CN111496857B - Vibration cutting device for high-speed tissue cutting, design method and imaging system - Google Patents
Vibration cutting device for high-speed tissue cutting, design method and imaging system Download PDFInfo
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- CN111496857B CN111496857B CN202010344613.2A CN202010344613A CN111496857B CN 111496857 B CN111496857 B CN 111496857B CN 202010344613 A CN202010344613 A CN 202010344613A CN 111496857 B CN111496857 B CN 111496857B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/04—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member
- B26D1/06—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member wherein the cutting member reciprocates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/08—Means for treating work or cutting member to facilitate cutting
- B26D7/086—Means for treating work or cutting member to facilitate cutting by vibrating, e.g. ultrasonically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
- B26D7/2628—Means for adjusting the position of the cutting member
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Abstract
The invention discloses a vibration cutting device for high-speed tissue cutting, a design method and an imaging system, and belongs to the field of biological tissue cutting. The design method of the vibration cutting device for cutting the high-speed tissue comprises the following steps: determining the required cutting speed according to the sample parameters and the required cutting time; acquiring a corresponding relation between the cutting speed and the cutting frequency; determining a natural frequency of the spring-mass system from the cutting speed and the cutting frequency; according to the natural frequency of the spring mass system, the size of a flexible mechanism in the vibration cutting device is determined, so that the spring mass system of the vibration cutting device has proper natural frequency, the vibration cutting device is suitable for higher vibration frequency, the required cutting speed can be achieved, the cutting time of the whole organ is reduced, and the acquisition efficiency of an imaging system is improved.
Description
Technical Field
The invention relates to the field of biological tissue cutting, in particular to a vibration cutting device for high-speed tissue cutting, a design method and an imaging system.
Background
The full-organ three-dimensional high-resolution imaging system combining tissue cutting and optical imaging can acquire complete organ data with subcellular resolution/diffraction limit resolution, is used for completely describing fine structure and spatial information of organs, and helps people to know the working mechanism of the organ. The existing whole-organ three-dimensional high-resolution imaging system generally comprises an optical imaging device and a cutting device, wherein the optical imaging device is used for imaging the surface of a sample, and the cutting device is used for cutting tissues to expose a new surface to be imaged.
In order to better maintain the original form of the biological sample, agarose or hydrogel is commonly used for embedding, and correspondingly, the cutting device adopts a vibration cutting principle. However, since a typical commercial vibration cutting apparatus is about 80Hz, the sample feeding speed of the commercial vibration cutting apparatus is limited to substantially 20mm/min or less when tissue slicing is performed and complete tissue lifting is required. Taking the existing full-organ high-resolution imaging technology integrating optical imaging and vibration cutting as an example, the optimal feeding speed of an 80Hz vibration cutting device is 20mm/min under the premise of ensuring better cutting section quality by using the slice thickness of 8 microns, and if the optimal feeding speed exceeds the optimal feeding speed, the surface roughness of the cutting section is increased rapidly, so that the imaging quality is reduced, and even imaging cannot be performed; and reduce sample feed speed, though can improve cutting quality, but the cutting time of the complete organ of the very big extension to prolong whole collection time, reduce collection efficiency. Taking a mouse brain as an example, when cutting is carried out at a feeding speed of 20mm/min and a cutting thickness of 8 μm, the cutting time can reach 27.5h, and accounts for about 38% of the whole acquisition time. Therefore, the cutting speed directly affects the acquisition efficiency.
Disclosure of Invention
The embodiment of the invention provides a vibration cutting device for high-speed tissue cutting, a design method and an imaging system, which can improve the cutting frequency and the cutting speed as required, thereby reducing the cutting time of a complete organ and improving the acquisition efficiency of the imaging system.
According to a first aspect of the embodiments of the present disclosure, there is provided a method for designing a vibrating cutting device for high-speed tissue cutting, the vibrating cutting device includes a driving portion, a cutting portion and a guiding portion connected to each other, the guiding portion has a flexible mechanism, the guiding portion and the cutting portion constitute a spring-mass system, and the cutting portion is configured to perform a reciprocating linear motion under the driving of the driving portion and the guiding of the guiding portion. The method comprises the following steps:
determining the required cutting speed according to the sample parameters and the required cutting time;
acquiring a corresponding relation between the cutting speed and the cutting frequency;
determining a natural frequency of the spring mass system based on the cutting speed and cutting frequency;
the flexible mechanism in the vibratory cutting apparatus is dimensioned according to the natural frequency of the spring-mass system.
Further, the flexible mechanism is a flexible mechanism comprising a flexible plate spring, the driving part comprises a fixed part and a driving part, and the driving part is used for providing power for the cutting part to perform reciprocating linear motion;
sizing a compliant mechanism in a vibratory cutting apparatus based on a natural frequency of the spring mass system, comprising:
determining a first mass, the first mass being a mass of a first portion, the first portion including the cutting portion and the driver;
determining the rigidity of a vibration direction according to the natural frequency and the first mass, wherein the vibration direction is the reciprocating linear motion direction of the cutting part;
determining a width of the flexible leaf spring and a length of the flexible leaf spring;
determining the thickness of the flexible plate spring according to the rigidity of the vibration direction, the width of the flexible plate spring and the length of the flexible plate spring.
Further, the stiffness in the vibration direction is determined by the following formula:
K＝4π2mf2
in the formula: k is the stiffness in the vibration direction; m is the first mass; f is the natural frequency of the spring-mass system.
Further, the cutting portion includes a vibrating mass and a blade connected with a first side of the vibrating mass; the driving part comprises a fixing part and a driving part, the driving part is connected with the second side surface of the vibrating mass block, the guiding part comprises a guiding block, one end of the guiding block is connected with the third side surface of the vibrating mass block, the third side surface and the first side surface are symmetrical relative to the symmetry plane of the second side surface, the other end of the guiding block is connected with the fixing part,
the thickness of the flexible leaf spring is determined using the following formula:
in the formula: k is the stiffness in the vibration direction; b is the width of the flexible leaf spring; l is the length of the flexible leaf spring; e is the modulus of elasticity of the material used for the flexible leaf spring.
According to a second aspect of the embodiments of the present disclosure, there is provided a vibration cutting apparatus including a cutting portion, a driving portion, and a guide block:
the cutting portion comprises a vibrating mass and a blade connected with a first side of the vibrating mass;
the driving part comprises a fixed part and a driving part, the driving part is connected with the second side surface of the vibration mass block, the driving part is used for providing power for the cutting part to perform reciprocating linear motion, and the motion direction of the reciprocating linear motion is parallel to the extension direction of the blade;
one end of the guide block is connected with a third side face of the vibrating mass block, the third side face and the first side face are symmetrical about a symmetrical plane of the second side face, the other end of the guide block is connected with the fixing piece, the guide block is provided with a double-parallelogram flexible mechanism, the double-parallelogram flexible mechanism and the cutting portion form a spring mass system together, the driving frequency of the driving portion is the same as the natural frequency of the spring mass system, and the driving frequency is the vibration frequency of the driving portion for driving the cutting portion to perform reciprocating linear motion;
the double-parallelogram flexible mechanism comprises four flexible plate springs, a first connecting block and a second connecting block, four flexible plate springs are symmetrically arranged in parallel, every is one end of each flexible plate spring connected with the first connecting block, every two flexible plate springs are symmetrical, the other ends of the flexible plate springs are connected with the vibration mass block, every two other symmetrical flexible plate springs are connected with the second connecting block, gaps are formed between the first connecting block and the second connecting block, the first end of the second connecting block is connected with the fixing piece of the driving portion, and the first end of the second connecting block is far away from one end of each flexible plate spring.
Further, the cutting part further comprises a blade adjusting frame and a fine adjustment nut, the blade is connected with the vibration mass block through the blade adjusting frame, the blade adjusting frame is provided with an opening, the fine adjustment nut is connected with two ends of the opening, and the fine adjustment nut is used for adjusting the width of the opening.
According to a third aspect of embodiments of the present disclosure, there is provided an imaging system comprising an optical imaging device and the aforementioned vibro-cutting device.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the design method of the vibration cutting device for cutting the high-speed tissue comprises the following steps: determining the required cutting speed according to the sample parameters and the required cutting time; acquiring a corresponding relation between the cutting speed and the cutting frequency; determining a natural frequency of the spring mass system based on the cutting speed and cutting frequency; according to the natural frequency of the spring mass system, the size of a flexible mechanism in the vibration cutting device is determined, so that the spring mass system of the vibration cutting device has proper natural frequency, the vibration cutting device is suitable for higher vibration frequency, the required cutting speed can be achieved, the cutting time of the whole organ is reduced, and the acquisition efficiency of an imaging system is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view showing a structure of a vibration cutting apparatus in the related art;
FIG. 2 is a flow chart of a method for designing a vibration cutting apparatus according to an embodiment of the present invention;
FIG. 3 is a flow chart for determining the thickness of a flexible leaf spring provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vibration cutting apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic view of a single compliant leaf spring construction;
FIG. 6 is a schematic diagram of a dual parallelogram flexure mechanism.
Fig. 7 is a partial view of a flexible mechanism of the vibration cutting apparatus shown in fig. 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
For convenience of description of the embodiments, the following structure of the vibration cutting apparatus will be briefly described. Fig. 1 is a schematic structural view of a vibration cutting apparatus in the related art. As shown in fig. 1, the vibration cutting apparatus includes a cutting part 100, a driving part 200, and a guide part 300.
The vibration cutting device comprises a driving part 200, a cutting part 100 and a guiding part 300 which are connected with each other, wherein the guiding part 300 is provided with a flexible mechanism, the guiding part 300 and the cutting part 100 form a spring mass system, and the cutting part 100 is used for performing reciprocating linear motion under the driving of the driving part 200 and the guiding of the guiding part 300 to realize the cutting of tissues.
In the related art, since the natural frequency of the spring mass system and the vibration frequency of the vibration cutting device are fixed (only around 85 Hz), the cutting speed is limited within a certain range (not more than 20 mm/min). Beyond this range, the cutting quality deteriorates rapidly and fails to meet the experimental requirements. Therefore, the related art vibration cutting apparatus can only use low-speed cutting.
The applicant has found that when the vibration frequency of the vibrating cutting device is increased, the number of times the tissue is cut per unit time can be increased, i.e. the cutting capacity of the device can be increased. Therefore, the applicant proposed: "increasing the cutting frequency can increase the cutting speed, while the cutting quality is always kept within an acceptable range". Therefore, the invention provides a design method of a vibration cutting device for high-speed tissue cutting. As shown in fig. 2, the method includes:
step 101: and determining the required cutting speed according to the sample parameters and the cutting time.
The sample parameters may include the height of the sample, the cut length of the sample, the cut thickness, etc. For example, the height of the sample is 12mm, and since the cutting thickness is 8 μm, 1500 layers are required to be cut in total. The cutting length of the sample was 22mm, and the cutting was completed in 18 hours, and it was found that the required cutting speed was about 22/(18 × 60/1500) ═ 30.556 mm/min.
Step 102: and acquiring the corresponding relation between the cutting speed and the cutting frequency.
Applicants have found that when the vibration cutting frequency is increased from 80Hz to 160Hz, the cutting speed can be doubled, from 20mm/min to 40mm/min, while the cutting quality is always kept within an acceptable range. That is, when the vibration cutting frequency is in the range of 80Hz to 160Hz, the vibration cutting frequency and the cutting speed have a linear relationship.
Step 103: determining a natural frequency of the spring mass system based on the cutting speed and cutting frequency.
For example, from the desired cutting speed of 30mm/min, the natural frequency of the spring-mass system of 120Hz can be determined from the aforementioned correspondence.
Step 104: the flexible mechanism in the vibratory cutting apparatus is dimensioned according to the natural frequency of the spring-mass system.
The dimensions of the flexure mechanism may be those that affect the frequency of vibration of the flexure mechanism, such as the length, width, and thickness of the flexible leaf springs in the flexure mechanism.
The design method of the vibration cutting device for cutting the high-speed tissue comprises the following steps: determining the required cutting speed according to the sample parameters and the required cutting time; acquiring a corresponding relation between the cutting speed and the cutting frequency; determining a natural frequency of the spring-mass system from the cutting speed and the cutting frequency; according to the natural frequency of the spring mass system, the size of a flexible mechanism in the vibration cutting device is determined, so that the vibration cutting device has the proper natural frequency of the spring mass system, the vibration cutting device is suitable for higher vibration frequency, the required cutting speed can be achieved, the cutting time of the whole organ is reduced, and the acquisition efficiency of an imaging system is improved.
As shown in fig. 1, the flexible mechanism of the cutting apparatus may be a flexible mechanism including a flexible plate spring 311, and the driving part 200 includes a fixed member 210 and a driving member 220, and the driving member 220 is used to provide power for the cutting part 100 to perform a reciprocating linear motion.
With the vibrating cutting apparatus described above, as shown in fig. 3, the flexible mechanism in the vibrating cutting apparatus is sized according to the natural frequency of the spring-mass system. The specific determination step comprises:
step 1041: a first quality is determined.
The first mass is the mass of the first part, which is the mass of the vibrating part of the vibrating cutting device, including the cutting portion 100 and the drive member 220.
Step 1042: and determining the rigidity of the vibration direction according to the vibration frequency and the first mass, wherein the vibration direction is the reciprocating linear motion direction of the cutting part.
Further, the stiffness in the vibration direction can be determined by using the following formula:
K＝4π2mf2 (1)
in the formula: k is the stiffness in the vibration direction; m is a first mass; f is the natural frequency of the spring-mass system.
Step 1043: determining the width b and the length l of the flexible plate spring;
referring to fig. 1, the width of the flexible plate spring 311 in the Z direction is b, the width of the flexible plate spring 311 in the Y direction is l, and the width of the flexible plate spring 311 in the X direction is t.
Specifically, the width b of the flexible plate spring and the length l of the flexible plate spring are set to constant values, respectively, according to space restrictions. When the design is allowed in space, b is set as large as possible to increase the rigidity of the Z direction and reduce Z-direction parasitic motion caused by reciprocating linear motion.
Step 1044: the thickness of the flexible leaf spring is determined according to the rigidity in the vibration direction, the width of the flexible leaf spring, and the length of the flexible leaf spring.
The width of the flexible plate spring and the length of the flexible plate spring are determined, the thickness of the flexible plate spring is determined, and the vibration cutting devices with different vibration frequencies can be obtained, so that the spring mass system of the vibration cutting devices has proper natural frequency, the vibration cutting devices are suitable for higher vibration frequency, the required cutting speed can be achieved, the cutting time of the whole organ is reduced, and the acquisition efficiency of an imaging system is improved.
For the vibration cutting device described in fig. 1, a method for determining the size of the flexible mechanism in the vibration cutting device according to the natural frequency of the spring mass system specifically includes:
for example, a vibration cutting device with a vibration frequency of 120Hz is provided, the first part mass being 0.5Kg, K4 m pi2f2It can be seen that K is 2.84 × 105N/m，
The elastic modulus of the material used for the flexible leaf spring is 7.2 × 1010Pa, design l 30mm, b 46mm, then:
for example, a vibration cutting device with a vibration frequency of 160Hz is provided, the first part mass is 0.5Kg, and K is 4m pi2f2It is found that K is 5.05 × 105N/m，
The elastic modulus of the material used for the flexible leaf spring is E ═ 7.2 × 1010Pa, design l 30mm, b 46mm, then:
as the vibration frequency increases, the parasitic motion error caused by the reciprocating linear motion of the cutting part also increases, resulting in the reduction of the cutting quality. As shown in fig. 4, the present invention further provides a vibration cutting device for high-speed tissue cutting, which can keep the motion error of the vibration cutting device within a small range in a high-frequency state, so that the vibration cutting device can improve the vibration cutting frequency on the basis of ensuring the cutting quality. The cutting portion 100 of the vibration cutting apparatus includes a vibration mass 110 and a blade 120, the blade 120 being connected to a first side of the vibration mass.
The driving part 200 includes a fixing member 210 and a driving member 220, the driving member 220 is connected to the second side of the vibrating mass, and the driving member 220 is used for providing a power for the cutting part 100 to perform a reciprocating linear motion, the vibration direction of the reciprocating linear motion being parallel to the extension direction of the blade 120.
One end of the guide block 310 is connected to the third side of the vibrating mass 110, the third side and the first side are symmetrical with respect to the symmetry plane of the second side, the guide block 310 has a double-parallelogram flexible mechanism, the double-parallelogram flexible mechanism and the cutting portion together form a spring mass system, the driving frequency of the driving portion 200 is the same as the natural frequency of the spring mass system, and the driving frequency is the vibration frequency at which the driving member 220 drives the cutting portion 100 to perform reciprocating linear motion.
In implementation, as shown in fig. 4, the vibrating mass 110 may be a rectangular parallelepiped structure, and the vibrating mass 110 has two opposite upper and lower end surfaces and four side surfaces connecting the upper and lower end surfaces. The first side, the second side, and the third side may be three sides connected to each other.
The driving member 220 of the driving part 200 acts on the vibration mass 110 to provide power for the cutting part 100 to perform reciprocating linear motion in the X direction. Since the vibrating mass 110 and the blade 120 as a whole perform the reciprocating linear motion by the driving part 200, it is possible to ensure that the motion of the blade 120 is the reciprocating linear motion.
The guide block 310 has a double-parallelogram flexible mechanism, the cutting part and the double-parallelogram flexible mechanism jointly form a spring-mass system, so that simple harmonic vibration of a blade with a single degree of freedom is realized, the driving frequency of the driving part 200 is the same as the natural frequency of the spring-mass system, the vibration cutting device can work in a resonance mode, the amplitude of the blade is increased, and the cutting effect is improved.
The double-parallelogram flexible mechanism comprises four flexible plate springs 311, a first connecting block 312 and a second connecting block 313, wherein the four flexible plate springs 311 are symmetrically arranged in parallel, one end of each flexible plate spring 311 is connected with the first connecting block 312, the other ends of two symmetrical flexible plate springs 311 are connected with the vibrating mass 110, the other ends of the other two symmetrical flexible plate springs 311 are connected with the second connecting block 313, a gap is reserved between the first connecting block 312 and the second connecting block 313, a first end 313a of the second connecting block 313 is connected with the fixing piece 210 of the driving part 200, and a first end 313a is one end of the second connecting block 313 far away from the flexible plate springs 311.
Fig. 5 is a schematic structural diagram of a single flexible plate spring 311, and as shown in fig. 5, one end of the single flexible plate spring 311 is fixed, and the other end of the single flexible plate spring 311 generates deformation displacements δ and ∈ and a deformation angle θ under the action of an external force. Fig. 6 is a schematic diagram of a double-parallelogram flexure mechanism, as shown in fig. 6, the double-parallelogram flexure mechanism includes four flexible plate springs 311, a first connecting block 312 and a second connecting block 313, one end of each flexible plate spring 311 is connected to the first connecting block 312, the other ends of two symmetrical flexible plate springs 311 are connected to the vibrating mass 110, and the other ends of the other two symmetrical flexible plate springs 311 are connected to the second connecting block 313. The outer pair of compliant leaf springs 311, the first connecting block 312 and the second connecting block 313 are one parallelogram, and the inner pair of compliant leaf springs 311, the first connecting block 312 and the seismic mass 110 are the other parallelogram, which form a double-parallelogram compliant mechanism.
When a force is applied to the vibrating mass 110, displacements δ and ∈ and a deflection angle θ are generated, but due to the existence of the first connecting block 312 and the outer pair of flexible plate springs, a displacement error ∈ in a non-force-applying direction of the vibrating mass 110 during a force-applying process can be compensated, and thus, the vibrating mass 110 linearly moves along the force-applying direction. Therefore, the double parallelogram flexure mechanism can eliminate the deviation of the non-vibration direction and provide a guide for the vibration of the cutting part 100 to reduce the parasitic motion error caused by the reciprocating linear motion, thereby realizing the high-precision reciprocating linear motion of the blade 120 so that the motion error of the vibration cutting device is kept within a small range. And further, the vibration cutting frequency of the vibration cutting device can be improved on the basis of ensuring the cutting quality.
Referring to fig. 4, preferably, the fixing member 210, the driving member 220, and the vibrating mass 110 are linearly arranged in sequence. The guide block 310 is in a column shape, one end of the guide block 310 having a double parallelogram flexible mechanism is connected with the vibrating mass 110 through a flexible plate spring 311, and the other end of the guide block 310, i.e., the first end 313a of the second connecting block 313, is fixedly connected with the fixing member 210, so that the vibration cutting device has a compact structure and saves space.
Further, the cutting part 100 further includes a blade adjusting bracket 131 and a fine adjustment nut 132, the blade 120 is connected to the vibrating mass 110 through the blade adjusting bracket 131, the blade adjusting bracket 131 has an opening 133, the fine adjustment nut 132 is connected to both ends of the opening 133, and the fine adjustment nut 132 is used for adjusting the width of the opening 133.
Preferably, the blade adjustment bracket 131 has a rectangular plate-shaped structure, and the middle portion of the blade adjustment bracket 131 has a square hole, so that the blade adjustment bracket 131 is composed of 4 side edges connected end to end. Optionally, each side is equal in width, each being 6 mm. The blade is installed on the first side of blade alignment jig 131, has an opening 133 on the second side of blade alignment jig, and the second side is perpendicular with first side, and opening 133 UNICOM blade alignment jig 131 the square hole in middle part and outside. The two ends of the opening 133 are respectively provided with a connecting part, and the fine adjustment nut 132 is connected with the two connecting parts and used for adjusting the width of the opening 133, so that the vertical deflection angle of the blade 120 is adjusted, the cutting edge of the blade 120 is ensured to be positioned on a horizontal line, and the influence on the cutting quality caused by the movement in other directions in the cutting process is avoided.
A notch 134 is provided on the opposite side of the opening 133. the notch 134 is used to reduce the stiffness of the blade adjustment bracket 131 to reduce the load on the trim nut 132 and also to avoid stress concentrations that could damage the blade adjustment bracket 131.
Further, the driving part 200 is a voice coil motor, and the driving force generated by the voice coil motor can be adjusted by changing the coil current. According to the technical scheme, when the input current changes in a sine mode, the generated driving force F conforms to the sine distribution, and the cutting part 100 and the double-parallelogram flexible mechanism jointly form a spring-mass system, so that the simple harmonic vibration of the blade with single degree of freedom is realized.
Preferably, the driving part 200 further includes a power amplifier, a signal generator, a power supply, and the like. The sinusoidal signal generated by the signal generator is input into the coil of the voice coil motor through the power amplifier, so that the voice coil motor generates the driving force F which conforms to the sinusoidal distribution.
Fig. 7 is a partial view of a flexible mechanism of the vibration cutting apparatus shown in fig. 4. As shown in fig. 7, the width of the flexible plate spring 311 in the Z direction is b, the width of the flexible plate spring 311 in the Y direction is l, and the width of the flexible plate spring 311 in the X direction is t.
The method shown in fig. 2 and 3 can also be used to determine the size of the compliant mechanism in the vibratory cutting apparatus described with respect to fig. 4. Specifically, the thickness of the flexible leaf spring may be determined using the following formula:
in the formula: k is the stiffness in the vibration direction; b is the width of the flexible plate spring; l is the length of the flexible plate spring; e is the modulus of elasticity of the material used for the flexible leaf spring.
For the vibration cutting device described in fig. 4, a method for determining the size of the flexible mechanism in the vibration cutting device according to the natural frequency of the spring mass system specifically includes:
for example, a vibration cutting device with a vibration frequency of 120Hz is provided, the first part mass being 0.5Kg, K4 m pi2f2It can be seen that K is 2.84 × 105N/m，
The elastic modulus of the material used for the flexible leaf spring is 7.2 × 1010Pa, design l 30mm, b 46mm, then:
for example, a vibration cutting device with a vibration frequency of 160Hz is provided, the first part mass is 0.5Kg, and K is 4m pi2f2It is found that K is 5.05 × 105N/m，
The elastic modulus of the material used for the flexible leaf spring is E ═ 7.2 × 1010Pa, design l 30mm, b 46mm, then:
optionally, after determining the thickness t of the compliant leaf spring, the stiffness K of the double parallelogram flexure mechanism and the natural frequency f of the spring-mass system may also be checked according to the width b of the compliant leaf spring, the length l of the compliant leaf spring, the elastic modulus E of the compliant leaf spring, and the first mass m.
Specifically, the stiffness K of the double-parallelogram flexible mechanism can be checked by adopting the following formula:
in the formula: k is the stiffness in the vibration direction; b is the width of the flexible plate spring; l is the length of the flexible plate spring; e is the modulus of elasticity of the material used for the flexible leaf spring.
The natural frequency f of the spring-mass system can be verified using the following formula:
in the formula: k is the stiffness in the vibration direction; m is a first mass; f is the natural frequency of the spring-mass system.
According to the design method of the vibration cutting device, the characteristic that the rigidity of the flexible plate spring is different in different directions is utilized, the rigidity in the vibration direction is set to be a specific value according to the requirement of vibration frequency and the mass of the cutting part, the rigidity in the non-vibration direction is as large as possible, parasitic motion errors caused by periodic reciprocating motion are reduced, and therefore the function of guiding the cutting part in the motion direction by the guiding part is achieved.
There is also provided in accordance with an embodiment of the present disclosure an imaging system including an optical imaging device and the aforementioned vibro-cutting device. The vibration cutting device is used for cutting tissues, and the optical imaging device is used for imaging the surface exposed after cutting. Due to the fact that the vibration cutting device can reduce parasitic motion errors caused by reciprocating linear motion, high-precision reciprocating linear motion of the blade is achieved, and vibration cutting frequency is improved on the basis that cutting quality is guaranteed. Due to the fact that the feeding speed can be increased along with the increase of the vibration cutting frequency, the vibration cutting frequency is increased, cutting time can be shortened, and the acquisition efficiency of an imaging system is improved.
The invention is not to be considered as limited to the particular embodiments shown and described, but is to be understood that various modifications, equivalents, improvements and the like can be made without departing from the spirit and scope of the invention.
Claims (6)
1. A design method of a vibration cutting device for cutting high-speed tissues is characterized in that the vibration cutting device comprises a driving part (200), a cutting part (100) and a guiding part (300) which are connected with each other, the guiding part (300) is provided with a flexible mechanism, the guiding part (300) and the cutting part (100) form a spring mass system, the cutting part (100) is used for performing reciprocating linear motion under the driving of the driving part (200) and the guiding of the guiding part (300), the flexible mechanism is a flexible mechanism comprising a flexible plate spring (311), the driving part (200) comprises a fixing part (210) and a driving part (220), and the driving part (220) is used for providing power for performing reciprocating linear motion for the cutting part (100);
the method comprises the following steps:
determining the required cutting speed according to the sample parameters and the required cutting time;
acquiring a corresponding relation between the cutting speed and the cutting frequency;
determining a natural frequency of the spring-mass system from the cutting speed and the cutting frequency;
determining the size of a flexible mechanism in the vibration cutting device according to the natural frequency of the spring mass system;
wherein the flexible mechanism in the vibratory cutting apparatus is sized according to the natural frequency of the spring-mass system, comprising:
determining a first mass, the first mass being a mass of a first portion, the first portion including the cutting portion and the driver;
determining the rigidity of a vibration direction according to the natural frequency and the first mass, wherein the vibration direction is the reciprocating linear motion direction of the cutting part;
determining a width of the flexible leaf spring and a length of the flexible leaf spring;
determining the thickness of the flexible plate spring according to the rigidity of the vibration direction, the width of the flexible plate spring and the length of the flexible plate spring.
2. The design method according to claim 1, wherein the stiffness in the vibration direction is determined using the following formula:
K＝4π2mf2
in the formula: k is the stiffness in the vibration direction; m is the first mass; f is the natural frequency of the spring-mass system.
3. The design method according to claim 1,
the cutting portion (100) comprises a vibrating mass (110) and a blade (120), the blade (120) being connected to a first side of the vibrating mass (110); the driving part (200) comprises a fixing part (210) and a driving part (220), the driving part (220) is connected with the second side surface of the vibrating mass (110), the guiding part (300) comprises a guiding block (310), one end of the guiding block (310) is connected with the third side surface of the vibrating mass (110), the third side surface and the first side surface are symmetrical about the symmetry plane of the second side surface, the other end of the guiding block (310) is connected with the fixing part (210),
the thickness of the flexible leaf spring is determined using the following formula:
in the formula: k is the stiffness in the vibration direction; b is the width of the flexible leaf spring; l is the length of the flexible leaf spring; e is the modulus of elasticity of the material used for the flexible leaf spring.
4. A vibratory cutting apparatus for high-speed tissue cutting, said vibratory cutting apparatus comprising:
a cutting portion (100), the cutting portion (100) comprising a vibrating mass (110) and a blade (120), the blade (120) being connected with a first side of the vibrating mass (110);
a driving part (200), wherein the driving part (200) comprises a fixing part (210) and a driving part (220), the driving part (220) is connected with the second side surface of the vibrating mass block (110), the driving part (220) is used for providing power for the cutting part (100) to perform reciprocating linear motion, and the vibration direction of the reciprocating linear motion is parallel to the extension direction of the blade (120); and the number of the first and second groups,
the guide block (310), one end of the guide block (310) is connected with a third side surface of the vibrating mass block (110), the third side surface and the first side surface are symmetrical about a symmetry plane of the second side surface, the other end of the guide block (310) is connected with the fixing piece (210), the guide block (310) is provided with a double-parallelogram flexible mechanism, the double-parallelogram flexible mechanism and the cutting part form a spring mass system together, the driving frequency of the driving part (200) is the same as the natural frequency of the spring mass system, and the driving frequency is the vibration frequency of the driving part (220) for driving the cutting part (100) to perform reciprocating linear motion;
the double-parallelogram flexible mechanism comprises four flexible plate springs (311), a first connecting block (312) and a second connecting block (313), the four flexible plate springs (311) are symmetrically arranged in parallel, one end of each flexible plate spring (311) is connected with the first connecting block (312), the other ends of two symmetrical flexible plate springs (311) are connected with the vibrating mass block (110), and the other ends of the other two symmetrical flexible plate springs (311) are connected with the second connecting block (313), a gap is formed between the first connection block (312) and the second connection block (313), a first end (313a) of the second connecting block (313) is connected with a fixing member (210) of the driving part (200), the first end (313a) is the end of the second connecting block (313) far away from the flexible plate spring (311).
5. The vibration cutting device according to claim 4, wherein the cutting portion (100) further comprises a blade adjusting bracket (131) and a fine adjustment nut (132), the blade (120) is connected with the vibrating mass (110) through the blade adjusting bracket (131), the blade adjusting bracket (131) has an opening (133), the fine adjustment nut (132) is connected with both ends of the opening (133), and the fine adjustment nut (132) is used for adjusting the width of the opening (133).
6. An imaging system comprising an optical imaging device and the vibro-cutting device of any of claims 4 or 5.
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