CN108354588A - A kind of mechanical structure for probing into human skin mechanical characteristic microrobot - Google Patents
A kind of mechanical structure for probing into human skin mechanical characteristic microrobot Download PDFInfo
- Publication number
- CN108354588A CN108354588A CN201810035150.4A CN201810035150A CN108354588A CN 108354588 A CN108354588 A CN 108354588A CN 201810035150 A CN201810035150 A CN 201810035150A CN 108354588 A CN108354588 A CN 108354588A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- probe
- brake
- inner ring
- probing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of mechanical structures for probing into human skin mechanical characteristic microrobot, including motion control portion, probe fixed platform part and probe steel frame construction part, motion control portion includes a pedestal a, multiple brakes are installed on pedestal a, the brake includes outer ring and inner ring, outer ring is fixed on pedestal a, and inner ring can be rotated and be moved up and down in outer ring；The peripheries pedestal a are uniformly installed with multiple ball cunning groups, the ball cunning group includes outer layer and internal layer, outer layer is fixed on pedestal a, internal layer bottom end is fixed on the inner ring of brake, and it is moved up and down with the inner ring of brake, it is provided with displacement sensing on ball cunning group internal layer, the present invention is moved up and down using brake driving probe fixed platform, so that probe generates continuous deformation on the skin, the data and finite element structural analysis method measured again by means of sensor can be used to accurately analyze the features such as the anisotropy of skin, viscoplasticity, non-linear.
Description
Technical field
The present invention relates to apply in the Micro-Robotic Technology field for probing into human skin mechanical characteristic, especially a kind of use
In the mechanical structure for probing into human skin mechanical characteristic microrobot.
Background technology
Skin histology biological nature testing research not only facilitates doctor and differentiates whether skin histology occurs lesion, Er Qieneng
It is enough effectively to optimize surgical operation scheme, improve the safety of operation.The measurement of early stage skin mechanics characteristic mostly uses live body life
Object Mechanical Method anaesthetizes human body under condition of living organism, and skin properties are directly measured with medical instrument.This method does not account for
Influence to the anisotropy and nerve of skin histology, body fluid, metabolism, physicochemical environment etc. to skin mechanics characteristic.
With continuously improving for Modern Mechanics feature measurement means, various Biomechanics test methods are widely used in skin
Mechanics study, most commonly impression mensuration, i.e., stretched or squeezed in skin tissue surface, according to displacement and load
Between dynamic response process, measuring data and numerical method a little using sensor, obtaining the mechanical characteristic of skin histology
Parameter.Displacement appropriate is generated in skin tissue surface, and skin is obtained using the dynamic relationship between displacement and load
Mechanics parameters, scientific research personnel largely probe into.Scientist Lanir is in article《A structure theory
for the homogeneous biaxial stress-strain relationships in flat collagenous
tissues》It is proposed dimensional tensile experiment has been done to skin of abdomen, i.e., in two mutually orthogonal directions to skin applied force into
And generate deformation, the device is inconvenient for use, and can only horizontal or vertical direction skin is measured.
Invention content
The object of the present invention is to provide a kind of mechanical structures for probing into human skin mechanical characteristic microrobot, should
Mechanical structure can carry probe and generate a certain amount of continuous and regular displacement and deformation in skin surface, then by means of sensor
The data and limited element analysis technique measured can accurately analyze the features such as the anisotropy of skin, viscoplasticity, non-linear.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of mechanical structure for probing into human skin mechanical characteristic microrobot, including motion control portion, probe are solid
Fixed platform part and probe steel frame construction part, wherein motion control portion includes a pedestal a, is installed on pedestal a multiple
Brake, the brake include outer ring and inner ring, and outer ring is fixed on pedestal a, and inner ring can be rotated in outer ring and be moved above and below
It is dynamic；The peripheries pedestal a are uniformly installed with multiple ball cunning groups, which includes outer layer and internal layer, and outer layer is fixed on pedestal a
On, internal layer bottom end is fixed on the inner ring of brake, and is moved up and down with the inner ring of brake, on ball cunning group internal layer
It is provided with displacement sensing, internal layer top is provided with positioning pin；
Probe fixed platform part includes pedestal b, and the bottom surface of pedestal b is provided with guide post, by the way that positioning pin is set in guide post,
Motion control portion and probe fixed platform part are linked together；The top surface of pedestal b is provided with for linking probe steelframe
The magnet of structure division is evenly arranged with displacement sensor around magnet；
Probe steel frame construction part includes a pedestal c being connect with magnet adsorption, and there are one supports for the top surface setting of pedestal c
The top surface of column, the support column top surface linking probe, probe is provided with biomethanics sensor, is evenly distributed on the outer circumference surface of support column
There are reinforcing rib, reinforcing rib to be connected with the displacement sensor on pedestal b.
Preferably, pedestal a is hexa-prism rigid structure, and there are six side planes for pedestal a tools, convenient for positioning and installation ball
Sliding group.
It is further preferred that there are three ball cunning groups altogether, there are six side planes for pedestal a tools, are set at interval of a side plane
Set a ball cunning group, and three ball cunning group settings in equilateral triangle.
It is further preferred that there are three brake, brake setting in equilateral triangle, brakes on pedestal a altogether
For U.S. BEI-KimcoLA15 voice coil type brakes.
Pedestal b of the present invention is cylindrical structure, and magnet is also cylindrical, setting in equilateral triangle around magnet
Three U-shaped sliding slots, sliding slot is interior to be arranged displacement sensor.
The principle of the present invention is：
The present invention is moved up and down using the identical three voice coil type brakes driving ball cunning group internal layer of model, three brakes
It can start simultaneously or optionally start, so that probe fixed platform part obtains different spatial positions and posture, in this way
Realize that probe fixed platform three-degree-of-freedom motion or two-freedom movement, probe fixed platform drive probe steel frame construction part again
And probe motion, probe can make skin generate three-dimensional deformation or two-dimensional deformation.Ball cunning group internal layer and probe fixed platform
On displacement sensor measure the displacement that brake drives probe to occur, the biomethanics sensor on probe measures skin surface
The deformational stress of generation and the size of strain.The data measured reuse limited element analysis technique, must accurately obtain human skin
Anisotropy, viscoplasticity, nonlinear feature.
The present invention is had the following technical effect that using above-mentioned technical proposal：
The present invention is moved up and down using brake driving probe fixed platform, so that probe generates continuous shape on the skin
Become, then the data and finite element structural analysis method measured by means of sensor, can be used to accurately analyze skin it is each to
The features such as the opposite sex, viscoplasticity, non-linear.
Description of the drawings
Fig. 1 is the structural schematic diagram of motion control portion.
Fig. 2 is the structural schematic diagram of probe fixed platform part.
Fig. 3 is the vertical view graph structure of Fig. 2.
Fig. 4 is the structural schematic diagram of probe steel frame construction part.
Fig. 5 is overall structure of the present invention.
Specific implementation method
Below in conjunction with the accompanying drawings, the present invention is further illustrated.
As shown in figure 5, a kind of mechanical structure for probing into human skin mechanical characteristic microrobot of the present invention
Including motion control portion, probe fixed platform part and probe steel frame construction part.
As shown in Figure 1, motion control portion includes a pedestal a1, multiple brakes 2 are installed on pedestal a, the braking
Device includes outer ring and inner ring, and outer ring is fixed on pedestal a, and inner ring can be rotated and be moved up and down in outer ring；The peripheries pedestal a
Multiple ball cunning groups 3 are uniformly installed with, which includes outer layer 4 and internal layer 5, and outer layer is fixed on pedestal a, internal layer bottom end
It is fixed on the inner ring of brake, and is moved up and down with the inner ring of brake, displacement biography is provided on ball cunning group internal layer
Sense；Internal layer top is provided with positioning pin 6.
Preferred pedestal is hexa-prism rigid structure in the present embodiment.
There are three ball cunning groups altogether in the present embodiment, and there are six side planes for hexagonal prisms pedestal tool, at interval of a side plane
One ball cunning group, and three ball cunning group settings in equilateral triangle are set.The ball cunning group is existing structure, this implementation
Preferably Japan IKO the linear guide BSP1035 SL in example.
There are three brakes altogether in the present embodiment, and brake setting in equilateral triangle on pedestal, brake is existing
Technology, preferred U.S. BEI-KimcoLA15 voice coil type brakes in the present embodiment, it can generate displacement more than 3mm and big
In the frequency of 100Hz, operation precision is high.The brake includes outer ring and inner ring, and outer ring is fixed on pedestal, and inner ring can turn
It is dynamic, and opposite in outer ring can move up and down.
Three displacement sensors are placed in the present embodiment on ball cunning group internal layer, are braked when movement for dynamically measuring
The upper and lower displacement of device inner ring analyzes the control to robot working apex with this, and the voltage exported by displacement sensor can
To extrapolate the displacement of brake inner ring.Select photodiode formula sensor, preferably Japan KODENSHI public in the present embodiment
The advantages such as the SG-2BC of department, it has high certainty of measurement, and price is low.On the brake by the installation of photodiode formula sensor,
The light that light emitting diode is sent out is injected on plasticity optical fiber, the free end of optical fiber is mounted on the motion parts of brake, in this way
Photodiode can be illuminated.Using plastotype optical fiber can effectively control direction of illumination, and in the inner ring of brake
On other equipment need not be installed.One microscope is installed in the end of optical fiber, light can all be gathered photoelectricity in this way
On diode.
As shown in Figure 2,3, probe fixed platform part includes pedestal b7, and the bottom surface of pedestal b is provided with guide post 8, pass through by
Positioning pin is set in guide post, and motion control portion and probe fixed platform part are linked together；The top surface of pedestal b is arranged
It is useful for the magnet 9 of linking probe steel frame construction part, displacement sensor 10 is evenly arranged with around magnet.
Displacement sensor provided around magnet is used equally for measuring probe with the displacement sensor on ball cunning group internal layer
Displacement, merely can be because of the installation between structural member with the displacement of the displacement sensor probe on ball cunning group internal layer
And opposite sliding causes error, therefore displacement sensor is set again on pedestal b.
As shown in figure 3, preferred pedestal b is cylindrical structure in the present embodiment, magnet is also cylindrical, is in around magnet
Three U-shaped sliding slots 11 are arranged in equilateral triangle, and displacement sensor is arranged in sliding slot.The movement of brake and the movement of probe exist
One-to-one relationship, brake shape in equilateral triangle is placed, so displacement sensor is also in this way, can more accurately survey
Go out the displacement in probe all directions.
Pedestal a, pedestal b select the hard material of lightweight to reduce inertia, to reduce the rotation of brake inner ring with spy
In addition the resilient bias generated when needle moves up and down must also consider to prevent the working frequency of pedestal and brake from generating resonance.
As shown in figure 4, probe steel frame construction part includes a pedestal c12 being connect with magnet adsorption, the top surface of pedestal c
There are one support columns for setting, and the support column top surface linking probe 13, the top surface of probe is provided with biomethanics sensor, support column
Outer circumference surface on be evenly equipped with reinforcing rib 14, reinforcing rib is connected with the displacement sensor on pedestal b, and reinforcing rib can be to visit
The support column of needle provides rigid, prevents from squeezing because of probe and skin, support column stress distribution unevenness is made to cause torsional deformation.
Probe and skin contact, to reduce injury of the probe to skin, the contact surface of probe may be designed to circle, work as braking
When device starts, probe motion is driven, to generate displacement to skin surface.
Reinforcing rib is ladder structure of right angle in the present embodiment, and the bevel edge self-supporting column outer circumference surface of reinforcing rib inclines to pedestal c
Tiltedly, reinforcing rib design in a rectangular trapezoid is mainly to avoid stress concentration, the trapezoidal support force bigger that can be provided, and more beautiful.
The sensor of the applicant's independent research design can be selected in biomethanics sensor described above, and the U.S. also can be selected
The commercial sensors such as AMTI six-dimension force sensors.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail can carry out a variety of equivalents to technical scheme of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.
Claims (5)
1. a kind of mechanical structure for probing into human skin mechanical characteristic microrobot, which is characterized in that controlled including movement
System part, probe fixed platform part and probe steel frame construction part, wherein motion control portion includes a pedestal a, pedestal
Multiple brakes are installed on a, which includes outer ring and inner ring, and outer ring is fixed on pedestal a, and inner ring can be in outer ring
It rotates and moves up and down；The peripheries pedestal a are uniformly installed with multiple ball cunning groups, which includes outer layer and internal layer, outer layer
It is fixed on pedestal a, internal layer bottom end is fixed on the inner ring of brake, and is moved up and down with the inner ring of brake, ball
It is provided with displacement sensing on sliding group internal layer, internal layer top is provided with positioning pin；
Probe fixed platform part includes pedestal b, and the bottom surface of pedestal b is provided with guide post, by the way that positioning pin is set in guide post,
Motion control portion and probe fixed platform part are linked together；The top surface of pedestal b is provided with for linking probe steelframe
The magnet of structure division is evenly arranged with displacement sensor around magnet；
Probe steel frame construction part includes a pedestal c being connect with magnet adsorption, and there are one supports for the top surface setting of pedestal c
The top surface of column, the support column top surface linking probe, probe is provided with biomethanics sensor, is evenly distributed on the outer circumference surface of support column
There are reinforcing rib, reinforcing rib to be connected with the displacement sensor on pedestal b.
2. a kind of mechanical structure for probing into human skin mechanical characteristic microrobot according to claim 1,
It is characterized in that, pedestal a is hexa-prism rigid structure.
3. a kind of mechanical structure for probing into human skin mechanical characteristic microrobot according to claim 2,
It is characterized in that, altogether there are three ball cunning group, there are six side planes for pedestal a tools, and a ball, which is arranged, at interval of a side plane slides
Group, and three ball cunning group settings in equilateral triangle.
4. a kind of mechanical structure for probing into human skin mechanical characteristic microrobot according to claim 3,
It is characterized in that, there are three brakes altogether, and brake setting in equilateral triangle on pedestal a, brake is U.S. BEI-
KimcoLA15 voice coil type brakes.
5. a kind of mechanical structure for probing into human skin mechanical characteristic microrobot according to claim 1,
It is characterized in that, pedestal b is cylindrical structure, magnet is also cylindrical, and setting three in equilateral triangle is U-shaped around magnet
Sliding slot, sliding slot is interior to be arranged displacement sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035150.4A CN108354588B (en) | 2018-01-15 | 2018-01-15 | Mechanical structure of micro robot for exploring mechanical characteristics of human skin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810035150.4A CN108354588B (en) | 2018-01-15 | 2018-01-15 | Mechanical structure of micro robot for exploring mechanical characteristics of human skin |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108354588A true CN108354588A (en) | 2018-08-03 |
| CN108354588B CN108354588B (en) | 2020-12-15 |
Family
ID=63006240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810035150.4A Active CN108354588B (en) | 2018-01-15 | 2018-01-15 | Mechanical structure of micro robot for exploring mechanical characteristics of human skin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108354588B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4297884A (en) * | 1978-08-31 | 1981-11-03 | L'oreal | Method of and apparatus for the measurement of at least one mechanical property of an elastic material |
| US4396025A (en) * | 1980-07-01 | 1983-08-02 | L'oreal | Apparatus for measuring the elastic characteristics of skin |
| CN2165435Y (en) * | 1993-09-08 | 1994-05-18 | 中国科学院合肥智能机械研究所 | Six-freedom force and moment transducer |
| US20050090767A1 (en) * | 2003-10-28 | 2005-04-28 | Rocky Kahn | Rotating firmness sensor |
| CN1828248A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
| CN101246065A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPUR six-dimension force-measuring platform |
| CN101329208A (en) * | 2008-07-02 | 2008-12-24 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
| CN201230875Y (en) * | 2008-06-19 | 2009-05-06 | 上海交通大学医学院附属瑞金医院 | Skin tissue hardness measurement instrument |
| CN101430237A (en) * | 2007-11-05 | 2009-05-13 | 中国科学院合肥物质科学研究院 | Multidimensional force test system in vibration experiment |
| JP2009268640A (en) * | 2008-05-02 | 2009-11-19 | Kao Corp | Method for measuring skin internal elasticity |
| CN201548356U (en) * | 2009-12-10 | 2010-08-11 | 中国直升机设计研究所 | Column type three-dimensional force transducer |
| CN102125436A (en) * | 2011-04-15 | 2011-07-20 | 北京航空航天大学 | Device for measuring skin muscle tension |
| CN201903415U (en) * | 2010-12-03 | 2011-07-20 | 西安金和光学科技有限公司 | Six-dimension force sensing device |
| CN104540448A (en) * | 2012-01-27 | 2015-04-22 | 雷文斯治疗公司 | Methods and assessment scales for measuring wrinkle severity |
| CN205449351U (en) * | 2015-12-30 | 2016-08-10 | 陕西电器研究所 | Small -size three -dimensional force transducer |
| CN106943121A (en) * | 2017-04-27 | 2017-07-14 | 黑龙江大学 | A kind of skin viscoplasticity detection means and method |
-
2018
- 2018-01-15 CN CN201810035150.4A patent/CN108354588B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4297884A (en) * | 1978-08-31 | 1981-11-03 | L'oreal | Method of and apparatus for the measurement of at least one mechanical property of an elastic material |
| US4396025A (en) * | 1980-07-01 | 1983-08-02 | L'oreal | Apparatus for measuring the elastic characteristics of skin |
| CN2165435Y (en) * | 1993-09-08 | 1994-05-18 | 中国科学院合肥智能机械研究所 | Six-freedom force and moment transducer |
| US20050090767A1 (en) * | 2003-10-28 | 2005-04-28 | Rocky Kahn | Rotating firmness sensor |
| CN1828248A (en) * | 2006-04-18 | 2006-09-06 | 燕山大学 | Parellel 6-UPUR hexa-dimensional force-measuring platform |
| CN101430237A (en) * | 2007-11-05 | 2009-05-13 | 中国科学院合肥物质科学研究院 | Multidimensional force test system in vibration experiment |
| CN101246065A (en) * | 2008-03-22 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPUR six-dimension force-measuring platform |
| JP2009268640A (en) * | 2008-05-02 | 2009-11-19 | Kao Corp | Method for measuring skin internal elasticity |
| CN201230875Y (en) * | 2008-06-19 | 2009-05-06 | 上海交通大学医学院附属瑞金医院 | Skin tissue hardness measurement instrument |
| CN101329208A (en) * | 2008-07-02 | 2008-12-24 | 燕山大学 | Six-dimensional force sensor of integral pre-tightening double-layer top and bottom asymmetry eight-rod parallel connection structure |
| CN201548356U (en) * | 2009-12-10 | 2010-08-11 | 中国直升机设计研究所 | Column type three-dimensional force transducer |
| CN201903415U (en) * | 2010-12-03 | 2011-07-20 | 西安金和光学科技有限公司 | Six-dimension force sensing device |
| CN102125436A (en) * | 2011-04-15 | 2011-07-20 | 北京航空航天大学 | Device for measuring skin muscle tension |
| CN104540448A (en) * | 2012-01-27 | 2015-04-22 | 雷文斯治疗公司 | Methods and assessment scales for measuring wrinkle severity |
| CN205449351U (en) * | 2015-12-30 | 2016-08-10 | 陕西电器研究所 | Small -size three -dimensional force transducer |
| CN106943121A (en) * | 2017-04-27 | 2017-07-14 | 黑龙江大学 | A kind of skin viscoplasticity detection means and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108354588B (en) | 2020-12-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7306563B2 (en) | Pulse diagnostic system | |
| JP5898818B2 (en) | 3D ultrasonic imaging system | |
| CN108078553A (en) | High-accuracy intelligence pulse-taking instrument | |
| Hsu et al. | A triplane video-based experimental system for studying axisymmetrically inflated biomembranes | |
| CN107898445A (en) | Wearable intelligent pulse-taking instrument | |
| WO2009015548A1 (en) | Simple structured stereotaxic apparatus | |
| AU2014314743B2 (en) | Medical imaging system with mechanical arm | |
| CN101999904B (en) | Knee joint biomechanical characteristic measuring device and measuring method based on body surface images | |
| CN203643278U (en) | Device for testing microscopic mechanical property of four-point bending material in situ under microscope | |
| CN208026569U (en) | Electromagnetic type experimental provision for the test of biomaterial impact mechanical performance | |
| CN108354588A (en) | A kind of mechanical structure for probing into human skin mechanical characteristic microrobot | |
| CN113729780A (en) | Ultrasonic diagnosis inspection auxiliary fixture | |
| CN211155742U (en) | Neurology department checker | |
| CN206630667U (en) | Carry the working lens of inductive probe | |
| CN205749234U (en) | Multifunctional bio in vitro soft tissue parameter measurement platform | |
| CN113893036A (en) | Interventional robot device in magnetic resonance environment | |
| CN105910981B (en) | The in vitro soft tissue parameter measurement platform of multifunctional bio | |
| CN104774758A (en) | MEMS (micro-electromechanical system) for osteoblast unicell excitation and detection | |
| CN205538475U (en) | Soft mechanical properties of materials measuring device | |
| Puangmali et al. | Novel design of a 3-axis optical fiber force sensor for applications in magnetic resonance environments | |
| Hergenhan et al. | Prototype of a haptic display for the evaluation of sensible haptic feedback in remote palpation | |
| CN112326430A (en) | OCT (optical coherence tomography) tensile test device with water tank and test method | |
| CN206365899U (en) | A kind of adjuvant Ultrasonographic Diagnosis system | |
| CN106092202B (en) | The device that fiber cloth acoplanarity displacement loads on microscope carrier | |
| CN214342402U (en) | Portable thyroid tissue ultrasonic automatic scanning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 210003 Gulou District, Jiangsu, Nanjing new model road, No. 66 Applicant after: NANJING University OF POSTS AND TELECOMMUNICATIONS Address before: 210023 Jiangsu city of Nanjing province Ya Dong new Yuen Road No. 9 Applicant before: NANJING University OF POSTS AND TELECOMMUNICATIONS |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |