CN107307838A - A kind of external guider of capsule endoscopic - Google Patents
A kind of external guider of capsule endoscopic Download PDFInfo
- Publication number
- CN107307838A CN107307838A CN201710542250.1A CN201710542250A CN107307838A CN 107307838 A CN107307838 A CN 107307838A CN 201710542250 A CN201710542250 A CN 201710542250A CN 107307838 A CN107307838 A CN 107307838A
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- Prior art keywords
- axis
- magnet
- bed body
- decelerator
- universal rotary
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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
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/0018—Physician's examining tables
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention provides a kind of external guider of capsule endoscopic, it is related to medical instruments field, including base mechanism, removable bed body, Y-axis frame mechanism, Z-axis mechanism, magnet universal rotary mechanism and magnet, mobile bed body is fixed on base mechanism, Y-axis frame mechanism is vertically connected at base mechanism, Z-axis mechanism is movably vertically connected at Y-axis frame mechanism, and magnet is connected with magnet universal rotary mechanism, and magnet universal rotary mechanism is connected with Z-axis mechanism；Base mechanism control magnet is moved in the X-axis direction, moving bed body can be moved in the X-axis direction, Y-axis frame mechanism control magnet is moved along Y direction, Z-axis mechanism control magnet is moved along Z-direction, and magnet universal rotary mechanism controls magnet to be rotated around the trunnion axis and vertical axes of magnet universal rotary mechanism.The device stablizes compact, safe and convenient, intuitive and reliable, can aid in controlling end magnet well, realizes that fast and accurately orientation is controlled to capsule endoscopic in human abdominal cavity.
Description
Technical field
The present invention relates to medical instruments field, and in particular to a kind of external guider of capsule endoscopic.
Background technology
With the development of modern science and technology, the inspection of digested road disease is from conventional endoscope, gastrointestinal endoscopy toward more pacifying
Easily high-tech direction changes entirely, such as replaces conventional endoscope to enter in human body alimentary canal using capsule class endoscope and help
Medical personnel shoot the focus situation in alimentary canal.
At present, for capsule endoscopic can be controlled manually by external magnet, but it is manually controlled in clinical practice
In, control effect is undesirable, and positioning precision is not high, causes the presence of larger blind area in Capsule Endoscopy.
In the prior art, driving capsule endoscopic has robot device, such as patent CN in gastral telecontrol equipment
103222842 105615817 A, CN 105962876 shown in A of B, CN, robot device can accurately control the five of magnet
The motion of the individual free degree, but in above-mentioned patent, because the supporting mechanism of vertical direction or horizontal direction is cantilever style mechanism, branch
The moment of flexure that support mechanism is born is larger, and intensity requirement is higher, is not easy to improve the mechanical safety factor and structural stability of product.
Therefore, the kinematic accuracy for the constructional device that control capsule endoscopic is moved in human body alimentary canal how is improved, together
When ensure higher mechanical safety factor and structural stability, be that those skilled in the art need solution to meet medical requirement
Technical problem.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are how to design a kind of capsule-type
The outer guider of endoscope body, can be realized to patient by clamping magnet and controlling the position quantity and posture amount of magnet
The Pose Control into internal capsule endoscopic is taken before checking in advance, it is final to realize or solve to the external of capsule endoscopic
Complete autonomous high accuracy control problem.
To solve above-mentioned technical barrier, the present invention provides a kind of external guider of capsule endoscopic, including base machine
Structure, removable bed body, Y-axis frame mechanism, Z-axis mechanism, magnet universal rotary mechanism and magnet, the mobile bed body are fixed on institute
Base mechanism is stated, the Y-axis frame mechanism is vertically connected at the base mechanism, and the Z-axis mechanism is movably vertically connected
In the Y-axis frame mechanism, the magnet is connected with the magnet universal rotary mechanism, the magnet universal rotary mechanism and institute
State Z-axis mechanism connection；The base mechanism controls the magnet to move in the X-axis direction, and the moving bed body can be along X-direction
Motion, the Y-axis frame mechanism controls the magnet to be moved along Y direction, and the Z-axis mechanism control magnet is transported along Z-direction
Dynamic, the magnet universal rotary mechanism control magnet rotates around the trunnion axis and vertical axes of magnet universal rotary mechanism.
Further, the X-axis motor driving X-axis decelerator of the base mechanism drives X-axis gear movement, the X-axis tooth
Wheel is engaged with X-axis rack, and the X-axis rack is fixed on bottom plate.
Further, the X-axis motor is installed on X-axis slide unit, and the lower surface of the X-axis slide unit is fixed with X-axis slide block to be connected
Connect, the X-axis motor drives the X-axis gear to drive the X-axis slide unit to be run along X-axis slide rail, the X-axis slide rail includes 2
It is arranged in parallel in the guide rail on the bottom plate.
Further, the Y-axis frame mechanism is planer type structure, the y-axis motor driving Y-axis of the Y-axis frame mechanism
Decelerator drives Y-axis gear movement, and the Y-axis gear is engaged with Y-axis rack, and the Y-axis rack is installed on portal frame.
Further, the y-axis motor is installed on Y-axis slide unit, and the lower surface of the Y-axis slide unit is fixed with Y-axis sliding block to be connected
Connect, the y-axis motor driving Y-axis gear drives the Y-axis slide unit to be run along Y-axis slide rail, and the Y-axis slide rail is parallel including 2
It is arranged in the guide rail on portal frame.
Further, the Z axis motor driving Z axis decelerator of the Z-axis mechanism drives Z axis guide screw movement, the Z axis leading screw
Z axis transfer block is connected with, the Z axis transfer block is connected with Z axis slide unit, and Z axis sliding block is provided with the Z axis slide unit.
Further, the Z axis leading screw drives the Z axis slide unit to be moved along Z axis slide rail, and the Z axis slide rail includes 2 admittedly
Due to the guide rail of Z axis fixed frame, the Z axis leading screw is arranged in the middle of the Z axis slide rail.
Further, the vertical electric rotating machine of the magnet universal rotary mechanism is installed on vertical rotary decelerator, described
Vertical rotary decelerator is installed on decelerator mounting seat, and the output shaft of the vertical rotary decelerator is connected with magnet fixed mount,
To drive the magnet to be rotated around the vertical axes of magnet universal rotary mechanism.
Further, the horizontal rotation motor of the magnet universal rotary mechanism is installed on horizontal rotation decelerator, described
The output shaft of horizontal rotation decelerator is provided with the driving wheel of synchronous pulley component, and the driven pulley of synchronous pulley component is installed on institute
The trunnion axis of magnet universal rotary mechanism is stated, the driving wheel is connected with the driven pulley by timing belt, the driving wheel
Motion passes to the driven pulley by timing belt, drives the magnet to be moved around horizontal axis.
Further, the bed body motor driving bed body decelerator of the removable bed body drives bed body gear movement, described
Bed body gear is engaged with bed body rack, and the bed body decelerator installing plate is fixed on bed body support, and the bed body rack is fixed on
The lower surface of bed board, bed body slide rail is fixed on the lower surface of the bed board, and the bed body slide rail includes 4 arranged in X direction
The guide rail being parallel to each other, bed body sliding block is installed on bed body support as fixing end, and bed board is in institute described in the bed body rack drives
State and moved on bed body sliding block.
The structure can realize the motion control of 5 frees degree of magnet, adjustment magnet relative to human abdomen position and
Corner so as to produce in the magnetic field space of change, described magnet assembly magnet part optionally using quasi-ellipsoid permanent magnet,
Electromagnet or superconducting magnet.
Compared with prior art, the beneficial effects of the present invention are：
1st, the present invention is based on gantry frame type structure in structure, and structure Simple visual in the control of locus is convenient
Programme-control and it is easy to operator's intuitivism apprehension；
2nd, the planer-type framework of the invention rigidity in structure is preferable, and stability is higher, and compactedness deficiency in structure
Shortcoming is made up by adding the kinematic pair of removable bed body, so entirely robot just seem in structure stablize it is compact,
It is safe and reliable；
3rd, the present invention provides one kind in the external navigation automatic control technology research that auxiliary realizes capsule endoscopic
Effective organization plan and thinking, human body alimentary canal can only be relied on by this research field has been broken away from conventional capsules formula endoscope
Wriggle and the shortcoming of passive movement and uncontrollable shooting alimentary canal image, capsule endoscopic is filled by external navigation
Put precisely reliable active control.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is a kind of overall schematic perspective view of device of preferred embodiment of the invention；
Fig. 2 is a kind of schematic perspective view of the base mechanism of preferred embodiment of the invention；
Fig. 3 is a kind of schematic perspective view of the removable bed body of preferred embodiment of the invention；
Fig. 4 is a kind of schematic perspective view of the Y-axis frame mechanism of preferred embodiment of the invention；
Fig. 5 is a kind of schematic perspective view of the Z-axis mechanism of preferred embodiment of the invention；
Fig. 6 is a kind of schematic perspective view of the magnet universal rotary mechanism of preferred embodiment of the invention；
Wherein, base mechanism -1, removable bed body -2, Y-axis frame mechanism -3, Z-axis mechanism -4, magnet Universal rotary favourable turn
Structure -5, magnet -6；Bottom plate -11, X-axis rack -12, X-axis slide rail -13, X-axis slide block -14, X-axis slide unit -15, portal frame mounting blocks -
16th, X-axis gear -17, X-axis decelerator -18, X-axis motor -19；Bed body support -21, bed body slide rail -22, bed body sliding block -23, bed
Body rack -24, bed body motor -25, bed body decelerator -26, bed body decelerator installing plate -27, bed body gear -28, bed board -29；
Portal frame -31, Y-axis slide rail -32, Y-axis rack -33, Y-axis sliding block -34, Y-axis slide unit -35, y-axis motor -36, Y-axis decelerator -
37th, Y-axis gear -38；Z axis motor -41, Z axis decelerator -42, Z axis leading screw -43, Z axis slide unit -44, Z axis fixed frame -45, Z
Axle slide rail -46, Z axis sliding block -47, Z axis transfer block -48；Vertical electric rotating machine -51, vertical rotary decelerator -52, decelerator peace
Fill seat -53, horizontal rotation motor -54, horizontal rotation decelerator -55, decelerator mounting bracket -56, synchronous pulley component -57,
Magnet fixed mount -58, trunnion axis -59.
Embodiment
A kind of preferred embodiment of the external guider of capsule endoscopic of the present invention is done below in conjunction with accompanying drawing
It is described in detail, but the present invention is not limited in the embodiment.Thoroughly understand in order that the public has to the present invention, at following
Concrete details is described in detail in invention preferred embodiment.
As shown in figure 1, a kind of external guider of capsule endoscopic, including base mechanism 1, removable bed body 2, Y-axis
Frame mechanism 3, Z-axis mechanism 4, magnet universal rotary mechanism 5 and magnet 6, mobile bed body 2 are fixed on base mechanism 1, Y-axis framework
Mechanism 3 is vertically connected at base mechanism 1, and Z-axis mechanism 4 is movably vertically connected at Y-axis frame mechanism 3, magnet 6 and magnet ten thousand
Connected to rotating mechanism 5, magnet universal rotary mechanism 5 is connected with Z-axis mechanism 4；The control magnet 6 of base mechanism 1 is transported along X-direction
Dynamic, mobile bed body 2 can be moved in the X-axis direction, and the control magnet 6 of Y-axis frame mechanism 3 is moved along Y direction, and Z-axis mechanism 4 is controlled
Magnet 6 is moved along Z-direction, and magnet universal rotary mechanism 5 controls magnet 6 around the He of trunnion axis 59 of magnet universal rotary mechanism 5
Vertical axes rotate, and patient goes to bed the previous dynasty away from the motion of the direction of portal frame 31.
As depicted in figs. 1 and 2, base mechanism 1 includes electric machine assembly, rack and pinion assembly and slide track component；Base mechanism 1
Bottom plate 11 carry all loads of the device, the output end of X-axis motor 19 of base mechanism 1 connects with the input of X-axis decelerator 18
Connect, the driving X-axis of X-axis motor 19 decelerator 18 drives X-axis gear 17 to move, and X-axis gear 17 is engaged with X-axis rack 12, X-axis rack
12 are fixed on bottom plate 11.X-axis motor 19 is installed on X-axis slide unit 15, the lower surface of X-axis slide unit 15 and X-axis by X-axis decelerator 18
Sliding block 14 is fixedly connected, and the driving X-axis of X-axis motor 19 gear 17 drives X-axis slide unit 15 to be run along X-axis slide rail 13, and X-axis slide rail 13 is wrapped
Include 2 guide rails being arranged in parallel on bottom plate 11.
As shown in Figure 1 and Figure 4, Y-axis frame mechanism 3 be gantry frame type structure, including electric machine assembly, rack and pinion assembly and
Slide track component；Portal frame 31 is installed on X-axis slide unit 15 by coordinating with portal frame mounting blocks 16；Y-axis frame mechanism 3 includes electricity
Thermomechanical components, rack and pinion assembly and slide track component.The output end of y-axis motor 36 arranged on the crossbeam of portal frame 31 and Y-axis decelerator
37 inputs are connected, and the driving Y-axis of y-axis motor 36 decelerator 37 of Y-axis frame mechanism 3 drives Y-axis gear 38 to move, Y-axis gear
38 engage with Y-axis rack 33, and Y-axis rack 33 is installed on portal frame 31.Y-axis motor 36 is installed on Y-axis by Y-axis decelerator 37 and slided
Platform 35, the carrying of Y-axis slide unit 35 Z-axis mechanism 4, magnet universal rotary mechanism 5 and all loads of magnet 6, the lower surface of Y-axis slide unit 35
It is fixedly connected with Y-axis sliding block 34, the driving Y-axis of y-axis motor 36 gear 38 drives Y-axis slide unit 35 to be run along Y-axis slide rail 32, and Y-axis is slided
Rail 32 includes 2 guide rails being arranged in parallel on portal frame 31.
As shown in Figure 1 and Figure 5, the Z axis fixed frame 45 of Z-axis mechanism 4 is arranged on Y-axis slide unit 44, and Z-axis mechanism 4 includes
Electric machine assembly, lead screw assembly and slide track component；The output end of Z axis motor 41 is connected with the input of Z axis decelerator 42, Z axis motor 41
Driving Z axis decelerator 42 drives Z axis leading screw 43 to move, and Z axis leading screw 43 is connected with Z axis transfer block 48, Z axis transfer block 48 and Z axis
Slide unit 44 is connected, and Z axis sliding block 47 is provided with Z axis slide unit 44, and Z axis leading screw 43 drives Z axis slide unit 44 to be moved along slide rail direction, Z
Axle slide rail 46 includes 2 guide rails for being fixed on Z axis fixed frame 45, and Z axis leading screw 43 is arranged in the middle of Z axis slide rail 46, and Z axis is fixed
Lead screw assembly is also equipped with framework 45, the electric machine assembly of Z axis is arranged on Y-axis slide unit 35, and the carrying magnet of Z axis slide unit 44 is universal
Rotating mechanism 5 and all loads of magnet 6.
As shown in figures 1 to 6, magnet universal rotary mechanism 5 includes electric machine assembly and synchronous pulley component；Magnet Universal rotary
The vertical electric rotating machine 51 of rotation mechanism 5 is installed on vertical rotary decelerator 52, and vertical rotary decelerator 52 is pacified installed in decelerator
Fill under seat 53, the output shaft of vertical rotary decelerator 52 is connected with magnet fixed mount 58, to drive magnet 6 around magnet Universal rotary
The vertical axes rotation of mechanism 5.The output shaft of horizontal rotation motor 54 of magnet universal rotary mechanism 5 and horizontal rotation decelerator 55 are defeated
Enter axle connection, horizontal rotation decelerator 55 is installed on decelerator mounting bracket 56；The output shaft for horizontally rotating decelerator 55 is installed
There is the driving wheel of synchronous pulley component 57, the driven pulley of synchronous pulley component 57 is installed on the level of magnet universal rotary mechanism 5
Axle 59, driving wheel is connected with driven pulley by timing belt, and the motion of driving wheel passes to driven pulley by timing belt, drives magnet
6 move around the direction of trunnion axis 59.
As depicted in figs. 1 and 2, may move bed body 2 includes electric machine assembly, rack and pinion assembly and slide track component；Bed body branch
Frame 21 is arranged on bottom plate 29, and bed body motor 25 is installed on bed body decelerator 26, and bed body decelerator 26 slows down installed in bed body
In device mounting seat 27, bed body motor 25 drives bed body gear 28, bed body gear 28 and bed body rack 24 by bed body decelerator 26
Engagement, and then bed body motor 25 is by driving bed body gear 28 to be moved relative to bed body rack 24；Bed body decelerator installing plate 27
Bed body support 21 is fixed on, bed body rack 24 is fixed on the lower surface of bed board 29, and bed body slide rail 22 is fixed on the lower end of bed board 29
Face, bed body slide rail 22 includes arrange in X direction 4 guide rails being parallel to each other as mobile terminal, for aiding in bed board steadily straight
Line is moved, to realize linear motion of the movable bed board 29 relative to bed body support 21；Bed body sliding block 23 is installed as fixing end
In bed body support 21, bed body rack 24 is driven bed board 29 to be moved on bed body sliding block 23, can guarantee that with movement travel by bed board 29
It is kept completely separate and is defined with portal frame 31, facilitates checked people smoothly to check bed body up and down.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of external guider of capsule endoscopic, it is characterised in that including base mechanism (1), removable bed body (2), Y
Axle frame mechanism (3), Z-axis mechanism (4), magnet universal rotary mechanism (5) and magnet (6), the mobile bed body (2) are fixed on institute
Base mechanism (1) is stated, the Y-axis frame mechanism (3) is vertically connected at the base mechanism (1), and the Z-axis mechanism (4) is removable
The Y-axis frame mechanism (3) is vertically connected at dynamicly, and the magnet (6) is connected with the magnet universal rotary mechanism (5), institute
Magnet universal rotary mechanism (5) is stated to be connected with the Z-axis mechanism (4)；The base mechanism (1) controls the magnet (6) along X-axis
Direction is moved, and the mobile bed body (2) can move in the X-axis direction, and the Y-axis frame mechanism (3) controls magnet (6) edge
Y direction is moved, and Z-axis mechanism (4) the control magnet (6) is moved along Z-direction, magnet universal rotary mechanism (5) control
Magnet (6) processed rotates around the trunnion axis and vertical axes of magnet universal rotary mechanism (5).
2. the external guider of capsule endoscopic as claimed in claim 1, it is characterised in that the X of the base mechanism (1)
Spindle motor (19) driving X-axis decelerator (18) drives X-axis gear (17) motion, and the X-axis gear (17) is nibbled with X-axis rack (12)
Close, the X-axis rack (12) is fixed on bottom plate (11).
3. the external guider of capsule endoscopic as claimed in claim 2, it is characterised in that X-axis motor (19) peace
Loaded on X-axis slide unit (15), the lower surface of the X-axis slide unit (15) is fixedly connected with X-axis slide block (14), the X-axis motor (19)
The X-axis gear (17) is driven to drive the X-axis slide unit (15) to be run along X-axis slide rail (13), the X-axis slide rail (13) includes 2
Bar is arranged in parallel in the guide rail on the bottom plate (11).
4. the external guider of capsule endoscopic as claimed in claim 1, it is characterised in that the Y-axis frame mechanism (3)
Y-axis motor (36) driving Y-axis decelerator (37) drive Y-axis gear (38) motion, the Y-axis gear (38) and Y-axis rack
(33) engage, the Y-axis rack (33) is installed on portal frame (31).
5. the external guider of capsule endoscopic as claimed in claim 4, it is characterised in that y-axis motor (36) peace
Loaded on Y-axis slide unit (35), the lower surface of the Y-axis slide unit (35) is fixedly connected with Y-axis sliding block (34), the y-axis motor (36)
Y-axis gear (38) is driven to drive the Y-axis slide unit (35) to be run along Y-axis slide rail (32), the Y-axis slide rail (32) includes 2 and put down
Row is arranged in the guide rail on portal frame (31).
6. the external guider of capsule endoscopic as claimed in claim 1, it is characterised in that the Z of the Z-axis mechanism (4)
Spindle motor (41) driving Z axis decelerator (42) drives Z axis leading screw (43) motion, and the Z axis leading screw (43) is connected with Z axis transfer block
(48), the Z axis transfer block (48) is connected with Z axis slide unit (44), and Z axis sliding block (47) is provided with the Z axis slide unit (44).
7. the external guider of capsule endoscopic as claimed in claim 6, it is characterised in that Z axis leading screw (43) band
Move the Z axis slide unit (44) to move along Z axis slide rail (46), the Z axis slide rail (46) is fixed on Z axis fixed frame including 2
(45) guide rail, the Z axis leading screw (43) is arranged in the middle of the Z axis slide rail (46).
8. the external guider of capsule endoscopic as claimed in claim 1, it is characterised in that the magnet Universal rotary favourable turn
The vertical electric rotating machine (51) of structure (5) is installed on vertical rotary decelerator (52), and the vertical rotary decelerator (52) is installed on
Decelerator mounting seat (53), the output shaft of the vertical rotary decelerator (52) is connected with magnet fixed mount (58), to drive
The vertical axes that magnet (6) is stated around magnet universal rotary mechanism (5) rotate.
9. the external guider of capsule endoscopic as claimed in claim 8, it is characterised in that the magnet Universal rotary favourable turn
The horizontal rotation motor (54) of structure (5) is installed on horizontal rotation decelerator (55), the output of the horizontal rotation decelerator (55)
Axle is provided with the driving wheel of synchronous pulley component (57), and the driven pulley of synchronous pulley component (57) is installed on the magnet Universal rotary
The trunnion axis (59) of rotation mechanism (5), the driving wheel is connected with the driven pulley by timing belt, and the motion of the driving wheel is led to
Cross timing belt and pass to the driven pulley, drive the magnet (6) to be moved around trunnion axis (59) direction.
10. the external guider of capsule endoscopic as claimed in claim 1, it is characterised in that the removable bed body (2)
Bed body motor (25) driving bed body decelerator (26) drive bed body gear (28) motion, the bed body gear (28) and bed body tooth
Bar (24) is engaged, and the bed body decelerator installing plate (27) is fixed on bed body support (21), and the bed body rack (24) is fixed on
The lower surface of bed board (29), bed body slide rail (22) is fixed on the lower surface of the bed board (29), and the bed body slide rail (22) includes
The guide rail that 4 arranged in X direction are parallel to each other, bed body sliding block (23) is installed on bed body support (21) as fixing end, described
Bed body rack (24) drives the bed board (29) to be moved on the bed body sliding block (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542250.1A CN107307838B (en) | 2017-07-05 | 2017-07-05 | External navigation device of capsule type endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542250.1A CN107307838B (en) | 2017-07-05 | 2017-07-05 | External navigation device of capsule type endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107307838A true CN107307838A (en) | 2017-11-03 |
| CN107307838B CN107307838B (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710542250.1A Active CN107307838B (en) | 2017-07-05 | 2017-07-05 | External navigation device of capsule type endoscope |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108056889A (en) * | 2018-02-07 | 2018-05-22 | 唐广纯 | Equipment on a kind of multi-functional acupuncture bed |
| CN108524083A (en) * | 2018-02-27 | 2018-09-14 | 孙凤桂 | A kind of gynemetrics's postpartum comprehensive care device |
| CN108670681A (en) * | 2018-06-04 | 2018-10-19 | 潘仲民 | A kind of medical capsule scope auxiliary examination bed |
| CN108937829A (en) * | 2018-05-30 | 2018-12-07 | 广州众健医疗科技有限公司 | A kind of intelligence gastroscope endoscope |
| CN109259716A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | A kind of capsule endoscope magnetic guide control device |
| CN109259715A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | The capsule endoscope magnetic guide control device of integrated interactive function |
| WO2019228533A1 (en) * | 2018-06-02 | 2019-12-05 | Ankon Medical Technologies (Shanghai) Co., Ltd | Control device for capsule endoscope |
| CN112932873A (en) * | 2021-03-10 | 2021-06-11 | 李中正 | Auxiliary device for medical operation |
| CN114431926A (en) * | 2022-02-08 | 2022-05-06 | 索诺利(厦门)医疗科技有限公司 | Lithotripsy equipment treatment bed |
| US11426059B2 (en) | 2018-06-02 | 2022-08-30 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Control system for capsule endoscope |
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