WO2017173697A1

WO2017173697A1 - Control method for conductive sponge-based robot fingers

Info

Publication number: WO2017173697A1
Application number: PCT/CN2016/081254
Authority: WO
Inventors: 张贯京
Original assignee: 深圳市兼明科技有限公司
Priority date: 2016-04-09
Filing date: 2016-05-06
Publication date: 2017-10-12
Also published as: CN105708551A

Abstract

A control method for conductive sponge-based robot fingers, the conductive sponge (1)-based robot fingers comprise a finger skeleton (4), a conductive sponge (1), a silica gel sleeve (2), a first resistance measurement electrode (3), a second resistance measurement electrode (10), a first electric wire (8), a second electric wire (9), a first gear (5), a micro motor (6), a support block (7) and a controller (11). When the silica gel sleeve (2) is in contact with the skin of a subject, the first resistance measurement electrode (3) and the second resistance measurement electrode (10) respectively detect a first and a second resistance values at both ends of the conductive sponge (1), and transmit a first and a second current values corresponding to the first and the second resistance values to the controller (11) through the first electric wire (8) and the second electric wire (9); the controller (11) controls the micro motor (6) to increase or decrease the turning angle according to the magnitude of the first and the second current values so as to increase or decrease the rotational amplitude of the finger skeleton (4). The method solves the problem of the turning angle insensitiveness, thereby improving patients' comfort degree and safety.

Description

Control method of robot finger based on conductive sponge

Technical field

[0001] The present invention relates to the field of medical device technology, and in particular, to a method for controlling a robot finger based on a conductive sponge.

Background technique

[0002] In modern society, robots are more and more widely used in surgery, with high surgical accuracy and reliability, and can overcome the factors such as hand tremor or body fatigue during the surgery. . Currently, robotic fingers are one of the important components of surgical robots. However, the gripping force of the finger of the existing surgical robot is relatively small, and the mobility of the end of the finger is small, so that the surgery has a great influence.

[0003] Based on this, it is necessary to design a control method of a robot finger based on a conductive sponge, flexibly control the rotation angle of the robot finger, improve the finger grip force of the robot finger in contact with the patient's skin, and improve patient comfort and safety. Sex.

technical problem

[0004] A main object of the present invention is to provide a control method of a robot finger based on a conductive sponge, which aims to solve the problem that the corner of the robot finger is insensitive, and the finger grip of the patient's skin is too large or too small.

Problem solution

Technical solution

[0005] In order to achieve the above object, the present invention provides a method for controlling a robot finger based on a conductive sponge, wherein the conductive sponge-based robot finger includes a finger skeleton and a conductive sponge disposed on the robot finger. a silicone sleeve, a first resistance electrode, a second resistance electrode, a first wire, a second wire, a micro motor, and a controller, and the control method of the conductive sponge-based robot finger includes the steps of:

[0006] When the silicone sleeve is in contact with the skin of the subject, the first resistance electrode detects a first resistance value of one end of the conductive sponge, and the first resistance value corresponds to the first Current value through the first electricity Transmission to the controller;

[0007] The second resistance electrode detects a second resistance value of the other end of the conductive sponge, and transmits a second current value corresponding to the second resistance value to the controller through the second wire;

[0008] the controller receives the first current value and the second current value, and determines whether the first current value and the second current value both reach a preset current threshold;

[0009] when neither the first current value nor the second current value reaches a preset current threshold 吋, the controller controls the micro motor to increase the rotation angle to increase the rotation radius of the finger skeleton;

[0010] When both the first current value and the second current value reach a preset current threshold 吋, the controller controls the micro motor to attenuate the rotation angle to reduce the rotation radius of the finger skeleton.

[0011] Preferably, the first resistance electrode and the second resistance electrode are respectively disposed at two ends of the conductive sponge.

[0012] Preferably, one end of the first electric wire is electrically connected to the first resistance measuring electrode, and the other end of the first electric wire is electrically connected to the controller.

[0013] Preferably, one end of the second electric wire is electrically connected to the second resistance measuring electrode, and the other end of the second electric wire is electrically connected to the controller.

[0014] Preferably, the conductive sponge and the finger skeleton are respectively disposed at different positions inside the silicone sleeve.

[0015] Preferably, the conductive sponge-based robot finger further includes a first gear disposed at a bottom end of the finger skeleton.

[0016] Preferably, the micromotor is electrically connected to the controller, the micromotor includes a second gear, and the second gear is mechanically coupled to the first gear.

[0017] Preferably, the first gear matches the size of the second gear.

[0018] Preferably, the conductive sponge-based robot finger further includes a support block disposed at a lower portion of the micro motor for fixing the micro motor, and the micro motor is fixed by bolt fixing or bearing The method is fixed on the support block.

[0019] Preferably, the conductive sponge-based robot finger further includes a battery that is configured to provide energy for the robot finger to work.

Advantageous effects of the invention

Beneficial effect [0020] Compared with the prior art, the method for controlling a robotic finger based on a conductive sponge provided by the present invention can solve the problem that the corner of the robot finger is insensitive, and the finger holding force of the contact with the patient's skin is too large or too small. Thereby improving patient comfort and safety.

Brief description of the drawing

DRAWINGS

1 is a schematic plan view showing a preferred embodiment of a robotic finger based on a conductive sponge according to the present invention;

2 is a flow chart of a preferred embodiment of a control method of a robotic finger based on a conductive sponge according to the present invention.

[0023] The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION

The specific embodiments, structures, features and utilities of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1, FIG. 1 is a schematic structural view of a preferred embodiment of a robotic finger based on a conductive sponge according to the present invention.

[0026] In this embodiment, the conductive sponge-based robot finger includes a finger skeleton 4 disposed on the robot finger, a conductive sponge 1, a silicone sleeve 2, a first resistance electrode 3, and a second resistance electrode 10, a first electric wire 8, a second electric wire 9, a first gear 5, a micro motor 6, a support block 7, and a controller 11, wherein:

[0027] The first resistance electrode 3 and the second resistance electrode 10 are respectively disposed at two ends of the conductive sponge 1;

[0028] One end of the first electric wire 8 is electrically connected to the first resistance measuring electrode 3, and the other end of the first electric wire 8 is electrically connected to the controller 11;

[0029] One end of the second electric wire 9 is electrically connected to the second resistance measuring electrode 10, and the other end of the second electric wire 9 is electrically connected to the controller 11;

[0030] the conductive sponge 1 and the finger skeleton 4 are disposed inside the silicone sleeve 2;

[0031] the first gear 5 is disposed at a bottom end of the finger skeleton 4;

[0032] the micro motor 6 is electrically connected to the controller 11, the micro motor 6 includes a second gear 61, and the second gear 61 is mechanically coupled to the first gear 5; [0033] The support block 7 is disposed at a lower portion of the micro motor 6 for fixing the micro motor 6.

[0034] In the embodiment, the conductive sponge-based robot finger comprises a conductive sponge 1, a finger skeleton 4 and a controller 11; the outer surfaces of the conductive sponge 1 and the finger skeleton 4 are each provided with a silicone sleeve 2, and the silicone sleeve 2 is A unified one, the conductive sponge 1 and the finger skeleton 4 are respectively disposed at different positions inside the silicone sleeve 2. Further, the inside of the silicone sleeve 2 is further provided with a battery 12 which is disposed at a different position from the conductive sponge 1 and the finger skeleton 4, and the battery 12 supplies electric power for the operation of the robot finger. The silicone sleeve 2 is made of rubber and has elasticity to protect the robot fingers and prevent the robot fingers from accidentally falling or wearing.

[0035] In the embodiment, the conductive sponge 1 is produced by the polymer composite foaming technology, so that the foamed pores of the conductive sponge 1 are uniform, and the foamed pores of the conductive sponge 1 are relatively soft and have strong elasticity. Also has no desquamation. The uniform distribution of the conductive sponge 1 protects the robot fingers and is corrosion resistant, making it an ideal dielectric material for long-term storage devices. The same conductive sponge 1 has a long effective period of conduction, and the conductive sponge 1 is not affected by temperature and humidity, and the surface resistance value can be customized according to actual use. In the present embodiment, the surface resistance of the conductive sponge 1 is set in the range of 103 Ω to 5 Ω, which avoids the problem that the finger grip of the robot finger is in contact with the patient's skin, which is too large or too small, to meet the safety of human skin.

[0036] In the present embodiment, the bottom end of the finger skeleton 4 is provided with a first gear 5, the micro motor 6 includes a second gear 61, and the second gear 61 is mechanically coupled to the first gear 5; The two gears 61 are matched to the size of the first gear 5. The support block 7 is disposed at a lower portion of the micro motor 6 for fixing the micro motor 6, and the micro motor 6 is fixed to the support block 7 by mechanical fixing such as bolt fixing or bearing fixing.

[0037] In this embodiment, the robot finger further includes a first resistance electrode 3 and a second resistance electrode 10, a first wire 8 and a second wire 9, a first gear 5, a micro motor 6, Support block 7. The micromotor 6 is electrically connected to the controller 11, so that the conductive sponge 1 and the finger skeleton 4 can be connected by the controller 11, and when the robot finger is used, the silicone rubber sleeve 2 is first disposed at the outermost layer. The skin of the patient is in contact with each other, and since the conductive sponge 1 is disposed inside the silicone sleeve 2, deformation of the conductive sponge 1 is caused; the first resistance electrode 3 and the second resistance electrode 10 are respectively disposed at both ends of the conductive sponge 1 One end of the first electric wire 8 is electrically connected to the first resistance measuring electrode ₃ , and the other end of the first electric wire 8 is electrically connected to the controller 11; one end of the second electric wire 9 and the second measuring resistor Electrode 10 is electrically connected, the second wire The other end of 9 is electrically connected to the controller 11; therefore, the controller 11 can obtain the resistance value after the deformation of the conductive sponge 1 to obtain the magnitude of the force of contact of the robot finger with the skin of the patient, and then the controller 11 controls the micro motor. 6 Increase or decrease the corner. When the magnitude of the force of the robot finger contacting the skin of the patient exceeds the current threshold, the first measuring resistor electrode 3 and the second measuring resistor electrode 10 are respectively disposed at both ends of the conductive sponge 1 to obtain a smaller resistance value, and the first wire 8 is passed through the first wire 8 The current transmitted to the controller 11 with the second electric wire 9 becomes smaller, the controller 11 controls the micro motor 6 to perform the reduction of the corner; and the second gear 61 on the micro motor 6 and the first gear 5 provided at the bottom end of the finger bobbin 4 The size is matched, therefore, the amplitude of the rotation of the finger skeleton 4 is also reduced, and the robot finger weakens the contact force with the patient's skin; when the robot finger contacts the patient's skin, the magnitude of the force is lower than the current threshold. The first resistance electrode 3 and the second resistance electrode 10 provided at both ends of the conductive sponge 1 obtain a large resistance value, and the current transmitted to the controller 11 through the first wire 8 and the second wire 9 also increases, and control The controller 11 controls the rotation angle of the micromotor 6 to increase; and the second gear 61 on the micromotor 6 matches the size of the first gear 5 provided at the bottom end of the finger skeleton 4, thereby also driving The amplitude of the rotation of the finger skeleton 4 also becomes large, and the robot finger enhances the force of contact with the skin of the patient. Finally, the flexible control of the corner angle of the robot finger is achieved, and the finger grip force of the robot finger in contact with the patient's skin is improved, and the patient's comfort and safety are improved.

[0038] Since the silicone sleeve 2 in the robot finger is in contact with the skin of the subject, the conductive sponge 1 disposed inside the silicone sleeve 2 is deformed to cause a change in the resistance value of the conductive sponge 1, and thus the present invention A control method of a robot finger based on a conductive sponge is provided, which can flexibly control the rotation angle of the robot finger, improve the finger grip force of the robot finger in contact with the patient's skin, and improve the comfort and safety of the patient.

As shown in FIG. 2, FIG. 2 is a flow chart of a preferred embodiment of a method for controlling a robotic finger based on a conductive sponge of the present invention. In this embodiment, the control method of the conductive sponge-based robot finger includes the steps

[0040] Step S10, when the silicone sleeve 2 is in contact with the skin of the subject, the first resistance electrode 3 detects a first resistance value of one end of the conductive sponge 1, and the first resistance value corresponds to the first A current value is transmitted to the controller 11 through the first wire 8.

[0041] Step S20, the second resistance electrode 10 detects a second resistance value of the other end of the conductive sponge 1 The second current value corresponding to the second resistance value is transmitted to the controller 11 through the second electric wire 9.

[0042] Step S30, the controller 11 receives the first current value and the second current value, and determines whether the first current value and the second current value both reach a preset current threshold; specifically, The controller 11 controls the micro motor 6 to increase or decrease the rotation angle according to the magnitudes of receiving the first current value and the second current value, and according to the magnitudes of the first current value and the second current value, to The effect of increasing or decreasing the rotation of the finger skeleton 4 is achieved.

[0043] Step S40: When the first current value and the second current value do not reach the preset current threshold 吋, the controller controls the micro motor to increase the rotation angle to increase the rotation range of the finger skeleton. Increasing the contact force with the patient's skin to achieve the effect of the robot finger being in contact with the patient's skin.

[0044] Step S50, when both the first current value and the second current value reach a preset current threshold 吋, the controller 11 controls the micro motor 6 to perform a weakening rotation angle, and the rotation of the finger skeleton 4 is reduced. The robot finger weakens the contact with the patient's skin, prevents scratches, or other injuries, and improves patient comfort and safety.

Industrial applicability

[0045] The control method of the robotic finger based on the conductive sponge provided by the present invention causes the conductive sponge to be deformed by the silicone sleeve in contact with the skin of the subject, and the resistance value of the conductive sponge changes; the first resistance electrode detects the conductive sponge. a first resistance value of one end, the first current is transmitted to the controller through the first wire; the second resistance electrode detects a second resistance value of the other end of the conductive sponge, and transmits the second current to the controller through the second wire; The controller receives the first current value and the second current value; when neither the first current value nor the second current value reaches a preset current threshold 吋, the controller controls the micro motor to increase the corner, the finger The amplitude of the rotation of the skeleton is increased; when both the first current value and the second current value reach a preset current threshold value, the controller controls the micro motor to attenuate the rotation angle, and the rotation radius of the finger skeleton decreases. The invention can solve the problem that the corner of the robot finger is insensitive, the finger holding force of the finger contact with the patient's skin is too large or too small, and the comfort and safety of the patient are improved.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent function changes made by the description of the present invention and the contents of the drawings, or directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

Claim

A method for controlling a robot finger based on a conductive sponge, wherein the conductive sponge-based robot finger comprises a finger skeleton disposed on the robot finger, a conductive sponge, a silicone sleeve, a first resistance electrode, and a second Measuring a resistance electrode, a first electric wire, a second electric wire, a micro motor, and a controller, wherein the control method of the conductive sponge-based robot finger comprises the steps of: when the silicone rubber sleeve is in contact with the skin of the subject, the a first resistance value of one end of the conductive sponge is detected, and a first current value corresponding to the first resistance value is transmitted to the controller through a first wire; the second resistance electrode is detected a second resistance value of the other end of the conductive sponge, and a second current value corresponding to the second resistance value is transmitted to the controller through the second wire; the controller receives the first current value and the first a current value, and determining whether the first current value and the second current value both reach a preset current threshold;

When the first current value and the second current value do not reach the preset current threshold 吋, the controller controls the micro motor to increase the rotation angle to increase the rotation radius of the finger skeleton; when the first current The value and the second current value both reach a preset current threshold 吋, and the controller controls the micro motor to attenuate the rotation angle to reduce the rotation of the finger skeleton.

The method of controlling a robotic finger based on a conductive sponge according to claim 1, wherein the first resistance electrode and the second resistance electrode are respectively disposed at both ends of the conductive sponge.

The control method of a conductive sponge-based robot finger according to claim 2, wherein one end of the first electric wire is electrically connected to the first resistance electrode, and the other end of the first electric wire is The controller is electrically connected.

The control method of a conductive sponge-based robot finger according to claim 3, wherein one end of the second electric wire is electrically connected to the second resistance measuring electrode, and the other end of the second electric wire is The controller is electrically connected.

The control method of a conductive sponge-based robot finger according to claim 1, wherein the conductive sponge and the finger skeleton are respectively disposed at different positions inside the silicone sleeve. [Claim 6] The control method of a conductive sponge-based robot finger according to any one of claims 1 to 5

The conductive sponge-based robot finger further includes a first gear disposed at a bottom end of the finger skeleton.

[Claim 7] The conductive sponge-based robot finger control method according to claim 6, wherein the micro motor is electrically connected to the controller, the micro motor includes a second gear, and the The two gears are mechanically coupled to the first gear.

[Claim 8] The method of controlling a conductive sponge-based robot finger according to claim 7, wherein the first gear matches the size of the second gear.

[Claim 9] The conductive sponge-based robot finger control method according to claim 1, wherein the conductive sponge-based robot finger further includes a support block disposed at a lower portion of the micro motor And for fixing the micro motor, the micro motor is fixed on the support block by bolt fixing or bearing fixing.

[Claim 10] The conductive sponge-based robot finger control method according to claim 1, wherein the conductive sponge-based robot finger further comprises a battery, and the battery is provided to provide energy for the robot finger work.