CN206534626U - A kind of miniature blood vessel sniffing robot - Google Patents
A kind of miniature blood vessel sniffing robot Download PDFInfo
- Publication number
- CN206534626U CN206534626U CN201621069533.6U CN201621069533U CN206534626U CN 206534626 U CN206534626 U CN 206534626U CN 201621069533 U CN201621069533 U CN 201621069533U CN 206534626 U CN206534626 U CN 206534626U
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- blood vessel
- housing
- piezoelectric membrane
- power supply
- probe
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- 210000004204 blood vessel Anatomy 0.000 title claims abstract description 26
- 239000012528 membrane Substances 0.000 claims abstract description 26
- 239000000523 sample Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 13
- 239000008280 blood Substances 0.000 abstract description 13
- 210000004369 blood Anatomy 0.000 abstract description 13
- 238000010276 construction Methods 0.000 abstract description 5
- 230000006378 damage Effects 0.000 abstract description 4
- 238000007906 compression Methods 0.000 abstract description 2
- 230000006835 compression Effects 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000010355 oscillation Effects 0.000 abstract description 2
- 239000000470 constituent Substances 0.000 abstract 1
- 238000004904 shortening Methods 0.000 description 6
- 230000008602 contraction Effects 0.000 description 5
- 230000001575 pathological effect Effects 0.000 description 5
- 239000010408 film Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000007170 pathology Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
Landscapes
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The utility model discloses a kind of miniature blood vessel sniffing robot, including：If housing, dry plate piezoelectric membrane, probe and power supply/signal collection system, described housing is an one end open, the mitriform cavity arc thin-wall elastic construction of other end closing, and piezoelectric membrane is paired and is symmetricly set on the cavity outer wall of the blind end of housing；Housing is encouraged alongst to extend or shorten in the state of forced vibration when paired piezoelectric membrane applies identical electric signal, so as to cause the volume in cavity to reduce or increase, the blood in cavity is caused constantly continuously to be discharged, so as to promote whole miniature blood vessel sniffing robot to move about forward in the blood vessels.The utility model proposes the micro breadth oscillation that produces of shell structure will not cause mechanical damage to endovascular blood constituent and blood vessel, and have the advantages that low simple in construction, compact, resistance to compression, energy consumption, noiseless, control are simple.
Description
Technical field
The utility model belongs to the Micro-Robotic Technology field of Piezoelectric Driving, refers specifically to for a kind of miniature blood vessel explorer
Device people.
Background technology
The state of an illness for analyzing patient by detecting the blood flow information in blood vessel, composition and blood vessel physiological status is current doctor
Study the focus as area research.At present, conventional detection mode be by ultrasound, OCT, optoacoustic and nuclear magnetic resonance etc. it is non-enter
The method for invading formula obtains endovascular every physiologic information.Although contactless detection mode will not cause damage to human body,
But the information detected is limited, especially for profound illness, it is impossible to obtain comprehensive pathological data.In order to
Pathological characters can accurately be found and targetedly be treated, invasive pathology detection mode to become can
Energy.The invention of minimally invasive inbreak method not only reduces the pain of patient, while also improving pathological examination level.Based on blood vessel
Size is limited, and various microrobots are suggested in succession, but how to avoid the damage to blood vessel from still not solving well
Method.Although the development of nanometer robot provides new possibility to invasive detection method, after all by receiving yardstick
Influence, resulting detection information is limited.
The content of the invention
Above-mentioned the deficiencies in the prior art are directed to, the purpose of this utility model is to provide a kind of miniature blood vessel detection machine
People, to solve the problem of invasive pathology detection mode can not solve to injury of blood vessel well in the prior art, Yi Jina
The problems such as detection information obtained by rice robot probe is limited.
To reach above-mentioned purpose, a kind of miniature blood vessel sniffing robot of the present utility model, if including housing, dry plate piezoelectricity
Film, probe and power supply/signal collection system, described housing are an one end open, the mitriform cavity of other end closing
Arc thin-wall elastic construction, and the blind end connects above-mentioned power supply/signal collection system, the power supply/signal collection system connection
Probe；Above-mentioned piezoelectric membrane is paired and is symmetricly set on the outer wall of the blind end of housing.
Preferably, the length direction of described piezoelectric membrane and the length direction of housing are consistent.
Preferably, described probe includes super acousto-optics-OCT compound detection systems.
Preferably, the power supply/signal collection system includes to the piezoelectric membrane and probe power supply and collects probe
The power supply and signal collection device of the information of system.
The beneficial effects of the utility model：
The utility model realizes free movement using piezoelectricity coupled structure, with simple in construction, compact, resistance to compression, energy consumption it is low,
The advantages of noiseless, simple control；The degree of accuracy of invasive pathology detection method is improved, while reducing the pain of patient.
Brief description of the drawings
Fig. 1 illustrates the structural representation of miniature blood vessel sniffing robot；
Fig. 2 illustrates the fundamental diagram of miniature blood vessel sniffing robot；
Wherein, 1 is housing, and 2 be piezoelectric membrane, and 3 be probe, and 4 be power supply/signal collection system, and 1.1a is mitriform housing
Shortening state under forced vibration, 1.1b is elongation state of the mitriform housing under forced vibration.
Embodiment
For the ease of the understanding of those skilled in the art, further is made to the utility model with reference to embodiment and accompanying drawing
Explanation, the content that embodiment is referred to not to it is of the present utility model limit.
Shown in reference picture 1, a kind of miniature blood vessel sniffing robot of the present utility model, if including housing 1, dry plate piezoelectricity it is thin
Film 2, probe 3 and power supply/signal collection system 4, described housing 1 are an one end open, the mitriform sky of other end closing
Chamber arc thin-wall elastic construction；And the blind end connects above-mentioned power supply/signal collection system 4, the power supply/signal collection system 4
Connection probe 3；Above-mentioned piezoelectric membrane 2 is paired and is symmetricly set on the outer wall of the blind end of housing 1, and piezoelectricity is thin
The length direction of film 2 is consistent with the length direction of housing 1, the through-thickness of piezoelectric membrane 2 polarization, cavity outer wall surface
Paired and nonsymmetrical piezo film polarised direction towards normal direction, and the consistent outwardly or simultaneously court simultaneously of polarised direction
It is interior.
Wherein, described probe includes super acousto-optics-OCT compound detection systems；Visited using ultrasound-optoacoustic-OCT is compound
Examining system can be accurate in real time clear by the pathologic condition detection on endovascular pathologic condition and vascular wall, and determines
Specific lesions position.
Wherein, the power supply/signal collection system includes power supply and signal collection device, for the piezoelectric membrane and
Probe power supply and the information for collecting probe system.
By applying electric signal, symmetrically arranged piezoelectric membrane 2 is encouraged simultaneously along its elongated lengthwise or shortening,
So as to drive shell 1 simultaneously with the extension/contraction of piezoelectric membrane extension/contraction, with change housing internal cavity volume become
Change.
The operation principle of miniature blood vessel sniffing robot of the present utility model is as follows：
By applying electric signal, symmetrically arranged piezoelectric membrane is encouraged simultaneously along its elongated lengthwise or shortening,
So as to drive shell simultaneously with the extension/contraction of piezoelectric membrane extension/contraction, with change housing internal cavity volume become
Change；
Encourage housing in the state of forced vibration along length when applying identical electric signal simultaneously to paired piezoelectric membrane
Spend direction and produce to shorten and change, the blood that the volume in cavity will become big, extraneous will be from opening enters cavity；When paired piezoelectricity
Film, which is energized, alongst to be extended, and housing also will alongst extend, so that cause the volume in cavity to reduce,
So that blood is discharged from cavity.According to momentum theorem, when blood is discharged into cavity, miniature blood vessel sniffing robot can be towards row
The opposite direction of blood produces motion or movement tendency；When piezoelectric membrane encouraged under dither housing produce high frequency elongation/
Shorten, cause the blood in cavity to be constantly continuously discharged, so as to promote whole miniature blood vessel sniffing robot in the blood vessels
Move about forward.
Illustrated as an example with four piezoelectric membranes below：
In pairs and it is symmetricly set on the piezoelectric membranes of mitriform shell end when to four and applies identical and without phase difference
Sinusoidal excitation signal when, as shown in Fig. 2When, the excitation electric signal of application makes piezoelectric membrane become from former long status
Shorten for contraction state and along its length, while drive shell is also stretched along its length, cause shell end opening to become
Greatly, the volume in cavity becomes big, sees that 1.1a is shortening state of the mitriform housing under forced vibration, endovascular blood in Fig. 2
Liquid enters in cavity；During, piezoelectric membrane recovers long to original by shortening state, and housing is also from shortening state
Recover long to original, the volume during this in cavity diminishes up to restPosing since maximum, therefore in shell nozzle
The continuous discharge blood in end；Interior, piezoelectric membrane is excited to extend to maximum from former long status, while housing also edge
Elongated lengthwise is to maximum, and the volume during this in cavity persistently diminishes, and sees that 1.1b is mitriform housing in forced oscillation in Fig. 2
Elongation state under dynamic, therefore shell end continuously sprays blood；When, piezoelectric membrane from most long status recover to
Original is long, and now housing recovers long to original also along length direction, and the volume in cavity slowly becomes big, and endovascular blood is held again
Continuous to enter in cavity, until whole system returns back to poised state, so far a cycle terminates.Miniature blood vessel sniffing robot leads to
The difference in volume crossed in the change housing hollow of a cycle continuously staggeredly realizes that the blood that enters of shell end arranges blood to provide entirely
The power that system travels forward.
The utility model concrete application approach is a lot, and described above is only preferred embodiment of the present utility model, should
Point out, for those skilled in the art, on the premise of the utility model principle is not departed from, can also make
Go out some improvement, these improvement also should be regarded as protection domain of the present utility model.
Claims (4)
1. a kind of miniature blood vessel sniffing robot, it is characterised in that including housing（1）If, dry plate piezoelectric membrane（2）, probe（3）
And power supply/signal collection system（4）, described housing（1）It is an one end open, the mitriform cavity arc of other end closing
Thin walled elastic structure, and the blind end connects above-mentioned power supply/signal collection system（4）, the power supply/signal collection system（4）Even
Connect probe（3）；Above-mentioned piezoelectric membrane（2）In pairs and it is symmetricly set on close to housing（1）Blind end outer wall on.
2. miniature blood vessel sniffing robot according to claim 1, it is characterised in that described piezoelectric membrane（2）Length
Spend direction and housing（1）Length direction it is consistent.
3. miniature blood vessel sniffing robot according to claim 1, it is characterised in that described probe（3）Comprising ultrasound-
Optics-OCT compound detection systems.
4. miniature blood vessel sniffing robot according to claim 1, it is characterised in that the power supply/signal collection system
（4）Comprising to the piezoelectric membrane（2）And probe（3）The power supply and signal collection dress of the information of power supply and collection probe system
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621069533.6U CN206534626U (en) | 2016-09-21 | 2016-09-21 | A kind of miniature blood vessel sniffing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621069533.6U CN206534626U (en) | 2016-09-21 | 2016-09-21 | A kind of miniature blood vessel sniffing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206534626U true CN206534626U (en) | 2017-10-03 |
Family
ID=59936780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201621069533.6U Active CN206534626U (en) | 2016-09-21 | 2016-09-21 | A kind of miniature blood vessel sniffing robot |
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| CN (1) | CN206534626U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106473714A (en) * | 2016-09-21 | 2017-03-08 | 南京航空航天大学 | A kind of miniature blood vessel sniffing robot and its motion control method |
| CN111333019A (en) * | 2018-12-19 | 2020-06-26 | 湖南早晨纳米机器人有限公司 | Nanometer robot and nanometer robot motion control system |
-
2016
- 2016-09-21 CN CN201621069533.6U patent/CN206534626U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106473714A (en) * | 2016-09-21 | 2017-03-08 | 南京航空航天大学 | A kind of miniature blood vessel sniffing robot and its motion control method |
| CN106473714B (en) * | 2016-09-21 | 2023-09-26 | 南京航空航天大学 | Miniature vessel detection robot and motion control method thereof |
| CN111333019A (en) * | 2018-12-19 | 2020-06-26 | 湖南早晨纳米机器人有限公司 | Nanometer robot and nanometer robot motion control system |
| CN111333019B (en) * | 2018-12-19 | 2023-07-14 | 湖南早晨纳米机器人有限公司 | Nano robot and nano robot motion control system |
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