CN107960976A - The axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases - Google Patents
The axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases Download PDFInfo
- Publication number
- CN107960976A CN107960976A CN201711171431.4A CN201711171431A CN107960976A CN 107960976 A CN107960976 A CN 107960976A CN 201711171431 A CN201711171431 A CN 201711171431A CN 107960976 A CN107960976 A CN 107960976A
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- cotton rope
- axial
- microrobot
- stent
- pedestal
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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
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
A kind of axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases, including：Cotton rope driving device on microrobot stent, the axial traction sleeve being slideably positioned on microrobot stent, fixed setting and microrobot stent, wherein：Cotton rope driving device is connected with axial traction sleeve and back and forth affects axial traction sleeve to slide axially on microrobot stent by cotton rope therein.The present apparatus not only simplify the structure of robot, improve sport efficiency, also improve device reliability of operation.
Description
Technical field
The present invention relates to a kind of technology of medical instruments field, is specifically that a kind of noninvasive diagnosis and treatment of enterogastric diseases are miniature
The axial drive means of robot.
Background technology
At present, possess the gastrointestinal disease minitype bionic intestinal robot of autokinetic movement and radial dilatation gastrointestinal function into
For current international electromechanical and engineering in medicine area research emphasis.Existing gasbag-type intestinal robot, it is by imitating looper
Motion principle realizes movement of the robot in enteron aisle.The robot, to cylinder charge and deflation, makes it back and forth by air pump
Axial stretching motion is realized toward double action, and such a mode is complicated, contains air pump, cylinder and gas-guide tube etc.；And fill
Gas and deflation course time are too long, and sport efficiency is than relatively low.
The content of the invention
The present invention is directed to deficiencies of the prior art, proposes a kind of noninvasive diagnosis and treatment microrobot of enterogastric diseases
Axial drive means, not only simplify the structure of robot, improve sport efficiency, also improve device operation it is reliable
Property.
The present invention is achieved by the following technical solutions：
The present invention includes：Microrobot stent, the axial traction sleeve being slideably positioned on microrobot stent, consolidate
Fixed setting and the cotton rope driving device on microrobot stent, wherein：Cotton rope driving device is connected simultaneously with axial traction sleeve
Axial traction sleeve is back and forth affected to slide axially on microrobot stent by cotton rope therein.
The microrobot stent includes：Pedestal and the guide rod and baffle being fixedly installed on pedestal, wherein：Axis
It is slideably positioned in traction sleeve on guide rod, the both ends of cotton rope driving device are fixedly installed on respectively on baffle and pedestal and middle part
It is connected with axial traction sleeve.
The cotton rope driving device includes：Bobbin winder device and the guider being connected therewith by cotton rope, wherein：Coiling
Device is fixedly installed on baffle or pedestal, and guider is fixedly installed on corresponding opposite side, and cotton rope both ends are arranged at coiling
Device, middle part are connected through guider and with axial traction sleeve, rotate pulling cotton rope by bobbin winder device and draw realization
The displacement of axial traction sleeve.
The guider includes：Directive wheel and support shaft, wherein support shaft are fixed on pedestal.
The axial traction sleeve is fixedly connected with cotton rope, is transported by the pulling of cotton rope come band moving sleeve along guide rod
It is dynamic, the mode that tapping coordinates with screw rod on sleeve is compared in nut-screw rod driving form, and this method is more stablized
Reliably, and save space.
The axial traction sleeve is equipped with front end expanding mechanism, which includes：Front end pedestal, difference
It is arranged at the first front apron of front end pedestal upper and lower sides and the second front apron, is rotated respectively with the first front apron and the second front apron
The expansion arm of connection, the driving gear set being arranged at below the second front apron, the 3rd front apron and front end power set, wherein：
Front end power set are fixedly connected with axial traction sleeve, and driving gear set is meshed with power set and expansion arm respectively,
Axial movement is converted into radial direction moment of torsion.
The bobbin winder device is driven by motor, is preferably driven by the motor with planetary reducer.
Auxiliary guide rope device, further preferred two auxiliary conductor ropes dress are preferably provided with the microrobot stent
Put, be respectively used to be oriented to the both ends of cotton rope；The auxiliary guide rope device includes：Directive wheel and dedicated support base.
Technique effect
Compared with prior art, the present invention realizes that the axial stretching of gastrointestinal robot moves using cotton rope traction, solution
Determine the complicated of air-cylinder type axial drive means, the problem of sport efficiency is low, while also solve feed screw nut's formula axial direction
Driving device is effectively improved the reliability of mechanism kinematic there are stuck deficiency.Isochrone wire saws have necessarily soft
Property, reduce the threat to enteron aisle safety.
Brief description of the drawings
Fig. 1 is intestinal robot cotton rope formula axial drive means schematic diagram；
Fig. 2 is key components and parts schematic diagram：
In figure：(a) it is bobbin winder device structure diagram, (b) is cotton rope guider schematic diagram；
Fig. 3 is bobbin winder device with aiding in location layout figure of the guide rope device on the second front apron；
Fig. 4 is front end expanding mechanism structure diagram；
Fig. 5 is cotton rope formula axial stretching mechanical work principle schematic diagram；
In figure：1 front end expanding mechanism, the first front aprons of 1-1,1-2 front ends pedestal, 1-3 expansion arms, the second front aprons of 1-4,
1-5 driving gear sets, the 3rd front aprons of 1-6,1-7 front ends power set, 2 bobbin winder devices, 2-1 reels, 2-2 screws, 2-3 rubbers
Rubber sleeve, 3 auxiliary guide rope devices, 3-1 directive wheels, 3-2 support bases, 4 first middle baffle plates, 5 second middle baffle plates, 6 are axially led
Draw sleeve, 7 guide rods, 8 rear end power set, 9 cotton ropes, 10 the 3rd middle baffle plates, 11 rear end pedestals, 12 guiders.
Embodiment
Embodiment 1
As shown in Figure 1, the present apparatus includes：Microrobot stent, the axial direction being slideably positioned on microrobot stent
The cotton rope driving device on sleeve, fixed setting and microrobot stent is drawn, wherein：Cotton rope driving device and axial traction
Sleeve is connected and back and forth affects axial traction sleeve to slide axially on microrobot stent by cotton rope therein.
The cotton rope driving device includes：Bobbin winder device 2 with rear end power set 8 be connected therewith by cotton rope
Guider 12, wherein：Bobbin winder device 2 be arranged between the first middle baffle plate 4 and the second middle baffle plate 5 and with rear end power
Device 8 is connected, and rotation is driven by rear end power set 8.
The microrobot stent includes：Rear end pedestal 11 and the guide rod 7 being fixedly installed on rear end pedestal 11
With baffle 4,5.
Second middle baffle plate 5 is equipped with auxiliary guide rope device 3, wherein：The groove direction of two directive wheel 3-1 with
The direction of cotton rope 9 is conllinear, and cotton rope 9 and reel 2-1 inner rings circle is tangent, therefore the groove extended line of two directive wheel 3-1 should be with
Reel inner ring circle is tangent.
The guide rod 8 is fixed between the second middle baffle plate 10 and the 3rd middle baffle plate 13, plays a part of guiding, peace
It is that can only be moved in order to ensure being axially moved traction sleeve 7 relative to guide rod 8 along axis direction to fill two.
The guider 12 is supported on rear end pedestal 11.
Described axial movement traction sleeve 6 is relatively fixed with front end expanding mechanism 1, at the same with one section of fixation of cotton rope 9,
And it can only be moved along 8 axis direction of guide rod.
As shown in Fig. 2 (a), the bobbin winder device 2 includes：Reel 2-1, screw 2-2 and rubber bush 2-3.
The screw 2-2 is fixed on reel 2-1 by compressing 9 one sections of cotton rope, is prevented in transmission process
Cotton rope 9 is slided relative to bobbin winder device 2.
The rubber bush 2-3 is arranged in reel 2-1 holes, it can reduce threading hole edge of a knife shape side on reel
To the abrasion of cotton rope at edge, and cushioning effect can be played between screw 2-2 and cotton rope 9, prevent screw 2-2 in fixed cotton rope 9
In it is damaged.
As shown in Fig. 2 (b), auxiliary guide rope device 3 includes：An one directive wheel 3-1 and support base 3-2, wherein：It is oriented to
Wheel 3-1 is freely rotated in axis direction, and support base 3-2 is fixed in the second middle baffle plate 5.
As shown in figure 3, under this view, the groove center line on directive wheel 3-1 is conllinear with cotton rope 9, and with reel 2-1
Enclose it is tangent, therefore the groove center line of directive wheel 3-1 and reel inner ring circle it is tangent.
As shown in figure 4, the front end expanding mechanism 1 includes：Front end pedestal 1-2, be respectively arranged on the pedestal 1-2 of front end
The the first front apron 1-1 and the second front apron 1-4 of downside, be rotatablely connected with the first front apron 1-1 and the second front apron 1-4 respectively
Expansion arm 1-3, the driving gear set 1-5, the 3rd front apron 1-6 and the power set 1- that are arranged at below the second front apron 1-4
7, wherein：Driving gear set 1-5 is meshed with power set 1-7 and expansion arm 1-3 respectively, and axial movement is converted to radially
Moment of torsion.
As shown in figure 5, when bobbin winder device 2 rotates clockwise, the direction of arrow pulls in such as figure of cotton rope 9, due to axial traction
Sleeve 6 is fixedly connected with the power set 1-7 of front end expanding mechanism 1, before the axial traction sleeve 6 fixed with cotton rope 9 then drives
End expanding mechanism 1 moves (being cotton rope 9 and 6 fixed part of axial traction sleeve at dotted line frame a in Fig. 4) along guide rod upwards, this
When mechanism axial elongation；Conversely, when bobbin winder device 2 rotates counterclockwise, then mechanism axial shrinkage.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (5)
- A kind of 1. axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases, it is characterised in that including：Micromachine On people's stent, the axial traction sleeve being slideably positioned on microrobot stent, fixed setting and microrobot stent Cotton rope driving device, wherein：Cotton rope driving device is connected with axial traction sleeve and back and forth affects axial direction by cotton rope therein Traction sleeve slides axially on microrobot stent；The microrobot stent includes：Pedestal and the guide rod and baffle being fixedly installed on pedestal, wherein：Axially lead Draw sleeve to be slideably positioned on guide rod, the both ends of cotton rope driving device are fixedly installed on respectively on baffle and pedestal and middle part and axis It is connected to traction sleeve；The axial traction sleeve is equipped with front end expanding mechanism, which includes：Front end pedestal, set respectively In the first front apron of front end pedestal upper and lower sides and the second front apron, it is rotatablely connected respectively with the first front apron and the second front apron Expansion arm, the driving gear set, the 3rd front apron and the front end power set that are arranged at below the second front apron, wherein：Front end Power set are fixedly connected with axial traction sleeve, and driving gear set is meshed with power set and expansion arm respectively, by axis Radial direction moment of torsion is converted to movement.
- 2. axial drive means according to claim 1, it is characterized in that, the cotton rope driving device includes：Around traditional thread binding The guider put and be connected therewith by cotton rope, wherein：Bobbin winder device is fixedly installed on baffle or pedestal, and guider is solid Surely be arranged at corresponding opposite side, cotton rope both ends be arranged at bobbin winder device, middle part through guider and with axial traction sleeve It is connected, rotates pulling cotton rope by bobbin winder device and the displacement of axial traction sleeve is realized in traction.
- 3. axial drive means according to claim 1, it is characterized in that, the guider includes：Directive wheel and branch Axis is supportted, wherein support shaft is fixed on pedestal.
- 4. axial drive means according to claim 1, it is characterized in that, the bobbin winder device is driven by motor, excellent The motor with planetary reducer was gated to drive.
- 5. axial drive means according to claim 1, it is characterized in that, the microrobot stent is equipped with two Guide rope device is aided in, is respectively used to be oriented to the both ends of cotton rope；The auxiliary guide rope device includes：Directive wheel and dedicated support base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711171431.4A CN107960976B (en) | 2017-11-22 | 2017-11-22 | The axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711171431.4A CN107960976B (en) | 2017-11-22 | 2017-11-22 | The axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107960976A true CN107960976A (en) | 2018-04-27 |
| CN107960976B CN107960976B (en) | 2019-09-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711171431.4A Active CN107960976B (en) | 2017-11-22 | 2017-11-22 | The axial drive means of the noninvasive diagnosis and treatment microrobot of enterogastric diseases |
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| Country | Link |
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| CN (1) | CN107960976B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109745083A (en) * | 2019-02-28 | 2019-05-14 | 哈尔滨工业大学（深圳） | A kind of enteric biopsy application capsule robot with anchoring function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020111535A1 (en) * | 2001-02-10 | 2002-08-15 | Byungkyu Kim | Self-propelled endoscopic micro-robot and system for intestinal endoscopy using the same |
| US20060257234A1 (en) * | 2005-05-12 | 2006-11-16 | Korea Institute Of Science And Technology | Capsule type micro-robot moving system |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103637761A (en) * | 2013-12-25 | 2014-03-19 | 上海交通大学 | Internal robot for gastrointestinal tract |
| CN104398230A (en) * | 2014-10-08 | 2015-03-11 | 上海交通大学 | Gastrointestinal tract robot mechanism |
| CN104783752A (en) * | 2015-04-16 | 2015-07-22 | 上海交通大学 | Large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism |
-
2017
- 2017-11-22 CN CN201711171431.4A patent/CN107960976B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020111535A1 (en) * | 2001-02-10 | 2002-08-15 | Byungkyu Kim | Self-propelled endoscopic micro-robot and system for intestinal endoscopy using the same |
| US20060257234A1 (en) * | 2005-05-12 | 2006-11-16 | Korea Institute Of Science And Technology | Capsule type micro-robot moving system |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103637761A (en) * | 2013-12-25 | 2014-03-19 | 上海交通大学 | Internal robot for gastrointestinal tract |
| CN104398230A (en) * | 2014-10-08 | 2015-03-11 | 上海交通大学 | Gastrointestinal tract robot mechanism |
| CN104783752A (en) * | 2015-04-16 | 2015-07-22 | 上海交通大学 | Large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109745083A (en) * | 2019-02-28 | 2019-05-14 | 哈尔滨工业大学（深圳） | A kind of enteric biopsy application capsule robot with anchoring function |
| CN109745083B (en) * | 2019-02-28 | 2021-08-17 | 哈尔滨工业大学（深圳） | Intestinal biopsy capsule robot that gives medicine to poor free of charge with anchoring function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107960976B (en) | 2019-09-24 |
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