CN209018667U - Intracavitary restructural medical capsule robot system - Google Patents
Intracavitary restructural medical capsule robot system Download PDFInfo
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- CN209018667U CN209018667U CN201820698819.3U CN201820698819U CN209018667U CN 209018667 U CN209018667 U CN 209018667U CN 201820698819 U CN201820698819 U CN 201820698819U CN 209018667 U CN209018667 U CN 209018667U
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Abstract
The utility model discloses intracavitary restructural medical capsule robot system, which is divided into camera rotary module, two finger self-clamping modules, linear moving module and deflection module.It is conjuncted that intermodule can be assembled into "-" type robot in human body, and the robot is conjuncted to realize active movement human body is intracavitary.Data transmission can be realized between modules in robot system and between modules and host computer by wireless multi-hop network.Restructural medical capsule robot system designed by the utility model has compact mechanical structure, flexible motion mode, can be realized intracorporal noninvasive testing or intracorporal Minimally Invasive Surgery.
Description
Technical field
The utility model belongs to intraluminal medical detection technique field, in particular to a kind of to be used for intracavitary restructural medical capsule
Humanoid robot.
Background technique
Digestive system is the pith for being related to human health, assumes responsibility for the function of digesting and assimilating, to a certain extent
Directly determine the health status of human body.In recent years, the diseases such as the malignant tumours such as gastric cancer, colon cancer, gastric perforation, gastric ulcer become
It is commonplace.Endoscope, such as gastroscope, laparoscope, colonoscopy are more used in the diagnosis of disease of digestive system, but to trouble
Person generates stronger sense of discomfort, while the range checked is also limited in space.
By the retrieval to the prior art, in 104027060 A of patent publication No. CN, devise a kind of for gastrointestinal tract
Capsule-type in peep robot system, human organ internal image can be shot, and by stepper motor in intracavitary autonomous shifting
It is dynamic.But it can not stablize in vivo and be stopped at fixed position and effectively shot, it, will very since the uncertain factor of intracavity liquid is excessive
Big degree influences Effect on Detecting.In 105852783 A of patent publication No. CN, a kind of capsule endoscope system is devised, the patent
It is controlled using permanent magnet, capsule robot in vivo is controlled by external magnet control, compared to the movement side of intestines peristalsis
Formula, this method are easier to control.But the intestinal tract of human body is excessively bent, it is extremely difficult to control moving direction, patient is inevitably not yet
It is suitable, and the variation of capsule robot pose also has certain limitation, also would mean that taking for information has certain journey
The obstruction of degree.
There is the problems such as having a single function, bradykinesia in current similar intracavitary inspection system, the utility model has as follows
Remarkable advantage: (1) intracavitary restructural；(2) it can be realized fixed point to check.
Utility model content
The utility model is to solve defect existing in the prior art, provides a kind of intracavitary restructural medical capsule robot
System can accurately control reconstruct of the capsule robot in gastrointestinal tract, carry out purposeful, directive detection.
In order to solve the above technical problems, the utility model provides a kind of intracavitary restructural medical capsule robot control system
System, including for pathology acquire two refer to self-clamping modules, for controlling the conjuncted deflection module of robot, for forward-reverse
Linear moving module and camera rotary module for information in acquisition cavity, two refer to self-clamping modules, deflection module, linear motion
Module and camera rotary module are seal cavity and are respectively equipped with magnet from beginning to end, and when work respectively enters in gastrointestinal tract simultaneously
Any combination is carried out by the magnet magnetic force of respective head and the tail, it is conjuncted to be finally combined into an one-shaped capsule robot.
Two finger self-clamping modules include realizing that pathology samples for constituting the first capsule housing of seal cavity, carrying out clamping
Two refer to pincers, the first motor for driving the two fingers pincers to be clamped, control for first motor and realize data biography with host computer
The first defeated MCU, described two refer to that pincers are connect with first motor output shaft by worm and gear.
Deflection module includes for constituting the second capsule housing of seal cavity, for adjusting deflection angle to realize adjustment
The deflecting body of the conjuncted pose of robot, for driving deflecting body to carry out the second motor of deflection angle adjustment and for the second motor
Control and the 2nd MCU that data transmission is realized with host computer, second motor are connect with deflecting body by worm and gear.
Linear moving module includes for constituting the third capsule housing of seal cavity, for carrying out telescopic adjustment to realize
There is provided robot it is conjuncted advance, the straight line body of fallback function, for driving straight line body to carry out flexible third motor and for the
Three motor controls and the 3rd MCU that data transmission is realized with host computer, the third motor and straight line body are connected by worm and gear
It connects.
Camera rotary module includes for constituting the 4th capsule housing camera module of seal cavity, taking the photograph for adjusting
As head module detection angles to provide the rotary body of the function of real-time detection, the 4th motor of driving rotating bodies progress angle adjustment
With the 4th MCU for realizing data transmission for the 4th motor control and with host computer, the output of the rotary body and the 4th motor
Axis is fixedly connected；The camera module is connected with the 4th MCU, carries out transmission of video.
Data transmission can be realized between modules and between modules and host computer by wireless multi-hop network.
The utility model has the advantages that the utility model compared with prior art, has the advantage that
1) intracavitary restructural: the modules of capsule robot can independently be weighed in gastrointestinal tract according to actual requirement
Structure；
2) small in size, easily swallow, be harmless to human body；Intracavitary restructural medical capsule robot overall dimensions are smaller, and
Shape uses round and smooth processing when design, prevents plowing from interior enteron aisle, while also can preferably excrete；
3) it can be realized fixed point to check；Capsule robot can realize the movement of multiple directions in gastrointestinal tract, therefore can
With position of the positioning robot in gastrointestinal tract, detailed inspection is carried out for a certain position and pathology samples.
Detailed description of the invention
Fig. 1 is intracavitary restructural medical capsule robot overall structure figure.
Fig. 2 is the main view that capsule robot two refers to pincers module.
Fig. 3 is the top view that capsule robot two refers to pincers module.
Fig. 4 is the main view of capsule robot deflection module.
Fig. 5 is the top view of capsule robot deflection module.
Fig. 6 is the main view of the flexible module of capsule robot.
Fig. 7 is the top view of the flexible module of capsule robot.
Fig. 8 is the main view of capsule robot camera rotary module.
Specific embodiment
The utility model method is further described with reference to the accompanying drawing.
As shown in Figure 1, intracavitary Reconfigurable robot system includes referring to self-clamping module for the two of pathology acquisition, for controlling
The conjuncted deflection module of robot, the linear moving module for forward-reverse and the camera rotation for information in acquisition cavity
Module.The magnet magnetic force that four capsule modules respectively enter in gastrointestinal tract by respective head and the tail carries out any combination, and final group
It is conjuncted to synthesize an one-shaped capsule robot.
As shown in Figure 2 to Figure 3, two refer to that self-clamping modules include the first capsule housing 101, first motor firm banking 102, the
One motor 103, the first MCU 104, nut 105, two refer to the 106, first worm screw 107 of pincers, the first turbine 108, first motor driving
Plate 109 and two refers to pincers fixed baffle 110.103 bottom of first motor and first motor firm banking 102 are mutually embedding, and described first
MCU104 and first motor driving plate 109 are respectively placed in 103 two sides of first motor, the nut 105, the first turbine 108 and two
Refer to that pincers 106 are connected, first worm screw 107 is connected with the first turbine 108, and first capsule housing 101, first motor are fixed
It is enclosed with seal cavity between pedestal 102 and two finger pincers fixed baffles 110, the first motor 103 is arranged in the seal chamber
In vivo, driving two refers to that pincers are clamped.The module provides the function of pathology sampling.
As described in Fig. 4 to Fig. 5, deflection module includes the second capsule housing 201, second the 202, second electricity of motor firm banking
Machine 203, the 2nd MCU204, the second motor driving plate 205, deflecting body 206, the second turbine 207, the second worm screw 208 and deflecting body
Fixed link 209.Second motor, 203 bottom and the second motor firm banking 202 are mutually embedding, and the 2nd MCU204 and the second motor drive
Movable plate 205 is placed in side in the second capsule housing 201, the deflecting body 206, the second turbine 207, deflecting body fixed link 209 with
Second worm screw 208 is connected.It is enclosed between second capsule housing 201, the second motor firm banking 202 and deflecting body 206
There is seal cavity, second motor 203 is arranged in the seal cavity, and driving deflecting body 206 adjusts deflection angle.The mould
Block provides the function of the adjustment conjuncted pose of robot.
As shown in Figure 6 to 7, linear moving module includes third capsule housing 301, third motor firm banking 302,
Three motors 303, third motor driving plate 304, straight line body 305, screw rod 306, Straight Combination body 307 and the 3rd MCU308.Third
303 bottom of motor and third motor firm banking 302 are mutually embedding, and the 3rd MCU308 and third motor driving plate 304 are respectively placed in the
Three capsule housings, 301 two sides, the straight line body 305, Straight Combination body 307 are connected with screw rod 306；The third capsule housing
301, seal cavity is enclosed between third motor firm banking 302 and straight line body, the third motor 303 is arranged described close
It seals in cavity, driving straight line body 305 carries out telescopic adjustment.The module provides robot the conjuncted function of advancing, retreat.
As shown in figure 8, camera rotary module includes the 4th capsule housing 401, the 4th MCU402, the fixed bottom of the 4th motor
The 403, the 4th motor driving plate 404 of seat, camera module 405, the 4th motor 406 and rotary body 407.4th motor 406 and
Four motor firm bankings 403 are mutually embedding, and the 4th MCU402 is placed in side, and photographing module 405 and the 4th motor driving plate 404 are placed in separately
Side, the rotary body 407 are connected with the 4th motor 406, the 4th capsule housing 401, the 4th motor firm banking 403
Seal cavity is enclosed between rotary body 407, the 4th motor 406 is arranged in the seal cavity, and driving rotating bodies 407 is adjusted
Save camera detection angle.The function of module offer real-time detection.
Medical capsule robot is broadly divided into three basic steps in intracavitary detection and pathology sampling:
Step 1, capsule robot module are in intracavitary reconstruct, the specific steps are as follows:
101) four capsule module difference are unordered into intracavitary；
102) each module is conjuncted at "-" type in intracavitary progress random combine.
Step 2, robot are conjuncted to be detected intracavitary, the specific steps are as follows:
201) robot is conjuncted moves to designated position for linear moving module control；
202) deflection module controls the conjuncted progress pose adjustment of robot；
203) camera rotary module carries out multi-angle video detection and real-time Data Transmission by rotary body.
The conjuncted progress pathology sampling of step 3, robot, the specific steps are as follows:
301) camera module carries out detecting real-time and locking pathology specific location；
302) two finger self-clamping modules clamp lesion locations.
Entire robot is conjuncted, and in intracavitary reconstruct, specific step is as follows with detection:
Four capsule modules respectively enter in gastrointestinal tract and carry out any combination by the magnet magnetic force of respective head and the tail, finally
It is conjuncted to be combined into an one-shaped capsule robot.Robot is conjuncted to be moved by linear moving module intracavitary,
Flexible driving is carried out to straight line body by motor therein.When it is conjuncted move to specified detection position when, deflection module passes through bottom
Deflecting body is carried out to conjuncted pose angular adjustment, is driven by motor therein to bottom deflecting body, so that capsule machine
People carries out fixed point observation in vivo.Camera rotary module carries out 360 ° of detections by bottom rotary body, and carries out real time data
Transmission, cooperation two refer to that self-clamping module carries out pathology sampling.Two refer to that self-clamping module refers to that pincers carry out pathology sampling by the two of head, by
Motor therein takes two finger clamps and operates.
Claims (6)
1. intracavitary restructural medical capsule robot system, it is characterised in that: two including acquiring for pathology refer to self-clamping module
(1), for controlling the conjuncted deflection module of robot (2), for the linear moving module (3) of forward-reverse and for acquisition cavity
The camera rotary module (4) of interior information, described two refer to self-clamping module (1), deflection module (2), linear moving module (3) and take the photograph
It is seal cavity as head rotary module (4) and is respectively equipped with magnet from beginning to end, when work respectively enters in gastrointestinal tract and relies on
The magnet magnetic force of respective head and the tail carries out any combination, and it is conjuncted to be finally combined into an one-shaped capsule robot.
2. intracavitary restructural medical capsule robot system according to claim 1, it is characterised in that: described two refer to clamping
Module (1) includes realizing that the two of pathology sampling refers to pincers for constituting the first capsule housing (101) of seal cavity, carrying out clamping
(106), drive it is described two refer to pincers (106) clamped first motor (103), for first motor (103) control and with
Position machine realizes the first MCU (104) of data transmission, and described two refer to that pincers (106) and first motor (103) output shaft pass through worm gear snail
Bar connection.
3. intracavitary restructural medical capsule robot system according to claim 1, it is characterised in that: the deflection module
It (2) include for constituting the second capsule housing (201) of seal cavity, for adjusting deflection angle to realize adjustment robot connection
The deflecting body (206) of posture, for drive deflecting body (206) carry out deflection angle adjustment the second motor (203) and be used for
Second motor (203) control and the 2nd MCU (204) that data transmission is realized with host computer, second motor (203) and deflection
Body (206) is connected by worm and gear.
4. intracavitary restructural medical capsule robot system according to claim 1, it is characterised in that: the linear motion
Module (3) includes for constituting the third capsule housing (301) of seal cavity, for carrying out telescopic adjustment to realize offer machine
People is conjuncted to advance, the straight line body (305) of fallback function, for drive straight line body (305) carry out flexible third motor (303) and
For third motor (303) control and with host computer realize data transmission the 3rd MCU (308), the third motor (303) with
Straight line body (305) is connected by worm and gear.
5. intracavitary restructural medical capsule robot system according to claim 1, it is characterised in that: the camera rotation
Revolving die block (4) includes for constituting the 4th capsule housing (401) camera module (405) of seal cavity, for adjusting camera shooting
Head module (405) detection angles are to provide rotary body (407), driving rotating bodies (407) the progress angle of the function of real-time detection
4th motor (406) of adjustment and the 4th MCU that data transmission is controlled and realized with host computer for the 4th motor (406)
(402), the rotary body (407) is fixedly connected with the output shaft of the 4th motor (406)；The camera module (405) and the
Four MCU (402) are connected, and carry out transmission of video.
6. intracavitary restructural medical capsule robot system according to claim 1, it is characterised in that: between modules with
And data transmission can be realized between modules and host computer by wireless multi-hop network.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820698819.3U CN209018667U (en) | 2018-05-11 | 2018-05-11 | Intracavitary restructural medical capsule robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820698819.3U CN209018667U (en) | 2018-05-11 | 2018-05-11 | Intracavitary restructural medical capsule robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111616670A (en) * | 2020-06-08 | 2020-09-04 | 徐敏 | Self-assembly micro modular robot for intestinal examination |
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2018
- 2018-05-11 CN CN201820698819.3U patent/CN209018667U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111616670A (en) * | 2020-06-08 | 2020-09-04 | 徐敏 | Self-assembly micro modular robot for intestinal examination |
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