Kunyura mumuviri wemunhu: Mota ye micro stepper inova sei moyo wemarobhoti asingapindi zvakanyanya mune zvokurapa?

Mumafirimu esainzi, tinowanzoona zviitiko apo marobhoti madiki anopinda mutsinga dzeropa dzevanhu kuti agadzirise maronda nemazvo. Mazuva ano, fungidziro iyi iri kuitika nekukurumidza. "Mwoyo" unoita kuti marobhoti aya asinganyanyi kupindira mumuviri kuti aite maoparesheni akaomarara ndiwo chaiwo marobhoti madiki.mota yekutsika, iyo iri diki pakukura asi ine simba guru.

Nekuwedzera kuri kuita huwandu hwevanhu vanokwegura uye kudiwa kuri kukura kwekuvhiyiwa kusinganyanyi kupindira mumuviri, musika wemarobhoti ekurapa uri kuwedzera neavhareji yegore negore inodarika 20%. Pasi pemaitiro aya, micromota dzestepper, nerubatsiro rwadzo rwekuiswa panzvimbo chaiyo, kudzorwa kwakasimba, uye saizi diki, zviri kuva sosi huru yesimba remarobhoti akasiyana-siyana ekurapa asinganyanyi kukuvadza. Chinyorwa chino chichaongorora kushandiswa kwakakura kwema micro stepper motors mumunda wekuvhiyiwa kwekurapa kusinganyanyi kukuvadza uye kuti iri kufambisa sei mushonga wakarurama kusvika padanho idzva.

一,Mota ye micro stepper: "moyo" wakakodzera wemarobhoti ekurapa

Kadikimota yekutsikai actuator inoshandura masaini emagetsi ekupomba kuita angular displacement. Kusiyana nemamota eDC echinyakare, inogona kuwana nzvimbo chaiyo pasi pe open-loop control. Nekupomba kwega kwega kwega, mota inotenderera angle yakatarwa (inozivikanwa se step angle). Hunhu uhwu hunoipa mabhenefiti akasiyana mukushandiswa kwekurapa kusingakuvadzi zvakanyanya:

1. Yakarurama uye inodzorwa

Kadiki kadikimota yekutsikainogona kusvika pakona ye1.8° kana kutoti diki. Pamwe chete netekinoroji yekutyaira kwe micro-stepping, kurongeka kwayo kwekuisa kunogona kusvika padanho re micrometer. Kune zvishandiso zvekuvhiya zvinoda kugadziriswa kwakanyatsojeka, kurongeka kwakadaro kwakakosha. Semuenzaniso, mukuvhiyiwa kwemaziso, injector inofambiswa nemota inofanira kufambira mberi ne micrometer-level chaiyo kudzivirira kukuvadza retina.

2. Dhizaini yeMiniaturization

Parizvino, mota dze micro stepper dzine dhayamita diki se1.9 millimeters uye dzine huremu husingasviki 1 gram dziripo pamusika. Hukuru uhwu hudiki kwazvo hunovabvumira kuti vabatanidzwe zviri nyore munzvimbo dzakamanikana dzakadai se endoscopes, catheters, surgical forceps, nezvimwewo, zvichigonesa kushanda "mukati memuviri wemunhu".

3. Kuwanda kwe torque

Pasinei nehukuru hwazvo hudiki, zvinhu zvemagineti zvemhando yepamusoro uye magadzirirwo emagetsi zvinogonesa mamota madiki ekudzika stepper kuti abudise torque yakakwana yekufambisa zvishandiso zvekuvhiya. Semuenzaniso, mota ine dhayamita ye4 millimeters inogona kugadzira torque inobatirira inodarika 0.5 mN·m, iyo yakakwana kufambisa michina midiki yekucheka kana yekubata.

4. Kuenderana kwezvinhu zvipenyu uye kuvimbika

Micro-grade yekurapamota dzestepperKazhinji dzine mabhokisi esimbi isina ngura uye machira akakosha, zvichiita kuti zvive nyore kushandisa uye kuti dzisapararire ngura mumuviri wemunhu. Pamusoro pezvo, chimiro chadzo chisina mabhurashi chinoderedza kukweshana uye kupisa, zvichiita kuti dzishande zvakanaka kwenguva refu mumuviri.

二,Mashandisirwo matatu makuru: kubva pakuongororwa kusvika pakurapwa

1. Robhoti rinoshandisa tsinga dzeropa: "mutyairi wengoro" wekufamba nemazvo

Mukurapa zvirwere zvemwoyo netsinga dzeropa, kuvhiyiwa kwepakati inzira yakajairika. Mukuvhiyiwa kwechinyakare, vanachiremba vanofanirwa kusunda waya dzekufambisa necatheter nemaoko vachitungamirirwa neX-ray, izvo zvinonetsa uye zvinokonzera njodzi yemwaranzi.

Marobhoti ekudzivirira tsinga dzeropa anofambiswa nemamota madiki ari kuchinja mamiriro ezvinhu aya. Kumucheto werobhoti, marobhoti akawandamota dzesteppervanoshanda pamwe chete kuti vanyatso dzora kufambira mberi, kutenderera, uye kona yekukombama kwewaya yekufambisa. Pamwe chete neAI visual navigation, mota idzi dzinogona kugadzirisa nzira yekuenda mberi zvichibva padata re angiography, dzichipfuura nepakati petsinga dzeropa dzakakombama nemazvo e 0.1 millimeters kuti dzisvike panzvimbo yakakuvara. Izvi hazvingoderedzi chete kuoma kwekuvhiyiwa asiwo zvinoderedza kuratidzwa kwemwaranzi kune varwere pamwe navanachiremba.

2. Robhoti rekuvhiya reEndoscopic: "ruoko rwerobhoti" runochinjika

Kuvhiyiwa kwechisikigo kwe orifice transluminal endoscopic (NOTES) inzira yepamusoro-soro yekuvhiyiwa kusinganyanyi kupindira mumuviri. Vanachiremba vanoisa endoscopes kuburikidza ne orifices dzechisikigo dzakadai semuromo netsvina kuti vaite maoparesheni akadai sekubvisa gallbladder uye appendectomy.

Chinokosha pakuvhiyiwa kwerudzi urwu chiri muchikamu chepamberi che endoscope, icho chinofanira kunge chine rusununguko rwakakura rwekukombama uye kugona kuchigadzirisa nemazvo.Mota dzema "micro stepper"pano pane basa guru: ma micro motors akawanda anodzora kukotama kwe lenzi kumusoro-pasi, kuruboshwe-kurudyi, pamwe nekuvhurwa nekuvhara, uye kutenderera kwe forceps dzekuvhiya. Nekuda kwehunhu hwe stepper hwema motors, vanachiremba vanogona kudzora amplitude yechinhu chimwe nechimwe, zvichiita kuti tishu dziparadzaniswe nemazvo uye dzisungwe. Parizvino, ma motors ane dhayamita ye 3-5 mm chete anogona kutobatanidzwa muma end-effectors, zvichibvumira endoscopes kuita mabasa akaomarara munzvimbo dzakamanikana.

3. Sisitimu yekuendesa mishonga yakanangana: "vharuvhu" yekuburitsa mishonga chaiyo

Mukurapa bundu, kuendeswa kwemishonga zvakanangana kwakakosha mukuderedza migumisiro yakaipa. Vaongorori vari kugadzira michina yekuisa mishonga inoiswa mumatumbu inofambiswa nemamota madiki. Midziyo iyi inosanganisira nzvimbo yekuisa mishonga nepombi diki, iyo inodzora kuvhurwa nekuvharwa kwemavharuvhu madiki kuburikidza nemota kuti ibudise mishonga nenguva uye nehuwandu. 

Semuenzaniso, kune varwere vegomarara vanoda kurapwa kwenguva refu nechemotherapy, sisitimu yekuendesa mishonga inofambiswa nemota inogona kuburitsa mishonga otomatiki zvichienderana nemapurogiramu akarongwa kana zviratidzo zvemuviri panguva chaiyo (senge shanduko muglucose yeropa nepH), nokudaro ichidzivirira kurwadziwa kwekubaiwa jekiseni kakawanda. Hunhu hwematanho emota ye micro stepper hunovimbisa mwero wepamusoro wekuenderana kwedosi rega rega rinoburitswa, nekukanganisa kunogona kudzorwa mukati me5%.

二,Matambudziko ehunyanzvi uye kubudirira

Pasinei nekukwanisa kukuru kwe micro-mota dzestepperMukurapa kusingapindi mishonga yakawanda, matambudziko akawanda ehunyanzvi achiri kuda kugadziriswa kuitira kuti pave nekushandiswa kukuru kwemishonga iyi:

1. Kuenzana pakati pekuita kuti zvinhu zvisanyanya kuomarara uye kuwanda kwesimba

Sezvo saizi yemamota ichiderera, matambudziko ekupisa anova pachena. Parizvino, vaongorori vari kutsvaga zvinhu zvitsva zvemagineti (zvakadai se neodymium iron boron) uye magadzirirwo ekufambisa anoshanda zvakanaka kuti vawedzere kushanda zvakanaka kwemagetsi mukati mehuwandu hushoma, uku vachibudirira nekukurumidza kupisa kuburikidza nekugadzirisa zvinhu zvemumba nezvivakwa. 

2. Dhizaini isina utachiona uye yakavharwa

Mota dzinopinda mumuviri wemunhu dzinofanira kunge dzakavharirwa zvakakwana kudzivirira mvura yemuviri kuti isapinde uye kukonzera mapfupi kana hutachiona. Kufambira mberi mukushandiswa kwe laser welding uye tekinoroji yekugadzira majekiseni ekugadzirisa majekiseni kwakabvumira mabhokisi emota ane dhayamita yemamiriyoni mashoma kuti awane dziviriro yeIP68, achitsungirira kupisa kwakanyanya uye kupiswa kwakanyanya.

3. Kuenderana kwemagineti

Mamwe maoparesheni anofanira kuitwa achitungamirirwa neMRI, achida mamota asina zvinhu zveferromagnetic uye asingaburitse kupindirana kwemagetsi. Mamota eUltrasonic uye asina magineti akagadzirwa zvakananga.mota dzestepperdziri kubuda semhinduro, sezvo dzichiri kukwanisa kushanda zvakajairika musimba remagineti rakasimba. 

二,Maonero Eramangwana: Kuvhiyiwa Kwemhando Yepamusoro uye Kuvhiyiwa Kure

Tichitarisa mberi kusvika mugore ra2030, nekuvandudzwa kwehungwaru hwekugadzira uye tekinoroji ye5G, mota dze micro stepper dzichasimudzira marobhoti ekurapa asinganyanyi kukuvadza zvakanyanya padanho repamusoro:

Kunzwisisa kwakangwara uye kudzora mafambiro: Mota yakangwara yakabatana nema microsensors inogona kuona kuomarara kwenyama uye kuchinja kwekufamba kweropa, kugadzirisa otomatiki simba rekushanda, uye kudzivirira kukuvadza nyama dzakajairika.

Kukurumbira kwekuvhiyiwa kuri kure: Micro-yakanyatsogadzirwamota dzestepper, pamwe chete nema network ekukurukurirana asina nguva yakawanda, zvinoita kuti nyanzvi dzikwanise kuita kuvhiya kusingakuvadzi varwere vari munzvimbo dziri kure, kunyangwe vari mumakiromita zviuru.

Kushanda pamwe chete kweboka: Mune ramangwana, panogona kunge paine boka re "marobhoti ecapsule" anofambiswa nema micro stepper motors akawanda, ayo anopinda mumuviri nenzira yakarongeka kuti aite mabasa akadai sekutsvaga, kutora sampuro, uye kutumira mishonga.

五、Mhedziso

Kubva kuzvinhu zvemaindasitiri zvaimboshandiswa mumaprinta nemidziyo yekuzvishandira kusvika ku "mwoyo" uyo zvino unopinda mumuviri wemunhu kuponesa hupenyu, ma micro stepper motors ari kunyora chitsauko chitsva mumunda wemishonga isingapindi zvakanyanya. Nekufamba kwakanyatsojeka kwe micrometer, vanopa vanachiremba simba rekushanda rinopfuura maoko evanhu, zvichiita kuti kuvhiyiwa kuve kwakachengeteka, kusanyanya kushungurudza, uye nekukurumidza kupora. Nekufambira mberi kwetekinoroji, tine chikonzero chekutenda kuti ma micro stepper motors achava simba guru rekufambisa mushonga wakarurama mune ramangwana.