CN113040695B - Rotary impact composite driving self-propelled capsule realizing coupling through cam mechanism - Google Patents
Rotary impact composite driving self-propelled capsule realizing coupling through cam mechanism Download PDFInfo
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- CN113040695B CN113040695B CN202110250594.1A CN202110250594A CN113040695B CN 113040695 B CN113040695 B CN 113040695B CN 202110250594 A CN202110250594 A CN 202110250594A CN 113040695 B CN113040695 B CN 113040695B
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- 239000002775 capsule Substances 0.000 title claims abstract description 58
- 230000007246 mechanism Effects 0.000 title claims abstract description 13
- 239000002131 composite material Substances 0.000 title claims abstract description 6
- 230000008878 coupling Effects 0.000 title abstract description 8
- 238000010168 coupling process Methods 0.000 title abstract description 8
- 238000005859 coupling reaction Methods 0.000 title abstract description 8
- 238000003384 imaging method Methods 0.000 claims abstract description 18
- 238000009527 percussion Methods 0.000 claims abstract 2
- 239000000463 material Substances 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 7
- 150000001875 compounds Chemical class 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 230000010365 information processing Effects 0.000 claims description 2
- 230000003902 lesion Effects 0.000 claims description 2
- 238000009987 spinning Methods 0.000 claims description 2
- 239000003292 glue Substances 0.000 claims 1
- 229920001296 polysiloxane Polymers 0.000 claims 1
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 4
- 239000010794 food waste Substances 0.000 abstract description 2
- 238000001839 endoscopy Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000968 intestinal effect Effects 0.000 description 2
- 210000000936 intestine Anatomy 0.000 description 2
- 210000002784 stomach Anatomy 0.000 description 2
- 206010028813 Nausea Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 206010047700 Vomiting Diseases 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
- 239000008151 electrolyte solution Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008855 peristalsis Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00108—Constructional details of the endoscope body characterised by self-sufficient functionality for stand-alone use
-
- 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
- A61B1/273—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
Abstract
The invention relates to a self-propelled capsule which realizes coupling rotation impact composite driving through a cam mechanism, belongs to the field of medical endoscopes, and is applied to hospital endoscopy. The capsule mainly comprises a control part, a power part, a motion part, an imaging part and a capsule outer wall part. The power part provides kinetic energy; the imaging part displays the focus through a camera, captures the position of an obstacle and feeds back information; the control part is used for receiving and sending signals; and the moving part realizes rotary impact coupling motion through the axial vibration exciter and the track of the cam controllable slide rail according to the information of the control part. The self-propelled capsule has stronger breakthrough capability under the coupling of the rotary-percussion motion, can be used under the condition of not clearing food residues in intestinal tracts, and reduces the pain of human bodies.
Description
Technical Field
The invention belongs to the field of medical endoscopes, and particularly relates to a self-propelled capsule endoscope which is driven by rotary impact in a coupling mode through a cam mechanism.
Background
For medical detection technology, it has been a main development direction to improve the accuracy of medical diagnosis and simultaneously reduce the pain of patients during examination. More than 100 years ago, the appearance of the primary medical endoscope helps doctors observe the intestinal conditions of human bodies and better assists the doctors in curing diseases. Over a hundred years, medical endoscopes are developed, which are used sequentially by guiding a probe through a hard tube, guiding the probe through a soft tube, and then using fiber endoscopes, video endoscopes, electronic endoscopes, ultrasonic endoscopes and other devices. However, the medical endoscopes are wired, that is, the pipeline needs to enter the human body along with the probe, which increases the pain of the patient during the examination.
In order to relieve the pain of patients, the wireless capsule endoscope is produced at the beginning of the century. However, the wireless capsule endoscope used in clinic at present does not prepare the movement capability, and needs to realize movement by means of intestinal peristalsis or external magnetic field guidance. Therefore, the passive moving endoscope capsule has the problems of low moving efficiency, long detection time, complex matching equipment and the like. Patients need to bear the risk that the capsule is trapped in the digestive tract gully and cannot be eliminated, or bear high detection cost. Meanwhile, the procedure of taking a large amount of electrolyte solution to remove food residues in the intestinal tract before detection is long in time consumption, and the pain of patients is increased along with side effects of nausea, vomiting, dizziness and the like.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the self-propelled capsule endoscope with higher safety, comfort level and economy, so that the safety and comfort level of a patient in the examination process are improved, the pain is relieved, the cost of medical equipment is reduced, and the economic pressure of the patient is relieved.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a self-propelled capsule which realizes coupled rotary impact composite driving through a cam mechanism is characterized by comprising a moving part, a control part, a power part, an imaging part and a capsule outer wall; the moving part comprises a rotatable head, a rotating blade, a cam, a spring, a connecting piece, a coil, a magnetostrictive material rod and a coil fixing rod; the outer wall of the capsule, the spring and the connecting piece magnetostrictive material rod are sequentially connected; the rotatable head, the rotating blade and the cam are connected in sequence; the cam and the connector are connected by a cam track and a connector nose.
Furthermore, the rotatable head is provided with a flexible magnetic small tooth-shaped structure such as silica gel.
Further, the small tooth structure can be replaced by other materials or similar structures to be directly used for lesion clearing.
Further, the cam has a single or a plurality of predetermined tracks.
Further, the inner wall of the connecting piece is provided with a corresponding cam track convex device.
Furthermore, the control part comprises a microprocessor integrated control chip inside the capsule endoscope, an external display and a controller; the big data is used as a support, the spinning state is adjusted at any time according to the command issued by the doctor, and the bidirectional multi-stage speed movement of the capsule is realized; the system integrates information sending, information receiving, information feedback and information processing into a whole. And the control part microprocessor controller control instruction is formed according to data returned by the imaging part camera and instruction signals issued by a doctor outside the human body.
Furthermore, the power part provides energy source situation and finally electric energy, the electric energy can be directly provided by a micro battery or provided after other energy sources are converted, and the change of the current is controlled by the micro processing controller of the control part. The electrified coil forms a magnetic field with variable magnetic flux through the change of current; the magnetostrictive material rod is elongated or shortened under the change of magnetic flux; the magnetostrictive material rod is directly or indirectly contacted with the cam, the spring, the connecting piece, the rotating blade, the rotatable head and the outer wall of the capsule to form controllable motion of the capsule endoscope in the moving tracks of advancing, rotating and the like.
Furthermore, the imaging part is positioned at the head part of the capsule, and the micro camera directly transmits imaging data to the processor of the control part for imaging and storage. The camera can intuitively feed back the information in the advancing direction of the capsule, so that the diagnosis of a doctor is facilitated.
Further, the cam surface has a track upon which the data rides. As shown in fig. 4(a), when the radius of the cylindrical cam is r, the magnetostrictive rod will give a thrust F to the connecting piece when it is extended1Force is transmitted to the cylindrical cam through the upper bulge of the upper connecting piece, and the front symmetrical position and the rear symmetrical position of the cam all obtain driving force F along the tangential direction2And both satisfy:
F2＝F1·tanθ
the cylindrical cam is subjected to the following torques:
T＝2F2·r
further, as in fig. 4(b), when the magnetostrictive material elongates or shortens y, the cam rotation angle α is given by the following formula due to the constraint between the connector lug and the cylindrical cam track:
furthermore, the capsule endoscope advances to act on the outer wall of the capsule through the connecting piece and the spring to push the capsule to act, and kinetic energy is formed by the stretching action of the magnetostrictive material rod.
The rotating action of the endoscope forms kinetic energy by the telescopic action of the magnetostrictive material rod, the kinetic energy enables the rotating blades to rotate through the connecting piece, the connecting piece bump, the cam and the cam track, the rotatable head is driven to rotate, and the tooth point device on the rotatable head can remove obstacles in a targeted manner.
Compared with the prior art, the invention has the following effects:
the imaging part, the control part, the power part and the motion part are coordinated with each other, the imaging part images feedback information, the control part integrates the information and issues instructions, the kinetic energy part provides adjustable energy, and the motion part executes motion commands. The position of the camera and the design of controllable motion trail can pertinently clear away the obstacles in the alimentary canal, and even directly clear away the focus by using the capsule endoscope with the small teeth device on the rotatable head of the replacement part.
The capsule endoscope can reduce the discomfort of the capsule endoscope to intestines and stomach caused by uncontrollable movement and blind removal of obstacles in the intestines and stomach; the inspection time is shortened; the collision of the capsule endoscope to an unknown focus in the examination process is reduced; can directly remove the slight focus to avoid secondary pain.
Drawings
FIG. 1 is an overall schematic view of a rotary impact compound driven self-propelled capsule endoscope with coupling achieved by a cam mechanism;
FIG. 2 is a detailed structural schematic diagram of a coupled rotary impact compound driven self-propelled capsule endoscope by a cam mechanism;
FIG. 3 is a partial schematic view of a cam of a coupled rotary impact compound driven self-propelled capsule endoscope through a cam mechanism;
FIG. 4 is a schematic diagram of the kinematic coupling of the cam mechanism, (a) is a force analysis diagram, and (b) is a kinematic constraint analysis diagram;
in the figure: 1-moving part 2-imaging part 3-power part 4-control part 5-tooth point device 6-rotatable head 7-rotating blade 8-spring 9-connecting piece 10-coil 11-magnetostrictive material rod 12-capsule outer wall 13-coil fixed rod 14-microprocessor controller 15-battery 16-connecting piece bump 17-cam 18-cam track 19-camera 20-connecting chain I21-connecting chain II.
Detailed Description
The invention is described in detail below with reference to the drawings of the specification:
referring to fig. 1 and 2, a self-propelled capsule endoscope which is driven by a cam mechanism to realize coupled rotary impact composite driving comprises a moving part 1, an imaging part 2, a power part 3, a control part 4, a tooth tip device 5, a rotatable head 6, a rotating blade 7, a spring 8, a connecting piece 9, a coil 10, a magnetostrictive material rod 11, a capsule outer part 12, a coil fixing rod 13, a microprocessing controller 14, a battery 15, a connecting piece bump 16, a cam 17, a cam track 18, a camera 19, a first connecting chain 20 and a second connecting chain 21.
Wherein the battery 15, the microprocessor controller 14, the control part 4 and the power part 4 are positioned at the tail end of the outer wall 12 of the capsule; the coil 10 is fixed on the outer part 12 of the capsule through a coil fixing rod 13; a magnetostrictive material rod 11 is positioned in the middle of the coil 10; the outer circle of the magnetostrictive material rod 11, the connecting piece 9, the spring 8 and the capsule outer wall 12 form a first connecting chain 20; the inner circle of the magnetostrictive material rod 11, the cam 17, the rotating blade 7 and the rotating head 6 form a second connecting chain 21; flexibly mounting a first connecting chain 20 and a second connecting chain 21 through a connecting block lug 16 on the connecting piece 9 and a cam track 18 on the cam 17; the rotating blade 7 is integrally installed with the rotatable head 6, and the tooth tip device 5 is positioned on the outer surface of the rotatable head; the imaging section 2 and the camera 19 are located inside the rotatable head 6.
Example (b):
the imaging part 2 observes the information in the intestinal tract and feeds back the information to the control part 4 through the camera 19; the microprocessor integrator 14 in the control part 4 gives out a command after integrating the instruction of an external doctor, and controls the power part 3 to release electric energy by the battery 15; energizing the coil 10 to form a magnetic field; the magnetic field flux changes to control the expansion and contraction amount of the magnetostrictive material rod 11; the compression amount of the spring 8 is adjusted to control the self-propelled movement of the capsule endoscope; the magnetostrictive rod 11 drives the rotatable head 6 to rotate in the telescoping process through the cylindrical cam mechanism, so that the tooth tip device 5 on the rotatable head 6 clears the obstacles or specific focuses on the appointed capsule running path.
The foregoing is considered as illustrative only of the principles of the invention and is not to be taken in any way limiting, since all equivalent changes and modifications may be made herein without departing from the spirit and scope of the invention.
Claims (9)
1. A self-propelled capsule which realizes coupled rotary impact composite driving through a cam mechanism is characterized by comprising a moving part, a control part, a power part, an imaging part and a capsule outer wall; the moving part comprises a rotatable head, a rotating blade, a cam, a spring, a connecting piece, a coil, a magnetostrictive material rod and a coil fixing rod; the outer wall of the capsule, the spring and the connecting piece magnetostrictive material rod are sequentially connected; the rotatable head, the rotating blade and the cam are connected in sequence; the cam and the connecting piece are connected with the connecting piece lug through the cam track; the self-propelled capsule advancing action forms kinetic energy by the stretching action of the magnetostrictive material rod, and the kinetic energy acts on the outer wall of the capsule through the connecting piece and the spring to push the capsule to act; the self-propelled glue rotating action forms kinetic energy through the stretching action of the magnetostrictive material rod, the kinetic energy enables the rotating blades to rotate through the connecting piece, the connecting piece lug, the cam and the cam track to drive the rotatable head to rotate, and the small tooth-shaped structure on the rotatable head is used for pointedly clearing obstacles.
2. A rotary impact compound driven self-propelled capsule as claimed in claim 1, wherein said rotatable head has a silicone denticulate structure.
3. The self-propelled capsule of claim 2, wherein the dentiform structure can be replaced with other materials or similar structures for direct lesion removal.
4. A rotary-percussion compound driven self-propelled capsule as claimed in claim 1, in which the cam has a single or multiple predetermined tracks.
5. A rotary-impact compound driven self-propelled capsule as claimed in claim 1, wherein the inner surface of said connecting member has projections corresponding to the cam tracks.
6. The self-propelled capsule of claim 1, wherein the control portion comprises a microprocessor integrated control chip inside the self-propelled capsule, an external display and a controller; the big data is used as a support, the spinning state is adjusted at any time according to the command issued by the doctor, and the bidirectional multi-stage speed movement of the capsule is realized; the control is integrated with information sending, information receiving, information feedback and information processing; and the control part microprocessor controller control instruction is formed according to data returned by the imaging part camera and instruction signals issued by a doctor outside the human body.
7. The self-propelled capsule of claim 1, wherein the power unit provides energy to the form of electric energy, which can be supplied directly from micro battery or converted from other energy sources, and the change of current is controlled by the microprocessor controller of the control unit; the electrified coil forms a magnetic field with variable magnetic flux through the change of current; the magnetostrictive material rod is elongated or shortened under the change of magnetic flux; the magnetostrictive material rod is directly or indirectly contacted with the cam, the spring, the connecting piece, the rotating blade, the rotatable head and the outer wall of the capsule to form the controllable motion of the advancing and rotating motion tracks of the self-propelled capsule.
8. The self-propelled capsule of claim 1, wherein the imaging portion is located at the head of the capsule, and the micro-camera directly transmits imaging data to the processor of the control portion for imaging and storage.
9. A rotary-impact compound driven self-propelled capsule coupled by a cam mechanism according to claim 1, wherein said cam surface has a track upon which data rests; if the radius of the cylindrical cam is r, the magnetostrictive rod can provide thrust F for the connecting piece when being stretched1Force is transmitted to the cylindrical cam through the convex block on the connecting piece, and the front symmetrical position and the rear symmetrical position of the cam all obtain driving force F along the tangential direction2And both satisfy:
F2＝F1·tanθ
the cylindrical cam is subjected to the following torques:
T＝2F2·r
further, when the magnetostrictive material elongates or shortens y, the cam rotation angle α can be obtained from the following equation due to the constraint between the connector lug and the cylindrical cam track:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110250594.1A CN113040695B (en) | 2021-03-08 | 2021-03-08 | Rotary impact composite driving self-propelled capsule realizing coupling through cam mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110250594.1A CN113040695B (en) | 2021-03-08 | 2021-03-08 | Rotary impact composite driving self-propelled capsule realizing coupling through cam mechanism |
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| Publication Number | Publication Date |
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| CN113040695A CN113040695A (en) | 2021-06-29 |
| CN113040695B true CN113040695B (en) | 2022-04-19 |
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| CN202110250594.1A Active CN113040695B (en) | 2021-03-08 | 2021-03-08 | Rotary impact composite driving self-propelled capsule realizing coupling through cam mechanism |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2064998A2 (en) * | 2007-11-29 | 2009-06-03 | Olympus Medical Systems Corporation | Capsule medical device for obtaining a body-tissue sample |
| CN201500101U (en) * | 2009-08-27 | 2010-06-09 | 王晓东 | Capsule endoscope system |
| CN211432795U (en) * | 2019-09-11 | 2020-09-08 | 群曜医疗科技(无锡)有限公司 | Capsule type endoscope with clear camera shooting function |
| CN111938554A (en) * | 2020-07-28 | 2020-11-17 | 北京科技大学 | Self-propelled wireless detection capsule endoscope system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7643865B2 (en) * | 2004-06-30 | 2010-01-05 | Given Imaging Ltd. | Autonomous in-vivo device |
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2021
- 2021-03-08 CN CN202110250594.1A patent/CN113040695B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2064998A2 (en) * | 2007-11-29 | 2009-06-03 | Olympus Medical Systems Corporation | Capsule medical device for obtaining a body-tissue sample |
| CN201500101U (en) * | 2009-08-27 | 2010-06-09 | 王晓东 | Capsule endoscope system |
| CN211432795U (en) * | 2019-09-11 | 2020-09-08 | 群曜医疗科技(无锡)有限公司 | Capsule type endoscope with clear camera shooting function |
| CN111938554A (en) * | 2020-07-28 | 2020-11-17 | 北京科技大学 | Self-propelled wireless detection capsule endoscope system |
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| CN113040695A (en) | 2021-06-29 |
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Inventor after: Liao Maolin Inventor after: Bao Yanchi Inventor after: Zheng Yang Inventor after: Li Zhi Inventor after: Liu Mengyu Inventor after: Liu Yiyong Inventor before: Bao Yanchi Inventor before: Liao Maolin Inventor before: Zheng Yang Inventor before: Li Zhi Inventor before: Liu Mengyu Inventor before: Liu Yiyong |
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