CN211243274U - Capsule robot magnetic drive and measurement system - Google Patents
Capsule robot magnetic drive and measurement system Download PDFInfo
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- CN211243274U CN211243274U CN201921889914.2U CN201921889914U CN211243274U CN 211243274 U CN211243274 U CN 211243274U CN 201921889914 U CN201921889914 U CN 201921889914U CN 211243274 U CN211243274 U CN 211243274U
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Abstract
A capsule robot magnetic driving and measuring system comprises a motor worm gear, a rotating chuck, a positioning shaft, a bearing platform, a pipeline, a magnetic capsule robot, an external permanent magnet, a connecting plate, a permanent magnet rotating motor, a three-axis motion platform, an operating platform and a Hall sensor. The motor worm gear and worm and the three-axis motion platform are both arranged on the operation platform, the worm gear and worm, the rotating chuck and the positioning shaft are mutually connected, the bearing platform is arranged on the operation platform and can be freely disassembled, the pipeline is fixed on the bearing platform, and the magnetic capsule robot is arranged in the pipeline; the permanent magnet rotating motor is connected with an external permanent magnet, the permanent magnet rotating motor is arranged on a connecting plate, and the connecting plate is fixed on the three-axis motion platform; the Hall sensor is installed on the connecting plate, and the external permanent magnet is fixed on the positioning shaft. The system can drive the magnetic capsule to move in the pipeline and measure the space magnetic induction intensity when the permanent magnet rotates. The utility model is suitable for a surgery is diagnose to medical wicresoft, and the technique is diagnose to the specially adapted digestive endoscopy.
Description
Technical Field
The invention relates to the technical field of medical minimally invasive diagnosis and treatment, in particular to a capsule robot magnetic drive and magnetic field measurement system.
Background
Surgery, which refers to the treatment of a patient's body by a doctor using a medical instrument to perform excision, suture, etc., people increasingly want to reduce the injury and pain in the surgery, so that minimally invasive and non-invasive diagnosis and treatment technologies become a necessary trend and constant pursuit for the development of human medicine. With the development of the remote control capsule endoscope for the alimentary tract, the wireless capsule robot becomes a hot spot of gastrointestinal tract application in the field of human medical treatment. Among the existing active control methods of wireless capsule robots, the magnetic field control method is the most widely and most suitable method currently studied and applied.
For triaxial Helmholtz coil drive capsule robot, the comparatively convenient easy accuse of outside permanent magnet drive mode can realize capsule robot and do motions such as straight line, rotation in intraductal, has become the driven main mode of present capsule robot. In the external permanent magnet driving mode, the measurement and regulation of the magnetic field are the basis for realizing the accurate motion of the capsule robot.
Disclosure of Invention
Aiming at the defects of the existing permanent magnet driving capsule robot device and the magnetic field measuring device, the invention provides a capsule robot magnetic driving and measuring system with simple structure, which can realize three-axis translation and single-axis rotation of an external permanent magnet so as to accurately control the motion, the posture and the direction of a capsule robot in a tube, and can measure the magnetic induction intensity of any point in space when the external permanent magnet is static and rotating.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a magnetic driving and measuring system of a capsule robot, which comprises a motor worm gear (1), a rotating chuck (2), a positioning shaft (3), a bearing table (4), a pipeline (5), a magnetic capsule robot (6), an external permanent magnet (7), a connecting plate (8), a permanent magnet rotating motor (9), a three-axis moving platform (10), an operating platform (11) and a Hall sensor (12). The method is characterized in that: the motor worm gear (1) is arranged on the operation platform (11); the motor worm gear (1), the rotating chuck (2) and the positioning shaft (3) are connected with each other; the bearing platform (4) is arranged on the operation platform (11) and can be freely detached; the pipeline (5) is fixed on the bearing table (4); the magnetic capsule robot (6) is arranged in the pipeline (5); the external permanent magnet (7) is connected with a permanent magnet rotating motor (9); the permanent magnet rotating motor (9) is arranged on the connecting plate (8); the connecting plate (8) is fixed on the three-axis motion platform (10); the Hall sensor (12) is installed on the connecting plate (8), and the external permanent magnet (7) is fixed on the positioning shaft (3).
Further, the material of the pipeline (5) is glass or plastic.
Furthermore, the pipeline (5) is a straight pipe or a bent pipe and the like.
Furthermore, the pipeline (5) is filled with water.
Further, the magnetic capsule robot (6) is a spiral surface or a smooth surface.
Furthermore, the magnetic capsule robot (6) contains a radial magnetizing cylindrical permanent magnet inside.
Further, the external permanent magnet (7) is a radial magnetizing circular ring permanent magnet.
Further, the three-axis motion platform (10) can be a five-axis or six-axis manipulator.
The invention has the technical effects that: the system has simple structure and convenient operation, can realize two functions of the magnetic drive capsule robot for translational and rotational movement and the measurement of the magnetic induction intensity of the space around the rotating permanent magnet, and can be widely applied to medical minimally invasive diagnosis and treatment operations.
Drawings
Fig. 1 is a magnetic driving system of a capsule robot.
Fig. 2 is a permanent magnet space magnetic induction measuring system.
In the figure: 1-motor worm gear; 2-rotating the chuck; 3-positioning the shaft; 4, a bearing platform; 5, a pipeline; 6-magnetic capsule robot; 7-external permanent magnet; 8, connecting plates; 9-permanent magnet rotating electrical machines; 10-a three-axis motion platform; 11-an operating platform; 12-hall sensor.
Detailed Description
Specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.
As shown in fig. 1 and 2, in one embodiment, the capsule robot magnetic drive and measurement system includes a motor worm gear 1; a spin chuck 2; positioning the shaft 3; a bearing table 4; a pipe 5; a magnetic capsule robot 6; an external permanent magnet 7; a connecting plate 8; a permanent magnet rotating electrical machine 9; a three-axis motion platform 10; an operation platform 11 and a hall sensor 12.
Referring to fig. 1, when the magnetic capsule robot is driven to move, the bearing table 4 is installed on the operation platform, the pipeline 5 is fixed on the bearing table 4, the magnetic capsule robot 6 is placed in the pipeline 5, the external permanent magnet 7 is connected with the permanent magnet rotating motor 9, the permanent magnet rotating motor 9 is installed on the connecting plate 8, and the connecting plate 8 is fixed on the triaxial movement platform 10.
Referring to fig. 2, when measuring the space magnetic induction intensity when the permanent magnet rotates, the permanent magnet rotating motor 9 and the external permanent magnet 7 are detached from the connecting plate 8, the motor worm and gear 1 is installed on the operating platform 11, the motor worm and gear 1 and the rotating chuck 2 are connected with the positioning shaft 3, the external permanent magnet 7 is fixed on the positioning shaft 3, and the hall sensor 12 is installed on the connecting plate 8.
Claims (8)
1. The utility model provides a capsule robot magnetic drive and measurement system, includes motor worm gear (1), spin chuck (2), location axle (3), plummer (4), pipeline (5), magnetism capsule robot (6), outside permanent magnet (7), connecting plate (8), permanent magnet rotating electrical machines (9), triaxial motion platform (10), operation platform (11) and hall sensor (12), its characterized in that: the motor worm gear (1) is arranged on the operation platform (11); the motor worm gear (1), the rotating chuck (2) and the positioning shaft (3) are connected with each other; the bearing platform (4) is arranged on the operation platform (11) and can be freely detached; the pipeline (5) is fixed on the bearing table (4); the capsule robot (6) is arranged in the pipeline (5); the external permanent magnet (7) is connected with a permanent magnet rotating motor (9); the permanent magnet rotating motor (9) is arranged on the connecting plate (8); the connecting plate (8) is fixed on the three-axis motion platform (10); the Hall sensor (12) is installed on the connecting plate (8), and the external permanent magnet (7) is fixed on the positioning shaft (3).
2. The capsule robot magnetic drive and measurement system of claim 1, wherein: the pipeline (5) is made of glass or plastic.
3. The capsule robot magnetic drive and measurement system of claim 1, wherein: the pipeline (5) is a straight pipe or an elbow pipe.
4. The capsule robot magnetic drive and measurement system of claim 1, wherein: the pipeline (5) is filled with water.
5. The capsule robot magnetic drive and measurement system of claim 1, wherein: the magnetic capsule robot (6) is a spiral surface or a smooth surface.
6. The capsule robot magnetic drive and measurement system of claim 1, wherein: the magnetic capsule robot (6) is internally provided with a radial magnetizing cylindrical permanent magnet.
7. The capsule robot magnetic drive and measurement system of claim 1, wherein: the external permanent magnet (7) is a radial magnetizing circular ring permanent magnet.
8. The capsule robot magnetic drive and measurement system of claim 1, wherein: the three-axis motion platform (10) can be a five-axis or six-axis manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921889914.2U CN211243274U (en) | 2019-11-05 | 2019-11-05 | Capsule robot magnetic drive and measurement system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921889914.2U CN211243274U (en) | 2019-11-05 | 2019-11-05 | Capsule robot magnetic drive and measurement system |
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| CN211243274U true CN211243274U (en) | 2020-08-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110604536A (en) * | 2019-11-05 | 2019-12-24 | 长沙学院 | Capsule robot magnetic drive and measurement system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110604536A (en) * | 2019-11-05 | 2019-12-24 | 长沙学院 | Capsule robot magnetic drive and measurement system |
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