CN108354588B - Mechanical structure of micro robot for exploring mechanical characteristics of human skin - Google Patents
Mechanical structure of micro robot for exploring mechanical characteristics of human skin Download PDFInfo
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- CN108354588B CN108354588B CN201810035150.4A CN201810035150A CN108354588B CN 108354588 B CN108354588 B CN 108354588B CN 201810035150 A CN201810035150 A CN 201810035150A CN 108354588 B CN108354588 B CN 108354588B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/44—Detecting, measuring or recording for evaluating the integumentary system, e.g. skin, hair or nails
- A61B5/441—Skin evaluation, e.g. for skin disorder diagnosis
- A61B5/442—Evaluating skin mechanical properties, e.g. elasticity, hardness, texture, wrinkle assessment
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Abstract
The invention discloses a mechanical structure of a micro robot for exploring mechanical characteristics of human skin, which comprises a motion control part, a probe fixing platform part and a probe steel frame structure part, wherein the motion control part comprises a base a, a plurality of brakes are fixedly arranged on the base a, each brake comprises an outer ring and an inner ring, the outer ring is fixed on the base a, and the inner rings can rotate in the outer rings and move up and down; the invention adopts the brake to drive the probe fixing platform to move up and down, so that the probe generates continuous deformation on the skin, and then the characteristics of anisotropy, viscoelasticity, nonlinearity and the like of the skin can be accurately analyzed by means of data measured by the sensor and a finite element structural analysis method.
Description
Technical Field
The invention relates to the technical field of micro robots for exploring mechanical properties of human skin, in particular to a mechanical structure of a micro robot for exploring mechanical properties of human skin.
Background
The biological characteristic test research of the skin tissue is not only helpful for doctors to judge whether the skin tissue is diseased, but also can effectively optimize the surgical operation scheme and improve the safety of the operation. The early skin mechanical property is measured mostly by a living body biomechanics method, and in a living body state, a human body is anesthetized, and the skin property is directly measured by a medical instrument. This method does not take into account the anisotropy of skin tissue and the influence of nerves, body fluids, metabolism, physicochemical environment, etc. on the skin's mechanical properties.
With the continuous improvement of modern mechanical property measurement means, various biomechanical test methods are widely applied to skin mechanics research, the most common is an indentation measurement method, namely, stretching or extruding is carried out on the surface of skin tissue, and according to a dynamic response process between displacement and load, the mechanical property parameters of the skin tissue are obtained by utilizing data and a numerical method of a sensor measuring point. Aiming at generating proper displacement on the surface of skin tissue and obtaining the mechanical property parameters of the skin by utilizing the dynamic relation between the displacement and the load, scientific researchers carry out a great deal of research. The scientific inventor Lanir in the article "A structure of the human tissue biological stress-strain in flat tissue properties" proposed that a two-dimensional tensile test was performed on abdominal skin, i.e. force was applied to the skin in two mutually perpendicular directions and deformation was generated, which is inconvenient to use and only allows measurement of the skin in the perpendicular or horizontal direction.
Disclosure of Invention
The invention aims to provide a mechanical structure of a micro robot for researching mechanical characteristics of human skin, which can carry a probe to generate a certain amount of continuous and regular displacement and deformation on the surface of the skin, and can accurately analyze the characteristics of the skin, such as anisotropy, viscoelasticity, nonlinearity and the like by means of data measured by a sensor and a finite element analysis method.
In order to solve the technical problems, the invention adopts the technical scheme that:
a mechanical structure of a micro robot for researching mechanical characteristics of human skin comprises a motion control part, a probe fixing platform part and a probe steel frame structure part, wherein the motion control part comprises a base a, a plurality of brakes are fixedly arranged on the base a, each brake comprises an outer ring and an inner ring, the outer ring is fixed on the base a, and the inner ring can rotate in the outer ring and move up and down; a plurality of ball sliding groups are uniformly and fixedly arranged on the periphery of the base a, each ball sliding group comprises an outer layer and an inner layer, the outer layer is fixed on the base a, the bottom end of the inner layer is fixed on the inner ring of the brake and moves up and down along with the inner ring of the brake, a displacement sensor is arranged on the inner layer of each ball sliding group, and a positioning pin is arranged at the top end of the inner layer;
the probe fixing platform part comprises a base b, a guide post is arranged on the bottom surface of the base b, and the motion control part and the probe fixing platform part are connected together by arranging a positioning pin in the guide post; the top surface of the base b is provided with a magnet for connecting with the probe steel frame structure part, and displacement sensors are uniformly arranged around the magnet;
the probe steel frame structure part comprises a base c which is connected with the magnet in an adsorption mode, a supporting column is arranged on the top surface of the base c, the top surface of the supporting column is connected with the probe, a biomechanics sensor is arranged on the top surface of the probe, reinforcing ribs are uniformly distributed on the outer circumferential surface of the supporting column, and the reinforcing ribs are in contact connection with the displacement sensor on the base b.
Preferably, the base a is a hexagonal prism-shaped rigid body structure, and the base a has six side planes, so that the ball sliding group is convenient to position and install.
Further preferably, there are three ball sliding sets, the base a has six side planes, one ball sliding set is arranged at every other side plane, and the three ball sliding sets are arranged in an equilateral triangle.
It is further preferred that there are three brakes, arranged in an equilateral triangle on the base a, the brakes being BEI-KimcoLA15 voice coil brakes.
The base b is of a cylindrical structure, the magnet is also cylindrical, three U-shaped sliding grooves are arranged around the magnet in an equilateral triangle shape, and displacement sensors are arranged in the sliding grooves.
The principle of the invention is as follows:
the three voice coil brakes with the same model are adopted to drive the inner layer of the ball sliding group to move up and down, the three brakes can be started simultaneously or optionally started, so that the probe fixing platform part obtains different spatial positions and postures, three-degree-of-freedom motion or two-degree-of-freedom motion of the probe fixing platform is realized, the probe fixing platform drives the probe steel frame structure part and the probe to move, and the probe can enable the skin to generate three-dimensional deformation or two-dimensional deformation. The displacement sensors on the inner layer of the ball sliding group and the probe fixing platform measure the displacement of the probe driven by the brake, and the biomechanics sensor on the probe measures the deformation stress and strain on the surface of the skin. And the measured data is subjected to finite element analysis to accurately obtain the characteristics of anisotropy, viscoelasticity and nonlinearity of the human skin.
The technical scheme adopted by the invention has the following technical effects:
the invention adopts the brake to drive the probe fixing platform to move up and down, thereby leading the probe to generate continuous deformation on the skin, and accurately analyzing the characteristics of the skin such as anisotropy, viscoelasticity, nonlinearity and the like by means of data measured by the sensor and a finite element structure analysis method.
Drawings
Fig. 1 is a schematic structural view of a motion control section.
FIG. 2 is a schematic structural view of a probe fixing stage portion.
Fig. 3 is a top view of the structure of fig. 2.
Fig. 4 is a schematic structural view of a probe steel frame structure part.
Fig. 5 is a schematic view of the overall structure of the present invention.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings.
As shown in FIG. 5, the mechanical structure of the micro-robot for exploring the mechanical characteristics of human skin comprises a motion control part, a probe fixing platform part and a probe steel frame structure part.
As shown in fig. 1, the motion control part includes a base a1, on which a plurality of brakes 2 are fixed, the brake includes an outer ring fixed on the base a and an inner ring capable of rotating and moving up and down in the outer ring; a plurality of ball sliding groups 3 are uniformly and fixedly arranged on the periphery of the base a, each ball sliding group comprises an outer layer 4 and an inner layer 5, the outer layers are fixed on the base a, the bottom ends of the inner layers are fixed on the inner ring of the brake and move up and down along with the inner ring of the brake, and displacement sensors are arranged on the inner layers of the ball sliding groups; the top end of the inner layer is provided with a positioning pin 6.
In this embodiment, the base is preferably a hexagonal prism-shaped rigid body structure.
In the embodiment, three ball sliding groups are shared, the hexagonal prism base is provided with six side planes, one ball sliding group is arranged on each side plane at intervals, and the three ball sliding groups are arranged in an equilateral triangle. The ball sliding set is of an existing structure, and a Japanese IKO linear guide BSP1035 SL is preferred in the embodiment.
The brake is in the prior art, and the BEI-Kimcola15 voice coil type brake is preferred in the embodiment, can generate displacement larger than 3mm and frequency larger than 100Hz, and has high action precision. The brake comprises an outer ring and an inner ring, wherein the outer ring is fixed on the base, and the inner ring can rotate and can move up and down relatively in the outer ring.
In the embodiment, three displacement sensors are arranged on the inner layer of the ball sliding group and used for dynamically measuring the up-and-down displacement of the inner ring of the brake during movement, so that the control of the working vertex of the robot is analyzed, and the displacement of the inner ring of the brake can be calculated through the voltage output by the displacement sensors. In the embodiment, a photodiode sensor is selected, preferably SG-2BC manufactured by KODENSHI of Japan, and has the advantages of high measurement accuracy, low price and the like. The photodiode sensor is mounted on the inner layer of the ball slide group, the light emitted by the light emitting diode is incident on the plastic optical fiber, and the free end of the optical fiber is mounted on the moving part of the brake, so that the photodiode can be illuminated. The light irradiation direction can be effectively controlled by using the molding optical fiber, and other equipment is not required to be installed on the inner layer of the ball sliding group. A microscope is mounted at the end of the fiber so that the light is totally focused onto the photodiode.
As shown in fig. 2 and 3, the probe fixing platform part comprises a base b7, the bottom surface of the base b is provided with a guide post 8, and the motion control part and the probe fixing platform part are connected together by arranging a positioning pin in the guide post; and the top surface of the base b is provided with a magnet 9 for connecting with the probe steel frame structure part, and displacement sensors 10 are uniformly arranged around the magnet.
The displacement sensors arranged around the magnet and the displacement sensors on the inner layer of the ball sliding group can be used for measuring the displacement of the probe, and the displacement sensors on the inner layer of the ball sliding group are used for measuring the displacement of the probe, so that errors are caused by installation and relative sliding between the structural parts, and the displacement sensors are arranged on the base b.
As shown in fig. 3, in the present embodiment, it is preferable that the base b has a cylindrical structure, the magnet also has a cylindrical shape, three U-shaped sliding slots 11 are disposed around the magnet in an equilateral triangle, and displacement sensors are disposed in the sliding slots. The movement of the brake and the movement of the probe have a one-to-one correspondence relationship, and the brake is placed in an equilateral triangle shape, so that the displacement sensor is also placed in the same way, and the displacement of the probe in each direction can be more accurately measured.
The base a and the base b are made of light hard materials to reduce inertia, so that elastic deviation generated when the inner ring of the brake rotates to drive the probe to move up and down is reduced, and the situation that the base and the working frequency of the brake generate resonance needs to be prevented.
As shown in fig. 4, the probe steel frame structure part includes a base c12 connected to the magnet, a support column is disposed on the top surface of the base c, the top surface of the support column is connected to the probe 13, a biomechanics sensor is disposed on the top surface of the probe, reinforcing ribs 14 are uniformly disposed on the outer circumferential surface of the support column, and the reinforcing ribs are in contact connection with the displacement sensor on the base b. The strengthening rib can provide rigidity intensity for the support column of probe, prevents to make support column stress distribution inequality cause distortion because of probe and skin extrusion.
The probe is contacted with the skin, and in order to reduce the injury of the probe to the skin, the contact surface of the probe can be designed into a round shape, and when the brake is started, the probe is driven to move, so that the displacement is generated on the surface of the skin.
The strengthening rib is the right trapezoid structure in this embodiment, and the hypotenuse of strengthening rib is from the outer circumference of support column to base c slope, and the strengthening rib is the right trapezoid design and mainly for avoiding stress concentration, and the holding power that trapezoidal can provide is bigger, and more pleasing to the eye.
The biomechanical sensor can be a sensor which is independently researched and developed by the applicant, and can also be a commercial sensor such as an American AMTI six-dimensional force sensor.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.
Claims (5)
1. A mechanical structure of a micro robot for researching mechanical characteristics of human skin is characterized by comprising a motion control part, a probe fixing platform part and a probe steel frame structure part, wherein the motion control part comprises a base a, a plurality of brakes are fixedly arranged on the base a, each brake comprises an outer ring and an inner ring, the outer ring is fixed on the base a, and the inner ring can rotate in the outer ring and can move up and down; a plurality of ball sliding groups are uniformly and fixedly arranged on the periphery of the base a, each ball sliding group comprises an outer layer and an inner layer, the outer layer is fixed on the base a, the bottom end of the inner layer is fixed on the inner ring of the brake and moves up and down along with the inner ring of the brake, a displacement sensor is arranged on the inner layer of each ball sliding group, and a positioning pin is arranged at the top end of the inner layer;
the probe fixing platform part comprises a base b, a guide post is arranged on the bottom surface of the base b, and the motion control part and the probe fixing platform part are connected together by arranging a positioning pin in the guide post; the top surface of the base b is provided with a magnet for connecting with the probe steel frame structure part, and displacement sensors are uniformly arranged around the magnet;
the probe steel frame structure part comprises a base c which is connected with the magnet in an adsorption mode, a supporting column is arranged on the top surface of the base c, the top surface of the supporting column is connected with the probe, a biomechanics sensor is arranged on the top surface of the probe, reinforcing ribs are uniformly distributed on the outer circumferential surface of the supporting column, and the reinforcing ribs are in contact connection with the displacement sensor on the base b.
2. The mechanical structure of the micro-robot for researching mechanical characteristics of human skin as claimed in claim 1, wherein the base a is a hexagonal prism-like rigid body structure.
3. The mechanical structure of the micro-robot for studying mechanical properties of human skin as claimed in claim 2, wherein there are three ball sliding sets, the base a has six side planes, one ball sliding set is disposed every other side plane, and the three ball sliding sets are disposed in an equilateral triangle.
4. The mechanical structure of the micro-robot for researching mechanical characteristics of human skin as claimed in claim 3, wherein there are three brakes, the brakes are disposed on the base a in an equilateral triangle, and the brake is BEI-Kimcola15 voice coil type brake.
5. The mechanical structure of the micro-robot for studying mechanical properties of human skin as claimed in claim 1, wherein the base b is a cylinder, the magnet is also a cylinder, three U-shaped chutes are disposed around the magnet in an equilateral triangle, and the chutes are disposed with displacement sensors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810035150.4A CN108354588B (en) | 2018-01-15 | 2018-01-15 | Mechanical structure of micro robot for exploring mechanical characteristics of human skin |
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| CN201810035150.4A CN108354588B (en) | 2018-01-15 | 2018-01-15 | Mechanical structure of micro robot for exploring mechanical characteristics of human skin |
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| CN108354588B true CN108354588B (en) | 2020-12-15 |
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