CN106816074B - Muscle tissue reappears interface arrangement - Google Patents
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- CN106816074B CN106816074B CN201710168683.5A CN201710168683A CN106816074B CN 106816074 B CN106816074 B CN 106816074B CN 201710168683 A CN201710168683 A CN 201710168683A CN 106816074 B CN106816074 B CN 106816074B
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Abstract
The invention discloses a muscle tissue reappearing interface device which comprises a first joint and a second joint, wherein a plurality of conductive muscle fibers are arranged between the first joint and the second joint, two ends of each conductive muscle fiber are fixedly connected with the first joint and the second joint through a first joint tendon and a second joint tendon respectively, an electrode is led out from one side end of the first joint tendon or one side end of the second joint tendon, a sealed conductive outer skin is coated outside the first joint, the second joint and the conductive muscle fibers, electrorheological fluid is filled in a closed space surrounded by the sealed conductive outer skin, and the sealed conductive outer skin and the first joint tendon or the second joint tendon are led out electrodes with opposite polarities respectively; the invention aims to solve the problem that the existing force touch interaction device is easy to distort when the flexibility and viscosity characteristics of human body tissues are simulated, and further provides a human-computer interaction interface device which has high fidelity and can realize the flexibility and viscosity characteristics of human body muscle tissues.
Description
Technical Field
The invention belongs to the technical field of virtual reality, and particularly relates to a muscle tissue reproduction interface device for realizing human-computer interaction.
Background
With the progress of society, medical science increasingly shares the development results of modern science and technology, such as telerobotic surgery, telemedicine, virtual surgery training, virtual palpation training and the like. The development of these technologies cannot be separated from the progress of a key technology, namely, human-computer interaction technology, the key of which is force tactile reproduction, and the force tactile technology has been developed greatly at present, but the force tactile reproduction with high fidelity still cannot well meet the requirements of telemedicine, and particularly, the force tactile reproduction technology of body tissues still needs to be further researched and developed.
At present, the research on the body tissue force touch technology is less, and the following main technologies are available: flexible tactile representation based on elastic beams, electromagnetic driven interactive devices, pneumatic artificial muscle based tactile devices, and the like. There are also commercially available Force haptic interaction devices such as Phantom by Sensable, CyberForce by Impersion, Delta by Force Dimension, Omega hand controls, etc. which are essentially mechanical contacts and are prone to distortion when simulating the compliant and adhesive characteristics of bodily tissues.
The electrorheological fluid is used as a liquid intelligent material, under the action of an external electric field, the rheological property of the electrorheological fluid is changed violently, the yield stress is increased along with the increase of the electric field strength, and the electrorheological fluid can be recovered to a liquid state quickly when the electric field is removed. The characteristics of the electrorheological fluid can better simulate the flexibility characteristics of the body tissues, can be applied to the development of the haptic interface device for the flexibility force of the body tissues, but cannot simulate the elasticity characteristics of the body tissues because of the dissipative property.
In summary, most of the currently existing body tissue reproduction interface devices for human-computer interaction, whether commercial force sense interaction devices, force sense interaction devices developed based on these devices, or other newly developed force sense interaction devices, have great flexibility for body tissue reproduction by motor-driven active force sense interaction devices, but have the following problems: (1) relatively poor stability, which is mainly caused by the inherent characteristics of the motor or other active drive itself; (2) the fidelity is relatively poor, when the soft tissue of the human body is simulated, because the tissue of the human body, particularly the visceral tissue, is not an elastic body in the complete sense, the elastic deformation is nonlinear when the tissue is pressed, cut or needled, and certain viscosity characteristics exist, so that the tissue is simulated by using active interaction equipment easily to have larger distortion; (3) the volume is large, and researches show that the active driver generates the same force, and the volume of the active driver is much larger than that of the passive driver, so that the inertia and the friction of the driving mechanism are both large, and large distortion is easily caused; (4) the energy consumption is large, the power consumption of a motor-driven small-sized commercial force feedback control lever for applying continuous force to an operator reaches 10-30 watts, and the energy consumption of a table-type force feedback device is more, so that an external power adapter is required to be equipped, the portability of the device is greatly reduced, and the problem in design of the initiative force sensing interaction device is also large. (5) The passive force interaction device can keep better stability, safety and lower energy consumption when being applied to virtual surgery training, but cannot simulate the elasticity characteristics of body tissues.
Disclosure of Invention
The invention provides a muscle tissue reappearing interface device for realizing human-computer interaction, and aims to solve the problem that the existing force touch interaction device is easy to generate distortion when the flexibility and viscosity characteristics of human tissues are simulated, so that a human-computer interaction interface device with high fidelity and capable of realizing the flexibility and viscosity characteristics of the human muscle tissues is provided.
The invention is realized by the following technical scheme:
a muscle tissue reproduction interface device, characterized by: the interface device comprises a first joint (7) and a second joint (8), a plurality of conductive muscle fibers (2) are arranged between the first joint (7) and the second joint (8), two ends of each conductive muscle fiber (2) respectively pass through a first joint tendon (4), a second joint tendon (3) and the first joint (7), the second joint (8) is fixedly connected with the first joint tendon (4) or is an electrode (6) led out from one side end of the second joint tendon (3), the first joint (7), the second joint (8) and the conductive muscle fiber (2) are coated with a sealed conductive outer skin (1), an enclosed space surrounded by the sealed conductive outer skin (1) is filled with electrorheological fluid (9), and the sealed conductive outer skin (1) and the first joint tendon (4) or the second joint tendon (3) are respectively led out with electrodes (5 and 6) with opposite polarities.
The invention further adopts the technical improvement scheme that:
the number of the conductive muscle fibers (2) is matched with the number of the joint tendons.
The invention further adopts the technical improvement scheme that:
the conductive muscle fiber (2) is made of elastic metal wire material.
The invention further adopts the technical improvement scheme that:
the sealing conductive outer skin (1) is made of flexible metal materials.
The invention further adopts the technical improvement scheme that:
the first joint (7) and the second joint (8) are made of insulating materials.
The invention further adopts the technical improvement scheme that:
the conductive muscle fiber (2) and the sealed conductive outer skin (1) are respectively electrically connected with the electrodes (5, 6).
Compared with the prior art, the invention has the following obvious advantages:
the invention adopts the emerging electrorheological technology, the electrorheological fluid generates electrorheological effect under the action of the electric field, so that the apparent viscosity representing the rheological property of the electrorheological fluid changes, the change from the Newton liquid state to the quasi-solid state can be instantly realized, and the process is reversible, so the electrorheological fluid has unique advantages in the aspect of simulating the flexibility of muscle tissues.
The invention utilizes the elastic metal material to simulate the elastic characteristic of the muscle tissue, and utilizes the electric field generated by the metal material to control the viscosity characteristic of the electrorheological fluid, thereby realizing the simulation of the flexibility and the viscosity of the muscle tissue and effectively improving the fidelity of the reappearance of the organism tissue.
And thirdly, the whole interface device is dissipative, so that the stability of the interface device can be effectively improved.
The invention has simple structure, the whole device has no driving devices such as a motor, an electromagnet, a pneumatic device and the like, the structure is simple and compact, and the requirement on machining precision is not high.
The whole device directly controls the output force by using an electric field without a conversion and transmission mechanism, so that the energy consumption is extremely low.
Sixth, the invention is simple to control, the electric field signal and electrorheological fluid output force signal have definite functional relation, therefore very easy to control.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic diagram of the principle of the present invention.
Detailed Description
As shown in fig. 1 and 2, the present invention comprises a first joint 7 made of an insulating material, a second joint 8 made of an insulating material, five conductive muscle fibers 2 made of an elastic metal wire material, five first joint tendons 4, five second joint tendons 3, five positive electrodes 6, a negative electrode 5, a sealed conductive sheath 1 made of a flexible metal material, and a proper amount of electrorheological fluid 9. Five conductive muscle fibers 2 are arranged between a first joint 7 and a second joint 8 (the number of the conductive muscle fibers can be properly increased or decreased according to needs), one end of each conductive muscle fiber 2 is fixed on the first joint 7 through a first joint tendon 4, the other end of each conductive muscle fiber 2 is fixed on the second joint 8 through a second joint tendon 3, a positive electrode 6 is led out from the first joint tendon 4, a negative electrode 5 is led out from a sealed conductive sheath 1, the sealed conductive sheath 1 covers the outer layer of the muscle tissue, and an enclosed space surrounded by the sealed conductive sheath 1 is filled with electrorheological fluid 9.
The working principle of the muscle tissue reproduction interface device is as follows: the muscle tissue reconstruction interface is shown in fig. 1 and 2. The remote robot operation, the remote diagnosis and treatment, the virtual operation training, the virtual palpation training and the like are interacted with the virtual environment through people, when muscles in the virtual environment are in a relaxed state, the conductive muscle fibers 2 of the muscle tissue reappearing interface device can simulate the elasticity of real muscle tissues, the sealed conductive outer skin 1 is filled with electrorheological fluid 9, the flexibility characteristic of the muscle tissues can be simulated, and the sealed conductive outer skin 1 can simulate the skin of the outer layer of the muscle; when muscle tissue in a virtual environment contracts and hardens, voltage is applied between the positive electrode and the negative electrode, an electric field perpendicular to the conductive muscle fiber 2 is generated between the conductive muscle fiber 2 and the sealed conductive outer skin 1 by the voltage, under the action of the electric field, the electrorheological fluid 9 forms a chain-shaped structure along the direction of the electric field, the hardness of the electrorheological fluid above the conductive muscle fiber 2 is increased, the higher the voltage is, the stronger the electric field is, the stronger the chain-shaped structure is, the higher the hardness is, and an operator can feel the hardness change when the muscle contracts when touching the electrorheological fluid; when a certain part of muscle tissue in the virtual environment is diseased and becomes hard, voltage is applied between the diseased conductive muscle fiber 2 and the sealed conductive sheath 1, no voltage is applied to other conductive muscle fibers 2, the electrorheological fluid above the conductive muscle fiber 2 becomes hard, and an operator can feel the change of the muscle hardness of the certain part.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (6)
1. A muscle tissue reproduction interface device, characterized by: the interface device comprises a first joint (7) and a second joint (8), a plurality of conductive muscle fibers (2) are arranged between the first joint (7) and the second joint (8), two ends of each conductive muscle fiber (2) respectively pass through a first joint tendon (4), a second joint tendon (3) and the first joint (7), the second joint (8) is fixedly connected with the first joint tendon (4) or the second joint tendon (3), an electrode (6) is led out from one side end of the first joint tendon (4) or the second joint tendon (3), the first joint (7), the second joint (8) and the conductive muscle fiber (2) are coated with a sealed conductive outer skin (1), an electrorheological fluid (9) is filled in a sealed space surrounded by the sealed conductive outer skin (1), and the sealed conductive outer skin (1) and the first joint tendon (4) or the second joint tendon (3) are respectively led out with electrodes (5 and 6) with opposite polarities.
2. A muscle tissue reproduction interface device according to claim 1, wherein: the number of the conductive muscle fibers (2) is matched with the number of the joint tendons.
3. A muscle tissue reproduction interface device according to claim 1 or 2, wherein: the conductive muscle fiber (2) is made of elastic metal wire material.
4. A muscle tissue reproduction interface device according to claim 1 or 2, wherein: the sealing conductive outer skin (1) is made of flexible metal materials.
5. A muscle tissue reproduction interface device according to claim 1 or 2, wherein: the first joint (7) and the second joint (8) are made of insulating materials.
6. A muscle tissue reproduction interface device according to claim 1 or 2, wherein: the conductive muscle fiber (2) and the sealed conductive outer skin (1) are respectively electrically connected with the electrodes (5, 6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710168683.5A CN106816074B (en) | 2017-03-21 | 2017-03-21 | Muscle tissue reappears interface arrangement |
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| CN201710168683.5A CN106816074B (en) | 2017-03-21 | 2017-03-21 | Muscle tissue reappears interface arrangement |
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| CN106816074A CN106816074A (en) | 2017-06-09 |
| CN106816074B true CN106816074B (en) | 2020-05-19 |
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| CN114271958A (en) * | 2021-12-22 | 2022-04-05 | 大连医科大学 | Mouth cancer postoperative opening assistor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2148097A4 (en) * | 2007-05-11 | 2012-03-07 | Univ Chuo | Fluid pouring type actuator |
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| CN2292274Y (en) * | 1997-01-21 | 1998-09-23 | 河北工业大学 | Robot contact sensor with filling current converter foam pad |
| CN1194818A (en) * | 1998-03-04 | 1998-10-07 | 黄上立 | Improved artificial tubular muscle and use thereof |
| CN100500114C (en) * | 2002-10-14 | 2009-06-17 | 重庆工学院 | Artificial muscle |
| CN100358683C (en) * | 2004-12-15 | 2008-01-02 | 张帆 | Bionic moving mechanism driven by artificial muscle |
| CN100594103C (en) * | 2008-07-15 | 2010-03-17 | 东南大学 | Wearing type finger tip passive-force sense-reproducing device |
| CN103598930A (en) * | 2013-11-30 | 2014-02-26 | 陆华峰 | Artificial muscle for generating hydraulic pressure with magnetofluid |
| CN106625578B (en) * | 2015-08-28 | 2019-04-05 | 深兰科技（上海）有限公司 | A kind of artificial-muscle and its application, robot |
| CN205870534U (en) * | 2016-08-12 | 2017-01-11 | 徐文 | Bionical muscle fibre of electromagnetism and bionical muscle group of electromagnetism |
| CN206628187U (en) * | 2017-03-21 | 2017-11-10 | 淮阴师范学院 | A kind of musculature based on ER fluid reproduces interface arrangement |
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| EP2148097A4 (en) * | 2007-05-11 | 2012-03-07 | Univ Chuo | Fluid pouring type actuator |
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