CN117159153A

CN117159153A - Gastrointestinal examination robot

Info

Publication number: CN117159153A
Application number: CN202310662226.7A
Authority: CN
Inventors: 靳海峰; 李丹秀; 薛华
Original assignee: 980th Hospital of the Joint Logistics Support Force of PLA
Current assignee: 980th Hospital of the Joint Logistics Support Force of PLA
Priority date: 2023-06-06
Filing date: 2023-06-06
Publication date: 2023-12-05

Abstract

The invention discloses a gastrointestinal examination robot, and relates to the field of gastrointestinal examination; the device comprises an observation part for photographing and sampling a focus, a movable part for controlling movement and stretching intestinal walls, and a steering part for adjusting the direction, wherein the movable part is arranged at two sides of the observation part, and the steering part is arranged between the observation part and the movable part; the split-designed movable component has a movable function, and can automatically move in the stomach and intestinal tracts to approach to the focus position; the device is also provided with a sampling component for sampling at the focus position; and the movable components are alternately matched to work, so that folds in the intestinal tract are unfolded, and the focus position is not blocked.

Description

Gastrointestinal examination robot

Technical Field

The invention relates to the field of gastrointestinal examination, in particular to a gastrointestinal examination robot.

Background

The human digestive tract can be divided into upper, middle and lower digestive tracts from the oral cavity to the anus, and generally 90% of diseases are concentrated in the upper and lower digestive tracts. Lesions in these areas, gastroscopy and enteroscopy are the most direct and efficient examination means; very early cancers with the diameter smaller than 2mm, general benign diseases or precancerous diseases can be found through gastroscopy and enteroscopy, but the examination is troublesome and painful, patients resist examination in clinical work because of fear, and people cannot actively carry out examination in hospitals because of fear of gastroscopy and enteroscopy, so that most gastrointestinal tumors are already in middle and late stages when being detected;

gastroscopy is performed by means of a slim, flexible tube comprising optical fibers and high-definition cameras, extending into the gastric cavity, the duodenal cavity, observing the mucous membrane, photographing or treating; gastrointestinal endoscopy is mainly used for diagnosing esophagus, stomach and intestine diseases and screening early cancers of the esophagus, stomach and intestine;

the enteroscope is also called as an electronic fiber colonoscope, is a slender flexible fiber hose with the diameter of about 1 cm, and is provided with a high-definition camera with a cold light source at the front end, so that a doctor can intuitively see the internal condition of the intestinal canal; colorectal cancer screening is currently performed primarily by enteroscopy.

In order to avoid fear of patients, a capsule magnetic control gastroscope is designed in the prior art, and a doctor can control the motion of a capsule in the stomach by means of an in-vitro magnetic field accurately controlled by software in real time by the capsule magnetic control gastroscope, so that the gesture of the capsule is changed, focus pictures are taken on focus according to a required angle, and the purposes of comprehensively observing gastric mucosa and making diagnosis are achieved. In this process, the image is wirelessly transmitted to the portable recorder; the magnetic control capsule gastroscope has the characteristics of no pain, no wound, no cross infection and the like.

In summary, the present gastrointestinal examination process has the following technical problems: the capsule magnetic control capsule gastroscope needs large-scale magnetic control equipment to be matched to achieve the purpose of checking the focus position close to the focus position; and can only observe the focus, can't carry on the extraction operation to the focus tissue, if carry on the tissue acquisition to the focus, still need to carry on the means such as the gastroscope to carry on the biopsy; when the intestinal canal is inspected, the focus is hidden in the intestinal canal folds due to the fold structure of the intestinal canal, so that the focus cannot be clearly observed.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a gastrointestinal examination robot, which has a movable function by a movable component designed in a split way, and can automatically move in the stomach and intestinal tracts to approach to focus positions; the device is also provided with a sampling component for sampling at the focus position; and the movable components are alternately matched to work, so that folds in the intestinal tract are unfolded, and the focus position is not blocked.

In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme:

the gastrointestinal examination robot comprises an observation part for photographing and sampling a focus, a movable part for controlling movement and stretching intestinal walls, and a steering part for adjusting the direction, wherein the movable part is arranged at two sides of the observation part, and the steering part is arranged between the observation part and the movable part; the observation part comprises a middle shell, a biopsy mechanism and a shooting mechanism for shooting a focus, the shooting mechanism and the biopsy mechanism are arranged in the middle shell, the biopsy mechanism comprises a sampling arc needle, a cutting arc needle and a biopsy power assembly, the sampling arc needle and the cutting arc needle are connected to the middle shell in a reciprocating sliding manner through the biopsy power assembly, the sampling arc needle is a hollow needle, and the upper end faces of the sampling arc needle and the cutting arc needle are matched;

the movable part comprises a side shell and a moving mechanism, a steering part is arranged between the middle shell and the side shell, the moving mechanism comprises an air regulating component, a displacement component, a telescopic component and an air bag, and further comprises an air flow pipeline which enables the air bag to be inflated and the air bag to move in a direction far away from the side shell or enables the air bag to be deflated and the air bag to move in a direction close to the side shell, the air bags are divided into two groups, the two groups of air bags are alternately and annularly arrayed outside the side shell, one side of the air bag close to the side shell is fixedly connected with the telescopic component, each group of air bags is connected with an air flow pipeline, the air flow pipeline connected with the air bag is communicated with the telescopic component connected with the air bag, and the air flow pipeline comprises connecting tubules connected with the telescopic component; the displacement assembly comprises a ring frame for driving the telescopic assembly to move; the telescopic component comprises a connecting ring connected with the connecting tubule and the ring frame; the air regulating assembly comprises an air regulating cavity and an air isolating plate, the air isolating plate divides the air regulating cavity into two chambers, one group of air flow pipelines of the air bags are communicated with one chamber of the air regulating cavity, and the other group of air flow pipelines of the air bags are communicated with the other chamber of the air regulating cavity;

the steering part comprises a control support plate, a control wire, steering brackets and a steering power mechanism, wherein the control wire is symmetrically arranged, a plurality of steering brackets are connected to the control wire in a sliding manner, a ball fixing piece with the diameter larger than that of the control wire is fixedly connected to the position of the control wire at the middle part, the ball fixing piece is matched with the steering brackets, the steering power mechanism is connected to the control wire in a middle shell and a side shell, the control support plate is fixedly connected to the middle shell and the side shell, and the steering power mechanism is fixed to the control support plate.

Further, the sampling arc needle and the cutting arc needle of the middle shell biopsy mechanism are provided with working holes, a ring rail frame is fixedly connected in the middle shell, a matching groove matched with a biopsy power assembly is formed in the ring rail frame, side grooves matched with the biopsy power assembly are formed in control support plates on two sides of the ring rail frame, and the sampling arc needle and the cutting arc needle are slidably connected in the ring rail frame;

the biopsy power assembly comprises a groove frame, a movable middle part, a middle motor, a middle screw rod, an inclined rod and a sliding ball, wherein the groove frame is in sliding connection in a side groove, the middle part of the groove frame is fixedly connected with the movable middle part, the movable middle part is in threaded connection with the middle screw rod, the middle screw rod is connected with the middle motor, the middle motor is used for driving the middle screw rod to rotate, the inclined rod is fixedly connected to the lower side of the sampling arc needle and the lower side of the cutting arc needle, the sliding ball is fixedly connected to the lower side of the inclined rod, the groove frame is provided with a rod groove matched with the inclined rod, the groove frame is provided with a ball groove matched with the sliding ball at the lower side of the rod groove, the inclined rod is in sliding connection in the rod groove, and the sliding ball is in the ball groove.

Furthermore, the unidirectional film fixedly connected with the inside of the working hole prevents foreign matters from invading the middle shell along with the sampling arc needle and the cutting arc needle, and protects tissues in the sampling arc needle from being polluted.

Further, the gas regulating assembly further comprises a thread groove rod, a gas isolation plate, a gas regulating motor and a threaded rod, a cavity is formed in the gas regulating cavity, the gas isolation plate divides the cavity into two cavities, the thread groove rod is fixedly connected to one side of the gas isolation plate, a hole attached to the thread groove rod is formed in the gas regulating cavity, the threaded rod is connected with the threaded rod in a threaded mode, the threaded rod is connected with the gas regulating motor, the gas regulating motor drives the threaded rod to rotate, and the gas regulating motor is fixedly connected to the control support plate.

Further, the telescopic components comprise a sliding rod and a ring barrel, a through hole attached to the sliding rod is formed in the middle of the ring barrel, the through hole of the ring barrel is communicated with an air flow pipeline, the telescopic components are connected to two sides of the air bag, and one end, close to the center of the side shell, of the ring barrel connected with the air bag is fixedly connected in the side shell.

Further, the connecting ring is fixedly connected to the connecting position of the ring barrel, the through holes of the ring barrel extend into the connecting ring, the two through holes of the ring barrel are communicated in the connecting ring to form a closed cavity, and the closed cavity of the connecting ring is communicated with the air flow pipeline to enable the air flow pipeline to be communicated with the through holes of the ring barrel.

Further, the air current pipeline includes ring trachea, connecting pipe, extension inner tube, wears out pipe, elasticity outer tube and connection tubule, ring trachea fixedly connected with connecting pipe, connecting pipe and gas regulating cavity fixedly connected with extend the inner tube, extend the inner tube and be close to limit shell direction fixedly connected with and wear out the pipe, wear out the pipe and wear out the limit shell, fixedly connected with elasticity outer tube between pipe and the gasbag, fixedly connected with connects the tubule on the extension pipe, connect tubule and flexible subassembly fixed connection, make flexible subassembly and air current pipeline intercommunication.

Further, one end of the extension pipe connected with the outgoing pipe is close to the middle position of the side shell, so that the outgoing pipe penetrates out of the middle position of the side shell, the deformation of the elastic outer pipe is reduced, the tubular shape of the elastic outer pipe is ensured, and the gas flow is smooth.

Further, displacement subassembly includes traveller, ring frame, side bearer, positioning motor and positioning screw rod, fixedly connected with provides slip orbital traveller for the go-between air chamber and the control extension board, go-between sliding connection is on the traveller, is close to lean on left side fixedly connected with ring frame between the go-between that a set of gasbag of mesochite connects, keep away from lean on right side fixedly connected with ring frame between the go-between that a set of gasbag of mesochite connects, be close to rear side fixedly connected with side bearer in the ring frame of mesochite one side, keep away from front side fixedly connected with side bearer in the ring frame of mesochite one side, side bearer threaded connection has the positioning screw rod, be equipped with the positioning motor on the positioning screw rod, positioning motor drive positioning screw rod rotates, positioning motor fixedly connected with is on the control extension board.

Further, the shell is provided with a straight groove at the sliding track position of the sliding rod, an elastic membrane is fixedly connected in the straight groove, a lantern ring attached to the sliding rod is fixedly connected on the elastic membrane, the sliding rod is slidably connected in the lantern ring, and foreign matters are prevented from invading the shell from the straight groove when the sliding rod slides.

Furthermore, fixedly connected with connects tectorial membrane between well shell and the limit shell, connect tectorial membrane fixed connection in steering yoke outside, avoid the foreign matter to follow control line entering well shell, limit shell, connect the tectorial membrane simultaneously and make steering yoke interval keep stable under the control line not work condition.

Further, the two sides of the steering support are cambered surfaces, the cambered surfaces of the adjacent steering supports are abutted, and the cambered surfaces of the adjacent steering supports are in 90-degree position relation.

Further, the steering power mechanism comprises a steering motor, a connecting shaft, a wire wheel and a fixing frame, wherein the control wire is symmetrical in a ring shape in the middle shell and the side shell, the symmetrical control wire is wound on the wire wheel, the steering motor is arranged on one side of the wire wheel, the connecting shaft is arranged on one side of the steering motor, the connecting shaft is fixedly connected with the wire wheel, the steering motor drives the wire wheel to rotate, the fixing frame is fixedly connected to the steering motor, and the fixing frame is fixedly connected to the control support plate.

Further, the control lines are symmetrically arranged in two groups and are in a perpendicular relation, the ball fixing piece is divided into a first ball fixing piece and a second ball fixing piece, the first ball fixing piece is fixedly connected in a direction-adjusting support close to one side of the middle shell in the middle of the control line, the second ball fixing piece is fixedly connected in the direction-adjusting support close to one side of the side shell in the middle of the control line, one control line of the control line is fixedly connected with the first ball fixing piece, and the other control line of the control line is fixedly connected with the second ball fixing piece.

Further, a connecting wire is fixedly connected between the control support plates of the middle shell and the side shell, and penetrates through the middle of the steering support, and data are transmitted and work of all mechanisms is controlled through the control support plates and the connecting wire.

Further, the camera mechanism includes camera and light, well shell upside is opened there is the observation hole, well shell fixedly connected with transparent shell on observing the hole, well shell is at transparent shell downside fixedly connected with roof, fixedly connected with base on the roof, fixedly connected with camera and light on the base.

Further, an integrated component is fixedly connected in the middle shell and comprises an energy supply element and a transmission element.

Further, a safety bending groove is formed in one side, far away from the middle shell, of the side shell.

Further, the observation portion is a set of with the movable part, and two sets altogether, the observation portion is located the outside, and convenient observation avoids the observation portion to receive and shelters from, is connected with the portion of turning to between two movable parts that lie in the inboard, and whole outside is fixed to be wrapped up has the elastic membrane, and overall structure is stable to the cooperation work.

The invention has the beneficial effects that:

a gastrointestinal examination robot has a moving function through a split-type moving assembly, and can automatically move in the stomach and intestinal tracts to approach to focus positions; the device is also provided with a sampling component for sampling at the focus position; and the movable components are alternately matched to work, so that folds in the intestinal tract are unfolded, and the focus position is not blocked.

Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view showing the overall structure of a gastrointestinal inspection robot according to an embodiment of the present invention;

FIG. 2 is a schematic view showing the structural connection of a middle shell section, a transparent shell, an integrated assembly, a control support plate, a top plate and a control line according to an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of the middle shell section, top plate, base, camera and lighting lamp according to the embodiment of the invention;

FIG. 4 is a schematic view of a cross section of a middle shell, a unidirectional film, a circular rail frame, a groove frame and a moving middle piece according to an embodiment of the invention;

FIG. 5 is a schematic view of the structure of a control support plate and a circular rail frame according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the structure of the control support plate, the trough frame, the movable middle piece, the middle motor, the middle screw, the sampling arc needle and the cutting arc needle according to the embodiment of the invention;

FIG. 7 is a schematic view of the structure of the carriage, the moving member, the sampling arc needle, the truncated arc needle, the diagonal rod and the slide ball according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of a control board and a control wire according to an embodiment of the present invention;

FIG. 9 is a schematic side view of a control support plate, a control wire, a first ball, a second ball, a connecting wire and a direction-adjusting motor according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of the upper side structure of the control support plate, the control wire, the first fixing ball, the second fixing ball, the connecting wire and the direction-adjusting motor according to the embodiment of the invention;

FIG. 11 is a schematic view of the structure of the fixing frame, the steering motor, the connecting shaft and the wire wheel according to the embodiment of the invention;

FIG. 12 is a schematic view of the control wire, connecting wire and steering bracket according to an embodiment of the present invention;

FIG. 13 is a schematic view of a steering bracket cross section, a control wire, a first ball and a second ball according to an embodiment of the present invention;

FIG. 14 is a schematic view of the structure of the side shell, the elastic outer tube, the air bag and the slide bar according to the embodiment of the invention;

FIG. 15 is a schematic view of the structure of the shell and the elastic membrane according to the embodiment of the invention;

FIG. 16 is a schematic view of the elastic membrane and collar according to an embodiment of the present invention;

FIG. 17 is a schematic view of the structure of the control support plate, the side shell and the air conditioning chamber according to the embodiment of the present invention;

FIG. 18 is a schematic view of an air conditioning chamber, a threaded grooved bar, an air conditioning motor, and a threaded rod according to an embodiment of the present invention;

FIG. 19 is a schematic view of the structure of the air adjusting cavity section, the threaded groove rod, the air isolation plate, the air adjusting motor and the threaded rod according to the embodiment of the invention;

FIG. 20 is a schematic view of the structure of the air-conditioning chamber, the annular air pipe, the connecting pipe, the extension inner pipe, the delivery pipe, the elastic outer pipe, the air bag, the sliding rod, the annular cylinder, the connecting ring and the connecting tubule according to the embodiment of the invention;

FIG. 21 is a schematic view of a section of a ring cylinder and a connecting ring, a slide bar, and a connecting tubule according to an embodiment of the present invention;

FIG. 22 is a schematic view of the structure of the air-conditioning chamber, the annular air pipe, the connecting pipe, the extension inner pipe, the penetration pipe, the elastic outer pipe, the air bag, the sliding rod, the annular cylinder and the connecting ring according to the embodiment of the invention;

FIG. 23 is a schematic view of a control strut, plenum chamber, strut and ring mount according to an embodiment of the present invention;

FIG. 24 is a schematic view of a connecting ring, a spool and a ring frame according to an embodiment of the present invention;

FIG. 25 is a schematic view of a strut, ring frame, side frame and positioning screw according to an embodiment of the present invention;

FIG. 26 is a schematic view of a structure of a connecting ring, a spool, a ring carrier, and a positioning screw according to an embodiment of the present invention;

fig. 27 is a schematic view showing another structure of the gastrointestinal inspection robot according to the embodiment of the invention.

In the drawings, the list of components represented by the various numbers is as follows:

1-middle shell, 101-transparent shell, 102-integrated component, 103-control support plate, 1031-side groove, 104-top plate, 105-base, 106-camera, 107-illuminating lamp, 108-working hole, 109-unidirectional film, 110-circular rail frame, 111-matching groove, 112-groove frame, 1121-rod groove, 1122-ball groove, 113-moving middle piece, 114-middle motor, 115-middle screw, 120-sampling arc needle, 121-cutting arc needle, 122-inclined rod, 123-sliding ball, 2-connecting film, 210-control line, 211-first fixed ball, 212-second fixed ball, 220-connecting wire, 230-steering motor, 231-connecting shaft, 232-wire wheel, 233-fixing frame, 240-steering bracket, 3-side shell, 301-safety bent groove, 302-straight groove, 303-elastic membrane, 304-lantern ring, 310-air adjusting cavity, 311-cavity, 312-threaded groove rod, 313-air isolation plate, 314-air adjusting motor, 315-threaded rod, 320-annular air pipe, 321-connecting pipe, 322-extending inner pipe, 323-penetrating pipe, 324-elastic outer pipe, 325-air bag, 326-sliding rod, 327-annular cylinder, 328-connecting ring, 329-connecting thin pipe, 330-sliding column, 331-annular frame, 332-side frame, 333-position adjusting motor and 334-position adjusting screw.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

As shown in fig. 1-26

The invention relates to a gastrointestinal examination robot, which comprises an observation part for photographing and sampling a focus, a movable part for controlling movement and stretching intestinal walls, and a steering part for adjusting the direction, wherein the movable part is arranged at two sides of the observation part, and the steering part is arranged between the observation part and the movable part; the observation part comprises a middle shell (1), a biopsy mechanism and a shooting mechanism for shooting a focus, wherein the shooting mechanism and the biopsy mechanism are arranged in the middle shell (1), the biopsy mechanism comprises a sampling arc needle (120), a cutting arc needle (121) and a biopsy power assembly, the sampling arc needle (120) and the cutting arc needle (121) are connected to the middle shell (1) in a reciprocating sliding manner through the biopsy power assembly, the sampling arc needle (120) is a hollow needle, and the upper end faces of the sampling arc needle (120) and the cutting arc needle (121) are matched; the movable part comprises a side shell (3) and a moving mechanism, a steering part is arranged between the middle shell (1) and the side shell (3), the moving mechanism comprises an air regulating component, a displacement component, a telescopic component and an air bag (325), the moving mechanism further comprises an air flow pipeline which enables the air bag (325) to be inflated and the air bag (325) to move towards the direction far away from the side shell (3) or enables the air bag (325) to be deflated and the air bag (325) to move towards the direction close to the side shell (3), the air bag (325) is divided into two groups, the two groups of air bags (325) are alternately arranged outside the side shell (3), one side of the air bag (325) close to the side shell (3) is fixedly connected with the telescopic component, each group of air bags (325) is connected with an air flow pipeline, the air flow pipeline connected with the air bag (325) is communicated with the telescopic component connected with the air bag (325), and the air flow pipeline comprises a connecting thin pipe (329) connected with the telescopic component; the displacement assembly comprises a ring frame (331) for driving the telescopic assembly to move; the telescopic component comprises a connecting ring (328) connected with the connecting tubule (329) and the ring frame (331); the air regulating assembly comprises an air regulating cavity (310) and an air isolation plate (313), the air isolation plate (313) divides the air regulating cavity (310) into two chambers, an air flow pipeline of one group of air bags (325) is communicated with one chamber of the air regulating cavity (310), and an air flow pipeline of the other group of air bags (325) is communicated with the other chamber of the air regulating cavity (310); the steering part comprises a control support plate (103), a control wire (210), a steering support (240) and a steering power mechanism, wherein the control wire (210) is symmetrically arranged, a plurality of steering supports (240) are connected to the control wire (210) in a sliding manner, a ball fixing piece with the diameter larger than that of the control wire (210) is fixedly connected to the position of the middle part of the control wire (210), the ball fixing piece is matched with the steering supports (240), the steering power mechanism is connected to the control wire (210) in a middle shell (1) and a side shell (3), the control support plate (103) is fixedly connected to the middle shell (1) and the side shell (3), and the steering power mechanism is fixed to the control support plate (103);

the device is placed in the intestinal tract of a patient, the whole position is moved through the moving mechanism of the movable part, the device resists the unidirectional movement of gastrointestinal peristalsis and actively moves to a position to be checked, the telescopic assembly is controlled to support the intestinal wall through the air regulating assembly, the displacement assembly acts, and the whole is moved by taking the telescopic assembly as a fulcrum; when the intestinal tract moves to meet the bending position, the steering power mechanism of the steering part works to control the moving direction of the movable part; when reaching the inspection position, the telescopic assembly struts intestinal wall fold, observes through the subassembly of making a video recording, carries out the target position and takes a sample through biopsy power assembly drive biopsy structure inner part.

Example 2

As shown in fig. 1-7

The sampling arc needle (120) and the cutting arc needle (121) of the biopsy mechanism of the middle shell (1) are provided with working holes (108), a ring rail frame (110) is fixedly connected in the middle shell (1), a matching groove (111) matched with a biopsy power assembly is formed in the ring rail frame (110), side grooves (1031) matched with the biopsy power assembly are formed in control support plates (103) on two sides of the ring rail frame (110), and the sampling arc needle (120) and the cutting arc needle (121) are connected in the ring rail frame (110) in a sliding mode; the biopsy power assembly comprises a groove frame (112), a moving middle piece (113), a middle motor (114), a middle screw (115), a diagonal rod (122) and a sliding ball (123), wherein the groove frame (112) is connected in a side groove (1031) in a sliding mode, the moving middle piece (113) is fixedly connected with the moving middle piece (113), the moving middle piece (113) is connected with the middle screw (115) in a threaded mode, the middle screw (115) is connected with the middle motor (114), the middle motor (114) drives the middle screw (115) to rotate, the sampling arc needle (120) and the lower side of the cutting arc needle (121) are fixedly connected with the diagonal rod (122), the sliding ball (123) is fixedly connected to the lower side of the diagonal rod (122), a rod groove (1121) matched with the diagonal rod (122) is formed in the groove (1121), a ball groove (1122) matched with the sliding ball (123) is formed in the lower side of the groove (1121), and the diagonal rod (122) is connected in the groove (1121) in a sliding mode;

the working hole (108) is internally and fixedly connected with a one-way film (109), so that foreign matters are prevented from invading the middle shell (1) along with the sampling arc needle (120) and the cutting arc needle (121), and the tissue in the sampling arc needle (120) is prevented from being polluted;

the middle motor starts to work, the middle screw rod rotates, the groove frame moves upwards along the side groove of the control bracket, the sliding ball slides in the ball groove in the upward moving process of the groove frame, the sliding ball pushes the sampling arc needle and the cutting arc needle to slide in the annular rail frame through the inclined rod, the sampling arc needle and the cutting arc needle break through the unidirectional film of the working hole to be matched outside the middle shell, the sampling arc needle cuts the tissue, the cutting arc needle cuts the tissue, the middle motor reverses, all mechanisms reset, the tissue is reserved in the middle shell, and when the device discharges outside the body to acquire the tissue, the middle motor works again, so that medical staff obtains the target pathological tissue.

Example 3

As shown in fig. 17-20

The air regulating assembly further comprises a threaded groove rod (312), an air isolation plate (313), an air regulating motor (314) and a threaded rod (315), wherein a cavity (311) is formed in the air regulating cavity (310), the air isolation plate (313) divides the cavity (311) into two cavities, one side of the air isolation plate (313) is fixedly connected with the threaded groove rod (312), the air regulating cavity (310) is provided with a hole attached to the threaded groove rod (312), the threaded groove rod (312) is in threaded connection with the threaded rod (315), the threaded rod (315) is connected with the air regulating motor (314), the air regulating motor (314) drives the threaded rod (315) to rotate, and the air regulating motor (314) is fixedly connected to the control support plate (103);

the air regulating motor works, the threaded groove rod is limited to rotate and is arranged to be non-circular, such as square, according to the prior art, the threaded rod is driven to rotate by the air regulating motor, the threaded groove rod pushes the air isolation plate to slide in the cavity of the air regulating cavity, and power support is provided for follow-up movement in the intestinal tract.

Example 4

As shown in fig. 20-22

The telescopic components comprise sliding rods (326) and ring drums (327), through holes attached to the sliding rods (326) are formed in the middle of the ring drums (327), the through holes of the ring drums (327) are communicated with an air flow pipeline, the telescopic components are connected to two sides of the air bag (325), and one end, close to the center of the side shell (3), of each ring drum (327) connected with the air bag (325) is fixedly connected in the side shell (3);

a connecting ring (328) is fixedly connected to the connecting position of the ring cylinder (327), the through holes of the ring cylinder (327) extend into the connecting ring (328), the through holes of the two ring cylinders (327) are communicated in the connecting ring (328) to form a closed cavity, and the closed cavity of the connecting ring (328) is communicated with an air flow pipeline to enable the air flow pipeline to be communicated with the through holes of the ring cylinder (327);

the air flow pipeline comprises an annular air pipe (320), a connecting pipe (321), an extension inner pipe (322), a penetrating pipe (323), an elastic outer pipe (324) and a connecting thin pipe (329), wherein the annular air pipe (320) is fixedly connected with the connecting pipe (321), the connecting pipe (321) is fixedly connected with an air regulating cavity (310), the annular air pipe (320) is fixedly connected with the extension inner pipe (322), the penetrating pipe (322) is fixedly connected with a penetrating pipe (323) close to the direction of a side shell (3), the penetrating pipe (323) penetrates out of the side shell (3), the elastic outer pipe (324) is fixedly connected between the penetrating pipe (323) and an air bag (325), the connecting thin pipe (329) is fixedly connected with the extending pipe, and the connecting thin pipe (329) is fixedly connected with a telescopic component, so that the telescopic component is communicated with the air flow pipeline;

one end of the extension pipe is connected with the extension pipe (323) and is close to the middle position of the side shell (3), so that the extension pipe (323) penetrates out of the middle position of the side shell (3), the deformation of the elastic outer pipe (324) is reduced, the pipe-shaped of the elastic outer pipe (324) is ensured, and the gas flow is smooth;

through the gas regulating cavity with through the connecting pipe with the gas circulation to the ring trachea, the ring trachea is through extending the inner tube with the gas circulation to connecting tubule and delivery tube, the delivery tube passes through elasticity outer tube and gasbag intercommunication, and the connecting straw is with the gas circulation to the ring section of thick bamboo on the go-between, promotes slide bar reciprocating motion, the gasbag that will be connected with it is outside the shell reciprocating motion, makes it support with intestinal inner wall, help device removal and struts the fold.

Example 5

As shown in fig. 20-26

The displacement assembly comprises a sliding column (330), a ring frame (331), side frames (332), a positioning motor (333) and a positioning screw rod (334), wherein the sliding column (330) for providing a sliding track for a connecting ring (328) is fixedly connected between the air adjusting cavity (310) and a control support plate (103), the connecting ring (328) is connected on the sliding column (330) in a sliding manner, the ring frame (331) is fixedly connected between the connecting rings (328) connected with a group of air bags (325) close to the middle shell (1) by the left side, the ring frame (331) is fixedly connected between the connecting rings (328) connected with a group of air bags (325) far away from the middle shell (1) by the right side, the side frames (332) are fixedly connected on the rear side in the ring frame (331) close to one side of the middle shell (1), the side frames (332) are fixedly connected with the positioning screw rod (334) by the front side in the ring frame (331), the positioning motor (333) is arranged on the positioning screw rod (334), and the positioning motor (333) is driven to rotate on the control support plate (333);

the side shell (3) is provided with a straight groove (302) at the sliding track position of the sliding rod (326), an elastic membrane (303) is fixedly connected in the straight groove (302), a lantern ring (304) attached to the sliding rod (326) is fixedly connected on the elastic membrane (303), the sliding rod (326) is slidingly connected in the lantern ring (304), and foreign matters are prevented from invading the side shell (3) from the straight groove (302) when the sliding rod (326) slides;

the positioning motor works, the positioning screw drives the side frame to drive the ring frame to move, the ring frame drives a group of connecting rings to move, the displacement action taking the air bag as a fulcrum after supporting the intestinal wall is completed, the lantern ring on the sliding rod slides in the straight groove in the process, the elastic membrane is stretched, and foreign matters are prevented from entering the device in the intestinal movement process.

Example 6

As shown in fig. 8-13

A connecting tectorial membrane (2) is fixedly connected between the middle shell (1) and the side shell (3), the connecting tectorial membrane (2) is fixedly connected to the outer side of the steering bracket (240), foreign matters are prevented from entering the middle shell (1) and the side shell (3) along with the control line (210), and meanwhile, the connecting tectorial membrane (2) enables the distance between the steering bracket (240) to be kept stable under the condition that the control line (210) does not work;

the two sides of the steering support (240) are cambered surfaces, cambered surfaces of adjacent steering supports (240) are abutted, and cambered surfaces of adjacent steering supports (240) are in a 90-degree position relation;

the direction-adjusting power mechanism comprises a direction-adjusting motor (230), a connecting shaft (231), a wire wheel (232) and a fixing frame (233), wherein the control wire (210) is symmetrical and connected in a middle shell (1) and a side shell (3) to form a ring shape, the symmetrical control wire (210) surrounds the wire wheel (232), the direction-adjusting motor (230) is arranged on one side of the wire wheel (232), the connecting shaft (231) is arranged on one side of the direction-adjusting motor (230), the connecting shaft (231) is fixedly connected with the wire wheel (232), the direction-adjusting motor (230) drives the wire wheel (232) to rotate, the fixing frame (233) is fixedly connected to the direction-adjusting motor (230), and the fixing frame (233) is fixedly connected to the control support plate (103);

the control lines (210) are symmetrically arranged and are in vertical relation, the ball fixing pieces are divided into a first ball fixing piece (211) and a second ball fixing piece (212), the first ball fixing piece (211) is fixedly connected in a direction-adjusting support, close to one side of the middle shell (1), in the middle of the control line (210), the second ball fixing piece (212) is fixedly connected in a direction-adjusting support, close to one side of the side shell (3), in the middle of the control line (210), one control line (210) in one group of control lines (210) is fixedly connected with the first ball fixing piece (211), and the other control line (210) in the other group of control lines (210) is fixedly connected with the second ball fixing piece (212);

a connecting wire (220) is fixedly connected between the middle shell (1) and the control support plate (103) of the side shell (3), the connecting wire (220) passes through the middle of the steering support (240), and data are transmitted and the work of each mechanism is controlled through the control support plate (103) and the connecting wire (220);

the camera shooting mechanism comprises a camera (106) and an illuminating lamp (107), an observation hole is formed in the upper side of the middle shell (1), the middle shell (1) is fixedly connected with a transparent shell (101) on the observation hole, the middle shell (1) is fixedly connected with a top plate (104) on the lower side of the transparent shell (101), a base (105) is fixedly connected on the top plate (104), and the camera (106) and the illuminating lamp (107) are fixedly connected on the base (105);

an integrated assembly (102) is fixedly connected in the middle shell (1), and the integrated assembly (102) comprises an energy supply element and a transmission element;

a safety bending groove (301) is formed in one side, far away from the middle shell (1), of the side shell (3).

The steering motor on the support plate is controlled to work, the wire wheel pulls the control wire to move, the first fixed ball and the second fixed ball on the control wire move oppositely, the steering brackets on the fixed ball pieces incline mutually, the movable parts and the observation parts are mutually bent and phase-changed through the steering motor in the movable parts on two sides, and the movable parts and the observation parts can be phase-changed and move in tortuous intestinal tracts; the connecting wire transmits data to control the work of each part, so that the lower camera can observe the tissue in the intestinal tract under the assistance of the illuminating lamp of the lower observation part; when the drainage is difficult, the operator can pull out the safety bent groove as a supporting point.

In summary, the gastrointestinal examination robot has the function of moving through the split moving assembly, and can move independently in the stomach and intestinal tracts to approach to the focus position; the device is also provided with a sampling component for sampling at the focus position; and the movable components are alternately matched to work, so that folds in the intestinal tract are unfolded, and the focus position is not blocked.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.

Claims

1. A gastrointestinal inspection robot, characterized by: the device comprises an observation part for photographing and sampling a focus, a movable part for controlling movement and stretching intestinal walls, and a steering part for adjusting the direction, wherein the movable part is arranged at two sides of the observation part, and the steering part is arranged between the observation part and the movable part; the observation part comprises a middle shell, a biopsy mechanism and a shooting mechanism for shooting a focus, the shooting mechanism and the biopsy mechanism are arranged in the middle shell, the biopsy mechanism comprises a sampling arc needle, a cutting arc needle and a biopsy power assembly, the sampling arc needle and the cutting arc needle are connected to the middle shell in a reciprocating sliding manner through the biopsy power assembly, the sampling arc needle is a hollow needle, and the upper end faces of the sampling arc needle and the cutting arc needle are matched;

2. The gastrointestinal inspection robot of claim 1, wherein: the sampling arc needle and the cutting arc needle of the middle shell biopsy mechanism are provided with working holes, a ring rail frame is fixedly connected in the middle shell, a matching groove matched with a biopsy power assembly is formed in the ring rail frame, side grooves matched with the biopsy power assembly are formed in control support plates on two sides of the ring rail frame, and the sampling arc needle and the cutting arc needle are slidably connected in the ring rail frame;

3. The gastrointestinal inspection robot of claim 2, wherein: and the working hole is internally fixedly connected with a unidirectional film.

4. The gastrointestinal inspection robot of claim 1, wherein: the air regulating assembly further comprises a threaded groove rod, an air isolation plate, an air regulating motor and a threaded rod, a cavity is formed in the air regulating cavity, the air isolation plate divides the cavity into two cavities, the threaded groove rod is fixedly connected to one side of the air isolation plate, a hole attached to the threaded groove rod is formed in the air regulating cavity, the threaded rod is connected with the threaded rod in a threaded mode, the threaded rod is connected with the air regulating motor, the air regulating motor drives the threaded rod to rotate, and the air regulating motor is fixedly connected to the control support plate.

5. The gastrointestinal inspection robot of claim 1, wherein: the telescopic components comprise sliding rods and ring barrels, a through hole attached to the sliding rods is formed in the middle of each ring barrel, the through holes of the ring barrels are communicated with an air flow pipeline, the telescopic components are connected to two sides of each air bag, and the ring barrels connected with the air bags are fixedly connected to one end, close to the center of the side shell, of each side shell;

the connecting ring is fixedly connected to the connecting position of the ring cylinder, the through holes of the ring cylinder extend into the connecting ring, the through holes of the two ring cylinders are communicated in the connecting ring to form a closed cavity, and the closed cavity of the connecting ring is communicated with the air flow pipeline.

6. The gastrointestinal inspection robot of claim 1, wherein: the air flow pipeline comprises an annular air pipe, a connecting pipe, an extension inner pipe, a penetrating pipe, an elastic outer pipe and a connecting thin pipe, wherein the annular air pipe is fixedly connected with the connecting pipe, the connecting pipe is fixedly connected with an air regulating cavity, the annular air pipe is fixedly connected with the extension inner pipe, the penetrating pipe is fixedly connected with the penetrating pipe near the side shell direction, the penetrating pipe penetrates out of the side shell, the elastic outer pipe is fixedly connected between the penetrating pipe and the air bag, the connecting thin pipe is fixedly connected with the connecting thin pipe on the extending pipe, the connecting thin pipe is fixedly connected with a telescopic component, and one end of the extending pipe is connected with the penetrating pipe near the middle position of the side shell.

7. The gastrointestinal inspection robot of claim 1, wherein: the displacement assembly comprises a sliding column, a ring frame, side frames, a positioning motor and a positioning screw rod, wherein the sliding column which provides a sliding track for a connecting ring is fixedly connected between the air adjusting cavity and the control support plate, the connecting ring is connected onto the sliding column in a sliding manner, the ring frame is fixedly connected to the left side of the connecting ring which is close to the connection of a group of air bags of the middle shell, the ring frame is fixedly connected to the right side of the connecting ring which is far away from the connection of a group of air bags of the middle shell, the side frames are fixedly connected to the rear side of the ring frame which is close to one side of the middle shell, the side frames are fixedly connected to the front side of the ring frame which is far away from one side of the middle shell, the positioning screw rod is in threaded connection with the side frames, the positioning motor is arranged on the positioning screw rod, the positioning motor drives the positioning screw rod to rotate, and the positioning motor is fixedly connected onto the control support plate;

the side shell is provided with a straight groove at the sliding track position of the sliding rod, an elastic membrane is fixedly connected in the straight groove, a lantern ring attached to the sliding rod is fixedly connected on the elastic membrane, and the sliding rod is connected in the lantern ring in a sliding manner;

the connecting tectorial membrane is fixedly connected between the middle shell and the side shell, and the connecting tectorial membrane is fixedly connected to the outer side of the steering bracket.

8. The gastrointestinal inspection robot of claim 1, wherein: the two sides of the steering support are cambered surfaces, the cambered surfaces of the adjacent steering supports are abutted, and the cambered surfaces of the adjacent steering supports are in 90-degree position relation;

the steering power mechanism comprises a steering motor, a connecting shaft, a wire wheel and a fixing frame, wherein the symmetrical control wires are connected in a middle shell and a side shell to form a ring shape, the symmetrical control wires are wound on the wire wheel, one side of the wire wheel is provided with the steering motor, one side of the steering motor is provided with the connecting shaft, the connecting shaft is fixedly connected with the wire wheel, the steering motor drives the wire wheel to rotate, the fixing frame is fixedly connected with the steering motor, and the fixing frame is fixedly connected with a control support plate;

the two control lines are symmetrically arranged and are in a perpendicular relation, the ball fixing piece is divided into a first ball fixing piece and a second ball fixing piece, the first ball fixing piece is fixedly connected in a direction adjusting support, close to one side of the middle shell, in the middle of the control line, the second ball fixing piece is fixedly connected in the direction adjusting support, close to one side of the side shell, in the middle of the control line, one control line in one group of the control lines is fixedly connected with the first ball fixing piece, and the other control line in the other group of the control lines is fixedly connected with the second ball fixing piece;

a connecting wire is fixedly connected between the control support plates of the middle shell and the side shell, and penetrates through the middle of the steering support.

9. The gastrointestinal inspection robot of claim 1, wherein: the camera shooting mechanism comprises a camera and an illuminating lamp, an observation hole is formed in the upper side of the middle shell, the transparent shell is fixedly connected to the middle shell on the observation hole, the top plate is fixedly connected to the lower side of the transparent shell, the base is fixedly connected to the top plate, and the camera and the illuminating lamp are fixedly connected to the base;

the integrated assembly is fixedly connected in the middle shell and comprises an energy supply element and a transmission element.

10. The gastrointestinal inspection robot of claim 1, wherein: one side of the side shell far away from the middle shell is provided with a safety bent groove.