CN215305687U - Magnetorheological soft medical capsule robot positioning and navigation device - Google Patents
Magnetorheological soft medical capsule robot positioning and navigation device Download PDFInfo
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- CN215305687U CN215305687U CN202120954241.5U CN202120954241U CN215305687U CN 215305687 U CN215305687 U CN 215305687U CN 202120954241 U CN202120954241 U CN 202120954241U CN 215305687 U CN215305687 U CN 215305687U
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Abstract
The utility model discloses a magnetorheological soft medical capsule robot positioning and navigation device which comprises a device main body, a shell main body, a clamping groove and a limiting ring, wherein sliding mechanisms are arranged at the top end and the bottom end of one side of the device main body, the clamping groove is arranged in the middle of one side of the outer part of the device main body, the shell main body is arranged on the outer side of the device main body, a penetrating plate is arranged at one end of each of two sides of the outer part of the device main body, and the limiting ring is arranged on the outer side wall of the device main body on one side of the penetrating plate. This kind of magnetic current becomes software medical capsule robot location and navigation head, it can be convenient fixed with the device main part to realize the camera, the convenience is dismantled the camera and is examined and repaired, the efficiency of camera dismantlement maintenance is improved, can utilize protective housing and lower protective housing to protect the camera, can reduce the friction of camera, thereby realize the life of camera, it corrodes device main part and camera to have reduced gastric acid, accomplish to recycle and save the resource.
Description
Technical Field
The utility model relates to the technical field of positioning and navigation devices, in particular to a positioning and navigation device of a magnetorheological soft medical capsule robot.
Background
The capsule micro-robot is an intelligent micro-tool which can enter the gastrointestinal tract of a human body to carry out medical exploration and treatment, and is a new breakthrough of the medical technology of internal interventional examination and treatment. At present, the technology is still in an experimental stage and is used for bringing benefits to the human beings and further experimenting and confirming, the capsule micro robot is used in the detection of patients with stomach diseases more frequently, the capsule robot can be used for irradiating the inside of the stomach in the process of treating the stomach diseases, the wound of the gastroscope of the patient can be lightened to a greater extent, and therefore the secondary injury to the patient is avoided.
With the continuous installation and use of the steel positioning and navigation device, the following problems are found in the use process:
1. the existing capsule robot positioning and navigation device is inconvenient to disassemble the camera, and the camera can be recycled after basic function maintenance after long-term use, so that the service life of the camera is prolonged.
2. The existing capsule robot positioning and navigation device does not protect the camera in the using process, if the operation is improper, the camera can be damaged,
3. the existing capsule robot positioning and navigating device has the advantages that the camera is corroded by gastric juice, so that the service life is greatly shortened, and the cyclic use is influenced.
Therefore, it is necessary to design a positioning and navigating device for a magnetorheological soft medical capsule robot to solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a magnetorheological soft body medical capsule robot positioning and navigation device, which aims to solve the problems that the camera is inconvenient to disassemble in the background technology, the camera can be recycled after basic functions are maintained after the camera is used for a long time, the service life of the camera is prolonged, the device does not protect the camera in the use process, and the camera is damaged if the device is not operated properly.
In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a magnetic current becomes software medical capsule robot location and navigation head, includes device main part, shell main part, draw-in groove and spacing ring, the top and the bottom of device main part one side all are provided with slide mechanism, and the intermediate position of the outside one side of device main part is provided with the draw-in groove, and installs the shell main part in the outside of device main part, the one end of the outside both sides of device main part all installs the through plate, all installs the spacing ring on the device main part lateral wall of through plate one side, and the inboard through connection of spacing ring and through plate has the gangbar, the intermediate position that the draw-in groove one side was kept away from to the device main part installs excessive piece, and the inboard intermediate position of excessive piece installs installation mechanism, and the inboard fixed establishment of installing mechanism installs the camera, and the inboard intermediate position installation of device main part is by the singlechip.
Preferably, one end of the shell main body is provided with a rotating shaft, the two shell main bodies and the two rotating shafts are arranged, and the two shell main bodies and the rotating shafts are in a transverse central line stacking structure.
Preferably, slide mechanism includes first spout, pulley and first thrust spring, and the lateral wall at the device main part is inlayed to first spout, and the inboard one end of first spout is connected with first thrust spring, and the one end of first thrust spring is connected with the pulley.
Preferably, the inner side of the pulley is connected with a movable handle, the middle position of one side of the movable handle is connected with a clamping block, and the bottom end of the clamping block is meshed with the inner side of the clamping groove.
Preferably, the fixing mechanism comprises a limiting groove and a fixing rod, one end of the fixing rod is connected with the inside of the mounting mechanism, and the two ends of the two sides of the fixing rod are provided with the limiting groove.
Preferably, installation mechanism includes second thrust spring, mounting hole, twist grip and first gag lever post, the mounting hole is inlayed at the lateral wall of excessive piece, and the intermediate position of the inside one side of mounting hole all is connected with second thrust spring with the one point of opposite side, and the end-to-end connection of second thrust spring has first gag lever post, and the one end of first gag lever post is rotated and is connected with twist grip, and the other end of first gag lever post is connected with the inboard of spacing groove.
Preferably, the linkage rods are provided with two, the top ends of the linkage rods are respectively provided with an upper protective shell and the linkage rods, the bottom end of one side inside the upper protective shell is provided with an installation block, and the outer side of the installation block is provided with a clamping mechanism.
Preferably, the clamping mechanism comprises a second sliding groove, a connecting spring, a second limiting rod and a connecting handle, the second sliding groove is connected with the side wall of the lower protective shell, the inner end of the second sliding groove is connected with the connecting spring, one end of the connecting spring is connected with the second limiting rod, and the top end of the connecting spring is connected with the connecting handle.
Compared with the prior art, the utility model has the beneficial effects that: according to the positioning and navigation device for the magnetorheological soft medical capsule robot, the camera can be conveniently fixed with the device main body, the camera can be conveniently detached for maintenance, the camera detachment and maintenance efficiency is improved, the camera can be protected by the upper protective shell and the lower protective shell, the friction of the camera can be reduced, the service life of the camera is prolonged, the corrosion of gastric acid to the device main body and the camera is reduced, the cyclic use is realized, and resources are saved;
(1) according to the positioning and navigation device for the magnetorheological soft medical capsule robot, the mounting mechanism is arranged on one side of the camera and comprises the second thrust spring, the mounting hole, the rotating handle and the first limiting rod, the mounting hole is embedded in the side wall of the transition block, the camera can be conveniently and fast fixed with the device body in the using process of the robot, the camera is conveniently detached for maintenance, and the camera detaching and maintaining efficiency is improved;
(2) according to the magneto-rheological soft body medical capsule robot positioning and navigating device, the clamping mechanism is arranged at the intersection position of the upper protective shell and the lower protective shell and comprises the second chute, the connecting spring, the second limiting rod and the connecting handle, the second chute is connected with the side wall of the lower protective shell, the camera can be protected by the upper protective shell and the lower protective shell, the friction of the camera can be reduced, and the service life of the camera can be prolonged;
(3) this magnetic current becomes software medical capsule robot location and navigation head, be provided with the shell main part through the one side in the device main part, and protective housing passes through slide mechanism to be connected with lower protective housing in the shell main part, slide mechanism includes first spout, pulley and first thrust spring, the lateral wall in the device main part is inlayed to first spout, it is provided with the protection to have realized that the device is in the outside of device main part and one side of camera, can reduce the whole friction to patient's health inboard of device, it corrodes device main part and camera to have reduced gastric acid simultaneously, accomplish to recycle and save resources.
Drawings
FIG. 1 is a side cross-sectional structural schematic view of the present invention;
FIG. 2 is a schematic view of the internal structure of the mounting mechanism of the present invention;
FIG. 3 is an enlarged schematic view of the upper protective housing of the present invention;
FIG. 4 is an enlarged view of the structure at A in FIG. 3 according to the present invention;
FIG. 5 is a block diagram of the system of the present invention.
In the figure: 1. a device main body; 101. a single chip microcomputer; 2. a housing main body; 3. a sliding mechanism; 301. a first chute; 302. a pulley; 303. a first thrust spring; 4. moving the handle; 5. a clamping block; 6. a card slot; 7. penetrating the plate; 8. a rotating shaft; 9. a camera; 10. a fixing mechanism; 1001. a limiting groove; 1002. fixing the rod; 11. an installation mechanism; 1101. a second thrust spring; 1102. mounting holes; 1103. rotating the handle; 1104. a first limit rod; 12. a transition block; 13. an upper protective housing; 14. a limiting ring; 15. a linkage rod; 16. a lower protective housing; 17. mounting blocks; 18. a chucking mechanism; 1801. a second chute; 1802. a connecting spring; 1803. a second limiting rod; 1804. is connected with a handle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a robot positioning and navigating device for a magnetorheological soft medical capsule comprises a device main body 1, a shell main body 2, a clamping groove 6 and a limiting ring 14, wherein the top end and the bottom end of one side of the device main body 1 are both provided with a sliding mechanism 3, the middle position of one side outside the device main body 1 is provided with the clamping groove 6, and the outer side of the device main body 1 is provided with a shell main body 2, one end of the two sides of the outer part of the device main body 1 is provided with a through plate 7, the outer side wall of the device main body 1 at one side of the through plate 7 is provided with a limit ring 14, and the inner sides of the limiting ring 14 and the penetrating plate 7 are connected with a linkage rod 15 in a penetrating way, the middle position of one side of the device main body 1 far away from the clamping groove 6 is provided with a transition block 12, the middle position of the inner side of the transition block 12 is provided with an installation mechanism 11, and the inboard fixed establishment 10 of installing the mechanism 11, camera 9 is installed to one side of fixed establishment 10, the inboard intermediate position of device main part 1 is installed by singlechip 101.
In this example, one end of the housing body 2 is provided with the rotating shaft 8, and the two housing bodies 2 and the two rotating shafts 8 are both provided with the rotating shaft 8, the two housing bodies 2 and the rotating shaft 8 are in a transverse center line stacking structure, the device utilizes the housing body 2 to protect the device body 1, and the design of the circular arc of the housing body 2 is utilized to increase the lubrication degree of the robot in the use process.
The sliding mechanism 3 comprises a first sliding groove 301, a pulley 302 and a first thrust spring 303, the first sliding groove 301 is embedded in the side wall of the device main body 1, one end of the inner side of the first sliding groove 301 is connected with the first thrust spring 303, one end of the first thrust spring 303 is connected with the pulley 302, and the device realizes the adjustment of the position of the linkage rod 15 by utilizing the sliding of the pulley 302 in the inner side of the first sliding groove 301.
The inboard of pulley 302 is connected with removal handle 4, and the intermediate position of removal handle 4 one side is connected with fixture block 5, and the inboard intermeshing of the bottom of fixture block 5 and draw-in groove 6, and the device utilizes the bottom card of fixture block 5 to realize the adjustment of gangbar 15 inclination in the inboard of draw-in groove 6 to convenient realization goes up protective housing 13 bottom and protective housing 16 top closure down.
The fixing mechanism 10 includes a limiting groove 1001 and a fixing rod 1002, one end of the fixing rod 10022 is connected to the inside of the mounting mechanism 11, the two ends of the two sides of the fixing rod 1002 are both provided with the limiting groove 1001, and the limiting groove 1001 is engaged with the bottom end of the first limiting rod 1104 to limit the position of the fixing rod 1002.
The mounting mechanism 11 comprises a second thrust spring 1101, a mounting hole 1102, a rotating handle 1103 and a first limiting rod 1104, the mounting hole 1102 is embedded in the side wall of the transition block 12, the second thrust spring 1101 is connected to the middle position of one side inside the mounting hole 1102 and one point of the other side, the first limiting rod 1104 is connected to the tail end of the second thrust spring 1101, the rotating handle 1103 is rotatably connected to one end of the first limiting rod 1104, the other end of the first limiting rod 1104 is connected with the inner side of the limiting groove 1001, the mounting mechanism 11 is used for assembling the camera 9 and one side of the device main body 1, and the camera 9 is conveniently detached for maintenance.
Two linkage rods 15 are arranged, an upper protective shell 13 and the linkage rods 15 are respectively installed at the top ends of the linkage rods 15, an installation block 17 is installed at the bottom end of one side inside the upper protective shell 13, and a clamping mechanism 18 is installed on the outer side of the installation block 17.
The clamping mechanism 18 includes a second chute 1801, a connecting spring 1802, a second limit rod 1803 and a connecting handle 1804, the second chute 1801 is connected with the side wall of the lower protective casing 16, the connecting spring 1802 is connected to one end of the inner side of the second chute 1801, the second limit rod 1803 is connected to one end of the connecting spring 1802, the connecting handle 1804 is connected to the top end of the connecting spring 1802, the position of the mounting block 17 is limited by the clamping mechanism 18, and protection of the outer side of the camera 9 is achieved.
The working principle is as follows: when the device is used, firstly, according to the structure shown in fig. 1 and fig. 2, the camera 9 is assembled with one side of the device body 1, the camera 9 is controlled by the single chip microcomputer 101 on the inner side of the device body 1, the inner side of the device body 1 is provided with an electronic element with a storage function, the fixing rod 1002 drives one side of the camera 9 to be attached to the inside of the mounting mechanism 11, the rotating handle 1103 rotates to drive the bottom end of the first limiting rod 1104 to slide into the inner side of the limiting groove 1001, the rotating angle of the first limiting rod 1104 is limited by the thrust generated by the second thrust spring 1101 after the fixing rod 1002 slides into the inner side of the limiting groove 1001, the clamping between one end of the fixing rod 1002 and the inside of the mounting mechanism 11 is realized, and the assembly of the camera 9 is completed;
subsequently, according to the structure shown in fig. 1, fig. 3, fig. 4 and fig. 5, after the camera 9 is installed, the upper protective housing 13 and the lower protective housing 16 are closed by sliding the pulley 302 on the inner side of the first sliding groove 301, the mounting block 17 is limited on the inner side of the clamping mechanism 18 after the bottom end of the upper protective housing 13 is closed with the top end of the lower protective housing 16, the second limiting rod 1803 is pushed by the connecting spring 1802, so that the two second limiting rods 1803 are clamped on two sides of the mounting block 17, the position of the mounting block 17 is limited, and after the limitation is finished, the camera 9 is protected by the upper protective housing 13 and the lower protective housing 16, so as to achieve the purpose of prolonging the service life of the camera 9.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a magnetic current becomes software medical capsule robot location and navigation head, includes device main part (1), shell main part (2), draw-in groove (6) and spacing ring (14), its characterized in that: the device is characterized in that the top end and the bottom end of one side of the device main body (1) are respectively provided with a sliding mechanism (3), a clamping groove (6) is formed in the middle position of one side of the outer part of the device main body (1), the outer side of the device main body (1) is provided with a shell main body (2), one ends of two sides of the outer part of the device main body (1) are respectively provided with a through plate (7), the outer side wall of the device main body (1) at one side of the through plate (7) is respectively provided with a limiting ring (14), the inner sides of the limiting ring (14) and the through plate (7) are respectively connected with a linkage rod (15) in a penetrating way, the middle position of one side, far away from the clamping groove (6), of the device main body (1) is provided with a transition block (12), the middle position of the inner side of the transition block (12) is provided with an installation mechanism (11), the inner side of the installation mechanism (11) is provided with a fixing mechanism (10), one side of the fixing mechanism (10) is provided with a camera (9), the middle position of the inner side of the device main body (1) is provided with a singlechip (101).
2. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 1, wherein: one end of the shell main body (2) is provided with a rotating shaft (8), the two shell main bodies (2) and the two rotating shafts (8) are arranged, and the two shell main bodies (2) and the two rotating shafts (8) are in a transverse central line stacking structure.
3. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 1, wherein: slide mechanism (3) include first spout (301), pulley (302) and first thrust spring (303), and lateral wall at device main part (1) is inlayed in first spout (301), and the one end of first spout (301) inboard is connected with first thrust spring (303), and the one end of first thrust spring (303) is connected with pulley (302).
4. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 3, wherein: the inner side of the pulley (302) is connected with a movable handle (4), the middle position of one side of the movable handle (4) is connected with a clamping block (5), and the bottom end of the clamping block (5) is meshed with the inner side of the clamping groove (6).
5. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 1, wherein: the fixing mechanism (10) comprises a limiting groove (1001) and a fixing rod (1002), one end of the fixing rod (1002) is connected with the inside of the mounting mechanism (11), and the limiting groove (1001) is arranged at each of two ends of the fixing rod (1002).
6. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 1, wherein: installation mechanism (11) include second thrust spring (1101), mounting hole (1102), twist grip (1103) and first gag lever post (1104), the lateral wall at excessive piece (12) is inlayed in mounting hole (1102), and the intermediate position of the inside one side of mounting hole (1102) all is connected with second thrust spring (1101) with the one point of opposite side, and the end-to-end connection of second thrust spring (1101) has first gag lever post (1104), and the one end of first gag lever post (1104) is rotated and is connected with twist grip (1103), and the other end of first gag lever post (1104) is connected with the inboard of spacing groove (1001).
7. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 1, wherein: the linkage rod (15) is provided with two, the top end of the linkage rod (15) is respectively provided with an upper protective shell (13) and the linkage rod (15), the bottom end of one side inside the upper protective shell (13) is provided with an installation block (17), and the outer side of the installation block (17) is provided with a clamping mechanism (18).
8. The magnetorheological soft body medical capsule robot positioning and navigating device according to claim 7, wherein: chucking mechanism (18) include second spout (1801), coupling spring (1802), second gag lever post (1803) and connection handle (1804), second spout (1801) is connected with the lateral wall of lower protective housing (16), and the inboard one end of second spout (1801) is connected with coupling spring (1802), and the one end of coupling spring (1802) is connected with second gag lever post (1803), and the top of coupling spring (1802) is connected with connection handle (1804).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120954241.5U CN215305687U (en) | 2021-05-07 | 2021-05-07 | Magnetorheological soft medical capsule robot positioning and navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120954241.5U CN215305687U (en) | 2021-05-07 | 2021-05-07 | Magnetorheological soft medical capsule robot positioning and navigation device |
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| Publication Number | Publication Date |
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| CN215305687U true CN215305687U (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120954241.5U Expired - Fee Related CN215305687U (en) | 2021-05-07 | 2021-05-07 | Magnetorheological soft medical capsule robot positioning and navigation device |
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| CN (1) | CN215305687U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941470A (en) * | 2022-05-13 | 2022-08-26 | 电力工业产品质量标准研究所有限公司 | Safety fence is used at intelligence power maintenance scene |
-
2021
- 2021-05-07 CN CN202120954241.5U patent/CN215305687U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941470A (en) * | 2022-05-13 | 2022-08-26 | 电力工业产品质量标准研究所有限公司 | Safety fence is used at intelligence power maintenance scene |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211228 |
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| CF01 | Termination of patent right due to non-payment of annual fee |