CN110269580A - Robot system is peeped in a kind of micro radio - Google Patents
Robot system is peeped in a kind of micro radio Download PDFInfo
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- CN110269580A CN110269580A CN201810212966.XA CN201810212966A CN110269580A CN 110269580 A CN110269580 A CN 110269580A CN 201810212966 A CN201810212966 A CN 201810212966A CN 110269580 A CN110269580 A CN 110269580A
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- shell
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- micro radio
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Computer Networks & Wireless Communication (AREA)
- Endoscopes (AREA)
Abstract
The present invention provides in a kind of micro radio and peeps robot system, belongs to medical Endoscopy field.The system comprises first shell and second shell, the first shell is cylinder, and second shell is helical form cylindricality；Pass through connection axis connection between the first shell and second shell, the connecting shaft is separately fixed in first shell and in second shell on the bearing of setting, described to be disposed with focal length lens, LED illumination module, image transmission module and data transmission module upwards from the intracorporal end of first shell to the connection side with second shell；Screw-casing is additionally provided on the outside of the second shell.The present invention both can wirelessly be sent out digital image information, again can wireless receiving control instruction realization capsule working condition and working method are controlled, system can also transmit image information to computer medical image work station by wired or wireless terminal and receive control instruction, in addition can be adjusted by itself and enter any one position that can be reached in vivo.
Description
[technical field]
The present invention relates to medical Endoscopy fields, and in particular to peeps robot system in a kind of micro radio.
[background technique]
Digesting endoscope includes gastroscope, Sigmoidoscope, duodenoscope, enteroscope etc..Because of its good visual field, controllability
By force, diagnostic biopsy can be implemented, implement ultrasonic examination and various Endoscopic Treatments (such as microwave, cutting) under scope,
As be enterogastric diseases it is most important in peep Observations Means.Since endoscopy whole operation process can give subject really
Certain pain even wound is brought, making people for endoscopy, there are certain feared states of mind.In addition, current stomach
Mirror, Sigmoidoscope, duodenoscope, enteroscope etc. can only observe specific position, and cannot carry out to entire alimentary canal
Continuous whole inspection.
United States Patent (USP) 5,604,531 proposes a kind of radio endoscopic system of oral capsule bellows, alimentary canal photograph
Capsule is made of optical imagery, photograph and image transmitting three parts, need the patient that stomach and intestine are checked swallow it is this like
The device of medicament capsule.Since it is small in size, no pain when swallowing, also without discomfort after swallowing.Microcam in capsule, energy
Sharp image inside the stomach of shooting is constantly issued not in the image recording structure of patient's loins by sender unit.
After recording, recording apparatus is sent to hospital, doctor is read out and is analyzed to image data with computer, it may be appreciated that stomach
Illness.One capsule, which can shoot the image up to 6 hours, will enter large intestine with gastrointestinal peristalsis after capsule completes mission,
It is then discharged out external.The advantages of capsule endoscope is obvious: i.e. it is small in size (current minimum 11.6mm × 27.2mm),
Easily swallow；It is easy to operate；It does not need to be hospitalized；The complication being led to without operation；Achievable all-digestive tract inspection, image document can be anti-
Review analysis.But there is also clearly disadvantageous for current capsule endoscope: since the shooting of image is all random uptake, making to regard
Open country is limited and there are certain rates of missed diagnosis；Capsule can only be sent out image information, and working condition and working method cannot be
It is controlled in vitro, doctor not can control entire checking process, can not achieve purposive emphasis inspection etc..
[summary of the invention]
Goal of the invention of the invention is: in view of the above problems, providing a kind of system, micro radio Nei Kui robot
System, the present invention not only can wirelessly be sent out digital image information, but can wireless receiving control instruction realize to capsule working condition
And working method control, system can also by wired or wireless terminal to computer medical image work station transmit image information
With receive control instruction, while can normally move forward or back in vivo, the case where observation needs look-out station in time.
To achieve the goals above, The technical solution adopted by the invention is as follows:
Robot system, including first shell and second shell, the first shell are peeped in a kind of micro radio of the present invention
For cylinder, second shell is helical form cylindricality；Pass through connection axis connection, the company between the first shell and second shell
Spindle be separately fixed in first shell and the bearing that is arranged in second shell on, it is described from the intracorporal end of first shell to the
The connection side of two shells is disposed with focal length lens, LED illumination module, image transmission module and signal transmitting and receiving module upwards；
It is described successively to have eccentric block, motor, power module and electricity upwards from the intracorporal end of second shell to the connection side with first shell
Road control module；The eccentric block is connected on the motor shaft of motor and as motor shaft rotates；The connecting shaft is hollow pipe,
The two bearings are separately fixed on the inside of first shell and second shell；The LED illumination module, image transmission module, signal
Transceiver module motor, power module are connected with circuit control module respectively, described image transmission module respectively with focal length lens
It is connected with signal transmitting and receiving module, and the signal of focal length lens is transferred to image transmission module, emitted by signal transmitting and receiving module
It goes out；The signal transmitting and receiving module is transferred to circuit control module by receiving external control signal；On the outside of the second shell
It is additionally provided with screw-casing, tight is on the second housing in the shape of a spiral for the screw-casing.
First shell of the present invention is made of transparent material, and the transparent material is organic anti-corrosive glass.
Motor of the present invention is variable-frequency motor, and motor can be with positive and negative Double-directional rotary；The motor passes through signal transmitting and receiving
Module transmits a signal to circuit control module, and signal sets to control the operating of motor circuit control module based on the received.
Screw-casing of the present invention uses the medical material with biocompatibility to be made.
Power module of the present invention is made of power control board and button cell, the button cell be one-shot battery or
Rechargeable battery.
First shell and second shell of the present invention both ends are circular arc type, and the diameter of the circular arc is less than screw-casing most
Big width.
Second shell of the present invention can be around the positive and negative Double-directional rotary of connecting shaft with respect to first shell.
Also gyro positioning device can be arranged in focal length lens position in first shell of the present invention, and focal length lens are mounted on
In gyro positioning device.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
The present invention rotates eccentric block using the motor rotation in motor, makes second shell spiral shell using the power that eccentric block rotates
Rotation rotation, because second shell is wrapped with screw-casing, screw-casing be close in vivo, can freely advance in rotary course or after
It moves back, meanwhile, motor is variable-frequency motor, can be moved forward or back by the revolving speed of external transmitting signal control motor to adjust motor
Speed, in addition under eccentric block high speed rotation, under internal space allows, robot system can also realize the movement such as turn around,
Substantially increase the flexibility of robot system.
2, present invention omits complicated drive mechanism and slowing-down structures, and integrated member is few, structure is simple, volume
Small, so that capsule robot movement is flexible, controllability is strong, the shell of robot system is ellipsoid, simultaneous with gastrointestinal tract
Capacitive is good, is not easy that human intracavity can be damaged, and realizes that human body is minimally invasive, noninvasive test.
3, robot system of the present invention is provided with image transmission module, LED illumination module and data transmission module, can and
When the intracorporal related symptoms photo of effective real-time Transmission and detection data, improve sentencing in time to disease in medical procedure
It is disconnected, while being also convenient for storage of the external related control device to photo and data.
4, the focal length lens of robot system of the present invention are varifocal and are wide-angle lens, substantially increase the interior observation model peeped
It encloses, saves the interior time peeped, improve efficiency.
[Detailed description of the invention]
Fig. 1 is the schematic cross-sectional view that robot system is peeped in a kind of micro radio of the present invention.
Fig. 2 is the appearance diagram that robot system is peeped in a kind of micro radio of the present invention.
Fig. 3 is 2 schematic diagram of embodiment that robot system is peeped in a kind of micro radio of the present invention.
Wherein, 1- first shell, 2- second shell, 3- screw-casing, 4- focal length lens, 5-LED lighting module, 6- image pass
Defeated module, 7- signal transmitting and receiving module, 8- circuit control module, 9- power module, 10- eccentric block, 11- motor, 12- bearing, 13-
Connecting shaft.
[specific embodiment]
Below by way of specific embodiments and drawings and tables of data, the invention will be further described.
Embodiment 1
Fig. 1~3 are please referred to, as shown in Figure 1, peeping robot system, including first shell 1 in a kind of micro radio of the present invention
With second shell 2, the first shell 1 is cylinder, and second shell 2 is helical form cylindricality；The first shell 1 and second shell
It is connected between body 2 by connecting shaft 13, the connecting shaft 13 is separately fixed in first shell 1 and setting in second shell 2
On bearing 12, the end from first shell 1 to the connection side with second shell 2 be disposed with upwards focal length lens 4,
LED illumination module 5, image transmission module 6 and signal transmitting and receiving module 7；The end from second shell 2 to first shell
1 connection side successively has eccentric block 10, motor 11, power module 9 and circuit control module 8 upwards；The eccentric block 10 connects
On the motor shaft of motor 11 and as motor shaft rotates；The connecting shaft 13 is hollow pipe, and the two bearings are separately fixed at
On the inside of first shell and second shell；The LED illumination module 5, image transmission module 6,7,11 electricity of signal transmitting and receiving module are mechanical, electrical
Source module 9 respectively with circuit control module 8 connect, described image transmission module 6 respectively with focal length lens 4 and signal transmitting and receiving mould
Block 7 connects, and the signal of focal length lens 4 is transferred to image transmission module 6, launches by signal transmitting and receiving module 7；It is described
Signal transmitting and receiving module 7 is transferred to circuit control module 8 by receiving external control signal；It is also set up on the outside of the second shell 2
Have a screw-casing 3, the screw-casing 3 in the shape of a spiral tight in second shell 2；Connecting shaft 13 is hollow pipe, first shell 1
Connection between second shell 2 can be attached by the hollow position of connecting shaft 3.
First shell 1 of the present invention is made of transparent material, and the transparent material is organic anti-corrosive glass；Guarantee inherent
It is still able to maintain transparent state in internal enteron aisle and Suan Ye Alto environment, is convenient for the conscientious observation of focal length lens 4, preferably timely
React intracorporal physical condition.
Motor 11 of the present invention is variable-frequency motor, and motor can be with positive and negative Double-directional rotary；The motor 11 passes through signal
Transceiver module 7 transmits a signal to circuit control module 8, and signal sets to control motor circuit control module 8 based on the received
11 operating；Variable-frequency motor can adjust the operation of robot system according to the control signal of external transmitting, also can be better
The position situation observed required for observation.
Screw-casing 3 of the present invention is made of the medical material with biocompatibility；Guarantee robot system in body
Intracorporal related body's structure will not be caused to damage during interior operation.
Power module 9 of the present invention is made of power control board and button cell, and the button cell is one-shot battery
Or rechargeable battery.
2 both ends of first shell 1 and second shell of the present invention are circular arc type, and the diameter of the circular arc is less than screw-casing 3
Maximum width.
The opposite first shell 1 of second shell 2 of the present invention can make robot system around the positive and negative Double-directional rotary of connecting shaft 13
In vivo can flexible motion, greatly improve the external degree of control to internal robot system, also improve to vivo detection
Efficiency.
By optimization, the first shell 1 can also be arranged gyro in 4 position of focal length lens and position dress the solution of the present invention
It sets, focal length lens 4 is mounted in gyro positioning device；Guarantee during robot system moves forward or back, focal length lens 4
The interference that not will receive rotation, ensure that observation stabilization and image it is clear, the photo and data validity made is higher.
Its external status figure is seen shown in Fig. 2.
Embodiment 2
Referring to Fig. 3, the solution of the present invention advanced optimizes, on the basis of embodiment, by first shell 1 and second shell
Body 2 connects as a whole, and screw-casing 3 is enclosed in first shell 1 and second shell 2, and the focal length lens 4 are mounted on
In gyro positioning device, guarantees the stabilization of focal length lens 4, utilize the effect for being rotated up to forward or backward of eccentric block 10.
Claims (8)
1. peeping robot system in a kind of micro radio, which is characterized in that described including first shell (1) and second shell (2)
First shell (1) is cylinder, and second shell (2) is helical form cylindricality；Between the first shell (1) and second shell (2)
It is connected by connecting shaft (13), the connecting shaft (13) is separately fixed in first shell (1) and setting in second shell (2)
On bearing (12), the end from first shell (1) to the connection side with second shell (2) is disposed with focal length upwards
Camera lens (4), LED illumination module (5), image transmission module (6) and signal transmitting and receiving module (7)；It is described out of second shell (2)
Successively there are eccentric block (10), motor (11), power module (9) and circuit control in end to the connection side with first shell (1) upwards
Molding block (8)；The eccentric block (10) is connected on the motor shaft of motor (11) and as motor shaft rotates；The connecting shaft
It (13) is hollow pipe, the two bearings (12) are separately fixed on the inside of first shell (1) and second shell (2)；The LED illumination
Module (5), image transmission module (6), signal transmitting and receiving module (7), motor (11), power module (9) are respectively and circuit control
Module (8) connection, described image transmission module (6) are connect with focal length lens (4) and signal transmitting and receiving module (7) respectively, and will be burnt
Signal away from camera lens (4) is transferred to image transmission module (6), launches using signal transmitting and receiving module (7)；The signal is received
Hair module (7) is transferred to circuit control module (8) by receiving external control signal；It is also set up on the outside of the second shell (2)
Have screw-casing (3), the screw-casing (3) in the shape of a spiral tight on second shell (2).
2. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the first shell (1)
It is made of transparent material, the transparent material is organic anti-corrosive glass.
3. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the motor (11) is to become
Frequency motor, and motor (11) can be with positive and negative Double-directional rotary；The motor (11) is transmitted a signal to by signal transmitting and receiving module (7)
Circuit control module (8), signal sets to control the operating of motor (11) circuit control module (8) based on the received.
4. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the screw-casing (3) is adopted
It is made of the medical material with biocompatibility.
5. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the power module (9)
It is made of power control board and button cell, the button cell is one-shot battery or rechargeable battery.
6. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the first shell (1)
It is circular arc type with second shell (2) both ends, the diameter of the circular arc is less than the maximum width of screw-casing.
7. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the second shell (2)
Opposite first shell (1) can be around connecting shaft (13) positive and negative Double-directional rotary.
8. peeping robot system in a kind of micro radio according to claim 1, which is characterized in that the first shell (1)
Also gyro positioning device can be set in focal length lens (4) position, focal length lens (4) are mounted in gyro positioning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212966.XA CN110269580A (en) | 2018-03-15 | 2018-03-15 | Robot system is peeped in a kind of micro radio |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212966.XA CN110269580A (en) | 2018-03-15 | 2018-03-15 | Robot system is peeped in a kind of micro radio |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110269580A true CN110269580A (en) | 2019-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810212966.XA Pending CN110269580A (en) | 2018-03-15 | 2018-03-15 | Robot system is peeped in a kind of micro radio |
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| CN (1) | CN110269580A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247998A (en) * | 2020-09-21 | 2021-01-22 | 杭州王之新创信息技术研究有限公司 | Robot, medical stomach robot, amusement robot suitable for fluid environment |
| CN113081075A (en) * | 2021-03-09 | 2021-07-09 | 武汉大学 | Magnetic control capsule with active biopsy and drug delivery functions |
| TWI757065B (en) * | 2021-01-22 | 2022-03-01 | 群曜醫電股份有限公司 | Capsule endoscopy capable of accelerating movement |
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| US20030020810A1 (en) * | 2001-07-30 | 2003-01-30 | Olympus Optical Co., Ltd. | Capsule-type medical apparatus |
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| CN107049212A (en) * | 2017-03-22 | 2017-08-18 | 重庆金山医疗器械有限公司 | Camera lens tilting capsule endoscope |
| CN107440748A (en) * | 2017-07-21 | 2017-12-08 | 西安交通大学医学院第附属医院 | A kind of intelligent automatic tracking cavity mirror system of operating field |
| CN107736865A (en) * | 2017-11-16 | 2018-02-27 | 长沙展朔轩兴信息科技有限公司 | Endoscope microcapsule robot |
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| US20030020810A1 (en) * | 2001-07-30 | 2003-01-30 | Olympus Optical Co., Ltd. | Capsule-type medical apparatus |
| CN101056576A (en) * | 2004-11-26 | 2007-10-17 | 奥林巴斯株式会社 | Medical system |
| CN101283902A (en) * | 2007-04-12 | 2008-10-15 | 戴旭光 | Electronic capsules capable of initiatively changing the photo angle |
| CN101342067A (en) * | 2007-07-11 | 2009-01-14 | 重庆特奥科技有限公司 | Medical tool capsule |
| DE102012205525A1 (en) * | 2011-05-21 | 2012-11-22 | Christian Volkmar | Endoscope capsule for performing endoscope test for medical examination in digestive tract or intestine of e.g. human body, has housing parts including unit for enabling forward movement of capsule |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247998A (en) * | 2020-09-21 | 2021-01-22 | 杭州王之新创信息技术研究有限公司 | Robot, medical stomach robot, amusement robot suitable for fluid environment |
| TWI757065B (en) * | 2021-01-22 | 2022-03-01 | 群曜醫電股份有限公司 | Capsule endoscopy capable of accelerating movement |
| CN113081075A (en) * | 2021-03-09 | 2021-07-09 | 武汉大学 | Magnetic control capsule with active biopsy and drug delivery functions |
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Application publication date: 20190924 |