CN108969032A - Straight line-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism - Google Patents
Straight line-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism Download PDFInfo
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- CN108969032A CN108969032A CN201810746249.5A CN201810746249A CN108969032A CN 108969032 A CN108969032 A CN 108969032A CN 201810746249 A CN201810746249 A CN 201810746249A CN 108969032 A CN108969032 A CN 108969032A
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- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 239000002184 metal Substances 0.000 claims abstract description 13
- 239000000463 material Substances 0.000 claims description 6
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- 230000005540 biological transmission Effects 0.000 abstract description 4
- 239000000919 ceramic Substances 0.000 description 10
- 238000005452 bending Methods 0.000 description 5
- 210000000683 abdominal cavity Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000010287 polarization Effects 0.000 description 3
- 229920002379 silicone rubber Polymers 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000010420 art technique Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 238000009210 therapy by ultrasound Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
- H02N2/12—Constructional details
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- Heart & Thoracic Surgery (AREA)
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- Oral & Maxillofacial Surgery (AREA)
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
A straight line-rotation-swing three-freedom-degree magnetic attraction type laparoscope mechanism is characterized by comprising: the ultrasonic skin care device comprises a magnet, a rotary ultrasonic motor, a hollow ultrasonic motor, a piezoelectric driver, two groups of connecting pieces, a limiting rod and a flange nut, wherein the magnet is arranged in a support and used for attracting the magnet outside the skin, the output shaft is provided with threads, the first connecting piece in the two groups of connecting pieces is used for connecting a rotor of the hollow ultrasonic motor and a stator metal cantilever of the piezoelectric driver, and the second group of connecting pieces is used for connecting a rotor shaft of the piezoelectric driver and a camera part. The three degrees of freedom are completely decoupled, the combination of straight line and rotation can be realized, gear transmission which can generate movement clearance and linear transmission which can generate looseness do not exist in the mechanism, and the mechanism is easy to control, compact in structure and easy to miniaturize.
Description
The technical field is as follows:
the invention relates to an ultrasonic actuating and robot technology, in particular to a laparoscope which is driven by an ultrasonic motor and a hollow motor, and specifically relates to a linear-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism.
Technical background:
the piezoelectric driver (the rotary ultrasonic motor is one of the types) breaks through the concept of the traditional motor, does not have magnetic steel and windings, does not depend on electromagnetic induction to transfer energy, and utilizes the inverse piezoelectric effect of piezoelectric ceramics to convert the microscopic deformation of the material into the macroscopic motion of a rotor through resonance amplification and frictional coupling by the conversion and coupling of the telescopic vibration mode of the piezoelectric ceramics and the design of a special structure. The ultrasonic motor has the characteristics of low speed and large torque, can directly drive a load, does not need a gear box to reduce the speed so as to improve the output torque, and has flexible structural design and can be miniaturized.
Currently, the most advanced da vinci surgical robot in the world needs to open at least three holes in the abdomen of a patient, one hole is used for inserting a laparoscope, and the other two holes are used for inserting surgical instruments such as a knife, a clamp and the like. By using the magnetic attraction mode, only one hole can be formed in the abdomen of a patient, and surgical instruments such as a laparoscope, a knife, a clamp and the like enter the hole. These surgical instruments can be positioned and anchored by magnets external to the abdominal skin, and the only holes can also serve as the exit ports for the guide wires of these surgical instruments. Such a hole is more beneficial to the postoperative recovery of the patient than the previous three holes.
The existing long-rod laparoscope control mode cannot meet the operation conditions, and the laparoscope which completely enters the abdominal cavity inevitably requires small size and more degrees of freedom, can adjust the pose in vivo, and is convenient for doctors to observe pathological tissues from different angles.
The invention content is as follows:
the invention aims to solve the technical problem of the prior art and provides a linear-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism which has compact and miniature structure and can exert the characteristics of quick response of piezoelectric drive, power failure self-locking and the like.
The technical scheme of the invention is as follows:
a straight line-rotation-swing three-freedom-degree magnetic attraction type laparoscope mechanism is characterized by comprising: the ultrasonic skin care device comprises a magnet, a rotary ultrasonic motor, a hollow ultrasonic motor, a piezoelectric driver, two groups of connecting pieces, a limiting rod and a flange nut, wherein the magnet is arranged in a support and used for attracting the magnet outside the skin, the output shaft is provided with threads, the first connecting piece in the two groups of connecting pieces is used for connecting a rotor of the hollow ultrasonic motor and a stator metal cantilever beam of the piezoelectric driver, and the second connecting piece is used for connecting a rotor shaft of the piezoelectric driver and a camera part.
The rotary ultrasonic motor, the flange nut and the limiting rod jointly form a screw nut pair to realize linear motion on the axis of the screw nut pair, the hollow ultrasonic motor can realize 360-degree rotation, and the piezoelectric driver can realize reciprocating swing of more than 180 degrees; the magnet is arranged in a support at the bottom of the rotary ultrasonic motor so as to be capable of being interacted with an external magnet to enable the whole laparoscope mechanism to be hung on skin, the rotary ultrasonic motor is matched with a flange nut thread pair through an output shaft with threads of the rotary ultrasonic motor, the flange nut is connected with a hollow ultrasonic motor base and a shell through screws, a limiting rod base is connected with the support and the rotary ultrasonic motor shell through screws, a cylindrical long rod part on the limiting rod base is matched with corresponding limiting holes on the hollow ultrasonic motor and the flange nut, and the output shaft of the rotary ultrasonic motor can move up and down in the hollow position of the hollow ultrasonic motor; the rotor of cavity supersound motor passes through stop screw and is connected with the base of first connecting piece, and piezoelectric actuator's stator metal cantilever beam threaded hole is connected with the U type recess at first connecting piece top, and piezoelectric actuator passes through the second connecting piece and is connected with the camera, and second connecting piece ring department has the class key arch with piezoelectric actuator epaxial rectangular channel matched with.
The degree of freedom of root can realize the linear motion on the axis, and the length of motion can be adjusted by length and the length of stop lever according to rotatory supersound motor output shaft screw thread, and 360 rotations can be realized to the middle part degree of freedom, and the top degree of freedom can realize being greater than 180 reciprocal swings.
The mechanism realizes the combination of one linear degree of freedom, one rotation degree of freedom and one swing degree of freedom, the middle rotation degree of freedom is orthogonal to the swing degree of freedom, and the three degrees of freedom are completely decoupled.
The rotary ultrasonic motor at the bottom is connected with the magnet through the support, the support bottom takes a hollow-out form, the support bottom just forms a cylindrical cavity, and the magnet is placed in the cavity.
The output shaft of the rotary ultrasonic motor can linearly move in the hollow part of the hollow ultrasonic motor, and the axis of the rotary ultrasonic motor is superposed with the axis of the hollow ultrasonic motor.
The output shaft of the rotary ultrasonic motor is provided with threads, a screw nut pair is formed by the output shaft, the flange nut and the limiting rod, the hollow ultrasonic motor shell, the base and the flange nut base are provided with limiting holes, the limiting rod fixedly connected limits the rotation of the flange nut, and the linear freedom degree of the mechanism is realized.
The rotor part of the piezoelectric driver adopts the interference fit of parts made of two materials, so that the lightweight of the whole structure is ensured, and the rigidity requirement of the contact part of the stator and the rotor can be met.
The rotor of the hollow ultrasonic motor adopts a hollow boss structure and is connected with a stator metal cantilever beam of the piezoelectric driver through a first connecting piece, the side wall of a base of the first connecting piece is provided with a threaded hole, and the upper structure adopts a bilateral symmetry U-shaped groove form.
The invention has the beneficial effects that:
Due to the piezoelectric drive, it avoids the use of complicated reducer devices and huge lens holding arms, so that the entire laparoscope can be miniaturized. The piezoelectric actuator rotor adopts the interference fit of two material parts, and the substrate uses 3D printing materials, friction The surface is made of metal material, which makes the whole mechanism lighter, and the structure of the bracket and the connecting piece also makes the whole mechanism more compact, which is convenient for the whole mechanism to enter the abdominal cavity by magnetic adsorption. The multi-degree-of-freedom form of the mechanism is also convenient for doctors to manipulate the laparoscope when looking for diseased tissue.
The three degrees of freedom are completely decoupled, gear transmission and loose wire transmission which can generate movement gaps do not exist in the mechanism, and the mechanism is easy to control, compact in structure and easy to miniaturize.
The invention not only has compact and miniaturized structure, but also can exert the characteristics of quick response of piezoelectric drive, breaking self-locking and the like.
Description of the drawings:
FIG. 1 is a schematic diagram of a magnetic attraction type laparoscope mechanism with three degrees of freedom of linear-rotation-swing;
FIG. 2 is a schematic view of a (single) stent configuration;
FIG. 3 is an exploded view of the magnet holder;
FIG. 4 is a schematic view of a rotary ultrasonic motor;
FIG. 5 is a schematic view of a hollow ultrasonic motor;
FIG. 6 is a schematic diagram of a piezoelectric actuator configuration;
FIG. 7 is a schematic view of a flange nut construction;
FIG. 8 is a schematic view of a spacing rod;
FIG. 9 is a schematic view of a first connector configuration;
FIG. 10 is a schematic view of a piezoelectric actuator rotor shaft configuration;
FIG. 11 is a schematic view of a second connector configuration;
FIG. 12 is a schematic view of the upper and lower connections of the hollow ultrasonic motor;
FIG. 13 is a schematic view of a piezoelectric actuator stator configuration;
FIG. 14 is a schematic view of a piezo actuator assembly connection;
FIG. 15 is a schematic diagram of piezoelectric ceramic polarization and applied signal;
FIG. 16 is a schematic diagram of the working principle of the magnetic attraction type laparoscope mechanism with three degrees of freedom of linear-rotation-swing;
number designation in the figures: 1. a support; 2. rotating an ultrasonic motor; 3. a hollow ultrasonic motor; 4. a piezoelectric driver; 5. rotating the ultrasonic motor housing; 6. rotating an output shaft of the ultrasonic motor; 7. a limiting rod; 8. a flange nut; 9. a hollow ultrasonic motor base; 10. a hollow ultrasonic motor housing; 11. a limit screw; 12. a first connecting member; 13. a second connecting member; 14. a camera; 15. an internal magnet; 16. a piezoelectric driver stator base; 17. piezoelectric ceramic plates; 18. a piezoelectric driver rotor shaft; 19. a C-shaped snap ring; 20. an adjustment sheet; 21. a silica gel ring; 22. a first conical surface ring; 23. a second conical surface ring; 24. inputting a Sin signal; 25. inputting Cos signals; 26. the arrow direction is the piezoelectric ceramic polarization direction; 27. skin; 28. an external magnet.
The specific implementation mode is as follows:
the technical scheme of the invention is further described in detail by combining the attached drawings and implementation.
As shown in fig. 1-16.
A straight line-rotation-swing three-freedom-degree magnetic attraction type laparoscope mechanism comprises: the skin-care ultrasonic treatment device comprises an internal magnet 27, a rotary ultrasonic motor 2, a hollow ultrasonic motor 3, a piezoelectric driver 4, two groups of connecting pieces 12 and 13, a limiting rod 7 and a flange nut 8, wherein the internal magnet 27 is arranged in a support 1 and used for attracting a magnet 28 outside the skin 27, the output shaft of the rotary ultrasonic motor 2 is provided with threads, the first connecting piece 12 in the two groups of connecting pieces is used for connecting a rotor of the hollow ultrasonic motor 3 and a stator metal cantilever beam of the piezoelectric driver 4, and the second connecting piece 13 is used for connecting a rotor shaft 18 of the piezoelectric driver and a camera 14. The output shaft 6 of the rotary ultrasonic motor, the flange nut 8 and the limiting rod 7 jointly form a screw nut pair to realize linear motion on the axis of the screw nut pair, the hollow ultrasonic motor can realize 360-degree rotation, and the piezoelectric driver can realize reciprocating swing of more than 180 degrees; the internal magnet 15 is arranged in the bracket 1 at the bottom of the rotary ultrasonic motor 2 so as to be capable of being interacted with the external magnet 28 to enable the whole laparoscope mechanism to be hung on the inner side of the skin 27, the rotary ultrasonic motor 2 is matched with a thread pair of a flange nut 8 through an output shaft 6 with threads of the rotary ultrasonic motor 2, the flange nut 8 is connected with a hollow ultrasonic motor base 9 and a shell 10 through screws, a limiting rod 7 base is connected with the bracket 1 and the rotary ultrasonic motor shell 5 through screws, a cylindrical long rod part on the limiting rod 7 base is matched with corresponding limiting holes on the hollow ultrasonic motor 3 and the flange nut 8, and a shaft of the rotary ultrasonic motor 2 can move up and down in the hollow part of the hollow ultrasonic motor 3; the rotor of the hollow ultrasonic motor 3 is connected with the base of the first connecting piece 12 through a limiting screw, a stator metal cantilever beam of the piezoelectric driver 4 is provided with a threaded hole and is connected with a U-shaped groove at the top of the first connecting piece 12, the rotor of the piezoelectric driver 4 is connected with the camera 14 through a second connecting piece 13, and a circular ring of the second connecting piece 13 is provided with a key-like protrusion matched with a rectangular groove on a rotor shaft of the piezoelectric driver. As shown in fig. 1.
The details are as follows:
the bracket 1 (as shown in figure 2) is provided with a through hole which is fixedly connected with a threaded hole on the shell 5 of the rotary ultrasonic motor through a screw, the magnet 15 is arranged in the cavity of the bracket 1 in a small space, and the plurality of brackets (singly) form a bracket group which can completely wrap the magnet 15 in the cavity (as shown in figure 3). The flange nut 8 base has a threaded hole, and there is the arch at ring type base tip, and the protruding department is opened there is spacing hole (as shown in figure 7), and cavity supersound motor base 9, cavity supersound motor housing 10 all open at the relevant position has spacing hole, and flange nut 8, cavity supersound motor base 9 pass through the screw and are connected with cavity supersound motor housing 10. The shaft end of the output shaft 6 of the rotary ultrasonic motor is provided with threads, and the threads and the flange nut 8 form a screw nut pair.
The base of the limiting rod 7 is of a circular ring structure, three through holes (shown in figure 8) are formed in the base, and screws penetrate through the through holes (shown in figure 2) in the base of the limiting rod 7 and the support 1 to be matched and fastened with threaded holes of the shell 5 (shown in figure 4) of the rotary ultrasonic motor (shown in figure 1). The rod surface of the limiting rod 7 is smooth, and the rod part penetrates through limiting holes of the flange nut 8, the hollow ultrasonic motor base 9 and the hollow ultrasonic motor shell 10, so that the rotation of the flange nut 8 is limited, and the linear motion of the nut is realized. The length of the linear motion can be adjusted by adjusting the length of the thread of the output shaft 6 of the rotary ultrasonic motor and the length of the limiting rod 7. The axis of the rotary ultrasonic motor 2 coincides with the axis of the hollow ultrasonic motor 3.
The base of the first connecting piece 12 is of a hollow end cover type structure, a threaded hole (shown in figure 9) is formed in the side wall of the base, and the first connecting piece is connected with the threaded hole (shown in figure 5) at the position of the rotor of the hollow ultrasonic motor 3 through a limiting screw 11, so that the rotor of the hollow ultrasonic motor 3 is fixedly connected with the first connecting piece 12. The top of the first connecting piece 12 is of a double-U-shaped structure, a threaded hole is formed in a U-shaped groove (as shown in fig. 9), and the U-shaped groove is in contact with a metal cantilever beam of the stator base body 16 of the piezoelectric actuator and is connected with the metal cantilever beam through a screw. The first connecting piece 12 is of a hollow structure (as shown in fig. 9), the output shaft 6 of the rotary ultrasonic motor can linearly move at the hollow part between the hollow ultrasonic motor 3 and the first connecting piece 12, and the hollow ultrasonic motor 3 can rotate 360 degrees. (see fig. 12)
The piezoelectric actuator 4 (as shown in fig. 6) is composed of a stator (as shown in fig. 13) and a rotor, and a piezoelectric ceramic sheet 17 (as shown in fig. 12) is attached to a stator base body. The rotor comprises a rotor shaft 18, a C-shaped snap ring 19, an adjusting sheet 20, a second connecting piece 13, a silica gel ring 21, a first conical surface ring 22 and a second conical surface ring 23. The first conical surface ring 22 is in interference fit on the rotor shaft 18 and is positioned by a shaft middle shaft shoulder; the rotor shaft 18 after interference fit penetrates through a hole on the stator base 16 to enable corresponding conical surfaces of the rotor shaft and the stator base to be attached, the second conical surface ring 23 penetrates through the other end of the rotor shaft 18 to enable the conical surface of the second conical surface ring to be attached to the conical surface of the other end of the stator base 16, a key groove is formed in the hole of the second conical surface ring 23 and is matched with a key on the rotor shaft 18, and therefore the second conical surface ring 23 can axially slide along the rotor shaft 18; the silicon rubber ring 21, the second connecting piece 13 and the adjusting piece 20 are sleeved into the shaft in sequence, the inner hole of the ring part of the second connecting piece 13 (shown in figure 11) is provided with a key-like protrusion which is matched with a rectangular groove (shown in figure 10) at the shaft end of the rotor shaft 18 to limit the rotation of the second connecting piece 13 around the rotor shaft 18, the silicon rubber ring 21 has elasticity, the pretightening force between the conical surface ring and the stator base body 16 ring can be adjusted by adjusting the thickness of the silicon rubber ring, and the C-shaped snap ring 19 is clamped in a gap between the adjusting piece 20 and the end part of the rotor shaft 18 after the adjustment is finished. (see fig. 14)
The piezoelectric driver stator (as shown in figure 13) mainly plays a driving role, and the piezoelectric ceramic plate 17 is attached to the third-order bending vibration node of the metal cantilever of the stator base body 16. The piezoelectric ceramic sheet 17 is a rectangular sheet, is externally insulated with a material such as epoxy resin, is polarized in the thickness direction, and is slightly deformed by applying a voltage in the polarization direction, and two sheets of piezoelectric ceramics are used as shown in fig. 15.
Two piezoelectric ceramic plates 17 of the stator (as shown in FIG. 13) of the piezoelectric driver are excited by using Sin and Cos voltage signals respectively, so that the generation time on the metal cantilever of the stator of the piezoelectric driver is providedThe n-order bending vibration of the phase difference enables the annular structure of the stator of the piezoelectric driver to generate a corresponding in-plane mode, for example, the B03 mode by taking the three-order bending vibration as an example. The vibration is superposed to form an in-plane bending traveling wave advancing along the stator ring, and mass points at the wave crests of the in-plane bending traveling wave generate micro-amplitude elliptical motion under the action of the traveling wave, are in contact with the two conical surfaces and act through frictionThe rotor is driven to rotate along the axis of the stator ring.
The piezoelectric actuator 4 can realize reciprocating swing of more than 180 degrees, the top end of the second connecting piece 13 is connected with the clampable camera 14 through a bolt, and the clamping degree of the camera 14 can be adjusted through an adjusting bolt. The axis of the rotor of the piezoelectric driver 4 is vertical to the axis of the rotor of the hollow ultrasonic motor 3, the axis of the rotor of the rotary ultrasonic motor 2 is superposed with the axis of the rotor of the hollow ultrasonic motor 3, and the three motors are completely decoupled in motion.
The external magnet 28 is outside the skin 27, and the whole linear-rotary-swing three-freedom-degree magnetic attraction type laparoscope mechanism is suspended inside the abdominal cavity through the attraction of the two magnets and performs movement and positioning along the skin (see fig. 16).
The hollow ultrasonic motor 3 can move linearly along the axial direction of the output shaft 6 of the rotary ultrasonic motor, the hollow ultrasonic motor 3 can drive the first connecting piece 12 to rotate for 360 degrees, and the piezoelectric driver 4 can drive the second connecting piece 13 to swing for 180 degrees, so that a camera arranged at the end part of the second connecting piece 13 can directly move, rotate and swing, and the omnibearing exploration in the abdominal cavity is realized.
The present invention is not concerned with parts that are the same as or can be implemented using prior art techniques.
Claims (9)
1. A straight line-rotation-swing three-freedom-degree magnetic attraction type laparoscope mechanism is characterized by comprising: the ultrasonic skin care device comprises a magnet, a rotary ultrasonic motor, a hollow ultrasonic motor, a piezoelectric driver, two groups of connecting pieces, a limiting rod and a flange nut, wherein the magnet is arranged in a support and used for attracting the magnet outside the skin, the output shaft is provided with threads, the first connecting piece in the two groups of connecting pieces is used for connecting a rotor of the hollow ultrasonic motor and a stator metal cantilever beam of the piezoelectric driver, and the second connecting piece is used for connecting a rotor shaft of the piezoelectric driver and a camera part.
2. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the output shaft of the rotary ultrasonic motor, the flange nut and the limiting rod jointly form a screw nut pair to realize linear motion on the axis of the screw nut pair, the hollow ultrasonic motor can realize 360-degree rotation, and the piezoelectric driver can realize reciprocating swing of more than 180 degrees; the magnet is arranged in a support at the bottom of the rotary ultrasonic motor so as to be capable of being interacted with an external magnet to enable the whole laparoscope mechanism to be hung on skin, the rotary ultrasonic motor is matched with a flange nut thread pair through an output shaft with threads of the rotary ultrasonic motor, the flange nut is connected with a hollow ultrasonic motor base and a shell through screws, a limiting rod base is connected with the support and the rotary ultrasonic motor shell through screws, a cylindrical long rod part on the limiting rod base is matched with corresponding limiting holes on the hollow ultrasonic motor and the flange nut, and the output shaft of the rotary ultrasonic motor can move up and down in the hollow position of the hollow ultrasonic motor; the rotor of cavity supersound motor passes through stop screw and is connected with the base of first connecting piece, and piezoelectric actuator's stator metal cantilever beam threaded hole is connected with the U type recess at first connecting piece top, and piezoelectric actuator passes through the second connecting piece and is connected with the camera, and second connecting piece ring department has the class key arch with piezoelectric actuator epaxial rectangular channel matched with.
3. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the degree of freedom of root can realize the linear motion on the axis, and the length of motion can be adjusted by length and the length of stop lever according to rotatory supersound motor output shaft screw thread, and 360 rotations can be realized to the middle part degree of freedom, and the top degree of freedom can realize being greater than 180 reciprocal swings.
4. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the mechanism realizes the combination of one linear degree of freedom, one rotation degree of freedom and one swing degree of freedom, the middle rotation degree of freedom is orthogonal to the swing degree of freedom, and the three degrees of freedom are completely decoupled.
5. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the rotary ultrasonic motor at the bottom is connected with the magnet through the support, the support bottom takes a hollow-out form, the support bottom just forms a cylindrical cavity, and the magnet is placed in the cavity.
6. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the output shaft of the rotary ultrasonic motor can linearly move in the hollow part of the hollow ultrasonic motor, and the axis of the rotary ultrasonic motor is superposed with the axis of the hollow ultrasonic motor.
7. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the output shaft of the rotary ultrasonic motor is provided with threads, a screw nut pair is formed by the output shaft, the flange nut and the limiting rod, the hollow ultrasonic motor shell, the base and the flange nut base are provided with limiting holes, the limiting rod fixedly connected limits the rotation of the flange nut, and the linear freedom degree of the mechanism is realized.
8. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the rotor part of the piezoelectric driver adopts the interference fit of parts made of two materials, so that the lightweight of the whole structure is ensured, and the rigidity requirement of the contact part of the stator and the rotor can be met.
9. The linear-rotary-oscillating three-degree-of-freedom magnetic attraction type laparoscope mechanism as recited in claim 1, further comprising: the rotor of the hollow ultrasonic motor adopts a hollow boss structure and is connected with a stator metal cantilever beam of the piezoelectric driver through a first connecting piece, the side wall of a base of the first connecting piece is provided with a threaded hole, and the upper structure adopts a bilateral symmetry U-shaped groove form.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810746249.5A CN108969032B (en) | 2018-07-09 | 2018-07-09 | Straight line-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810746249.5A CN108969032B (en) | 2018-07-09 | 2018-07-09 | Straight line-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism |
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| CN108969032A true CN108969032A (en) | 2018-12-11 |
| CN108969032B CN108969032B (en) | 2020-11-24 |
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| CN201810746249.5A Expired - Fee Related CN108969032B (en) | 2018-07-09 | 2018-07-09 | Straight line-rotation-swing three-degree-of-freedom magnetic attraction type laparoscope mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109639177A (en) * | 2018-12-19 | 2019-04-16 | 南京航空航天大学 | A kind of patch type linear ultrasonic motor based on 3D printing resin stator |
| CN109951102A (en) * | 2019-04-09 | 2019-06-28 | 哈尔滨工业大学 | A kind of two-freedom ultraprecise piezoelectric drive platform and its motivational techniques |
| CN112024342A (en) * | 2020-07-09 | 2020-12-04 | 江苏大学 | Ultrasonic device and method capable of switching vibration modes |
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| CN206422711U (en) * | 2016-12-31 | 2017-08-18 | 南京航空航天大学 | A kind of rod-type paster longitudinal-torsional compound ultrasonic motor |
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| CN206164395U (en) * | 2016-11-14 | 2017-05-10 | 长春工业大学 | Accurate piezoelectricity ultrasonic drive device of microminiature |
| CN206164396U (en) * | 2016-11-17 | 2017-05-10 | 长春工业大学 | Accurate piezoelectricity thread drive mechanism is received to declining of columnar structure |
| CN206422711U (en) * | 2016-12-31 | 2017-08-18 | 南京航空航天大学 | A kind of rod-type paster longitudinal-torsional compound ultrasonic motor |
| CN106956284A (en) * | 2017-04-28 | 2017-07-18 | 南京航空航天大学 | A kind of deep-sea full open model mechanical finger structure and its working method |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109639177A (en) * | 2018-12-19 | 2019-04-16 | 南京航空航天大学 | A kind of patch type linear ultrasonic motor based on 3D printing resin stator |
| CN109639177B (en) * | 2018-12-19 | 2020-04-21 | 南京航空航天大学 | SMD linear ultrasonic motor based on 3D printing resin stator |
| CN109951102A (en) * | 2019-04-09 | 2019-06-28 | 哈尔滨工业大学 | A kind of two-freedom ultraprecise piezoelectric drive platform and its motivational techniques |
| CN109951102B (en) * | 2019-04-09 | 2020-05-12 | 哈尔滨工业大学 | Two-degree-of-freedom ultra-precise piezoelectric driving platform and excitation method thereof |
| CN112024342A (en) * | 2020-07-09 | 2020-12-04 | 江苏大学 | Ultrasonic device and method capable of switching vibration modes |
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