CN106214116A - Expanding mechanism for intestinal microrobot - Google Patents
Expanding mechanism for intestinal microrobot Download PDFInfo
- Publication number
- CN106214116A CN106214116A CN201610554380.2A CN201610554380A CN106214116A CN 106214116 A CN106214116 A CN 106214116A CN 201610554380 A CN201610554380 A CN 201610554380A CN 106214116 A CN106214116 A CN 106214116A
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- ring gear
- ring
- lower limb
- expanding mechanism
- shaped lower
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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
- A61B1/32—Devices for opening or enlarging the visual field, e.g. of a tube of the body
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- 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
-
- 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
- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
A kind of expanding mechanism for intestinal microrobot of endoscope class technical field, including being oppositely arranged and the first ring gear that each other constant speed reversely rotates and the second ring gear, wherein: the first ring gear and the second annular gear structure is identical, excircle is respectively provided with three C-shaped lower limbs that hoop is uniform, the C-shaped lower limb one_to_one corresponding on the first ring gear and the second ring gear arranges formation three hinges to C-shaped lower limb；Described C-shaped lower limb includes ring-type root section and thread form end segments, wherein: ring-type root section and thread form end is intersegmental is provided with changeover portion, thread form end segments is provided with middle part pin joint near changeover portion, and the C-shaped midleg pin joint on the first ring gear and the second ring gear is hinged two-by-two.The present invention has that axial width is little, radial dilatation, touch-safe, opening and closing diameter is than big feature.
Description
Technical field
The present invention relates to the technology of a kind of endoscopic arts, a kind of expansion for intestinal microrobot
Mechanism.
Background technology
The alternative conventional endoscope of intestinal microrobot carries out indagation to intestinal tract disease, and expanding mechanism to be intestinal miniature
The indispensable mechanism of robot, possesses three kinds of functions: first, coordinates with other mechanism of robot interior, makes robot and intestinal
Produce relative displacement, it is achieved active exercise；Secondly, robot is made to specify position to stop to complete diagnosis and treatment task at intestinal；Again,
Missing inspection is avoided in expansion to fold intestinal, improves indagation quality.The realization of these three function and the particularity pair of intestinal environment
The design of expanding mechanism proposes some and requires: first, and intestinal tissue is soft and subject to damage, it is ensured that intestinal during expanding mechanism expansion
Road safety；Secondly, robot is when specifying position to stop and to perform diagnosis and treatment task, and expanding mechanism is it is ensured that its attitude stabilization；?
After, different intestinal segment intracavity diameters differ greatly, and expanding mechanism should possess big opening and closing diameter ratio, to guarantee at intestinal footpath smaller part
By property with at the expansion effectiveness of intestinal footpath larger part.
Through the retrieval of document is found, the paper that Chen W et al. delivered on Int J Med Robot 2 phases of volume 10
" A wireless capsule robot with spiral legs for human intestine ", describes a kind of spiral shell
Line lower limb formula intestinal expanding mechanism, this mechanism comprises four helical lower limbs and a central gear；Helical lower limb root is processed as imperfect
Gear, and engage with central gear；Central gear rotates and drives the expansion of helical lower limb or retract.This expanding mechanism possesses axial width
Little, realize simple, touch-safe, opening and closing diameter than big advantage.But, the helical lower limb of this expanding mechanism is to swing to launch,
Intestinal can be reversed, there is also the danger scratching intestinal simultaneously.
Summary of the invention
The present invention is directed in prior art that mechanism's design is unreasonable causes easily damaging internal organs, and degrees of expansion cannot reach
To defects such as needs, it is proposed that a kind of expanding mechanism for intestinal microrobot, have that axial width is little, radial dilatation,
Touch-safe, opening and closing diameter are than big feature.
The present invention is achieved by the following technical solutions,
The present invention includes: be oppositely arranged and the first ring gear that each other constant speed reversely rotates and the second ring gear, wherein:
First ring gear and the second annular gear structure is identical, excircle is respectively provided with three C-shaped lower limbs that hoop is uniform, the first ring gear and
C-shaped lower limb one_to_one corresponding on two ring gears arranges formation three hinges to C-shaped lower limb；
Described C-shaped lower limb includes ring-type root section and thread form end segments, wherein: ring-type root section and thread form end is intersegmental sets
Having changeover portion, thread form end segments is provided with middle part pin joint near changeover portion, on the first ring gear and the second ring gear in C-shaped lower limb
Portion's pin joint is hinged two-by-two.
The first described ring gear and the second ring gear excircle hoop are evenly equipped with three respectively and protrude ear, protrude ear and set
The root pin joint being placed in the ring-type root section of C-shaped lower limb is hinged.
Described ring-type root section internal diameter and the external diameter of the first ring gear/the second ring gear are identical.
Described changeover portion makes ring-type root section seamlessly transit with thread form end segments by continuous rounding.
Described thread form end segments is at most advanced and sophisticated rounding.
Technique effect
Compared with prior art, the present invention and intestinal are linear contact lay form, it is ensured that touch-safe, the most beneficially intestinal
The attitude stabilization of road microrobot；Intestinal is used radial dilatation mode, and the profile after intestinal is expanded is class hexagon, opens
Close diameter ratio up to 2.67.
Accompanying drawing explanation
Fig. 1 is C-shaped lower limb and the structural representation of the first ring gear in the present invention；
In figure: (a) is C-shaped lower limb structure chart, (b) is the first annular gear structure figure；
Fig. 2 be in the present invention C-shaped lower limb at the arrangement schematic diagram of the first ring gear excircle；
Fig. 3 is present configuration schematic diagram；
Fig. 4 is the schematic diagram that the present invention expands intestinal；
In figure: (a) is expanding mechanism closure state schematic diagram, (b) is expanding mechanism incomplete open configuration schematic diagram,
C () expanding mechanism complete open configuration schematic diagram, solid line is the colon contour in point contact type expanding mechanism process of expansion；Dotted line
For the colon contour in process of expansion of the present invention；First ring gear the 1, second ring gear 2, C-shaped lower limb 3, protrusion ear 4, ring-type root
Section 31, thread form end segments 32, changeover portion 33, root pin joint 34, middle part pin joint 35, tip 36.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement
Example.
Embodiment 1
As shown in Figures 2 and 3, the present embodiment includes the first ring gear 1 being oppositely arranged and constant speed reversely rotates each other
With the second ring gear 2, wherein: the first ring gear 1 is identical with the second ring gear 2 structure, excircle is respectively provided with that hoop is uniform three
Bar C-shaped lower limb 3, C-shaped lower limb 3 one_to_one corresponding on the first ring gear 1 and the second ring gear 2 arranges formation three hinges to C-shaped lower limb；
As it is shown in figure 1, described C-shaped lower limb 3 includes ring-type root section 31 and thread form end segments 32, wherein: ring-type root section
Being provided with changeover portion 33 between 31 and thread form end segments 32, thread form end segments 32 is pin joint 35 in the middle part of changeover portion 33 is provided with, and first
On ring gear 1 and the second ring gear 2, the middle part pin joint 35 of C-shaped lower limb 3 is hinged two-by-two.
As shown in figures 1 and 3, the first described ring gear 1 and the second ring gear 2 excircle hoop are evenly equipped with three respectively
Protrude ear 4, protrude ear 4 hinged with the root pin joint 34 being arranged at ring-type root section 31.
The internal diameter of described ring-type root section 31 and the external diameter of the first ring gear 1/ second ring gear 2 are identical.
Described changeover portion 33 makes ring-type root section 31 seamlessly transit with thread form end segments 32 by continuous rounding.
Described thread form end segments 32 is at most advanced and sophisticated 36 roundings, it is ensured that the safety of intestinal expanding mechanism.
The first described ring gear 1 and the inner ring of the second ring gear 2 are equipped with one section of toothing, and this section of toothing accounts for whole
The 39% of inner ring inner periphery；Two sections of described toothings are by multiple mutual meshed gears transmissions.
The present invention operationally, uses DC motor Driver, and motor torque, through multiple gear transmission, drives the first ring gear
1 and second ring gear 2 constant speed reversely rotate, thus drive C-shaped lower limb hinge radial contraction or expansion intestinal；
As shown in Fig. 2 and Fig. 4 (a), when the hinge of C-shaped lower limb is of completely closed, the first described ring gear 1/ second internal tooth
Root pin joint 34 center of circle corresponding with the first ring gear 1/ second ring gear 2, the center of circle of circle 2 and a middle part pin joint
35 centers of circle are located along the same line；
As shown in Fig. 3 and Fig. 4 (b), the hinge at C-shaped lower limb slowly opens, and intestinal is expanded, contour approximation in hexagon, with
Class triangle colon contour after the expansion of point contact type expanding mechanism is compared, and expansion scope is relatively big, and isochrone contact ensure that
Intestinal safety；
As shown in Fig. 4 (c), after the hinge of C-shaped lower limb opens completely, intestinal is expanded, and contour approximation is in hexagon, profile week
The ratio of girth when length closes with expanding mechanism, i.e. the actual opening and closing diameter ratio of expanding mechanism reaches 2.67；Compare Fig. 4 (b), expansion
Scope increases further；And the colon contour after the expansion of point contact type expanding mechanism is similar to triangle, Fig. 4 (b) and Fig. 4 (c)
Middle colon contour range is little, actual opening and closing diameter ratio only 2.18.
Claims (6)
1. the expanding mechanism for intestinal microrobot, it is characterised in that include being oppositely arranged and each other constant speed anti-
To the first ring gear rotated and the second ring gear, wherein: the first ring gear and the second annular gear structure is identical, excircle respectively sets
Having three C-shaped lower limbs that hoop is uniform, the C-shaped lower limb one_to_one corresponding on the first ring gear and the second ring gear arranges formation three to C-shaped
The hinge of lower limb；
Described C-shaped lower limb includes ring-type root section and thread form end segments, wherein: ring-type root section and thread form end is intersegmental was provided with
The section of crossing, thread form end segments is provided with middle part pin joint, the C-shaped midleg on the first ring gear and the second ring gear near changeover portion
Pin joint is hinged two-by-two.
Expanding mechanism the most according to claim 1, is characterized in that, the first described ring gear and the second ring gear excircle
Hoop is evenly equipped with three respectively and protrudes ear, protrudes ear hinged with the root pin joint being arranged at the ring-type root section of C-shaped lower limb.
Expanding mechanism the most according to claim 1 and 2, is characterized in that, described ring-type root section internal diameter and the first internal tooth
The external diameter of circle the/the second ring gear is identical.
Expanding mechanism the most according to claim 1 and 2, is characterized in that, the first described ring gear and the second ring gear
Inner ring is equipped with one section of toothing, and this section of toothing accounts for the 39% of whole inner ring inner periphery.
Expanding mechanism the most according to claim 1, is characterized in that, described thread form end segments is at most advanced and sophisticated rounding.
6. according to the expanding mechanism described in claim 1 or 3, it is characterized in that, described ring-type root section is continuous by changeover portion
Rounding seamlessly transits with thread form end segments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610554380.2A CN106214116B (en) | 2016-07-14 | 2016-07-14 | Expanding mechanism for enteron aisle microrobot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610554380.2A CN106214116B (en) | 2016-07-14 | 2016-07-14 | Expanding mechanism for enteron aisle microrobot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106214116A true CN106214116A (en) | 2016-12-14 |
| CN106214116B CN106214116B (en) | 2018-04-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610554380.2A Expired - Fee Related CN106214116B (en) | 2016-07-14 | 2016-07-14 | Expanding mechanism for enteron aisle microrobot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106214116B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107788937A (en) * | 2017-10-18 | 2018-03-13 | 上海交通大学 | Gastrointestinal robot radial dilatation mechanism |
| CN108814536A (en) * | 2018-03-09 | 2018-11-16 | 中北大学 | A kind of reducing crawler frame robot mechanism for colon indagation |
| CN108852437A (en) * | 2017-05-15 | 2018-11-23 | 崔家鸣 | Visual field dilator |
| CN109316213A (en) * | 2018-10-11 | 2019-02-12 | 张庆文 | A kind of orthopaedics replacement knee mirror joint dilator |
| CN109316214A (en) * | 2018-10-11 | 2019-02-12 | 张庆文 | A kind of orthopaedics replacement knee mirror joint dilator |
| CN110680262A (en) * | 2019-10-19 | 2020-01-14 | 中北大学 | Wheel carrier wheel set type radial expansion mechanism for intestinal examination |
| CN111870799A (en) * | 2020-08-04 | 2020-11-03 | 上海交通大学 | Surface contact type expansion and residence device for gastrointestinal tract micro-robot |
Citations (6)
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| US20100113874A1 (en) * | 2007-04-04 | 2010-05-06 | Marco Quirini | Teleoperated endoscopic capsule |
| US20110214927A1 (en) * | 2010-03-05 | 2011-09-08 | Korea Institute Of Science And Technology | Bidirectional moving micro-robot system |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103672295A (en) * | 2013-12-06 | 2014-03-26 | 北京信息科技大学 | Peristaltic pipeline robot crawling mechanism |
| CN104398230A (en) * | 2014-10-08 | 2015-03-11 | 上海交通大学 | Gastrointestinal tract robot mechanism |
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
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2016
- 2016-07-14 CN CN201610554380.2A patent/CN106214116B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100113874A1 (en) * | 2007-04-04 | 2010-05-06 | Marco Quirini | Teleoperated endoscopic capsule |
| US20110214927A1 (en) * | 2010-03-05 | 2011-09-08 | Korea Institute Of Science And Technology | Bidirectional moving micro-robot system |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103672295A (en) * | 2013-12-06 | 2014-03-26 | 北京信息科技大学 | Peristaltic pipeline robot crawling mechanism |
| CN104398230A (en) * | 2014-10-08 | 2015-03-11 | 上海交通大学 | Gastrointestinal tract robot mechanism |
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852437A (en) * | 2017-05-15 | 2018-11-23 | 崔家鸣 | Visual field dilator |
| CN107788937A (en) * | 2017-10-18 | 2018-03-13 | 上海交通大学 | Gastrointestinal robot radial dilatation mechanism |
| CN108814536A (en) * | 2018-03-09 | 2018-11-16 | 中北大学 | A kind of reducing crawler frame robot mechanism for colon indagation |
| CN108814536B (en) * | 2018-03-09 | 2020-10-09 | 中北大学 | Variable-diameter crawler-type robot mechanism for colon examination |
| CN109316213A (en) * | 2018-10-11 | 2019-02-12 | 张庆文 | A kind of orthopaedics replacement knee mirror joint dilator |
| CN109316214A (en) * | 2018-10-11 | 2019-02-12 | 张庆文 | A kind of orthopaedics replacement knee mirror joint dilator |
| CN109316214B (en) * | 2018-10-11 | 2021-07-02 | 张树波 | Orthopedics knee joint mirror joint struts ware |
| CN109316213B (en) * | 2018-10-11 | 2021-07-23 | 青岛智兴医疗器械有限公司 | Orthopedics knee joint mirror joint struts ware |
| CN110680262A (en) * | 2019-10-19 | 2020-01-14 | 中北大学 | Wheel carrier wheel set type radial expansion mechanism for intestinal examination |
| CN110680262B (en) * | 2019-10-19 | 2021-06-25 | 中北大学 | Wheel carrier wheel set type radial expansion mechanism for intestinal examination |
| CN111870799A (en) * | 2020-08-04 | 2020-11-03 | 上海交通大学 | Surface contact type expansion and residence device for gastrointestinal tract micro-robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106214116B (en) | 2018-04-10 |
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