WO2016095131A1

WO2016095131A1 - Gastrointestinal tract automatic detection system having bionic microrobot

Info

Publication number: WO2016095131A1
Application number: PCT/CN2014/094115
Authority: WO
Inventors: 颜国正; 高晋阳; 王志武; 刘大生; 姜萍萍; 贺术; 杨凯; 曾堃; 虞震芬
Original assignee: 上海交通大学
Priority date: 2014-12-17
Filing date: 2014-12-17
Publication date: 2016-06-23

Abstract

A gastrointestinal tract automatic detection system having a bionic microrobot comprises a fluorescence endoscopy of a bionic microrobot, a wireless energy supply subsystem, a patient bed and driving subsystem, and a human-machine interface and control subsystem. The fluorescence endoscopy uses a seal structure based on an O-shaped seal ring (26, 27), and accordingly, the stability of the system is improved. A three-dimensional wireless energy receiving device (35) is designed as a ring cylinder and is integrated to a peripheral space of an axially-telescoping mechanism (15), and accordingly, the axial length of the fluorescence endoscopy is reduced, and the applicability of the system is improved. The detection system can automatically detect precancerous lesions of the whole gastrointestinal tract and other diseases in a high-efficiency, high-quality and noninvasive manner.

Description

Gastrointestinal automated detection system with micro bionic robot

[0001] The present invention relates to a technique in the field of medical automated detection, and more particularly to an automatic detection system for a gastrointestinal tract having a miniature biomimetic machine.

Background technique

[0002] Gastrointestinal cancer has always been the malignant tumor with the highest morbidity and mortality. This is because the gastrointestinal cancer is concealed. The current detection methods and methods are difficult to detect early, and the diagnosis has often progressed to a certain extent. Even in the middle and late stages, the best treatment failure was delayed. Clinical practice shows that the survival rate of early gastrointestinal cancer and sputum treatment for more than 5 years and above is more than 90%, and some can even heal. Therefore, it is critical to achieve early diagnosis of gastrointestinal cancer, but currently there are no clinical instruments and equipment for effective screening and early diagnosis.

[0003] The occurrence and development of gastrointestinal cancer is a process from quantitative to qualitative change. Therefore, it is the key to prevent cancer and treat cancer by examining precancerous lesions and monitoring prognosis. Precancerous lesions refer to the intermediate stage from normal tissue to carcinogenesis. At this stage, normal tissues undergo abnormal metaplasia and hyperplasia, but they do not exhibit obvious morphological features, which are difficult for the naked eye to recognize. However, when ultraviolet light of a specific wavelength excites mucosal tissue, the electronic transition in the mucosal tissue produces intrinsic fluorescence. Due to the different biochemical characteristics of the normal tissue and the precancerous lesion, the ultraviolet light excitation will show different changes. That is, the intrinsic fluorescence color, brightness and spectral characteristics produced by the excitation are significantly different, so that the type of lesion, the differentiation and degree of the lesion and the early cancer can be judged. Therefore, the detection of precancerous lesions can be achieved by comparative analysis of fluorescence color, brightness and spectral characteristics.

[0004] The use of intrinsic fluorescence for precancerous lesion detection mainly uses spectroscopic methods and image methods. The spectroscopy method collects the intrinsic fluorescence through the optical fiber and converts it into an electrical signal through the photodiode array. After analog/digital conversion, it is sent to the main control unit to display the spectral curve through specially designed software. According to the difference between the normal tissue and the abnormal tissue spectral curve. Determine the type of organization to be inspected. The spectroscopy method is rigorous and scientific, and the amount of information is large. The known lesions and early cancer differentiation, cancer cell differentiation and gene mutations can be discriminated according to spectral characteristics. However, the spectroscopy method is based on "point" sampling. The spectrum is a single point, and the spectral device structure is complex, Expensive, the judgment of the lesion is not intuitive enough, so the promotion of use has certain limitations. The image method is based on the difference in the natural fluorescence color and intensity of normal tissue and precancerous lesions, and it is visually judged whether the tissue has precancerous lesions. Obviously, the image method has the advantages of being intuitive, simple, practical judgment, and large observation field, and does not require complicated equipment and equipment, which is very beneficial to clinical promotion.

[0005] Existing research institutes have designed and fabricated fluorescent endoscopes based on spectroscopy or image methods. These fluorescent endoscopes are based on traditional gastrointestinal mirrors, adding monochromatic excitation sources and fluorescence spectra or image acquisition. , processing, transmission of the device. Therefore, as with traditional gastroscopes, fluorescence endoscopy has two limitations in the diagnosis of precancerous lesions in the gastrointestinal tract. First, during the examination, fluorescent endoscopy uses manual intervention and requires intervention in the human body. The fluorescent endoscope performs a series of in vivo adjustments to obtain a clear image, which is easy to cause pain to the patient and even damage the intestine; secondly, the examination area is limited, only to the stomach, duodenum, colon and rectum The diagnosis was made and it was impossible to go deep into the small intestine.

[0006] In order to achieve non-invasive diagnosis of the whole gastrointestinal tract, micro-bionic robot fluorescence endoscopes provide a new method and means. Obviously, the micro-bionic robot fluorescence endoscope should not only have the basic functions of fluorescence excitation, acquisition, processing, and transmission, but also meet the following requirements: First, the micro-bionic robot fluorescence endoscope should have the ability to stably reside in the gastrointestinal tract. In order to achieve careful observation of the tissue of suspected precancerous lesions; secondly, because the length of the gastrointestinal tract is 6.5~8m, and the advancement speed of the intestinal peristaltic wave is only l~2 _C m/min, the microscopic bionic robot fluorescence endoscope should be Active exercise ability to improve the efficiency of diagnosis; Again, the diameter of the gastrointestinal tract is small and there are many corners. In order to ensure the transparency of the micro-bionic robot fluorescence endoscope at any position in the gastrointestinal tract, the diameter should not exceed the gastrointestinal tract. The minimum diameter, and the length should be as short as possible; then, the colon is mostly collapsed and wrinkles are more, the micro-bionic robot fluorescent endoscope should have an expansion mechanism to avoid missed detection of the area; Finally, the traditional button battery can not meet the monochrome Micro-bionic robots for excitation power sources, high-resolution fluorescence image sensors, expansion mechanisms, etc. The fluorescent endoscope should also incorporate a receiving device for wireless energy transfer.

[0007] The following related technical documents were found by searching for prior art:

[0008] 1. Academic Discussion: Clinical investigation of autofluorescence endoscopy in the diagnosis of malignant tumors and precancerous lesions of the digestive tract, Gastroenterology, Vol. 18, No. 10, 2013. The autofluorescence endoscopic instrument is mainly composed of a combination of digestive tract electron endoscope, dual light illumination source, video separator, white light image processor, fluorescence image processor, image compressor, image display and the like. Obviously the system is a function of the traditional digestive tract electronic endoscope The above expansion can accurately and objectively reflect the difference between malignant tumors of the digestive tract and precancerous lesions and normal tissues. It is less dependent on the experience of endoscopists and has a high diagnostic value. The same can also be used to estimate the extent of lesions and Guiding targeted biopsy is an important means of diagnosing precancerous lesions. However, there are limitations in the diagnosis process that cause pain to the patient and the inability to penetrate the small intestine.

[0009] 2. Academic Discussion: A leg-type motion mechanism for a compliant tubular environment, IEEE Robotics Journal, Vol. 25, No. 5, 2009. The leg-type capsule endoscope is equipped with two sets of super-elastic legs, which are driven by two brushless DC motors, and realize the movement in the intestine and the intestine by controlling the two groups of legs to alternately anchor the intestine and the angle of the swing. Anchoring and expansion, etc., have the advantages of small size and simple structure. However, the capsule endoscope is powered by a battery, so that the working day and the examination area are limited, and only the colon can be diagnosed; moreover, the capsule endoscope is anchored by the contact of the leg tip with the intestine, and the presence exists. Safety hazard; In addition, the capsule endoscope only performs routine video image acquisition on the colon, and does not have the function of precancerous lesion diagnosis of the gastrointestinal tract.

[0010] 3. Academic Discussion: Design, Analysis and Experiment of a Video Capsule Endoscope System Based on Wireless Energy Supply, Measurement Science and Technology, Vol. 22, No. 6, 2011. This paper proposes a capsule endoscope based on wireless energy supply. The realization of wireless energy transmission allows the endoscope to integrate high-resolution, high-frame rate image sensors, which effectively improves the diagnosis of the small intestine. However, the capsule endoscope relies on passive movement of the intestinal peristaltic wave and cannot reside in the intestine; because of the lack of active exercise capacity, the diagnosis of the intestinal tract is inefficient; likewise, the capsule endoscope does not have gastrointestinal cancer The diagnosis function of the pre-lesion.

[0011] 4. Academic Discussion: Wireless Capsule Endoscope for Colon Diagnosis, Physiology Measurement, Vol. 34, No. 11

, year 2013. The capsule endoscope is used for the diagnosis and treatment of the colon, and has the active movement ability. The movement mechanism is composed of an expansion mechanism at both ends and an intermediate axial expansion mechanism, and the front end expansion mechanism can effectively expand the intestinal tract to avoid wrinkles and collapse. The leak detection of the constricted area, while the expansion mechanism at both ends is the same as that of the dilatation, can achieve stable residence of the capsule endoscope in the intestine; Moreover, the energy receiving device of the capsule endoscope is designed as a circular column, making full use of the capsule The redundant space on the outer circumference of the moving mechanism of the endoscope improves the overall space utilization of the capsule endoscope. However, the size of the capsule endoscope is large, and the small intestine cannot be diagnosed. Moreover, the receiving coil of each dimension of the circular three-dimensional receiving device utilizes a single magnetic core separately, and the magnetic core is not multiplexed, and the receiving device itself has space utilization rate. Low; In addition, the capsule endoscope also does not have a diagnostic function for precancerous lesions of the colon. [0012] In summary, through the detection of existing patents and public technology, existing related technologies or existing diagnostic procedures cause pain to the subject, and even the limitations of traumatic bowel; or do not have precancerous lesions The device can only achieve a single conventional white light video image acquisition; or it does not have stable resident, effective expansion and active exercise ability, and has poor effect on gastrointestinal examination and low efficiency. Fluorescence video image imaging has not been found, based on wireless energy supply, with the ability to actively move in the intestine, stabilize residency, and expand the pleated collapsed intestinal region, with a small size that can be used for pre-cancerous lesions of the whole gastrointestinal tract. Non-invasive diagnostic system.

Problem solution

Technical solution

[0013] The present invention is directed to the above-mentioned deficiencies of the prior art, and proposes an automatic detection system for a gastrointestinal tract with a miniature bionic robot. The internal part of the detection system is also reliably sealed to fit the water-rich intestinal environment. The same is convenient for sterilization and disinfection, so as to achieve recycling; the internal part of the detection system is highly integrated, and the length is minimized, thereby enhancing the adaptability to the multi-bend small intestine environment. The present invention enables active, non-invasive, high quality detection of the entire gastrointestinal tract.

[0014] The present invention is achieved by the following technical solutions, the present invention includes: a micro-bionic robot fluorescent endoscope, a wireless energy supply subsystem, a human-machine interface and control subsystem, a lying bed and a drive subsystem, wherein: a human-machine interface And the control subsystem is respectively connected with the lying bed and the driving subsystem and outputs a three-degree-of-freedom control command, and is connected with the wireless energy supply subsystem and outputs a coil working start and stop command and a coil transmitting power adjustment instruction, and the micro bionic robot fluorescent endoscope passes through The variable magnetic field receives the wireless energy output by the wireless power supply subsystem and transmits image acquisition commands, displacement adjustment commands, and fluorescent and white light images wirelessly to the human machine interface and the control subsystem.

[0015] The control command includes: a lying bed position posture adjustment command and a wireless charging command, wherein: the human machine interface and the control subsystem output the lying bed position posture adjustment instruction to the lying bed and the driving subsystem and realize the lying bed The three-degree-of-freedom motion outputs a wireless energy emission command to the wireless energy supply subsystem and adjusts the wireless energy transmission power.

[0016] The micro-bionic robot fluorescent endoscope is an in vivo part of the invention, comprising: a gastrointestinal cavity white light/fluorescence image subsystem, a micro-bionic robot subsystem, a wireless energy receiving device, wherein: the gastrointestinal tract The intracavity white light/fluorescence image subsystem is installed on the front side of the micro bionic robot subsystem, and the wireless energy receiving device is integrated in the redundant annular column space in the middle of the micro bionic robot subsystem; wireless energy receiving The device is electrically connected to the white light/fluorescence image subsystem of the gastrointestinal tract and the micro bionic robot subsystem to supply energy to both.

[0017] The gastrointestinal intraluminal white light / fluorescent image subsystem comprises: a short focal lens disposed in the medical housing, a microprocessor and a dual light source, an image sensor, a microprocessor, and an image command respectively connected thereto a receiving module and a wireless image transmitting module, wherein: the image command receiving module receives an image capturing instruction from the human machine interface and the control subsystem and outputs the image to the microprocessor, and the microprocessor outputs the control level to the dual light source to control the alternate operation. The image sensor collects the fluorescent and white light images and processes them by the microprocessor, and then wirelessly outputs them to the human body and control subsystems by the wireless image transmitting module.

[0018] The dual light source comprises: an ultraviolet monochromatic excitation light source and a white light source.

[0019] The medical housing is a transparent hemispherical housing.

[0020] The micro bionic robot subsystem includes: a robot drive control module and a motion command receiving module and a robot mechanical structure respectively connected thereto, wherein: the motion command receiving module receives the man-machine interface and the displacement adjustment issued by the control subsystem The instructions are output to the robot drive control module to drive the robotic mechanism to perform the corresponding action.

[0021] The mechanical structure of the robot comprises: an axial expansion mechanism and an expansion mechanism disposed at two ends thereof, wherein: the expansion mechanism is anchored by expansion of the inner wall of the intestinal tract, and the expansion mechanism at both ends expands the same wall of the intestinal tract A stable residence in the intestine is achieved; the telescopic movement of the axially telescopic mechanism in the middle cooperates with the expansion mechanism to anchor or anchor the inner wall of the intestinal tract to achieve an overall displacement of the mechanical structure of the robot.

[0022] The expansion mechanism adopts a brushed DC motor as a driver, wherein: the DC motor is placed vertically, and the output torque is transmitted to the torque along the long axis of the robot after being transmitted through the worm, and the torque is further After the spur gear reducer increases the force, the inner ring gear is driven to rotate.

[0023] The inner ring gear is provided with three curved legs, and the three curved legs and the three corresponding curved legs disposed on the fixed baffle parts respectively form three pairs of closed hinges; when the inner ring gear rotates, The curved leg hinge is swung to expand the intestine.

[0024] This type of expansion has the advantage of a large expansion range and difficulty in sandwiching the intestine. In addition, the inner ring gear is rotated, and it is necessary to limit the parts to ensure that they only retain rotational freedom with respect to the long axis direction.

[0025] In addition, in order to ensure that the expansion mechanism works stably in the water-rich environment of the intestinal tract, the expansion mechanism needs to be sealed, here by the fixed baffle part and the inner ring gear, the inner ring gear and the limiting part Between each Into an o-ring seal is achieved.

[0026] The axial telescopic mechanism is implemented by a brushed DC motor driving a classic screw nut mechanism, wherein: the nut of the screw nut mechanism is provided with two push rods, and the front end of the push rod is provided with a front end expansion mechanism.

[0027] Since the diameter of the axial telescopic mechanism is small, corresponding to the telescopic mechanism portion and the diameter of the telescopic mechanism is the inner diameter

The expansion mechanism has a diameter of the outer diameter of the annular column space, and can integrate the wireless energy receiving device, thereby improving the space utilization ratio of the micro-bionic robot fluorescent endoscope.

[0028] The wireless energy receiving device includes a three-dimensional receiving coil and an energy management device, wherein: the energy management device is connected to the three-dimensional receiving coil, and is rectified and regulated by the alternating electromotive force induced by the three-dimensional receiving coil.

, output to the white light / fluorescent image subsystem of the gastrointestinal cavity and the micro bionic robot subsystem.

[0029] The three-dimensional receiving coil is specifically composed of a receiving coil of a circular column shape and is orthogonally wound around a manganese-zinc ferrite core in the same circular column shape, and the magnetic core is provided with four symmetrical axes. To the groove, two receiving coils of the three-dimensional receiving coil are disposed in the four axial grooves, and each two axial grooves disposed opposite each other are used for winding a receiving coil of one dimension Another dimension is wound around the outer surface of the magnetic core.

[0030] The two dimensions of the receiving coils disposed in the grooves each comprise two sets of windings connected in series, wherein: the winding path of the first set of windings is a straight path along a certain groove → along The upper semicircular path of one side of the toroidal core → the reverse linear path of the groove along a groove → the reverse upper semicircular path along the other side of the toroidal core, the second set of windings The winding path of the wire can be described as a straight path along a groove → a lower semicircular path along one side of the toroidal core → a reverse straight path along a groove facing the groove → along the torus The reverse half-circular arc path of the other side of the magnetic core, the two sets of windings together form a frame structure in the form of a circular column.

[0031] The winding directions of the two sets of windings are the same to generate an induced electromotive force in the same direction; the two sets of windings are connected in series to superimpose the output induced electromotive force.

[0032] The wireless power supply subsystem includes: an external one-dimensional transmitting coil with a driving device, a communication interface with a human-machine interface and a control subsystem, wherein: the driving device outputs a sinusoidal alternating current to the external one-dimensional transmitting coil The current, external one-dimensional transmitting coil generates an alternating magnetic field, and the wireless energy receiving device induces energy and outputs it to the white light/fluorescence image subsystem and the micro bionic robot subsystem in the gastrointestinal cavity.

[0033] The human-machine interface and the control subsystem issue a start-stop command for controlling the working of the transmitting coil through the communication interface , transmit power adjustment command of the transmitting coil.

[0034] The lying bed and driving subsystem comprises: a lying bed and a vertical motion driving mechanism, a front and rear motion driving mechanism and a motion control module respectively connected thereto, wherein: a vertical motion driving mechanism, a front and rear motion driving mechanism and a motion The control module is respectively connected to the human-machine interface and the control subsystem and receives three-degree-of-freedom control commands to realize the movement of the lying bed.

[0035] The human-machine interface and control subsystem includes: a main control unit, a wireless command transmitting module, a wireless data receiving module, and a wireless fluorescent/white light image receiving module, wherein: the main control unit displays the micro-data through the wireless data receiving module The fluorescent, white light image of the bionic endoscope of the bionic robot receives the external command and outputs an image acquisition command, a displacement adjustment command to the micro bionic robot fluorescence endoscope, and outputs a three-degree-of-freedom control command to the lying bed and the drive subsystem through the wireless command transmitting module.

Advantageous effects of the invention

Beneficial effect

Compared with the prior art, the present invention not only obtains a conventional white light image of the gastrointestinal tract through the white light/fluorescence image subsystem of the gastrointestinal tract, but also realizes a diagnosis of precancerous lesions of the gastrointestinal tract; Through the micro-bionic robot subsystem, the micro-bionic robot fluorescence endoscope has the ability to actively move in the intestine, stably reside in a designated position, and expand the intestinal fold of the collapsed fold, which improves the efficiency of diagnosis and the effect of diagnosis; The energy subsystem and the wireless energy receiving device overcome the limitation of the limited working time of the traditional button battery and the low output power, and the limitation of the gastrointestinal detection device that cannot be penetrated into the small intestine caused by the streamer type power supply, so that the designed micro bionic The robotic fluorescence endoscope realizes the diagnosis of the whole gastrointestinal tract; through the lying bed and the driving subsystem and the human-machine interface and control subsystem, the automation and diagnosis of the routine examination of the gastrointestinal tract and precancerous lesions are realized. Visualization of the results.

Brief description of the drawing

DRAWINGS

[0037] FIG. 1 is a schematic diagram of a non-invasive diagnosis system for gastrointestinal precancerous lesions.

2 is a schematic diagram of a white light/fluorescence image subsystem in the gastrointestinal tract.

3 is a schematic diagram of a subsystem of a miniature bionic robot.

[0040] In the figure: (a) is a schematic diagram of the overall design of the robot subsystem; (b) is a schematic diagram of the working principle of the robot expansion mechanism; (c) is a schematic diagram of the sealing design of the robot expansion mechanism; (d) is a schematic diagram of the design of the axial expansion mechanism. 4 is a schematic diagram of a wireless energy receiving device.

[0042] In the figure: (a) is a schematic diagram of the overall design of the wireless energy receiving device; (b) is a schematic diagram of the components of the three-dimensional receiving coil; (c) is a schematic diagram of the winding method of the first and second-dimensional coils of the three-dimensional receiving coil.

[0043] FIG. 5 is a schematic diagram of a wireless powering subsystem.

6 is a schematic view of a lying bed and a drive subsystem.

7 is a schematic diagram of a human machine interface and a control subsystem.

Embodiments of the invention

[0046] As shown in FIG. 1, the embodiment includes: a micro-bionic robot fluorescent endoscope, a wireless energy supply subsystem, a human-machine interface and a control subsystem, a lying bed, and a driving subsystem, wherein: a human-machine interface and a controller The system is respectively connected with the lying bed and the driving subsystem and outputs three degrees of freedom control commands, and is connected with the wireless energy supply subsystem and outputs a coil working start and stop command and a coil transmitting power adjustment instruction, and the micro bionic robot fluorescent endoscope receives the magnetic field through the alternating magnetic field. The wireless energy output from the wireless energy supply subsystem transmits image acquisition commands, displacement adjustment commands, and fluorescent, white light images wirelessly to the human-machine interface and control subsystem.

[0047] As shown in FIG. 2, the gastrointestinal intraluminal white light/fluorescence image subsystem of the embodiment includes: a transparent hemispherical shell 1, an ultraviolet monochromatic excitation light source 2, a white light source 3, a short focal lens 4, and an image sensor. 5. The microprocessor 6, the image command receiving module 7, the wireless image transmitting module 8, and the medical housing 9, after the image command receiving module 7 receives the command from the human machine interface and the control subsystem, the microprocessor 6 controls the ultraviolet The monochromatic excitation light source 2 and the white light source 3 alternately operate, and the image sensor 5 collects fluorescence and white light images, and is processed by the microprocessor 6, and then transmitted to the external human-machine boundary and control subsystem through the wireless image transmitting module 8 for display.

[0048] The micro-bionic robot subsystem of the embodiment of FIG. 3(a) includes: a wireless command receiving module 10, a drive control module 11 for robot motion, and a robot mechanical structure 12, wherein: the robot mechanical structure 12 includes expansion on both sides. Mechanism 13 (expanded state), 14 (closed state), and intermediate axial expansion mechanism 15. After receiving the command from the human machine interface and the control subsystem, the wireless command receiving module 10 controls the robot mechanical mechanism 12 to perform the corresponding action by the robot drive control module 11. The overall displacement of the robot is realized by the alternate anchoring of the intestinal tract by the expansion mechanisms 13, 14 and the alternating expansion and contraction of the intermediate axial expansion mechanism 15. The front end expansion mechanism 13 realizes the expansion of the intestinal tract in the collapsed and pleated regions, and enhances the white light/fluorescent image. The system examines the effect of the area, and the robot resides stably in the intestine through the bilateral expansion mechanisms 13, 14 The intestinal tract is expanded.

As shown in FIG. 3(b), the design of the expansion mechanisms 13, 14 is identical, and the brushed DC motor 16 is used as the driver. The DC motor 16 is placed vertically, and its output torque is transmitted through the turbine 17 and the worm 18, and then converted into a torque along the long axis direction of the robot. After the torque is decelerated and increased by the spur gear reducer 19, the small straight teeth are 20 outputs and drives the ring gear 21 to rotate. The inner ring gear is provided with three curved legs 22, which respectively form three pairs of closed hinges with three corresponding curved legs 24 provided on the fixed baffle member 23. The inner ring gear 21 rotates the cymbal, and the curved leg hinge swings and expands to realize the expansion of the intestine. This expansion mode has the advantages of wide expansion range and difficulty in sandwiching the intestine. In addition, the ring gear 21 should only retain the rotational freedom with respect to the long axis direction, and therefore, it is also necessary to increase the restriction member 25 to limit the other translational and rotational degrees of freedom of the ring gear 21. In order to ensure that the expansion mechanisms 13, 14 work stably in the water-rich environment of the intestinal tract, they need to be sealed, as shown in Figure 3(c).

[0050] The expansion mechanism is closed, and the inner ring gear 21 will be rotated relative to the restriction member 25 and the fixed baffle member 23, here between the inner ring gear 21 and the fixed baffle member 23, the inner ring gear A two-shaped seal ring 26, 27 is added between the 21 and the restriction member 25 to effect a rotational seal. The amount of compression of the O-ring seal is ensured by the height of the small cylindrical boss of the restriction member 25. Further, a ring member 28 is added to the outer circumference of the component group including the DC motor 16, the turbine 17, the worm 18, and the spur gear reducer 19, the inner diameter of the ring member 28 and the fixed baffle member 23 and the other side. The outer diameter of the fixed baffle member 29 is the same, and the fixed baffle member 29 leaves the lead wire of the DC motor 16 with the bow I wire hole, the gap between the ring member 28 and the fixed baffle member 23, 29, and the fixed baffle After the lead holes of the part 29, and other voids and the like are sealed with a sealant, the expansion mechanisms 13, 14 are integrally sealed.

[0051] As shown in FIG. 3(d), the intermediate axial expansion mechanism 15 is implemented as follows: After the output torque of the brush DC motor 30 is decelerated and increased by the two-layer straight gear reducer 31, the lead screw 32 and the nut are driven. 33, the nut 33 is provided with two push rods 34.

[0052] Referring to FIG. 3(a), the front end of the push rod 34 is attached with the front end expansion mechanism 13, and the other side of the telescopic mechanism 15 is attached with the rear end expansion mechanism 14; and since the diameter of the telescopic mechanism 15 is small, it corresponds to the portion of the telescopic mechanism 15 The wireless energy receiving device 35 can be integrated with the diameter of the telescopic mechanism 15 as the inner diameter and the expansion mechanism 13 and 14 having the outer diameter of the annular column space.

[0053] As shown in FIG. 4(a), the wireless energy receiving device 35 of the present embodiment includes: a three-dimensional receiving coil 36 and energy The management device 37. The overall appearance of the three-dimensional receiving coil 36 is in the form of a circular cylinder, and the induced energy is rectified and regulated by the energy management device 37, and then the fluorescent/white light image subsystem and the micro-bionic robot subsystem are energized. The first, second, and third dimensions of the receiving coils 38, 39, 40 of the three-dimensional receiving coil 36 are orthogonal to each other and wound around the MnZn ferrite core 41 in the same annular post form.

4(b) is an exploded view of the three-dimensional receiving coil 36, the upper side of which is the final winding form of the three-dimensional receiving coils 38, 39, 40, and the final of the first and second dimensional receiving coils 38, 39. The winding form is a cylindrical frame structure, and the final winding form of the receiving coil 40 of the third dimension is a circular ring, which is formed by winding a plurality of thin Litz lines; the middle part of the figure is a toroidal core 41, which is provided There are four symmetrical grooves 42, 43, 44, 45 for winding the first dimension of the receiving coil 38, the grooves 43, 45 for winding the second dimension of the receiving coil 39, the third dimension The receiving coil 40 is wound around the outer circumference of the toroidal core 41; the lower side of the figure shows the structure in which the three-dimensional receiving coils 38, 39, 40 are respectively disposed on the core 41.

[0055] The first and second dimension receiving coils 38, 39 each comprise two sets of windings and are wound in the same manner. FIG. 4(c) shows the winding manner of the first dimension receiving coil 38, which is wound around the magnetic core 41. The two are facing the inside of the grooves 42, 44. The winding path of each turn of the first set of windings 46 can be described as: a straight path 47 along the groove 42 → a first half circular path 48 along the rear side of the magnetic core 41 → a reverse straight path along the groove 44 49 → an inverted upper semicircular arc path 50 along the front side of the magnetic core 41, the winding path is repeated a plurality of times until the number of winding turns reaches a design number; the winding path of the second set of windings 51 can be described as a straight line along the groove 42 The path 52 → the lower semicircular path 53 along the rear side of the core 41 → the reverse linear path 54 along the groove 44 → the reverse lower semicircular path 55 along the front side of the core 41, the two sets of windings 46 are visible. After the winding is completed, 51 will form a frame structure in the form of a circular column; in addition, as seen by the winding process, the winding directions of the two sets of windings 46, 51 are the same, so that the two sets of windings 46, 51 will produce the same direction. Inductive electromotive force, the two sets of windings are connected in series, so that the induced electromotive force is superimposed and output.

[0056] As shown in FIG. 5, the wireless power supply subsystem of the embodiment includes: an external one-dimensional transmitting coil 56 and a driving device 57, and a communication interface 58 with a human-machine interface and a control subsystem, wherein: a human-machine interface and The control subsystem controls the start-stop, transmit power, etc. of the transmit coil 56 via the communication interface 58 via the drive unit 57.

[0057] As shown in FIG. 6, the lying bed and driving subsystem of the embodiment includes: a lying bed 59, a vertical motion driving mechanism 60, a front and rear motion driving mechanism 61, a motion control module 62, and a human-machine interface and a control subsystem. of The communication interface 63, wherein: the subsystem controls the human body interface and the control subsystem to make the abdomen region of the subject be in the energy transmitting coil 56 of the wireless energy supply subsystem, and ensure that the wireless energy receiving device in the body senses sufficient Energy, ensuring stable operation of the white light/fluorescence image subsystem and the micro-bionic robot subsystem in the gastrointestinal tract.

[0058] As shown in FIG. 7, the human-machine interface and control subsystem of the embodiment includes: a main control unit 64, a wireless command transmission and wireless data receiving module 65, a wireless fluorescent/white light image receiving module 66, and wireless power supply. The communication interface 67 of the subsystem, the communication interface 68 with the lying bed and the drive subsystem.

[0059] As can be seen from the above embodiments, the present invention achieves a reliable sealing of the expansion mechanism of the micro-bionic robot subsystem by using a 0-shaped sealing ring, which ensures stable operation in a water-rich intestinal environment, and After the inspection, it is easy to clean and sterilize, and realize the recycling; By designing the three-dimensional receiving coil into a circular cylinder shape and integrating it into the redundant annular column space around the axial telescopic mechanism of the micro-bionic robot subsystem, the traditional cylinder is avoided. The three-dimensional receiving coil increases the overall length of the micro-bionic robot's fluorescent endoscope, thereby enhancing the passage of the micro-bionic robot fluorescent endoscope in the multi-bend small intestine. The micro-bionic robot fluorescent endoscope provided by the invention combines with the wireless energy supply subsystem, the human-machine interface and the control subsystem, the lying bed and the driving subsystem located outside the body, and can realize high quality and high efficiency for the whole gastrointestinal tract. Automated non-invasive diagnosis of precancerous lesions and other diseases helps to benefit patients.

Claims

Claim

[Claim 1] A gastrointestinal automatic detection system with a bionic robot, comprising: a micro-bionic robot fluorescence endoscope, a wireless energy supply subsystem, a human-machine interface and a control subsystem, a lying bed, and a driver The system, wherein: the human-machine interface and the control subsystem are respectively connected to the lying bed and the driving subsystem and output three-degree-of-freedom control commands, connected with the wireless energy supply subsystem, and output the coil working start and stop command and the coil transmitting power adjustment instruction, and the micro The bionic robot fluorescent endoscope receives the wireless energy output by the wireless energy supply subsystem through the alternating magnetic field and transmits the image acquisition instruction, the displacement adjustment instruction, and the fluorescent and white light images through the wireless interface with the human-machine interface and the control subsystem; The utility model comprises: a lying bed position posture adjustment command and a wireless charging instruction, wherein: the human machine interface and the control subsystem output the lying bed position posture adjustment instruction to the lying bed and the driving subsystem, and realize the three-degree-of-freedom movement of the lying bed, and supply to the wireless The subsystem outputs wireless energy emission commands and implements wireless The adjustment of the amount of transmission power; the micro-bionic robot fluorescence endoscope includes: a white light/fluorescence image subsystem in the gastrointestinal cavity, a micro-bionic robot subsystem, a wireless energy receiving device, wherein: gastrointestinal lumen white light/fluorescence The image subsystem is installed on the front side of the micro bionic robot subsystem, and the wireless energy receiving device is integrated in the redundant annular column space in the middle of the micro bionic robot subsystem; the wireless energy receiving device and the gastrointestinal cavity white light/fluorescence image subsystem And the micro-bionic robot subsystem is electrically connected to supply energy to the two; the gastrointestinal cavity white light/fluorescence image subsystem comprises: a short-focus lens disposed in the medical casing, a microprocessor and respectively connected thereto a dual light source, an image sensor, a microprocessor, an image command receiving module and a wireless image transmitting module, wherein: the image command receiving module receives an image capturing instruction from the human machine interface and the control subsystem and outputs the image to the microprocessor, the microprocessor Output control level to dual light source to control alternate operation, image sensing The fluorescent and white light images are collected by the microprocessor and processed by the wireless image transmitting module to be output to the human body and control subsystem in a wireless manner. The micro bionic robot subsystem includes: a robot driving control module and a corresponding Connected motion command receiving module and robot mechanical structure, wherein: motion command receiving The module receives the displacement adjustment command issued by the human machine interface and the control subsystem and outputs the same to the robot drive control module to drive the robot mechanical mechanism to perform a corresponding action; the wireless energy receiving device comprises a three-dimensional receiving coil and an energy management device, wherein: the energy management The device is connected to the three-dimensional receiving coil, and is rectified and regulated by the alternating electromotive force induced by the three-dimensional receiving coil, and then output to the white light/fluorescence image subsystem and the micro bionic robot subsystem in the gastrointestinal cavity.

[Claim 2] The gastrointestinal automated detection system according to claim 1, wherein the micro-bionic robot fluorescence endoscope comprises: a gastrointestinal cavity white light/fluorescence image subsystem, a miniature bionic robot System, wireless energy receiving device, wherein: a white light/fluorescence image subsystem in the gastrointestinal cavity is installed on the front side of the micro bionic robot subsystem, and the wireless energy receiving device is integrated in the redundant annular column space in the middle part of the micro bionic robot subsystem The wireless energy receiving device is electrically connected to the white light/fluorescence image subsystem of the gastrointestinal tract and the micro bionic robot subsystem to supply energy to both.

[Claim 3] The gastrointestinal automatic detection system according to claim 1, wherein the robot mechanical structure comprises: an axial expansion mechanism and an expansion mechanism disposed at both ends thereof, wherein: the expansion mechanism passes through The expansion of the inner wall of the intestine achieves anchoring, and the expansion mechanism at both ends expands the intestinal wall to achieve stable retention in the intestine; the telescopic movement of the axially extending mechanism in the middle and the expansion mechanism or the anchoring of the intestinal wall Cooperate to achieve the overall displacement of the robot's mechanical structure.

[Claim 4] The automatic detection system for gastrointestinal tract according to claim 3, wherein the expansion mechanism uses a brushed DC motor as a driver, wherein: the DC motor is placed vertically, and the output torque thereof is passed through the turbine. After the worm is transmitted, it is converted into a torque along the long axis of the robot. After the torque is decelerated and increased by the spur gear reducer, the inner ring gear is driven to rotate.

[Claim 5] The automatic detection system for gastrointestinal tract according to claim 4, wherein the inner ring gear is provided with three curved legs, and the three curved legs are disposed on the fixed baffle parts. The three corresponding curved legs respectively constitute three pairs of closed hinges; when the inner ring gear rotates, the curved leg hinges are swung to realize expansion of the intestine.

[Claim 6] The gastrointestinal automatic detection system according to claim 5, wherein The inner ring gear rotates, and the restricting part is used to retain only the rotational freedom about the long axis direction, and between the inner ring gear and the restricting part and between the inner ring gear and the fixed baffle part. A 0-ring seal that ensures stable operation of the expansion mechanism in a water-rich intestinal environment.

[Claim 7] The gastrointestinal automatic detection system according to claim 1, wherein the three-dimensional receiving coil is in the form of a circular cylinder and can be integrated into the redundancy of the periphery of the axial expansion mechanism Ring column space.

[Claim 8] The gastrointestinal automatic detection system according to claim 1, wherein the three-dimensional receiving coil adopts a magnetic core in the form of a circular column, and the outer cylindrical surface of the magnetic core has four symmetry Axial groove.

[Claim 9] The gastrointestinal automatic detection system according to claim 8, wherein two receiving coils of the three-dimensional receiving coil are disposed on the four cores of the toroidal shape core In the symmetrical axial groove, another dimension of the receiving coil is wound around the outer cylindrical surface of the toroidal core.

[Claim 10] The automatic detection system for gastrointestinal tract according to claim 9, wherein the receiving coil disposed in the axial groove of the magnetic core has a circular cylindrical frame structure.

[Claim 11] The gastrointestinal automatic detection system according to claim 1, wherein the lying bed and the driving subsystem comprise: a lying bed and a vertical motion driving mechanism respectively connected thereto, and the front and rear movement a driving mechanism and a motion control module, wherein: the vertical motion driving mechanism, the front and rear motion driving mechanism and the motion control module are respectively connected with the human machine interface and the control subsystem and receive three degrees of freedom control commands to realize the movement of the lying bed

[Claim 12] The gastrointestinal automatic detection system according to claim 1, wherein the human-machine interface and control subsystem comprises: a main control unit, a wireless command transmitting module, a wireless data receiving module, and a wireless Fluorescent/white light image receiving module, wherein: the main control unit displays the fluorescent and white light images from the fluorescent endoscope of the micro bionic robot through the wireless data receiving module and receives the external command, and then outputs the image capturing command and the displacement adjusting command to the micro through the wireless command transmitting module. Bionic robot fluorescence endoscope, output three The degree of freedom control command to the lying bed and the drive subsystem.