CN109419557A - A kind of microrobot for interior therapeutic - Google Patents
A kind of microrobot for interior therapeutic Download PDFInfo
- Publication number
- CN109419557A CN109419557A CN201710746548.4A CN201710746548A CN109419557A CN 109419557 A CN109419557 A CN 109419557A CN 201710746548 A CN201710746548 A CN 201710746548A CN 109419557 A CN109419557 A CN 109419557A
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- China
- Prior art keywords
- robot
- drug
- microrobot
- patient
- high viscosity
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- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- 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)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Anesthesiology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Hematology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of suitable for a kind of microrobot for interior therapeutic, comprising: drug carries mouth (1), high viscosity mucilage cavity (2), marmen (3), marmem driving endoscope (4), mechanical cover (5), microcam (6), micromanipulator (7).The robot injects human body by the blood vessel on patient's arm, lesions position is moved to by being wirelessly connected manipulate in vitro, during the motion, micromanipulator (7) can be retracted in mechanical cover (5), the robot is avoided to cause unnecessary injury in vivo to patient during exercise, entire robot is driven by marmen (3), when robot reaches affected area according to external instruction, micromanipulator (7) is stretched out and is firmly attached in lesion, the drug for being now placed in robot head carries mouth (1) release drug, to achieve the purpose that precisely to treat.The present invention will promote the development of modern medicine.
Description
Technical field
The present invention is to be related to a kind of robot, concretely relates to a kind of microrobot for interior therapeutic.
Background technique
With the fast development of computer technology, the application range of robot is also gradually expanding.Nowadays, industry,
All generally start applied robot in manufacturing industry, education sector and medical industry.In medical industry, especially cured in clinic
Aspect is learned, the successful application of robot, which solves, is much medically difficult to the technical issues of breaking through, and is greatly promoted medical water
Flat progress and development.Microrobot is considered as one of the sophisticated technology in 21st century Medical Robot field.Micro computer
The feature of device people's maximum is hardly to generate manipulating object and environment destruction and interference, on clinical medicine, at
One of the engineering technology means realized for noninvasive, minimally invasive surgery diagnosis and treatment.
Microrobot using microsensor and microactrator as main study subject, is sent out on the basis of microelectric technique
What exhibition was got up, it is a variety of micro- to have merged silicon micromachined and precision machinery processing etc.
Processing technology, and the micro-system that application modern information technologies are constituted.And difficulty is substantially improved medical micro-robot,
The manipulation of a microrobot originally problem, is difficult to control again into the situation after human body.Due to by structure size and
The limitation of working space, microrobot are difficult to adopt conventional driving method and driving mechanism, it is necessary to develop novel drive
Flowing mode and corresponding driver.The research of driver is concentrated mainly on marmem driving, pneumatic, micromotor driving
Etc. in modes.In the small space of body cavities, these driving methods have the characteristics that common, it can it is miniaturized,
But degree is different, driving capability, applicability, in terms of also respectively have feature.The tool of marmem driving
There is the features such as power to weight ratio is high, driving force is larger, volume is small, is suitable for short space, is the drive that always researcher is commonly used
Flowing mode.Pneumatic mode has certain flexibility, good to the physiology compatibility of body cavities.Air supply controller is generally all
In vitro, connect by a steam line with the driver for entering human body, not only can reduce model machine volume, and with compared with
Big driving force output.Piezoelectric Driving is with small in size, rigidity is big, displacement resolution and positioning accuracy are high, frequency response is high, nothing
Noise, it is easily controllable the advantages that, deficiency is that drive displacement too small and driving voltage is big.Micromotor (diameter≤10mm) driving side
Formula simple structure, convenient control, efficiency are higher, and rotary motion must be changed into linear motion by premise.Micromachine of the present invention
There are the dynamic pressure effect that high viscosity mucus generates in people inner cavity, one layer of hydrodynamic lubrication mucus can be automatically formed around robot
Film, this thin viscous liquid film are avoided that between robot and internal chamber wall and directly contact.Thus robot can be mitigated or eliminated significantly to exist
To patient's bring discomfort and pain when operation in vivo.
Summary of the invention
Object of the present invention is to overcome deficiency in the prior art, a kind of micromachine for interior therapeutic is provided
People, the microrobot can enter the blood vessel of patient by injection system, and carry drug and carry out immunotherapy targeted autoantibody to patient.
In order to solve the above-mentioned technical problem, the present invention is achieved through the following technical solutions:
A kind of microrobot for interior therapeutic of the present invention carries mouth 1, high viscosity mucilage cavity 2, shape memory by drug and closes
Golden driver 3, marmem driving endoscope 4, mechanical cover 5, microcam 6, micromanipulator 7 form.
The drug carries mouth 1 and is located at the robot head, can fill doses drug by what nano material formed
Aperture, corresponding drug can be placed on drug and carried in mouth 1 according to the diagnostic result of patient by medical practitioner, and then drug is just
It can be sent into designated position in patient body by the robot, targeted drug therapy thus may be implemented.
The 2 position drug of high viscosity mucilage cavity carries the lower section of mouth 1, internal that special high viscosity mucus is housed,
After the microrobot enters human body, high viscosity mucilage cavity 2 can generate dynamic pressure effect, to form one on 5 surface of mechanical cover
Layer hydrodynamic lubrication thin viscous liquid film, the thin viscous liquid film can directly contact to avoid robot shells with human intracavity's thin-walled, thus
The robot can be mitigated or eliminated significantly when running in patient body to patient's bring discomfort and pain.
The marmen 3 is made of ternary-alloy material, can be driven by adjustable shape memorial alloy
On dynamic device by size of current control the movement velocity of entire robot, to realize the robot in the intracorporal fortune of people
It is dynamic.
The marmem driving endoscope 4 is located at 3 lower section of marmen, and medical practitioner can benefit
Marmem driving endoscope 4 is controlled with the different resultant forces generated of each marmem bending angle, in turn
The lesion portion of observation in patient body.
The microcam 6 can be clearly captured the photo of stomach part in patient body on mechanical cover 5,
The photo of these high-resolutions will be helpful to medical practitioner and make further diagnosis to patient.
The micromanipulator 7 has nano material to be made, altogether there are four, have Telescopic, in robot motion's mistake
Mechanical cover 5 is retracted into journey, is reached patient's affected area and is stretched out again, so that the robot is adhered to affected area, to allow
Doctor can drive endoscope 4 to carry out examining research to affected area by marmem.
Compared with prior art, the beneficial effects of the present invention are:
A kind of microrobot for interior therapeutic can be in free migration in patient body, to help the mankind to identify and kill cancer
Cell achievees the purpose that treating cancer；People can also be assisted to complete surgical operation, clear up arteries rubbish, accuracy is more
Height, safety are stronger；Drug can also be carried, patient is accurately treated, brought to eliminate drug to human body other parts
Side effect；The present invention will promote the high speed development of modern medicine.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the microrobot for interior therapeutic of the present invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
A kind of microrobot for interior therapeutic shown in Fig. 1, comprising: drug carries mouth 1, high viscosity mucilage cavity 2, shape note
Recall alloy driver 3, marmem driving endoscope 4, mechanical cover 5, microcam 6, micromanipulator 7.
Its working principles are as follows: the robot injects human body by the blood vessel on patient's arm, body is carried out by being wirelessly connected
Outer manipulation moves to lesions position, and during the motion, micromanipulator 7 can be retracted in mechanical cover 5, so as to avoid
The robot causes unnecessary injury to patient during exercise in vivo；The robot is driven by marmen 3
Dynamic, when the robot reaches affected area according to external instruction, micromanipulator 7 is stretched out and is firmly attached in lesion, at this time
Mouth 1 is carried positioned at the drug of robot head and discharges drug, and then drug is accurately applied in affected area, to reach accurate
The purpose for the treatment of.
If the robot be execute Intravascular Thrombus dredging task, the robot can will itself as treatment work
Tool is rotationally advancing the cleaning work for carrying out thrombus using marmen 3 as power source in patient's blood vessel,
Robot can continue to stay in patient body after cleaning treatment end, monitor situation in patient body using microcam 6,
And high-resolution monitoring photo real-time delivery is made into further diagnosis to patient to assist in doctor to doctor.
Undeclared part involved in the present invention is same as the prior art or is realized using the prior art.
Claims (4)
1. a kind of microrobot for interior therapeutic, comprising: drug carries mouth (1), high viscosity mucilage cavity (2), shape note
Recall alloy driver (3), marmem driving endoscope (4), mechanical cover (5), microcam (6), micromachine
Hand (7), it is characterized in that: the drug carries mouth (1), the high viscosity mucilage cavity (2), the micromanipulator (7).
2. a kind of microrobot for interior therapeutic according to claim 1, it is characterized in that: the drug carries mouth
(1) it is located at the robot head, the aperture that can fill doses drug being made of nano material, medical practitioner can basis
Corresponding drug is placed on drug and carried in mouth (1) by the diagnostic result of patient, and then drug can be sent into disease by the robot
The intracorporal designated position of people is simultaneously discharged in affected area, and targeted drug therapy thus may be implemented.
3. a kind of microrobot for interior therapeutic according to claim 1, it is characterized in that: the high viscosity mucus
Chamber (2) position drug carries the lower section of mouth (1), internal that special high viscosity mucus is housed, and enters people in the microrobot
After body, high viscosity mucilage cavity (2) can generate dynamic pressure effect, so that it is thin to form one layer of hydrodynamic lubrication mucus on 5 surface of mechanical cover
Film, the thin viscous liquid film can directly contact to avoid robot shells with human intracavity's thin-walled, thus can mitigate or disappear significantly
Except the robot when running in patient body to patient bring is uncomfortable and pain.
4. a kind of microrobot for interior therapeutic according to claim 1, it is characterized in that: the micromanipulator
(7) be made of nano material, altogether there are four, have Telescopic, retract into mechanical cover in the robot kinematics
(5), it reaches patient's affected area to stretch out again, so that the robot is firmly adhered to affected area, to allow doctor that can pass through shape
Shape memory alloys driving endoscope (4) carries out affected area to examine research.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710746548.4A CN109419557A (en) | 2017-08-27 | 2017-08-27 | A kind of microrobot for interior therapeutic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710746548.4A CN109419557A (en) | 2017-08-27 | 2017-08-27 | A kind of microrobot for interior therapeutic |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109419557A true CN109419557A (en) | 2019-03-05 |
Family
ID=65501557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710746548.4A Withdrawn CN109419557A (en) | 2017-08-27 | 2017-08-27 | A kind of microrobot for interior therapeutic |
Country Status (1)
| Country | Link |
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| CN (1) | CN109419557A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110327098A (en) * | 2019-07-08 | 2019-10-15 | 吉林大学 | A kind of vascular micro-robot and its application method |
| CN113100690A (en) * | 2021-03-29 | 2021-07-13 | 谈斯聪 | In-vivo micro-robot device, and optimized treatment regulation and control system and method |
| WO2024108481A1 (en) * | 2022-11-24 | 2024-05-30 | 深圳先进技术研究院 | Nanorobot and control method therefor |
-
2017
- 2017-08-27 CN CN201710746548.4A patent/CN109419557A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110327098A (en) * | 2019-07-08 | 2019-10-15 | 吉林大学 | A kind of vascular micro-robot and its application method |
| CN113100690A (en) * | 2021-03-29 | 2021-07-13 | 谈斯聪 | In-vivo micro-robot device, and optimized treatment regulation and control system and method |
| WO2022206083A1 (en) * | 2021-03-29 | 2022-10-06 | 谈斯聪 | Miniature in-vivo robot device, and optimal treatment regulation and control system and method |
| WO2024108481A1 (en) * | 2022-11-24 | 2024-05-30 | 深圳先进技术研究院 | Nanorobot and control method therefor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190305 |