CN108451489B

CN108451489B - Active leg stretching and contracting device endoscope robot based on lead screw

Info

Publication number: CN108451489B
Application number: CN201810421901.6A
Authority: CN
Inventors: 宋霜; 马滔; 潘小飞
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2018-05-04
Filing date: 2018-05-04
Publication date: 2020-08-14
Anticipated expiration: 2038-05-04
Also published as: CN108451489A

Abstract

The invention discloses an endoscope robot of an active leg stretching and contracting device based on a lead screw, which comprises a robot body, a control mechanism and a supporting leg structure, wherein the control mechanism is arranged in an inner cavity of the robot body, the control mechanism is provided with a camera and a motor, an output shaft of the motor is fixedly connected with the supporting leg structure, and the control mechanism is electrically connected with an external control terminal. This active shank extends and constriction device's endoscope robot based on lead screw, through the improvement of landing leg structure to and the cooperation of camera and motor is used, makes the structure that the robot can be fine avoiding receiving the inner chamber pipeline under the prerequisite of guaranteeing complexity and operating time and some pathological changes receive the hindrance at the in-process that moves ahead.

Description

Active leg stretching and contracting device endoscope robot based on lead screw

Technical Field

The invention relates to the technical field of robots, in particular to an endoscope robot of an active leg stretching and contracting device based on a lead screw.

Background

With the development of technology, there is an increasing interest in developing minimally invasive and intraluminal devices for surgical or diagnostic applications, one of these research activities being the development of small robots to explore the body's cavities, such as the gastrointestinal tract, in a controlled manner, without suffering and discomfort to the patient, the ability to actively move and perform diagnostics, drug delivery and even surgery within the body using miniaturized and swallowable robots, which results in reduced hospital stays and associated healthcare costs, as well as facilitating early diagnosis.

The active drive of current device divide into interior drive and outer drive two big types, and interior drive requires great to the electric quantity, and is higher and operating time to the requirement of design receives the restriction, and outer drive then can receive the structure of inner chamber pipeline and some pathological changes and receive the hindrance at the in-process that moves ahead.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the endoscope robot of the active leg stretching and contracting device based on the lead screw, and solves the problem that the structure of an inner cavity pipeline and certain pathological changes are difficult to be prevented from being blocked in the advancing process on the premise of ensuring the complexity and the operation time.

In order to achieve the purpose, the invention is realized by the following technical scheme: the endoscope robot comprises a robot body, a control mechanism and a supporting leg structure, wherein the control mechanism is arranged in an inner cavity of the robot body and is provided with a camera and a motor, an output shaft of the motor is fixedly connected with the supporting leg structure, and the control mechanism is electrically connected with an external control terminal;

the supporting leg structure is provided with a screw rod, the top end of the screw rod is fixedly connected with an output shaft of a motor, a fixed disc, a movable disc and a screw nut matched with the screw rod are arranged on the screw rod, the fixed disc is arranged at the bottom end of the screw rod and fixedly connected with the screw rod, the outer side of the fixed disc is connected with one end of a connecting frame rod through a rotating shaft moving part, the other end of the connecting frame rod is connected with the supporting leg through a limiting sleeve in a sleeved mode, and one end of the supporting leg is connected with the movable disc through the rotating shaft moving part.

As a further improvement of the invention, the robot body is in a capsule shape, and the control mechanism, the camera and the motor which are arranged in the robot body are all waterproof structures.

As a further improvement of the invention, a movable window matched with the extension and contraction of the supporting leg structure is arranged on the shell of the robot body.

As a further improvement of the invention, the ratio of the length of the connecting frame rod to the length of the supporting leg is 1 to 3.

As a further improvement of the invention, the number of the support legs is three, and the three support legs are distributed in a manner of being separated by 120 degrees in pairs by taking the central axis of the screw rod screw as the center, wherein when the included angle between the side link and the screw rod screw is an acute angle or a right angle, the support leg structure realizes the function of contracting or expanding, and when the included angle is an obtuse angle, the support leg structure realizes the function of supporting and erecting.

As a further improvement of the invention, the lead screw rod comprises a rod body, and the surface of the rod body is sleeved with threads matched with the lead screw nut.

As a further improvement of the invention, the rod body comprises a rod shell, a through hole is formed in the left side of the rod shell, a positioning ring is fixedly connected to the inner cavity of the rod shell, a positioning rod is sleeved on the surface of the positioning ring, a rubber rod penetrates through the positioning rod, fan blades are arranged on two sides of the rubber rod, and a brush is arranged on the inner wall of the rod shell.

The invention has the beneficial effects that:

1. this active shank extends and constriction device's endoscope robot based on lead screw, through the improvement of landing leg structure to and the cooperation of camera and motor is used, makes the structure that the robot can be fine avoiding receiving the inner chamber pipeline under the prerequisite of guaranteeing complexity and operating time and some pathological changes receive the hindrance at the in-process that moves ahead, has made things convenient for user's use when reduce cost.

2. Active shank based on lead screw extends and retractor's endoscope robot for lead screw has the space and deposits the body fluid in order to guarantee for the stability of body fluid, has reduced retractor's whole quality simultaneously (whole quality is too big relatively can influence patient's health burden) through the improvement of the lead screw and the body of rod.

3. The robot enters a cavity in the body of an organism, the cavity can be expanded and contracted through the supporting leg structure at the blocked or bent part of the cavity, and the movement of the endoscope robot is realized through the driving of a motor in the control mechanism; when the robot needs to stay at a certain lesion position or stand, the supporting leg mechanism is fully propped open to be fully contacted with the inner wall of the cavity, so that the robot stays or stands.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a front view of the leg construction of the present invention;

FIG. 3 is a side view of the leg construction of the present invention;

FIG. 4 is a schematic view of the lead screw of the present invention;

fig. 5 is a schematic structural view of a rod body according to the present invention.

In the figure: 1. a robot body; 2. a control mechanism; 3. a camera; 4. a motor; 5. a leg structure; 51. fixing the disc; 52. supporting legs; 53. a limiting sleeve; 54. a side link; 55. a movable tray; 56. a lead screw rod; 561. a thread; 562. a rod body; 5621. a through hole; 5622. positioning a rod; 5623. a rod housing; 5624. a rubber rod; 5625. a fan blade; 5626. a brush; 5627. a positioning ring; 57. a lead screw nut.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, an endoscope robot of an active leg stretching and retracting device based on a lead screw includes a robot body 1, a control mechanism 2 and a leg structure 5, the robot body 1 includes a robot housing (not identified in the drawings) having the control mechanism 2 in an inner cavity, the control mechanism 2 has a camera 3 and a motor 4, an output shaft of the motor 4 is fixedly connected with the leg structure 5, the control mechanism 2 is electrically connected with a peripheral control terminal, and the control terminal in this embodiment adopts a common-knowledge controller capable of controlling the start and stop of the motor.

As shown in fig. 2 and 3, the supporting leg structure 5 is provided with a screw rod 56, the top end of the screw rod 56 is fixedly connected with the output shaft of the motor 4, the screw rod 56 is provided with a fixed disc 51, a movable disc 55 and a screw nut 57 which is matched with the screw rod 56, the fixed disc 51 is arranged at the bottom end of the screw rod 56 and is fixedly connected with the screw rod 56, the outer side of the fixed disc is connected with one end of a connecting rod 54 through a rotating shaft moving part, the other end of the connecting rod 54 is movably sleeved with the supporting leg 52 through a limiting sleeve 53, and one end of the supporting leg 52 is connected with the movable disc 55 through.

Further preferably, in the present embodiment, the robot body 1 is in a capsule shape, and the control mechanism 2, the camera 3, and the motor 4 installed in the robot body 1 are all waterproof structures. In order to facilitate the extension and retraction of the leg mechanism, a movable window adapted to the extension and retraction of the leg structure 5 is formed on the housing of the robot body 1. Preferably, the outer shell of the robot body 1 may also be in the shape of an elastic soft capsule, which is totally enclosed, and the leg mechanism stretches the outer shell when extended, so that the bottom of the outer shell is flattened to form a seat surface with the support leg, which is favorable for clinging to the cavity wall.

In the present embodiment, the ratio of the length of the side link 54 to the length of the support leg is 1 to 3. The number of the preferable supporting legs 52 is three, and the three supporting legs 52 use the central axis of the screw rod 56 as the center, and are distributed at intervals of 120 degrees, wherein, when the included angle between the side link 54 and the screw rod 56 is an acute angle or a right angle, the supporting leg structure 5 realizes the contracting or expanding function, and when the included angle between the side link 54 and the screw rod 56 is an obtuse angle, the supporting leg structure 5 realizes the supporting and erecting function.

Another improvement of the present invention is that the screw rod 56 includes a rod 562, and a thread 561 disposed in cooperation with the screw nut 57 is sleeved on a surface of the rod 562. As shown in fig. 5, the rod 562 includes a rod housing 5623, a through hole 5621 is formed in the left side of the rod housing 5623, a positioning ring 5627 is fixedly connected to an inner cavity of the rod housing 5623, a positioning rod 5622 is sleeved on the surface of the positioning ring 5627, a rubber rod 5624 is arranged on the positioning rod 5622 in a penetrating manner, fan blades 5625 are arranged on two sides of the rubber rod 5624, and a brush 5626 is arranged on the inner wall of the rod housing 5623.

When the device is used, the motor in the control mechanism rotates to drive the screw rod to rotate, the rotation of the screw rod is converted into the movement of the nut through spiral matching, the moving disc is pulled to move together, and therefore the supporting legs are pushed to extend or contract.

To sum up, this active shank based on lead screw extends and constriction device's endoscope robot, through the improvement of landing leg structure to and the cooperation of camera and motor is used, make the robot can be fine avoid receiving the structure of inner chamber pipeline and some pathological changes receive the hindrance at the in-process that moves ahead guaranteeing under the prerequisite of complexity and operating time, make things convenient for user's use when reduce cost.

Active shank based on lead screw extends and retractor's endoscope robot for lead screw has the space and deposits the body fluid in order to guarantee for the stability of body fluid, has reduced retractor's whole quality simultaneously (whole quality is too big relatively can influence patient's health burden) through the improvement of the lead screw and the body of rod.

The robot enters a cavity in the body of an organism, the cavity can be expanded and contracted through the supporting leg structure at the blocked or bent part of the cavity, and the movement of the endoscope robot is realized through the driving of a motor in the control mechanism; when the robot needs to stay at a certain lesion position or stand, the supporting leg mechanism is fully propped open to be fully contacted with the inner wall of the cavity, so that the robot stays or stands.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Active shank based on lead screw extends and retractor's endoscope robot, including robot body (1), control mechanism (2) and landing leg structure (5), its characterized in that: the robot comprises a robot body (1), and is characterized in that a control mechanism (2) is arranged in an inner cavity of the robot body (1), the control mechanism (2) is provided with a camera (3) and a motor (4), an output shaft of the motor (4) is fixedly connected with a supporting leg structure (5), and the control mechanism (2) is electrically connected with an external control terminal;

the supporting leg structure (5) is provided with a screw rod (56), the top end of the screw rod (56) is fixedly connected with an output shaft of the motor (4), the screw rod (56) is provided with a fixed disc (51), a movable disc (55) and a screw nut (57) which is matched with the screw rod (56), the fixed disc (51) is arranged at the bottom end of the screw rod (56) and is fixedly connected with the screw rod (56), the outer side of the fixed disc (51) is connected with one end of a connecting rod (54) through a rotating shaft movable piece, the other end of the connecting rod (54) is sleeved with the supporting leg (52) through a limiting sleeve (53), and one end of the supporting leg (52) is connected with the movable disc (55) through the rotating shaft movable piece;

the shell of the robot body (1) is elastic soft capsule-shaped and is totally enclosed, and the shell is unfolded when the supporting leg structure is extended, so that the bottom of the shell is flattened to form a seat surface with the supporting leg.

2. An endoscopic robot based on a lead screw active leg extension and retraction device according to claim 1, characterized by: the robot is characterized in that the robot body (1) is arranged in the robot body (1), and the control mechanism (2), the camera (3) and the motor (4) are all of waterproof structures.

3. An endoscopic robot based on a lead screw active leg extension and retraction device according to claim 1, characterized by: the ratio of the length of the side link (54) to the length of the support leg is 1 to 3.

4. An endoscopic robot based on a lead screw active leg extension and retraction device according to claim 1, characterized by: the number of the supporting legs (52) is three, the three supporting legs (52) are distributed at intervals of 120 degrees by taking the central axis of the screw rod (56) as the center, when the included angle between the side link (54) and the screw rod (56) is an acute angle or a right angle, the supporting leg structure (5) achieves the contracting or expanding function, and when the included angle is an obtuse angle, the supporting leg structure (5) achieves the supporting and erecting function.

5. An endoscopic robot based on a lead screw active leg extension and retraction device according to claim 1, characterized by: the screw rod screw (56) comprises a rod body (562), and threads (561) matched with the screw rod nut (57) are sleeved on the surface of the rod body (562).

6. An endoscopic robot based on a lead screw active leg extension and retraction device according to claim 5, characterized by: the utility model discloses a rubber pole, including pole body (562), through-hole (5621) have been seted up including pole shell (5623), the inner chamber fixedly connected with holding ring (5627) of pole shell (5623), the surface cover of holding ring (5627) is equipped with locating lever (5622), it is provided with rubber pole (5624) to run through on locating lever (5622), the both sides of rubber pole (5624) all are provided with flabellum (5625), the inner wall of pole shell (5623) is provided with brush (5626).