CN112493973B - Gastrointestinal microrobot imitating backstroke bug - Google Patents
Gastrointestinal microrobot imitating backstroke bug Download PDFInfo
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- CN112493973B CN112493973B CN202011308220.2A CN202011308220A CN112493973B CN 112493973 B CN112493973 B CN 112493973B CN 202011308220 A CN202011308220 A CN 202011308220A CN 112493973 B CN112493973 B CN 112493973B
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- 230000002496 gastric effect Effects 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 239000004205 dimethyl polysiloxane Substances 0.000 claims abstract description 4
- 235000013870 dimethyl polysiloxane Nutrition 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims abstract description 4
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 claims abstract description 4
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 claims abstract description 4
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims abstract description 4
- 241000578422 Graphosoma lineatum Species 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 210000000936 intestine Anatomy 0.000 abstract 3
- 210000001035 gastrointestinal tract Anatomy 0.000 description 20
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 241000320508 Pentatomidae Species 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000968 intestinal effect Effects 0.000 description 2
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 208000018522 Gastrointestinal disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000037817 intestinal injury Diseases 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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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
- A61B1/00147—Holding or positioning arrangements
-
- 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
- A61B1/04—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
- A61B1/045—Control thereof
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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
- A61B1/273—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 upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- 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
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
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- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
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- Gastroenterology & Hepatology (AREA)
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Abstract
一种仿仰泳蝽式胃肠道微型机器人，包括：以丝杆螺母副连接的径向扩张机构和轴向运动机构；所述的径向扩张机构包括：筒体、一对转动盘、多组仰泳蝽式臂、径向传动齿轮组和一体式驱动器，其中：转动盘设置于筒体外，多组仰泳蝽式臂设置于转动盘上，一体式驱动器和径向传动齿轮组设置于筒体内，一体式驱动器通过径向传动齿轮组与转动盘连接以带动仰泳蝽式臂运动。本发明采用了单扩张机构的结构，缩小了机器人的尺寸；仿仰泳蝽运动方式，使得机器人在运动过程中长度保持不变，提高了机器人在肠道中的转向灵活性和安全性；仰泳蝽式臂采用仿脚蹼式设计，拥有较大的变径比，并安装了PDMS材料衬垫，保障肠道安全并提升了机器人在肠道中的驻留能力。
A backstroke bug-like gastrointestinal micro-robot comprises: a radial expansion mechanism and an axial movement mechanism connected by a screw nut pair; the radial expansion mechanism includes: a cylinder body, a pair of rotating discs, a plurality of sets of Backstroke bug arm, radial transmission gear set and integrated driver, wherein: the rotating disk is arranged outside the cylinder, multiple groups of backstroke bug arms are arranged on the rotating disk, and the integrated driver and the radial transmission gear set are arranged in the cylinder, The integrated drive is connected with the rotating disk through a radial transmission gear set to drive the backstroke bug arm to move. The invention adopts the structure of a single expansion mechanism, which reduces the size of the robot; imitates the movement mode of the backstroke bug, so that the length of the robot remains unchanged during the movement process, and improves the steering flexibility and safety of the robot in the intestine; the backstroke bug type The arm adopts a flipper-like design, has a large reduction ratio, and is equipped with a PDMS material liner to ensure the safety of the intestines and improve the robot's ability to stay in the intestines.
Description
Technical Field
The invention relates to a technology in the field of medical appliances, in particular to a stinkbug-imitating gastrointestinal tract micro-robot.
Background
The incidence and mortality of gastrointestinal malignant tumors and functional diseases are increasing year by year, and the disease becomes a chronic disease threatening the health and even life of people. The traditional endoscopy has the problems of missed detection, over-painful detection process, serious complications and the like, but the capsule endoscope cannot autonomously move in the intestinal tract, cannot carry out fixed-point detection on the gastrointestinal tract, cannot carry out radial expansion on the gastrointestinal tract, and is difficult to find the pathological changes at the folds and collapse parts of the gastrointestinal tract. At present, a micro bionic intestinal robot for gastrointestinal diseases with the functions of autonomous movement and radial expansion of the gastrointestinal tract becomes the focus of current international electromechanical and medical engineering field research, and the following problems exist in the related prior art: the axial length is too long, so that the bending performance of the robot is reduced, and intestinal injury is easily caused; the radial output shaft of the radial expansion mechanism driven by the robot is used for transmitting torque and acting as a guide rod, and the mechanism is frequently locked in actual work.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the stinkbug-imitating gastrointestinal tract micro-robot, and the size of the robot is reduced through the structure of a single expansion mechanism; the robot has the advantages that the movement mode of the backstroke stinkbug is simulated, so that the length of the robot is kept unchanged in the movement process, and the steering flexibility and the safety of the robot in intestinal tracts are improved; the backstroke stink bug type arm is designed in a fin-like mode, has a large variation diameter ratio, is provided with the PDMS material liner, guarantees the safety of an intestinal tract, and improves the staying capacity of the robot in the intestinal tract.
The invention is realized by the following technical scheme:
the invention relates to a backstroke stinkbug-imitating gastrointestinal tract micro-robot, which comprises: a radial expansion mechanism and an axial movement mechanism which are connected by a screw-nut pair.
The radial expansion mechanism comprises: barrel, a pair of rolling disc, multiunit backstroke stinkbug formula arm, radial drive gear train and integral type driver, wherein: the rotating disc is arranged outside the barrel, the multiple groups of backstroke stinkbug-type arms are arranged on the rotating disc, the integrated driver and the radial transmission gear group are arranged in the barrel, and the integrated driver is connected with the rotating disc through the radial transmission gear group to drive the backstroke stinkbug-type arms to move.
The backstroke stink bug type arm comprises: two driving levers and two driven levers, wherein: the middle points of the two driving rods are connected with each other, the middle points of the two driven rods are connected with each other, one ends of the two driving rods are respectively connected with the end parts of the two driven rods, and the other ends of the two driving rods are respectively connected with the two rotating discs so as to drive the backstroke stinkbug-shaped arm to open and close through the reverse motion of the rotating discs.
The integrated driver comprises: a hybrid reducer and a motor connected to each other; the hybrid retarder includes: an intermeshing planetary gear set and an external gear set.
The axial motion mechanism comprises: set up lead screw and a plurality of guide arms between the front and back baffle to and axial driver and axial drive gear set, wherein: the axial driver is connected with the screw rod through the axial transmission gear set and transmits power.
The diameter of the baffle is larger than that of the radial expansion mechanism when the radial expansion mechanism is completely closed.
Technical effects
The invention integrally solves the problem that the gastrointestinal tract micro-robot in the prior art can not efficiently, flexibly and safely move in a slippery and complicated intestinal environment.
Compared with the prior art, the invention adopts the motion mode of imitating the backstroke stink bugs, simplifies the motion process and improves the steering flexibility and safety; the hybrid speed reducer of the radial expansion mechanism is adopted, and the hybrid speed reducer and the expansion mechanism are integrally designed, so that the movement reliability of the mechanism is improved; with the assistance of the design of the backstroke stink bug type arm and the soft pad, the staying capacity of the mechanism in the intestinal tract is improved.
Drawings
FIG. 1 is a schematic view of the present embodiment;
in the figure: a is a structural schematic diagram; b is a motion principle diagram;
FIG. 2 is a schematic view of a radial expansion mechanism;
FIG. 3 is a schematic view of the structure of the driver of the radial expansion mechanism;
in the figure: a is the overall schematic diagram of the driver; b is a structure diagram of the hybrid speed reducer;
FIG. 4 is a schematic structural view of a backstroke stink bug type arm of the radial expansion mechanism;
FIG. 5 is a schematic structural view of an axial movement mechanism;
FIG. 6 is a schematic view of an axial drive;
in the figure: the device comprises a radial expansion mechanism 1, a fixed baffle plate 11, a first ball 12, a first rotating disc 13, a second ball 14, a radial transmission gear set 15, a backstroke stink bug arm 16, a driving rod 161, a driven rod 162, a soft gasket 163, a second rotating disc 17, a support sleeve 18, a third ball 19, a fixed base 110, an integrated driver 111, a speed reducer 1111, a planetary gear set 11111, an external meshing gear set 11112, a first motor 1112, a fourth ball 112, a sealing cover plate 113, an axial movement mechanism 2, a front baffle plate 21, a support column 22, an axial driver 23, a planetary gear speed reducer 231, a second motor 232, a rear baffle plate 24, a screw rod 25, a guide rod 26 and an axial transmission gear set 27.
Detailed Description
As shown in fig. 1a, the present embodiment includes: and the radial expansion mechanism 1 is arranged on the axial movement mechanism 2 and is connected with the axial movement mechanism through a screw-nut pair.
As shown in fig. 2, the radial expansion mechanism 1 includes: the fixed baffle 11, first ball 12, first rotation dish 13, second ball 14, second rotation dish 17, third ball 19, fixed base 110, fourth ball 112 and the sealed apron 113 that set gradually to and radial drive gear train 15, three groups of backstroke stink bugs formula arms 16, support sleeve 18 and integral type driver 111, wherein: the integrated driver 111 is relatively fixed with the radial expansion mechanism 1 and provides power for the radial transmission gear set 15, the radial transmission gear set 15 transmits the power to the first rotating disc 13 and the second rotating disc 17 which are meshed with the radial transmission gear set, the backstroke stink bug type arm 16 is arranged on the outer side of the rotating discs, and the supporting sleeve 18 is connected with the fixed baffle 11 and the fixed base 110.
The fixed base 110 is internally provided with threads to form a screw-nut pair with the axial movement mechanism 2.
The balls are used for reducing the friction force when the radial expansion mechanism 1 moves.
As shown in fig. 3, the integrated driver 111 includes: a hybrid retarder 1111 and a first electric machine 1112 coupled to each other, wherein: the hybrid reducer 1111 is disposed on the fixed base 110, and an output shaft thereof is connected to the radial transmission gear set 15.
The hybrid speed reducer 1111 reduces the speed of the output power of the first motor 1112 and increases the torque, and specifically includes: an intermeshing planetary gear set 11111 and an external gear set 11112.
The fixed base 110 is provided with a tooth shape inside to serve as an inner gear housing of the planetary gear set of the integrated driver 111.
As shown in fig. 4, the backstroke stink bug type arm 16 includes: two driving links 161 and two driven links 162, wherein: the middle points of the two driving rods 161 are connected with each other, the middle points of the two driven rods 162 are connected with each other, one ends of the two driving rods 161 are respectively connected with the two driven rods 162 and drive the driven rods 162 to move, the other ends of the two driving rods 161 are respectively hinged with the first rotating disc 13 and the second rotating disc 17 and expand and close through the reverse rotation of the first rotating disc 13 and the second rotating disc 17, and the two driving rods 161, the two driven rods 162, the driving rods 161 and the driven rods 162, and the driving rods 161 and the rotating discs can be overlapped with each other.
The outer surface of the driven rod 162 contacting the intestinal tract is provided with a micro-patterned soft pad 163 made of PDMS material to improve the staying power in the intestinal tract.
As shown in fig. 5, the axial movement mechanism 2 includes: preceding baffle 21, support column 22, axial driver 23, lead screw 25, a plurality of guide arms 26, backplate 24 and axial drive gear train 27, wherein: the front baffle 21 is connected with the rear baffle 24 through the supporting column 22, the screw rod 25 and the guide rod 26 are both arranged between the front baffle 21 and the rear baffle 24, and the axial driver 23 transmits power to the screw rod 25 through the axial transmission gear set 27.
The diameters of the front baffle 21 and the rear baffle 24 are larger than the diameter of the radial expansion mechanism 1 when the radial expansion mechanism 1 is completely closed so as to reduce the resistance of the radial expansion mechanism 1 during axial movement.
The axial driver 23 comprises: a planetary gear reducer 231 and a second motor 232.
As shown in figure 1b, the robot realizes the back-and-forth movement through the alternate action of the radial expansion mechanism 1 and the axial movement mechanism 2, and according to the figure, the robot moves by one step after completing four gaits.
Through specific practical tests, a universal to OT-0412NB-5557RL-15.1-200 miniature direct-current coreless motor is adopted, the driving voltage is 3.3V, and the diameter-changing ratio of the radial expansion mechanism of the device reaches 3.4 and is larger than that of the existing mechanical radial expansion mechanism; the robot can stably reside in the wet and slippery isolated intestinal tract; the radial expansion mechanism can reliably move on the axial mechanism, the blocking condition is not generated, and the success rate is 100%.
In summary, compared with the prior art, the invention has the advantages that: the size is small, and the steering is relatively flexible; the integral drive 111 of the radial expansion mechanism 1 improves the reliability of the movement; the backstroke stink bug type arm 16 improves the reducing ratio, and the soft pad 163 arranged on the backstroke bug type arm 16 ensures the safety of the intestinal tract, increases the friction force between the robot and the intestinal tract, and has high steering flexibility, intestinal tract safety and movement reliability.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308220.2A CN112493973B (en) | 2020-11-20 | 2020-11-20 | Gastrointestinal microrobot imitating backstroke bug |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011308220.2A CN112493973B (en) | 2020-11-20 | 2020-11-20 | Gastrointestinal microrobot imitating backstroke bug |
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| Publication Number | Publication Date |
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| CN112493973A CN112493973A (en) | 2021-03-16 |
| CN112493973B true CN112493973B (en) | 2021-11-16 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104783752A (en) * | 2015-04-16 | 2015-07-22 | 上海交通大学 | Large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism |
| CN108283482A (en) * | 2018-01-23 | 2018-07-17 | 上海交通大学 | Radial dilatation device for gastrointestinal tract microrobot |
| CN109303541A (en) * | 2018-11-05 | 2019-02-05 | 齐鲁工业大学 | An active colon microrobot structure and its working method |
| CN110393500A (en) * | 2019-08-07 | 2019-11-01 | 中北大学 | An Electromagnetic-Mechanical Composite Capsule Robot for Whole Gastrointestinal Diagnosis |
| CN110881944A (en) * | 2019-12-12 | 2020-03-17 | 上海交通大学 | Radial expansion mechanism for gastrointestinal tract micro-robot |
-
2020
- 2020-11-20 CN CN202011308220.2A patent/CN112493973B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104783752A (en) * | 2015-04-16 | 2015-07-22 | 上海交通大学 | Large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism |
| CN108283482A (en) * | 2018-01-23 | 2018-07-17 | 上海交通大学 | Radial dilatation device for gastrointestinal tract microrobot |
| CN109303541A (en) * | 2018-11-05 | 2019-02-05 | 齐鲁工业大学 | An active colon microrobot structure and its working method |
| CN110393500A (en) * | 2019-08-07 | 2019-11-01 | 中北大学 | An Electromagnetic-Mechanical Composite Capsule Robot for Whole Gastrointestinal Diagnosis |
| CN110881944A (en) * | 2019-12-12 | 2020-03-17 | 上海交通大学 | Radial expansion mechanism for gastrointestinal tract micro-robot |
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| CN112493973A (en) | 2021-03-16 |
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