CN112932398A - Multi freedom cervical imaging device - Google Patents
Multi freedom cervical imaging device Download PDFInfo
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- CN112932398A CN112932398A CN202110128021.1A CN202110128021A CN112932398A CN 112932398 A CN112932398 A CN 112932398A CN 202110128021 A CN202110128021 A CN 202110128021A CN 112932398 A CN112932398 A CN 112932398A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 18
- 230000009193 crawling Effects 0.000 claims abstract description 27
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000005452 bending Methods 0.000 claims abstract description 10
- 230000000712 assembly Effects 0.000 claims abstract 3
- 238000000429 assembly Methods 0.000 claims abstract 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 63
- 229910052742 iron Inorganic materials 0.000 claims description 24
- 230000002572 peristaltic effect Effects 0.000 claims description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 239000002184 metal Substances 0.000 claims description 15
- 229910052751 metal Inorganic materials 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 230000008855 peristalsis Effects 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 4
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 238000010030 laminating Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 210000003128 head Anatomy 0.000 description 7
- 210000003679 cervix uteri Anatomy 0.000 description 5
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- 230000008859 change Effects 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 210000004561 lacrimal apparatus Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000011664 nicotinic acid Substances 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
- A61B1/303—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 vagina, i.e. vaginoscopes
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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
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
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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
- A61B1/12—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 with cooling or rinsing arrangements
- A61B1/126—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 with cooling or rinsing arrangements provided with means for cleaning in-use
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Radiology & Medical Imaging (AREA)
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- Gynecology & Obstetrics (AREA)
- Reproductive Health (AREA)
- Endoscopes (AREA)
Abstract
The invention provides multi-degree-of-freedom cervical imaging equipment which comprises a plurality of joint sections, a crawling section, an endoscope section and a driving device, wherein the joint sections are sequentially connected, the joint sections are formed by sequentially hinging and connecting a plurality of joints, a flexible sleeve is sleeved outside the joint sections, the crawling section is formed by sequentially connecting a plurality of creeping units through corrugated sleeves, the endoscope section comprises an outer shell, an endoscope and a cleaning mechanism, the outer shell is connected with the end head of the crawling section, the endoscope is arranged at an opening on the outer side of the outer shell, the cleaning mechanism is arranged inside the outer shell and used for cleaning the endoscope, the driving device comprises a driving box and a plurality of groups of driving assemblies, the driving box is connected with the joint sections positioned at the head, each group of driving assemblies corresponds to one joint section, inner cavities of the plurality of joint sections, the crawling section and the endoscope section are communicated to form. The invention can perform bending torsion with 8 degrees of freedom, and the bending degrees of the joint sections at different parts can be independently controlled, thereby reducing the discomfort of patients.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to multi-degree-of-freedom cervical imaging equipment.
Background
Currently, about 20% of subjects experience significant pain and discomfort during cervical disease examinations using a hard tube endoscope. Moreover, when the contact pressure of the lens body on the cervical wall exceeds a certain threshold, it may even cause "perforation" of the cervical wall, with serious consequences. In the cervical endoscope diagnosis and treatment, the occurrence ratio of perforation is 0.2%, for a patient who has performed polypectomy, the ratio is as high as 2%, meanwhile, due to the complex three-dimensional shape of the cervix, the endoscope is not easy to be smoothly inserted into the deep part of the cervix only by hand feeling, and if the endoscope body needing to be effectively inserted is very long, the traditional endoscope system can hardly reach a target position to implement effective operation. Even professionally trained medical personnel have a probability of successful insertion of the endoscope into the distal cervix (ovarian) of only 85-90%. Therefore, the current cervical endoscopy and operation are mainly performed in large and medium hospitals with higher technical level, and have strict requirements on the operation level of medical staff.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-degree-of-freedom cervical imaging device aiming at the existing problems, so that the success rate of endoscopy is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-degree-of-freedom cervical imaging device is characterized by comprising a plurality of joint sections, a crawling section, an endoscope section and a driving device which are connected in sequence, the joint section is formed by sequentially articulating and connecting a plurality of joints, a flexible sleeve is sleeved outside the joint section, the crawling section is formed by sequentially connecting a plurality of crawling units through corrugated sleeves, the endoscope section comprises an outer shell, an endoscope and a cleaning mechanism, the outer shell is connected with the end head of the crawling section, the endoscope is arranged at an opening at the outer side of the outer shell, the cleaning mechanism is arranged inside the outer shell and is used for cleaning the endoscope, the driving device comprises a driving box and a plurality of groups of driving components, the driving box is connected with joint sections positioned at the head, each group of driving components corresponds to one joint section, inner cavities of the plurality of joint sections, the crawling section and the endoscope section are communicated to form a through hole, and a conduit is arranged in the through hole in a penetrating mode.
According to the scheme, the joint is of a circular tube structure, four hinged plates are uniformly arranged on the outer circumferential surface at intervals, hinged holes are formed in the ends of the hinged plates, the hinged holes of two adjacent hinged plates are oppositely arranged, and wire holes are formed in the inner circumferential surface of the joint, corresponding to the hinged plates, along the axial direction.
According to above-mentioned scheme, every group drive assembly includes two sets of driving motor, line roller, tensioning roller, electromagnetic braking ware, driving motor with the line roller links to each other, electromagnetic braking ware with the tensioning roller links to each other, and closed loop winding steel wire on the line roller, two free ends of steel wire pass through behind the tensioning roller respectively in proper order and are the same two rows of 90 of staggering on a plurality of joints in the relevant section line hole.
According to the scheme, the peristalsis unit comprises a peristalsis sleeve, an actuator iron core, actuator coils, an actuator magnet and a back iron, wherein the peristalsis sleeve, the actuator iron core, the actuator coils, the actuator magnet and the back iron are sleeved inside and outside, the actuator magnet is of a metal circular tube structure, the actuator magnet is embedded on the outer circumferential surface of the back iron at intervals along the circumferential direction, the actuator iron core is of a circular ring structure formed by laminating silicon steel sheets, a positioning groove is formed in the inner circumferential surface of the back iron, the actuator coils are installed in the positioning groove, a bearing end cover is arranged at the inner side end of the actuator iron core, a bearing seat is arranged on.
According to the scheme, the creeping sleeves of the two adjacent creeping units are connected through the corrugated sleeve, the creeping sleeves of the creeping units connected with the joint section are provided with hinged plates, springs are arranged between the bearing end cover and the actuator iron core, the inner side end of the back iron positioned at the head part is provided with a semicircular groove, one end of the back iron positioned at the middle section is provided with a semicircular boss, the other end of the semicircular boss is provided with a semicircular groove, the outer side end of the back iron positioned at the tail part is provided with a semicircular boss, and the semicircular boss is matched with the semicircular groove to rotate and be connected.
According to the scheme, the cleaning mechanism comprises a water pipe, a water valve and a nozzle, the water pipe penetrates through the guide pipe, the water valve is arranged on the water pipe, the nozzle is communicated with the water pipe, and the nozzle is arranged on the inner wall of the outer shell and corresponds to the endoscope.
According to the scheme, the flexible sleeve is sleeved with two groups of pressure sensors, each pressure sensor comprises a metal ring and strain gauges, each metal ring comprises an inner ring and an outer ring which are connected through points, the strain gauges are two and symmetrically arranged on two sides of the point connection position on the outer ring, and the strain gauges of the two groups of sensors are staggered by 90 degrees.
According to the scheme, the joint sections are four, each joint section comprises six joints, the rotation angle of two adjacent joints is 15 degrees, and the bending angle of the joint positioned at the tail part relative to the joint positioned at the head part is 90 degrees.
According to the scheme, the number of the nozzles is three, the nozzles are uniformly distributed at intervals along the circumferential direction, and a sealing ring is arranged at the joint of the endoscope and the outer shell.
According to the scheme, the plurality of joint sections are wrapped by the metal net, the flexible sleeve is sleeved outside the metal net, and the flexible sleeve is made of silica gel or elastic resin.
The invention has the beneficial effects that: compared with the traditional hard tube endoscopic system, the multi-degree-of-freedom cervical imaging device has the advantages that the mechanism designed by the invention can be used for bending and twisting with 8 degrees of freedom, and the bending degrees of the joint sections at different positions can be independently controlled, so that the damage to the cervical wall caused by the device in motion in the cervix can be avoided; the lacrimal gland type cleaning mechanism can clean the surface of the endoscope by means of the peristaltic force of the equipment, and can ensure that the equipment can always provide clear vision for an operator in the running process by matching with high-pressure water sprayed by the spray head; the rope line driving mode is that the motor is arranged outside the robot body, the rope line is utilized to transfer motion, the occupied volume of the remote driving mode in the robot body is small, the heating phenomenon does not exist, the cervix can not be scalded, and the safety is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a joint segment according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a joint according to an embodiment of the present invention.
FIG. 4 is a schematic view of the installation of a sensor according to one embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a sensor according to an embodiment of the present invention.
Fig. 6 is a cross-sectional view of the crawling and endoscopic segments of one embodiment of the present invention.
Fig. 7 is a diagram of the peristaltic state of the crawl segment according to one embodiment of the invention.
FIG. 8 is a schematic view of a drive assembly according to one embodiment of the present invention.
Fig. 9a, 9b, 9c, 9d are schematic diagrams of the peristalsis process according to an embodiment of the invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
As shown in fig. 1-2, a multi-degree-of-freedom cervical imaging device comprises a plurality of joint sections 1, a crawling section 2, an endoscope section 3 and a driving device 4 which are connected in sequence, wherein the joint sections are formed by sequentially connecting a plurality of joints 5 in an articulated manner, a flexible sleeve 6 is sleeved outside the joint sections, the crawling section is formed by sequentially connecting a plurality of crawling units through a corrugated sleeve 7, the endoscope section comprises an outer shell 8, an endoscope 9 and a cleaning mechanism, the outer shell is connected with the tip of the crawling section, the endoscope is arranged at an opening on the outer side of the outer shell, the cleaning mechanism is arranged inside the outer shell and used for cleaning the endoscope, the driving device comprises a driving box and a plurality of groups of driving components, the driving box is connected with the joint sections positioned at the head, each group of driving components corresponds to one joint section, inner cavities of the plurality of joint sections, the crawling section and the endoscope section are communicated, the electric wires and optical fibers can pass through the conduit.
The cleaning mechanism comprises a water pipe 11, a water valve 12 and a nozzle 13, the water pipe penetrates through the guide pipe, the water valve is arranged on the water pipe, the nozzle is communicated with the water pipe, and the nozzle is arranged on the inner wall of the outer shell and corresponds to the endoscope. The three nozzles are uniformly distributed at intervals along the circumferential direction, and a sealing ring 14 is arranged at the joint of the endoscope and the outer shell.
The horizontal visual angle of the endoscope camera is 120 degrees, the vertical distance between the nozzle outlet and the lens is 13mm, in order to not influence the working visual field of the camera, the distance between the nozzle outlet and the central axis is required to be more than 40mm through calculation, and the length of the nozzle is 20 mm. Considering various space limitations, it is determined that the minimum radius of the outer shell should be 70 mm. Because the vertical distance between the outlet position of the nozzle and the lens is 13mm, and the distance between the outlet position of the nozzle and the central axis is 40mm at least, in order to ensure the cleaning range, the included angle between the nozzle and the surface to be cleaned has a range limitation of 13-30 degrees, and is initially selected to be 15 degrees.
As shown in fig. 3, the joint is of a circular tube structure, four hinged plates 15 are uniformly arranged on the outer circumferential surface at intervals, hinged holes 16 are formed in the ends of the hinged plates, the hinged holes of two adjacent hinged plates are oppositely arranged, and wire holes 17 are formed in the inner circumferential surface of the joint along the axial direction and correspond to the hinged plates.
As shown in fig. 8, each driving assembly includes two sets of driving motors 18, a wire roller 19, a tension roller 20, and an electromagnetic brake 21, the driving motors are connected with the wire roller, the electromagnetic brake is connected with the tension roller, a steel wire 22 is wound on the wire roller in a closed loop, and two free ends of the steel wire pass through the tension roller respectively and then sequentially pass through two rows of wire holes staggered by 90 degrees on a plurality of joints in the same joint section.
As shown in fig. 6-7, the peristaltic unit includes a peristaltic sleeve 23, an actuator iron core 24, an actuator coil 25, an actuator magnet 26 and a back iron 27, the back iron is a metal circular tube structure, the actuator magnet is embedded on the outer circumferential surface of the back iron at intervals along the circumferential direction, the actuator iron core is a circular ring structure formed by laminating silicon steel sheets, a positioning groove is formed on the inner circumferential surface, the actuator coil is installed in the positioning groove, a bearing end cover 28 is arranged at the inner side end of the actuator iron core, a bearing seat is arranged on the bearing end cover for installing a linear bearing 29, and the linear bearing is connected with the back iron.
The electromagnetic coupling system consists of eight pieces of actuator magnets embedded in the back iron in regular octagon shape, and the magnetic direction is perpendicular to the axis of the back iron and similar to that of full radial magnetized tubular magnet. The magnetic force lines pass through the back iron, the bearing end cover and the actuator iron core vertically and then are closed after passing through the coil. When the electric motor is powered on, the actuator coil in the peristaltic sleeve slides to one end along the back iron in sequence under the pushing of electromagnetic force, and finally the back iron moves along the axis direction of the coil, and the crawling section finishes the advancing action of one step.
The peristaltic sleeves of two adjacent peristaltic units are connected through corrugated sleeves, the peristaltic sleeves of the peristaltic units connected with the joint section are provided with hinged plates, springs 30 are arranged between the bearing end covers and the actuator iron cores, the inner side ends of the back irons positioned at the head parts are provided with semicircular grooves 31, one ends of the back irons positioned at the middle parts are provided with semicircular bosses 32, the other ends of the back irons positioned at the tail parts are provided with semicircular grooves, and the semicircular bosses are matched with the semicircular grooves to be rotatably connected.
The driving of the crawling section is based on the earthworm creeping bionic principle, and the crawling section is actuated by the friction difference between the moving units, so that the outer wall of the crawling section and the inner wall of the intestinal tract are prevented from being extruded, and the purpose of not damaging the mucosa of the inner wall of the intestinal tract is achieved. As shown in fig. 9a-9d, the crawling section comprises a head end and three peristaltic units, and the crawling section is in a full-shrinkage state at the initial moment every time the whole mechanism advances one step; in a first stage, a first peristaltic unit is electrified to enable a first peristaltic sleeve to act so as to enable a unit body to advance; in the second stage, the second peristaltic unit and the third peristaltic unit are respectively electrified to respectively advance the second peristaltic sleeve 1 and the third peristaltic sleeve; in the fourth stage, the three peristaltic units act simultaneously, so that the crawling section is restored to the initial state after the whole endoscope robot moves forward one step.
As shown in fig. 4-5, two sets of pressure sensors 33 are sleeved outside the flexible sleeve, each pressure sensor comprises a metal ring and a strain gauge 34, each metal ring comprises an inner ring 35 and an outer ring 36 which are connected by points, the two strain gauges are symmetrically arranged on two sides of the point connection position on the outer ring, and the strain gauges of the two sets of sensors are staggered by 90 °. When the sensor is under the action of external force, the shape of the inner ring is not changed due to fixed installation, and the outer ring is deformed due to the action of force, so that the resistance value of the resistance strain gauge adhered to the outer surface of the outer ring is changed, and the magnitude of the received contact pressure can be obtained by measuring the change of the resistance value.
When the pressure to be measured is one-dimensional pressure, the action point of the one-dimensional pressure can be placed in the direction of 90 degrees or 270 degrees of the pressure sensor, the two resistance strain gauges respectively generate stretching or compression deformation at the moment, and the voltage is linearly changed along with the change of the pressure value, so that the direction determination of the one-dimensional pressure and the measurement of the pressure are realized. However, when the pressure to be measured is a two-dimensional pressure, the pressure acting point may appear in any direction of the circumference of the pressure sensor, and when the acting point is located at the connection of the inner ring and the outer ring, due to the greater rigidity, the deformation generated by the outer ring of the sensor will be approximately equal to zero, and the magnitude of the applied pressure cannot be measured by using the resistance strain gauge. Since the contact pressure with the cervical wall of the human body is a two-dimensional force when the device is moved in a general cervical environment, the magnitude and direction of the force cannot be accurately obtained by means of a single pressure sensor. Considering that the contact between the device and the cervical wall is surface contact, and the designed pressure sensor has smaller size in the length direction, the combined structure of the two pressure sensor mechanisms can be utilized to realize the measurement of two-dimensional pressure. Wherein each pressure sensor is fixed at intervals of 0.5mm in the length direction and staggered by 90 degrees in the circumferential direction of the joint section. The outer diameter of the pressure sensor combination structure is the same as that of the single pressure sensor. When the articular segment has contact pressure with the cervical wall, because the contact pressure is surface contact, the two pressure sensors can both be acted by the contact pressure and can independently measure the pressure of the articular segment and the cervical wall.
The joint sections are four sections, each section of joint section comprises six joints, the rotation angle of two adjacent joints is 15 degrees, and the bending angle of the joint positioned at the tail part relative to the joint positioned at the head part is 90 degrees. The freedom degree of each joint section in two directions is controlled by two steel wires which are fed in and fed out one by one, after the four joint sections are connected in series, all odd joint sections have the same layout of the driving steel wire ropes in the circumferential direction, the difference between the odd joint sections and the driving steel wire ropes in the even joint sections is 45 degrees in the circumferential direction, simultaneously, the steel wires at two ends of each joint section are respectively wound on two wire rollers, and the two wire rollers are independently controlled by two sets of motors. Therefore, the endoscope robot adopting the multi-joint-segment continuous structure can realize eight-degree-of-freedom bending motion by coordinately controlling the lengths of the driving ropes of the joint segments. The wire roller motor is arranged in a driving box in a front-back two-layer mode, and a certain height difference exists between the two layers, so that the driving wires cannot interfere with each other.
The metal mesh is coated outside the plurality of joint sections, the bending rigidity of the robot joint section is improved, the overall shape keeping capacity of the robot joint section is improved, the metal mesh is coated with the flexible sleeve, and the flexible sleeve is made of silica gel or elastic resin to achieve sealing and further improve the bending rigidity.
It should be noted that the above-mentioned contents are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, and although the detailed description of the present invention has been given to the present invention, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (10)
1. A multi-degree-of-freedom cervical imaging device is characterized by comprising a plurality of joint sections, a crawling section, an endoscope section and a driving device which are connected in sequence, the joint section is formed by sequentially articulating and connecting a plurality of joints, a flexible sleeve is sleeved outside the joint section, the crawling section is formed by sequentially connecting a plurality of crawling units through corrugated sleeves, the endoscope section comprises an outer shell, an endoscope and a cleaning mechanism, the outer shell is connected with the end head of the crawling section, the endoscope is arranged at an opening at the outer side of the outer shell, the cleaning mechanism is arranged inside the outer shell and is used for cleaning the endoscope, the driving device comprises a driving box and a plurality of groups of driving components, the driving box is connected with joint sections positioned at the head, each group of driving components corresponds to one joint section, inner cavities of the plurality of joint sections, the crawling section and the endoscope section are communicated to form a through hole, and a conduit is arranged in the through hole in a penetrating mode.
2. The multi-degree-of-freedom cervical imaging device according to claim 1, wherein the joint is a circular tube structure, four hinged plates are uniformly arranged on the outer circumferential surface at intervals, hinged holes are formed in the ends of the hinged plates, the hinged holes of two adjacent hinged plates are oppositely oriented, and thread holes are formed in the inner circumferential surface of the joint in the axial direction at positions corresponding to the hinged plates.
3. The multi-degree-of-freedom cervical imaging device according to claim 2, wherein each group of driving assemblies comprises two groups of driving motors, wire rollers, tensioning rollers and electromagnetic brakes, the driving motors are connected with the wire rollers, the electromagnetic brakes are connected with the tensioning rollers, steel wires are wound on the wire rollers in a closed loop mode, and two free ends of the steel wires sequentially pass through two rows of wire holes staggered by 90 degrees on a plurality of joints in the same joint section after passing through the tensioning rollers respectively.
4. The multi-degree-of-freedom cervical imaging device according to claim 2 or 3, wherein the peristalsis unit comprises a peristalsis sleeve, an actuator iron core, an actuator coil, actuator magnets and a back iron, the peristalsis sleeve, the actuator iron core, the actuator coil, the actuator magnets and the back iron are sleeved on the inner portion and the outer portion of the peristalsis sleeve, the back iron is of a metal circular tube structure, the actuator magnets are embedded on the outer circumferential surface of the back iron at uniform intervals in the circumferential direction, the actuator iron core is of a circular ring structure formed by laminating silicon steel sheets, a positioning groove is formed in the inner circumferential surface of the actuator iron core, the actuator coil is installed in the positioning groove, a bearing end cover is arranged at the inner end of the actuator.
5. The multi-degree-of-freedom cervical imaging device according to claim 4, wherein the peristaltic sleeves of two adjacent peristaltic units are connected through the corrugated sleeve, the peristaltic sleeves of the peristaltic units connected with the joint section are provided with hinged plates, a spring is arranged between the bearing end cover and the actuator iron core, a semicircular groove is arranged at the inner end of the back iron positioned at the head, a semicircular boss is arranged at one end of the back iron positioned at the middle section, a semicircular groove is arranged at the other end of the back iron positioned at the tail, and a semicircular boss is arranged at the outer end of the back iron positioned at the tail and is matched with the semicircular groove in position to be rotatably connected with the semicircular groove.
6. The multi-degree-of-freedom cervical imaging device according to claim 1 or 5, wherein the cleaning mechanism comprises a water pipe, a water valve and a nozzle, the water pipe is arranged in the guide pipe in a penetrating manner, the water valve is arranged on the water pipe, the nozzle is communicated with the water pipe, and the nozzle is arranged on the inner wall of the outer shell and is arranged corresponding to the endoscope.
7. The multi-degree-of-freedom cervical imaging device according to claim 6, wherein two sets of pressure sensors are sleeved outside the flexible sleeve, the pressure sensors comprise metal rings and strain gauges, the metal rings comprise inner and outer rings connected by points, the strain gauges are two pieces and symmetrically arranged on the outer ring on two sides of the point connection, and the strain gauges of the two sets of sensors are staggered by 90 °.
8. The multi-degree-of-freedom cervical imaging device according to claim 2 or 3, wherein the joint segments are four segments, each segment comprises six joints, the rotation angle of two adjacent joints is 15 °, and the bending angle of the joint at the tail part relative to the joint at the head part is 90 °.
9. The multi-degree-of-freedom cervical imaging device according to the claim 6, wherein the number of the nozzles is three, and the nozzles are evenly spaced along the circumferential direction, and a sealing ring is arranged at the joint of the endoscope and the outer shell.
10. The multi-degree-of-freedom cervical imaging device according to claim 7, wherein the plurality of joint segments are externally covered with a metal mesh, the metal mesh is externally covered with the flexible sleeve, and the flexible sleeve is made of silica gel or elastic resin.
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| CN115413994A (en) * | 2022-08-10 | 2022-12-02 | 武汉大学 | Gastroenterology gastroscopy equipment and use method thereof |
| CN115844321A (en) * | 2023-01-10 | 2023-03-28 | 浙江大学 | Medical active continuous endoscope robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113520274A (en) * | 2021-07-20 | 2021-10-22 | 中国科学院深圳先进技术研究院 | Two-degree-of-freedom flexible buffering endoscope based on lasso driving |
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| CN115413994B (en) * | 2022-08-10 | 2024-03-19 | 武汉大学 | Gastroenterology gastroscopy equipment and use method thereof |
| CN115844321A (en) * | 2023-01-10 | 2023-03-28 | 浙江大学 | Medical active continuous endoscope robot |
| CN115844321B (en) * | 2023-01-10 | 2024-03-12 | 浙江大学 | Medical active continuous endoscope robot |
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Application publication date: 20210611 |