CN104287685B - Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method - Google Patents
Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method Download PDFInfo
- Publication number
- CN104287685B CN104287685B CN201410523743.7A CN201410523743A CN104287685B CN 104287685 B CN104287685 B CN 104287685B CN 201410523743 A CN201410523743 A CN 201410523743A CN 104287685 B CN104287685 B CN 104287685B
- Authority
- CN
- China
- Prior art keywords
- guide post
- lower wall
- screw mandrel
- nut
- capsule
- 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.)
- Active
Links
Classifications
-
- 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
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
The invention discloses the parked and pose adjusting device of a kind of elastic rod guide type capsule endoscope robot and method, relate to endoscope microcapsule robot.It comprises capsule housing, drive motors, screw-nut body, guiding mechanism, development agency.Described drive motors drives screw turns, and drive nut moves along guide post, makes development agency retractable, realize the parked location of robot, or leading screw drives nut, rotates relative to the development agency launching, locate in intestinal, drive capsule functional warehouse to turn round around axis, realize the adjustment of its pose.Whole capsule endoscope robot is enclosed seal chamber by described capsule housing and the elasticity eyelid covering covered outside development agency.The invention has the beneficial effects as follows: the mode that have employed drive lacking makes apparatus structure simple, solves capsule endoscope robot volume large, not easily swallow and difficult problem of wriggling in intestinal; By parked and pose adjustment of fixing a point, realize carrying out comprehensive diagnosis and treatment to patient's gastrointestinal tract.
Description
Technical field
The present invention relates to field of medical device, particularly relate to the parked and pose adjusting device of elastic rod guide type capsule endoscope robot.
Background technology
Capsule endoscope is a kind of endoscope of making capsule shape, and it is used to the Medical Instruments checking human body gastrointestinal health situation.Endoscopic robot capsule then in active and passive drived control mode, moves in human gastrointestinal tract, the health status at pry human body the intestines and stomach and esophagus position, even and then help doctor to diagnose treatment to patient.
The development of medical endoscope can be divided into two stages by the change of its implementation: cable type endoscope and wireless capsule type endoscope.
Traditional cable type endoscope is through continuous changes and improvements since appearance, and now oneself becomes the important utensil of current medical examination.But certain discomfort can be brought to patient in this method use procedure, and in the process using endoscope to import and to observe, the required time is long and easily produce infringement to inside of human body.In addition, require also higher to the operant level of medical personnel.
Both at home and abroad, wireless capsule type endoscope is own through obtaining certain achievement in research, and GivenImaging company of Israel develops M2ATM capsule robot; The Sayka capsule endoscope that U.S.'s RF system laboratory is developed; The capsule endoscope not using battery of the RFSystemLab. company development of Japan; " the OMOM capsule endoscope " of the development of Jinshan Science and Technology (Group) Co., Ltd., Chongqing of China etc.
The capsule robot having put into business application at present mainly adopts the method for passive matrix in the process that inside of human body runs, realize the task of each organ of traversal human body under namely needing to utilize the drive of the fluid of organ wriggling or organ internal flow.Doctor effectively cannot control capsule endoscope to needing look-out station, and more uncontrollable capsule endoscope carries out careful observation at suspected abnormality place.
Some the active drive capsule robot structures proposed in some patent documentations, as Patent document number US8,322,469B2, disclosed Bidirectionalmovingmicrorobotsystem(way moving microrobots system), adopt mode forward and back in intestinal of " creeping "; Capsuletypemicro-robotmovingsystem(capsule-type microrobots system disclosed in Patent document number EP188323), the mode that have employed " paddle " is advanced; Disclose a kind of magnetic navigation formula kinetic control system in Patent document number CN200910273058.3, drag walking by the interaction of inside and outside permanent magnet.These active control device above-mentioned, though can realize repeatedly observing intestinal condition, be difficult to accurately parked in intestinal a certain position, let alone the adjustment of circumferential pose, is not easy to help doctor to diagnose patient, treat.
In sum, present stage is badly in need of one and can effectively creeps in gastrointestinal tract, simultaneously can also the device of parked and pose adjustment in motor process, to realize carrying out comprehensive diagnosis and treatment to patient's gastrointestinal tract reducing as far as possible under to the traumatogenic prerequisite of human body.
Summary of the invention
The invention provides a kind of structure simple and the parked and pose adjusting device of capsule endoscope robot elastic rod guide type capsule endoscope robot that is parked and pose adjustment can be realized in the mode of drive lacking.For achieving the above object, the parked and pose adjusting device of capsule endoscope robot of the present invention can adopt following technical scheme:
Parked and the pose adjusting device of a kind of elastic rod guide type capsule endoscope robot, be installed on the head of capsule robot, it is characterized in that: comprise motor mounting plate, drive motors, screw mandrel, guide post, lower wall nut, upper dish, a n quarter butt, a n stock, elasticity eyelid covering; Described screw mandrel has first end and the second end, and on screw mandrel, close first end is external thread section, adopts left hand thread structure, is polished rod section near the second end; Described lower wall nut interior is the screw thread coordinated with described screw mandrel, exterior circumferential is uniform gathering sill, the surface that lower wall nut is relative with motor mounting plate is lower wall nut bottom, seen to the second end by first end along screw mandrel, transition between lower wall nut gathering sill and lower wall nut bottom, the left side of the transition between described lower wall nut gathering sill and lower wall nut bottom is processed to arc-shaped transitional surface, and right-hand part still remains wedge angle transition; Wherein motor mounting plate is fixed on capsule robot, and drive motors is fixed on motor mounting plate, and the output shaft of drive motors overlaps with the axis of capsule robot, and the first end of screw mandrel is coaxially fixedly connected with the output shaft of drive motors by adapter sleeve; Described guide post has first end and the second end, and on guide post, close first end is a minor diameter round bar, and the end of minor diameter round bar is processed with a bit of external screw thread, and being larger diameter round bar near the second end, is the guide section of guide post; Guide post installing hole matched in clearance on guide post minor diameter round rod segment and motor mounting plate, be arranged on by guide post on motor mounting plate, guide post is parallel with screw mandrel; Reseting pressuring spring is enclosed within the minor diameter round bar of screw mandrel, between the major diameter round bar being in motor mounting plate and guide post, nut then coordinates with the external screw thread of guide post minor diameter round bar end, pin guide post to make it not throw off motor mounting plate because of the effect of reseting pressuring spring, simultaneously also finely tune guide post guide section by nut and stretch out length outside motor mounting plate, play position-limiting action; Reseting pressuring spring is in pressured state all the time, when the second end end face pressurized of guide post, compressible reseting pressuring spring makes guide post second end to motor mounting plate direction retraction, otherwise, when the second end end face release of pressure of guide post, guide post can stretch out completely under the effect of reseting pressuring spring; Lower wall nut is arranged on screw mandrel and guide post, and the female thread of lower wall nut just in time coordinates with the external thread section of screw mandrel; When above-mentioned guide post play the guiding role, its axis is positioned at above-mentioned gathering sill; Gathering sill arc-shaped transitional surface is processed with in gathering sill; Described gathering sill arc-shaped transitional surface structure is: be lower wall nut bottom by surface definition just right with motor mounting plate on lower wall nut, between gathering sill and lower wall nut bottom, half is arc-shaped transitional surface, half is still left the wedge angle transition after gathering sill processing, and see to gathering sill by first end to the second end along guide post, wedge angle is transitioned into arc transition by clockwise trend; The thread segment length of described screw mandrel be requirement instantly valve snail mother (32) be threaded to thread segment extreme position, namely contact to screw mandrel polished rod Duan Shi, lower wall nut can throw off the second end of guide post, and guide post (41) does not recur position-limiting action; Upper dish is installed on the second end of screw mandrel by bearing, n stock and n quarter butt symmetrical along the axis of capsule robot, wherein stock first end and upper dish hinged, first end and the lower wall nut of quarter butt are hinged, hinged in the middle of the second end of quarter butt and stock; Capsule robot is circumferentially with cannelure, and above-mentioned elasticity eyelid covering is covered in outside stock, and elasticity cover edges is connected with capsule robot by the slip ring be installed in above-mentioned cannelure.
The working method of the parked and pose adjusting device of described elastic rod guide type capsule endoscope robot, is characterized in that comprising following process:
Definition: with from screw mandrel to the direction of drive motors, screw mandrel rotates counterclockwise as rotating forward, screw mandrel rotates clockwise as reversion;
capsule robot is parked:
When capsule machinery requirement stops, control drive motors output shaft to rotate forward, drive screw mandrel rotating in same direction, because lower wall nut is by the restriction of guide post, can only move along screw axis to the second extreme direction, drive is hinged on quarter butt swing on nut, quarter butt drives stock to launch laterally, thus struts elasticity eyelid covering, and elasticity diaphragms effect realizes parked on intestinal inwall;
pose adjustment after capsule robot is parked:
Control drive motors to continue to rotate forward, make screw mandrel drive lower wall nut to be threaded to screw mandrel screw thread end, elasticity eyelid covering struts completely, and lower wall nut throws off the restriction of guide post, and lower wall nut no longer moves axially and rotates forward with screw mandrel; The arc-shaped transitional surface of its gathering sill acts on the end face of guide post second end, and after forcing guide post compression reseting spring, retraction also slides out to lower wall nut bottom from gathering sill through gathering sill arc-shaped transitional surface, and guide post does not recur spacing anti-rotation effect;
Now, due to elasticity eyelid covering strutted act in four peripheral wall surfaces with four peripheral wall surfaces geo-stationary, so screw mandrel and lower wall nut also with four peripheral wall surfaces geo-stationary; When drive motors works on, because the effect of overlapping in succession causes drive motors fuselage to drive capsule body reversion on the contrary, realize the adjustment of its circumferential position;
parked or after completing pose adjustment the elasticity eyelid covering of capsule robot is regained:
Control the reversion of drive motors output shaft, due to elasticity eyelid covering strutted act in four peripheral wall surfaces with four peripheral wall surfaces geo-stationary, so screw mandrel and lower wall nut also with four peripheral wall surfaces geo-stationary, when drive motors works, because the effect of overlapping in succession causes drive motors fuselage to drive capsule body to rotate forward on the contrary, guide post also rotates forward, when guide post second end end face slides to the gathering sill position of lower wall nut, due to the effect of back-moving spring, make guide post overhanging and be stuck in the gathering sill of lower wall nut, the restriction that guide post is subject to lower wall nut makes capsule body no longer rotate, after this, the reversion of drive motors output shaft will drive screw mandrel to reverse, lower wall nut is led by guide post, move along screw axis to first end direction, drive quarter butt swings, quarter butt drives stock to reclaim to the inside, lower wall nut pulls to quarter butt the combined effect adding intestinal inwall elastic-restoring force, elasticity eyelid covering is progressively reclaimed and finally departs from from four peripheral wall surfaces, and elasticity eyelid covering is regained and is wrapped in capsule side, and capsule robot can continue to advance.
Compared with background technology, parked and the pose adjusting device compact conformation of capsule endoscope robot of the present invention, volume are little, be convenient to patient swallow, can accomplish in parked process digestive tract wall micro-damage and even not damaged, diagnosis and treatment of fixing a point can be realized, comprehensive observation is carried out to patient, and structure is simple, safe and reliable.
The present invention is the parked and pose adjusting device of elastic rod guide type capsule endoscope robot and method.Capsule endoscope robot first enters human body alimentary canal by the mode such as oral, and with the wriggling of the intestines and stomach close to lesion region; After this, capsule endoscope robot switches to active exercise pattern, drives autonomic movement to impact point by external electromagnetic field; When " stuck " phenomenon appears in robot in certain position, by point stimulation digestive tract wall in body, intervene peristalsis of the digest tract, realize the passive Collaborative Control of master of robot; After arriving impact point, by apparatus of the present invention, control drive motors and development agency is strutted, realize capsule endoscope robot parked in gastrointestinal environment; Adjustment administration cabin or sampling probe position, realize fixed point operation of diagnosis and treatment in body; After having operated, pack up development agency; Capsule endoscope robot is with the metabolism of human body or active drive, and safety excretes.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the parked and pose adjusting device of elastic rod guide type capsule endoscope robot of the present invention;
Fig. 2 is the sectional view of the parked and pose adjusting device of the guide type of elastic rod shown in Fig. 1 capsule endoscope robot;
Fig. 3 is the axonometric chart of the development agency shown in Fig. 1;
Fig. 4 shows development agency at the schematic diagram launching a certain state in (or recovery) process, and shows this state lower guide mechanism partial enlarged drawing;
Fig. 5 show development agency launch completely, relatively intestinal inwall fix, carry out the schematic diagram during adjustment of capsule body pose, and show this state lower guide mechanism partial enlarged drawing;
Fig. 6 shows development agency from when being deployed into recovery completely, and lower wall nut starts schematic diagram when being led by guide post, and shows this state lower guide mechanism partial enlarged drawing;
Fig. 7 shows the enlarged drawing of structure near dish on development agency;
Drawing reference numeral in figure is: capsule body 1, drive part 2, leading screw and nut mechanism 3, guiding mechanism 4, development agency 5, capsule housing 11, cannelure 111, elasticity eyelid covering 12, slip ring 13, motor mounting plate 21, drive motors 22, adapter sleeve 23, screw mandrel 31, lower wall nut 32, gathering sill 321, lower wall nut bottom 322, gathering sill arc-shaped transitional surface 323, guide post 41, back-moving spring 42, nut 43, quarter butt 51, stock 52, upper dish 53, bundle parcel 54.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.
As shown in Figure 1 to Figure 2, one is parked and pose adjusting device for capsule endoscope robot, comprise capsule body 1, drive part 2, screw-nut body 3, guiding mechanism 4, development agency 5, be coated with elasticity eyelid covering 12 outside development agency, elasticity eyelid covering 12 is connected with capsule housing 11 by the slip ring 13 be arranged in capsule housing exterior annular groove 111, to ensure that whole device is formed a seal, by slip ring, eyelid covering can turn round around capsule housing.
As shown in Figure 2, described drive part 2 comprises motor mounting plate 21, drive motors 22, adapter sleeve 23; Described screw-nut body 3 comprises leading screw 31 and lower wall nut 32; Drive motors 22 is fixed on capsule housing 11 by motor mounting plate 21, and the output shaft of drive motors 22 overlaps with the axis of capsule robot; The output shaft of drive motors 22 is coaxially fixedly connected with by the first end of adapter sleeve 23 with screw mandrel 31; Guide post 41 is arranged on motor mounting plate 21, and its axis is parallel with screw mandrel 31, and compressible be sleeved on the back-moving spring 43 on its minor diameter round rod segment and do relative to motor mounting plate 21 stretch among a small circle; Lower wall nut 32 is arranged on screw mandrel, its female thread just in time coordinates with the external thread section of screw mandrel, when guide post play the guiding role, guide post axis is positioned at above-mentioned gathering sill, the rotation that lower wall nut is become with screw mandrel is the rectilinear movement along guide post, to realize expansion and the recovery of development agency and elasticity eyelid covering, realize capsule robot parked and parked after restart; And when guide post skids off gathering sill, lower wall nut rotates relative to guide post and realizes the adjustment of capsule body pose;
As shown in Fig. 2, Fig. 3 and Fig. 7, described development agency comprises screw mandrel 31, lower wall nut 32, quarter butt 51, stock 52, upper dish 53, bundle parcel 54.All hinged with revolute pair between lower wall nut 32 and quarter butt 51, between quarter butt 51 and stock 52, between stock 52 and upper dish 53, n stock 52 is restrainted supreme dish 53 surrounding by bundle parcel 54, plays fulcrum post; Upper dish 53 is arranged on screw axis polished end, can rotate by wire winding rod axle; When upper dish 53 and lower wall nut 32 close to or away from time, stock 52 opens or regains;
Apparatus of the present invention mainly complete capsule robot and are determining that the parked of position and pose adjust two functions, comprise following three processes:
Definition: from screw mandrel 31 to the direction of drive motors 22, screw mandrel rotates counterclockwise as rotating forward, screw mandrel rotates clockwise as reversion;
capsule robot is parked:
As shown in Fig. 1 and Fig. 4, when capsule robot is with master, passive mode moves to impact point, when needing to stop to carry out sampling or treating operation, control drive motors 21 output shaft to rotate forward, drive screw mandrel 31 rotating in same direction, because lower wall nut 32 is by the restriction of the guide post 41 be fixed on motor mounting plate 22, force lower wall nut 32 can only move along screw axis to screw mandrel second extreme direction, the quarter butt 51 be hinged on nut is driven to swing, quarter butt 51 drives stock 52 to rotate around upper dish 53, now go up dish 53 close to each other with lower wall nut 32, stock 52 launches laterally, thus strut elasticity eyelid covering 12, elasticity eyelid covering 12 act on intestinal inwall realizes parked,
pose adjustment after capsule robot is parked:
As shown in Figure 5, after capsule robot is parked, if when sampling or treatment operation have a position deviation, the adjustment of capsule body circumferential position need be carried out.Pose adjustment process is: control drive motors 22 and continue to rotate forward, make screw mandrel 31 drive lower wall nut 32 to be threaded to screw mandrel screw thread end, elasticity eyelid covering 12 struts completely, and the restriction that lower wall nut 32 throws off guide post 41 no longer moves axially and rotates forward with screw mandrel 31; Now guide post 41 second end end face and lower wall nut bottom 322 relative sliding, guide post 41 does not play spacing anti-rotation effect;
Now, due to elasticity eyelid covering 12 strutted act in four peripheral wall surfaces with four peripheral wall surfaces geo-stationary, so screw mandrel 31 and lower wall nut 32 also with four peripheral wall surfaces geo-stationary; When drive motors 22 works on, because the effect of overlapping 23 in succession causes drive motors 22 fuselage to drive capsule body 1 to reverse on the contrary, realize the adjustment of its circumferential position, adjustment angle is realized by the corner controlling motor 22;
parked or after completing pose adjustment the elasticity eyelid covering of capsule robot reclaims:
As shown in Figure 6, parked in job position at capsule robot, after completing operation of diagnosis and treatment, carry out the recovery of elasticity eyelid covering, its control procedure is: control the reversion of drive motors 22 output shaft, due to elasticity eyelid covering 12 strutted act in four peripheral wall surfaces with four peripheral wall surfaces geo-stationary, so screw mandrel 31 and lower wall nut 32 also with four peripheral wall surfaces geo-stationary, when drive motors 22 works, because the effect of overlapping 23 in succession makes drive motors 22 output shaft geo-stationary, motor fuselage drives capsule body 1 to rotate forward, the guide post 41 be fixed on capsule housing 11 also rotates forward, when guide post 41 second end end face slides to gathering sill 321 position on lower wall nut 32, due to the effect of back-moving spring 43, make guide post 41 overhanging and be stuck in gathering sill 321, guide post 41 is subject to the restriction of lower wall nut 32 and capsule body 1 is no longer rotated, after this, drive screw mandrel 31 reverses by the reversion of drive motors 22 output shaft, lower wall nut 32 is led by guide post, move along screw axis to first end direction, quarter butt 51 is driven to swing, quarter butt 51 drives stock 52 to reclaim to the inside, lower wall nut 32 pairs of quarter butts 51 pull the combined effect adding intestinal inwall elastic-restoring force, elasticity eyelid covering 12 is progressively reclaimed and finally departs from from four peripheral wall surfaces, elasticity eyelid covering 12 is regained and is wrapped in capsule side, capsule robot can continue to advance under the control of active and passive mode.
Parked and the pose adjusting device of capsule endoscope robot provided by the invention has the following advantages:
1) compact conformation, easily by patient swallow, can't harm human body;
Parked and the pose adjusting device of capsule endoscope robot adopts development agency, and robot is parked and pose adjusts two functions and shares one group of mechanism, uses a motor driving, achieves underactuated control mode; Its inside has sufficient space to install magnetic, wireless communication module, micro cell etc., make whole capsule endoscope robot compact conformation, volume little, easily by patient swallow, development agency adopts elastic construction, robot is moved in vivo or parked time all can not damage to the organic organization of intestinal, reach the object that patient be can't harm.
2) diagnosis and treatment of fixing a point can be realized, comprehensive observation is carried out to patient
Capsule endoscope robot adopts active and passive motor pattern to travel through patient's gastrointestinal tract, by device is parked can the position of positioning robot in gastrointestinal tract, and pose adjustment function is more convenient carries out omnibearing diagnosis and treatment, observation to patient's gastrointestinal tract.
3) device reliable operation
Drive motors adopts the ultrasound electric machine of diameter 2mm, and driving moment is large, reliable under strong magnetic field circumstance.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (2)
1. the parked and pose adjusting device of elastic rod guide type capsule endoscope robot, is installed on the head of capsule robot, it is characterized in that:
Comprise motor mounting plate (21), drive motors (22), screw mandrel (31), guide post (41), lower wall nut (32), upper dish (53), a n quarter butt (51), a n stock (52), elasticity eyelid covering (12);
Described screw mandrel (31) has first end and the second end, and the upper close first end of screw mandrel (31) is external thread section, and adopting left hand thread structure, is polished rod section near the second end;
Described lower wall nut (32) inside is the screw thread coordinated with described screw mandrel (31), exterior circumferential is uniform gathering sill (321), the surface that lower wall nut (32) is relative with motor mounting plate (21) is lower wall nut bottom (322), seen to the second end by first end along screw mandrel, transition between lower wall nut gathering sill (321) and lower wall nut bottom (322), the left side of the transition between described lower wall nut gathering sill (321) and lower wall nut bottom (322) is processed to arc-shaped transitional surface (323), and right-hand part still remains wedge angle transition;
Wherein motor mounting plate (21) is fixed on capsule robot, drive motors (22) is fixed on motor mounting plate (21), and the output shaft of drive motors (22) overlaps with the axis of capsule robot, the first end of screw mandrel (31) is coaxially fixedly connected with the output shaft of drive motors (22) by adapter sleeve (23);
Described guide post (41) has first end and the second end, and the upper close first end of guide post (41) is a minor diameter round bar, the end of minor diameter round bar is processed with a bit of external screw thread, and being larger diameter round bar near the second end, is the guide section of guide post (41); Guide post installing hole matched in clearance on guide post (41) minor diameter round rod segment and motor mounting plate (21), be arranged on by guide post (41) on motor mounting plate (21), guide post (31) is parallel with screw mandrel (31); Reseting pressuring spring (42) is enclosed within the minor diameter round bar of screw mandrel (41), between the major diameter round bar being in motor mounting plate (21) and guide post (41), nut (43) then coordinates with the external screw thread of guide post (41) minor diameter round bar end, pin guide post to make it not throw off motor mounting plate (21) because of the effect of reseting pressuring spring (42), also finely tuning guide post (41) guide section by nut stretches out motor mounting plate (21) length outward simultaneously, plays position-limiting action; Reseting pressuring spring (42) is in pressured state all the time, when the second end end face pressurized of guide post (41), compressible reseting pressuring spring (42) makes guide post (41) second end bounce back to motor mounting plate (21) direction, otherwise, when the second end end face release of pressure of guide post (41), guide post (41) can stretch out completely under the effect of reseting pressuring spring (42); Lower wall nut (32) is arranged on screw mandrel (31) and guide post (41), and the female thread of lower wall nut (32) just in time coordinates with the external thread section of screw mandrel (31); When above-mentioned guide post (41) play the guiding role, its axis is positioned at above-mentioned gathering sill (321); Gathering sill arc-shaped transitional surface (323) is processed with in gathering sill (321);
Described gathering sill arc-shaped transitional surface (323) structure is: lower wall nut (32) is upper and that motor mounting plate (21) is just right surface definition is lower wall nut bottom (322), between gathering sill (321) and lower wall nut bottom (322), half is arc-shaped transitional surface (323), half is still left the wedge angle transition after gathering sill (321) processing, and see that to gathering sill (321), wedge angle be transitioned into arc transition by clockwise trend by first end to the second end along guide post (41);
The thread segment length of described screw mandrel (31) be requirement instantly valve snail mother (32) be threaded to thread segment extreme position, namely contact to screw mandrel polished rod Duan Shi, lower wall nut (32) can throw off the second end of guide post (41), and guide post (41) does not recur position-limiting action;
Upper dish (53) is installed on the second end of screw mandrel (31) by bearing, n stock (52) and n quarter butt (51) symmetrical along the axis of capsule robot, wherein stock (52) first end and upper dish (53) hinged, first end and the lower wall nut (32) of quarter butt (51) are hinged, hinged in the middle of the second end of quarter butt (51) and stock (55);
Capsule robot is circumferentially with cannelure (111), and above-mentioned elasticity eyelid covering (12) is covered in stock (52) outside, and elasticity eyelid covering (12) edge is connected with capsule robot by the slip ring (13) be installed in above-mentioned cannelure (111).
2. the working method of the parked and pose adjusting device of elastic rod guide type capsule endoscope robot according to claim 1, is characterized in that comprising following process:
Will from screw mandrel (31) to the direction of drive motors (22), screw mandrel rotates counterclockwise and is defined as rotating forward, screw mandrel rotates clockwise and is defined as reversion;
capsule robot is parked:
When capsule machinery requirement stops, control drive motors (22) output shaft to rotate forward, drive screw mandrel (31) rotating in same direction, because lower wall nut (32) is by the restriction of guide post (41), can only move along screw axis to the second extreme direction, drive is hinged on that quarter butt on nut (51) swings, quarter butt (51) drives stock (52) to launch laterally, thus struts elasticity eyelid covering (12), elasticity eyelid covering (12) act on intestinal inwall realizes parked;
pose adjustment after capsule robot is parked:
Control drive motors (22) to continue to rotate forward, screw mandrel (31) is made to drive lower wall nut (32) to be threaded to screw mandrel screw thread end, elasticity eyelid covering (12) struts completely, lower wall nut (32) throws off the restriction of guide post (41), and lower wall nut (32) no longer moves axially and rotates forward with screw mandrel (31); The arc-shaped transitional surface (323) of its gathering sill (321) acts on the end face of guide post (41) second end, force guide post (41) compression reseting spring (43) bounce back afterwards and slide out to lower wall nut bottom (322) from gathering sill (321) through gathering sill arc-shaped transitional surface (323), guide post (41) does not recur spacing anti-rotation effect;
Now, due to elasticity eyelid covering (12) strutted act in four peripheral wall surfaces with four peripheral wall surfaces geo-stationary, so screw mandrel (31) and lower wall nut (32) also with four peripheral wall surfaces geo-stationary; When drive motors (22) works on, because the effect of overlapping (23) in succession causes drive motors (22) fuselage to drive capsule body (1) reversion on the contrary, realize the adjustment of its circumferential position;
parked or after completing pose adjustment the elasticity eyelid covering of capsule robot is regained:
Control drive motors (22) output shaft reversion, due to elasticity eyelid covering (12) strutted act in four peripheral wall surfaces with four peripheral wall surfaces geo-stationary, so screw mandrel (31) and lower wall nut (32) also with four peripheral wall surfaces geo-stationary, when drive motors (22) works, because the effect of overlapping (23) in succession causes drive motors (22) fuselage to drive capsule body (1) to rotate forward on the contrary, guide post (41) also rotates forward, when guide post (41) second end end face slides to gathering sill (321) position of lower wall nut (32), due to the effect of back-moving spring (43), make guide post (41) overhanging and be stuck in the gathering sill (321) of lower wall nut (32), the restriction that guide post (41) is subject to lower wall nut (32) makes capsule body (1) no longer rotate, after this, the reversion of drive motors (22) output shaft will drive screw mandrel (31) to reverse, lower wall nut (32) is led by guide post, move along screw axis to first end direction, quarter butt (51) is driven to swing, quarter butt (51) drives stock (52) to reclaim to the inside, lower wall nut (32) pulls to quarter butt (51) the combined effect adding intestinal inwall elastic-restoring force, elasticity eyelid covering (12) is progressively reclaimed and finally departs from from four peripheral wall surfaces, elasticity eyelid covering (12) is regained and is wrapped in capsule side, and capsule robot can continue to advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410523743.7A CN104287685B (en) | 2014-10-08 | 2014-10-08 | Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410523743.7A CN104287685B (en) | 2014-10-08 | 2014-10-08 | Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104287685A CN104287685A (en) | 2015-01-21 |
| CN104287685B true CN104287685B (en) | 2016-03-02 |
Family
ID=52307830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410523743.7A Active CN104287685B (en) | 2014-10-08 | 2014-10-08 | Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104287685B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11395576B2 (en) | 2017-04-19 | 2022-07-26 | Hoya Corporation | Endoscope tip attachment device |
| CN107049216B (en) * | 2017-06-07 | 2019-05-14 | 常州信息职业技术学院 | A kind of umbrella-type capsule robot |
| CN108852261B (en) * | 2018-05-04 | 2020-07-24 | 哈尔滨工业大学深圳研究生院 | Oar type active leg stretching and contracting device-based endoscope robot |
| CN109605013B (en) * | 2019-01-07 | 2022-07-08 | 山东通盛汽车科技有限公司 | Device for assembling seat cushion |
| CN109938697B (en) * | 2019-03-29 | 2023-07-25 | 重庆金山医疗技术研究院有限公司 | Elastic clamping structure and clamping device of detection equipment |
| CN109938681A (en) * | 2019-04-22 | 2019-06-28 | 上海交通大学 | Expansion park device for gastrointestinal tract microrobot |
| CN111588336B (en) * | 2020-04-08 | 2022-05-10 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Clamp type active movement capsule robot based on lead screw |
| CN112741955B (en) * | 2021-03-16 | 2022-05-20 | 山东第一医科大学附属肿瘤医院(山东省肿瘤防治研究院、山东省肿瘤医院) | Local administration device for esophagus for acute radiation esophagitis |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1774239A (en) * | 2003-01-29 | 2006-05-17 | 埃-皮尔制药公司 | Active drug delivery in the gastrointestinal tract |
| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103987422A (en) * | 2011-06-29 | 2014-08-13 | 拉尼医疗有限公司 | Device, system and methods for the oral delivery of therapeutic compounds |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030216622A1 (en) * | 2002-04-25 | 2003-11-20 | Gavriel Meron | Device and method for orienting a device in vivo |
| CN101237903A (en) * | 2005-01-18 | 2008-08-06 | 皇家飞利浦电子股份有限公司 | System and method for controlling traversal of an ingested capsule |
| WO2008122997A1 (en) * | 2007-04-04 | 2008-10-16 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Teleoperated endoscopic capsule |
| KR20100001230A (en) * | 2008-06-26 | 2010-01-06 | 주식회사 인트로메딕 | Capsule endoscope and diagnosis system for using the same |
-
2014
- 2014-10-08 CN CN201410523743.7A patent/CN104287685B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1774239A (en) * | 2003-01-29 | 2006-05-17 | 埃-皮尔制药公司 | Active drug delivery in the gastrointestinal tract |
| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| CN103987422A (en) * | 2011-06-29 | 2014-08-13 | 拉尼医疗有限公司 | Device, system and methods for the oral delivery of therapeutic compounds |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104287685A (en) | 2015-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104287685B (en) | Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method | |
| CN104287684B (en) | Parked and the pose adjusting device of ratchet pawl reset formula capsule Inner mirror robot and method | |
| CN103251369B (en) | Capsule robot for gastrointestinal endoscopy, and control system thereof | |
| JP4977776B2 (en) | Remotely operated endoscope capsule | |
| ITFI20080195A1 (en) | REMOTE ENDOSCOPIC CAPS WITH HYBRID ACTIVE LOCOMOTION | |
| CN104398230B (en) | Gastrointestinal robot mechanism | |
| CN105708537A (en) | Telescoping im nail and actuating mechanism | |
| CN103431892B (en) | Gallbladder calculus removing device with lockable calculus crushing end | |
| CN103070659B (en) | Cable-free air bag type robot system | |
| CN108720792B (en) | Peristaltic self-positioning capsule endoscope | |
| CN104027219B (en) | A kind of postoperative oral cavity function recovery training appliance for recovery | |
| CN112618023B (en) | Sterile isolation device and surgical robot system | |
| CN103637761B (en) | For gastrointestinal body inner machine people | |
| CN105615930A (en) | Specific sampler for gastrointestinal tumor biopsy tissue | |
| CN104887169A (en) | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof | |
| CN107049216B (en) | A kind of umbrella-type capsule robot | |
| CN103598868A (en) | Wheel-claw type endoscope robot | |
| WO2023231804A1 (en) | Bending mechanism and surgical robotic arm using same | |
| CN110604536A (en) | Capsule robot magnetic drive and measurement system | |
| US11786322B2 (en) | Diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy | |
| CN207821888U (en) | A kind of hepatic duct sting device | |
| CN113425390B (en) | Magnetic drive type flexible needle puncture mechanism | |
| CN211243274U (en) | Capsule robot magnetic drive and measurement system | |
| CN201263703Y (en) | Capsule type digestive canal-dredging device | |
| CN203576634U (en) | Percutaneous nephroscope calculus pickup device with calculus crushing end sealable |
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 |