CN117137419B - Endoscope robot for digestive tract examination - Google Patents
Endoscope robot for digestive tract examination Download PDFInfo
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- CN117137419B CN117137419B CN202311377655.6A CN202311377655A CN117137419B CN 117137419 B CN117137419 B CN 117137419B CN 202311377655 A CN202311377655 A CN 202311377655A CN 117137419 B CN117137419 B CN 117137419B
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- electric cylinder
- transparent cover
- operation shell
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- 210000001035 gastrointestinal tract Anatomy 0.000 title claims abstract description 21
- 230000002457 bidirectional effect Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims 1
- 208000007536 Thrombosis Diseases 0.000 abstract description 9
- 230000000007 visual effect Effects 0.000 abstract description 4
- 230000002496 gastric effect Effects 0.000 abstract description 3
- 230000002411 adverse Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009747 swallowing 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 14
- 238000010586 diagram Methods 0.000 description 4
- 210000000214 mouth Anatomy 0.000 description 4
- 210000003238 esophagus Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 208000019790 abdominal distention Diseases 0.000 description 2
- 210000002255 anal canal Anatomy 0.000 description 2
- 210000002429 large intestine Anatomy 0.000 description 2
- 210000003800 pharynx Anatomy 0.000 description 2
- 210000000813 small intestine Anatomy 0.000 description 2
- 210000002784 stomach Anatomy 0.000 description 2
- 208000004998 Abdominal Pain Diseases 0.000 description 1
- 208000000884 Airway Obstruction Diseases 0.000 description 1
- 206010006322 Breath holding Diseases 0.000 description 1
- 206010008479 Chest Pain Diseases 0.000 description 1
- 206010008589 Choking Diseases 0.000 description 1
- 206010011224 Cough Diseases 0.000 description 1
- 208000000059 Dyspnea Diseases 0.000 description 1
- 206010013975 Dyspnoeas Diseases 0.000 description 1
- 208000012671 Gastrointestinal haemorrhages Diseases 0.000 description 1
- 241000167880 Hirundinidae Species 0.000 description 1
- 206010028813 Nausea Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 206010047700 Vomiting Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 210000004534 cecum Anatomy 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000001198 duodenum Anatomy 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 208000035861 hematochezia Diseases 0.000 description 1
- 210000003405 ileum Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000001630 jejunum Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000004877 mucosa Anatomy 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000008693 nausea Effects 0.000 description 1
- 210000000664 rectum Anatomy 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000008673 vomiting Effects 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
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
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
-
- 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
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00087—Tools
-
- 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
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00094—Suction openings
-
- 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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/50—Instruments, other than pincettes or toothpicks, for removing foreign bodies from the human body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00818—Treatment of the gastro-intestinal system
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses an endoscope robot for digestive tract examination, which relates to the technical field of medical equipment and comprises a shell, wherein a vacuum box is arranged in the shell, an operation shell is fixedly arranged on the shell, a permanent magnet is fixedly arranged in the operation shell, one end of the operation shell is movably connected with a transparent cover, an object suction opening is formed in the transparent cover, an object suction cavity is formed in the object suction opening, the object suction cavity is fixedly arranged on the inner wall of the transparent cover, and an electric control valve is arranged at an air inlet of the vacuum box. The image module provided by the invention can obtain a wider visual field range, and reduce the adverse effect of the movement of the device shell on the digestive tract; the auxiliary module is arranged, so that foreign matters in the digestive tract can be taken out in a swallowing way, and discomfort caused by friction between the traditional gastrointestinal endoscope and the inner wall of the digestive tract is reduced; blood clots occurring during the examination of the alimentary canal can be cleaned, and the influence of the blood clots on the image module is reduced.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to an endoscope robot for digestive tract examination.
Background
The digestive tract is a long muscular tract extending from the mouth to the pharynx, esophagus, stomach, small intestine, large intestine, ending in the anal canal, and includes the mouth, pharynx, esophagus, stomach, small intestine (duodenum, jejunum, ileum), large intestine (cecum, appendix, colon, rectum), and anal canal. When the digestive tract is diseased, in order to determine the specific position and condition of the disease, the digestive tract needs to be observed, and most of the current gastrointestinal endoscopes are adopted for observation, and patients may have nausea, vomiting, choking cough, dyspnea, chest distress, breath holding, abdominal distention and the like in the examination process, and the feeling of pharyngeal mucosa injury, pharyngeal discomfort, abdominal pain and abdominal distention may exist after the examination, and hematochezia may occur if biopsy is taken.
To solve this problem, the invention patent of the prior art publication No. CN103251369B discloses a capsule robot for digestive tract endoscopy, but the technical solution disclosed in the invention patent cannot solve the influence of blood clots in the digestive tract on the image acquisition unit, nor can remove foreign matters in the digestive tract.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the following technical scheme: the utility model provides an endoscope robot for digestive tract examination, includes the shell, dispose the vacuum box in the shell, fixedly mounted has the operation shell on the shell, fixedly mounted has the permanent magnet in the operation shell, the one end swing joint of operation shell has the translucent cover, has seted up on the translucent cover and has inhaled the thing mouth, inhale thing chamber department and be provided with the thing chamber, inhale thing chamber fixed mounting on the inner wall of translucent cover, the automatically controlled valve is installed to the air inlet of vacuum box, and the air inlet of automatically controlled valve is linked together through the hose with inhaling the thing chamber, still dispose auxiliary module in the operation shell; the auxiliary module comprises a second electric cylinder movably mounted on an operation shell through a main rotating shaft and a third electric cylinder movably mounted on the operation shell through a secondary rotating shaft, the end part of a telescopic rod of the second electric cylinder is fixedly connected with a connecting rod, an arc-shaped frame is fixedly mounted on the connecting rod, two clamping heads are symmetrically arranged on the arc-shaped frame and rotatably mounted on the arc-shaped frame, swing arms are fixedly mounted on the two clamping heads, nut blocks are movably mounted on the two swing arms, two nut blocks are in threaded connection through a bidirectional screw rod, the middle part of the bidirectional screw rod is rotatably mounted on the screw rod frame, and the screw rod frame is slidably mounted on the arc-shaped frame through a sliding rail.
Preferably, the inner wall of the transparent cover is fixedly provided with a supporting rod, the inner wall of the operation shell is fixedly provided with a first electric cylinder, and the end part of the telescopic rod of the first electric cylinder is movably connected with the supporting rod through an intermediate connecting rod.
Preferably, a transparent plate is fixedly arranged at one end, close to the transparent cover, of the inner wall of the operation shell, and the transparent plate is in sliding fit with the surface of the hose.
Preferably, a counterweight sealing block is arranged at one end of the shell in a threaded manner, and a storage battery is further arranged in the shell.
Preferably, the telescopic cylinder of the second electric cylinder is movably connected with the main rotating shaft, the telescopic cylinder of the third electric cylinder is movably connected with the secondary rotating shaft, the telescopic rod of the third electric cylinder is movably connected with the telescopic cylinder of the second electric cylinder, the main rotating shaft and the secondary rotating shaft are fixedly connected with the operation shell, and the middle part of the permanent magnet is provided with a through hole.
Preferably, the middle part of the bidirectional screw rod is also fixedly provided with an intermediate gear, the screw rod frame is also fixedly provided with an execution motor, and an output shaft of the execution motor is fixedly connected with an execution gear meshed with the intermediate gear.
Preferably, the permanent magnet is provided with an image module, the image module comprises a base fixedly arranged on the permanent magnet through a mounting block, two fine adjustment electric cylinders and two springs are fixedly arranged on the base, the middle part of the base is connected with a camera through a connection ball pair, the camera is fixedly connected with the two springs, the two ends of the telescopic rods of the fine adjustment electric cylinders are in contact fit with the camera, and the transparent plate is fixedly provided with an illuminating lamp.
Preferably, the device also comprises two electromagnets which are magnetically attracted and matched with the permanent magnet, the two electromagnets are fixedly arranged on an electromagnet bracket, the electromagnet bracket is rotatably arranged on the rotating frame, and the two electromagnets are symmetrically arranged on two sides of the moving plate.
Compared with the prior art, the invention has the following beneficial effects: (1) The image module provided by the invention can obtain a wider visual field range, and reduce the adverse effect of the movement of the device shell on the digestive tract; (2) The auxiliary module provided by the invention can take out foreign matters in the digestive tract by adopting a swallowing way, so that uncomfortable feeling caused by friction between the traditional gastrointestinal endoscope and the inner wall of the digestive tract is reduced; (3) The invention can clean blood clots generated during the examination of the alimentary canal, and reduce the influence of the blood clots on the image module.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a cross-sectional view of the operating case structure of the present invention.
FIG. 3 is a view showing the attachment position of the transparent cover according to the present invention.
FIG. 4 is a schematic view of a transparent plate structure according to the present invention.
Fig. 5 is a schematic diagram of an auxiliary module structure of the present invention.
FIG. 6 is a schematic diagram of the structure of FIG. 5A according to the present invention.
FIG. 7 is a schematic diagram of an image module according to the present invention.
Fig. 8 is a view of the installation position of the electromagnet of the present invention.
In the figure: 101-a housing; 102-a storage battery; 103-a counterweight seal; 104-vacuum box; 105-an operating shell; 106-a transparent cover; 1061-a suction port; 107-suction chamber; 108-a hose; 109-an electronically controlled valve; 110-a first electric cylinder; 111-an intermediate link; 112-supporting rods; 113-a transparent plate; 201-a main rotating shaft; 202-a second electric cylinder; 203-a third electric cylinder; 204-rotating shaft; 205-connecting rod; 206-arc-shaped frame; 207-clamping head; 208-swinging arms; 209-nut block; 210-a bidirectional screw; 211-sliding rails; 212-a screw frame; 213-intermediate gear; 214-an execution gear; 215-an execution motor; 301-mounting blocks; 302-a base; 303-fine tuning an electric cylinder; 304-a camera; 305-connection ball; 306-a spring; 307-lighting lamp; 4-permanent magnets; 5-an electromagnet; 6-an electromagnet support; 7-rotating a frame; 8-moving plate.
Detailed Description
The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.
As shown in fig. 1-3, the present invention provides a technical solution: the utility model provides an endoscope robot for digestive tract inspection, including shell 101, be furnished with vacuum box 104 in the shell 101, fixed mounting has operation shell 105 on the shell 101, fixed mounting has permanent magnet 4 in the operation shell 105, the one end swing joint of operation shell 105 has transparent cover 106, the last thing mouth 1061 that absorbs material of seting up of transparent cover 106, it is provided with the thing chamber 107 to absorb material chamber 107, the thing chamber 107 fixed mounting is on the inner wall of transparent cover 106, automatically controlled valve 109 is installed to the air inlet of vacuum box 104, the air inlet and the thing chamber 107 of inhaling material of automatically controlled valve 109 are linked together through hose 108, still furnished with auxiliary module in the operation shell 105. The inner wall of the transparent cover 106 is also fixedly provided with a supporting rod 112, the inner wall of the operation shell 105 is fixedly provided with a first electric cylinder 110, and the end part of the telescopic rod of the first electric cylinder 110 is movably connected with the supporting rod 112 through an intermediate connecting rod 111. A transparent plate 113 is fixedly arranged at one end of the inner wall of the operation shell 105, which is close to the transparent cover 106, and the transparent plate 113 is in sliding fit with the surface of the hose 108. A counterweight seal 103 is screwed on one end of the housing 101, and a battery 102 is also provided in the housing 101.
As shown in fig. 2, fig. 4, fig. 5 and fig. 6, the auxiliary module comprises a second electric cylinder 202 movably mounted on the operation shell 105 through a main rotating shaft 201 and a third electric cylinder 203 movably mounted on the operation shell 105 through a secondary rotating shaft 204, the end part of a telescopic rod of the second electric cylinder 202 is fixedly connected with a connecting rod 205, an arc-shaped frame 206 is fixedly mounted on the connecting rod 205, two clamping heads 207 are symmetrically arranged on the arc-shaped frame 206, the clamping heads 207 are rotatably mounted on the arc-shaped frame 206, swing arms 208 are fixedly mounted on the two clamping heads 207, nut blocks 209 are movably mounted on the two swing arms 208, the two nut blocks 209 are in threaded connection through a bidirectional screw 210, the middle part of the bidirectional screw 210 is rotatably mounted on a screw frame 212, and the screw frame 212 is slidably mounted on the arc-shaped frame 206 through a sliding rail 211. The telescopic cylinder of the second electric cylinder 202 is movably connected with the main rotating shaft 201, the telescopic cylinder of the third electric cylinder 203 is movably connected with the secondary rotating shaft 204, the telescopic rod of the third electric cylinder 203 is movably connected with the telescopic cylinder of the second electric cylinder 202, the main rotating shaft 201 and the secondary rotating shaft 204 are fixedly connected with the operation shell 105, and a through hole is formed in the middle of the permanent magnet 4. The middle part of the bidirectional screw 210 is also fixedly provided with an intermediate gear 213, the screw frame 212 is also fixedly provided with an execution motor 215, and an output shaft of the execution motor 215 is fixedly connected with an execution gear 214 meshed with the intermediate gear 213.
As shown in fig. 2 and 7, an image module is mounted on the permanent magnet 4, the image module includes a base 302 fixedly mounted on the permanent magnet 4 through a mounting block 301, two fine tuning cylinders 303 and two springs 306 are fixedly mounted on the base 302, a camera 304 is connected to the middle of the base 302 through a ball pair of a connecting ball 305, the camera 304 is fixedly connected with the two springs 306, the ends of telescopic rods of the two fine tuning cylinders 303 are in contact fit with the camera 304, and an illuminating lamp 307 is fixedly mounted on the transparent plate 113.
As shown in fig. 8, the device further comprises two electromagnets 5 magnetically attracted to the permanent magnet 4, the two electromagnets 5 are fixedly mounted on the electromagnet support 6, the electromagnet support 6 is rotatably mounted on the rotating frame 7, and the two electromagnets 5 are symmetrically arranged on two sides of the moving plate 8.
The invention discloses an endoscope robot for examining digestive tracts, which has the following working principle: the user first swallows the whole device (except for the electromagnet 5, the electromagnet support 6, the rotating frame 7 and the moving plate 8) into the esophagus, then controls the moving plate 8 or the movement of the two electromagnets 5, and controls the starting of the two electromagnets 5, the electromagnet 5 attracts the permanent magnet 4 so as to drive the permanent magnet 4 to move, the permanent magnet 4 moves so as to drive the operation shell 105 to move, the through hole controls the magnitude of the magnetic attraction force of the two electromagnets 5 to the permanent magnet 4 so as to drive the swinging direction of the permanent magnet 4 (as shown in fig. 8, if the magnetic force of the top electromagnet 5 is greater than that of the bottom electromagnet 5, the permanent magnet 4 is upwards deflected at the moment), because the storage battery 102 and the counterweight seal block 103 are arranged on one side far away from the permanent magnet 4, and the whole body swings with the counterweight seal block 103 as the circle center when the permanent magnet 4 moves), and controls a plurality of swinging directions of the permanent magnet 4 by controlling the movement of the operation shell 105 along the rotating frame 7 so as to observe more visual angles, and drive the device to move in the digestive tract by controlling the movement of the electromagnet 5 or the moving plate 8. When a blood clot is encountered in the alimentary canal, the opening of the electric control valve 109 is controlled, and the blood clot enters the suction cavity 107 through the suction port 1061 and is then sent into the vacuum box 104 through the hose 108, so that the function of cleaning the blood clot is realized, and the blood clot is prevented from obstructing the visual field. By controlling the expansion and contraction of the two micro-adjustment cylinders 303, the camera 304 can be driven to swing freely along the connecting ball 305, so that the camera 304 can obtain a wider field of view. When the foreign matter in the alimentary canal needs to be taken out (such as steel wire ball residues are swallowed), the telescopic rod of the first electric cylinder 110 is controlled to extend, the telescopic rod of the first electric cylinder 110 drives the transparent cover 106 to swing along the connecting shaft with the operation shell 105 through the middle connecting rod 111, then the second electric cylinder 202 is controlled, the telescopic rod of the second electric cylinder 202 drives the arc-shaped frame 206 through the connecting rod 205, then the two clamping heads 207 are moved to two sides of the foreign matter (the third electric cylinder 203 can be controlled, so that the second electric cylinder 202 swings to enable the clamping heads 207 to swing, and is suitable for the wrinkle position in the alimentary canal), then the executing motor 215 is controlled, the output shaft of the executing motor 215 drives the executing gear 214 to rotate, the executing gear 214 drives the middle gear 213 to rotate, the middle gear 213 rotates the bidirectional screw 210 drives the bidirectional screw 210 to swing, the two nut blocks 209 are close to or far away from each other (at the moment, one end of the swinging arms 208 are far away from each other), the two swinging arms 208 swing (at the moment, the two swinging arms 212 and the sliding rails are correspondingly moved to the sliding rails) swing the third electric cylinder 203, so that the clamping heads 207 swing, and the clamping heads 207 are correspondingly swing, and then the second electric cylinder 207 swing to enable the first electric cylinder 207 to swing, and then the transparent cover 105 to be contracted to be closed, and the transparent cover 106 is clamped to the position of the transparent cover is closed. When the desired task is completed, the patient is waited to expel the device from the anus.
Claims (8)
1. An endoscope robot for examination of a digestive tract, comprising a housing (101), characterized in that: the vacuum box is characterized in that a vacuum box (104) is arranged in the shell (101), an operation shell (105) is fixedly arranged on the shell (101), a permanent magnet (4) is fixedly arranged in the operation shell (105), one end of the operation shell (105) is movably connected with a transparent cover (106), a suction opening (1061) is formed in the transparent cover (106), a suction cavity (107) is formed in the suction opening (1061), the suction cavity (107) is fixedly arranged on the inner wall of the transparent cover (106), an electric control valve (109) is arranged at an air inlet of the vacuum box (104), the air inlet of the electric control valve (109) is communicated with the suction cavity (107) through a hose (108), and an auxiliary module is further arranged in the operation shell (105);
the auxiliary module comprises a second electric cylinder (202) movably mounted on an operation shell (105) through a main rotating shaft (201) and a third electric cylinder (203) movably mounted on the operation shell (105) through a secondary rotating shaft (204), the end part of a telescopic rod of the second electric cylinder (202) is fixedly connected with a connecting rod (205), an arc-shaped frame (206) is fixedly mounted on the connecting rod (205), two clamping heads (207) are symmetrically arranged on the arc-shaped frame (206), the clamping heads (207) are rotatably mounted on the arc-shaped frame (206), swing arms (208) are fixedly mounted on the two clamping heads (207), nut blocks (209) are movably mounted on the two swing arms (208), the two nut blocks (209) are in threaded connection through a bidirectional screw rod (210), the middle part of the bidirectional screw rod (210) is rotatably mounted on the screw rod frame (212), and the screw rod frame (212) is slidably mounted on the arc-shaped frame (206) through a sliding rail (211).
2. An endoscope robot for examination of an alimentary canal according to claim 1, characterized in that: the inner wall of the transparent cover (106) is fixedly provided with a supporting rod (112), the inner wall of the operation shell (105) is fixedly provided with a first electric cylinder (110), and the end part of the telescopic rod of the first electric cylinder (110) is movably connected with the supporting rod (112) through an intermediate connecting rod (111).
3. An endoscope robot for examination of an alimentary canal according to claim 2, characterized in that: and a transparent plate (113) is fixedly arranged at one end, close to the transparent cover (106), of the inner wall of the operation shell (105), and the transparent plate (113) is in sliding fit with the surface of the hose (108).
4. An endoscope robot for examination of an alimentary canal according to claim 3, characterized in that: one end of the shell (101) is provided with a counterweight sealing block (103) in a threaded manner, and a storage battery (102) is further arranged in the shell (101).
5. An endoscope robot for examination of an alimentary canal according to claim 4, wherein: the telescopic cylinder of the second electric cylinder (202) is movably connected with the main rotating shaft (201), the telescopic cylinder of the third electric cylinder (203) is movably connected with the secondary rotating shaft (204), the telescopic rod of the third electric cylinder (203) is movably connected with the outer peripheral surface of the telescopic cylinder of the second electric cylinder (202), the main rotating shaft (201) and the secondary rotating shaft (204) are fixedly connected with the operation shell (105), and a through hole is formed in the middle of the permanent magnet (4).
6. An endoscope robot for examination of an alimentary canal according to claim 5, wherein: the middle part of the bidirectional screw rod (210) is fixedly provided with an intermediate gear (213), the screw rod frame (212) is fixedly provided with an execution motor (215), and an output shaft of the execution motor (215) is fixedly connected with an execution gear (214) meshed with the intermediate gear (213).
7. An endoscope robot for examination of an alimentary canal according to claim 6, wherein: install image module on permanent magnet (4), image module includes base (302) on permanent magnet (4) through installation piece (301) fixed mounting, and fixed mounting has two fine setting electric jar (303) and two springs (306) on base (302), the middle part of base (302) is connected with camera (304) through connecting ball (305) ball pair, camera (304) and two spring (306) fixed connection, two the tip and the camera (304) contact cooperation of fine setting electric jar (303) telescopic link, fixed mounting has light (307) on transparent plate (113).
8. An endoscope robot for examination of an alimentary canal according to claim 7, wherein: the device also comprises two electromagnets (5) which are magnetically attracted and matched with the permanent magnets (4), the two electromagnets (5) are fixedly arranged on the electromagnet support (6), the electromagnet support (6) is rotatably arranged on the rotating frame (7), and the two electromagnets (5) are symmetrically arranged on two sides of the moving plate (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311377655.6A CN117137419B (en) | 2023-10-24 | 2023-10-24 | Endoscope robot for digestive tract examination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311377655.6A CN117137419B (en) | 2023-10-24 | 2023-10-24 | Endoscope robot for digestive tract examination |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117137419A CN117137419A (en) | 2023-12-01 |
| CN117137419B true CN117137419B (en) | 2024-01-05 |
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ID=88897035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311377655.6A Active CN117137419B (en) | 2023-10-24 | 2023-10-24 | Endoscope robot for digestive tract examination |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117137419B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003325438A (en) * | 2002-05-10 | 2003-11-18 | Olympus Optical Co Ltd | Capsule type medical treatment device |
| KR20100042185A (en) * | 2008-10-15 | 2010-04-23 | 주식회사 엠아이텍 | Apparatus for robotic colonoscopy |
| CN212234636U (en) * | 2020-03-28 | 2020-12-29 | 魏涛 | Foreign matter remove device for alimentary canal |
| CN112754397A (en) * | 2021-01-11 | 2021-05-07 | 高凤琴 | Capsule endoscope with mucus cleaning function for digestive system department |
| CN213525413U (en) * | 2020-11-05 | 2021-06-25 | 兰永廷 | Alimentary canal foreign matter remove device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102005032368B4 (en) * | 2005-07-08 | 2016-01-28 | Siemens Aktiengesellschaft | endoscopy capsule |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003325438A (en) * | 2002-05-10 | 2003-11-18 | Olympus Optical Co Ltd | Capsule type medical treatment device |
| KR20100042185A (en) * | 2008-10-15 | 2010-04-23 | 주식회사 엠아이텍 | Apparatus for robotic colonoscopy |
| CN212234636U (en) * | 2020-03-28 | 2020-12-29 | 魏涛 | Foreign matter remove device for alimentary canal |
| CN213525413U (en) * | 2020-11-05 | 2021-06-25 | 兰永廷 | Alimentary canal foreign matter remove device |
| CN112754397A (en) * | 2021-01-11 | 2021-05-07 | 高凤琴 | Capsule endoscope with mucus cleaning function for digestive system department |
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