CN116439638A - Active motion capsule robot with hybrid driving mode - Google Patents
Active motion capsule robot with hybrid driving mode Download PDFInfo
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- CN116439638A CN116439638A CN202310255899.0A CN202310255899A CN116439638A CN 116439638 A CN116439638 A CN 116439638A CN 202310255899 A CN202310255899 A CN 202310255899A CN 116439638 A CN116439638 A CN 116439638A
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- 239000002775 capsule Substances 0.000 title claims abstract description 87
- 230000033001 locomotion Effects 0.000 title claims abstract description 77
- 230000002572 peristaltic effect Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 10
- 239000003814 drug Substances 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 8
- 238000001574 biopsy Methods 0.000 claims description 4
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 18
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 32
- 230000006872 improvement Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 238000004873 anchoring Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 201000011510 cancer Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010009944 Colon cancer Diseases 0.000 description 1
- 208000001333 Colorectal Neoplasms Diseases 0.000 description 1
- 208000002699 Digestive System Neoplasms Diseases 0.000 description 1
- 208000018522 Gastrointestinal disease Diseases 0.000 description 1
- 206010017993 Gastrointestinal neoplasms Diseases 0.000 description 1
- 206010058467 Lung neoplasm malignant Diseases 0.000 description 1
- 208000005718 Stomach Neoplasms Diseases 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005713 exacerbation Effects 0.000 description 1
- 206010017758 gastric cancer Diseases 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 201000005202 lung cancer Diseases 0.000 description 1
- 208000020816 lung neoplasm Diseases 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 230000032696 parturition Effects 0.000 description 1
- 201000011549 stomach cancer Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009747 swallowing Effects 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
- A61B1/00147—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
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B1/273—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
- A61B1/273—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
- A61B1/2736—Gastroscopes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Gastroenterology & Hepatology (AREA)
- Endoscopes (AREA)
Abstract
The invention provides an active motion capsule robot in a hybrid driving mode, which comprises a head unit and a tail unit movably connected with the head unit, wherein a first thread groove is formed in the outer surface of the head unit, a second thread groove is formed in the outer surface of the tail unit, a movable magnet is arranged on the head unit, a rotary magnet is arranged on the tail unit, the rotary magnet can rotate relative to the tail unit, a magnetic spring mechanism is formed by the movable magnet and the rotary magnet, an external magnetic field is applied to the magnetic spring mechanism, and the active motion capsule robot can realize spiral driving advancing or peristaltic driving advancing according to the intensity of the applied external magnetic field. The beneficial effects of the invention are as follows: the active motion capsule robot has the characteristic of a hybrid driving mode, can realize spiral driving and peristaltic driving, adopts different driving modes when being positioned at different parts of the gastrointestinal tract, realizes the active motion of the hybrid driving mode, and improves the advancing efficiency of the capsule robot in the gastrointestinal tract.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an active motion capsule robot in a hybrid driving mode.
Background
In recent years, the prevalence of gastrointestinal diseases is increasing year by year, gastric cancer and colorectal cancer become the first ten diseases of malignant tumors in China, the exacerbation rate is extremely high, the malignant tumors are secondary to lung cancer, and many death cases caused by malignant tumors are related to gastrointestinal tumors. Currently, endoscopy is the most widely used method in clinic, and the most safe and effective method for finding gastrointestinal cancer lesions. Gastrointestinal endoscopy is a method in which an examination device is extended from outside through the digestive tract into an examination site to observe, and such invasive examination method involves a certain pain, a certain medical risk or a risk of complications. Therefore, the wireless capsule endoscope robot has been developed, and by swallowing, a patient can make the capsule endoscope robot pass through the whole alimentary canal, capture images of the alimentary canal, analyze the images to judge whether the lesion is generated, and along with the development of the technology, the diagnosis success rate of the capsule endoscope robot is also higher.
However, the existing capsule robots have a plurality of problems, namely, the existing capsule robots mainly depend on the natural vermicular force of gastrointestinal tracts, cannot actively move, cannot adjust the self posture of the capsule robots, have low detection speed and incomplete collected images; secondly, the capsule robot with the active movement function can only realize one of spiral driving and advancing or peristaltic driving and advancing, the driving mode is too single, and the capsule robot can not effectively advance at some specific parts of the gastrointestinal tract.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an active motion capsule robot in a hybrid driving mode.
The invention provides an active motion capsule robot in a hybrid driving mode, which comprises a head unit and a tail unit movably connected with the head unit, wherein a first thread groove is formed in the outer surface of the head unit, a second thread groove is formed in the outer surface of the tail unit, a movable magnet is arranged on the head unit, a rotary magnet is arranged on the tail unit, the rotary magnet can rotate relative to the tail unit, a magnetic spring mechanism is formed by the movable magnet and the rotary magnet, an external magnetic field is applied to the magnetic spring mechanism, and spiral driving advancing or peristaltic driving advancing can be realized according to the strength of the applied external magnetic field.
When the magnetic moment generated by the external magnetic field on the rotary magnet is insufficient to overcome the magnetic moment between the movable magnet and the rotary magnet, the movable magnet and the rotary magnet are driven to synchronously rotate when the external magnetic field rotates, and the movable magnet drives the whole active motion capsule robot to generate rotary motion so as to realize spiral driving and advancing of the active motion capsule robot.
As a further improvement of the invention, when the magnetic moment generated by the external magnetic field on the rotary magnet overcomes the magnetic moment between the movable magnet and the rotary magnet, the movable magnet and the rotary magnet are separated, the head unit is driven by the movable magnet to be away from the tail unit, and when the external magnetic field is weakened, the movable magnet and the rotary magnet are attracted to each other again, the head unit is driven by the movable magnet to be close to the tail unit, and peristaltic driving of the capsule robot is realized by repeating the process.
As a further improvement of the invention, a guide rail is arranged in the tail unit, and the head unit can move linearly along the guide rail under the drive of the moving magnet.
As a further improvement of the invention, one end of the head unit is provided with a connecting rod, the tail end of the connecting rod is provided with the movable magnet, the front end of the tail unit is provided with a movable chamber, the movable chamber is internally provided with the guide rail, the side wall of the tail end of the connecting rod is provided with a mounting groove corresponding to the guide rail, the mounting groove is clamped on the guide rail, and the connecting rod moves linearly along the guide rail through the mounting groove.
As a further improvement of the invention, the tail unit is internally provided with a limiting groove at the tail end, the rotary magnet is positioned in the limiting groove and can rotate along the axis of the rotary magnet, and the rotary magnet limits the axial movement of the rotary magnet through the limiting groove.
As a further improvement of the invention, the active motion capsule robot further comprises a bearing and a rotating shaft, wherein a bearing seat is arranged between the limiting groove and the movable cavity, the bearing is arranged in the bearing seat, one end of the rotating shaft is arranged on the bearing, and the other end of the rotating shaft is provided with the rotating magnet.
As a further improvement of the invention, the moving magnet and the rotating magnet are radially magnetized magnets, the moving magnet and the rotating magnet are coaxially arranged, the moving magnet is a cylindrical magnet, and the rotating magnet is a ring magnet.
As a further development of the invention, the head unit is a hollow housing, the interior of which is used for receiving a sampling needle or a medicament for the purpose of performing a biopsy sampling function or a medicament application function thereof.
As a further improvement of the invention, the first thread groove and the second thread groove are trapezoid or triangle, and the tail unit is formed by assembling an upper shell and a lower shell.
As a further improvement of the invention, the active motion capsule robot comprises a camera illumination module mounted to the front end of the head unit.
The beneficial effects of the invention are as follows: 1. the active motion capsule robot has the characteristic of a hybrid driving mode, can realize spiral driving and peristaltic driving, adopts different driving modes when being positioned at different parts of the gastrointestinal tract, realizes the active motion of the hybrid driving mode, and improves the advancing efficiency of the capsule robot in the gastrointestinal tract; 2. the active motion capsule robot realizes spiral driving and peristaltic driving by using the magnetic spring mechanism, realizes two driving modes by one mechanism, reduces the volume of the capsule robot and is more convenient to swallow; 3. the external surfaces of the head unit and the tail unit of the active capsule robot are respectively provided with the thread grooves, the thread grooves have different friction forces in different directions, the active capsule robot provides different friction forces in the advancing process of the active capsule robot, the active capsule robot realizes peristaltic drive advancing by means of the different friction forces, the friction force between the thread grooves and the inner wall of the gastrointestinal tract can be reduced in the spiral drive advancing process, and the advancing efficiency of the active capsule robot is improved; 4. the driving energy of the hybrid driving mode is provided by an external magnetic field, a battery module is not required to be added for the active motion function, and the volume of the capsule robot is reduced; 5. the active motion capsule robot head unit adopts a modularized design, and a sampling needle or a medicine can be added according to actual conditions so as to realize a biopsy sampling function or a medicine application function, thereby increasing the functions of the capsule robot and being more suitable for clinical use.
Drawings
FIG. 1 is a block diagram of an active motion capsule robot in a hybrid drive mode according to the present invention;
FIG. 2 is an exploded view of a hybrid drive mode active motion capsule robot of the present invention;
FIG. 3 is a cross-sectional view of an active motion capsule robot in a hybrid drive mode of the present invention;
FIG. 4 is a schematic diagram of a hybrid drive mode of the screw drive forward motion of an active motion capsule robot of the present invention;
fig. 5 is a peristaltic drive forward schematic of an active motion capsule robot in a hybrid drive mode of the present invention.
Detailed Description
The invention discloses an active motion capsule robot in a hybrid driving mode, which comprises a head unit 2, a tail unit 3, a camera lighting module 1, a rotary magnet 7, a movable magnet 4, a bearing 5 and a rotary shaft 6, wherein a first thread groove 22 is formed in the outer surface of the head unit 2, a second thread groove 34 is formed in the outer surface of the tail unit 3, the rotary magnet 7 arranged in the tail unit 3 and the movable magnet 4 arranged in the head unit 2 form a magnetic spring mechanism, the active motion capsule robot can realize spiral driving and peristaltic driving and advancing through external magnetic field control, and when the active motion capsule robot is positioned at different positions of the gastrointestinal tract, the active motion in the hybrid driving mode is realized through adopting different driving modes, and the advancing efficiency of the capsule robot in the gastrointestinal tract is improved.
The screw driving advances, a weaker external magnetic field needs to be applied to the magnetic spring mechanism, the external magnetic field drives the whole magnetic spring mechanism to rotate through rotation, and as the running environment of the active motion capsule robot is the screw grooves on the outer surfaces of the head unit and the tail unit 3 in the gastrointestinal tract of a human body, the screw grooves interact with the inner wall of the gastrointestinal tract of the human body to generate friction force, the whole active motion capsule robot receives the driving force of the external magnetic field in the advancing direction, and the active motion capsule robot advances under the resultant force effect of the friction force and the driving force of the external magnetic field, and stops rotating and advancing when the external magnetic field is removed.
The peristaltic drive advances, a strong external magnetic field needs to be applied to the magnetic spring mechanism, the strong external magnetic field enables the rotary magnet 7 to rotate, after the rotary magnet 7 rotates, the head unit 2 is pushed out due to the action of magnetic field force, the whole is represented by anchoring the tail unit 3 and advancing the head unit 2, the external magnetic field is removed, the rotary magnet 7 rotates again, the rotary magnet 7 is attracted with the movable magnet 2 due to the action of magnetic field force, the tail unit 3 is driven by the rotary magnet 7 to be close to the head unit 2, the whole is represented by anchoring the head unit 2 and advancing the tail unit 3 of the active motion capsule robot, and the active motion capsule robot realizes peristaltic drive advance in the repeated process.
The magnetic spring mechanism adopts two radial magnetized magnets, the two radial magnetized magnets are designed in the active motion capsule robot, the two radial magnetized magnets are coaxially distributed, one of the two radial magnetized magnets is a rotary magnet 7, the two radial magnetized magnets are fixed on a limit groove 31 of the tail unit 3 in a ring-shaped magnet mode, and the rotary magnet 7 can rotate along the axis of the rotary magnet and is limited to move axially through the limit groove 31; the other magnet is a moving magnet 4, which is fixed on the end of the connecting rod 21 of the head unit 2 by a cylindrical magnet, and moves along a certain range of axes through the guide rail 31 of the tail unit 3, but can not rotate relative to the tail unit 3 around the axis thereof.
Magnetic moment exists between the moving magnet 4 and the rotating magnet 7, and a nonlinear torque transfer function is used for system modeling and analysis, and the specific expression is as follows:
T m (θ)＝T p ·sinθ
wherein θ represents the angle between the two magnets, T m Represents the torque required when the angle between the two magnets rotates from 0 to θ; t (T) p Representing the maximum torque of the angle between the two magnets from 0 to pi, the value of which is related to the distance between the two magnets, the shape of the magnets, and the magnetization.
Analysis of the nonlinear torque transfer function yields the maximum torque T between the magnetic springs p That is, the torque corresponding to θ=pi/2, the elastic potential energy stored in the two magnets is the work required when the angle between the two magnets rotates from θ=0 to θ=pi/2, and the specific expression is as follows:
wherein U represents the elastic potential energy stored in the two magnets and W represents the required work.
Will T m The numerical value of work can be obtained by bringing the formula into the following formula:
as shown in fig. 1-2, in the active motion capsule robot in a hybrid driving mode disclosed by the invention, a bearing seat 32 is arranged on a tail unit 3, a bearing 5 is arranged in the bearing seat 32, a rotary magnet 7 is connected with the bearing 5 through a rotary shaft 6, the rotary magnet 7 can rotate relative to the tail unit 3, a movable magnet 4 is connected with a connecting rod tail end 21 of a head unit 2, the connecting rod tail end 21 can perform linear motion along a guide rail 33 of the tail unit 3, a camera lighting module 1 is positioned at the front end of the head unit 2, and the rotary magnet 7 and the movable magnet 4 are both magnetized in a radial direction.
In the initial state, the rotating magnet 7 attracts the moving magnet 4 to be close to the rotating magnet 7 under the action of magnetic field force, the moving magnet 4 is attracted by the rotating magnet 7, the moving magnet 4 is close to the rotating magnet 7 along the guide rail 33 of the tail unit 3, the guide rail 33 of the tail unit 3 only can move along the tail unit 3 and can not rotate relative to the tail unit 3, a magnetic spring mechanism is formed by the moving magnet 4 and the rotating magnet 7, a magnetic moment exists between the moving magnet 4 and the rotating magnet 7, a weaker external magnetic field is applied to the magnetic spring mechanism, the magnetic moment generated by the external magnetic field to the rotating magnet 7 is insufficient to overcome the magnetic moment between the moving magnet 4 and the rotating magnet 7, at the moment, when the external magnetic field rotates, the moving magnet 4 and the rotating magnet 7 synchronously rotate, the moving magnet 4 drives the whole capsule robot to generate rotary motion through the guide rail 33 of the tail unit 3, and the head unit 2 and the tail unit 3 are provided with a thread groove 22 and a thread groove 34 according to the first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the outer surface of the tail unit 3, and the active motion capsule robot can be driven to move forwards in a spiral mode.
When a strong external magnetic field is applied to the magnetic spring mechanism, the magnetic moment generated by the external magnetic field on the rotary magnet 7 overcomes the magnetic moment between the movable magnet 4 and the rotary magnet 7, the movable magnet 4 is separated from the rotary magnet 7 along the guide rail 33 of the tail unit 3, the head unit 2 is far away from the tail unit 3 under the driving of the movable magnet 4, when the external magnetic field weakens, the movable magnet 4 and the rotary magnet 7 are attracted to each other again, the head unit 2 is close to the tail unit 3 under the driving of the movable magnet 4, the first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 of the tail unit 3 have anisotropic friction force, the differential friction force is provided for the active motion capsule robot, and the active motion capsule robot can realize peristaltic driving and advancing.
As can be seen from fig. 3, in the initial state, the external magnetic field B is not added, at this time, the rotating magnet 7 and the moving magnet 4 attract each other, the moving magnet 4 approaches the rotating magnet 7 along the guide rail 33, the rotating magnet 7 is affected by the moving magnet 4 and rotates to a specific position, so that the N pole of the rotating magnet 7 and the S pole of the moving magnet 4 approach each other, the S pole of the rotating magnet and the N pole of the moving magnet approach each other, at this time, a magnetic moment exists between the two magnets, and the rotating magnet 7 maintains the existing position under the action of the magnetic moment and does not rotate at will.
As can be seen from fig. 4, when the external magnetic field B is applied, the external magnetic field B applies a magnetic moment to the rotating magnet 7 and the moving magnet 4 at the same time, so that the moving magnet 4 drives the head unit 2 and the tail unit 3 to rotate through the connecting rod end 21 and the guide rail 33, the magnetic moment applied to the rotating magnet 7 by the external magnetic field B is smaller than the magnetic moment between the two magnets, and the rotating magnet 7 is driven by the magnetic moment between the two magnets to rotate along with the moving magnet 4. The first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the outer surface of the tail unit 3 reduce friction between the active motion capsule robot and the inner wall of the gastrointestinal tract, and interact with the inner wall of the gastrointestinal tract to generate forward driving force, so that the active motion capsule robot can be driven to advance in a spiral way.
As can be seen from fig. 5, at time T1, the moving magnet 4 and the rotating magnet 7 are attracted to each other, the head unit 2 is close to the tail unit 3, the active motion capsule robot is in a contracted state, at time T2, an external magnetic field is applied, the external magnetic field can simultaneously apply a magnetic moment to the rotating magnet 7 and the moving magnet 4, the external magnetic field is stronger, the magnetic moment applied to the rotating magnet 7 by the external magnetic field is larger than the magnetic moment between the two magnets, the rotating magnet 7 rotates under the action of the magnetic moment of the external magnetic field, the S pole of the rotating magnet 7 and the S pole of the moving magnet 4 are positioned at the same side, the N pole of the rotating magnet 7 and the N pole of the moving magnet 4 are positioned at the same side, the two magnets repel each other, the moving magnet 4 is repelled by the rotating magnet 7 and is far away from the rotating magnet 7 along the guide rail 33, the active motion capsule robot is in an elongated state, since the first thread groove 22 and the second thread groove 34 have anisotropic friction force, in the extending process, the friction force born by the head unit 2 is smaller, the friction force born by the tail unit 3 is larger, the head unit 2 advances, the tail unit 3 anchors, the external magnetic field is removed at the moment T3, the rotating magnet 7 is subjected to the action of magnetic moment between the two magnets and is rotated to the initial position again, the two magnets attract each other again, and since the thread groove 22 and the second thread groove 34 have anisotropic friction force, in the attracting process of the two magnets, the friction force born by the tail unit 3 is smaller, the friction force born by the head unit 2 is larger, the head unit 2 anchors, the tail unit 3 advances, and peristaltic driving of the active motion capsule robot can be realized by repeating the process.
The head unit 2 adopts the modularized design, the camera lighting module 1 is located the front end of head unit 2, and head unit 2 is the cavity casing, can add sampling needle or medicine etc. in the casing of head unit 2 to realize its biopsy sampling function or medicine function of giving birth to, add other functions on the basis of initiative motion function.
The head unit 2 is equipped with connecting rod 21 one end, and the connecting rod 21 end is equipped with installs the removal magnet 4, and the inside front end of afterbody unit 3 is equipped with movable chamber, and the relative installation guide rail 33 of movable chamber is provided with the mounting groove corresponding with guide rail 33 respectively in the terminal lateral wall both sides of connecting rod 21, and the mounting groove clamps on guide rail 33, and connecting rod 21 carries out rectilinear motion along guide rail 33 through the mounting groove.
The number of turns and the shape of the thread grooves, preferably trapezoidal and triangular, can be modified by the first thread groove 22 on the outer surface of the head unit 2 and the second thread groove 34 on the outer surface of the tail unit 3.
Peristaltic driving advances, wherein differential friction is needed, screw grooves on the outer surfaces of the head unit 2 and the tail unit 3 have anisotropic friction, when the head unit 2 advances, the friction of the tail unit 3 is larger than that of the head unit, the head unit 2 advances with anchoring of the tail unit 3, and when the tail unit 3 advances, the friction of the head unit 2 is larger than that of the tail unit 3, the head unit 2 advances with anchoring of the tail unit 3.
The screw drive and peristaltic drive are decoupled, and when a weak external magnetic field is applied and the external magnetic field is rotated, the active motion capsule robot only uses the screw drive to advance, and when a strong external magnetic field is applied and the external magnetic field is periodically removed, the active motion capsule robot only uses the peristaltic drive to advance.
The driving mode can be reasonably selected at different positions of the gastrointestinal tract, so that the active movement of the hybrid driving mode is realized.
The invention provides an active motion capsule robot with a hybrid driving mode, which has the following advantages:
1. the capsule robot has the characteristics of a hybrid driving mode, can realize spiral driving advancing and peristaltic driving advancing, adopts different driving modes when being positioned at different parts of the gastrointestinal tract, realizes the active movement of the hybrid driving mode, and improves the advancing efficiency of the capsule robot in the gastrointestinal tract.
2. The magnetic spring mechanism is used for realizing spiral driving and peristaltic driving, and two driving modes are realized through one mechanism, so that the volume of the capsule robot is reduced, and the capsule robot is more convenient to swallow.
3. The outer surfaces of the head unit 2 and the tail unit 3 are respectively provided with a thread groove, the thread grooves are provided with various special-shaped friction forces, differential friction forces are provided in the advancing process of the active motion capsule robot, the active motion capsule robot realizes peristaltic drive advancing by means of the differential friction forces, the friction forces with the inner wall of the gastrointestinal tract can be reduced in the spiral drive advancing process of the thread grooves, and the advancing efficiency of the active motion capsule robot is improved.
4. The driving energy of the hybrid driving mode is provided by an external magnetic field, a battery module is not required to be added for the active motion function, and the volume of the capsule robot is reduced.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (11)
1. An active motion capsule robot in a hybrid drive mode, which is characterized in that: including head unit (2) and with head unit (2) swing joint's afterbody unit (3), head unit (2) surface is equipped with first screw thread groove (22), afterbody unit (3) surface is equipped with second screw thread groove (34), head unit (2) are equipped with and remove magnet (4), afterbody unit (3) are equipped with rotary magnet (7), rotary magnet (7) can be relative afterbody unit (3) are rotatory, remove magnet (4) with rotary magnet (7) constitute magnetic spring mechanism, right magnetic spring mechanism applys external magnetic field, and this initiative motion capsule robot can realize screw drive advancing or peristaltic drive advancing according to the intensity of the external magnetic field that applys.
2. The active motion capsule robot of claim 1, wherein: when the magnetic moment generated by the external magnetic field on the rotary magnet (7) is insufficient to overcome the magnetic moment between the movable magnet (4) and the rotary magnet (7), the movable magnet (4) and the rotary magnet (7) are driven to synchronously rotate when the external magnetic field rotates, and the movable magnet (4) drives the whole active motion capsule robot to generate rotary motion so as to realize spiral driving and advancing of the active motion capsule robot.
3. The active motion capsule robot of claim 1, wherein: when the magnetic moment generated by an external magnetic field on the rotary magnet (7) overcomes the magnetic moment between the movable magnet (4) and the rotary magnet (7), the movable magnet (4) and the rotary magnet (7) are separated, the head unit (2) is far away from the tail unit (3) under the driving of the movable magnet (4), when the external magnetic field is weakened, the movable magnet (4) and the rotary magnet (7) are attracted to each other again, the head unit (2) is close to the tail unit (3) under the driving of the movable magnet (4), and peristaltic driving of the capsule robot is realized by repeating the process.
4. An active motion capsule robot according to claim 2 or 3, characterized in that: the tail unit (3) is internally provided with a guide rail (33), and the head unit (2) can move linearly along the guide rail (33) under the drive of the movable magnet (4).
5. The active motion capsule robot of claim 4, wherein: the novel movable magnetic head comprises a head unit (2), and is characterized in that a connecting rod (21) is arranged at one end of the head unit (2), a movable cavity is arranged at the front end of the tail unit (3), a guide rail (33) is arranged in the movable cavity, a mounting groove corresponding to the guide rail (33) is formed in the side wall of the tail end of the connecting rod (21), the mounting groove is clamped on the guide rail (33), and the connecting rod (21) moves linearly along the guide rail (33) through the mounting groove.
6. The active motion capsule robot of claim 4, wherein: the tail unit (3) is characterized in that a limiting groove (31) is formed in the inner tail end of the tail unit, the rotary magnet (7) is located in the limiting groove (31), the rotary magnet (7) can rotate along the axis of the rotary magnet, and the rotary magnet (7) limits axial movement of the rotary magnet through the limiting groove (31).
7. The active motion capsule robot of claim 6, wherein: the active motion capsule robot further comprises a bearing (5) and a rotating shaft (6), a bearing seat (32) is arranged between the limiting groove (31) and the movable cavity, the bearing (5) is installed in the bearing seat (32), one end of the rotating shaft (6) is installed on the bearing (5), and the other end of the rotating shaft (6) is provided with the rotating magnet (7).
8. The active motion capsule robot of claim 1, wherein: the movable magnet (4) and the rotary magnet (7) are radially magnetized, the movable magnet (4) and the rotary magnet (7) are coaxially arranged, the movable magnet (4) is a cylindrical magnet, and the rotary magnet (7) is a ring magnet.
9. The active motion capsule robot of claim 1, wherein: the head unit (2) is a hollow shell, and a sampling needle or medicine is arranged in the shell of the head unit (2) so as to realize a biopsy sampling function or a medicine application function of the head unit.
10. The active motion capsule robot of claim 1, wherein: the first thread groove (22) and the second thread groove (34) are trapezoid or triangle, and the tail unit (3) is formed by assembling an upper shell and a lower shell.
11. The active motion capsule robot of any one of claims 5-10, wherein: the active motion capsule robot comprises a camera lighting module (1) arranged at the front end of the head unit (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310255899.0A CN116439638A (en) | 2023-03-16 | 2023-03-16 | Active motion capsule robot with hybrid driving mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310255899.0A CN116439638A (en) | 2023-03-16 | 2023-03-16 | Active motion capsule robot with hybrid driving mode |
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| Publication Number | Publication Date |
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| CN116439638A true CN116439638A (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310255899.0A Pending CN116439638A (en) | 2023-03-16 | 2023-03-16 | Active motion capsule robot with hybrid driving mode |
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| Country | Link |
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| CN (1) | CN116439638A (en) |
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2023
- 2023-03-16 CN CN202310255899.0A patent/CN116439638A/en active Pending
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