CN110537899A - Tactile stimulation module and multichannel tactile stimulation device - Google Patents
Tactile stimulation module and multichannel tactile stimulation device Download PDFInfo
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
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- A61B5/0048—Detecting, measuring or recording by applying mechanical forces or stimuli
- A61B5/0053—Detecting, measuring or recording by applying mechanical forces or stimuli by applying pressure, e.g. compression, indentation, palpation, grasping, gauging
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Abstract
the application provides a touch stimulation module and a multi-channel touch stimulation device, and relates to the technical field of functional brain maps of touch. The tactile stimulation module comprises a fixing frame, a piezoelectric bending driver, a steering driver and a guide wire. The fixing frame comprises an accommodating cavity; the piezoelectric bending driver is suspended in the accommodating cavity. The steering driver is arranged on the fixed frame and connected with the free end of the piezoelectric bending driver, and is used for converting the displacement generated by the piezoelectric bending driver into a force parallel to the stimulation direction. The guide wire comprises a first end and a second end, the first end is fixed on the steering driver, and the second end penetrates through the fixing frame and extends out of the fixing frame along the stimulation direction. The tactile stimulation module in the present application has both a higher stimulation frequency and a higher resolution. The touch stimulation module can be freely combined into a multi-channel touch stimulation device according to the required number of channels, and the problems of insufficient number of channels, low optional operation frequency, low resolution and the like in a touch brain activity experiment can be solved.
Description
Technical Field
the application relates to the field of functional brain maps of touch, in particular to a touch stimulation module and a multi-channel touch stimulation device.
background
functional magnetic resonance imaging (fmri), which is a neuroimaging method widely used for exploring human tactile brain atlas, and the principle is to measure the hemodynamic changes caused by neuron activity by magnetic resonance imaging.
The formation of touch is firstly to generate different action potentials after the change of external physical quantity is sensed through a tactile receptor on the skin, and then nerve signals are transmitted to a somatosensory cortex of a brain to excite the tactile function so as to generate sense and cognition. When performing tactile brain mapping measurements, it is necessary to apply a stimulus to the skin. The stimulation providing device needs to operate in a strong magnetic field environment around the functional magnetic resonance equipment, so that the stimulation device is required to have nuclear magnetic compatibility.
the stimulation generating methods of the prior art stimulation providing devices mainly include pneumatic type and piezoelectric ceramic type. The pneumatic transmission modes can be mainly divided into the following modes: 1. providing a stimulus by vibrating with a membrane; 2. directly fixing a spray head at a stimulation part to generate stimulation through air injection; 3. the gas pushes the cylinder to generate reciprocating motion through the control of the reversing valve, so that the reciprocating vibration of the guide wire is driven to realize the stimulation on the target position. Because the gas is limited by the compression coefficient, the pneumatic stimulation mode can provide lower stimulation frequency, and less experiment frequency can be selected during experiments.
the piezoelectric ceramic type mainly depends on the inverse piezoelectric effect of the piezoelectric ceramic to convert electric energy into mechanical energy and then generate mechanical vibration to provide tactile stimulation. However. The piezoelectric ceramic plates used at present have large volume, low resolution ratio when being arranged and relatively small displacement.
therefore, under the trend of more precise requirements on the tactile stimulation, the development of a tactile stimulation device with higher stimulation frequency and higher resolution is needed.
disclosure of Invention
it is an object of embodiments of the present application to provide a nuclear magnetic compatible tactile stimulation module that has both a higher stimulation frequency and a higher resolution.
In a first aspect, an embodiment of the present application provides a tactile stimulation module, including:
The fixing frame comprises an accommodating cavity;
The piezoelectric bending driver is suspended in the accommodating cavity;
The steering driver is arranged on the fixed frame, connected with the free end of the piezoelectric bending driver and used for converting the displacement generated by the piezoelectric bending driver into a force parallel to the stimulation direction;
The guide wire comprises a first end and a second end, the first end is fixed on the steering driver, and the second end penetrates through the fixing frame and extends out of the fixing frame along the stimulation direction.
In the implementation process, a piezoelectric bending type driver is used as a vibration driving source, the free end of the piezoelectric bending type driver can be bent to generate displacement, and the amplitude and the direction of the displacement have a function relation with the applied bias voltage. The pneumatic stimulation mode is influenced by the gas compression coefficient, and the range of the vibration frequency is narrow. The vibration of the piezoelectric bending driver depends on the applied voltage control signal, and the value range of the frequency of the control signal is wide, so that the vibration frequency with a wide value range can be provided, and further, the stimulation frequency with higher frequency can be provided. Simultaneously, adopt the seal wire to stimulate in this application, compare in the amazing mode that the air current assaulted, the seal wire is because its cross-sectional area is little, and the number of stimulation points that can implement in the unit area is more, and the resolution ratio that can implement the stimulation is higher to the seal wire is stable with skin area of contact, consequently still has higher positioning accuracy.
in one possible implementation manner, the number of the piezoelectric bending type drivers is multiple;
the piezoelectric bending drivers are suspended in the accommodating cavity and are arranged at intervals of a preset distance along the stimulation direction, and the preset distance is larger than the displacement amplitude of the piezoelectric bending drivers;
The heights of the lowest points of the free ends of the piezoelectric bending actuators are sequentially reduced;
The free end of each piezoelectric bending type driver is connected with one steering driver and one guide wire.
In the implementation process, a plurality of piezoelectric bending drivers are arranged in one fixing frame, each driver can drive one guide wire to stimulate, namely, a plurality of guide wires can be arranged in one touch stimulation module, compared with a structure that one guide wire is arranged in one touch stimulation module, the arrangement density of the guide wires in a unit area can be further improved by the plurality of guide wires, the number of stimulation points which can be implemented in the unit area is more, and the stimulation resolution is further improved.
in one possible implementation, a plurality of the piezoelectric bending actuators are arranged at equal intervals along the stimulation direction:
The height difference of the lowest points of the free ends of the piezoelectric bending actuators is equal.
In the implementation process, the piezoelectric bending drivers are arranged at equal intervals along the stimulation direction, and in order to enable the guide wire to act on the same stimulation surface, the length difference of the guide wire is only required to be the interval between the adjacent piezoelectric bending drivers in the stimulation direction. Meanwhile, the height difference of the lowest points of the free ends of the piezoelectric bending drivers is equal, and the distance difference in the height direction of the guide wires is equal. Above-mentioned structure can make the seal wire of tactile stimulation module arrange neatly along vertical direction, and when a plurality of tactile stimulation modules used side by side along the straight line, the seal wire of a plurality of tactile stimulation modules can constitute the matrix and arrange for amazing more evenly.
in one possible implementation, the fixed frame comprises a first horizontal bracket, a second horizontal bracket, a first vertical bracket and a second vertical bracket;
the first horizontal bracket, the first vertical bracket, the second horizontal bracket and the second vertical bracket are sequentially connected end to form a square frame;
And a through hole for the guide wire to pass through is formed in the first vertical support.
in one possible embodiment, the steering drive comprises:
The guide shaft is arranged on the first vertical bracket, and the axis of the guide shaft is parallel to the stimulation direction;
The sliding block is sleeved on the guide shaft and can slide in a reciprocating manner along the stimulation direction, and the guide wire is arranged on the sliding block;
The swing handle comprises a first connecting part, a bending part and a second connecting part which are sequentially connected; the first connecting part is connected with the piezoelectric bending driver; the bending part comprises a vertical part perpendicular to the stimulation direction and a horizontal part parallel to the stimulation direction; the second connecting part is connected with the sliding block.
In the implementation process, after the piezoelectric bending type driver is powered on, the free end of the piezoelectric bending type driver generates vibration. The swing handle converts the vibration of the free end of the piezoelectric bending type driver into the reciprocating motion of the second connecting part along the stimulation direction. Because the slide block is connected with the second connecting part, the slide block reciprocates along the stimulation direction on the guide shaft, and the guide wire arranged on the slide block reciprocates along the stimulation direction along with the slide block.
in one possible embodiment, the steering drive further comprises:
the rotating shaft is arranged on the sliding block and is rotationally connected with the second connecting part, and the axis of the rotating shaft is vertical to the stimulation direction in a horizontal plane; the rotating shaft can convert the force which is applied to the sliding block by the second connecting part and does not follow the axis of the guide shaft into relative rotation between the second connecting part and the sliding block, so that the sliding block is only subjected to the force of the second connecting part along the axis of the guide shaft.
in one possible embodiment, the piezoelectric bender actuator is a piezoelectric bimorph;
the first connecting portion is provided with a first U-shaped groove, and the free end of the piezoelectric bimorph is arranged in the first U-shaped groove.
In one possible embodiment, the free end of the piezoelectric bimorph is bonded in a first U-shaped groove; or
The free end of the piezoelectric bimorph is clamped in the first U-shaped groove.
In a possible embodiment, the second connecting portion is provided with a second U-shaped groove, the depth of a notch of the second U-shaped groove is greater than the radius of the rotating shaft, and the rotating shaft is embedded in the notch of the second U-shaped groove.
In one possible embodiment, the tactile stimulation module further comprises a guide wire quick release structure; the seal wire rapid disassembly structure includes:
the first clamping groove is arranged on the sliding block;
the first guide wire tailstock comprises a first base embedded in the clamping groove and two clamping blocks extending out of the first clamping groove, and the first base is provided with an embedding hole for inserting the guide wire; the two clamping blocks are respectively arranged on two sides of the embedding hole, and the gap between the two clamping blocks is larger than or equal to the diameter of the guide wire;
the first positioning block is used for being clamped with the first clamping groove; the first locating block is provided with a waist-shaped hole groove, and when the first locating block is clamped with the first clamping groove, the two clamping blocks penetrate into the waist-shaped hole groove and are close to each other and clamp the guide wire under the interference limit of the waist-shaped hole groove.
In another possible embodiment, the guide wire quick release structure comprises:
the second clamping groove is arranged on the sliding block;
the second guide wire tailstock comprises a second base embedded in the second clamping groove, and an embedding hole for inserting the guide wire is formed in the second base;
The second positioning block is used for being clamped with the second clamping groove; a waist-shaped hole groove is formed in the second positioning block;
The guide wire is bonded in the embedding hole and penetrates out of the waist-shaped hole groove.
In a possible embodiment, the first horizontal support is provided with a mounting hole for fixing the piezoelectric bending actuator;
the second vertical support is provided with at least one mounting plate which is arranged in parallel with the first horizontal support;
And the mounting plate is provided with a mounting hole for fixing the piezoelectric bending type driver.
in a possible embodiment, when the number of the mounting plates is plural, the lengths of the mounting plates in the stimulation direction are sequentially reduced in the direction from high to low of the second vertical supports.
In a possible embodiment, a first inverted trapezoid cover and a second inverted trapezoid cover are arranged on two sides of the mounting plate.
In one possible embodiment, the substrate of the piezoelectric bimorph is made of glass fiber or carbon fiber.
In one possible embodiment, the guide shaft comprises a polytetrafluoroethylene sleeve and a carbon fiber rod; or the guide shaft is a polytetrafluoroethylene rod.
In a possible embodiment, the connection of the guide shaft to the first vertical support is by gluing.
In one possible embodiment, the guidewire is a carbon fiber guidewire.
In a second aspect, embodiments of the present application further provide a multichannel tactile stimulation apparatus, including a plurality of tactile stimulation modules as described above and a connection structure connecting the plurality of tactile stimulation modules.
In one possible embodiment, the guide wires of a plurality of the tactile stimulation modules face the same stimulation direction and the fixing members of a plurality of the tactile stimulation modules are arranged along a straight line;
each fixing frame comprises a first side surface and a second side surface which are contacted with the adjacent fixing frames;
The connection structure includes: a guide rail arranged on the first side surface of each fixed frame and a guide rail groove arranged on the second side surface of each fixed frame.
In one possible embodiment, when the number of the guide wires of each tactile stimulation module is multiple, the guide wires on the multichannel tactile stimulation device are arranged in a matrix.
The multi-channel tactile stimulation device can realize the stimulation of high-frequency tactile brain activity of 300 channels and above. In addition, the tactile stimulation modules of the multi-channel tactile stimulation device can be freely combined according to the required channel number, so that the problems of insufficient channel number, low optional operation frequency, low resolution in the operation process and the like in the current tactile brain activity experiment can be solved.
Drawings
in order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
fig. 1 is a schematic structural diagram of a tactile stimulation module according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of another embodiment of a tactile stimulation module;
FIG. 3 is a perspective view of the tactile stimulation module of FIG. 2;
FIG. 4 is a schematic structural diagram of a steering actuator according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram illustrating a guide wire quick release structure disposed on a slider according to an embodiment of the present application;
FIG. 6 is a cross-sectional view of the guide wire quick release structure shown in FIG. 5;
FIG. 7 is a cross-sectional view of another embodiment of a quick release structure of the guide wire shown in FIG. 5;
Fig. 8 is a schematic view illustrating an installation of a piezoelectric bending actuator according to an embodiment of the present application;
Fig. 9 is a schematic structural diagram of a multi-channel tactile stimulation apparatus according to an embodiment of the present application.
Icon: 10-a tactile stimulation module; 100-a fixing frame; 110-a first horizontal support; 120-a second horizontal support; 130-a first vertical support; 140-a second vertical support; 150-a catheter; 160-fixing strip; 170-mounting a plate; 180-a first inverted trapezoidal cover; 190-a second inverted trapezoidal cover; 200-piezo flexure type actuator; 300-a steering drive; 310-a guide shaft; 320-a slide block; 321-a rotating shaft; 330-swing handle; 331-a first connection; 332-a bending part; 333-a second connecting part; 3310-first U-shaped groove; 400-a guide wire; 500-a guide wire quick release structure; 510-a first card slot; 520-a first guide wire tailstock; 521-a first base; 522-fixture block; 523-embedded holes; 530-a first positioning block; 540-a second card slot; 550-a second guide wire tailstock; 560-second locating piece; 600-a guide rail; 700-guide groove.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
fig. 1 is a schematic structural diagram of a tactile stimulation module according to an embodiment of the present application. As shown in fig. 1, the tactile stimulation module includes a holder 100, a piezo flexure type driver 200, a steering driver 300, and a guide wire 400.
The fixing frame 100 includes a receiving cavity. The piezo flexure actuator 200 is suspended within the receiving cavity. The steering driver 300 is disposed on the fixing frame 100 and connected to the free end of the piezoelectric bending type driver 200, for converting the displacement generated by the piezoelectric bending type driver 200 into a force parallel to the stimulation direction. In one possible implementation, the guide wire 400 in the present application is a carbon fiber guide wire 400. The guide wire 400 includes a first end fixed to the steering driver 300 and a second end extending through the fixation frame 100 and out of the fixation frame 100 in the stimulation direction.
in the implementation process, the piezoelectric bending actuator 200 is used as a vibration driving source, and the free end of the piezoelectric bending actuator 200 can be bent to generate displacement, wherein the amplitude and the direction of the displacement have a function relation with the applied bias voltage. The pneumatic stimulation mode is influenced by the gas compression coefficient, and the range of the vibration frequency is narrow. The vibration of the piezo bending actuator 200 depends on the applied voltage control signal, and the frequency of the control signal has a wide range, so that the piezo bending actuator can provide a vibration frequency with a wide range, and further provide a higher frequency stimulation frequency. Meanwhile, the guide wire 400 is adopted for stimulation in the application, compared with a stimulation mode of airflow impact, the guide wire 400 is small in cross section area, the number of stimulation points which can be implemented in unit area is more, the stimulation resolution ratio is higher, and the contact area of the guide wire 400 and the skin is stable, so that the positioning precision is higher.
the stimulation direction described herein is the direction in which the guidewire 400 is perpendicular to the skin when the guidewire 400 applies stimulation to the skin. In the structural diagram of the tactile stimulation module shown in fig. 1, the stimulation direction is parallel to the axial direction of the guide wire 400.
Fig. 2 is a schematic structural diagram of another tactile stimulation module according to an embodiment of the present application. As shown in fig. 2, the number of piezoelectric bending actuators 200 is plural. The piezoelectric bending drivers 200 are suspended in the accommodating cavity and arranged at preset intervals along the stimulation direction, and the preset distance is larger than the displacement amplitude of the piezoelectric bending drivers 200. The heights of the lowest points of the free ends of the plurality of piezoelectric bending actuators 200 are sequentially lowered. The free end of each piezo flexure actuator 200 is connected to a steering actuator 300 and a guide wire 400.
in the implementation process, a plurality of piezoelectric bending drivers 200 are arranged in one fixing frame 100, and each driver can drive one guide wire 400 to stimulate, that is, a plurality of guide wires 400 can be arranged in one touch stimulation module, compared with the structure that one guide wire 400 is arranged in one touch stimulation module, the arrangement density of the guide wires 400 in a unit area can be further improved by the plurality of guide wires 400, so that the number of stimulation points which can be implemented in the unit area is larger, and the stimulation resolution is further improved.
In one possible implementation, a plurality of piezoelectric bending type drivers 200 are arranged at equal intervals along the stimulation direction. The height difference of the lowest points of the free ends of the plurality of piezoelectric bending actuators 200 is equal.
in the implementation process, the piezoelectric bending drivers 200 are arranged at equal intervals along the stimulation direction, and in order to enable the guide wire 400 to act on the same stimulation surface, the length difference of the guide wire 400 is only required to be the interval between the adjacent piezoelectric bending drivers 200 in the stimulation direction. Meanwhile, the height difference between the lowest points of the free ends of the piezoelectric bending actuators 200 is equal, and the distance difference in the height direction between the guide wires 400 is equal. Above-mentioned structure can make the seal wire 400 of tactile stimulation module arrange neatly along vertical direction, and when a plurality of tactile stimulation modules used side by side along the straight line, the seal wire of a plurality of tactile stimulation modules can constitute the matrix and arrange for amazing more evenly.
In the present application, the piezoelectric bending actuator 200 will be described by taking a piezoelectric bimorph as an example. The substrate of the piezoelectric bimorph is made of glass fiber or carbon fiber.
in one possible embodiment, referring to fig. 3, fig. 3 is a perspective view of the tactile stimulation module shown in fig. 2, and the fixture 100 includes a first horizontal bracket 110, a second horizontal bracket 120, a first vertical bracket 130, and a second vertical bracket 140. The first horizontal bracket 110, the first vertical bracket 130, the second horizontal bracket 120 and the second vertical bracket 140 are connected end to end in sequence to form a square frame. The first horizontal bracket 110 is provided with a mounting hole for fixing the piezo bending actuator 200. The first vertical bracket 130 is provided with a through hole for the guide wire 400 to pass through.
further, the fixing frame 100 is further provided with a catheter 150 for supporting the guide wire 400 and a fixing strip 160 for fixing the catheter, and the fixing strip 160 is fixed on the outer side surface of the first vertical bracket 130.
Fig. 4 is a schematic structural diagram of a steering actuator according to an embodiment of the present application. Referring to fig. 4, the steering driver 300 includes a guide shaft 310, a slider 320, and a swing handle 330. The guide shaft 310 is disposed on the first vertical support 130 with its axis parallel to the stimulation direction. The slider 320 is fitted over the guide shaft 310 and can slide back and forth in the stimulation direction. The number of the guide shafts can be one or two. When two guide shafts are adopted, the upper part and the lower part of the sliding block are respectively penetrated on one guide shaft, so that the installation of the sliding block is more stable, the axes of the two guide shafts are on the same vertical plane, and the axes of the sliding block are vertical to the stimulation direction, thereby ensuring that the sliding block can smoothly move along the stimulation direction. The guide wire 400 is mounted on the slider 320. The swing handle 330 includes a first connection part 331, a bending part 332, and a second connection part 333, which are connected in sequence. The first connection portion 331 is connected to the piezo bending type actuator 200, and the bending portion 332 includes a vertical portion perpendicular to the stimulation direction and a horizontal portion parallel to the stimulation direction. The second connecting portion 333 is connected to the slider 320.
In the implementation, after the piezoelectric bending type driver 200 is powered on, the free end of the piezoelectric bending type driver vibrates. The swing handle 330 converts the vibration of the free end of the piezo bending type driver 200 into the reciprocating motion of the second connection part 333 in the stimulation direction. Since the slider 320 is connected to the second connecting portion 333, the slider 320 reciprocates on the guide shaft 310 in the stimulation direction, and the guide wire 400 mounted on the slider 320 reciprocates in the stimulation direction following the slider 320.
In one possible implementation, the first connection portion 331 is provided with a first U-shaped groove 3310, and the free end of the piezoelectric bimorph is disposed in the first U-shaped groove 3310. The free end of the piezoelectric bimorph can be adhered to the first U-shaped groove 3310, or the free end of the piezoelectric bimorph can be clamped in the first U-shaped groove 3310. The connection mode of the free end of the piezoelectric bimorph and the first connection portion 331 is not limited in the present application, and any mode or structure that can connect the free end of the piezoelectric bimorph and the first connection portion 331 falls within the protection scope of the present application.
In the above implementation process, since the piezoelectric bimorph is a sheet structure, the first U-shaped groove 3310 is disposed on the first connecting portion 331, the free end of the piezoelectric bimorph can be directly inserted into the first U-shaped groove 3310, the space reserved in the first U-shaped groove 3310 is convenient for placing the fixing glue or other adhesive, when the width of the gap in the U-shaped groove is slightly smaller than the thickness of the free end of the piezoelectric bimorph, the piezoelectric bimorph can be directly clamped in the gap of the first U-shaped groove 3310, and thus the piezoelectric bimorph can be conveniently mounted and fixed by the arrangement of the first U-shaped groove 3310.
in one possible implementation, the slider 320 is provided with a rotating shaft 321. The second connecting portion 333 has a second U-shaped groove, the depth of the notch of the second U-shaped groove is greater than the radius of the rotating shaft 321, and the rotating shaft 321 is embedded in the notch of the second U-shaped groove. The shaft 321 is rotatably connected to the second connecting portion 333, and the axis of the shaft 321 is perpendicular to the stimulation direction in the horizontal plane.
In the above implementation process, the rotating shaft 321 can convert the force applied by the second connecting portion 333 to the slider 320 without along the axis of the guide shaft 310 into the relative rotation between the second connecting portion 333 and the slider 320, so that the slider 320 only receives the force of the second connecting portion 333 along the axis of the guide shaft 310.
in one possible implementation, the guide shaft 310 is connected to the first vertical support 130 by bonding. The structure of the guide shaft 310 may be a teflon rod, or the structure of the guide shaft 310 includes a carbon fiber rod and a teflon sleeve sleeved on the carbon fiber rod.
It should be noted that, the bonding of the guide shaft 310 and the first vertical bracket 130 is only an example, and the connection manner of the guide shaft 310 and the first vertical bracket 130 is not particularly limited in the present application, and any connection manner, such as a bolt connection, that can fix the guide shaft 310 on the first vertical bracket 130 falls within the protection scope of the present application.
Further, the tactile stimulation module further comprises a guide wire quick release structure 500. Fig. 5 is a schematic structural diagram illustrating a guide wire quick release structure disposed on a slider according to an embodiment of the present application. Fig. 6 is a cross-sectional view of the guide wire quick release structure shown in fig. 5. Referring to fig. 5 and 6, the guide wire quick release structure includes a first clamping groove 510, a first guide wire tailstock 520 and a first positioning block 530.
The first card slot 510 is disposed on the slider 320. The first guide wire tailstock 520 includes a first base 521 embedded in the slot and two blocks 522 extending out of the first slot 510, and the first base 521 is provided with an embedding hole 523 for inserting the guide wire 400. The two blocks 522 are respectively arranged at two sides of the embedding hole 523, and the gap between the two blocks 522 is larger than or equal to the diameter of the guide wire 400. The first positioning block 530 is used for engaging with the first card slot 510. The first positioning block 530 is provided with a kidney-shaped hole slot.
In the implementation process, when the guide wire 400 needs to be locked, the first positioning block 530 is embedded into the first clamping groove 510, and when the first positioning block 530 is clamped with the first clamping groove 510, the two clamping blocks 522 penetrate into the waist-shaped hole groove on the first positioning block 530, and the two clamping blocks 522 approach each other and clamp the guide wire 400 under the interference of the waist-shaped hole groove. When the guide wire 400 needs to be detached, the first positioning block 530 is taken out of the first clamping groove 510, the two clamping blocks 522 are no longer limited by the kidney-shaped hole groove to be close to each other, and the guide wire 400 can be pulled out of the gap between the two clamping blocks 522, so that the detachment and replacement of the guide wire 400 are realized.
FIG. 7 is a cross-sectional view of another embodiment of a quick release structure of the guide wire shown in FIG. 5. Referring to fig. 7, the guide wire quick release structure 500 includes a second locking groove 540, a second guide wire tailstock 550 and a second positioning block 560. The second card slot 540 is disposed on the slider 320. The second guide wire tailstock 550 includes a second base embedded in the second slot 540, and the second base is provided with an embedded hole for inserting the guide wire 400. The second positioning block 560 is used for engaging with the second engaging groove 540. The second positioning block 560 is provided with a kidney-shaped hole slot. The guide wire 400 is bonded in the embedding hole and penetrates out of the waist-shaped hole groove.
in the implementation process, the guide wire 400 and the second guide wire tailstock 550 are bonded into a whole, and when the guide wire 400 is installed, the second guide wire tailstock 550 is placed in the second clamping groove 540, and the second positioning block 560 is clamped in the second clamping groove 540, so that the guide wire 400 can be fixed. When the guide wire 400 needs to be detached, the second positioning block 560 is taken out from the second clamping groove 540, and the second guide wire tailstock 550 and the guide wire 400 are taken out together for replacement.
in both embodiments, the kidney-shaped slot may be a half-section kidney-shaped slot, as shown in fig. 7. By adopting the half-section waist-shaped hole, when the guide wire 400 is positioned, the first positioning block 530 or the second positioning block 560 does not need to be sleeved on the guide wire 400, and only the first clamping groove 510 or the second clamping groove 540 needs to be inserted at the side of the guide wire 400.
in the case where the number of the piezoelectric bending actuators 200 is plural, the present application will be described by taking the case where the number of the piezoelectric bending actuators 200 is 3, and fig. 8 is a schematic view showing the mounting of one of the piezoelectric bending actuators according to the embodiment of the present application. In this application, the accommodating cavity piezoelectric bending actuator 200 is fixed by the mounting plate 170. When the number of the piezoelectric bending actuators 200 is n, the number of the mounting plates is n-1, where n is a natural number greater than 1.
The mounting plate 170 is mounted on the second vertical bracket 140 and is disposed in parallel with the first horizontal bracket 110. The mounting plate 170 is provided with a mounting hole for fixing the piezo bending actuator 200. The mounting plates 170 are arranged in a vertical direction, and the length of the mounting plates 170 is sequentially reduced in a direction from the height of the second vertical supports 140 to the height. Here, the length of the mounting plate 170 refers to a length of the mounting plate 170 extending in the stimulation direction.
In the implementation process, the length of the mounting plate 170 is sequentially shortened, and the position of the mounting hole for mounting the piezoelectric bending actuator 200 is gradually close to the second vertical bracket 140 in the direction from the high to the low of the second vertical bracket 140, so that the piezoelectric bending actuator 200 can be arranged in a staggered manner, and the mounting space is saved.
In one possible implementation, a first inverted trapezoid cover 180 and a second inverted trapezoid cover 190 are further disposed on both sides of the mounting plate 170. The first inverted trapezoid cover 180 and the second inverted trapezoid cover 190 may be fixed on the fixing frame 100 or may be integrally formed with the fixing frame 100.
in the above implementation process, the first inverted trapezoid cover 180 and the second inverted trapezoid cover 190 can fix the two side plates of each mounting plate 170, and since the free end of the piezoelectric bending driver 200 can vibrate, reinforcing the two sides of the mounting plate 170 can ensure that the mounting plate 170 does not vibrate along with the vibration of the piezoelectric bending driver 200, thereby ensuring the stability of the vibration of the piezoelectric bending driver 200. In addition, the first inverted trapezoid cover 180 and the second inverted trapezoid cover 190 can better fit a plurality of tactile stimulation modules when the tactile stimulation modules are arranged, and meanwhile, the first inverted trapezoid cover 180 and the second inverted trapezoid cover 190 can be provided with sliding connection grooves for assembling or disassembling adjacent tactile stimulation modules.
in another aspect, the present application also provides a multichannel tactile stimulation apparatus. Fig. 9 is a schematic structural diagram of a multi-channel tactile stimulation apparatus according to an embodiment of the present application. Referring to fig. 9, the multi-channel tactile stimulation apparatus includes a plurality of tactile stimulation blocks 10 as described above and a connection structure connecting the plurality of tactile stimulation blocks 10.
the guide wires 400 of the plurality of tactile stimulation modules face the same stimulation direction and the anchors of the plurality of tactile stimulation modules are arranged in a straight line. Each holder 100 includes a first side and a second side that contact adjacent holders 100. When the tactile stimulation module adopts the structure of the first inverted trapezoidal cover and the second inverted trapezoidal cover, the side plane of the first inverted trapezoidal cover is the first side, and the side plane of the second inverted trapezoidal cover is the second side.
The coupling structure includes a rail 600 provided at a first side of each holder 100 and a rail groove 700 provided at a second side of each holder 100, see fig. 3.
It should be noted that, the application of the connection structure using the guide rail groove and the guide rail matching with the guide rail groove is only an example, the application does not specifically limit the connection structure for connecting the tactile stimulation module, and all the connection structures capable of realizing detachable connection of the tactile stimulation module fall within the protection scope of the application.
When the guide wires 400 of each tactile stimulation module are multiple, the guide wires 400 on the multi-channel tactile stimulation apparatus are arranged in a matrix. The multi-channel tactile stimulation device can realize the stimulation of high-frequency tactile brain activity of 300 channels and above. In addition, the tactile stimulation modules of the multi-channel tactile stimulation device can be freely combined according to the required channel number, so that the problems of insufficient channel number, low optional operation frequency, low resolution in the operation process and the like in the current tactile brain activity experiment can be solved.
in the application, the driving components in the tactile stimulation unit, such as the piezoelectric bimorph, and the output components, such as the steering driver 300 and the guide wire 400, have nuclear magnetic compatibility, and can be placed indoors, so that the loss of force and displacement on a transmission path can be reduced. Meanwhile, one piezoelectric bimorph can realize the normal work of one channel, each channel is small in size, more channels can be arranged in a relatively narrow nuclear magnetic chamber, and stimulation at more positions is realized. Meanwhile, the vibration frequency output by the piezoelectric bimorph is strictly equal to the frequency of the input control square wave, so that the frequency of the stable operation of the driving part of the equipment can reach 300Hz at most.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A tactile stimulation module, comprising:
The fixing frame comprises an accommodating cavity;
The piezoelectric bending driver is suspended in the accommodating cavity;
The steering driver is arranged on the fixed frame, connected with the free end of the piezoelectric bending driver and used for converting the displacement generated by the piezoelectric bending driver into a force parallel to the stimulation direction;
the guide wire comprises a first end and a second end, the first end is fixed on the steering driver, and the second end penetrates through the fixing frame and extends out of the fixing frame along the stimulation direction.
2. A tactile stimulation module according to claim 1, wherein the number of piezoelectric bending actuators is plural;
The piezoelectric bending drivers are suspended in the accommodating cavity and are arranged at intervals of a preset distance along the stimulation direction, and the preset distance is larger than the displacement amplitude of the piezoelectric bending drivers;
The heights of the lowest points of the free ends of the piezoelectric bending actuators are sequentially reduced;
The free end of each piezoelectric bending type driver is connected with one steering driver and one guide wire.
3. A haptic stimulation module as recited in claim 2 wherein a plurality of said piezo flexure type drivers are equally spaced along the stimulation direction:
the height difference of the lowest points of the free ends of the piezoelectric bending actuators is equal.
4. A tactile stimulation module according to any of claims 1 to 3, characterized in that the holder comprises a first horizontal support, a second horizontal support, a first vertical support and a second vertical support;
The first horizontal bracket, the first vertical bracket, the second horizontal bracket and the second vertical bracket are sequentially connected end to form a square frame;
And a through hole for the guide wire to pass through is formed in the first vertical support.
5. a tactile stimulation module according to claim 4, characterized in that the steering driver comprises:
the guide shaft is arranged on the first vertical bracket, and the axis of the guide shaft is parallel to the stimulation direction;
The sliding block is sleeved on the guide shaft and can slide in a reciprocating manner along the stimulation direction, and the guide wire is arranged on the sliding block;
The swing handle comprises a first connecting part, a bending part and a second connecting part which are sequentially connected; the first connecting part is connected with the piezoelectric bending driver; the bending part comprises a vertical part perpendicular to the stimulation direction and a horizontal part parallel to the stimulation direction; the second connecting part is connected with the sliding block.
6. a tactile stimulation module according to claim 5, characterized in that the steering driver further comprises:
the rotating shaft is arranged on the sliding block and is rotationally connected with the second connecting part, and the axis of the rotating shaft is vertical to the stimulation direction in a horizontal plane; the rotating shaft can convert the force which is applied to the sliding block by the second connecting part and does not follow the axis of the guide shaft into relative rotation between the second connecting part and the sliding block, so that the sliding block is only subjected to the force of the second connecting part along the axis of the guide shaft.
7. A tactile stimulation module according to claim 5, further comprising a guide wire quick release structure; the seal wire rapid disassembly structure includes:
the first clamping groove is arranged on the sliding block;
The first guide wire tailstock comprises a first base embedded in the clamping groove and two clamping blocks extending out of the first clamping groove, and the first base is provided with an embedding hole for inserting the guide wire; the two clamping blocks are respectively arranged on two sides of the embedding hole, and the gap between the two clamping blocks is larger than or equal to the diameter of the guide wire;
The first positioning block is used for being clamped with the first clamping groove; the first positioning block is provided with a waist-shaped hole groove, when the first positioning block is clamped with the first clamping groove, the two clamping blocks penetrate into the waist-shaped hole groove, and the two clamping blocks approach each other and clamp the guide wire under the interference limit of the waist-shaped hole groove;
Or, the guide wire quick detach structure includes:
The second clamping groove is arranged on the sliding block;
The second guide wire tailstock comprises a second base embedded in the second clamping groove, and an embedding hole for inserting the guide wire is formed in the second base;
The second positioning block is used for being clamped with the second clamping groove; a waist-shaped hole groove is formed in the second positioning block;
The guide wire is bonded in the embedding hole and penetrates out of the waist-shaped hole groove.
8. A multi-channel tactile stimulation apparatus, comprising a plurality of tactile stimulation modules according to any of claims 1-7 and a connection structure connecting the plurality of tactile stimulation modules.
9. The multi-channel tactile stimulation apparatus of claim 8,
The guide wires of the plurality of the tactile stimulation modules face the same stimulation direction, and the fixing pieces of the plurality of the tactile stimulation modules are arranged along a straight line;
each fixing frame comprises a first side surface and a second side surface which are contacted with the adjacent fixing frames;
The connection structure includes: a guide rail arranged on the first side surface of each fixed frame and a guide rail groove arranged on the second side surface of each fixed frame.
10. The multi-channel tactile stimulation apparatus according to claim 9, wherein when the guide wires of each tactile stimulation module are plural, the guide wires on the multi-channel tactile stimulation apparatus are arranged in a matrix.
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