CN206601876U - A kind of musculature based on magnetic flow liquid reproduces interface arrangement - Google Patents
A kind of musculature based on magnetic flow liquid reproduces interface arrangement Download PDFInfo
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- CN206601876U CN206601876U CN201720275262.8U CN201720275262U CN206601876U CN 206601876 U CN206601876 U CN 206601876U CN 201720275262 U CN201720275262 U CN 201720275262U CN 206601876 U CN206601876 U CN 206601876U
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Abstract
Interface arrangement is reproduced the utility model discloses a kind of musculature based on magnetic flow liquid, the interface arrangement includes the first joint, second joint, five meat fibers are provided between first joint and second joint, meat fiber two ends pass through the first joint tendon respectively, second joint tendon and the first joint, second joint is fixedly connected and in the first joint tendon, opposite polarity electrode is drawn respectively in second joint tendon side, first joint, second joint and meat fiber are coated with sealing crust, magnetic flow liquid is filled with the confined space that sealing crust is surrounded, magnetic flow liquid forms chain structure under magnetic fields along magnetic line of force direction；The utility model purpose is to solve the drawbacks of existing power haptic interaction device is present, and then provides and a kind of have high fidelity, can realize the Man Machine Interface device of human muscular tissue's compliance and elastic characteristic.
Description
Technical field
The utility model belongs to virtual operation technical field, and in particular to a kind of musculature based on magnetic flow liquid reproduces
Interface arrangement.
Background technology
With the development of the society, medical science also increasingly shares the development result of modern science and technology, such as tele-robotic is performed the operation, far
Journey diagnosis and treatment, virtual operation training, the training of virtual palpation etc..The development of these technologies all be unable to do without the progress of a key technology,
That is human-computer interaction technology, and the key of human-computer interaction technology is haptic feedback, current power haptic technology has obtained considerable
Development, but Hi-Fi haptic feedback still can not preferably meet the requirement of tele-medicine, particularly body tissue
Haptic feedback technology stills need further research and development.
At present, the research to body tissue power haptic technology is less, mainly there is following several：Based on spring beam softness haptic perception
Reproduction, the interactive device of electromagnetic drive and haptic device based on Pneumatic artificial muscle etc..Also have and touched using the power having been commercialized
Feel that CyberForce, Force Dimension of Phantom, Immersion company of interactive device such as Sensable companies are public
Delta, Omega hand controller of department etc., these power haptic interaction devices are substantially Mechanical Contact, in the soft of simulation injected organism tissue
Easily distortion is produced during pliable and Viscous Characteristics.
Magnetic flow liquid is as a kind of Intelligent liquid material, under additional magnetic fields, and its rheological properties will occur violent
Change, yield stress constantly increases also with the increase of magnetic field intensity, and liquid can be equally rapidly restored to when withdrawing magnetic field
State.This characteristic of magnetic flow liquid can preferably simulate the compliance feature of injected organism tissue, can be applied to injected organism tissue soft
The development of compliance forces touch interface devices, but because it is dissipativeness, it is impossible to simulate the elastic characteristic of injected organism tissue.
In a word, the injected organism tissue for being used to realize man-machine interaction that presently, there are is reproduced in interface arrangement, either commercially
The dynamic sensing interexchanging apparatus of change, is also based on the power haptic interaction device of these equipment developments, or other power tactiles newly developed
Interactive device, most of by motor-driven active force haptic interaction device, active power haptic interaction device is used to realize people
The injected organism tissue of machine interaction is reproduced with very big flexibility, but there is problems with：（1）Stability is relatively poor, this master
If being caused by motor or the intrinsic characteristic of other active drive devices itself；（2）Fidelity is relatively poor, in simulation human body flesh
During body soft tissue because human body injected organism tissue particularly viscera tissue is not the elastomer in complete meaning, be pressurized, cutting or
It is nonlinear elastic deformation during acupuncture, there is certain viscosity feature, therefore these are organized using active interactive device
Easily there is larger distortion in simulation；（3）Volume is larger, and research shows, produces the power of formed objects, the volume of active drive device
It is more much bigger than passive matrix device, thereby result in the inertia of drive mechanism, frictional force and all than larger, also easily cause larger mistake
Very；（4）Energy consumption is larger, and a motor-driven small-business force feedback control stick applies continuous power to operator and consumes work(
Rate reaches 10 ~ 30 watts, and the energy of a desk-top force feedback equipment consumption will be more, it is therefore desirable to be equipped with external power source adaptation
Device, makes the portability of equipment have a greatly reduced quality, the problem of this is also one very big during active force sense interactive device is designed.（5）Passively
Formula power interactive device is applied to that in virtual operation training preferable stability, security and relatively low energy consumption, but nothing can be kept
Method simulates injected organism tissue elastic characteristic.
The content of the invention
The utility model provides a kind of musculature based on magnetic flow liquid and reproduces interface arrangement, it is therefore intended that solve existing
The drawbacks of power haptic interaction device is present, and then provide and a kind of there is high fidelity, human muscular tissue's compliance can be realized
With the Man Machine Interface device of elastic characteristic.
The utility model is achieved through the following technical solutions：
A kind of musculature based on magnetic flow liquid reproduces interface arrangement, it is characterised in that：The interface arrangement includes the
One joint（7）, second joint（8）, the first joint（7）With second joint（8）Between be provided with five meat fibers（2）, muscle
Fiber（2）Two ends pass through the first joint tendon respectively（4）, second joint tendon（3）With the first joint（7）, second joint（8）Gu
It is fixed to connect and in the first joint tendon（4）, second joint tendon（3）Opposite polarity electrode is drawn respectively in side（6、5）, first
Joint（7）, second joint（8）And meat fiber（2）It is coated with sealing crust（1）, seal crust（1）What is surrounded is closed
Magnetic flow liquid is filled with space（9）, magnetic flow liquid（9）Under magnetic fields chain structure is formed along magnetic line of force direction.
The further Technological improvement plan of the utility model is：
The meat fiber（2）Quantity matches with joint tendon quantity.
The further Technological improvement plan of the utility model is：
The meat fiber（2）It is made up of metallic elastic coil.
The further Technological improvement plan of the utility model is：
The sealing crust（1）It is made up of silica gel material.
The further Technological improvement plan of the utility model is：
First joint（7）, second joint（8）There is insulating materials to be made.
The further Technological improvement plan of the utility model is：
The meat fiber（2）Two ends respectively with electrode（5、6）Electrical connection.
The utility model compared with prior art, with following obvious advantage：
First, the utility model uses emerging magnetic converting technique, and magnetic flow liquid produces magnetic rheology effect under magnetic fields,
The apparent viscosity of sign magnetic current and liquid flow variation characteristic is changed, can moment from Newtonian liquid state change be class solid
State, and the process is reversible, therefore magnetic flow liquid has unique advantage in terms of simulated muscle tissue phantom compliance.
2nd, the utility model utilization can produce the elastic characteristic of the resilient coil simulated muscle tissue phantom in magnetic field, and it is produced
Magnetic field control magnetic flow liquid viscosity feature, the simulation of musculature compliance and viscosity can be realized, so that effectively
Improve the fidelity that body tissue reproduces.
3rd, the whole interface arrangement of the utility model is dissipativeness, effectively improves its stability.
4th, the utility model is simple in construction, and whole device is simple in construction, tight without the drive device such as motor, electromagnetism, pneumatic
Gather, machining accuracy requires also not high.
5th, the utility model whole device utilizes Current direct control power output, can without conversion and transmission mechanism
Consumption is extremely low.
6th, the utility model control is simple, and current signal has clear and definite functional relation with magnetic flow liquid output force signal,
Therefore it is very easy to control.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the utility model meat fiber structural representation.
Embodiment
As shown in figure 1, the utility model includes the first joint 7 that an insulating materials is made, an insulating materials is made
Second joint 8, five are made meat fiber 2, five the first joint tendons 4, five second joint fleshes by metallic elastic coil
Tendon 3, five positive electrodes 6, five negative electrodes 5, silica gel crust 1, appropriate magnetic flow liquid 9.The first joint 7 and second joint 8 it
Between be provided with five meat fibers 2, the quantity of meat fiber 2 can suitably increase and decrease meat fiber quantity as needed, meat fiber 2
One end is fixed on the first joint 7 by the first joint tendon 4, and the other end of muscle fibre 2 is fixed on by second joint tendon 3
On second joint 8, drawn at the first joint tendon 4 and negative electrode 5, silica gel material are drawn at positive electrode 6, second joint tendon 3
The sealing crust 1 being made is covered in meat fiber, joint tissue outer layer, and magnetic is full of in the confined space that sealing crust 1 is surrounded
Rheology liquid 9.
The utility model is used to realize that the musculature reproduction interface arrangement operation principle of man-machine interaction to be as follows：Musculature
Reproduce interface arrangement as shown in Figure 1 and Figure 2.Tele-robotic operation, remote diagnosis, virtual operation training, the training of virtual palpation etc.
All interacted by people with virtual environment, when the muscle in virtual environment is in relaxation state, musculature reproduces interface
Meat fiber 2, which is made, by metallic elastic coil in device can simulate the elasticity of true musculature, and it is close that silica gel material is made
Seal and magnetic flow liquid 9 is full of in crust 1, can be with the compliance characteristic of simulated muscle tissue phantom；When the musculature in virtual environment is received
When contracting is hardened, the galvanization between positive and negative electrode, the electric current is meat fiber 2 by resilient coil, parallel to resilient coil
Direction produce magnetic field, magnetic flow liquid 9 is forming chain structure along magnetic line of force direction under magnetic fields, the top of meat fiber 2
The hardness of magnetic flow liquid 9 becomes big, and electric current is bigger, and magnetic field is stronger, and chain structure is stronger, and hardness is bigger, when operator touches with regard to energy
Enough feel the contraction of muscle；When the musculature part in virtual environment occurs lesion and is hardened, occurs the flesh of lesion
Meat fiber 2 passes to electric current, and the obstructed electric current of other meat fibers, the magnetic flow liquid 9 in the top of the meat fiber 2 is hardened, operation
Person is the change for the muscle hardness that can experience specific part.
Technological means disclosed in the utility model scheme is not limited only to the technological means disclosed in above-mentioned embodiment, also
Including being combined constituted technical scheme by above technical characteristic.It should be pointed out that for the ordinary skill of the art
For personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and moistened
Decorations are also considered as protection domain of the present utility model.
Claims (6)
1. a kind of musculature based on magnetic flow liquid reproduces interface arrangement, it is characterised in that：The interface arrangement includes first
Joint（7）, second joint（8）, the first joint（7）With second joint（8）Between be provided with five meat fibers（2）, muscle fibre
Dimension（2）Two ends pass through the first joint tendon respectively（4）, second joint tendon（3）With the first joint（7）, second joint（8）It is fixed
Connect and in the first joint tendon（4）, second joint tendon（3）Opposite polarity electrode is drawn respectively in side（6、5）, first closes
Section（7）, second joint（8）And meat fiber（2）It is coated with sealing crust（1）, seal crust（1）The confined air surrounded
It is interior to be filled with magnetic flow liquid（9）, magnetic flow liquid（9）Under magnetic fields chain structure is formed along magnetic line of force direction.
2. a kind of musculature based on magnetic flow liquid according to claim 1 reproduces interface arrangement, it is characterised in that：Institute
State meat fiber（2）Quantity matches with joint tendon quantity.
3. a kind of musculature based on magnetic flow liquid according to claim 1 or 2 reproduces interface arrangement, its feature exists
In：The meat fiber（2）It is made up of metallic elastic coil.
4. a kind of musculature based on magnetic flow liquid according to claim 1 or 2 reproduces interface arrangement, its feature exists
In：The sealing crust（1）It is made up of silica gel material.
5. a kind of musculature based on magnetic flow liquid according to claim 1 or 2 reproduces interface arrangement, its feature exists
In：First joint（7）, second joint（8）There is insulating materials to be made.
6. a kind of musculature based on magnetic flow liquid according to claim 1 or 2 reproduces interface arrangement, its feature exists
In：The meat fiber（2）Two ends respectively with electrode（5、6）Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720275262.8U CN206601876U (en) | 2017-03-21 | 2017-03-21 | A kind of musculature based on magnetic flow liquid reproduces interface arrangement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720275262.8U CN206601876U (en) | 2017-03-21 | 2017-03-21 | A kind of musculature based on magnetic flow liquid reproduces interface arrangement |
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| CN206601876U true CN206601876U (en) | 2017-10-31 |
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| CN201720275262.8U Withdrawn - After Issue CN206601876U (en) | 2017-03-21 | 2017-03-21 | A kind of musculature based on magnetic flow liquid reproduces interface arrangement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106920450A (en) * | 2017-03-21 | 2017-07-04 | 淮阴师范学院 | Musculature for realizing man-machine interaction reproduces interface arrangement |
-
2017
- 2017-03-21 CN CN201720275262.8U patent/CN206601876U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106920450A (en) * | 2017-03-21 | 2017-07-04 | 淮阴师范学院 | Musculature for realizing man-machine interaction reproduces interface arrangement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171031 Effective date of abandoning: 20200519 |