CN103598868B - A kind of Wheel-claw type endoscope robot - Google Patents
A kind of Wheel-claw type endoscope robot Download PDFInfo
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- CN103598868B CN103598868B CN201310531639.8A CN201310531639A CN103598868B CN 103598868 B CN103598868 B CN 103598868B CN 201310531639 A CN201310531639 A CN 201310531639A CN 103598868 B CN103598868 B CN 103598868B
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- wheel
- ellipsoid
- fuselage
- telescopic claw
- intestinal
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- 230000000968 intestinal effect Effects 0.000 claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims abstract description 19
- 238000001574 biopsy Methods 0.000 claims abstract description 13
- 238000005286 illumination Methods 0.000 claims abstract 3
- 230000005540 biological transmission Effects 0.000 claims abstract 2
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- 230000007797 corrosion Effects 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
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- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 8
- 201000010099 disease Diseases 0.000 abstract description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 5
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005070 sampling Methods 0.000 abstract description 3
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- 208000031481 Pathologic Constriction Diseases 0.000 description 2
- 206010039509 Scab Diseases 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000002496 gastric effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 230000036262 stenosis Effects 0.000 description 2
- 208000037804 stenosis Diseases 0.000 description 2
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
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- 230000008901 benefit Effects 0.000 description 1
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- 150000001875 compounds Chemical class 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 210000001198 duodenum Anatomy 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 210000003405 ileum Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
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- 210000002429 large intestine Anatomy 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
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Abstract
The present invention relates to the endoscope robot of a kind of intestinal tract disease inspection treatment.Robot is made up of fuselage, ellipsoid wheel, telescopic claw, illumination camera assembly, circuit board, power supply, energy acceptance coil, biopsy forceps etc.Be characterized in, the power that machine advances is fixed ellipsoid by telescopic claw and is taken turns in intestinal wall, is rotated under micro-processor control and produce by driven by motor along intestinal wall, and the length of telescopic claw adjusts with the size of intestinal wall frictional force at any time according to ellipsoid wheel, is limited with non-slip.Turn and upper and lower time, the ellipsoid wheel of different parts advances with different rotating speeds, thus band movement machine does complicated activity, and energy is provided jointly by battery and wireless transmission; Biopsy forceps can grab sampling under operator commander.
Description
Technical field
The present invention relates to the endoscope robot of a kind of intestinal tract disease inspection treatment.Specifically, be a kind of Wheel-claw type endoscope robot with artificial intelligence.
Background technology
At present, clinically in complete this field of intestinal tract disease diagnosis and treatment, what endoscope used occurred the earliest is capsule endoscope, and its application quite limits to, enteral portion situation is understood only roughly to observe, passive exercise with intestinal makes inspection tool randomness, and does not reach the object of biopsy and treatment intestinal tract disease.After this, the double-balloon endoscope of Japanese invention, substantially can the full intestinal tract disease of Diagnosis and Treat, but relative displacement is short when the endoscope of this principle runs in intestinal, by manual operation, overlong time, weak patient is many can not be tolerated, and when shank arrives the certain depth of intestinal, enter mirror further and very large difficulty can occur.When therefore utilizing this double bolloon endoscope to check patient, once can not reach ileocecus (Anal route) or stomach (per anum enters mirror), want to observe full intestinal, just must enter mirror from contrary direction by secondary, add the misery of the labor intensity of medical personnel, the difficulty of inspection and patient.For this reason, clinically in the urgent need to one can once just to full intestinal inspection and the time relatively short, the instrument of grab sampling, treatment can be made.This only has initiatively robot system to complete.The mode adopting robot to realize active exercise mainly contains imitative Inchworm type, imitative earthworm-type, adsorption-type, swimming type, paddling formula, also have adopt magnetic fluid to drive, the scheme such as spiral, rotating excitation field drive-type, artificial reconstructed biology, but these schemes or efficiency is low, have a big risk, technical sophistication, be not suitable for intestinal complex environment, or state-of-the art can not realize, and the supply of the energy is also a difficult problem, so be all in laboratory stage, therefore, clinically in the urgent need to a kind of endoscope robot system of Technical comparing novelty.
Summary of the invention
Task of the present invention is the deficiency for above technology, provides a kind of technology maturation, and easy to use, efficiency is high, can make the scope disposable Wheel-claw type endoscope robot system with artificial intelligence completing whole intestinal inspection at short notice.This machine compact conformation, controlled can automatically walk up and down front and back in intestinal by microcomputer, movement velocity is fast, flexible movements.
The structural principle of this Wheel-claw type endoscope robot is, machine is made up of fuselage, ellipsoid wheel, telescopic claw, crust, CCD camera assembly, circuit board, power supply, energy acceptance coil, biopsy forceps etc., fuselage is cylindrical, diameter is about the 50-70% of adult intestinal diameter, its skeleton is made up of elastic hard material spiral surrounding or swivel hook, central shaft is made up of flexible elastic hard material, cover the smooth hydrophilic material of wear resistant corrosion resistant outside fuselage, inside is circuit board, battery, energy acceptance coil.The motion parts of robot can be organized tire group at the most by two groups and form, lay respectively at the position of each section of center of gravity before and after fuselage, the layout of each group tire angle, can be partly corresponding, partial intersection, telescopic claw length is scalable, also can increase folder function, is motor in ellipsoid wheel, it can be driven to rotate, the elastic hydrophobic material of the ellipsoid outer deposite device of wheel, it is convex stripe in addition, to increase frictional force; Under each telescopic claw and ellipsoid wheel are in different positions and rotating speed under microcomputer controls, driven machine is advanced.Fuselage head-tail is CCD camera assembly, and effect is shooting intestinal walls image and passes to external microcomputer by wireless for image; Photographic head can be carried down dynamic along universal under steer motor traction, has guide effect concurrently; Fuselage can do two degrees of freedom and rotate.
Operation principle is as follows, and before machine is started working, ellipsoid wheel and telescopic claw are hidden in fuselage.When starting working, tire stretches out, fixing ellipsoid is taken turns in intestinal wall, under photographic head guides, taken turns by driven by motor ellipsoid under own individual microprocessor or manipulation in vitro person control and advance along intestinal wall vertical axes, the length of each telescopic claw adjusts with the size of intestinal wall frictional force at any time according to ellipsoid wheel, is limited with non-slip.During turning, different ellipsoid wheels advances with different rotating speeds, thus drives machine turns.Walking has several modes: 1, resistance is little, when intestinal is straight, can only by the ellipsoid wheel work on below fuselage and both sides, and the retraction fuselage of top, main friction with intestinal wall on below ellipsoid wheel by fuselage gravity pressure is advanced.2, creep up and down, resistance large time, all ellipsoids wheel all works, and the compound action that cooperatively interacted under microcomputer controls.3, local stenosis of bowel or swollen thing give prominence to enteral, by need, in front tire is collapsible time fuselage, fuselage forebody is passed through in tire promotion and front photographic head guiding direction rearward, then front tire stretches out work, and rear tire is retracted, thus body is all passed through.When intestinal due to the reason such as unexpected aggravating activities torsion destroy machine walking conditioned disjunction may go out danger time, machine tire can be retracted in fuselage in time, avoid intestinal or machine impaired; Time if necessary, machine also can guide lower retrogressing by photographic head in the wings, completes some work.Biopsy forceps operator commander under by camera picture grab sampling.
In work, if attached to foreign material, the friction of impact and intestinal in ellipsoid wheel groove, in regracting fuselage, ellipsoid wheel rotates, and is removed by hairbrush.
Because intestinal is long, require high to energy reserve, battery powered can not complete whole work, so present invention adds wireless energy transform device, receptor is formed by two or more coil, electromagnetic wave outside receiving body or alternating magnetic field energy, for machine is powered together with battery, to complete inspection work smoothly.
With existing technology ratio, advantage of the present invention is 1, the power of machine turns and advance is all provided by tire, and not easily skid, fuselage seldom contacts with intestinal wall, and friction consumes few, and efficiency is high; 2, ellipsoid wheel has radian, large with intestinal wall contact area, not easily damages intestinal, high safety; 3, freely can creep under each environment in intestinal, excellent performance, this is that a lot of robot is not accomplished; 4, comparable more smoothly by bowel narrow place, strong adaptability, this also a lot of robot do not accomplish; 5, telescopic claw free adjustment length, can regulating friction force size easily.Therefore there is many innovative points.
Accompanying drawing explanation
Fig. 1 is the vertical section structure schematic diagram of a kind of embodiment of this Wheel-claw type endoscope robot, describes principle for ease of drawing, for the structure of 2 group of 8 tire (ratio even more preferably 3 group of 9 tire structure).Wherein 1 CCD camera assembly, 2 steering assemblies, 3 fuselages, 4 hairbrush, 5 ellipsoids wheel longitudinal sections, 6 telescopic claws, 7 circuit board group and battery, 8 energy acceptance coils, 12 central shafts, 13 crusts, 14 burrs, 15, biopsy forceps.
Fig. 2 is the drawing in side sectional elevation of the wheel of endoscope robot shown in Fig. 1 claw portion, wherein, and 9 ellipsoid wheel cross sections, 10 ellipsoid wheel supports, 11 ellipsoid wheel shafts.
Detailed description of the invention
With reference to Figure of description, with a kind of specific embodiment, Wheel-claw type endoscope robot of the present invention is described in detail below, but not as a limitation of the invention.
In embodiment, endoscope robot is made up of CCD camera assembly, biopsy forceps, fuselage, wheel claw assembly, circuit board, power supply four part.
CCD camera assembly is fixed in the hemispherical dome structure at fuselage two ends, and hemispherical dome structure is fixed on the two ends of fuselage by universal knot, and wheel claw assembly is uniformly distributed in around fuselage.
Before using, those who are investigated empty intestinal, then lie on the back on examinating couch, suitably apply downern.Enter for per os, after machine is sent into gastric by mouth, robot starts working, image transmits and wireless energy transfer system work simultaneously, tire stretches out, fixing ellipsoid is taken turns in intestinal wall, under photographic head guides, advance along the intestinal wall longitudinal axis under own individual microprocessor or manipulation in vitro personnel control, enter duodenum successively, jejunum, ileum, large intestine, turn, walk up and down, all carried out under operator commander by pathological changes and stenosis, when by monitor, operator finds that pathological changes need conscientiously check with biopsy, even machine stops, fixed main body, operator's biopsy device of operating machine carries out biopsy, after completing whole intestinal inspection, machine is excreted by anus, as serious in run into intestinal pathological changes, when machine is by causing danger, then retreats to gastric, taken out by gastroscope.
The material of above-described embodiment makes, method of attachment and control method, software all can pass through existing techniques in realizing.
Above-described embodiment, the just citing of the detailed description of the invention of the easy principle of specification of the present invention, in fact, 3 group of 9 tire is better.Because graphic capability limit, accompanying drawing only represents the machine operation principle, does not represent the ratio of actual size, also not exclusively represents the true form of each parts; The usual change that those skilled in the art carries out within the scope of technical solution of the present invention and replacement (as increased multiple tire, steering mechanism, photographic head, biopsy forceps, same group tire shift in position etc.) all should be included in protection scope of the present invention.
Claims (1)
1. a Wheel-claw type endoscope robot, be made up of fuselage, motion parts, crust, illumination camera assembly, circuit board, power supply, energy acceptance coil, biopsy forceps, microprocessor, motor, it is characterized in that: described motion parts is taken turns by ellipsoid, telescopic claw is formed, ellipsoid wheel is corresponding with the quantity of telescopic claw, comprises two or more sets respectively; Described motor is positioned at ellipsoid wheel, and described ellipsoid wheel is fixed on intestinal wall by described telescopic claw, and under each described telescopic claw and ellipsoid wheel are in different positions and rotating speed under micro-processor control, driven machine people advances, and described fuselage can do two degrees of freedom rotation; Fuselage has elliposoidal groove at telescopic claw root place, and the large I of described groove is held described ellipsoid wheel and entered, and has hairbrush in described groove; Illumination camera assembly comprise CCD camera assembly, CCD camera assembly is fixed in the hemispherical dome structure at fuselage two ends, and described hemispherical dome structure is fixed on the two ends of fuselage by universal knot, motor traction under, photographic head can along described universal carry down dynamic; Circuit board, power supply, energy coil are positioned at fuselage, cover the smooth hydrophilic material of wear resistant corrosion resistant outside described fuselage, the elastic hydrophobic material of the described ellipsoid outer deposite device of wheel; Described ellipsoid wheel is outside with convex stripe, to increase frictional force; Described telescopic claw is scalable and folding; Described biopsy forceps retractable rotates; Energy required for described machine man-hour is provided jointly by battery and wireless transmission; Described fuselage is configured to by cylindrical bone, and described cylindrical framework is made up of elastic hard material spiral surrounding or swivel hook.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310531639.8A CN103598868B (en) | 2013-11-01 | 2013-11-01 | A kind of Wheel-claw type endoscope robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310531639.8A CN103598868B (en) | 2013-11-01 | 2013-11-01 | A kind of Wheel-claw type endoscope robot |
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| Publication Number | Publication Date |
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| CN103598868A CN103598868A (en) | 2014-02-26 |
| CN103598868B true CN103598868B (en) | 2015-11-04 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105361841B (en) * | 2015-11-30 | 2018-10-16 | 青岛大学附属医院 | Wireless capsule endoscope system for gastrointestinal tract diagnosis and treatment |
| CN106974613B (en) * | 2017-04-26 | 2018-04-10 | 常州信息职业技术学院 | A kind of miniature gastrointestinal robot |
| CN109730624B (en) * | 2019-02-18 | 2022-08-16 | 陈嘉浩 | Crawler-type gastroscope |
| CN110089991B (en) * | 2019-04-23 | 2021-07-23 | 南通市传染病防治院(南通市第三人民医院) | Digestive tract lesion treatment operation endoscope positioning device and positioning method thereof |
| CN110420005B (en) * | 2019-08-09 | 2021-09-28 | 上海市第一人民医院 | Expandable miniature gastroscope robot with telescopic arm and field planting function |
| CN113576371B (en) * | 2021-07-02 | 2024-03-15 | 柏为（武汉）医疗科技股份有限公司 | Endoscope and detecting instrument |
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| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| WO2011108782A1 (en) * | 2010-03-05 | 2011-09-09 | Korea Institute Of Science And Technology | Bidirectional moving micro-robot system |
| GB2497544A (en) * | 2011-12-13 | 2013-06-19 | Staffordshire University Entpr And Commercial Dev | Travelling capsule with two drive mechanisms |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103251369A (en) * | 2013-04-17 | 2013-08-21 | 华中科技大学 | Capsule robot for gastrointestinal endoscopy, and control system thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7039453B2 (en) * | 2000-02-08 | 2006-05-02 | Tarun Mullick | Miniature ingestible capsule |
| KR100402920B1 (en) * | 2001-05-19 | 2003-10-22 | 한국과학기술연구원 | Micro robot |
| ITPI20040008A1 (en) * | 2004-02-17 | 2004-05-17 | Dino Accoto | ROBOTIC CAPSULE FOR INTRA-BODY BIOMEDICAL APPLICATIONS |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| WO2011108782A1 (en) * | 2010-03-05 | 2011-09-09 | Korea Institute Of Science And Technology | Bidirectional moving micro-robot system |
| GB2497544A (en) * | 2011-12-13 | 2013-06-19 | Staffordshire University Entpr And Commercial Dev | Travelling capsule with two drive mechanisms |
| CN103251369A (en) * | 2013-04-17 | 2013-08-21 | 华中科技大学 | Capsule robot for gastrointestinal endoscopy, and control system thereof |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
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| CN103598868A (en) | 2014-02-26 |
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