CN117159147A - Wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device - Google Patents
Wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device Download PDFInfo
- Publication number
- CN117159147A CN117159147A CN202010730152.2A CN202010730152A CN117159147A CN 117159147 A CN117159147 A CN 117159147A CN 202010730152 A CN202010730152 A CN 202010730152A CN 117159147 A CN117159147 A CN 117159147A
- Authority
- CN
- China
- Prior art keywords
- micro
- miniature
- shell
- robot
- liquid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000554 physical therapy Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 title claims abstract description 15
- 239000007788 liquid Substances 0.000 claims description 58
- 239000003814 drug Substances 0.000 claims description 45
- 238000001727 in vivo Methods 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 6
- 239000007924 injection Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 239000002775 capsule Substances 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 210000000936 intestine Anatomy 0.000 abstract description 17
- 210000002784 stomach Anatomy 0.000 abstract description 17
- 210000004027 cell Anatomy 0.000 abstract description 12
- 230000008859 change Effects 0.000 abstract description 8
- 210000000601 blood cell Anatomy 0.000 abstract description 3
- 230000002503 metabolic effect Effects 0.000 abstract description 3
- 230000008929 regeneration Effects 0.000 abstract description 3
- 238000011069 regeneration method Methods 0.000 abstract description 3
- 239000000126 substance Substances 0.000 abstract description 3
- 230000003245 working effect Effects 0.000 abstract description 3
- 229940079593 drug Drugs 0.000 description 15
- 230000000694 effects Effects 0.000 description 7
- 230000036541 health Effects 0.000 description 7
- 239000000243 solution Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000000338 in vitro Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 208000018522 Gastrointestinal disease Diseases 0.000 description 2
- 206010036790 Productive cough Diseases 0.000 description 2
- 238000009098 adjuvant therapy Methods 0.000 description 2
- 210000004369 blood Anatomy 0.000 description 2
- 239000008280 blood Substances 0.000 description 2
- 210000000170 cell membrane Anatomy 0.000 description 2
- 230000009087 cell motility Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000002496 gastric effect Effects 0.000 description 2
- 210000003734 kidney Anatomy 0.000 description 2
- 210000004185 liver Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 208000024794 sputum Diseases 0.000 description 2
- 230000008961 swelling Effects 0.000 description 2
- 208000007536 Thrombosis Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 150000002632 lipids Chemical class 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 230000004060 metabolic process Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 210000003802 sputum Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Landscapes
- Percussion Or Vibration Massage (AREA)
Abstract
The invention relates to a wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device, which comprises a main machine, a micro robot and an external magnetic controller internally provided with a direct current electromagnet, wherein the micro robot comprises a capsule-shaped shell, a micro direct current electromagnet and a micro ultrasonic vibrator, wherein the micro direct current electromagnet and the micro ultrasonic vibrator are arranged in the capsule-shaped shell; the external magnetic controller is arranged close to the micro-robot, under the control of the host machine, a magnetic force field with opposite magnetic poles is applied to the micro-DC electromagnet by using the DC electromagnet, and meanwhile, the micro-ultrasonic vibrator generates high-frequency ultrasonic vibration, so that the micro-robot generates working actions of advancing and moving and performing high-frequency ultrasonic vibration. The invention can perform vibration massage on human intestines and stomach, promote the movement of blood cells of human intestines and stomach, enable each cell to generate micro friction movement, change the volume of tissue cells by micro friction action, promote the exchange of metabolic substances, change the functions of cells, improve the regeneration capacity of tissue cells and enable diseased parts of intestines and stomach to be healthier.
Description
Technical Field
The invention relates to the field of micro robots, in particular to a gastrointestinal physiotherapy robot.
Background
Currently, people suffer from gastrointestinal diseases to hospitals for doctor's visit, and there are two general treatment schemes given by doctors: firstly, the illness state is not serious, and the patients are treated by taking medicines after taking medicines. The drug treatment deficiencies are: long treatment period and slow treatment effect; after patients take medicines for a long time, a large amount of medicines remain in the bodies of the patients, and the health of the livers, the hearts and the kidneys of the human bodies is greatly damaged, and unhealthy conditions of the livers, the hearts and the kidneys of the human bodies often occur after intestines and stomach are cured. Secondly, doctors usually adopt invasive surgery to treat serious illness and later-stage drug assistance to treat the illness. The operation treatment is easy to recur, and causes great psychological burden and monetary burden on physical and mental health of people.
However, current doctors usually neglect a more realistic problem for the occurrence of focus on a human body part, and the occurrence or occurrence of focus on each human body usually causes problems in the blood health condition of the focus to influence the normal metabolism of the focus and further induce the focus to occur. The same is true of gastrointestinal diseases and health. Therefore, on the premise of not taking the medicine, the health of intestines and stomach of people is maintained, the accumulation of the medicine on the body is reduced, and the health of viscera of people is ensured, which is an unsolved technical problem at present.
Disclosure of Invention
The invention aims to solve the problems and the defects, and provides a wire-control magnetic force ultrasonic cavitation motion in-vivo physiotherapy robot device, which adopts a direct current electromagnet of an in-vitro magnetic controller to apply a magnetic field with opposite magnetic poles to a miniature direct current electromagnet of a miniature robot so as to drive the miniature robot to enter intestines and stomach of a person, and utilizes a miniature ultrasonic vibrator of the miniature robot to generate high-frequency ultrasonic vibration so as to perform vibration massage on intestines and stomach of the person, promote blood cell movement of intestines and stomach of the person, generate micro friction movement among cells, change the volume of tissue cells by micro friction, lighten swelling, change permeability of cell membranes, promote exchange of metabolic substances, change functions of the cells, improve regeneration capacity of the tissue cells and maintain health of intestines and stomach of the person. And the movement of the micro-robot can be conveniently controlled through the external magnetic controller, so that the micro-robot can perform high-frequency ultrasonic vibration physiotherapy on specific uncomfortable parts or affected parts in a targeted manner, and the uncomfortable parts or the affected parts are promoted to be healed.
The technical scheme of the invention is realized as follows: a wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device comprises a main machine, a micro-robot and an external magnetic controller, wherein the external magnetic controller comprises an outer shell and a direct current electromagnet arranged in the outer shell; the micro robot comprises a capsule-shaped shell and a micro direct current electromagnet arranged in the capsule-shaped shell; the host comprises a shell, a main control circuit and a power supply circuit, wherein the main control circuit and the power supply circuit are arranged in the shell; the capsule-shaped shell is characterized in that a miniature ultrasonic vibrator is also arranged in the capsule-shaped shell, and the miniature ultrasonic vibrator and a miniature direct current electromagnet are electrically connected with a main control circuit and a power circuit of the host through wires, so that the miniature ultrasonic vibrator generates high-frequency ultrasonic vibration; the direct-current electromagnet of the external magnetic controller is electrically connected with the main control circuit and the power supply circuit of the host through wires; the external magnetic controller is arranged close to the micro-robot, and applies a magnetic force field with opposite magnetic poles to the micro-DC electromagnet by using the DC electromagnet, so that the micro-robot can generate the working action of high-frequency ultrasonic vibration while moving forward.
Further, the capsule-shaped shell comprises a front end shell, a middle shell and a rear end shell, wherein the front end shell and the rear end shell are both provided with concave cavities, and the middle shell is of a hollow structure.
Still further still, still be equipped with the vibrator support in the intermediate casing respectively, miniature ultrasonic vibrator installs on the vibrator support.
Still further, the intermediate housing still is equipped with miniature liquid medicine buffer tank, still is equipped with miniature electromagnetic switch valve in miniature liquid medicine buffer tank's side, the feed liquor end that is equipped with on the miniature electromagnetic switch valve is connected with miniature liquid medicine buffer tank, and the play liquid end that is equipped with on this miniature electromagnetic switch valve is connected with the injection nozzle, the injection nozzle sets up on the capsule casing.
The invention has the beneficial effects that: the robot device applies a magnetic field with opposite magnetic poles to a miniature DC electromagnet of the miniature robot by adopting a DC electromagnet of an external magnetic controller to drive the miniature robot to enter intestines and stomach of a person, and utilizes a miniature ultrasonic vibrator of the miniature robot to generate high-frequency ultrasonic vibration to perform vibration massage on intestines and stomach of the person so as to promote blood cell movement of intestines and stomach of the person, so that micro friction movement is generated among cells, the micro friction effect can change the volume of tissue cells, lighten swelling, change permeability of cell membranes, promote exchange of metabolic substances, change functions of the cells, improve regeneration capacity of the tissue cells, maintain health of intestines and stomach of the person, and reduce internal aging of medicines and medicaments. In addition, the movement of the micro-robot can be conveniently controlled through the external magnetic controller, so that the micro-robot can perform high-frequency ultrasonic vibration physiotherapy on specific uncomfortable parts or affected parts in a targeted manner, and the uncomfortable parts or the affected parts are promoted to be healthful. The technical scheme of the invention can be used for clearing thrombus of human blood vessels, has the physiotherapy effect of melting blood and reducing lipid, and can also be used for ultrasonic sputum-eating treatment physiotherapy of trachea sputum of human lungs.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic cross-sectional view of the micro robot according to the present invention.
Fig. 3 is a schematic diagram illustrating a disassembled structure of the micro-robot according to the present invention.
Fig. 4 is a schematic cross-sectional view of a composite pipeline body according to the present invention.
Fig. 5 is a schematic diagram showing a disassembled structure of a front end housing of the micro-robot according to the present invention.
Fig. 6 is a schematic diagram of a disassembled structure of the external magnetic controller of the present invention.
Fig. 7 is a schematic structural diagram of a dc electromagnet and a driving circuit board thereof according to the present invention.
Fig. 8 is a schematic cross-sectional view of an embodiment of the invention with a rear miniature camera module.
Detailed Description
As shown in fig. 1, 2 and 6, the in-vivo physiotherapy robot device for the drive-by-wire magnetic force ultrasonic cavitation motion of the invention comprises a main machine 3, a micro-robot 1 and an in-vitro magnetic controller 2, wherein the in-vitro magnetic controller 2 comprises an outer shell 21 and a direct current electromagnet 22 arranged in the outer shell 21; the micro robot 1 includes a capsule-shaped housing 11 and a micro direct current electromagnet 12 provided in the capsule-shaped housing 11; the host 3 includes a casing 31, a main control circuit and a power circuit disposed in the casing 31, wherein a touch display screen 34 may be disposed on the casing 31, and the touch display screen 34 is a flip connection structure 341 with an adjustable angle, so as to facilitate a doctor to watch the screen and the touch screen; a tapered top part which is smaller from top to bottom is arranged at the top of the shell 31, and a handle hole part 35 is also arranged at the tapered top part so as to facilitate the movement of the host 3. In order to achieve the object of the present invention, as shown in fig. 2 and 3, a micro-ultrasonic vibrator 100 is further disposed in the capsule-shaped housing 11, and the micro-ultrasonic vibrator 100 is an ultrasonic motor or an ultrasonic transducer. The micro ultrasonic vibrator 100 and the micro direct current electromagnet 12 are electrically connected with a main control circuit and a power circuit of the host computer 3 through wires, so that the micro ultrasonic vibrator 100 generates high-frequency ultrasonic vibration. The main control circuit is also provided with a control circuit part of the ultrasonic motor or a driving circuit part of the ultrasonic transducer. The direct-current electromagnet 22 of the external magnetic controller 2 is electrically connected with the main control circuit and the power supply circuit of the host computer 3 through wires. When in operation, under the unified control of the host computer 3, as shown in fig. 1, the external magnetic controller 2 is arranged close to the micro-robot 1, and applies a magnetic field 9 with opposite magnetic poles to the micro-DC electromagnet 12 by utilizing the DC electromagnet 22 thereof, so that the micro-robot 1 generates the working action of advancing and moving while performing high-frequency ultrasonic vibration, and further the micro-robot enters the micro-robot along the intestines and stomach of a human body and can conveniently move to uncomfortable parts and affected parts for physiotherapy according to the treatment requirement.
In order to make the construction of the micro-robot 1 of the present invention more reasonable, and to make it easier to implement and process, as shown in fig. 2 and 3, the capsule-shaped housing 11 includes a front end housing 111, a middle housing 112, and a rear end housing 113, wherein the front end housing 111 and the rear end housing 113 are each provided with a hollow cavity 114, and the middle housing 112 is a hollow housing. At this time, in order to facilitate the installation and fixation of the micro-ultrasonic vibrator 100 in the housing, as shown in fig. 3, vibrator holders 15 are further provided in the intermediate case 112, respectively, and the micro-ultrasonic vibrator 100 is installed on the vibrator holders 15.
In order to further enrich the functions of the present invention, the present invention further has the effect of injecting a drug to a more serious affected part for adjuvant therapy, as shown in fig. 3, the middle shell 112 is further provided with a micro drug solution buffer tank 16, an ultra-micro electromagnetic switch valve 17 is further provided beside the micro drug solution buffer tank 16, a liquid inlet end provided on the ultra-micro electromagnetic switch valve 17 is connected with the micro drug solution buffer tank 16, a liquid outlet end provided on the ultra-micro electromagnetic switch valve is connected with an injection nozzle 18, and the injection nozzle 18 is provided on the capsule shell 11. In addition, as shown in fig. 1, the host 3 is further provided with a liquid medicine storage tank 32, the liquid medicine storage tank 32 is connected with an electric pump, the electric pump is provided with an electric connection end, a liquid inlet connection end and a liquid outlet connection end, the liquid inlet connection end of the electric pump is connected with the liquid medicine storage tank 32, the liquid outlet connection end of the electric pump is connected with the micro liquid medicine cache tank 16 through a pipeline, and the electric connection end of the electric pump is electrically connected with a main control circuit and a power circuit of the host 3 through wires. The ultra-micro electromagnetic switch valve 17 is electrically connected with a main control circuit and a power circuit of the host computer 3 through wires so as to realize the control work of the host computer 3. Through the function and the structural design, the micro-robot 1 can spray medicines to the serious affected part for auxiliary treatment in intestines and stomach, so that the medicine liquid can directly reach the affected part, and the treatment effect of the micro-robot is improved rapidly. For example, when the micro-robot encounters a serious affected part, at this time, the electric pump of the medicine liquid storage tank 32 is started to deliver medicine liquid to the micro-medicine liquid cache tank 16, the ultra-micro electromagnetic switch valve 17 is opened, and the spray nozzle 18 sprays medicine liquid to the affected part to perform adjuvant therapy, so that the recovery of the affected part is quickened. In this embodiment, the purpose of the miniature liquid medicine buffer tank 16 is that the pipeline between the liquid medicine storage tank 32 and the ultra-miniature electromagnetic switch valve 17 is usually very small, the liquid medicine conveying speed is not high, the miniature liquid medicine buffer tank 16 is used for quite pressurizing and storing energy, and when the ultra-miniature electromagnetic switch valve 17 is opened, a better spraying effect can be formed, so that the purpose of accurately applying medicine is achieved.
In order to enable the micro drug solution buffer tank 16 to be easily mounted in the capsule-shaped housing 11, as shown in fig. 3, a mounting bracket 161 is also provided on the outer periphery of the micro drug solution buffer tank 16 so as to facilitate the mounting in the housing. Further, in order to make the structure of the micro-robot of the present invention more scientific and reasonable, the volume is more compact, the assembly is more convenient, and as shown in fig. 3, the outer side surface of the micro-liquid medicine buffer tank 16 or the vibrator support 15 is further provided with a ring-shaped groove 19, and the micro-dc electromagnet 12 is wound on the ring-shaped groove 19. In the present embodiment, the micro dc electromagnet 12 is wound around an annular groove provided in the mount bracket 161 of the micro drug solution cache tank 16. The annular groove of the mounting bracket 161 may be referred to as the annular groove 19 of the vibrator bracket 15.
In order to facilitate people to intuitively observe the running condition of the robot in the human body and the condition of the affected part in the human body, as shown in fig. 5 and 2, a miniature camera module 20 is further disposed in the concave cavity 114 of the front end housing 111, the miniature camera module 20 is composed of a miniature circuit board 201, an ultra miniature camera 202 disposed on the miniature circuit board 201, and an LED light element 203, the miniature camera module 20 is electrically connected with a main control circuit of the host computer 3 through a wire, and transmits image information to the host computer 3 under the control of the host computer 3, and displays on a touch screen, so that doctors can conveniently perform medical analysis on the affected part. The front end shell 111 is further provided with a transparent panel 115 on an end surface thereof to facilitate light penetration and image acquisition. In addition, in the practical application process, the invention can also scan the gastrointestinal parts of the human body by means of the existing CT instrument and ultrasonic instrument to find out the serious position of the illness and perform directional treatment. In addition, the external magnetic controller 2 can be arranged on the intelligent manipulator, and the intelligent manipulator is utilized to drive the external magnetic controller 2 to control the micro-robot 1 to move, so that the labor intensity of manual operation is reduced.
In addition, as shown in fig. 8, after the treatment is completed, in order to facilitate the doctor to accurately observe the real situation of the extraction process in the process of extracting the micro-robot 1 from the human body, reduce the occurrence of medical accidents, protect the safety of the patient, the rear end of the micro-robot 1 is further provided with a micro-camera module 20, and the principle and the structure of the micro-camera module 20 are the same as those of the front micro-camera module 20.
In order to prevent the channel of the intestines and stomach from being squeezed when the robot moves in the intestines and stomach, and to further reduce the resistance in the moving process, as shown in fig. 3, a plurality of diversion trenches 10 distributed along the length direction are further arranged on the surface of the capsule-shaped shell 11.
In order to further optimize the assembly structure of the external magnetic controller 2 of the present invention, the external housing 21 is composed of a hand-held portion 211 and a base housing 212, as shown in fig. 6 and 7, a screw hole 213 is further provided at the top of the hand-held portion 211, a mounting chamber 214 and a chamber cover plate 215 are further provided at the bottom of the base housing 212, the dc electromagnet 22 is mounted in the mounting chamber 214, and the chamber cover plate 215 is covered on the mounting chamber 214. Meanwhile, a driving circuit board accommodating cavity 216 is also arranged in the mounting cavity 214, and the driving circuit board 25 of the direct current electromagnet 22 is correspondingly arranged in the circuit board accommodating cavity 216. As shown in fig. 1, the screw hole 213 is used in connection with a smart robot.
In order to further enrich the physiotherapy or treatment function of the present invention, the present invention has the effect of pumping out harmful liquid in the body, as shown in fig. 1, the host 3 is further provided with a liquid storage tank 33, the liquid storage tank 33 is connected with an electric pump, the electric pump is provided with an electric connection end, a liquid inlet connection end and a liquid outlet connection end, the electric connection end of the electric pump is electrically connected with a main control circuit of the host 3 through a wire, the liquid inlet connection end of the electric pump is connected with a liquid discharge hole 19 provided on the capsule-shaped shell 11 through a pipeline, as shown in fig. 2 and 3, an ultra-micro electromagnetic switch valve 17 is further connected in series between the liquid discharge hole 19 and the pipeline to control the on-off of the liquid discharge hole, so as to prevent liquid from entering the pipeline connected with the electric pump when the function is not used. The liquid outlet connecting end of the electric pump is connected with the liquid storage tank 33 and is used for receiving the liquid discharged by the pumping.
In addition, in order to prevent the pipeline 7 and the wire 8 between the micro-robot 1 and the host 3 from being disordered and affecting the running and the movement of the micro-robot 1, as shown in fig. 4 and 1, the pipeline 7 and the wire 8 connecting the components are combined together and integrated into a composite pipeline body 5, so that the connection between the micro-robot 1 and the host 3 is simpler and tidier, and the application is more convenient.
The above description of the structural schemes is an embodiment of the preferred embodiments of the present invention, but it does not represent a limitation of the protection scope of the technical scheme of the present invention. It should be noted herein that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention, and these modifications and improvements fall within the scope of the invention.
Claims (10)
1. The utility model provides a drive-by-wire magnetic force supersound cavitation motion internal physiotherapy robot device, includes host computer (3), miniature robot (1), external magnetic controller (2) include shell body (21) and set up direct current electromagnet (22) in shell body (21); the micro robot (1) comprises a capsule-shaped shell (11) and a micro direct current electromagnet (12) arranged in the capsule-shaped shell (11); the host (3) comprises a shell (31) and a main control circuit and a power supply circuit which are arranged in the shell (31); the method is characterized in that:
the capsule-shaped shell (11) is also provided with a miniature ultrasonic vibrator (100), and the miniature ultrasonic vibrator (100) and the miniature direct current electromagnet (12) are electrically connected with a main control circuit and a power circuit of the host machine (3) through wires, so that the miniature ultrasonic vibrator (100) generates high-frequency ultrasonic vibration;
the direct-current electromagnet (22) of the external magnetic controller (2) is electrically connected with the main control circuit of the host (3) through a lead and the power supply circuit; the external magnetic controller (2) is arranged close to the micro-robot (1) and applies a magnetic force field with opposite magnetic poles to the micro-DC electromagnet (12) by using the DC electromagnet (22) so that the micro-robot (1) can move forward and perform high-frequency ultrasonic vibration.
2. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 1, wherein: the capsule-shaped shell (11) comprises a front end shell (111), a middle shell (112) and a rear end shell (113), wherein the front end shell (111) and the rear end shell (113) are respectively provided with a concave cavity (114), and the middle shell (112) is of a hollow structure.
3. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 2, wherein: vibrator brackets (15) are further arranged in the middle shell (112) respectively, and the miniature ultrasonic vibrator (100) is mounted on the vibrator brackets (15).
4. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 2, wherein: the middle shell (112) is also provided with a miniature liquid medicine cache tank (16), an ultra-miniature electromagnetic switch valve (17) is arranged beside the miniature liquid medicine cache tank (16), a liquid inlet end arranged on the ultra-miniature electromagnetic switch valve (17) is connected with the miniature liquid medicine cache tank (16), a liquid outlet end arranged on the ultra-miniature electromagnetic switch valve is connected with an injection nozzle (18), and the injection nozzle (18) is arranged on the capsule shell (11).
5. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 3 or 4, characterized in that: the miniature liquid medicine buffer tank (16) is characterized in that an annular groove (19) is further formed in the outer side face of the miniature liquid medicine buffer tank or in the vibrator support (15), and the miniature direct current electromagnet (12) is wound on the annular groove (19).
6. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 2, wherein: a miniature camera module (20) is further arranged in the concave cavity (114) of the front end housing (111), the miniature camera module (20) is composed of a miniature circuit board (201), an ultra-miniature camera (202) arranged on the miniature circuit board (201) and an LED light element (203), and the miniature camera module (20) is electrically connected with a main control circuit and a power circuit of the host (3) through wires so as to transmit image information to the host (3); a transparent panel section (115) is further provided on the end face of the front end case (111).
7. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 1, wherein: the surface of the capsule-shaped shell (11) is also provided with a plurality of diversion trenches (10) distributed along the length direction.
8. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 1, wherein: the outer shell (21) is composed of a handheld part (211) and a base shell (212), a screw hole (213) is further formed in the top of the handheld part (211), a mounting cavity (214) and a cavity cover plate (215) are further formed in the bottom surface of the base shell (212), the direct-current electromagnet (22) is mounted in the mounting cavity (214), and the cavity cover plate (215) is arranged on the mounting cavity (214) in a covering mode.
9. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device of claim 4, wherein: still be equipped with liquid medicine holding vessel (32) on host computer (3), liquid medicine holding vessel (32) are connected with the electric pump, be equipped with electric connection end, feed liquor link and play liquid connection end on the electric pump, this electric pump's feed liquor link is connected with liquid medicine holding vessel (32), the play liquid connection end pipeline of electric pump is connected with miniature liquid medicine buffer tank (16), electric connection end of electric pump is through the main control circuit and the power supply circuit phase electric connection of wire with host computer (3).
10. The line-controlled magnetic ultrasonic cavitation in-vivo physiotherapy robot device according to claim 1, wherein: the novel electric water storage device is characterized in that a liquid storage tank (33) is further arranged on the host (3), the liquid storage tank (33) is connected with an electric pump, an electric connection end, a liquid inlet connection end and a liquid outlet connection end are arranged on the electric pump, the electric connection end of the electric pump is electrically connected with a main control circuit and a power supply circuit of the host (3) through wires, the liquid inlet connection end on the electric pump is connected with a liquid discharge hole (19) arranged on the capsule-shaped shell (11) through a pipeline, and the liquid outlet connection end of the electric pump is connected with the liquid storage tank (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010730152.2A CN117159147A (en) | 2020-07-27 | 2020-07-27 | Wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010730152.2A CN117159147A (en) | 2020-07-27 | 2020-07-27 | Wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117159147A true CN117159147A (en) | 2023-12-05 |
Family
ID=88936196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010730152.2A Pending CN117159147A (en) | 2020-07-27 | 2020-07-27 | Wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117159147A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1856290A (en) * | 2003-09-29 | 2006-11-01 | 奥林巴斯株式会社 | Capsule dosing system, dosing method using capsule dosing system, and control method for capsule dosing system |
| CN101301508A (en) * | 2008-06-27 | 2008-11-12 | 华南理工大学 | Chemical reaction air pressure type device for releasing intestines and stomach medicament using ultrasonic triggering control |
| DE102011081721A1 (en) * | 2011-08-29 | 2013-02-28 | Siemens Aktiengesellschaft | Ultrasound device for producing ultrasound for examining e.g. surface of diseased tissue of gastrointestinal tract of human being, has magnetoelastic body emitting ultrasound waves using magnetic alternating field |
| KR20130127835A (en) * | 2012-05-15 | 2013-11-25 | 명지대학교 산학협력단 | Micro robot system for removing thrombus and the method of removing thrombus using the same |
| CN110151107A (en) * | 2019-04-26 | 2019-08-23 | 群曜医电股份有限公司 | A kind of wired alimentary canal capsule for treating gastropathy introscope and magnetic control means |
| CN111110174A (en) * | 2020-01-08 | 2020-05-08 | 深圳市壹酷电子有限公司 | Wired capsule endoscope |
-
2020
- 2020-07-27 CN CN202010730152.2A patent/CN117159147A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1856290A (en) * | 2003-09-29 | 2006-11-01 | 奥林巴斯株式会社 | Capsule dosing system, dosing method using capsule dosing system, and control method for capsule dosing system |
| CN101301508A (en) * | 2008-06-27 | 2008-11-12 | 华南理工大学 | Chemical reaction air pressure type device for releasing intestines and stomach medicament using ultrasonic triggering control |
| DE102011081721A1 (en) * | 2011-08-29 | 2013-02-28 | Siemens Aktiengesellschaft | Ultrasound device for producing ultrasound for examining e.g. surface of diseased tissue of gastrointestinal tract of human being, has magnetoelastic body emitting ultrasound waves using magnetic alternating field |
| KR20130127835A (en) * | 2012-05-15 | 2013-11-25 | 명지대학교 산학협력단 | Micro robot system for removing thrombus and the method of removing thrombus using the same |
| CN110151107A (en) * | 2019-04-26 | 2019-08-23 | 群曜医电股份有限公司 | A kind of wired alimentary canal capsule for treating gastropathy introscope and magnetic control means |
| CN111110174A (en) * | 2020-01-08 | 2020-05-08 | 深圳市壹酷电子有限公司 | Wired capsule endoscope |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10653876B2 (en) | Fat removal device and obesity treatment | |
| CN100560157C (en) | Ultrasonic medicine plaster | |
| CN103272331A (en) | Intelligent digital multifunctional therapeutic apparatus mainly used for treating intestinal adhesion | |
| CN110025856A (en) | A kind of Painless Muscle Injection pump with heating massage function | |
| CN208641537U (en) | A kind of transdermal delivery device | |
| CN106166106A (en) | A kind of gas bag unit, air bag and the external simple counterpulsation therapeutic instrument of Portable household | |
| CN109125909A (en) | A kind of medical nursing equipment and its working method for skin of face treatment | |
| CN2850642Y (en) | Therapeutic head of combination type ultrasonic therapeutic device | |
| CN205460224U (en) | Beauty instrument is injected to water light | |
| CN117159147A (en) | Wire-control magnetic force ultrasonic cavitation motion body internal physiotherapy robot device | |
| CN201194906Y (en) | Medicament massager | |
| CN114631945B (en) | Intracardiac branch of academic or vocational study intervention postoperative limbs nursing device based on big data | |
| CN108325067A (en) | A kind of method and apparatus for improving administration of pharmaceutically active compounds | |
| CN210844607U (en) | Novel enemator for enterostomy patient | |
| CN210933445U (en) | Internal medicine headache treatment device combining traditional Chinese medicine and western medicine | |
| CN106267553A (en) | A kind of miniature diabetes curing instrument | |
| CN201519385U (en) | Ultrasonic prostate therapeutic apparatus | |
| CN206508229U (en) | A kind of miniature diabetes curing instrument | |
| CN204133829U (en) | A kind of diabetes foot treatment instrument | |
| CN2551271Y (en) | Multifunctional physiotherapeutic apparatus | |
| US11832912B2 (en) | Wireless magnetic ultrasonic cavitation in-vivo therapeutic robotic device | |
| CN201719686U (en) | Ultrasound-assisted instrument for dissolving traditional Chinese medicines in human body through skin | |
| CN209122955U (en) | A kind of PICC sterilizing equipment decontaminating apparatus | |
| CN202875775U (en) | Intelligent fumigation cabin heating water tank | |
| CN210698522U (en) | Ultrasonic device for treating scar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |