The magnetorheological liquid and the curing material are thoroughly mixed in proportion and compacted, and then heated and cured to obtain a magnetorheological solid block of a set shape; Step S2: Place at least two magnetorheological solid blocks on the positioning bushing inside the mold cavity; Step S3: Pour liquid soft glue into the mold cavity to immerse the magnetorheological solid block; Step S4: After the liquid soft glue has cured, the positioning bushing is pulled out and liquid soft glue is injected into the corresponding hole. Step S5: After the liquid soft glue has cured a second time, remove the soft magnetic drive body from the mold cavity.

[0042] For the detailed process of step S1, please refer to [link / reference]. Figure 4 As shown. Refer to the detailed process for steps S2-S5. Figure 5 As shown.

[0043] In step S1, the magnetorheological liquid and the curing material are first uniformly mixed into a slurry according to a set ratio. In at least one embodiment, the mass ratio of the magnetorheological liquid to the curing material is 16:1. The curing material is cellulose, rice slurry, or resin. The technical effect of this mixing ratio is that the synthesized magnetorheological material has a certain degree of solid-state plasticity, while also possessing controllable magnetic field.

[0044] In step S1, the magnetorheological liquid and the curing material are mixed and then allowed to settle. This settling period ensures optimal performance of the synthesized magnetorheological material. The settling time is at least 8 hours. The mixture is then loaded into a molding die and compacted to form a dense preform. The molding die is rectangular in shape. Finally, the compacted mixture is heated and cured to obtain a regularly shaped and structurally stable strip-shaped magnetorheological solid block. After the magnetorheological liquid and the curing material are mixed and compacted, they are heated and cured at 100-130 degrees Celsius. Within this temperature range, magnetorheological solid blocks meeting stiffness requirements can be produced. The magnetorheological solid blocks are then removed from the molding die for use in subsequent steps.

[0045] like Figure 6 As shown, in step S2, the positioning sleeve 50 is first inserted into the mold cavity 60, and then at least two magnetorheological solid blocks are placed on the positioning sleeve 50 inside the mold cavity 60. Multiple positioning sleeves 50 can be provided; for example, more than one positioning sleeve 50 can support and fix one magnetorheological solid block, and the heights of the positioning sleeves 50 are equal, which can support the magnetorheological solid blocks to be placed stably. Alternatively, the positioning sleeve 50 can attract and fix the magnetorheological solid block using magnetic attraction. This magnetic attraction method allows only one positioning sleeve 50 to fix one magnetorheological solid block. The positioning sleeve 50 is used to support the magnetorheological solid block at a certain height, keeping it away from the bottom surface of the mold cavity 60. The magnetorheological solid block in the molded soft magnetic drive body is in a suspended state. The soft rubber around the magnetorheological solid block is thick enough to prevent the soft rubber from cracking when the magnetorheological solid block is rotated under force, thus helping to improve the stability of the soft magnetic drive body.

[0046] If there are more than two magnetorheological solid blocks, such as four magnetorheological solid blocks, two magnetorheological solid blocks can be stacked and then placed on the end face of the positioning sleeve 50 for fixation, which can also achieve the fixation of multiple magnetorheological solid blocks in the mold cavity 60.

[0047] In at least one embodiment, in step S2, combined Figure 6 and Figure 7 As shown, the positioning sleeve 50 is inserted into the mold cavity 60 through the hole 61 on the bottom surface of the mold cavity 60. The hole 61 corresponds one-to-one with the positioning sleeve 50. The positioning sleeve 50 and the hole 61 are mutually fixed through an interference fit, preventing the positioning sleeve 50 from becoming loose. Simultaneously, a sealing ring can be wrapped around the hole 61 to prevent leakage between the positioning sleeve 50 and the hole 61.

[0048] like Figure 8 As shown, the positioning sleeve 50 is a hollow tubular shape, and a magnet 52 is installed inside it. The magnet 52 in the positioning sleeve 50 generally does not need to be removed; therefore, the magnet 52 can be fixed in the positioning sleeve 50 by snap-fit, interference fit, or adhesive. When the magnetorheological solid block is placed on the end face of the positioning sleeve 50, the magnetorheological solid block and the magnet 52 generate a magnetic attraction force. This magnetic attraction force fixes the magnetorheological solid block to the positioning sleeve 50 and also allows the magnetorheological solid block to suspend in the mold cavity, preventing it from adhering to the bottom surface of the mold cavity.

[0049] In at least one embodiment, since the positioning bushing fixes the magnetorheological solid block by magnetic attraction, there is a one-to-one correspondence between the positioning bushing and the magnetorheological solid block. That is, one positioning bushing can support and fix one magnetorheological solid block, which can reduce the number of holes in the mold cavity. During placement, the middle of the magnetorheological solid block is attached to the end face of the positioning bushing, that is, the positioning bushing corresponds to and supports the center of gravity of the magnetorheological solid block, which helps to improve the stability of the support placement.

[0050] In step S3, liquid soft glue is poured into the mold cavity (i.e., the first pour), and the liquid soft glue is used to submerge the magnetorheological solid block. When the magnetorheological solid block is placed in the mold cavity, a certain distance should be left between the top surface of the magnetorheological solid block and the highest point of the mold cavity. This prevents the soft glue on the outside of the magnetorheological solid block in the molded soft magnetic actuator from being too thin, which would prevent the magnetorheological solid block from being held in place. This helps to improve the stability of the soft magnetic actuator in use.

[0051] In at least one embodiment, the liquid soft adhesive is liquid silicone. Liquid silicone can be obtained by purchasing it from a silicone manufacturer, or by purchasing related ingredients (such as base adhesive, crosslinking agent, catalyst, etc.) and then preparing it according to a set ratio to meet the strength and elasticity requirements. The formulation and manufacturing method of liquid silicone are conventional techniques and will not be described in detail here.

[0052] After the first liquid soft glue is poured in step S3, it is cured by heating, for example, by placing it in a temperature range of 170 to 200°C for 60 to 300 seconds to cure the soft glue, and then it can proceed to the next step.

[0053] In step S4, after the first pour of liquid soft glue solidifies, a semi-finished product is formed. At this point, all the positioning bushings are removed, exposing the mold cavity holes, and the semi-finished product also contains elongated blind holes. A second pour is then performed, that is, the same liquid soft glue is injected into the corresponding holes, filling the elongated blind holes in the semi-finished product and ensuring that the magnetorheological solid block is completely surrounded by soft glue. After the second pour, the soft glue is solidified in the same way, allowing the subsequent steps to proceed.

[0054] In step S5, after the liquid soft glue has cured a second time, the soft magnetic drive body is removed from the mold cavity. During the second pouring of the liquid soft glue, the liquid level may exceed the surface of the soft magnetic drive body. In this case, the protruding part is removed by grinding to make the surface of the soft magnetic drive body flush. After the soft magnetic drive body is removed, other operations can be performed, such as creating knurling on its concave surface or drilling pin holes at both ends of the soft magnetic drive body.

[0055] The magnetorheological solid block is lifted by the positioning bushing for the first pour. After removing the positioning bushing, the second pour is performed. On the one hand, the magnetorheological solid block is suspended in the soft magnetic drive body. On the other hand, the second pour only pours a small volume, which has little impact on the strength of the soft rubber body. Even if the bonding strength of the soft rubber after the two pours is not ideal, it will not affect the soft rubber body's wrapping and fixing of the magnetorheological solid block.

[0056] Third Embodiment The third embodiment is a master-end haptic feedback device, the specific structure of which is as follows: Figure 9 As shown.

[0057] like Figure 9 As shown, the main tactile feedback device includes the soft magnetic actuator 10 of the above embodiment, as well as the operating shaft 20 and the magnetic field generator 31. The operating shaft 20 is a rod made of non-magnetic material, that is, its magnetization effect is very weak in a magnetic field at room temperature. For example, the operating shaft 20 made of non-magnetic steel will not be affected by magnetic force and will not deviate in a magnetic field.

[0058] like Figure 9 As shown, the soft magnetic drive body 10 is mounted on one side of the operating shaft 20, with its concave surface conforming to the surface of the operating shaft 20. At least one magnetorheological solid block 12 is located above the operating shaft 20, and at least one magnetorheological solid block 12 is located below the operating shaft 20, with the upper and lower magnetorheological solid blocks 12 forming an angle of less than 180 degrees and greater than 120 degrees. The magnetic field generator 31 is located radially outside the operating shaft 20, and the magnetic field generated by the magnetic field generator 31 is used to deflect the upper and lower magnetorheological solid blocks 12 toward the operating shaft 20 to generate pressure on the operating shaft 20, so that the operating shaft 20 has feedback resistance when rotating or moving.

[0059] In at least one embodiment, such as Figure 9As shown, there are two magnetic field generators 31, located on opposite radial sides of the operating shaft 20, with the soft magnetic drive body 10 positioned between them. Magnetic lines of force between the two magnetic field generators 31 extend along the line connecting them. When the main tactile feedback device is operating, one of the magnetic field generators 31 first generates a magnetic field, causing the magnetorheological solid block 12 to initially deflect. This allows a larger area of ​​the concave surface of the soft magnetic drive body 10 to adhere to the operating shaft 20. Then, the second magnetic field generator 31 is activated. As the magnetic field strength increases, the deflection torque of the magnetorheological solid block 12 increases, and the pressure of the soft magnetic drive body 10 on the operating shaft 20 increases accordingly, thus increasing the feedback resistance of the operating shaft 20. Alternatively, both magnetic field generators 31 can be activated simultaneously. When it is necessary to increase the feedback resistance of the operating shaft 20, the power of both magnetic field generators 31 is increased simultaneously to increase the magnetic field strength.

[0060] In practice, the magnetic field generator 31 uses water cooling. Specifically, the outer shell of the magnetic field generator 31 is provided with a water inlet 311 and a water outlet 312. The water inlet 311 and the water outlet 312 are connected by a cooling channel. The cooling channel is filled with a refrigerant to achieve heat dissipation and cooling of the magnetic field generator 31, so that the magnetic field generator 31 can work continuously and stably.

[0061] In at least one embodiment, such as Figure 9 As shown, the main tactile feedback device also includes an upper support rod 41 and a lower support rod 42. A frame 40 is fixedly connected to the upper end of the upper support rod 41, and the connection position of the upper support rod 41 to the frame 40 is horizontally adjustable. The two legs of the frame 40 are fixed to the base (not shown) by screws or other means. Simultaneously, two magnetic field generators 31 are also fixedly connected to the frame 40. The lower end of the lower support rod 42 is fixed to the base (not shown) by screws or other means, and a U-shaped groove 421 is provided at the upper end of the lower support rod 42. The operating shaft 20 passes through the U-shaped groove 421 to provide a certain limiting effect on the operating shaft 20. The upper end of the soft magnetic drive body 10 is hinged to the upper support rod 41, and the lower end of the soft magnetic drive body 40 is hinged to the lower support rod 42, thereby keeping the overall position of the soft magnetic drive body 10 unchanged. When a magnetic field is generated, the magnetorheological solid block 12 deflects, causing the soft rubber body to deform, thereby generating pressure on the operating shaft 20.

[0062] In this embodiment, the magnetorheological solid block 12 is embedded in the soft rubber body 11. The soft rubber body 11 contacts the operating shaft 20 and generates feedback resistance. During operation, the magnetorheological solid block 12 is deflected by the magnetic field, and the soft rubber body 11 will exert pressure on the operating shaft 20. Compared with the existing large-volume integrated magnetic blocks, the magnetorheological solid block 12 required for driving in this embodiment is relatively smaller, which is beneficial to improve the response speed, requires less magnetic force, and reduces energy consumption.

[0063] The contents not described in detail in this specification are existing technologies known to those skilled in the art. For example, the specific implementation of the control magnetic field generator is a conventional technical means in this field and will not be described in detail here.

[0064] The above examples are merely illustrative of the technical content of this application to facilitate reader understanding, but do not imply that the implementation methods of this application are limited to these. Any technical extensions or re-creations made based on this application are protected by this application. The scope of protection of this application is determined by the claims.

Claims

1. A soft magnetic actuator, characterized in that, It is used in the main end mechanism of a vascular interventional surgical robot and applies pressure to the operating axis of the main end mechanism under the drive of a magnetic field. The soft magnetic drive includes: At least two magnetorheological solid blocks, wherein the magnetorheological solid blocks are strip-shaped solid blocks formed by mixing and pressing a magnetorheological liquid with a curing material; The soft rubber body is an arc-shaped strip, and the magnetorheological solid block is embedded and fixed in the soft rubber body; When the soft magnetic drive body is assembled on one side of the main end mechanism operating shaft, the concave surface of the soft rubber body is used to fit the surface of the operating shaft. On a cross section perpendicular to the axial direction of the operating shaft, the magnetorheological solid block is distributed circumferentially and the length direction of the magnetorheological solid block is perpendicular to the axial direction of the operating shaft.

2. The method for manufacturing the soft magnetic actuator according to claim 1, characterized in that, It includes the following steps: The magnetorheological liquid and the curing material are thoroughly mixed in proportion and compacted, and then heated and cured to obtain a magnetorheological solid block of a predetermined shape; Place at least two magnetorheological solid blocks on the positioning bushing inside the mold cavity; Liquid soft rubber is poured into the mold cavity to immerse the magnetorheological solid block; After the liquid soft glue has cured, the positioning bushing is pulled out and liquid soft glue is injected into the corresponding hole. After the liquid soft glue has cured a second time, the soft magnetic drive body is removed from the mold cavity.

3. The method for manufacturing a soft magnetic actuator as described in claim 2, characterized in that, The mass ratio of the magnetorheological liquid to the curing material is 16:1, and the curing material is cellulose, rice paste, or resin.

4. The method for manufacturing a soft magnetic actuator as described in claim 2, characterized in that, The magnetorheological liquid is mixed with the curing material and compacted, then heated and cured at 100-130 degrees Celsius.

5. The method for manufacturing a soft magnetic actuator as described in claim 2, characterized in that, The positioning bushing is inserted into the mold cavity through a hole on the bottom surface of the mold cavity. A magnet is provided inside the positioning bushing. The magnetorheological solid block is placed on the end face of the positioning bushing and generates a magnetic attraction force with the magnet. The magnetorheological solid block is fixed on the positioning bushing by the magnetic attraction force.

6. The method for manufacturing a soft magnetic actuator as described in claim 2 or 5, characterized in that, The positioning bushing corresponds one-to-one with the magnetorheological solid block.

7. The method for manufacturing a soft magnetic actuator as described in claim 2, characterized in that, The liquid soft gel is liquid silicone.

8. A master-end haptic feedback device, characterized in that, It includes the soft magnetic actuator as described in claim 1, and further includes: An operating shaft is provided, wherein the soft magnetic drive body is mounted on one side of the operating shaft, the concave surface of the soft rubber body is in contact with the surface of the operating shaft, at least one magnetorheological solid block is located above the operating shaft, and at least one magnetorheological solid block is located below the operating shaft. A magnetic field generator is located radially outside the operating shaft. The magnetic field generated by the magnetic field generator is used to deflect the upper and lower magnetorheological solid blocks respectively to generate a clamping force on the operating shaft.

9. The main-end haptic feedback device as described in claim 8, characterized in that, There are two magnetic field generators, located on opposite sides of the operating shaft, with the soft magnetic drive located between the two magnetic field generators.

10. The master-end haptic feedback device as described in claim 8, characterized in that, It also includes an upper support rod and a lower support rod, with the upper end of the soft magnetic drive body hinged to the upper support rod and the lower end of the soft magnetic drive body hinged to the lower support rod.

Images