CN110432988A - It is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized - Google Patents
It is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized Download PDFInfo
- Publication number
- CN110432988A CN110432988A CN201910736353.0A CN201910736353A CN110432988A CN 110432988 A CN110432988 A CN 110432988A CN 201910736353 A CN201910736353 A CN 201910736353A CN 110432988 A CN110432988 A CN 110432988A
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- China
- Prior art keywords
- robot body
- bladder
- robot
- miniature
- probe
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/12022—Occluding by internal devices, e.g. balloons or releasable wires
-
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B2017/12004—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for haemostasis, for prevention of bleeding
Abstract
The present invention relates to it is a kind of it is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized, it is characterized in that, the miniature bladder endoscope robot includes robot body, camera, lighting device, wireless charging device, wireless induction electric circle, electronic chip, groove, mechanical arm, mechanical foot, power device, petal design, probe；The electronic chip is set to robot body's medium position；The mechanical arm is set in groove, and mechanical arm tail end is connect with the plate that robot body surface is bonded；The machinery foot is set to the end of robot body；The power device is set to robot body rear portion；The robot body end is petal design.Its advantage is shown: the present invention can be placed in bladder for a long time and be remotely controlled monitoring, regular biopsy to the lesion tissue of bladder tumor patients；On the other hand, present invention design has multiple special constructions, has hemostasis, control urination, the effects of expanding prostate, remove calculus.
Description
Technical field
The present invention relates to the field of medical instrument technology, specifically, it is a kind of it is deployable, with telescopic arm, can be colonized
Miniature bladder endoscope robot.
Background technique
Currently, cystoscope as a kind of endoscope, is common operation instrument in Urology Surgery, bladder arthroscopic diagnosis has
The advantages such as facilitating operation, wound are small, time-consuming is short in monitoring bladder occupy-place, bladder body pathological biopsy, removing vesical calculus, are cut
Except obtaining very big achievement on tumor of bladder, a series of clinical treatments for the treatment of hyperplasia of prostate etc..
However cystoscopy and operation itself still have wound, there are blind areas for cystoscope detection, and exist
Some patientss, which are not resistant to perform the operation, and part population need to carry out multiple bladder videoendoscopic surgery or check then leads to quality of life
The a series of problems such as decline.In order to make up deficiency existing for surgery cystoscope, the present invention provide it is a kind of it is deployable, with flexible
Arm, the miniature bladder endoscope robot that can be colonized, the robot can be placed in bladder for a long time, have hemostasis, and control is urinated,
The effects of expanding prostate, removing calculus.
It finds by being retrieved to the prior art, currently, endoscope robot in the market continues to develop, disappears from the height at initial stage
Consumption, inefficient, passive state, are gradually constantly in progress on low energy consumption, high efficiency, active control direction, and function is also gradually
Realize diversification, however this technology is not used sufficiently on bladder, so, it is highly desirable to research and develop a kind of application
In the endoscope robot of bladder, the effect for continuing to monitor bladder is realized, and can be used to solve the problems, such as clinically common.
Chinese patent literature: CN201811108251.6, applying date 2018.09.21, patent name are as follows: capsule antenna and
Capsule endoscope robot.A kind of capsule antenna and capsule endoscope robot are disclosed, which includes antenna body, described
Antenna body includes flexible base board, and the flexible base board is equipped with liquid metal cavity and feeding electrode, the liquid metal chamber
Liquid metal is equipped in road, described feeding electrode one end is electrically connected with printed circuit board, the feeding electrode other end with it is described
Liquid metal contacts.Capsule endoscope robot include capsule shell, the printed circuit board being arranged in the capsule shell and with
The capsule antenna as described above of the printed circuit board electrical connection.
Capsule antenna and capsule endoscope robot in above patent document, capsule antenna is flexible high, small in size, flexibly may be used
Become, reduce occupied space, liquid metal is remarkably improved bandwidth, and conductive frequency range is big, and signal transmission effect is good, effectively contracts
The volume of the small capsule endoscope robot using the capsule antenna reduces the sense of discomfort of user, improves testing result transmission
Accuracy.But can be colonized in bladder for a long time about one kind, have and take tissue biopsy, stop blooding, forefront is expanded in control urination
One kind of the effects of gland, removing calculus is deployable, does not have then at present with telescopic arm, the miniature bladder endoscope robot that can be colonized
Relevant report.
In conclusion needing one kind can be colonized in bladder for a long time, have and take tissue biopsy, stop blooding, control urination is expanded
The one kind for the effects of filling prostate, removing calculus is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized.
Summary of the invention
The purpose of the present invention is aiming at the shortcomings in the prior art, providing one kind to be colonized in bladder for a long time, have
Take tissue biopsy, stop blooding, control urination, expand prostate, remove calculus the effects of one kind it is deployable, with telescopic arm, can
The miniature bladder endoscope robot of field planting.
To achieve the above object, the technical solution adopted by the present invention is that:
It is a kind of it is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized, which is characterized in that described is micro-
Type bladder endoscope robot includes robot body, camera, lighting device, wireless charging device, wireless induction electric circle, electronics
Chip, groove, mechanical arm, mechanical foot, power device, petal design, probe；The camera is set to robot body front end
Hemispherical dome structure apex；The camera lighting device is set to robot body's front center position；The wireless charging
Device is set to robot body's body portion；The electronic chip is set to robot body's medium position, and is equipped with around it
Wireless induction electric circle；The groove is set to the periphery of robot body；The mechanical arm is set in groove, and mechanical arm end
The plate being bonded with robot body surface is held to connect；The machinery foot is set to the end of robot body；The power dress
It is arranged in robot body rear portion；The robot body end is petal design；The probe is set to robot body
End medium position, and probe end is equipped with biopsy forceps；The machinery foot and probe can be each passed through position in petal design
It sets.
As a kind of perferred technical scheme, robot body's ontology structure cylindrical, front end is hemispherical
Structure, end are petal design.
As a kind of perferred technical scheme, the robot body surface is bonded completely by allegro, and by machine
The control of device human agent's ontology.
As a kind of perferred technical scheme, the mechanical foot bottom is sucker sample.
As a kind of perferred technical scheme, the detecting probe surface, which contains, surveys pH, albumen monitoring microdevice.
As a kind of perferred technical scheme, the probe end is equipped with biopsy forceps.
The invention has the advantages that:
1, robot body front end hemispherical dome structure apex camera and robot body's front center position are utilized
Phenomena such as situation in bladder can be continuously monitored in the design of lighting device, can find early stage calculus, abnormal structure, bleeding in time,
Very big help is provided further to treat.
2, robot body surface passes through the design of five pieces of complete jointing plates, can be moved to urethra forefront in robot body
Gland portion stretches out mechanical arm by opening groove, certain space is formed so that can support outside robot body, for forefront
The patient of gland hyperplasia and the urinary incontinence can play the role of control urination.
3, mechanical foot bottom is sucker sample, convenient for being colonized in the work that in bladder and robot body passes through wireless charging
With obtaining the longer working time to achieve the purpose that situation in lasting, dynamic monitoring bladder.
4, the probe set on robot body end is extended, can clear up the microlith in bladder and near urethral orifice
And some intractable substances.
5, set on the biopsy forceps of probe end, cooperate probe to take out when can use the control urination of bladder abnormal structure and do biopsy；
The robot body end petal design can be launched into the absorption of hither plane shape when having abnormal bleeding again in bladder
Face carries out hemostasis by compression.
6, the present invention, which can be placed in for a long time in bladder, is remotely controlled monitoring, regular to the lesion tissue of bladder tumor patients
Biopsy；On the other hand, present invention design has multiple special constructions, has hemostasis, and control urination expands prostate, removes calculus
The effects of.
Detailed description of the invention
Attached drawing 1 is that a kind of structure deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized of the invention is shown
It is intended to.
Attached drawing 2 is a kind of deployable mechanical arm with telescopic arm, the miniature bladder endoscope robot that can be colonized of the invention
It is fully deployed, plate is expanded into schematic diagram outward.
Attached drawing 3 is a kind of deployable petal knot with telescopic arm, the miniature bladder endoscope robot that can be colonized of the invention
Floor map when structure is unfolded.
Specific embodiment
It elaborates with reference to the accompanying drawing to specific embodiment provided by the invention.
Appended drawing reference involved in attached drawing and component part are as follows:
1. 2. camera of robot body
3. 4. wireless charging device of lighting device
5. 6. electronic chip of wireless induction washer
7. 8. mechanical arm of groove
9. 10. power devices of mechanical foot
11. 12. probe of petal design
13. plate
Embodiment 1
Please refer to attached drawing 1, Fig. 1 be it is of the invention it is a kind of it is deployable, with telescopic arm, the miniature bladder scope machine that can be colonized
The structural schematic diagram of people.It is a kind of it is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized, the miniature wing
Guang endoscope robot includes robot body 1, camera 2, lighting device 3, wireless charging device 4, wireless induction electric circle 5, electricity
Sub- chip 6, groove 7, mechanical arm 8, mechanical foot 9, power device 10, petal design 11, probe 12；The robot body 1
Ontology structure cylindrical, the hemispherical structure in both ends；1 surface of robot body is bonded completely by five allegros 13,
And it is controlled by 1 ontology of robot body；The camera 2 is set to 1 front end hemispherical dome structure apex of robot body；Institute
The camera lighting device 3 stated is set to 1 front center position of robot body；The wireless charging device 4 is set to robot master
1 body portion of body；The electronic chip 6 is set to 1 medium position of robot body, and wireless induction electric circle 5 is equipped with around it；
The groove 7 is set to the periphery of robot body 1；The mechanical arm 8 is set in groove 7, and mechanical arm tail end and machine
The plate connection of 1 surface of human agent fitting；The machinery foot 9 is set to the end of robot body 1；The power device 10 is set
In 1 rear portion of robot body；1 end of robot body is petal design 11；The probe 12 is set to robot master
1 end medium position of body, and 12 end of probe is equipped with biopsy forceps (not shown)；The machinery foot 9 and probe 12 can divide
It Chuan Guo not 11 medium position of petal design.
It should be understood that the electronic chip 6 and the 1 each element in inside of robot body have circuit distribution, work
Mode is similar to capsule endoscope；1 compact structure of robot body, and shuttle in adjacent organs；The micro computer
Device people's selected materials are the material of a type bladder, and have wireless charging device not damage to bladder, can be long-term
It places in bladder, exercises correlation function；Described utilizes 1 front end hemispherical dome structure apex camera 2 of robot body and machine
The design of the lighting device 3 of 1 front center position of device human agent, can be continuously monitored situation in bladder, can find early stage in time
Phenomena such as calculus, abnormal structure, bleeding, provides very big help for further treatment；Described can using wireless induction washer 5
It charges to the wireless charging device 4 for being set to body portion point in robot body 1；There are five the grooves 7, and respectively
Set on 1 peripheral surface of robot body, a mechanical arm 8 is equipped in each groove 7,8 end of mechanical arm is respectively connected with plate
Block 13；1 surface of robot body passes through the design of five pieces of complete jointing plates, can be moved to urethra in robot body 1
Prostatic part stretches out mechanical arm 8 by opening groove 7, forms certain space so that can support outside robot body 1,
For the patient of hyperplasia of prostate and the urinary incontinence, control urination can be played the role of；9 bottoms of machinery foot are sucker
Sample obtains the longer working time convenient for being colonized in bladder and robot body 1 is by the effect of wireless charging to reach
The purpose of situation in lasting, dynamic monitoring bladder；It is direct by external remote control device after robot body 1 enters stomach
Remote control electric chip 6, Manipulation of the machine human agent 1 stretch out mechanical foot 9 and are colonized in bladder；Described is set to 1 end of robot body
The probe 12 at end is extended, can clear up microlith and some intractable substances in bladder and near urethral orifice；Described
Probe 12 is made of titanium alloy, and surface, which is contained, surveys pH, albumen monitoring microdevice；The biopsy forceps set on 12 end of probe,
Cooperation probe 12 takes out when can use the control urination of bladder abnormal structure and does biopsy；The 1 end petal design of robot body
11, when having abnormal bleeding again in bladder, the absorption of hither plane shape can be launched into above, carry out hemostasis by compression.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, the difference is that, machinery foot 9 or mechanical arm 8 in the present embodiment
Surface is equipped with development point (not shown)；The design using development point, is placed into bladder convenient for robot body
Internal designated position.
One kind of the invention is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized, and utilizes robot master
The design of body front end hemispherical dome structure apex camera and the lighting device of robot body's front center position, can continue
Phenomena such as monitoring situation in bladder, capable of finding early stage calculus, abnormal structure, bleeding in time provides very big for further treatment
It helps；Robot body surface passes through the design of five pieces of complete jointing plates, can be moved to prostatic urethra in robot body,
Mechanical arm is stretched out by opening groove, certain space is formed so that can support outside robot body, prostate is increased
Raw and the urinary incontinence the patient can play the role of control urination；Mechanical foot bottom is sucker sample, convenient for being colonized in bladder
Interior and robot body obtains the longer working time by the effect of wireless charging to reach lasting, dynamic monitoring
The purpose of situation in bladder；Probe set on robot body end is extended, can clear up in bladder and near urethral orifice
Microlith and some intractable substances；Set on the biopsy forceps of probe end, probe is cooperated to can use bladder abnormal structure control row
It is taken out when urine and does biopsy；The robot body end petal design can be launched into when having abnormal bleeding again in bladder
Hither plane shape adsorbs above, carries out hemostasis by compression；The present invention can be placed in the lesion in bladder to bladder tumor patients for a long time
Tissue is remotely controlled monitoring, regular biopsy；On the other hand, present invention design has multiple special constructions, has hemostasis, control row
The effects of urine expands prostate, removes calculus.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise of not departing from the method for the present invention, can also make several improvement and supplement, these are improved and supplement also should be regarded as
Protection scope of the present invention.
Claims (6)
1. it is a kind of it is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized, which is characterized in that described is miniature
Bladder endoscope robot includes robot body, camera, lighting device, wireless charging device, wireless induction electric circle, electronics core
Piece, groove, mechanical arm, mechanical foot, power device, petal design, probe；The camera is set to robot body front end half
Spherical structure apex；The camera lighting device is set to robot body's front center position；The wireless charging Denso
It is arranged in robot body's body portion；The electronic chip is set to robot body's medium position, and nothing is equipped with around it
Line incudes electric circle；The groove is set to the periphery of robot body；The mechanical arm is set in groove, and mechanical arm tail end
It is connect with the plate of robot body surface fitting；The machinery foot is set to the end of robot body；The power device
Set on robot body rear portion；The robot body end is petal design；The probe is set to robot body end
Medium position is held, and probe end is equipped with biopsy forceps；The machinery foot and probe can be each passed through petal design medium position.
2. miniature bladder robot according to claim 1, which is characterized in that robot body's ontology is in cylinder
Shape structure, front end are hemispherical dome structure, and end is petal design.
3. miniature bladder robot according to claim 1, which is characterized in that the robot body surface is by allegro
It is bonded, and is controlled by robot body's ontology completely.
4. miniature bladder robot according to claim 1, which is characterized in that the mechanical foot bottom is sucker sample.
5. miniature bladder robot according to claim 1, which is characterized in that the detecting probe surface, which contains, surveys pH, egg
White monitoring microdevice.
6. miniature bladder robot according to claim 1, which is characterized in that the probe end is equipped with biopsy forceps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910736353.0A CN110432988B (en) | 2019-08-09 | 2019-08-09 | Deployable, miniature bladder endoscope robot with telescopic arm and field planting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910736353.0A CN110432988B (en) | 2019-08-09 | 2019-08-09 | Deployable, miniature bladder endoscope robot with telescopic arm and field planting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110432988A true CN110432988A (en) | 2019-11-12 |
| CN110432988B CN110432988B (en) | 2022-06-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910736353.0A Active CN110432988B (en) | 2019-08-09 | 2019-08-09 | Deployable, miniature bladder endoscope robot with telescopic arm and field planting function |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080015466A1 (en) * | 2006-07-13 | 2008-01-17 | Mayo Foundation For Medical Education And Research | Obtaining a tissue sample |
| CN202086454U (en) * | 2011-02-23 | 2011-12-28 | 陈少明 | Infrared cavity intelligent pill |
| CN103120580A (en) * | 2011-11-18 | 2013-05-29 | 林军 | Gastrointestinal automatic detection operation instrument |
| WO2013162268A1 (en) * | 2012-04-26 | 2013-10-31 | 주식회사 고영테크놀러지 | Five degrees-of-freedom parallel micro robot |
| CN107049501A (en) * | 2017-06-13 | 2017-08-18 | 魏燕 | The bionical rubble robot of urinary system intracavitary |
| CN107595385A (en) * | 2017-10-30 | 2018-01-19 | 中国联合网络通信集团有限公司 | A kind of thrombolysis method and microrobot |
| CN108778092A (en) * | 2016-01-19 | 2018-11-09 | 香港中文大学 | Wireless magnetic endoscope |
| CN208114648U (en) * | 2017-05-09 | 2018-11-20 | 深圳市罗伯医疗机器人研究所 | A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm |
-
2019
- 2019-08-09 CN CN201910736353.0A patent/CN110432988B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080015466A1 (en) * | 2006-07-13 | 2008-01-17 | Mayo Foundation For Medical Education And Research | Obtaining a tissue sample |
| CN202086454U (en) * | 2011-02-23 | 2011-12-28 | 陈少明 | Infrared cavity intelligent pill |
| CN103120580A (en) * | 2011-11-18 | 2013-05-29 | 林军 | Gastrointestinal automatic detection operation instrument |
| WO2013162268A1 (en) * | 2012-04-26 | 2013-10-31 | 주식회사 고영테크놀러지 | Five degrees-of-freedom parallel micro robot |
| CN108778092A (en) * | 2016-01-19 | 2018-11-09 | 香港中文大学 | Wireless magnetic endoscope |
| CN208114648U (en) * | 2017-05-09 | 2018-11-20 | 深圳市罗伯医疗机器人研究所 | A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm |
| CN107049501A (en) * | 2017-06-13 | 2017-08-18 | 魏燕 | The bionical rubble robot of urinary system intracavitary |
| CN107595385A (en) * | 2017-10-30 | 2018-01-19 | 中国联合网络通信集团有限公司 | A kind of thrombolysis method and microrobot |
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| CN110432988B (en) | 2022-06-28 |
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