CN103117606A - Electromagnetic micro-actuator for gastrointestinal robot - Google Patents
Electromagnetic micro-actuator for gastrointestinal robot Download PDFInfo
- Publication number
- CN103117606A CN103117606A CN2013100698165A CN201310069816A CN103117606A CN 103117606 A CN103117606 A CN 103117606A CN 2013100698165 A CN2013100698165 A CN 2013100698165A CN 201310069816 A CN201310069816 A CN 201310069816A CN 103117606 A CN103117606 A CN 103117606A
- Authority
- CN
- China
- Prior art keywords
- coil
- rotor
- commutator segment
- utmost point
- brush
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Dc Machiner (AREA)
Abstract
An electromagnetic micro-actuator for a gastrointestinal robot in the field of endoscopic instruments comprises a stator mechanism and a rotor mechanism. The rotor mechanism is arranged inside the stator mechanism and comprises a rectiblock, two coils, an asymmetrical rotor and an output shaft, the rotor is arranged on the output shaft, the first coil and the second coil are wound on the asymmetrical rotor and are both positioned at the outer edge of the rotor, and the rectiblock and the asymmetrical rotor are connected and concentrically arranged. By the electromagnetic micro-actuator for the gastrointestinal robot, axial size of the gastrointestinal robot is shortened, space utilization rate of the gastrointestinal robot is improved, and miniaturization of the gastrointestinal robot is achieved.
Description
Technical field
What the present invention relates to is a kind of device of endoscope quasi-instrument technical field, specifically a kind of micro electromagnetic actuator for the intestines and stomach robot.
Background technology
Along with the continuous quickening of people's rhythm of life and the continuous variation of dietary structure, disease of digestive tract is more and more.Cancer of the stomach is one of modal malignant tumour in world wide, 640,000 people is approximately arranged because of mortality of gastric carcinoma every year, occupies the 2nd of the cancer cause of the death.The incidence of disease of intestinal cancer also with the speed rising in every year 2%, often is close on 500000 people and dies from intestinal cancer, and the speedup of China's intestinal cancer incidence of disease is the twice of world standard in the world, and the death rate occupies the 3rd of the cancer cause of the death.The gi system disease belongs to the high chronic disease of the incidence of disease, the death rate and disability rate, therefore check in advance that prevention and Diagnosis of Gastric intestines problem are significant to improving the people ' s health level, and good disease of digestive tract diagnostic method is the key of prevention enterogastric diseases.
In recent years, development in science and technology, the enterogastric diseases diagnosis and treatment method constantly makes a breakthrough.The appearance of intelligent capsule is found the new breakthrough of advanced intelligent capsule gastrointestinal examination with regard to indicating the enterogastric diseases diagnosis from traditional endoscopy.But at present still there are defective in conventional endoscope and intelligent capsule endoscope for the examination of enterogastric diseases, and therefore the research active intestines and stomach robot that can swallow realizes that intestines and stomach noninvasive test and non-invasive procedures have become enterogastric diseases diagnosis and treatment method new breakthrough direction.
At present the intestines and stomach robots mainly is divided into bionic type intestines and stomach robot and the rotary intestines and stomach of capsule robots.There are imitative chi Kuo formula, imitative earthworm-type and imitative galleyworm formula etc. in bionic type intestines and stomach robot.The type of drive of this type of bionic type intestines and stomach robot is generally common micro motor or special material (SMA or EP) drives, thereby intestines and stomach robot arm or outer wall and intestines and stomach inwall are interacted make its effective exercise in intestines and stomach, but this motion mode easy damaged intestines and stomach, and have obvious shortcoming: common micro motor drives intestines and stomach robots overall dimension is larger, space availability ratio is not high, further the miniaturization difficulty; The intestines and stomach robot motion performance that special material drives is undesirable, has the problems such as the too little or action response frequency of actuating force is low.The rotary intestines and stomach of capsule robot has common micro motor driving, external magnetic field to drive two kinds.Mucus, fine hair effect in the helical form member of the rotary intestines and stomach of capsule robot by capsule outer walls screw thread or capsule afterbody and intestines and stomach, thereby promotion intestines and stomach robot motion.Common micro motor drives rotary intestines and stomach of capsule robot shortcoming mainly is the type of drive inefficiency, and in motion process, and without effective clamper mechanism, more difficult realization is to sick Zhao point stable detection; Though external magnetic field drives rotary intestines and stomach of capsule robot can realize sick Zhao point stable detection, mechanism's miniaturization, the rotation control of extraneous driver and capsule is all very complicated, is not easy to practical application.
find through the retrieval to prior art, Chinese patent literature CN1686044, open day 2005-10-26, put down in writing the inner rotary magnetic field noncontact screw type of a kind of medical micromotion robot in human vas and driven online control method, by driving diametrical magnetization and N, the S utmost point many magnetic poles of even number cylindrical shape neodymium iron boron (NdFeB) permanent magnet outer driver alternately rotates and moves axially, the magnetic torque that medium produces the inner driver that is loaded with field structure in the magnetic machine coupling of rotating magnetic field and axial magnetic pull form and drive " power is revolved ", realize that robot is in endovascular two-way contactless axial driving.But this technical development is still immature now, controls complexity, be difficult to realize at the endovascular effective exercise of complications, and easily to the blood vessel injury.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of micro electromagnetic actuator for the intestines and stomach robot is provided, structure by novelty makes intestines and stomach robots axial dimension shorten, and improves intestines and stomach robots space availability ratio, realizes the miniaturization of intestines and stomach robots.
The present invention is achieved by the following technical solutions, the present invention includes: stator mechanism and the rotor mechanism that comprises commutator segment that is arranged at its inside.
Described stator mechanism comprises: ring-type magnetic sheet and brush, and wherein: ring-type magnetic sheet and rotor mechanism effect make rotor mechanism rotate, and brush is fixed in annular magnetic sheet inner surface;
Described rotor mechanism comprises: two groups of coils, commutator segment, asymmetrical rotor and output shafts, wherein: rotor is arranged on output shaft, the first coil, the second coil winding are in asymmetrical rotor and all be positioned at the rotor outer, and commutator segment is connected with asymmetrical rotor and concentric setting;
Described commutator segment and described brush are in contact with one another.
The two ends of described output shaft and stator mechanism all are arranged in closed magnetic conduction shell; The D font centre bore of the radial cross-section of this output shaft and asymmetrical rotor is complementary.
Described magnetic conduction shell comprises: magnetic conduction upper cover and magnetic conduction round bottom plate, and wherein: the magnetic conduction upper cover is wrapped in outside mover mechanism, and magnetic conduction round bottom plate is arranged at the bottom of stator mechanism and is connected with the magnetic conduction upper cover.
The center of described magnetic conduction round bottom plate and magnetic conduction upper cover arranges respectively clutch shaft bearing and the second bearing, and two bearings coordinate with the two ends of output shaft respectively.
Described commutator segment is divided into 6 parts, and two zones of both sides, the center of circle are interconnected and on the same group, are total to three groups of a, b, c relatively.
Described brush is the L character form structure that the positive and negative electrode brush forms, and this brush and commutator segment lower surface contact portion are linear, and wherein: the both positive and negative polarity brush is by the copper wire helically coiling.
It is the symmetrical fan-shaped hole of 120 ° that two line of symmetry angles are arranged on described asymmetrical rotor, embeds respectively the first coil and the second coil, and two fan-shaped hole symmetric positions become waist shape hole, so that the asymmetrical rotor stable rotation.
The upper surface of described ring-type magnetic sheet is divided into four zones, and regional polarity is followed successively by the N utmost point, the S utmost point, the N utmost point, the S utmost point.
Described the first coil and the second coil are the equidirectional coiling, and the tail end of two coils is connected, and tie point is connected with commutator segment b group, and the front end of the first coil is connected with commutator segment a group, and the front end of the second coil is connected with commutator segment c group.
Described the first coil and the second coil are the sector structure of 60 °, central angle, and two coils symmetry respectively are positioned at commutator segment b group both sides, and the first coil is identical with rotor diameter with the second coil outer diameter, and internal diameter is identical with ring-type magnetic sheet internal diameter.
The angle of the symmetry axis of the sector structure of described the first coil, the second coil is 120 °.
Technique effect
The present invention can realize the effective action of intestines and stomach robot, and mechanism's miniaturization, more is conducive to the intestines and stomach robots and moves in enteron aisle.Volume of the present invention is little, simple in structure, control is easy, cost is low, dependable performance, can substitute the common micro motor in existing intestines and stomach robots, greatly improves the space availability ratio of intestines and stomach robot.The raising of intestines and stomach robot space availability ratio can make it carry medicine or microsurgical instruments enters human body.The present invention also is applicable to be arranged on limited space, the occasion that useable electric moter drives.
Description of drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of rotor;
Fig. 3 is the structural representation of commutator segment, ring-type magnetic sheet and brush;
Fig. 4 is polycrystalline substance schematic diagram of the present invention;
Fig. 5 is structure explosive view of the present invention;
Fig. 6 is the brush structure schematic diagram;
Fig. 7 is the asymmetrical rotor structural representation;
Fig. 8 is that embodiment 1 rotates initial condition figure;
Fig. 9 is that embodiment 1 turns over 15 ° of schematic diagrames;
Figure 10 is that embodiment 1 turns over 45 ° of schematic diagrames;
Figure 11 is that embodiment 1 turns over 75 ° of schematic diagrames;
Figure 12 is that embodiment 1 turns over 105 ° of schematic diagrames;
Figure 13 is that embodiment 1 turns over 135 ° of schematic diagrames;
Figure 14 is that embodiment 1 turns over 165 ° of schematic diagrames;
Figure 15 is that embodiment 1 turns over 180 ° of schematic diagrames.
Embodiment
The below elaborates to embodiments of the invention, and the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
To shown in Figure 5, the present embodiment comprises: stator mechanism and the rotor mechanism that comprises commutator segment that is arranged at its inside as Fig. 1.
Described stator mechanism comprises: ring-type magnetic sheet 3 and brush 4, and wherein: ring-type magnetic sheet 3 makes rotor mechanism rotate with the rotor mechanism effect, and brush 4 is fixed in annular magnetic sheet 3 inner surfaces;
Described rotor mechanism comprises: two groups of coils 5,6, commutator segment 7, asymmetrical rotor 8 and output shaft 9, wherein: rotor 8 is arranged on output shaft 9, it is inner and all be positioned at rotor 8 outers, the energising opposite direction of two coils that the first coil 5, the second coil 6 are arranged at rotor 8; Commutator segment 7 be connected with rotor 8 lower surfaces and with the concentric setting of rotor 8; Brush 4 is fixed in annular magnetic sheet 3 inner surfaces; Rotor 8 makes the commutator segment 7 of rotor 8 lower surfaces and brush 4 be in contact with one another near ring-type magnetic sheet 3;
The two ends of described output shaft 9 are respectively arranged with magnetic conduction upper cover 11 and the magnetic conduction round bottom plate 2 of mutual closure, and wherein: magnetic conduction upper cover 11 is wrapped in outside rotor 8 and ring-type magnetic sheet 3.
Clutch shaft bearing 1 is set respectively at the center of described magnetic conduction round bottom plate 2 and magnetic conduction upper cover 11 and 10, two bearings of the second bearing coordinate with the two ends of output shaft 9 respectively.
Described commutator segment 7 is divided into 6 parts, and altogether a, b, c are three groups, about the zone of center of circle symmetry on the same group, regional connectivity on the same group.
Described the first coil 5 and the second coil 6 are left-handed coiling, and the tail end of two coils is connected, and tie point is connected with commutator segment 7b group, and the front end of the first coil 5 is connected with commutator segment 7a group, and the front end of the second coil 6 is connected with commutator segment 7c group.
The structure of described the first coil 5 and the second coil 6 is the fan-shaped of 60 °, central angle, and two coils symmetry respectively are positioned at commutator segment 7b group both sides, and the first coil 5 is identical with rotor 8 external diameters with the second coil 6 external diameters, and internal diameter is identical with ring-type magnetic sheet 3 internal diameters.
The angle of the symmetry axis of the sector structure of described the first coil 5, the second coil 6 is 120 °.
The upper surface of described ring-type magnetic sheet 3 is divided into four zones, and regional polarity is followed successively by the N utmost point, the S utmost point, the N utmost point, the S utmost point.
As shown in Figure 6, described brush 4 is the L character form structure that the positive and negative electrode brush forms, wherein anodal+, negative pole-brush is by the copper wire helically coiling.Brush 4 is linear with commutator segment 7 lower surface contact portions, label L part in Fig. 6, and brush 4 linears parts all cross annular magnetic sheet center, become 90 ° of angles.Two straight lines are the line of demarcation of annular magnetic sheet 3 magnetic poles just, and the zone that comprises is the S utmost point.
As shown in Figure 7, two symmetrical fan-shaped hole line of symmetry angles of described asymmetrical rotor 8 are 120 °, embed respectively the first coil 5 and the second coil 6.For making asymmetrical rotor 8 stable rotation, be designed to waist shape hole H1 in two fan-shaped hole symmetric positions, centre bore is D font centre bore H2.
Magnetic conduction upper cover 11 and rotor 8 near, and are connected with magnetic conduction round bottom plate and mutually closely connect, the external seal environment of formation electromagnetic driver.
The present embodiment Electromagnetic Drive clockwise rotates specific as follows:
Assumed initial state: as shown in Figure 8, the first coil 5 of inlaying in rotor 8, the second coil 6 and brush 4 homonymies, and be symmetrical in the center line at brush 4 the two poles of the earth, this moment, brush 4 anodally contacted with a group commutator segment 7, and brush 4 negative poles are organized commutator segment 7 with c and are acted on mutually.When brush 4 adds positive voltage, the first coil 5 magnetic fields are the upper end S utmost point, the lower end N utmost point, the second coil 6 magnetic fields are the upper end N utmost point, the lower end S utmost point, the N utmost point of the first coil 5 corresponding ring-type magnetic sheets 3 in belows and the S utmost point two zones, the N utmost point of the second corresponding ring-type magnetic sheets 3 in coil 6 belows and the S utmost point two zones, due to the interaction between magnetic field, rotor 8 will clockwise rotate.
As shown in Figure 9, rotor 8 in 0 ° goes to 15 ° of processes, first and second coil 5,6 magnetic fields with and corresponding below ring-type magnetic sheet 3 polarity of the magnetic fields constant.When rotor 8 goes to 15 ° clockwise, brush 4 negative poles just between commutator segment 7b, c group, the second coil 6 short circuits, the first coil 5 magnetic fields are the upper S utmost point, the lower N utmost point, the N utmost point and the territory, S polar region of its corresponding ring-type magnetic sheet 3 in below, rotor 8 continues to clockwise rotate.
As shown in figure 10, rotor 8 is in 15 ° go to 45 ° of processes clockwise, and the first coil 5 magnetic fields are the upper end S utmost point, the lower end N utmost point, and the corresponding ring-type magnetic sheet 3N utmost point in below and the S utmost point two zones, the second coil 6 no currents pass through.
When rotor 8 goes to 45 °, brush 4 is anodal to be acted on commutator segment 7a, c group just simultaneously mutually, negative pole is connected with commutator segment 7b group, this moment first, coil 5 magnetic fields were the upper end S utmost point, the lower end N utmost point, and the second coil 6 magnetic fields are the upper end S utmost point, the lower end N utmost point, the territory, S polar region of the first corresponding ring-type magnetic sheet 3 in coil 5 belows, the N utmost point of the second corresponding ring-type magnetic sheet 3 in coil 6 belows, rotor 8 continues to clockwise rotate.
As shown in figure 11, rotor 8 goes to 75 ° of processes clockwise from 45 °, and the first coil 5 no currents pass through, and the second coil 6 magnetic fields are the upper end S utmost point, the lower end N utmost point, the N utmost point and the territory, S polar region of the second corresponding ring-type magnetic sheets 3 in coil 6 belows.
When rotor 8 goes to 75 °, brush 4 negative poles are connected with commutator segment 7a, b group, brush 4 is anodal to be touched with commutator segment 7c winding, the first coil 5 short circuits, the second coil 6 magnetic fields are the upper end S utmost point, the lower end N utmost point, the N utmost point and the territory, S polar region of the second corresponding ring-type magnetic sheet 3 in coil 6 belows, rotor 8 continues to clockwise rotate.
As shown in figure 12, when rotor 8 goes to 105 ° clockwise from 75 °, brush 4 positive poles are connected with commutator segment 7c group, brush 4 negative poles are connected with commutator segment 7a group, the first coil 5 magnetic fields are the upper end N utmost point, the lower end S utmost point, the corresponding ring-type magnetic sheet 3S utmost point in below and territory, N polar region, the second coil 6 magnetic fields are the upper end S utmost point, the lower end N utmost point, the corresponding ring-type magnetic sheet 3N utmost point in below and territory, S polar region.
When rotor 8 went to 105 ° clockwise, brush 4 positive poles were connected with commutator segment 7b, c group, and brush 4 negative poles are connected with commutator segment 7a group, the first coil 5 magnetic fields are the upper end N utmost point, the lower end S utmost point, the corresponding ring-type magnetic sheet 3S utmost point in below and territory, N polar region, the second coil 6 short circuits, rotor 8 continues to clockwise rotate.
As shown in figure 13, when rotor 8 went to 135 ° clockwise from 105 °, brush 4 positive poles were connected with commutator segment 7b group, brush 4 negative poles and commutator segment 7a group is connected, and the first coil 5 magnetic fields are the upper end N utmost point, the lower end S utmost point, the corresponding ring-type magnetic sheet 3N utmost point in below and territory, S polar region, the second coil 6 no currents pass through.
When rotor 8 goes to 135 ° clockwise, brush 4 positive poles are connected with commutator segment 7b group, brush 4 negative poles just are connected with commutator segment 7a, c group, and the first coil 5 magnetic fields are the upper end N utmost point, the lower end S utmost point, territory, corresponding ring-type magnetic sheet 3N polar region, below, the second coil 6 magnetic fields are the upper end N utmost point, the lower end S utmost point, territory, corresponding ring-type magnetic sheet 3S polar region, below, due to the magnetic field interaction, rotor 8 continues to clockwise rotate.
As shown in figure 14, rotor 8 goes to 165 ° of processes from 135 °, and the first coil 5 no currents pass through, and the second coil 6 magnetic fields are the upper end N utmost point, the lower end S utmost point, the corresponding ring-type magnetic sheet 3N utmost point in below and territory, S polar region.
When rotor 8 goes to 165 °, brush 4 is anodal to be connected with commutator segment 7a, b group, brush 4 negative poles are connected with commutator segment 7c group, the first coil 5 short circuits, the second coil 6 magnetic fields are the upper end N utmost point, the lower end S utmost point, the corresponding ring-type magnetic sheet 3N utmost point in below and territory, S polar region, due to the magnetic field interaction, rotor 8 continues to clockwise rotate.
As shown in figure 15, rotor 8 goes to 180 ° of processes from 165 °, and the first coil 5 magnetic fields are the upper end N utmost point, the lower end S utmost point, the corresponding ring-type magnetic sheet 3N utmost point in below and territory, S polar region, the second coil 6 magnetic fields are the upper end S utmost point, the lower end N utmost point, the corresponding ring-type magnetic sheet 3S utmost point in below and territory, N polar region.
When rotor 8 went to 180 °, rotor 8 was got back to and the initial condition symmetric position, and rotor 8 still can run well in 180 ° to 360 ° scopes, therefore electromagnetic driver can run well clockwise.
When brush 4 loaded negative voltage, the present embodiment moved counterclockwise, and its motion process is opposite with the clockwise motion process of electromagnetic driver.
Claims (10)
1. a micro electromagnetic actuator that is used for the intestines and stomach robot, is characterized in that, comprising: stator mechanism and the rotor mechanism that comprises commutator segment that is arranged at its inside;
Described rotor mechanism comprises: two groups of coils, commutator segment, asymmetrical rotor and output shafts, wherein: rotor is arranged on output shaft, the first coil, the second coil winding are on asymmetrical rotor and all be positioned at the rotor outer, and commutator segment is connected with asymmetrical rotor and concentric setting.
2. micro electromagnetic actuator according to claim 1, is characterized in that, described stator mechanism comprises: ring-type magnetic sheet and brush, wherein: ring-type magnetic sheet and rotor mechanism effect make rotor mechanism rotate, and brush is fixed in annular magnetic sheet inner surface.
3. micro electromagnetic actuator according to claim 2, is characterized in that, described commutator segment and described brush are in contact with one another.
4. according to claim 1-3 described micro electromagnetic actuators of any one, is characterized in that, described commutator segment is divided into 6 parts, and two zones of both sides, the center of circle are interconnected and on the same group, are total to three groups of a, b, c relatively.
5. the described micro electromagnetic actuator of any one according to claim 4, it is characterized in that, described the first coil and the second coil are the equidirectional coiling, the tail end of two coils is connected, tie point is connected with commutator segment b group, the front end of the first coil is connected with commutator segment a group, and the front end of the second coil is connected with commutator segment c group.
6. micro electromagnetic actuator according to claim 5, it is characterized in that, described the first coil and the second coil are the sector structure of 60 °, central angle, two coils symmetry respectively are positioned at commutator segment b group both sides, the first coil is identical with rotor diameter with the second coil outer diameter, and internal diameter is identical with ring-type magnetic sheet internal diameter.
7. micro electromagnetic actuator according to claim 5, is characterized in that, the angle of the symmetry axis of the sector structure of described the first coil, the second coil is 120 °.
8. micro electromagnetic actuator according to claim 5, is characterized in that, the upper surface of described ring-type magnetic sheet is divided into four zones, and regional polarity is followed successively by the N utmost point, the S utmost point, the N utmost point, the S utmost point.
9. micro electromagnetic actuator according to claim 5, is characterized in that, described brush be the L character form structure that forms of positive and negative electrode brush and with commutator segment lower surface contact portion be linear.
10. according to claim 1-3 described micro electromagnetic actuators of any one, is characterized in that, the two ends of described output shaft and stator mechanism all are arranged in closed magnetic conduction shell; The radial cross-section of this output shaft mates with the D font centre bore phase 5 of asymmetrical rotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310069816.5A CN103117606B (en) | 2013-03-05 | 2013-03-05 | For the micro electromagnetic actuator of gastrointestinal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310069816.5A CN103117606B (en) | 2013-03-05 | 2013-03-05 | For the micro electromagnetic actuator of gastrointestinal robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103117606A true CN103117606A (en) | 2013-05-22 |
| CN103117606B CN103117606B (en) | 2016-02-17 |
Family
ID=48415907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310069816.5A Expired - Fee Related CN103117606B (en) | 2013-03-05 | 2013-03-05 | For the micro electromagnetic actuator of gastrointestinal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103117606B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103393440A (en) * | 2013-08-02 | 2013-11-20 | 同济大学附属上海市肺科医院 | Electromagnet operating device for thoracoscopic surgery |
| CN106510605A (en) * | 2017-01-04 | 2017-03-22 | 京东方科技集团股份有限公司 | Gastrointestinal examination device and gastrointestinal examination system |
| CN106606346A (en) * | 2015-10-21 | 2017-05-03 | 新加坡国立大学 | Medical self-supported type drive axial drive device |
| CN111150436A (en) * | 2020-02-15 | 2020-05-15 | 赵勇 | Screw propulsion type medical robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001104882A (en) * | 1999-10-12 | 2001-04-17 | Shigeru Takeuchi | Flat type vibration motor |
| US7365509B2 (en) * | 2005-05-12 | 2008-04-29 | Korea Institute Of Science And Technology | Capsule type micro-robot moving system |
| CN101622773A (en) * | 2007-02-26 | 2010-01-06 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
-
2013
- 2013-03-05 CN CN201310069816.5A patent/CN103117606B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001104882A (en) * | 1999-10-12 | 2001-04-17 | Shigeru Takeuchi | Flat type vibration motor |
| US7365509B2 (en) * | 2005-05-12 | 2008-04-29 | Korea Institute Of Science And Technology | Capsule type micro-robot moving system |
| CN101622773A (en) * | 2007-02-26 | 2010-01-06 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
Non-Patent Citations (1)
| Title |
|---|
| 梁华锦: "胶囊内窥镜驱动系统的设计与研究", 《中国优秀硕士论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103393440A (en) * | 2013-08-02 | 2013-11-20 | 同济大学附属上海市肺科医院 | Electromagnet operating device for thoracoscopic surgery |
| CN103393440B (en) * | 2013-08-02 | 2015-11-18 | 同济大学附属上海市肺科医院 | Thoracoscopic operation electric magnet operating means |
| CN106606346A (en) * | 2015-10-21 | 2017-05-03 | 新加坡国立大学 | Medical self-supported type drive axial drive device |
| CN106510605A (en) * | 2017-01-04 | 2017-03-22 | 京东方科技集团股份有限公司 | Gastrointestinal examination device and gastrointestinal examination system |
| CN106510605B (en) * | 2017-01-04 | 2017-11-07 | 京东方科技集团股份有限公司 | Stomach check device and stomach inspection system |
| CN111150436A (en) * | 2020-02-15 | 2020-05-15 | 赵勇 | Screw propulsion type medical robot |
| CN111150436B (en) * | 2020-02-15 | 2023-05-30 | 赵勇 | Spiral propulsion type medical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103117606B (en) | 2016-02-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103117606B (en) | For the micro electromagnetic actuator of gastrointestinal robot | |
| CN102743174B (en) | A kind of method controlling capsule or probe motion | |
| CN111772688B (en) | Magnetically-controlled active motion biopsy capsule robot and working method thereof | |
| CN103169443A (en) | Magnetic control active capsule endoscope motion control system based on smart robot | |
| CN103251369A (en) | Capsule robot for gastrointestinal endoscopy, and control system thereof | |
| CN103166394B (en) | For the eccentric electromagnetic driver of gastrointestinal robot | |
| CN103356150A (en) | Capsule endoscope magnetic field driving system under orientation tracking guide | |
| CN208837887U (en) | A kind of external permanent magnets coaxially control magnetic screw type capsule endoscopic device | |
| CN104682642B (en) | A kind of two-freedom motor | |
| CN106344018B (en) | Wireless micro-channel capsule mother-son robot and working method thereof | |
| CN103393389B (en) | Endoscope microcapsule robot | |
| CN202489952U (en) | Drive device of capsule endoscope | |
| CN110495850A (en) | Capsule endoscope moving method, capsule endoscope control method, control equipment and system | |
| CN102973235A (en) | Capsule endoscope and direction control device thereof | |
| CN212307911U (en) | Magnetic control active movement biopsy capsule robot | |
| CN106593891B (en) | A kind of magnetic driving equipment and electromagnetic drive pump | |
| Guo et al. | Design of a novel drug-delivery module for active locomotive intestinal capsule endoscopy | |
| Guo et al. | Study on the active movement capsule robot for biopsy | |
| Guo et al. | Design of a novel drug-delivery capsule robot | |
| CN206390908U (en) | A kind of wireless microchannel capsule primary and secondary robot | |
| CN103236345A (en) | Wireless-powered receiving coil with direction adaptability | |
| CN200963827Y (en) | System for controlling micro-robot movement and pose by outside magnetic field | |
| CN103126644B (en) | Miniature clamping mechanism for gastrointestinal tract robot | |
| CN107736865A (en) | Endoscope microcapsule robot | |
| CN211243274U (en) | Capsule robot magnetic drive and measurement system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160217 Termination date: 20190305 |