CN215730947U - I O flexible signal transmission signal cable of miniature surgical robot - Google Patents
I O flexible signal transmission signal cable of miniature surgical robot Download PDFInfo
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- CN215730947U CN215730947U CN202121683702.6U CN202121683702U CN215730947U CN 215730947 U CN215730947 U CN 215730947U CN 202121683702 U CN202121683702 U CN 202121683702U CN 215730947 U CN215730947 U CN 215730947U
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Abstract
A flexible signal transmission cable of miniature surgical robot I O signal which characterized in that: the cable core, the first band layer, the insulating middle band layer, the signal line layer, the second band layer, the third band layer, the weaving layer and the sheath are sequentially arranged from inside to outside, the cable core comprises a solid filling strip, 3 power core wires and fillers, the solid filling strip is used as a center to be twisted into a round shape, the signal line layer comprises 10 pairs of differential signal line pairs, and each pair of differential signal line pairs is formed by mutually twisting two differential signal lines. The advantages are that: the electromagnetic signal shielding efficiency is good; 2. the signal transmission can achieve the effect of high-speed transmission in the working state of ultra-long torsion and bending flexibility; 3. the oil-resistant and flame-retardant electromagnetic energy transmission cable has the advantages of super-strong wear resistance, oil resistance, hydrolysis resistance and flame retardance, and has the dual functions of electromagnetic energy power transmission and input and output signal transmission; 4. has the environmental application functions of biological toxicity resistance and chemical solvent corrosion resistance; 5. the elongation at break resistance and the shock resistance are excellent, and the high-frequency signal transmission is stable and reliable in movement.
Description
Technical Field
The utility model relates to a cable, in particular to a flexible signal transmission cable for signals of a miniature surgical robot I O.
Background
Along with the rapid development of high-end medical equipment manufactured intelligently, the attention of people on life health is increasing day by day. The critical intelligent operation and precise instruction become more and more important for precise medical instruments. Therefore, the transmission speed and control precision of the flexible transmission cable for the input and output signals of the medical instrument matched with the flexible transmission cable and the long-term electrical performance of the flexible transmission cable in a specific motion state are more strictly required. This requires the flexible transmission cable to achieve high stability, reliability, fidelity, multiple interference resistance of signal transmission, and long service life in dynamic state. The worldwide medical instrument market sales in 2024 is expected to reach 5945 billion dollars, with a 5.6% annual rate of return; the main industry development direction is shown as follows: a vascular interventional robot, a medical instrument, a biopharmaceutical, a medical imaging, a surgical robot, a brain robot, a cerebrovascular robot, an orthopedic robot, a dental robot, an ophthalmic robot; the medical grade performance of industrial products is required to reach the FDA/EU food grade medical level.
Flexible multi-core and twisted-pair signal transmission cables, which are currently mainly used in automation engineering, computers and electronic control equipment, have 4 types of main structures: the flexible multi-core single-shielding signal transmission cable comprises a flexible multi-core single-shielding signal transmission cable, a flexible multi-core double-shielding signal transmission cable, a flexible multi-core twisted-pair single-shielding signal transmission cable and a flexible multi-core twisted-pair double-shielding signal transmission cable; use flexible multicore pair twist type double-shielded signal transmission cable structure as an example, its conductor mainly is formed by the disposable bundle twist of the naked soft copper wire of stranded, and heart yearn insulating material is flexible PVC insulation heart yearn, carries out many pairs of twists after the heart yearn is accomplished to add soft cotton yarn transposition at the cabling in-process and form, shielding structure is mostly non-woven fabrics strippable band and tinned copper and weaves, the sheath adopts fire-retardant type flexible PVC sheath material.
The main disadvantages of the existing cable applied to the surgical robot for transmitting I/O signals are as follows:
1. the conductor material of the existing flexible I/O signal transmission cable is soft but lacks the overlength service performance of high torsion resistance and bending resistance in a long-term motion state, and can not withstand various medical chemical solvents and biological toxicity corrosion in the medical operation environment;
2. the existing I/O flexible signal transmission cable is only made of mixed flexible PVC (non-medical grade), is not suitable for medical instrument operation environment, and has 3D/2D torsion resistance and bending resistance which can not reach 500 million times;
3. the existing shielding material of the I/O flexible signal transmission cable is only formed by weaving strippable non-woven fabrics and tinned copper, has insufficient flexibility, and can generate non-intermittent angle dislocation, internal friction force and internal motion stress due to the same metal conductor in a motion state;
4. the traditional I/O flexible signal transmission cable sheath material adopts a flame-retardant flexible PVC material (non-medical grade), can not bear the corrosion of biotoxicity and a drug solvent, has general wear-resistant and tear-resistant properties and common aging-resistant service life, and has no halogen and antibacterial performance which can not meet the requirements of the application environment of medical appliances at all.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects of the background art, the utility model provides a flexible signal transmission cable for I/O signals of a micro surgical robot.
The technical scheme adopted by the utility model is as follows: a flexible signal transmission cable for I/O signals of a micro surgical robot comprises
The cable core comprises a solid filling strip, 3 power source core wires and a filler, wherein the solid filling strip is made of HDPE materials, the power source core wires are made of tin-plated oxygen-free copper and are used as conductors, TPEE flexible insulating materials are coated on the solid filling strip, Kevlar aramid yarn anti-stretch yarns are used as the filler, the 3 power source core wires are mutually twisted by taking the solid filling strip as the center, the filler is filled, and the whole cable core is circular;
the first wrapping layer is made of a PTFE high-temperature wrapping tape and wraps the outer side of the cable core;
the insulating middle layer is made of a semiconductor PE insulating material and covers the outer side of the first wrapping layer;
the signal line layer comprises 10 pairs of differential signal line pairs, and is arranged on the outer side of the insulating middle layer, each pair of differential signal line pairs is formed by mutually twisting two differential signal lines, and each differential signal line adopts a nichrome wire as a conductor and is coated with an ETFE fluoroplastic insulating material;
the second wrapping layer adopts a PET flexible wrapping belt and wraps the outer side of the signal line layer;
the third wrapping layer adopts PTFE high-temperature wrapping tape and wraps the outer side of the second wrapping layer;
the braided layer is formed by weaving 18 bundles of silver-plated copper foil wires and 6 strands of aramid yarn bulletproof wires in a mixed manner, and is braided and wound on the outer side of the third belting layer;
and the sheath is made of medical-grade PUR material and is sleeved outside the braided layer.
The diameter of the solid filling bar is 2.4 +/-0.05 mm.
The diameter of the power core wire is 1.4 +/-0.05 mm.
The first wrapping layer is a PTFE flexible flame-retardant high-temperature wrapping tape with the width of 15mm and the thickness of 0.03mm, and the wrapping rate is 45%.
The diameter of the insulating middle layer is 4.95 +/-0.1 mm.
The diameter of the differential signal wire is 0.45 +/-0.05 mm.
The second wrapping layer adopts a PET flexible wrapping belt with the width of 15mm and the thickness of 0.03 mm.
The third belting layer adopts PTFE high temperature belting with the width of 18mm and the thickness of 0.025mm, and the shielding rate of the second belting layer and the third belting layer is 135%.
The weaving angle of the weaving layer is 40-45 degrees.
The diameter of the sheath is 7.8 +/-0.25 mm.
The utility model has the beneficial effects that: by adopting the scheme, 1, the electromagnetic signal shielding efficiency of equipment, a computer and a mobile phone in specific medical equipment in an operating ward is close to the optimal working state, and the functional precision of the equipment cannot be reduced due to the interference of the inside of the equipment and the equipment; 2. the signal transmission can achieve the effect of high-speed transmission in the working state of ultra-long torsion and bending flexibility; 3. the oil-resistant and flame-retardant electromagnetic energy transmission cable has the advantages of super-strong wear resistance, oil resistance, hydrolysis resistance and flame retardance, and has the dual functions of electromagnetic energy power transmission and input and output signal transmission; 4. has the environmental application functions of biological toxicity resistance and chemical solvent corrosion resistance; 5. the elongation at break resistance and the shock resistance are excellent, and the high-frequency signal transmission is stable and reliable in movement.
Drawings
Fig. 1 is a schematic structural diagram of an I/O signal flexible transmission signal cable of a micro surgical robot according to an embodiment of the present invention.
Detailed Description
The embodiments of the utility model will be further described with reference to the accompanying drawings in which:
as shown in the figure, the I/O signal flexible transmission signal cable of the micro surgical robot comprises a cable core, a first wrapping layer 4, an insulating middle wrapping layer 5, a signal wire layer, a second wrapping layer 7, a second wrapping layer 8, a braiding layer 9 and a sheath 10 which are sequentially arranged from inside to outside.
The cable core comprises a solid filling strip 1, 3 power core wires 2 and a filler 3, wherein the 3 power core wires 2 are mutually twisted by taking the solid filling strip 1 as a center, and a filling round is taken as a standard filling filler 3 during twisting, so that the whole cable core is round.
The solid filling strip 1 adopts a solid filling strip which is 2.4 +/-0.05 mm in the middle and adopts HDPE + modified calcium carbonate, so that the elongation at break of the composite filling material is more than 4.46% compared with pure HDPE, the impact strength is more than 24.57%, and the anti-fatigue strength of the I/O flexible signal transmission cable in a signal core motion state is decomposed during high-strength bending and twisting work; and meanwhile, the service life and the stable transmission of electrical performance parameters of the transmission cable after movement are effectively ensured.
The power core wire 2 adopts 24AWG (7 × 6/0.08mm) tinned oxygen-free copper as a conductor and is coated with a TPEE flexible insulating material, the conductor strand is stranded at one time, the strand length Z of the conductor strand is twisted at the left side =18 +/-1 mm, the conductor strand is stranded at one time according to the arrangement mode of 1+6, and 7 strands of tinned oxygen-free copper wires with the length of 6 × 6/0.08mm (each porcelain eye penetrates 6 copper wires with the length of 0.08mm) are stranded by a phi 500mm high-speed copper stranding machine or a tube stranding machine, so that the high roundness of the stranded copper is ensured.
The TPEE material uses the material model of the American DuPont company to be 5556, selects phi 60mm low-smoke zero-halogen insulation extruder to operate, the color of 3 power core wires 2 is black, white and green respectively, the whole diameter is in 1.4 +/-0.05 mm, the excellent characteristic of adopting the TPEE material mainly has: the material has the advantages of super-good processing performance, super-long service life, high strength, good flexibility, better dynamic mechanical property, extremely high tensile strength, excellent fatigue resistance and heat resistance, is a super-ideal material under the condition of multiple cyclic load use, and has excellent creep resistance, low temperature resistance, excellent oil resistance and aging resistance, and good mechanical property (the tensile strength of a finished product core wire can reach 10.5 MPa).
The filler 3 adopts DuPont multi-beam 100% 400D fibers, has the advantages of high strength, light weight, high temperature resistance, high strength, good toughness, no smoke during combustion, and no obvious change or loss when being continuously used in the temperature range from minus 196 ℃ to plus 204 ℃; meanwhile, the coating has the characteristics of insolubility, fire resistance (no combustion supporting) and carbonization starting only at 427 ℃, does not have the phenomena of brittleness and performance loss even at the low temperature of-196 ℃, and can bear the excellent temperature resistance of short-time contact at the temperature as high as 538 ℃. The flame-retardant cable has the advantages of flame retardance, light specific gravity, no moisture absorption, no toxicity, softness, elasticity, strong tensile force, no mildew and rot, no corrosion, temperature resistance and other physicochemical properties, and meanwhile, the high-frequency insulation performance is good, and the breakdown voltage is high.
The first wrapping layer 4 adopts a PTFE flexible flame-retardant high-temperature wrapping tape with the width of 15mm and the thickness of 0.03mm, the wrapping rate is 45%, chemical corrosion can be efficiently prevented, the high-temperature resistance and the ageing resistance are high, and the high-strength torsion and bending times in the cable work resistance are enhanced
The diameter of the insulating mesosphere is 4.95 +/-0.1 mm, and the special high-strength semi-conductive PE insulating material is adopted, so that the electromagnetic shielding and anti-interference functions of the medical equipment for operation of the small and medium-sized micro-robots and the mutual electromagnetic interference function among the equipment in the operation wards are greatly enhanced.
The signal line layer comprises 10 pairs of differential signal line pairs, each pair of differential signal line pairs is formed by twisting two differential signal lines 6, and each differential signal line 6 adopts a 30AWG (19/0.06mm) nichrome wire as a conductor and is coated with an ETFE fluoroplastic insulating material.
The conductor is once bunched and twisted at a distance of 8 +/-1 mm, the stranded wires are arranged according to a 1+6+12 mode, a phi 300mm superfine twisting copper machine is adopted for operation, the differential signal wire 6 adopts the conductor, the conductor has excellent high-temperature resistance, high bending resistance and chemical solvent corrosion resistance, and meanwhile, the electric conductivity is excellent, the ETFE fluoroplastic insulating material adopts Japan gold high-temperature fluoroplastic, a phi 35mm fluoroplastic insulating extruder is selected for operation, the diameter of each differential signal wire 6 is 0.45 +/-0.05 mm, and 10 pairs of differential signal wires are respectively twisted in pairs according to the color combination of black/white, brown/white, red/white, green/white, blue/white, purple/white, red/black, orange/black, yellow/black and green/black.
The differential signal line pair has the excellent physical properties of stable signal transmission, high-frequency transmission speed, small delay difference parameter between the differential signal pair, and good wear resistance and internal extrusion force dispersibility between the core line pair.
The second wrapping layer 7 adopts a PET flexible wrapping tape with the width of 15mm and the thickness of 0.03mm, the third wrapping layer adopts a PTFE high-temperature wrapping tape with the width of 18mm and the thickness of 0.025mm, a phi 630mm planetary cage stranding machine with an automatic back-burning and back-twisting pay-off device is selected for cabling and wrapping tape operation, internal shielding coating is completed, the shielding rate is 135%, and in the cabling gathering process, the tension of a take-up and pay-off line, the wire diameter and the take-up length of a wire coil are closely controlled to be matched, so that the stability of electrical transmission performance is ensured.
The weaving layer 9 is formed by weaving 18 bundles of 30AWG silver-plated copper foil wires and 6 strands of 400D aramid yarn bulletproof wires in a mixed mode, a 24-spindle high-speed silent type weaving machine is selected for operation, and the weaving angle is 40-45 degrees.
The diameter of the sheath 10 is 7.8 +/-0.25 mm, and a specially-made modified PUR material resistant to wear, tear and chemical solvent corrosion is selected.
The main working principle of the I/O signal flexible transmission signal cable of the micro surgical robot is as follows:
1. motion cable stress relief principle: the filler 3 and the braid layer 9 respectively adopt high-elasticity aramid yarn bulletproof wires, the tensile solid core filling insulator adopted at the center adopts a high-density polyethylene (HDPE) + modified calcium carbonate high-molecular reinforced modified structure, and in addition, the bulletproof wires and silver-plated copper foil wires are mixed and woven, so that the torsion, bending and internal wire core friction force of the cable in an overload motion state are greatly improved, the stress generated in the motion state is rapidly solved, a closed loop system with internal and external structural planes and vertical and curved surface stresses eliminated in various aspects is formed, and the service life of the product is long;
2. the principle of electromagnetic shielding effect: the insulating middle tegument layer is made of a semi-conductive polyolefin plastic material, so that electromagnetic interference signals sent between surgical medical equipment and ward nursing equipment can be effectively shielded; the silver-plated copper foil wires and the bulletproof wires are mixed and woven, and the PTFE and PET shielding tape multi-layer tape improves the comprehensive electromagnetic energy shielding performance effect.
3. High-speed signal transmission principle: the conductor pitch and the pair twist pitch are designed, so that the cable achieves the effects of high signal transmission speed and ultralow attenuation; meanwhile, each pair of twisted core wires are uniformly twisted and are subjected to back-twist effect through equipment, so that the cable signal transmission can complete bidirectional transmitting and bidirectional receiving tasks, and the high-speed transmission purpose is achieved in material selection design, structure and process.
The I/O signal flexible transmission signal cable of the micro surgical robot has the beneficial effects that:
1. the electromagnetic signal shielding efficiency of equipment, a computer and a mobile phone in specific medical equipment in an operating ward is close to the optimal working state, and the functional precision of the equipment cannot be reduced due to the interference of the inside and the self of the equipment;
2. the signal transmission can achieve the effect of high-speed transmission in the working state of ultra-long torsion and bending flexibility;
3. the oil-resistant and flame-retardant electromagnetic energy transmission cable has the advantages of super-strong wear resistance, oil resistance, hydrolysis resistance and flame retardance, and has the dual functions of electromagnetic energy power transmission and input and output signal transmission;
4. has the environmental application functions of biological toxicity resistance and chemical solvent corrosion resistance;
5. the elongation at break resistance and the shock resistance are excellent, and the high-frequency signal transmission is stable and reliable in movement.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The skilled person should understand that: although the present invention has been described in terms of the above embodiments, the inventive concepts are not limited to the embodiments, and any modifications that utilize the inventive concepts are intended to be included within the scope of the appended claims.
Claims (10)
1. A flexible signal transmission cable of miniature surgical robot I O signal which characterized in that: comprises that
The cable core comprises a solid filling strip (1), 3 power source core wires (2) and a filler (3), wherein the solid filling strip (1) is made of an HDPE material, the power source core wires (2) are made of tinned oxygen-free copper and are wrapped with a TPEE flexible insulating material, the filler (3) is made of Kevlar aramid yarn anti-stretch yarns, the 3 power source core wires (2) are mutually twisted by taking the solid filling strip (1) as a center and are filled with the filler (3), and the whole cable core is circular;
the first wrapping layer (4) adopts a PTFE high-temperature wrapping tape and wraps the outer side of the cable core;
an insulating middle layer (5) which is made of semiconductor PE insulating material and covers the outer side of the first wrapping layer (4);
the signal line layer comprises 10 pairs of differential signal line pairs, and is arranged on the outer side of the insulating middle layer (5), each pair of differential signal line pairs is formed by mutually twisting two differential signal lines (6), each differential signal line (6) adopts a nichrome wire as a conductor and is coated with an ETFE fluoroplastic insulating material;
the second wrapping layer (7) adopts a PET flexible wrapping belt and wraps the outer side of the signal line layer;
a third wrapping layer (8) which adopts PTFE high-temperature wrapping tape and wraps the outer side of the second wrapping layer (7);
a braided layer (9) which is braided by mixing 18 bundles of silver-plated copper foil wires and 6 strands of aramid yarn bulletproof wires and is braided and wound on the outer side of the third belting layer (8);
and the sheath (10) is made of medical PUR material and is sleeved outside the braided layer (9).
2. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the diameter of the solid filling bar (1) is 2.4 +/-0.05 mm.
3. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the diameter of the power core wire (2) is 1.4 +/-0.05 mm.
4. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the first wrapping layer (4) adopts a PTFE flexible flame-retardant high-temperature wrapping tape with the width of 15mm and the thickness of 0.03mm, and the wrapping rate is 45%.
5. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the diameter of the insulating middle layer (5) is 4.95 +/-0.1 mm.
6. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the diameter of the differential signal wire (6) is 0.45 +/-0.05 mm.
7. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the second wrapping layer (7) adopts a PET flexible wrapping belt with the width of 15mm and the thickness of 0.03 mm.
8. The micro surgical robot I O signal flexible transmission signal cable of claim 7, wherein: the third wrapping layer (8) adopts PTFE high-temperature wrapping tape with the width of 18mm and the thickness of 0.025mm, and the shielding rate of the second wrapping layer (7) and the third wrapping layer (8) is 135%.
9. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the weaving angle of the weaving layer (9) is 40-45 degrees.
10. The micro surgical robot I O signal flexible transmission signal cable of claim 1, wherein: the diameter of the sheath (10) is 7.8 +/-0.25 mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121683702.6U CN215730947U (en) | 2021-07-23 | 2021-07-23 | I O flexible signal transmission signal cable of miniature surgical robot |
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| CN202121683702.6U CN215730947U (en) | 2021-07-23 | 2021-07-23 | I O flexible signal transmission signal cable of miniature surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116825421A (en) * | 2023-03-18 | 2023-09-29 | 三元科技（深圳）有限公司 | Medical image transmission cable with high flexibility and long mechanical life |
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2021
- 2021-07-23 CN CN202121683702.6U patent/CN215730947U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116825421A (en) * | 2023-03-18 | 2023-09-29 | 三元科技（深圳）有限公司 | Medical image transmission cable with high flexibility and long mechanical life |
| CN116825421B (en) * | 2023-03-18 | 2024-05-17 | 三元科技（深圳）有限公司 | Medical image transmission cable with high flexibility and long mechanical life |
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