KR20110066983A

KR20110066983A - Ciliation rotate movement a propulsion robot

Info

Publication number: KR20110066983A
Application number: KR1020090110056A
Authority: KR
Inventors: 김한식
Original assignee: 김한식
Priority date: 2009-11-16
Filing date: 2009-11-16
Publication date: 2011-06-20

Abstract

PURPOSE: An endoscope robot using cilia rotation is provided to can progress and reverse by stably generating propulsion by bending and rotating cilia in a spiral shape. CONSTITUTION: An endoscope robot using cilia rotation comprises a capsule endoscope body, a transfer screw rotary shaft(53), a connecting pipe member(15), a transferring ultrasonic motor(50), an ultrasonic wave rotating member(51), a rotary ultrasonic motor(40), and a cilium driving member(20). The transfer screw rotary shaft is fixed to the transferring ultrasonic motor and ultrasonic wave rotating member through a shaft. The transfer screw rotary shaft is rotated in the outside of the connecting pipe member. A data line is easily installed among the part of front and rear surfaces(11,12) of the capsule endoscope body. The ultrasonic wave rotating member and transferring ultrasonic motor are assembled outside the capsule endoscope body. The ultrasonic wave rotating member is rotated with the rotary ultrasonic motor.

Description

Ciliation rotate movement a propulsion robot}

The present invention can be rotated in opposite directions with a pair of rotors on the outside of the body of the capsule endoscope robot and the cilia are arranged around the outer periphery of the capsule endoscope by adjusting the angle of the cilia by moving the rotor forward, backward Determine the direction of the endoscope robot by rotating the rotating body, the cilia are bent in the form of a spiral as the load is applied to the inner wall of the internal organs of the human body and turns into a spiral shape to move the capsule endoscope robot. In this way the capsule endoscope robot is precisely controlled. Since the cilia stand in a flower arrangement from the body of the capsule endoscope robot and are written at an angle of about 90 degrees, the length of the cilia is much larger than the diameter of the internal organs of the human body. Does not slip Since it can be moved according to the rotation of the cilia, it is possible to take an accurate picture without missing one place.

The development of unmanned robots equipped with both communication and imaging devices is in full swing and is used in some of the sites, and the equipment used by the military mainly moves in wheels or infinite comfort, detecting mines, detecting enemies, and exploding bombs. Even dismantling is performed. At home, it is mainly used as a robot with wheels. Currently, it is mainly used as a cleaning robot. As a micro type, it is a capsule form for endoscopy. When swallowed through the mouth, it moves along with the digestive movements of the intestine. It is a useful equipment to take about 2 pictures. However, there is a disadvantage in that it is not possible to directly control the target by controlling as intended by the user.

The present invention relates to an autonomous driving method in the internal passage of the human organs, which is the biggest disadvantage of the conventional capsule endoscope robot, to create a capsule endoscope robot that is perfectly controlled even in a relatively large passage such as a small passage and a large intestine such as the small intestine.

The present invention relates to an autonomous driving method in the internal organ passage of the human body, which is the biggest disadvantage of the conventional capsule endoscope robot, a capsule as a solution for making a capsule endoscope robot that is perfectly controlled even in a relatively large passage such as a small passage and a large intestine. It has a pair of rotors on the outside of the endoscope robot and a cilia means on the outside of the endoscope robot, the length of which is larger than the diameter of the large intestine so that the load can be generated in the large intestine. Rotating in the opposite direction, the cilia vary the angle as the rotor moves in the forward and backward directions, and the angle is formed by bending in the direction of the angle, that is, the direction opposite to the pushing direction. Rotating the rotor with the angle of the cilia in a direction opposite to the direction of propulsion causes the cilia to rub against the inner wall of the organ, and under the frictional load, the cilia are bent in a spiral shape and the capsule endoscope robot is propelled.

By rotating the cilia of the present invention to bend in a spiral shape to make the robot propelled using the cilia into a micro robot, a medical nanorobot and an endoscope robot can be made.

Hereinafter, the configuration and embodiments of the present invention will be described in detail with reference to the accompanying drawings. 1 is a perspective view of a robot pushed by rotating the cilia and a side view of the robot pushed by rotating the cilia of FIG. 2, as shown in the capsule endoscope on the front part 11 and the rear part 12 of the capsule endoscope body 10. It is the same as the conventional capsule endoscope robot equipped with all necessary components of the robot, such as lighting, a camera module, a battery means, a transmission / reception module, a control module, etc. The present invention relates to the configuration and method of the propellant of the autonomous driving device of the capsule endoscope robot. It is about. FIG. 3 is a front view of the robot pushed by rotating the cilia, and the cilia means 17 and the cilia means 18 are overlapped, so that only the cilia means 17 are shown. Note that the 17 and the ciliary means 18 rotate in opposite directions. 4 is a view showing the connection pipe means 15 and the propellant space portion 16 of the capsule endoscope body 10 to remove all the propellant configuration in the present invention and FIG. In the side view of the cover 41, the lubricating film 19, the drawing showing a part of the crooked bending fixing means 30 is shown and the transport ultrasonic motor 50 and the ultrasonic rotating means 51 which is configured on the rear portion 12 side The configuration of the feed screw rotating shaft 53 fixed to the shaft is provided with an empty space inside the fitting pipe means 15 is provided outside the rotation of the feed screw rotating shaft 53 of the connecting pipe means 15 It is done externally. Since the connecting pipe means 15 is empty inside, it is easy to apply electricity and data wiring between the components of the front portion 11 and the rear portion 12. The ultrasonic rotating means 51 and the feeding ultrasonic motor 50 for rotating the screw screw rotation shaft 53 are already commercially used as an ultrasonic motor which obtains rotational force by using the vibration of ultrasonic waves and can be made small in size. It has advantages and is widely used in various portable electronic devices as a motor with high torque and low torque without the need for a gearbox. It is mass-produced and sold by Piezo Technology Co., Ltd. in Korea. Ultrasonic rotating means 45 is provided on both sides of the feed screw rotating shaft 53 with the rotating ultrasonic motor 40 and is fixed to each of the ciliary driving means 20, that is, the rotating ultrasonic motor ( According to the ultrasonic drive of 40, the ultrasonic rotating means 45 and the fixed ciliary driving means 20 rotate in opposite directions, respectively, on both sides thereof. In order to drive the ciliary driving means 20 which rotate in opposite directions to each other, the ciliary driving means 20 may be provided separately. As shown in FIG. 6, the center of the ciliary driving means 20 includes the hole means of the transfer hole portion 21, and an internal thread 22 is provided on the inner wall thereof, and is assembled to the transfer screw rotation shaft 53 to transfer the screw rotation shaft 53. ) Will move according to the rotation. Outside the ciliary driving means 20 is provided with a plurality of concave portions of the conveying guide 23 means is also provided with a ciliary bending space portion 24 and the hair root portion of the ciliary means is fixed to a portion of the center of the lower end. In the present invention, four ciliated means of the ciliary bending space 24 of the ciliary driving means 20 are illustrated, but the number of ciliary means is smaller, and the number of the ciliary driving means 20 can be configured as one, two, or three. It also reveals that more than dogs can be made. The cilia bending fixing means 30 is assembled to the outside of the ciliary driving means 20, and a plurality of transfer guide portions 31 are protruded therein so as to fit the transfer guide 23 of the ciliary driving means 20. Due to this, the cilia bending fixing means 30 outside the ciliary driving means 20 is torqued by the conveying guide 23 and the conveying guide part 31 according to the rotation of the ciliary driving means 20. Rotate together and the cilia driving means 20 can be moved forward and backward by the rotation of the feed screw rotating shaft 53. When the ciliary driving means 20 and the ciliary bending fixing means 30 are assembled, each ciliary means 17, or the ciliary bending guide hole 33 above the ciliary fixing portion 27 to which the ciliary means 18 is fixed. ) Is provided with a space portion of the ciliary bending induction angle 35 inward and the angle of the wall has about 100 degrees, but may have a smaller angle or a larger angle size. That is, the ciliary bending guide hole 33 is a hole means for catching the ciliate, and the ciliary bending guide part 35 moves in the ciliary fixing part 27 when the ciliary fixing part 27 is moved before and after the ciliary driving means 20. Since the ciliary bending fixing means 30 do not move forward and backward, the ciliary bending guide hole 33 holds the ciliary. In such a relationship, the cilia are bent at the ciliary bending induction angle part 35, and consequently, the cilia coming out of the ciliary bending induction hole 33 generate warpage in the direction of the front part 11 and the rear part 12. Even in such a state of bending, each of the ciliary driving means 20 and the ciliary bending fixing means 30 can rotate in opposite directions with the rotational force of the ultrasonic rotating means 45 according to the driving of the rotary ultrasonic motor 40. FIG. 7 is a view illustrating a feed screw rotation shaft 53 by partially cutting the cilia driving means 20 in FIG. 4, and FIG. 8 is a cilia means for transferring the cilia driving means 20 and the rotary ultrasonic motor 40 in FIG. 7. 17 is a diagram showing the cilia means 18 bent through the cilia bending guide hole 33, and FIG. 9 shows the cilia means 18 bent through the cilia bending guide hole 33 in a direction opposite to that of FIG. The figure shown. 10 is a view to allow the size comparison of the ciliary means 17, the ciliary means 18 to the diameter of the human organs 60 in the front view of the robot that is driven by rotating the cili and rotating the cili of the present invention Each cilia of the robot to be pushed to have a length longer than the inner diameter of the human organs (60). The reason for this is that as shown in FIG. 11, the ciliary means 17 and the ciliary means 18 are rotated in opposite directions, respectively, to form a spiral shape by bending the inner wall of the human organ 60. The force exerted in the opposite direction bent in the direction of the front portion 11, the rear portion 12 of the cilia means 18. That is, if you want to move forward, the cilia means 17, the cilia means 18 bend to the rear portion 12 and rotate in the opposite direction, if you want to reverse the cilia means 17, the cilia means 18 to the front portion 11 The cuff means 17 and the cilia means 18 may be rotated in opposite directions. As shown in FIG. 12, the motor means 46 is mounted in the rear portion 12 of the capsule endoscope body 10, and one of the ciliator fixtures 48 is provided with the rotation shaft 47 having the ciliator fixtures 48 toward the rear. Fixing the above ciliary means to the rear end to drive and rotate the motor means 46 can also advance. However, the capsule endoscope body 10 is not a preferred method because the warp and precise control is not good, but the present invention has been shown and described above. Robots driven by rotating the cilia of the present invention can be moved forward and backward in a simple and effective configuration, and the biggest advantage is the stable propulsion force from the small diameter part like the small intestine to the large diameter part like the large intestine When not propelled, each cilia are supported on the inner wall, so it is possible to perform precise purpose without missing any part.

1 is a perspective view of a robot that is driven by rotating the cilia.

2 is a side view of the robot being driven by rotating the cilia.

3 is a front view of the robot being pushed by rotating the cilia.

4 is a view showing the connecting pipe means 15 and the propellant space portion 16 of the capsule endoscope body 10.

5 is a view showing a part of the cover 41, the lubricating film 19, the ciliary bending fixing means 30 in the side view of FIG.

Figure 6 is a view showing the configuration and assembly configuration of the ciliary driving means 20, ciliary bending fixing means (30).

FIG. 7 is a view showing a feed screw rotation shaft 53 by partially cutting the ciliary driving means 20 in FIG. 4.

8 is a view showing the cilia driving means 20 and the rotating ultrasonic motor 40 in FIG. 7 by bending the cilia means 17 and the cilia means 18 through the cilia bending guide hole 33.

9 is a view showing the cilia means 18 bent through the cilia bending guide hole 33 in a direction opposite to that of FIG.

FIG. 10 is a diagram for comparing the size of the ciliary means 17 and the ciliary means 18 to the size of the diameter of the human organ 60 in the front view of the robot driven by rotating the cilia.

FIG. 11 is a view showing that the ciliary means 17 and the ciliary means 18 in FIG. 10 are rotated in opposite directions, respectively, to be bent on the inner wall of the human organ 60 to make a spiral shape.

FIG. 12 is a view showing the cilia means 17 rotating on the rear portion 12 of the capsule endoscope body 10 of the robot which is driven by rotating the cilia.

Capsule Endoscope Body (10) Front (11)

Rear pipe part (12) Connecting pipe means (15)

Propellant space portion (16) Cilia means (17)

Ciliary means (18) Lubrication film (19)

Cilia driving means 20 Feed hole 21

Female thread (22) Feed guide (23)

Cilia flexural space part (24) Cilia fixing part (27)

Cilia bending fixing means (30) Feed guide part (31)

Cilia bending guide hole (33) Cilia bending guide part (35)

Rotary Ultrasonic Motor (40) Cover (41)

Ultrasonic Rotating Means (45)

Motor means 46, rotary shaft 47

Cilia Fixture (48) Transport Ultrasonic Motor (50)

Ultrasonic Rotating Means (51) Feed Screw Rotating Shaft (53)

Human Organs (60) Human Organs (61)

Claims

In the capsule endoscope robot equipped with all the necessary components of the capsule endoscope robot, lighting, camera module, battery means, transmission and reception module, control module, etc. in the front end 11 and the rear part 12 of the capsule endoscope body 10 ,

The interior of the capsule is provided with a space of the interior of the feed shaft rotating shaft 53 fixed to the feeding ultrasonic motor 50 and the ultrasonic rotating means 51 is configured on the rear side 12 of the endoscope body 10 It is fitted to the outside of the connecting pipe means 15 and the rotation of the feed screw rotating shaft 53 is made outside the connecting pipe means 15, the connecting pipe means 15 is the front portion 11 because the inside thereof is empty ) And the installation of electricity and data wiring between the parts of the rear part 12 are easily installed, and the ultrasonic rotating means 51 and the feeding ultrasonic motor 50 for rotating the feeding screw rotating shaft 53 to the outside thereof. ) Is assembled, and the ultrasonic screw rotating means 45 is rotated on both sides by a rotating ultrasonic motor 40 on the feed screw rotating shaft 53 and fixed to each ciliary driving means 20. That is, the ultrasonic wave of the rotary ultrasonic motor 40 The robot is driven by rotating the cilia by rotating the ultrasonic rotating means 45 and the fixed ciliary driving means 20 respectively in opposite directions according to the driving.

At the center of the cilia driving means 20 there is a hole means of the conveying hole portion 21 and an internal thread 22 is provided on the inner wall thereof, which is assembled to the conveying screw rotation shaft 53 and moved in accordance with the rotation of the conveying screw rotation shaft 53. On the outside of the ciliary driving means 20 is provided with a plurality of concave portions of the conveying guide 23 means, and the ciliary bending space 24 is also provided, and the root of the ciliary means is fixed to a part of the center of the lower end thereof. A robot that is driven by rotating a cilia as provided.

The ciliary bending fixing means 30 is assembled to the outside of the ciliary driving means 20, and a plurality of transfer guide portions 31 are protruded therein so that the ciliary driving means 20 is fitted to the transfer guide 23 of the ciliary driving means 20. As a result, the ciliary bending fixing means 30 outside the ciliary driving means 20 is torqued by the transfer guide 23 and the transfer guide part 31 according to the rotation of the ciliary driving means 20. Rotation and rotation of the feed screw rotation shaft 53, the cilia driving means 20 is a robot that is driven by rotating the cilia that can move forward, backward.

When the ciliary driving means 20 and the ciliary bending fixing means 30 are assembled, each ciliary means 17, or the ciliary bending guide hole 33 above the ciliary fixing portion 27 to which the ciliary means 18 is fixed. Is provided, and the space of the cilia bending-induced angle part 35 is provided inward, and the angle of the wall has about 100 degrees, but it may have a smaller angle or a larger angle size from time to time. The bending guide hole 33 is a hole means for holding the cilia, and the cilia bending induction part 35 moves the cilia in the cilia fixing part 27 when the cilia driving means 20 is moved forward and backward. Since the bending fixing means 30 does not move forward and backward, the cilia are held in the cilia bending guide hole 33. As a result, the cilia are bent at the cilia bending guide angle part 35, and consequently the cilia bending guide holes ( 33) Cilia outwardly are warped in the direction of the front part 11 and the rear part 12. The cilia driving means 20 and the cilia bending fixing means 30 may rotate in opposite directions with the rotational force of the ultrasonic rotating means 45 according to the driving of the rotary ultrasonic motor 40 even in the state having such bending. Robot which is pushed by rotating cilia.

At least one ciliary means is attached to the ciliary fixture 48 by mounting the motor means 46 inside the rear portion 12 of the capsule endoscope body 10 and the rotating shaft 47 having the ciliary fixture 48 toward the rear. The robot propelled by rotating the cilia which can be rotated by driving the motor means 46 to be bent to the rear.