CN107736865A - Endoscope micro-capsule robot - Google Patents

Endoscope micro-capsule robot Download PDF

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Publication number
CN107736865A
CN107736865A CN201711138444.1A CN201711138444A CN107736865A CN 107736865 A CN107736865 A CN 107736865A CN 201711138444 A CN201711138444 A CN 201711138444A CN 107736865 A CN107736865 A CN 107736865A
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robot
part
head
neck
endoscope
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CN201711138444.1A
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Chinese (zh)
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不公告发明人
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长沙展朔轩兴信息科技有限公司
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Priority to CN201711138444.1A priority Critical patent/CN107736865A/en
Publication of CN107736865A publication Critical patent/CN107736865A/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00158Holding or positioning arrangements using magnetic field
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00147Holding or positioning arrangements
    • A61B1/0016Holding or positioning arrangements using motor drive units
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/303Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Abstract

The invention provides an endoscope micro-capsule robot. The robot comprises a head part, a neck part, a body part and a tail part. The body part is a column, a spiral groove is formed in the outer surface of the body part, two ends of the body part are rotatably connected with the neck part and the tail part respectively, and the neck part is connected with the head part; a motor which drives thebody part to revolve on its axis is arranged on the tail part, the motor is connected with the body part, a sealed cavity is defined among the head part, the neck part, the body part and the tail part, and the motor is arranged in the sealed cavity. The endoscope micro-capsule robot has the advantages that direct contact between the endoscope micro-capsule robot and the intestinal canal wall is avoided, the aim of non-destructive driving is achieved, the endoscope micro-capsule robot can be controlled to move forward or retreat by controlling front and reverse rotation of the motor, and repeated and detailed observation of a special point in the human organ can be achieved.

Description

内窥镜微型胶囊机器人 Microcapsules robot endoscopy

技术领域 FIELD

[0001 ]本发明涉及一种内窥镜,尤其涉及内窥镜微型胶囊机器人。 [0001] The present invention relates to an endoscope, particularly to an endoscopic robot microcapsules.

背景技术 Background technique

[0002]医疗内窥镜的发展可以按其实现方式的改变分为两个阶段:线缆式内窥镜和无线胶囊型内窥镜。 [0002] Development of medical endoscopes may vary the implementation of its two stages: wireline and wireless endoscope capsule endoscope.

[0003]传统的线缆式内窥镜自问世以来经过不断的变化和改进,现在己经成为当今医疗检查的重要器具,尤其是光导纤维内窥镜系列更是世界各地医院常规配备的体内检查仪器。 [0003] The traditional cable endoscopy since its inception through continuous change and improvement, now has become an important instrument in today's medical examination, particularly fiber-optic endoscope hospitals around the world series is equipped with conventional inspection body instrument. 透过合理运用光导纤维内窥镜的功能,医护人员就可以把患者内脏的情况以图像或视频的方式实时地反馈到面前,以实现对病人的实时观察和诊断。 Through the rational use of fiber-optic endoscope function, the medical staff can put the patient in a visceral way images or video in real time back to the front of the patient in order to achieve real-time observation and diagnosis.

[0004]虽然光导纤维内窥镜已成为人类探索内脏病源的重要手段,但这种方法仍然存在一些重大的缺点。 [0004] Although fiber-optic endoscope has become an important means of human exploration of visceral pathogenic, but this method still has some major drawbacks. 首先,这种观察手段为病人带来一定的不适;其次,光导纤维内窥镜在导入和观察的过程中,所需的时间长而且容易对人体内部产生损害。 First, the observation means for the patient to bring some discomfort; secondly, the optical fiber for a long time and observation of the endoscope in the process of introducing desired and easily cause damage to the human body. 因此,病人尤其是老人、 小孩和身体虚弱的群体都不能受惠于这种直观的观察手段。 Therefore, patients particularly the elderly, children and the frail population can not benefit from this intuitive means of observation. 另外,医护人员进行光导纤维内窥镜的操作前需要较长时间的培训和练习,以便在实际应用时能轻柔合适地将内窥镜的镜头带到正确的拍摄位置,避免为病人带来不必要的危险和痛苦。 In addition, staff training and exercises take a long time before the operation of fiber-optic endoscope in order to properly gently endoscope lens to the correct location shooting in practice, to avoid the patient does not bring the necessary dangerous and painful. 由于光导纤维内窥镜具有上述不足,研宄人员提出了利用无线胶囊型内窥镜来代替它。 Since the endoscope has an optical fiber above insufficiency, the study based on the art proposed using a wireless capsule endoscope to replace it.

[0005]国内外,无线胶囊型内窥镜已经获得一定的研究成果,以色列Given Imaging公司开发了M2ATM胶囊机器人;英国Glasgow大学研制了Lab-in-pi 11胶囊机器人;韩国科学技术研究院研制一种划桨式游动胶囊内窥镜,其前进的效果不好、效率低;意大利Paolo Dario 等研制出基于形状记忆合金驱动腿的爬行胶囊机器人,其能耗高、效率低;日本东北大学K.Ishiyama等推出了一种利用外磁场转矩驱动的胶囊机器人,其控制过程相当复杂。 [0005] at home and abroad, wireless capsule endoscope has gained some achievements, the Israeli company Given Imaging developed M2ATM capsule robot; Glasgow University in the UK developed a Lab-in-pi 11 capsule robot; Korea Institute of Science and Technology to develop a kind of rowing swimming capsule endoscope, which is not good advance effect, low efficiency; Italy Paolo Dario and other developed based on shape memory alloy driving legged crawling robot capsule, high energy consumption, low efficiency; Tohoku University K .Ishiyama other external magnetic field introduced by using a torque of the drive of the capsule robot that controls a complex process. 国内上海交通大学推出一款能对人体生理参数进行检测的胶囊机器人,重庆市金山集团推出一款用于人体内部器官图像信息采集的商用胶囊机器人,华南理工大学推出了一款螺杆式主动推进胶囊机器人,大连理工大学推出了一款花瓣型胶囊机器人。 China Shanghai Jiaotong University to launch a robotic capsule capable of detecting the physiological parameters, Chongqing Jinshan Group launched a commercial capsule robot for internal organs image information collection, South China University of Technology introduced a screw initiative to promote capsules robot, Dalian University of Technology launched a petal-shaped capsule robot.

[0006] 目前已投入到商业应用的胶囊机器人在人体内部运行的过程中都采用被动驱动的方法,即胶囊机器人需要利用器官蠕动或器官内部流动的流体的带动下实现遍历人体各器官的任务。 [0006] has been put into commercial applications capsule robot inside the human body during running are passive driving method, that requires the use of a capsule robot task traversal of human organs, driven peristaltic organ or internal organs flowing fluid. 当医护人员需要对人体器官内部某定点进行反复详细的观察时这种驱动方法束手无策。 When the internal human organs for medical staff need a fixed repeated detailed observations of this method of driving the helpless. 同时,当胶囊机器人意地被堵塞在人体内部时无法自主脱离,从而对人体造成操作上的危险。 Meanwhile, when the capsule robot is intended to be blocked inside the human body can not be self-detachment, resulting in dangerous operations on the human body. 利用被动驱动的方法亦意味着在观察过程中必定会存在未能遍历而造成漏检的位置。 The use of passive-driven approach also means there is bound to fail to traverse position caused by missed in the observation process.

发明内容 SUMMARY

[0007] 为了解决现有技术中的问题,本发明提供了一种内窥镜微型胶囊机器人。 [0007] In order to solve the problems of the prior art, the present invention provides a miniature capsule endoscope robot.

[0008] 本发明提供了一种内窥镜微型胶囊机器人,包括头部、颈部、身部和尾部,所述身部为圆柱体,所述身部的外表面设有螺旋槽,所述身部的两端分别与所述颈部、尾部旋转连接,所述颈部与所述头部连接,所述尾部上设有驱动所述身部自转的电机,所述电机与所述身部连接,所述头部、颈部、身部和尾部之间围合有密封腔体,所述电机设置在所述密封腔体内。 [0008] The present invention provides a miniature capsule endoscope robot comprising a head, a neck, a body portion and a tail, said body portion is a cylindrical outer surface of the body portion is provided with a spiral groove, the both end portions of the body and the neck respectively, swivel connector, said neck portion connecting said head portion, said body portion is provided with a drive motor rotation on said tail portion, said body portion and said motor connection, enclosed cavity between the sealing head, neck, body and tail section, said motor disposed in the sealed cavity.

[0009] 作为本发明的进一步改进,所述头部与所述颈部为摆动连接,所述颈部上设有摆动驱动部,所述摆动驱动部通过摇杆与所述头部较接,所述摆动驱动部、摇杆均设置在所述密封腔体内。 [0009] As a further improvement of the present invention, the head and the neck is connected to pivot, is provided on the neck portion of the swing drive, the wobble drive rocker and the head by more then, the wobble drive rocker are disposed in the sealed cavity.

[0010] 作为本发明的进一步改进,所述摆动驱动部为电磁机构。 [0010] As a further improvement of the invention, the drive unit is an electromagnetic oscillating mechanism.

[0011] 作为本发明的进一步改进,所述摇杆的一端与所述摆动驱动部铰接,所述摇杆的另一端与所述头部铰接。 [0011] As a further improvement of the present invention, one end of the rocker is articulated to the swing drive section, the other end of the rocker is hinged to the head.

[0012] 作为本发明的进一步改进,所述头部的两侧分别与所述颈部铰接。 [0012] As a further improvement of the present invention, both sides of the head and the neck respectively hinged.

[0013] 作为本发明的进一步改进,所述头部的两侧分别设有铰接凸耳座,所述铰接凸耳座与所述颈部铰接。 [0013] As a further improvement of the present invention, are respectively provided on both sides of the head holder hinge lugs, the hinge lugs of the neck portion hinged seat.

[0014] 作为本发明的进一步改进,所述电机与所述身部通过电机轴连接。 [0014] As a further improvement of the present invention, the motor and the body portion are connected by a motor shaft.

[0015] 本发明的有益效果是:通过上述方案,可通过电机驱动身部旋转,使得身部的螺旋槽在沾液中旋转,利用胃肠道中的高粘度沾液作为介质,利用粘液在运动过程中形成的摩擦牵引力带动内窥镜微型胶囊机器人前进,内窥镜微型胶囊机器人在有粘液的肠道中运转时将迫使粘液产生轴向运动,此种轴向运动产生的反作用力将带动内窥镜微型胶囊机器人前进,由于内窥镜微型胶囊机器人的驱动机构由带螺旋槽的圆柱体构成,因此当电机驱动身部旋转时,由于肠道中高粘度粘液所产生的动压效应作用,将形成一层动压润滑粘液膜, 此粘液膜使肠道内的内窥镜微型胶囊机器人处于悬浮状态,避免了内窥镜微型胶囊机器人与肠道壁之间的直接接触,由于内窥镜微型胶囊机器人前进是依靠与粘液的轴向摩擦力, 且自身旋转又能形成沾液润滑膜,因此内窥镜微 [0015] Advantageous effects of the present invention is that: the above-described embodiment, may be driven by a motor body section is rotated such that the helical groove of the shaft section is rotated in dip solution, using the gastrointestinal tract and a high viscosity dip solution as a medium by mucus in motion formed during the thrust force to drive the robot forward microcapsules endoscope, the endoscope will force mucus microcapsules robot operation in the gut mucus of axial movement, the reaction force generated by this axial movement will drive the endoscopic mirror microcapsules robot forward, since the driving mechanism of the capsule endoscope micro robot consists of a cylinder with a helical groove, so that when the motor driving the rotary body portion, dynamic pressure effect due to the action of intestinal mucus produced by the high viscosity will be formed hydrodynamic lubrication layer of mucous membrane, the mucous membrane of the endoscope robot microcapsules in suspension in the intestine, to avoid direct contact between the endoscopic robot and the wall of the intestine microcapsules, the microcapsules due robot endoscopy rely on axially forward friction with mucus, and their rotation can dip liquid lubricating film is formed, and therefore the endoscope micro 型胶囊机器人在体内运动不会给肠道的有机组织造成伤害,也不会给病人带来不适,达到无损驱动目的,可通过控制电机的正反转来控制内窥镜微型胶囊机器人的前进和后退,可实现对人体器官内部某定点进行反复详细的观察。 Capsule type robot body movement caused by the organism will not give intestinal damage, not discomfort the patient will achieve the purpose of non-destructive drive can be controlled by controlling the robot capsule endoscope miniature motor reversing and forward Back can be realized on internal human organs designated a repeated detailed observations.

附图说明 BRIEF DESCRIPTION

[0016] 图1是本发明一种内窥镜微型胶囊机器人的立体结构示意图; [0016] FIG. 1 is a perspective schematic view of a configuration of the present invention, the microcapsules robot endoscope;

[0017] 图2是本发明一种内窥镜微型胶囊机器人的主视图; [0017] FIG. 2 is a front view of an endoscope of the present invention, the microcapsules of the robot;

[0018]图3是本发明一种内窥镜微型胶囊机器人的剖视图; [0018] FIG. 3 is a sectional view of the present invention is an endoscopic robot of the microcapsules;

[0019]图4是本发明一种内窥镜微型胶囊机器人的部分结构示意图。 [0019] FIG. 4 is a schematic view of the present invention, one kind of the microcapsules moiety robot endoscope.

具体实施方式 Detailed ways

[0020] 下面结合附图说明及具体实施方式对本发明进一步说明。 Brief description and specific embodiments of the present invention is further described [0020] below in conjunction.

[0021] 图1至图4中的附图标号为:头部1;颈部2;身部3;螺旋槽31;电磁机构4;摇杆5。 [0021] The reference numerals in FIGS. 1 to 4 are: a head portion; neck 2; body portion 3; spiral groove 31; electromagnetic mechanism 4; 5 rocker. [0022]如图1至图4所示,一种内窥镜微型胶囊机器人,包括头部1、颈部2、身部3和尾部, 所述身部3为圆柱体,所述身部3的外表面设有螺旋槽31,所述身部3的两端分别与所述颈部2、尾部旋转连接,所述颈部2与所述头部1连接,所述尾部上设有驱动所述身部3自转的电机,所述电机与所述身部3连接,所述头部1、颈部2、身部3和尾部之间围合有密封腔体,所述电机设置在所述密封腔体内。 [0022] FIG 1 through FIG 4 an endoscopic robot microcapsules, comprising a head 1, a neck 2, a body portion 3 and tail portion, the body portion 3 is a cylinder portion 3 of the body an outer surface provided with a helical groove 31, both ends of the body portions 3 2, respectively, connected with the swivel neck portion, the neck portion 21 connected to the head, the tail portion is provided on the drive said motor rotation shaft section 3, the motor 3 is connected to the body portion, the head portion 1, the neck 2, the cavity enclosed between the sealing body portion 3 and tail portion, said motor disposed in said sealed chamber.

[0023]如图1至图4所示,所述头部1与所述颈部2为摆动连接,所述颈部2上设有摆动驱动部,所述摆动驱动部通过摇杆5与所述头部1铰接,所述摆动驱动部、摇杆5均设置在所述密封腔体内。 [0023] As shown in FIG. 1 to FIG. 4, the head 1 and connected to the neck portion 2 is swung, the drive unit is provided on the swing of the neck portion 2, the driving unit by swinging the rocker 5 said articulated head 1, the swing drive section, the rocker 5 are disposed in the sealed cavity.

[0024] 如图1至图4所示,所述摆动驱动部为电磁机构4。 [0024] As shown in FIGS. 1 to 4, the drive unit is an electromagnetic oscillating mechanism 4.

[0025]如图1至图4所示,所述摇杆5的一端与所述摆动驱动部较接,所述摇杆5的另一端与所述头部1铰接。 [0025] As shown in FIGS. 1 to 4, one end of the rocker 5 and the drive unit than the swing connected, the other end of the rocker 5 and the head 1 is hinged.

[0026]如图1至图4所示,所述头部1的两侧分别与所述颈部2铰接。 As shown in [0026] FIGS. 1 to 4, respectively, both sides of the head portion 1 and the neck 2 is hinged.

[0027]如图1至图4所示,所述头部1的两侧分别设有铰接凸耳座,所述铰接凸耳座与所述颈部2铰接。 [0027] As shown in FIGS. 1 to 4, both sides of the head 1 are provided with hinge lugs seat, the hinge lugs of the neck portion 2 of the seat hinge.

[0028]如图1至图4所示,所述电机与所述身部3通过电机轴连接。 [0028] As shown in FIGS. 1 to the motor 3 is connected to the body portion 4 by a motor shaft.

[0029]电机是整个系统的主要驱动器,安装在相对固定的尾部内,随同尾部一起移动。 [0029] The main motor drive of the entire system, installed in a relatively fixed tail moves along with the tail. 螺旋圆柱体的身部3固定在电机轴上,机器人的前进和后退运动由电机(优选为微型电机)和螺旋圆柱体的身部3实现。 Helical cylinder body portion 3 is fixed in the body portion of the motor shaft to achieve, the forward and backward movement of the robot by a motor (preferably a micro-motor) and the helical cylinder 3. 头部1摆动由颈部2内的电磁机构4实现,通过给电磁线圈充正反电,实现头部摆动。 1 is implemented by the electromagnetic head swing mechanism 2 in the neck 4, through the positive and negative electrical charge to the solenoid, the head swing achieved.

[0030] 利用胃肠道中的高粘度沾液作为介质,利用粘液在运动过程中形成的摩擦牵引力带动机器人前进。 [0030] The use of high viscosity in the gastrointestinal tract as a liquid medium dip, slime formed by using a friction traction during movement to drive the robot forward. 药丸型内窥镜在有粘液的肠道中运转时将迫使粘液产生轴向运动,此种轴向运动产生的反作用力将带动机器人前进。 Pills endoscope will force the mucus axial movement during operation of the intestinal mucus, the reaction force generated by such axial movement will drive the robot forward. 由于微型内窥镜胶囊肠道机器人的驱动机构全部由带螺旋槽的圆柱体的身部3构成,因此当身部3旋转时由于肠道中高粘度粘液所产生的动压效应作用,将形成一层动压润滑粘液膜,此粘液膜使肠道机器人处于悬浮状态避免了机器人与肠道壁之间的直接接触。 Since the driving mechanism of the capsule endoscope intestinal micro robot composed entirely cylindrical body portion with helical grooves 3, so that when the body portion 3 is rotated due to the dynamic pressure effect of high viscosity Intestinal mucus produced, will form a hydrodynamic lubrication layer of mucous membrane, this robot intestinal mucus membrane in suspension to avoid direct contact between the robot and the wall of the intestine. 由于机器人前进是依靠与粘液的轴向摩擦力,且自身旋转又能形成沾液润滑膜,因此机器人在体内运动不会给肠道的有机组织造成伤害,也不会给病人带来不适,达到无损驱动目的。 Since the robot forward and rely on friction axial mucus, and their rotation can dip liquid lubricating film is formed, so the robot in damage to the organic tissue in the body without moving the intestinal tract, the patient will not bring discomfort to achieve non-destructive drive purposes.

[0031] 内窥镜胶囊机器人的运动由电机控制,其正反向运动可以由电机的正反转控制, 当正向接通微电机电源时,带动螺旋槽的圆柱体的身部3正转产生的轴向摩擦牵引力使机器人前进,当反向接通微电机电源时则使机器人后退。 [0031] The capsule endoscope moving robot controlled by a motor, which can reverse the motion of motor reversing control by the micro-motor is turned on when the forward power to drive the helical groove 3 of the cylindrical body portion forward an axial thrust force generated by the robot advances, is turned on when the reverse power the micro-motor of the robot backward. 电机转动越快,机器人也就移动越快。 The faster the motor rotates, the robot will move faster.

[0032]在机器人的头部安装摆动机构,利用电磁吸合原理,使机器人在肠道中自由行进和停滞过程中能摆动头部进行协调拍摄,这样可以检查一些内窥镜无法整体进入的人体内腔角落,提高了检查的质量,扩大检查范围。 [0032] others mounted on the head swing mechanism of the robot, using an electromagnetic pull principle, free travel of the robot during stagnation and can swing the head in the imaging coordinate intestine, so that the endoscope can not check the number of whole into the body cavity corner, improve the quality inspection, to expand the scope of the inspection. 依据磁场同向相吸异性相斥原理,当给线圈加反向电压,线圈产生磁场和硬磁铁磁场反向,线圈座被左边电磁铁排斥开,推动头部至〇°角度。 Based on a magnetic field to attract the opposite sex with repulsion principle, when the reverse voltage applied to the coil, the coil generates a magnetic field and the hard magnetic field reversal, the left side electromagnet coil holder being repelled, to urge the head billion ° angle. 当给线圈加正电压,线圈产生磁场和硬磁铁磁场同向,线圈座被吸到左边电磁铁一边, 带动头部摆动角度18 °。 When a positive voltage is applied to the coil, the coil generates a magnetic field and is attracted to hard magnetic field in the same direction on the left side of the electromagnet, a coil holder to drive the head swing angle 18 °. 因头部1和螺旋圆柱体是同步转动的,若圆柱体旋转速度足够小,头部1则能以18°锥角慢慢转动。 1 due to head rotation and the spiral cylinder are synchronized, if the rotational speed of the cylinder is small enough, the head 1 can be rotated slowly in a 18 ° cone angle.

[0033]本发明提供的一种内窥镜微型胶囊机器人具有以下优点: [0033] The present invention provides a miniature capsule endoscope robot has the following advantages:

[0034] 1)容易被患者吞服、对人体无损; [0034] 1) a patient is easily swallowed, the human body lossless;

[0035] 胶囊内窥镜机器人的整体尺寸为:直径11mm、轴向长度40mm,体积小容易被患者吞服。 [0035] The overall size of the capsule endoscope robot are: diameter 11mm, an axial length of 40mm, a small volume easily swallowed by the patient. 微型内窥镜胶囊肠道机器人的驱动机构全部由带螺旋槽的圆柱体构成,因此当它旋转时由于肠道中高粘度粘液所产生的动压效应作用,将形成一层动压润滑粘液膜,此粘液膜使机器人处于悬浮状态避免了机器人与肠道壁之间的直接接触,因此机器人在体内运动不会给肠道的有机组织造成伤害,也不会给病人带来不适,达到对病人无损的目的。 Miniature endoscope capsule intestinal robot drive means is constituted by all the cylinder with the spiral groove, so that when the dynamic pressure effect due to rotation of its role in the intestinal mucus produced by the high viscosity, the hydrodynamic lubrication form a mucous membrane, this mucus membrane of the robot in suspension to avoid direct contact between the robot and the intestinal wall, thus causing the robot damage to the organic tissue in the body without moving the intestine, discomfort the patient will not reach the patient lossless the goal of.

[0036] 2)能够实现定点检查; [0036] 2) enables site-inspection;

[0037]胶囊内窥镜机器人可以在肠道内实现正反两个方向的运动,因此可以定位机器人在肠道内的位置,针对某一位置进行详细检查。 [0037] The capsule endoscope moving robot can be realized in both directions of the intestine, the position of the robot can be positioned in the intestine, for a detailed inspection position.

[0038] 3)快速对患者进行肠道遍历检查; [0038] 3) rapid traverse checking intestinal patient;

[0039]已投入到商业应用的胶囊机器人需要利用器官蠕动或器官内部流动的流体的带动下实现遍历人体各器官的任务,这样每次检查的速度是不可控的。 [0039] have been put into commercial applications require the use of a capsule robot task traversal of human organs organ driven peristaltic fluid flow or internal organs, so each inspection speed is not controllable. 我们研制的胶囊内窥镜机器人的运动是由电机控制,可以在一定范围内改变电机的转动速度从而控制机器人的运动的速度,快速对患者进行肠道遍历检查。 We developed the robot movement the capsule endoscope is changed by the motor can be controlled within a predetermined range of rotational speed of the motor to control the speed of movement of the robot, the rapid traverse checking patient parenterally.

[0040] 4)能够对患者进行全方位观察; [0040] 4) can be patient-round observation;

[0041] 在机器人的头部安装了摆动机构,利用电磁吸合原理,使机器人在肠道中自由行进和停滞过程中能摆动头部1进行协调拍摄,这样可以检查一些内窥镜无法整体进入的人体内腔角落,提高了检查的质量,扩大检查范围,对患者进行全方位观察。 [0041] In the robot head swing mechanism is mounted, using an electromagnetic pull principle, free travel of the robot and the retention head 1 during the swing can be coordinated in the intestine imaging, this can not check the number of the endoscope into the whole of the body lumen corner, improve the quality inspection, to expand the scope of the inspection, the full range of patient observation.

[0042] 以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明,不能认定本发明的具体实施只局限于这些说明。 [0042] The above contents with the specific preferred embodiments of the present invention is further made to the detailed description, specific embodiments of the present invention should not be considered limited to these descriptions. 对于本发明所属技术领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干简单推演或替换,都应当视为属于本发明的保护范围。 Those of ordinary skill in the art for the present invention, without departing from the spirit of the present invention, can make various simple deduction or replacement, should be deemed to belong to the scope of the present invention.

Claims (6)

1. 一种内窥镜微型胶囊机器人,其特征在于:包括头部、颈部、身部和尾部,所述身部为圆柱体,所述身部的外表面设有螺旋槽,所述身部的两端分别与所述颈部、尾部旋转连接, 所述颈部与所述头部连接,所述尾部上设有驱动所述身部自转的电机,所述电机与所述身部连接,所述头部、颈部、身部和尾部之间围合有密封腔体,所述电机设置在所述密封腔体内,所述头部与所述颈部为摆动连接,所述颈部上设有摆动驱动部,所述摆动驱动部通过摇杆与所述头部铰接,所述摆动驱动部、摇杆均设置在所述密封腔体内。 An endoscope microcapsules robot comprising: a head, neck, body and tail portion, the body portion is a cylindrical outer surface of the body portion is provided with a helical groove, said body both end portions of the neck, respectively, swivel connector, said neck portion connecting said head portion, said body portion is provided with a rotation drive motor, the motor and the tail portion of the connector body portion , enclosed with a sealed chamber, a motor disposed between the head, neck, body and tail portions of the sealing cavity, the head and the neck is connected to wobble, the neck the drive unit is provided with the swing, the swing drive rocker and the head portion by a hinge, the swinging drive unit, are disposed in the rocker seal cavity.
2. 根据权利要求1所述的内窥镜微型胶囊机器人,其特征在于:所述摆动驱动部为电磁机构。 The endoscopic robot of the microcapsules claimed in claim 1, wherein: said drive unit is an electromagnetic oscillating mechanism.
3. 根据权利要求1所述的内窥镜微型胶囊机器人,其特征在于:所述摇杆的一端与所述摆动驱动部铰接,所述摇杆的另一端与所述头部铰接。 The endoscope microcapsules robot according to claim 1, wherein: one end of the rocker is hinged to the swing drive section, the other end of the rocker is hinged to the head.
4. 根据权利要求1所述的内窥镜微型胶囊机器人,其特征在于:所述头部的两侧分别与所述颈部铰接。 The endoscope microcapsules robot according to claim 1, wherein: each of the sides of the head and the neck of the hinge.
5. 根据权利要求4所述的内窥镜微型胶囊机器人,其特征在于:所述头部的两侧分别设有铰接凸耳座,所述铰接凸耳座与所述颈部铰接。 The endoscope according to claim 4, wherein the microcapsules of the robot, characterized in that: the sides of the head are respectively provided with hinge lugs seat, the hinge lugs of the neck portion hinged seat.
6. 根据权利要求1所述的内窥镜微型胶囊机器人,其特征在于:所述电机与所述身部通过电机轴连接。 The endoscope microcapsules robot according to claim 1, wherein: said body portion and said motor is connected by a motor shaft.
CN201711138444.1A 2017-11-16 2017-11-16 Endoscope micro-capsule robot CN107736865A (en)

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CN103393389A (en) * 2013-08-16 2013-11-20 哈尔滨工业大学深圳研究生院 Endoscope microcapsule robot
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DE102004012245A1 (en) * 2004-03-12 2005-09-29 Siemens Ag Probe mechanism e.g. catheter, for e.g. pH regulation, has magnetic component giving rise to dipole movement that is perpendicular to direction of extension of robot system, where outer side of mechanism is in spiral form
CN101594818A (en) * 2007-02-02 2009-12-02 奥林巴斯医疗株式会社 Capsule medical apparatus and body-cavity observation method
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