TW201927493A - A protrusive and retractable vine apparatus and methods of operations - Google Patents

Abstract

A protrusive and retractable vines-type device includes a soft object A, a soft object B, a fluid valve, a protrusive and retractable actuator, a protrusive and retractable controller and a power module; wherein the soft object A and the soft object B have a volume, or the area is enlarged or reduced and extended or reverse stretched. The soft object A is located in the inner space of the soft object B. The fluid valve has the function of controlling fluid inflow, outflow or closing, and the telescopic execution module is controlled by the telescopic controller to provide different telescopic amplitude and direction of the magnitude of the soft object A, can be more detailed decision of the soft object A extending or reverse the bending direction and angle. The power module provides the device power. It characterized in that the soft object A can be specified at a specified location angle turn stretch and inverse stretch. And methods of operations for it.

Description

Retractable vine type device and operation method

The invention belongs to the field of robots and medical instruments, and particularly relates to a retractable vine type device and a working method.

There are many types of robots and how they work. For example: humanoid robots, robotic arms, bionic robots, and many others, many types. It can be easily divided into two categories: hard-body robots and soft-body robots. Hou Taogang, Wang Tianmiao, Su Haohong and others [software robot frontier technology and application hotspots. Science and Technology Herald, 2017, 35 (18): 20-28; doi: 10.3981/j.issn.1000-7857.2017.18.002] Many soft robots currently. Among them, Hawkes EW, Blumenschein LH, Greer JD, et al. [A soft robot that navigates its environment through growth. Science Robotics, 2017, 2(8): eean 3028.] of Stanford University, USA, proposes a vine robot. Its characteristics include that the robot body is soft, resembling the stretch and turn of natural vine plants. The soft robot's characteristics make it suitable for many situations, especially for medical situations.

Bionic vine-type robots from Stanford University in the United States have some shortcomings, such as: they can only stretch outwards and cannot be retracted (or called reverse stretching); the front-end camera cannot adjust the angle; the front end cannot be fixed with the environment; The camera power at the front end cannot be supplied by magnetic force. These shortcomings need to be improved.

In addition, there are many types of medical devices and how they work. For example: Da Vinci robotic surgery system, laparoscopic surgical instruments, small intestine endoscopy, gastroscope, nasal cavity, colonoscopy, colonoscopy, cardiovascular surgical instruments, and so on, and a variety of methods of operation.

At present, medical devices have some shortcomings. For example, medical devices that are in contact with the human body are too hard to provide a larger angle of turning at shorter distances, and the patient feels uncomfortable; some medical devices, such as capsule small intestine endoscopes, enter the human body. Unable to control and operate well, after entering the small intestine, it can not return to the direction closer to the stomach. These shortcomings need to be improved.

The present invention is directed to the above-mentioned deficiencies and shortcomings, and proposes an extendable and retractable vine-type device, an operation module at the front end of the device can adjust the angle, the front end of the device can be fixed with the environment, and the operation module of the front end of the device can be magnetically Ways to provide, and how to operate. These are the main differences between the present invention and the prior art.

In view of the retractable feature, the present invention provides a retractable vine-type device comprising: a soft object A (10): having a volume or area increase or decrease and stretching or reverse stretching function, including a soft object A internal space (11) ) with a soft object A telescopic component (12), the soft object A (10) and the fluid valve (30) form a controllable closed space, sometimes a closed space, sometimes a non-closed space, by a telescopic controller (50) The control fluid valve (30) causes the fluid to flow into or out of the inner space (11) of the soft object A. Since the pressure of the inner space (11) of the soft object A rises or falls, the elastic member A (12) may be stretched or reversed by the pressure. Stretching (retracting) phenomenon, a soft object B (20): having a volume or area increase or decrease and stretching or reverse stretching function, including a soft object B internal space (21) and a soft object B telescopic component (22) The soft object A (10) is located in the inner space (21) of the soft object B. When the soft object A (10) is stretched or reversely stretched, the soft object B telescopic member (22) is stretched or reversely stretched (retracted). a fluid valve (30): with control flow The body inflow, outflow, or closing function is provided by the telescopic controller (50) to control the fluid in and out, pressure, and closing, so that the fluid flows into, out of, or is enclosed by the fluid valve (30) in the internal space of the soft object A (11) ), a telescopic execution module (40): controlled by the telescopic controller (50), providing different telescopic amplitudes and directions to the soft object A (10), causing the soft object A (10) to stretch or reversely stretch, The smaller the expansion and contraction amplitude is, the shorter the length of the extension or reverse extension of the soft object A telescopic member (12) is, and even the expansion and contraction is not. When the expansion and contraction amplitude is larger, the length of the extension or reverse extension of the soft object A telescopic member (12) is longer. When the number of flexing points is greater than or equal to one, the bending direction and angle of the soft object A (10) can be determined. A telescopic controller (50) has a fluid valve (30), fluid inflow, outflow, or closure. The pressure level control function has a telescopic execution module (40) control function, and a power module (200): provides power of the device; and is characterized in that the soft object A (10) can be bent at a specified position and at a specified angle. Reverse stretch with turnable. This device provides the basis for operating the telescoping controller (50) via a person or algorithm such that the body of the device can be extended and reversed, advanced and retracted in accordance with the desired path.

Based on the foregoing device, the present invention provides a flexible vine-type device operation method, comprising the following steps: (1a). The power module supplies power to the device, (1b). The telescopic controller is provided by a person or an algorithm ( 50) an instruction to control the extension and reverse extension paths of the soft object A (10) until the soft object B (20) extends and reversely reaches the target position; characterized by having an extension and reverse stretching operation. This method of operation provides an operation that allows the body of the device to be stretched and reversed, advanced, and retracted in accordance with a desired path.

The present invention further includes a retractable vine-type device, further comprising: a magnetic module (60) having the function of generating magnetic lines of different strengths or directions, using magnetic force to change the angular characteristics of the operating module at the front end of the device. The direction or position of the magnetic object (100) The magnetic controller (70) has a function of providing a control of the magnetic module (60), and the magnitude or position change of the magnetic material (100) is changed by the magnetic strength or direction, and an operation module (80): With sensing, operation, or function, it can be a camera, sensor, ultrasonic component, light source, laser, robot, stapler, scissors, clip, knife, saw, drill, placed material parts, placed Incorporating a drug component, a biochemical biochemical component, a storage container component, an electrocautery component, a radio communication component, an inductor, a circuit, a microprocessor, or other functional component, and attaching it to a soft object in combination with a seat module (90) B (20), a module (90): providing a function of changing the relative angle between the operation module (80) and the seat module (90) due to the influence of the magnetic force of the magnetic object (100), and the operation module (80), magnetic material (100), and soft object B (20) combined, a magnetic object (100): fixed with the operation module (80) or the seat module (90), subject to the magnetic module (60) The magnetic influence provided can change the relative angle between the magnetic object (100) and the soft object B (20), thereby changing the operation module ( 80) An angle between the seat module (90) and the soft object B (20); characterized by a magnetic control of the relative angle between the operating module (80) and the soft object B (20).

Based on the foregoing apparatus, the present invention further includes a scalable vine-type device operating method, further comprising the steps of: (2a). providing a magnetic controller (70) command by a person or an algorithm to control the magnetic field lines of the magnetic module (60) Intensity or direction, the magnetic field lines change the relative angle between the magnetic object (100), the seat module (90), and the operation module (80) and the soft object B (20), (2b). The operation mode is provided by a person or an algorithm. The group (80) command performs sensing, operation, or application; and is characterized in that the soft object B (20) is stretched and reversely stretched, and is magnetically controlled between the operation module (80) and the soft object B (20). Angle.

The present invention further includes a retractable vine-type device, further comprising: a soft object C (500) having a function of increasing the volume and reducing the size, and combining with the soft object B (20). The telescopic controller (50) provides functional control such as fluid inlet and outlet, pressure, etc., so that the fluid flows into, out of, or is enclosed by the fluid valve (30) to the soft object C (500); The problem is that the soft object B (20) and the environmental object can be fixed or confined within the three-dimensional space of the environment.

Based on the foregoing apparatus, the present invention further includes a scalable vine-type device operating method, further comprising the steps of: (3a). providing a telescopic controller (50) command by a person or an algorithm to change the soft object C (500) volume Large, so that the soft object B (20) and the environmental object are fixed or limited to the three-dimensional space of the environment, or the soft object C (500) is reduced in size, so that the soft object B (20) and the environmental object are not fixed or limited to the environment three-dimensional Within the space; characterized by having the step of fixing/unfixing the soft object B (20) with the environmental object or limiting/not limiting it to the three-dimensional space of the environment.

The present invention further includes a retractable vine-type device for the feature that the operating module power at the front end of the device can be magnetically provided, further comprising: an inductor (300): obtaining energy from magnetic lines of force in the environment, and energy The magnetic energy supply circuit (400) is combined with the soft object B (20) or the soft object A (10), and a magnetic energy source circuit (400) converts the energy obtained by the inductor (300) into electric energy to supply electric power; It is characterized in that the inductor (300) is combined with the soft object B (20) or the soft object A (10) to obtain energy from the magnetic force and convert it into electric power.

10‧‧‧Soft object A

11‧‧‧Soft object A internal space

12‧‧‧Soft object A telescopic parts

20‧‧‧Soft object B

21‧‧‧Soft object B internal space

22‧‧‧Soft object B telescopic parts

30‧‧‧ fluid valve

40‧‧‧Flexible Execution Module

50‧‧‧ telescopic controller

60‧‧‧ magnetic module

70‧‧‧ magnetic controller

80‧‧‧Operating module

90‧‧‧ seat module

100‧‧‧ Magnetics

200‧‧‧Power Module

300‧‧‧Inductors

400‧‧‧Magnetic power supply circuit

500‧‧‧Soft object C

Figure 1 is a partial cross-sectional view and a block diagram of the present invention.

2 is a partial cross-sectional view and a block diagram showing the relative angle between the magnetic control operation module (80) and the soft object B (20) of the present invention.

Figure 3 is a partial cross-sectional view and a block diagram of the present invention having an inductor (300) combined with a soft object B (20) or a soft object A (10).

Figure 4 is a partial cross-sectional view and a block diagram of a soft object C (500) of the present invention.

Figure 5 is a flow chart showing the operation of the present invention.

Figure 6 is a flow chart showing the operation of the adjustable operating module (80) of the present invention.

Figure 7 is a flow chart showing the operation of the adjustable soft object C (500) according to the present invention.

Referring to Fig. 1, the present invention is a retractable vine-type device comprising: a soft object A (10): having a volume or area enlargement or reduction and stretching or reverse stretching function, including a soft object A internal space (11 ) with a soft object A telescopic component (12), the soft object A (10) and the fluid valve (30) form a controllable closed space, sometimes a closed space, sometimes a non-closed space, by a telescopic controller (50) The control fluid valve (30) causes the fluid to flow into or out of the inner space (11) of the soft object A. Since the pressure of the inner space (11) of the soft object A rises or falls, the elastic member A (12) may be stretched or reversed by the pressure. Stretching phenomenon, a soft object B (20): having a volume or area increase or decrease and stretching or reverse stretching function, including a soft object B internal space (21) and a soft object B telescopic component (22), soft object A (10) Located in the inner space (21) of the soft object B, when the soft object A (10) is extended or reversely stretched, the soft object B telescopic member (22) is subjected to stretching or reverse stretching, and a fluid valve (30): has Control fluid inflow, outflow, or closure function, providing fluid access and pressure by telescopic controller (50) Functional control such as closing, allowing fluid to flow into, out of, or enclose the inner space (11) of the soft object A through the fluid valve (30), a telescopic execution module (40): for example, a module having a bidirectional friction force or a The two-way rolling power module or other force-applying module determines the magnitude and length of the force released or retracted by the soft object A telescopic component (12) through friction or winding power, and is controlled by the telescopic controller (50) to provide different expansion and contraction. The amplitude and direction of the soft object A (10), the soft object A (10) stretch or reverse stretch to produce a bend, the smaller the stretch width, the shorter the length of the soft object A telescopic component (12) stretched or reverse stretched, even When there is no expansion and contraction, the longer the expansion and contraction amplitude is, the longer the length of the extension or reverse extension of the soft object A telescopic component (12) is. When the number of the deflection force application points is greater than or equal to one, the bending direction of the soft object A (10) can be determined. Angle, a telescopic control The controller (50) has a control function of providing a fluid valve (30) fluid, fluid inflow, outflow, or closure and pressure, a telescopic execution module (40) control function, and a power module (200): providing the present Device power.

Referring to FIG. 2, the present invention further includes a retractable vine-type device, further comprising: a magnetic module (60) having the function of generating magnetic lines of different strengths or different directions, and the circular arc line in FIG. 2 represents magnetic lines of force, Using a magnetic force to change the direction or position of the magnetic object (100), a magnetic controller (70) has a function of providing a control of the magnetic module (60), and the magnitude or position of the change in the direction of the magnetic object (100) is changed by the strength or direction of the magnetic force. Change size, an operation module (80): with sensing, operation, or function, can be various cameras, various sensors, various light sources, lasers, various robots, various scissors, clips, knives, various Inserting a material component, placing a drug component, placing a biochemical biochemical component, storing a container component, an electrocautery component, a radio communication component, an inductor, a circuit, a microprocessor, or other functional component, and a seat module (90) Attached to the soft object B (20), a module (90): providing a relative angle between the operating module (80) and the seat module (90) due to the magnetic influence of the magnetic object (100) Function, and operation The module (80), the magnetic object (100), and the soft object B (20) are combined, and the magnetic object (100) is fixed to the operation module (80) or the seat module (90), and is subjected to the magnetic module. (60) The magnetic influence provided can change the relative angle between the magnetic object (100) and the soft object B (20), thereby changing the relative operation between the operating module (80) or the seat module (90) and the soft object B (20). Angle. For example, when the device enters a space in which the angle of the operation module (80) is inconvenient to enter, the human body, the human blood vessel, the human small intestine, the wall pipeline, etc., the present invention can provide an angle change of the operation module (80). basis.

Referring to FIG. 3, the present invention further includes a retractable vine-type device, further comprising: an inductor (300): formed by, for example, a magnetically permeable metal adhered to the soft object B (20) Inductor (300), the circular arc line in Fig. 3 represents magnetic lines of force. When the magnetic field line is in contact with the inductor (300), a current is generated to obtain energy, and the energy is supplied to the magnetic energy source circuit (400); a magnetic energy source circuit (400) ): Converts the energy obtained by the inductor (300) into electrical energy and supplies power. The present invention can provide wireless power supply when the device enters a space that is inconvenient to provide power, such as a space in which power lines are inconvenient to enter, a human body, a human blood vessel, a human small intestine, a wall line, and the like.

Referring to FIG. 4, the present invention further includes a retractable vine-type device, further comprising: a soft object C (500): having a function of increasing the size and reducing the size, such as an air bag, and the air bag becomes larger after being inflated, and can be surrounded by the air bag. Contact with an object, if the volume is large enough, can form a certain degree of fixation or limit the movement of a certain space, such as a balloon-like balloon, combined with the soft object B (20), by the telescopic controller (50) Functional control of fluid (gas) in and out, pressure, etc. is provided to allow fluid to flow in, out, or enclose the soft object C (500) through the fluid valve (30). This soft object C (500) provides the basis for fixing/unfixing the soft object B (20) with the environmental object or limiting/not limiting it to the three-dimensional space of the environment.

Please refer to FIG. 5 , based on the retractable vine-type device of FIG. 1 , the present invention is a flexible vine-type device operation method, comprising the following steps: (1a). The power module supplies power to the device, (1b). The telescopic controller (50) command is provided by a person or algorithm to control the extension and reverse extension paths of the soft object A (10) until the soft object B (20) extends and reversely reaches the target position. This method of operation not only provides advancement of the device of the present invention, but also provides a retreat, and provides an exploration-type advance and retreat.

Please refer to Fig. 6, the retractable vine-type device according to Fig. 2, a flexible vine-type device operation method, further comprising the following steps: (2a). The magnetic controller (70) is provided by a person or an algorithm to control The magnetic field strength or direction of the magnetic module (60), the magnetic field line changes the relative angle between the magnetic object (100), the seat module (90), and the operating module (80) and the soft object B (20), (2b). By person Or the algorithm provides an operation module (80) command for sensing, operation, or application. For example, when the device enters a space in which the angle of the operation module (80) is inconvenient to enter, the human body, the human blood vessel, the human small intestine, the wall pipeline, etc., the present invention can provide an angle change of the operation module (80). method.

Please refer to Fig. 7, the flexible vine-type device according to Fig. 4, a flexible vine-type device operation method, further comprising the following steps: (3a). The telescopic controller (50) command is provided by a person or an algorithm, The soft object C (500) becomes larger in volume, for example, the airbag, and the airbag becomes bulky after being inflated, and can be in contact with surrounding objects. If the volume is large enough, a certain degree of fixation can be formed or the space is not removed, for example, similarly The balloon function of the urinary tube fixes or confines the soft object B (20) and the environmental object to the three-dimensional space of the environment, or reduces the volume of the soft object C (500), so that the soft object B (20) and the environmental object are not fixed or Limited to the three-dimensional space of the environment. This method of operation provides the step of securing/unfixing the soft object B (20) with the environmental object or limiting/not limiting it to the three dimensional space of the environment.

The steps of all the above methods of operation can be adjusted in the order of the steps depending on the situation. Further, the invention is described by way of examples, but the invention is not limited to the embodiments. It will be apparent to those skilled in the art that various changes can be made without departing from the scope of the invention.

Claims (7)

A retractable vine-type device comprising: a soft object A (10): having a volume or area enlargement or reduction and stretching or reverse stretching function, comprising a soft object A inner space (11) and a soft object A telescopic component ( 12), the soft object A (10) and the fluid valve (30) form a controllable closed space, sometimes a closed space, sometimes a non-closed space, and the fluidic valve (30) is controlled by the telescopic controller (50) to allow fluid to flow in. Or flow out of the soft object A internal space (11), because the soft space A internal space (11) pressure rises or falls, the soft object A telescopic component (12) can be stretched or reverse stretched by the pressure, a soft object B (20 ): has the function of increasing or decreasing the volume or area and stretching or reverse stretching, including a soft object B internal space (21) and a soft object B telescopic component (22), and the soft object A (10) is located in the soft object B internal space. (21), when the soft object A (10) is stretched or reversely stretched, the soft object B telescopic member (22) is stretched or reverse stretched, and a fluid valve (30) has the function of controlling fluid inflow, outflow, or closure. The telescopic controller (50) provides functional control such as fluid inlet and outlet, pressure, and closure. The body fluid valve (30) flows into, out of, or is enclosed in the inner space (11) of the soft object A. A telescopic execution module (40) is controlled by the telescopic controller (50) to provide different magnitudes and directions of flexibility. The object A (10) causes the extension or reverse extension of the soft object A (10) to bend, and the smaller the expansion and contraction amplitude, the shorter the length of the extension or reverse extension of the flexible member A (12), and even no expansion and contraction, the more the expansion and contraction amplitude When the time is large, the longer the length of the soft object A telescopic component (12) is extended or reversely stretched, the bending direction and angle of the soft object A (10) can be determined when the number of the stretching force applying points is greater than or equal to one. A telescopic controller (50) has a control function of providing a fluid valve (30) fluid, fluid inflow, outflow, or closure and pressure, a telescopic execution module (40) control function, and a power module (200): The apparatus is provided with electric power; characterized in that the soft object A (10) is bendable extension and turnable reverse extension at a specified position and at a specified angle. A retractable vine-type device according to claim 1, comprising: a magnetic module (60): having the function of generating magnetic lines of different strengths or directions, using magnetic force to change the direction or position of the magnetic object (100), a magnetic force The controller (70) has the function of providing the control of the magnetic module (60), and changes the direction change or the position change of the magnetic object (100) by the magnetic strength or direction, and an operation module (80): has sensing, Operation, or function, may be a camera, a sensor, an ultrasonic component, a light source, a laser, a robot, a stapler, a scissors, a clip, a knife, a saw, a drill, a material component, a drug component, Insert bio-biochemical components, storage container components, electrocautery components, radio communication components, inductors, circuits, microprocessors, or other functional components, and attach them to the soft object B (20) in combination with the seat module (90) Above, a module (90): providing a function of changing the relative angle between the operation module (80) and the seat module (90) due to the influence of the magnetic force of the magnetic object (100), and the operation module (80), Magnetic (100), combined with soft object B (20), a magnetic object (100): fixed to the operation module (80) or the seat module (90), and the magnetic force provided by the magnetic module (60) can change the magnetic object (100) and the soft object B (20) The relative angle between the two, and thus the relative angle between the operating module (80) or the seat module (90) and the soft object B (20); characterized by the magnetic control operation module (80) and the soft object B (20) Relative angle between. A retractable vine-type device according to claim 1, comprising: an inductor (300): obtaining energy from magnetic lines of force in the environment, handing energy to the magnetic energy source circuit (400), and the soft object B (20) Or soft object A (10) combined, a magnetic energy power circuit (400): converts the energy obtained by the inductor (300) into electrical energy, supplies power; and is characterized by an inductor (300) and a soft object B (20) or soft The object A (10) combines to obtain energy from the magnetic force and convert it into electricity. A retractable vine-type device according to claim 1, comprising: a soft object C (500): having a function of increasing the size and reducing the size, combined with the soft object B (20), provided by the telescopic controller (50) Function control such as fluid inlet and outlet, pressure, etc., allows fluid to flow in, out, or enclose the soft object C (500) through the fluid valve (30); it is characterized in that the soft object B (20) can be fixed or restricted to the environment by environmental objects. Within three dimensions. Based on the retractable vine-type device of claim 1, the flexible vine-type device operation method comprises the following steps: (1a). The power module supplies power to the device, (1b). by person or algorithm A telescoping controller (50) command is provided to control the extension and reverse extension paths of the soft object A (10) until the soft object B (20) extends and reversely reaches the target position; characterized by extending and reverse stretching operations. The flexible vine-type device according to the second aspect of the patent application, the method for operating the retractable vine device according to claim 5, further comprising the following steps: (2a). providing a magnetic controller by a person or an algorithm (70) an instruction to control the strength or direction of the magnetic field lines of the magnetic module (60). The magnetic lines of force change the relative relationship between the magnetic object (100), the seat module (90), and the operation module (80) and the soft object B (20). angle, (2b). The operation module (80) is provided by a person or an algorithm to perform sensing, operation, or application; and is characterized in that the soft object B (20) is stretched and reversely stretched, and the magnetically controlled operation module is (80) The angle relative to the soft object B (20). A retractable vine-type device according to the fourth aspect of the patent application, a method for operating a retractable vine-type device according to claim 5, further comprising the following steps: (3a). providing a telescopic controller by a person or an algorithm (50) The command makes the soft object C (500) become larger, so that the soft object B (20) and the environmental object are fixed or confined in the three-dimensional space of the environment, or the soft object C (500) is reduced in volume, so that the soft object B (20) The environment object is not fixed or restricted to the three-dimensional space of the environment; and is characterized by the steps of fixing/unfixing or restricting/not limiting the soft object B (20) to the environmental object in the three-dimensional space of the environment.