CN108814538A - The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula - Google Patents
The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula Download PDFInfo
- Publication number
- CN108814538A CN108814538A CN201810316301.3A CN201810316301A CN108814538A CN 108814538 A CN108814538 A CN 108814538A CN 201810316301 A CN201810316301 A CN 201810316301A CN 108814538 A CN108814538 A CN 108814538A
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- China
- Prior art keywords
- axial
- power device
- radial dilatation
- position limitation
- limitation protection
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula, including：Control unit, axial motion mechanism and a pair of of the radial dilatation mechanism for being respectively arranged at its both ends, wherein：Control unit receives the axial displacement information from axial motion mechanism and the rotation information from radial dilatation mechanism and issues movement start and stop instruction；The present invention is by using Hall element position limitation protection; can be avoided motor movement, to cause motor rotation blockage that mechanism is caused to be easy to extreme position stuck; and cause motor to burn the phenomenon for causing communication unstable because electric current is excessive, to significantly improve system run all right and electrical machinery life safety.
Description
Technical field
The present invention relates to a kind of technology in medical robot field, specifically a kind of noninvasive diagnosis and treatment stomach of position limitation protection formula
Intestinal robot.
Background technique
At this stage autokinetic movement, can clamper is resident and the technical problem underlying of the miniature intestinal robot of wireless energy supply,
Defect is：There is no limiting and protecting device, motor is controlled using current detecting, realizes movement of the robot in enteron aisle.The party
It is serious that formula will lead to motor rotation blockage fever, when influencing electrical machinery life and moving to both ends extreme position, is easy stuck, substantially reduces
Mechanism reliability of operation.
Summary of the invention
The present invention causes motor rotation blockage to influence electrical machinery life and is easy to make mechanism blockage etc. for the protection of existing infinite place
Defect proposes that a kind of noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula can be kept away by using Hall element position limitation protection
Exempting to occur motor movement, to cause motor rotation blockage that mechanism is caused to be easy to extreme position stuck, and leads to motor because electric current is excessive
The phenomenon for causing communication unstable is burnt, to significantly improve system run all right and electrical machinery life safety.
The present invention is achieved by the following technical solutions：
The present invention includes：Control unit, axial motion mechanism and a pair of of the radial dilatation mechanism for being respectively arranged at its both ends,
Wherein：Control unit receives the axial displacement information from axial motion mechanism and the rotation information from radial dilatation mechanism
And issue movement start and stop instruction.
The radial dilatation mechanism includes：Frame structure, the driving gear pair being set in frame structure, respectively with biography
Movable tooth wheel set connected three groups of expansion arms and radial dilatation power device, wherein：The output shaft of radial dilatation power device with
Driving gear pair is meshed and output shaft is equipped with magnetic part, and associated frame members structure is equipped with sensor to detect the position of magnetic part
It moves.
The frame structure includes：Radial top layer baffle, the pedestal of radial bottom baffle and setting therebetween,
In：The driving gear pair and output shaft is set in pedestal, the expansion arm and pedestal rotation connection and and driving cog
Wheel set is meshed.
The sensor uses magnetic plate, the radial dilatation using a pair of of Hall sensor, the magnetic part
Power device is fixedly connected with axial motion mechanism, is passed torque to driving gear pair and is driven expansion arm stretching, extension and closure
Output shaft is connected with magnetic plate and magnetic plate is driven to rotate simultaneously, is acquired rotation information by sensor and is exported to control unit.
The radial dilatation power device is using planetary reducer and motor realization, the radial dilatation power device
It is connected with control unit and receives start and stop instruction.
The axial motion mechanism includes：Axial rack, axial power device and the movement being set in axial rack
Sleeve, wherein：Movement sleeve is axially movably set in axial rack and is connected with the radial dilatation mechanism of side, axial power
Device is fixedly connected with axial rack, and movement sleeve is equipped with magnetic part, and corresponding axial rack is equipped with sensor with detection magnetic
The displacement of property part.
The axial rack includes：Axial top layer baffle, axial bottom baffle and the support column being attached thereto respectively,
Screw rod and guide rod, wherein：The movement sleeve is slideably positioned on screw rod and guide rod and is fixedly connected with radial dilatation mechanism,
The both ends of the axial power device are connected with axial top layer baffle and axial bottom baffle respectively, axial bottom baffle and diameter
It is connected to expansion power device, realizes that the radial dilatation power device of side is displaced by the axial stretching of axial power device.
The movement sleeve section in the axial direction the side of rack and the radial dilatation power device towards axial machine
The side of frame is respectively equipped with magnetic part, the sensor on corresponding axial rack using Hall sensor realization, acquire respectively this two
The alternate position spike of place's magnetic part and Hall sensor is to obtain axial displacement information.
The axial power device realizes that this axially expands power device and control using planetary reducer and motor
Unit processed is connected and receives start and stop instruction.
Detailed description of the invention
Fig. 1 is gastrointestinal robot overall schematic of the present invention；
Fig. 2 is radial dilatation structural scheme of mechanism of the present invention：
Fig. 3 is radial dilatation schematic diagram of mechanism movement；
Fig. 4 is axial motion mechanism schematic diagram of the present invention；
In figure：1 is radial dilatation mechanism, 1-1 is the first radial Hall module, 1-3 is the second radial Hall module, 1-2
It is screw for magnetic plate, 1-4,1-5 is radial top layer baffle, 1-6 is transmission output shaft, 1-7 is radial direction mechanism gear pair, 1-8
Be expansion arm for pedestal, 1-9,1-10 is radial bottom baffle, 1-11 be radial dilatation power device, 2 be axial motion mechanism,
2-1 is the first magnetic substance, 2-7 is the second magnetic substance, 2-2 is axial means gear pair, 2-3 is axial top layer baffle, 2-4
One axial Hall module, 2-5 are the second axial Hall module, 2-6 is support column, 2-8 is guide rod, 2-9 be axially moved sleeve,
2-10 is screw rod, 2-11 is axial power device, 2-12 is axial bottom baffle.
Specific embodiment
As shown in Figure 1, the present apparatus includes：Radial dilatation mechanism 1, axial motion mechanism 2 and control unit (are not shown in figure
Out).
As shown in Fig. 2, the radial dilatation mechanism includes：Pedestal 1-8, fixed radial top layer baffle 1- on the base
5 and radial bottom baffle 1-10, the screw 1-4 for compressing baffle and pedestal, expansion arm 1-9 and driving gear pair 1-7, limit
Device magnetic plate 1-2 and radial Hall module 1-1 and 1-3, radial direction transmission output shaft 1-6 and radial dilatation power device 1-11,
Wherein：The power device 1-11 torque exported is passed to driving gear pair 1-7 by transmission output shaft 1-6, to drive expansion arm
Elongation and closure；Meanwhile as shown in figure 3, transmission output shaft is connected with magnetic plate 1-2, motor is driven by transmission output shaft
Magnetic plate rotation controls motor start and stop by the relative positional relationship of magnetic substance and Hall element.
As shown in figure 4, the axial motion mechanism includes：Axial top layer baffle 2-3 and axial bottom baffle 2-12, axis
Support to organization gear secondary 2-2, the first and second axial Hall module 2-4 and 2-5, supporting baffle being placed on baffle 2
Column 2-6, the screw rod 2-10 for the guide rod 2-8 of positioning and guiding and for positioning and driving, axial direction power device 2-11 and axial direction
It moves sleeve 2-9, the magnetic substance 2-1 being set in radial direction mechanism bottom baffle 1-10 and is set to and be axially moved in sleeve 2-9
Magnetic substance 2-7, be axially moved sleeve 2-9 and be fixedly connected with radial dilatation mechanism power device 1-11, first and second is axial
Hall module 2-4 and 2-5 are respectively arranged on axial top layer baffle 2-3.
Torque is passed to screw rod 2-10 by axial means gear pair 2-2 by the axial power device 2-11, passes through spiral shell
Bar, which is transferred to, is axially moved sleeve 2-9.When elongation, movement sleeve 2-9 is moved upwards, and magnetic substance B 2-7 is arranged close in axis
The second Hall module 2-5 on top layer baffle 2-3, when reaching a certain position, circuit board B output level is jumped；When deflated,
Movement sleeve 2-9 is moved downward, and magnetic substance is arranged close to work as arrival in the first Hall module 2-4 on axial top layer baffle 2-3
A certain position, the jump of circuit board A output level.
The original output of the Hall module is high level, when magnetic substance is close to apart from a certain position of Hall sensor
When, level jump to low level, signal is output to single-chip microcontroller, to control the start and stop of motor.Realize position limitation protection effect.
Above-mentioned specific implementation can by those skilled in the art under 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 within its scope is by the constraint of the present invention.
Claims (7)
1. a kind of noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula, which is characterized in that including：Control unit is axially moved machine
Structure and a pair of of the radial dilatation mechanism for being respectively arranged at its both ends, wherein：Control unit receives the axis from axial motion mechanism
To displacement information and the rotation information from radial dilatation mechanism and issue movement start and stop instruction；
The radial dilatation mechanism includes：Frame structure, the driving gear pair being set in frame structure, respectively with driving cog
Wheel set connected three groups of expansion arms and radial dilatation power device, wherein：The output shaft of radial dilatation power device and transmission
Gear pair is meshed and output shaft is equipped with magnetic part, and associated frame members structure is equipped with sensor to detect the displacement of magnetic part；
The axial motion mechanism includes：Axial rack, the axial power device being set in axial rack and movement sleeve,
Wherein：Movement sleeve is axially movably set in axial rack and is connected with the radial dilatation mechanism of side, axial power device
It is fixedly connected with axial rack, movement sleeve is equipped with magnetic part, and corresponding axial rack is equipped with sensor to detect magnetic part
Displacement.
2. the noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula according to claim 1, characterized in that the frame knot
Structure includes：Radial top layer baffle, the pedestal of radial bottom baffle and setting therebetween, wherein：The driving gear pair and
Output shaft is set in pedestal, and the expansion arm is rotatablely connected with pedestal and is meshed with driving gear pair.
3. the noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula according to claim 1, characterized in that the sensor
Using a pair of of Hall sensor, the magnetic part uses magnetic plate, the radial dilatation power device and axial movement machine
Structure is fixedly connected, and is passed torque to driving gear pair and is driven expansion arm stretching, extension and output shaft while closure and magnetic plate phase
Connect and magnetic plate is driven to rotate, acquired rotation information by sensor and is exported to control unit.
4. the noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula according to claim 1, characterized in that the radial expansion
It opens power device to realize using planetary reducer and motor, which is connected and receives with control unit
Start and stop instruction.
5. the noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula according to claim 1, characterized in that the axial machine
Frame includes：Axial top layer baffle, axial bottom baffle and support column, screw rod and the guide rod being attached thereto respectively, wherein：It is described
Movement sleeve be slideably positioned on screw rod and guide rod and be fixedly connected with radial dilatation mechanism, the axial power device
Both ends are connected with axial top layer baffle and axial bottom baffle respectively, and axial bottom baffle is connected with radial dilatation power device,
The radial dilatation power device displacement of side is realized by the axial stretching of axial power device.
6. the noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula according to claim 1, characterized in that the movement set
Side and the radial dilatation power device of the cylinder towards axial rack are respectively equipped with magnetism towards the side of axial rack
Part, the sensor on corresponding axial rack acquire magnetic part and the Hall sensor at two using Hall sensor realization respectively
Alternate position spike to obtaining axial displacement information.
7. the noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula according to claim 1, characterized in that the axial direction is dynamic
Power device realizes that this axially expands power device and is connected with control unit and receives start and stop using planetary reducer and motor
Instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316301.3A CN108814538A (en) | 2018-04-10 | 2018-04-10 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810316301.3A CN108814538A (en) | 2018-04-10 | 2018-04-10 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
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| Publication Number | Publication Date |
|---|---|
| CN108814538A true CN108814538A (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810316301.3A Pending CN108814538A (en) | 2018-04-10 | 2018-04-10 | The noninvasive diagnosis and treatment gastrointestinal robot of position limitation protection formula |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875724A (en) * | 2019-03-29 | 2019-06-14 | 上海交通大学 | Two axle drive closes clamping device |
| CN111113392A (en) * | 2019-12-30 | 2020-05-08 | 上海交通大学 | Self-assembly micro modular robot for intestinal examination |
| CN116421308A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Method and system for judging limiting position of flexible instrument clamp head movement |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN105223846A (en) * | 2015-09-24 | 2016-01-06 | 中北大学 | A kind of shutter control system and roller shutter control method |
| CN106137460A (en) * | 2016-07-15 | 2016-11-23 | 上海交通大学 | Position limitation protection formula anal sphincter prosthese |
-
2018
- 2018-04-10 CN CN201810316301.3A patent/CN108814538A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN105223846A (en) * | 2015-09-24 | 2016-01-06 | 中北大学 | A kind of shutter control system and roller shutter control method |
| CN106137460A (en) * | 2016-07-15 | 2016-11-23 | 上海交通大学 | Position limitation protection formula anal sphincter prosthese |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875724A (en) * | 2019-03-29 | 2019-06-14 | 上海交通大学 | Two axle drive closes clamping device |
| CN111113392A (en) * | 2019-12-30 | 2020-05-08 | 上海交通大学 | Self-assembly micro modular robot for intestinal examination |
| CN111113392B (en) * | 2019-12-30 | 2022-08-19 | 上海交通大学 | Self-assembly micro modular robot for intestinal examination |
| CN116421308A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Method and system for judging limiting position of flexible instrument clamp head movement |
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Application publication date: 20181116 |