WO2020252838A1 - 用于腔肠、管道或爬墙的中空式气囊蠕动机器人 - Google Patents

用于腔肠、管道或爬墙的中空式气囊蠕动机器人 Download PDF

Info

Publication number
WO2020252838A1
WO2020252838A1 PCT/CN2019/096272 CN2019096272W WO2020252838A1 WO 2020252838 A1 WO2020252838 A1 WO 2020252838A1 CN 2019096272 W CN2019096272 W CN 2019096272W WO 2020252838 A1 WO2020252838 A1 WO 2020252838A1
Authority
WO
WIPO (PCT)
Prior art keywords
airbag
head
peristaltic
suction cup
hollow
Prior art date
Application number
PCT/CN2019/096272
Other languages
English (en)
French (fr)
Inventor
吕培军
原福松
张耀鹏
Original Assignee
北京大学口腔医学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京大学口腔医学院 filed Critical 北京大学口腔医学院
Publication of WO2020252838A1 publication Critical patent/WO2020252838A1/zh

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels

Definitions

  • the present invention relates to the technical field of robots, in particular to a hollow airbag peristaltic robot used for coelenteropathy, pipes or climbing walls.
  • the slender tube needs to have A certain degree of rigidity and larger diameter cause discomfort in traditional gastroscopy procedures.
  • the capsule endoscopy robot uses the magnetic field to control the capsule in the stomach to achieve a relaxed and comfortable gastric examination, which can solve the problem of discomfort during the examination process, but each examination consumes a capsule endoscopy robot, so the cost is high.
  • the application of the various endoscopes mentioned above is only limited to the exploration of the lesions, and cannot achieve the purpose of treatment.
  • the present invention provides a hollow airbag peristaltic robot for coelenteropathy, pipes or climbing walls, so as to at least solve the problem of inadequate inspection process caused by the rigidity and large diameter of the tube in the related art.
  • the embodiment of the present invention provides a hollow air bag peristaltic robot for coelenteropathy, pipe or wall climbing, including: a working end, a hollow cylindrical head end bracket, a head end air bag, a peristaltic telescopic tube, and a hollow cylindrical tail An end bracket and a tail end airbag, wherein the head end airbag is circumferentially arranged on the side surface of the head end bracket, and the head end airbag is expanded or contracted in the radial direction by air supply or exhaust; the tail end The airbag is arranged around the side of the tail end bracket, and the tail end airbag is expanded or contracted in the radial direction by air supply or exhaust; the peristaltic expansion tube is connected to the bottom surface of the head end bracket and the Between the top surface of the tail end bracket, and the peristaltic telescopic tube is elongated or shortened in the axial direction by air supply or exhaust; the working end penetrates the hollow part of the tail end bracket and the head end bracket, And protrude from the top of the
  • the hollow air bag peristaltic robot for coelenteropathy, ducts or climbing walls further includes: a plurality of ventilation ducts and a plurality of ventilation ducts on-off valves, wherein the plurality of ventilation ducts are in communication with the air pump, Yu respectively supplies air or exhaust for the head end airbag, the tail end airbag and the telescopic tube.
  • the head-end airbag and the tail-end airbag are further provided with one or more suction cups
  • the suction cups include a suction cup sealing strip and a suction cup air hole
  • the suction cup air hole is in communication with a vent pipe; After the head-end airbag or the tail-end airbag is inflated, the suction cup sealing strip and the inner wall of the pipe form a closed space, and the suction cup pores are exhausted to form a negative pressure to lift the head-end airbag or the tail-end airbag and the pipe Adsorption between the inner walls.
  • the tail end airbag is supplied or exhausted through the first ventilation pipe of the tail end bracket;
  • the head end airbag is supplied or exhausted through the second ventilation pipe of the tail end bracket, and
  • the second vent pipe is in communication with the head-end airbag via a first passive telescopic tube connecting the head-end support and the tail-end support;
  • all the suction cup pores of the suction cups provided on the tail end airbag are in communication with the third vent pipe of the tail end bracket, so as to supply or exhaust air through the third vent pipe; the head end airbag
  • the suction cup air holes of all the suction cups are connected with the fourth air duct of the tail end bracket to supply or exhaust air through the fourth air duct, and the fourth air duct connects the head end bracket and
  • the second passive telescopic tube of the tail end bracket communicates with the head end airbag.
  • the hollow air bag peristaltic robot further includes: a first suction cup switch control valve and a second suction cup switch control valve, wherein the suction cup pores of all the suction cups provided on the tail end airbag pass through the first suction cup
  • the switch control valve communicates with the third vent pipe of the tail end bracket to supply or exhaust air through the third vent pipe; the suction cup pores of all the suction cups provided on the head end airbag pass through the second suction cup
  • the switch control valve is in communication with the fourth vent pipe of the tail end bracket to supply air or exhaust through the fourth vent pipe, and the fourth vent pipe passes through the connection between the head end bracket and the tail end bracket.
  • the second passive telescopic tube is in communication with the head-end airbag; the first suction cup switch control valve is used to control the opening or closing of the suction cup air hole of each suction cup; the second suction cup switch control valve is used to control each suction cup The opening or closing of the suction cup air hole.
  • the number of the peristaltic telescopic tubes is multiple, the multiple peristaltic telescopic tubes are evenly distributed between the head ends and the tail end brackets, and each peristaltic telescopic tube passes through the The independent vent pipe on the end bracket supplies air or exhaust.
  • the working end includes: an illumination fiber, a working laser fiber, an imaging fiber, and a positive and negative pressure channel.
  • the shape of the head-end airbag and the tail-end airbag after inflation is a polygonal shape in cross section.
  • the head-end airbag and the tail-end airbag are elastic, flexible and deformable bodies, which can actively adapt to pipes of different pipe diameters and shapes after inflation and expansion.
  • the hollow air bag peristaltic robot for coelenteropathy, pipe or wall climbing provided by the embodiments of the present invention includes a working end, a hollow cylindrical head end support, a head end air bag, a peristaltic telescopic tube, and a hollow cylindrical end support And the tail end airbag.
  • the front end airbag and the tail end airbag are expanded or contracted by air supply or exhaust, and the peristaltic expansion tube is extended or shortened by air supply or exhaust.
  • the hollow air bag peristaltic robot is driven by air pressure to alternately control the radial expansion and contraction of the head end air bag and the tail end air bag, and the axial expansion and contraction of the telescopic tube, so that the robot can creep on pipes of different pipe diameters and work End transport to the target location.
  • the tube connected to the hollow air bag peristaltic robot is not It is necessary to use a tube with a certain degree of rigidity and a larger diameter, which solves the problem of the discomfort in the inspection process caused by the rigidity and larger diameter of the tube, and reduces the discomfort in the inspection process.
  • Figure 1 is an overall structure diagram of a hollow airbag peristaltic robot according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of inflation and expansion of the tail end airbag of a hollow airbag peristaltic robot according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of the vent connection of the head end airbag and the tail end airbag of the hollow airbag peristaltic robot according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of the connection of the peristaltic telescopic tube of the hollow airbag peristaltic robot according to the embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the working end of the hollow airbag peristaltic robot according to an embodiment of the present invention.
  • Fig. 6 is a schematic diagram of the connection of various ventilation pipes and switch control valves at the tail end of the hollow airbag peristaltic robot according to an embodiment of the present invention.
  • FIG. 1 is an overall structure diagram of a hollow airbag peristaltic robot according to an embodiment of the present invention, as shown in FIG. 1,
  • the hollow air bag peristaltic robot includes: a working end 1, a head end air bag 2, a peristaltic telescopic tube 3, a tail end air bag 4, a hollow cylindrical head end support 10, a hollow cylindrical end support 8, and a ventilation pipe and an on-off valve.
  • the head-end airbag and the tail-end airbag of the robot are elastic, flexible and deformable bodies that can be radially expanded and contracted, and adopt a redundant design, that is, can actively adapt to pipes of different pipe diameters and shapes after inflation and expansion.
  • the peristaltic telescopic tube 3 can be axially extended after being inflated, and can be axially shortened after being exhausted.
  • the robot Driven by air pressure, the robot alternately controls the radial expansion and contraction of the head-end airbag and the tail-end airbag, and the axial expansion and contraction of the telescopic tube by controlling the on and off of the switch valve, supplemented by the suction cup to the tube wall or wall. Force, so that the robot creeps on pipes of different pipe diameters and transports the working end to the target position.
  • the tube connected to the hollow air bag peristaltic robot does not need to use a tube with a certain degree of rigidity and larger diameter, which solves the problem of the endoscope.
  • the rigidity and larger diameter of the tube cause the problem of discomfort in the inspection process, and reduce the discomfort in the inspection process.
  • the working end 1 includes an illumination system and an imaging system, which provides a real-time surrounding environment for the robot while it is wriggling, so that the robot can intelligently and autonomously decide its motion trajectory.
  • FIG 2 it is a schematic diagram of the inflation and expansion of the tail end airbag.
  • the cross-section is a polygon-like shape, and the polygon can be designed according to actual application requirements. Shown in Figure 2 is a hexagon-like shape.
  • the airbag is fixed on the tail end bracket 8 or the head end bracket 10 through the airbag fixing ring 9.
  • the tail end airbag is supplied or exhausted through the ventilation duct 8-2 of the tail end bracket 8, thereby expanding or contracting.
  • the polygonal airbag is integrated with one or more suction cups 5.
  • suction cups When there are multiple suction cups, they are preferably evenly distributed on the airbag, especially on the side plane of the airbag.
  • each suction cup is attached to the inner wall of the airbag, and there are multiple openings on the outer wall of the airbag.
  • the multiple openings are the suction cup pores; each suction cup also includes a ring of suction cup sealing strips, which are arranged on the outer wall of the airbag, and All the suction cup pores surrounding this suction cup.
  • the tail end suction cup is uniformly supplied or exhausted through the tail end support vent pipe 8-1; the tail end suction cup can also be connected to one end of the suction cup channel switch control valve 6 through the channel 7, and the other end of the switch control valve 6 is connected to The tail end bracket ventilation pipe 8-1 is connected, and the on-off control valve 6 individually controls the air supply or exhaust of the suction cup in each direction.
  • the tail end airbag when the tail end airbag is ventilated and expanded, the tail end airbag passively adaptively contacts the inner wall of the pipe tightly, so that the suction cup sealing strip 5-1 and the inner wall of the pipe form a closed space. At this time, the suction cup exhaust forms a negative pressure, thereby providing A certain adsorption force makes the tail end airbag more firmly "support" in the pipeline.
  • the tail end airbag and the suction cup can be used alone or in combination, and both can provide the corresponding retention force for the robot; but the tail end airbag and the suction cup have the best retention force when combined.
  • the internal structure and shape of the head-end airbag are the same as those of the tail-end airbag, that is, both include airbags and ventilation ducts that independently control the air supply or exhaust of the airbag; in some preferred embodiments, both the head-end airbag and the tail-end airbag are provided with one Or multiple suction cups.
  • the inflation and expansion result of the head-end airbag is the same as that of the tail-end airbag.
  • the head-end airbag ventilation is supplied by the tail-end bracket channel 8-3, and is connected to the head-end bracket 10 through the telescopic tube 11 to ventilate the head-end airbag.
  • the head end suction cup is connected to the head end support through the vent pipe 8-4 of the tail end support through the telescopic tube 12, and the head end suction cup is uniformly supplied or exhausted. As shown in Figure 3, the head end airbag is in the exhaust contracted state.
  • the head end can also be connected to one end of the suction cup channel switch control valve through a channel, and the other end of the switch control valve is connected to the tail end bracket ventilation pipe 8-4.
  • the switch control valve controls each direction separately Air supply or exhaust of the suction cup.
  • the head-end airbag when the head-end airbag is ventilated and expanded, the head-end airbag passively adaptively contacts the inner wall of the pipe tightly, so that the suction cup sealing strip 5-1 and the inner wall of the pipe form a closed space. At this time, the suction cup exhaust forms a negative pressure, thereby providing a certain The adsorption force makes the head-end airbag more firmly "support" in the pipeline.
  • the head-end airbag and the suction cup can be used alone or in combination, and both can provide the corresponding retention force for the robot, but the retention force is the best when the head-end airbag and the suction cup are combined.
  • the aforementioned suction cup switch control valve is composed of a plurality of independently controlled valves, and the number of valves is the same as the number of suction cups.
  • the valve is preferably an electromagnetic valve.
  • the passive telescopic tube 11 and the passive telescopic tube 12 can passively adapt to the expansion and contraction of the peristaltic telescopic tube 3 and deform.
  • Figure 4 shows a schematic diagram of the connection of the peristaltic telescopic tube.
  • the peristaltic telescopic tube 3 can only be stretched axially. When it is inflated, it can extend axially, increasing the distance between the head end and the tail end, and shortening the axis after exhausting. Reduce the distance between the head end and the tail end; thus realize the robot's creeping and stretching.
  • the number of peristaltic telescopic tubes is multiple, the peristaltic telescopic tubes are evenly distributed between the head end bracket and the tail end bracket.
  • peristaltic telescopic tubes 3-1, 3-2, 3-3, and 3-4 are used, and they are supplied by the air supply channels 8-5, 8-6, 8-7, and 8-8 at the tail end.
  • the number of peristaltic telescopic tubes can be designed according to requirements.
  • the telescopic lengths of each peristaltic telescopic tube are different, so that the head end and the tail end of the robot are relatively bent, so that the robot turns.
  • FIG. 5 it is a schematic diagram of the working end.
  • the working end passes through the hollow hole of the head and tail end bracket, and is fixedly connected with the head end bracket, and can slide relative to the tail end bracket, so as not to affect the expansion and contraction of the peristaltic telescopic tube.
  • the components of the working end can be configured according to actual needs.
  • the working end 1 can include an illumination fiber 1-1, a working laser fiber 1-2, an imaging fiber 1-3, and a positive and negative pressure channel 1-4, with the help of illumination Optical fiber and imaging optical fiber can feed back the surrounding environment of the robot's forward direction in real time, so that the robot can intelligently and autonomously decide the motion trajectory, and can also achieve safety control.
  • the positive and negative pressure channels 1-4 are used to pass gas into the cooling working surface or administer medicine or suck out liquid.
  • the peristaltic movement of the hollow airbag peristaltic robot in the pipeline is to realize the active peristaltic advancement in the pipeline by means of the cooperative and alternate action of the airbag, suction cup, and telescopic tube:
  • Step 1 In the initial state, the head and tail air bags of the hollow air bag peristaltic robot are not inflated, and the peristaltic telescopic tube is in a contracted state. In this state, the diameter of the airbag is smaller than the diameter of the pipe, the outer wall of the airbag and the inner wall of the pipe are basically not in contact, and the friction between the two can be considered as no.
  • the hollow airbag peristaltic robot can move freely in the pipe; in this state, it can be said that the robot Place the matter in the pipeline.
  • Step 2 Inflate and expand the tail airbag to make the tail airbag and the inner wall of the pipe close contact, and the outer wall of the tail airbag and the inner wall of the pipe are squeezed to generate friction, so that the hollow airbag peristaltic robot is kept in the pipe; if the end airbag and the inner wall of the pipe rub against Insufficient force can make the sucker in close contact work, provide a certain adsorption force, so that the tail end airbag can firmly "support" on the inner wall of the pipe.
  • Step 3 Inflate or exhaust the peristaltic telescopic tube. If the gas pressure in the peristaltic telescopic tube is the same, the head end will move straight forward. If the gas pressure in the peristaltic telescopic tube is different, the head end will turn and move forward.
  • Step 4 After the head end has advanced for a certain distance, the head end airbag is inflated and inflated, so that the head end airbag is in close contact with the inner wall of the pipe, and the outer wall of the tail end airbag and the inner wall of the pipe are squeezed to generate friction, so that the hollow air bag peristaltic robot is kept in the pipe. ; If the friction between the head-end airbag and the inner wall of the pipe is not enough, the sucker in close contact can work and provide a certain adsorption force, so that the head-end airbag can be firmly "supported" on the inner wall of the pipe.
  • Step 5 Exhaust the tail airbag, separate the tail airbag from the inner wall of the pipe, and make the tail airbag in a state of contraction and no resistance; if a suction cup is used to enhance the adsorption force, the suction cup air hole will also Inflate to remove the negative pressure of the suction cup and release the working state of the suction cup.
  • Step 6 the peristaltic telescopic tube is exhausted, so that the peristaltic telescopic tube is axially shortened, and at the same time, it drives the tail end airbag to move forward.
  • Step 7 the tail airbag is inflated and inflated to make the tail airbag and the inner wall of the pipe close contact, and the outer wall of the tail airbag and the inner wall of the pipe are squeezed to generate friction, so that the hollow air bag peristaltic robot is kept in the pipe; if the end airbag and the inner wall of the pipe rub against Insufficient force can make the sucker in close contact work, provide a certain adsorption force, so that the tail end airbag can firmly "support" on the inner wall of the pipe.
  • Step 8 Exhaust the head-end airbag and separate the head-end airbag from the inner wall of the pipe, so that the head-end airbag is in a state of contraction and resistance-free; if the suction cup is used to increase the adsorption force, the suction cup air hole will also Inflate to remove the negative pressure of the suction cup and release the working state of the suction cup.
  • the hollow air bag peristaltic robot completes a forward peristalsis through the above steps 1 to 8 and executes the above steps 3 to 8 in a cycle.
  • the robot can move forward continuously.
  • the imaging fiber at the working end feeds back the surrounding environment in real time, allowing the robot to intelligently and proactively decide the motion trajectory, such as whether to go straight or turn.
  • FIG. 6 it is a schematic diagram of the connection between each vent pipe at the end and the switch control valve.
  • the hollow airbag peristaltic robot provided by the embodiment of the present invention is applied to coelenterological examination and treatment in the medical field.
  • the discomfort of the inspection process is reduced, and the hollow airbag peristaltic robot can be used repeatedly.
  • the inspection cost is greatly reduced.
  • the hollow airbag peristaltic robot provided by the embodiment of the present invention is not only suitable for coelenterological examination and treatment in the medical field, but also can be applied to pipelines, wall climbing, or other fields that require sticking and crawling motion.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明提供了一种用于腔肠、管道或爬墙的中空式气囊蠕动机器人。该中空式气囊蠕动机器人包括工作端、中空圆柱状的头端支架、头端气囊、蠕动伸缩管、中空圆柱状的尾端支架和尾端气囊，其中，前端气囊和尾端气囊通过给气或排气而膨胀或收缩，蠕动伸缩管通过给气或排气而伸长或缩短。利用该中空式气囊蠕动机器人在气压驱动下，交替控制头端气囊、尾端气囊的径向的膨胀和收缩及伸缩管的轴向伸缩，从而使该机器人在不同管径管道上蠕动，将工作端运送至目标位置。通过本发明，解决了内镜因管子的刚性和较大直径导致检查过程不适的问题，减轻了检查过程的不适感。

Description

用于腔肠、管道或爬墙的中空式气囊蠕动机器人 技术领域
本发明涉及机器人技术领域，具体而言，涉及一种用于腔肠、管道或爬墙的中空式气囊蠕动机器人。
背景技术
第八届全国胃癌学术大会公布，5年来我国每年新发胃癌40万例，发病率占全世界的42％左右。临床数据表明，胃癌能否有效治愈与胃癌的发现早晚关系极大。早期胃癌的术后5年存活率可达95％以上，几乎都能痊愈，而如果是中晚期发现，术后5年存活率不到20％。小肠疾病发病率低于胃病，仅占胃肠道疾病的1％～4％，但由于其病因复杂、起病隐匿、症状和体征不典型及传统检查手段受限，确诊率低，极易漏诊和误诊。
近年来，随着医学技术的飞速发展及人们对微创手术需求的不断提高，各种微创手术器械应运而生，如腹腔镜、胃镜、食管镜、喉镜、胶囊内镜等，能直接观察到被检查部位的真实情况，更可通过对可疑病变部位进行病理活检及细胞学检查，以进一步明确诊断，确诊率较前明显提高。以胃镜为例，传统的胃镜的前端为内视镜，内视镜通过细长管子经由口腔插入胃部或十二指肠，内视镜的推进全部依靠细长管子，因此细长管子需要有一定程度的刚性和较大的直径，而导致传统的胃镜检查过程会造成不适。胶囊内镜机器人通过磁场对胶囊在胃部的控制实现轻松舒适的胃部检查能够解决检查过程不适的问题，但是每次检查都要消耗一枚胶囊内镜机器人，因此费用较高。而且以上所述的各种内镜，其应用仅局限于病变部位的探查，而无法实现治疗的目的。
发明内容
本发明提供了一种用于腔肠、管道或爬墙的中空式气囊蠕动机器人，以至少解决相关技术中的内镜因管子的刚性和较大直径导致检查过程不 适的问题。
本发明实施例提供了一种用于腔肠、管道或爬墙的中空式气囊蠕动机器人，包括：工作端、中空圆柱状的头端支架、头端气囊、蠕动伸缩管、中空圆柱状的尾端支架和尾端气囊，其中，所述头端气囊环绕设置在所述头端支架的侧面上，且所述头端气囊通过给气或排气而沿径向膨胀或收缩；所述尾端气囊环绕设置在所述尾端支架的侧面上，且所述尾端气囊通过给气或排气而沿径向膨胀或收缩；所述蠕动伸缩管连接在所述头端支架的底面和所述尾端支架的顶面之间，且所述蠕动伸缩管通过给气或排气而沿轴向伸长或缩短；所述工作端贯穿所述尾端支架和所述头端支架的中空部位，并从所述头端支架的顶部伸出；所述工作端与所述头端支架固定连接，与所述尾端支架滑动配合。
可选地，所述用于腔肠、管道或爬墙的中空式气囊蠕动机器人还包括：多个通气管道和多个通气管道的开关阀，其中，所述多个通气管道与气泵连通，用于分别为所述头端气囊、所述尾端气囊以及所述伸缩管给气或排气。
可选地，所述头端气囊和所述尾端气囊上还设置有一个或多个吸盘，所述吸盘包括吸盘密封条和吸盘气孔，所述吸盘气孔与一个通气管道连通；其中，在所述头端气囊或所述尾端气囊膨胀后，所述吸盘密封条与管道内壁形成密闭空间，所述吸盘气孔排气形成负压，以提升所述头端气囊或所述尾端气囊与管道内壁间的吸附力。
可选地，所述尾端气囊通过所述尾端支架的第一通气管道给气或排气；所述头端气囊通过所述尾端支架的第二通气管道给气或排气，所述第二通气管道经由连接所述头端支架和所述尾端支架的第一被动伸缩管与所述头端气囊连通；
可选地，所述尾端气囊上设置的全部吸盘的吸盘气孔均与所述尾端支架的第三通气管道连通，以通过所述第三通气管道给气或排气；所述头端气囊上设置的全部吸盘的吸盘气孔均与所述尾端支架的第四通气管道连通，以通过所述第四通气管道给气或排气，所述第四通气管道经由连接所述头端支架和所述尾端支架的第二被动伸缩管与所述头端气囊连通。
可选地，所述中空式气囊蠕动机器人还包括：第一吸盘开关控制阀和第二吸盘开关控制阀，其中，所述尾端气囊上设置的全部吸盘的吸盘气孔均经由所述第一吸盘开关控制阀与所述尾端支架的第三通气管道连通，以通过所述第三通气管道给气或排气；所述头端气囊上设置的全部吸盘的吸盘气孔均经由所述第二吸盘开关控制阀与所述尾端支架的第四通气管道连通，以通过所述第四通气管道给气或排气，所述第四通气管道经由连接所述头端支架和所述尾端支架的第二被动伸缩管与所述头端气囊连通；所述第一吸盘开关控制阀用于控制每个吸盘的吸盘气孔的打开或关闭；所述第二吸盘开关控制阀用于控制每个吸盘的吸盘气孔的打开或关闭。
可选地，所述蠕动伸缩管的数量为多个，所述多个蠕动伸缩管在所述头端之间和所述尾端支架之间均匀分布，且每个蠕动伸缩管分别通过所述尾端支架上独立的通气管道给气或排气。
可选地，所述工作端包括：照明光纤、工作激光光纤、成像光纤和正负压通道。
可选地，所述头端气囊和所述尾端气囊充气膨胀后的形状为横截面为类多边形的形状。
可选地，所述头端气囊和所述尾端气囊为弹性柔性可变形体，充气膨胀后可以主动适应不同管径和形状的管道。
通过本发明实施例提供的用于腔肠、管道或爬墙的中空式气囊蠕动机器人，包括工作端、中空圆柱状的头端支架、头端气囊、蠕动伸缩管、中空圆柱状的尾端支架和尾端气囊。其中，前端气囊和尾端气囊通过给气或排气而膨胀或收缩，蠕动伸缩管通过给气或排气而伸长或缩短。利用该中空式气囊蠕动机器人在气压驱动下，交替控制头端气囊、尾端气囊的径向的膨胀和收缩及伸缩管的轴向伸缩，从而使该机器人在不同管径管道上蠕动，将工作端运送至目标位置。将该中空式气囊蠕动机器人应用在医疗领域的腔肠检查及治疗，相对于相关技术中的内镜而言，由于不再借助细长管子被动推进，因此与中空式气囊蠕动机器人连接的管子不需要采用具有一定程度刚性和较大直径的管子，解决了内镜因管子的刚性和较大直径导致检查过程不适的问题，减轻了检查过程的不适感。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的中空式气囊蠕动机器人的总体结构图；
图2是根据本发明实施例的中空式气囊蠕动机器人的尾端气囊充气膨胀示意图；
图3是根据本发明实施例的中空式气囊蠕动机器人的头端气囊和尾端气囊通气连接示意图；
图4是根据本发明实施例的中空式气囊蠕动机器人的蠕动伸缩管连接示意图；
图5是根据本发明实施例的中空式气囊蠕动机器人的工作端示意图；
图6是根据本发明实施例的中空式气囊蠕动机器人的尾端各个通气管道和开关控制阀连接示意图。
具体实施方式
下面将详细描述本发明的各个方面的特征和示例性实施例，为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细描述。应理解，此处所描述的具体实施例仅用于解释本发明，并不用于限定本发明。对于本领域技术人员来说，本发明可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本发明的示例来提供对本发明更好的理解。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或 者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
在本实施例中提供了一种用于腔肠、管道或爬墙的中空式气囊蠕动机器人，图1是根据本发明实施例的中空式气囊蠕动机器人的总体结构图，如图1所示，该中空式气囊蠕动机器人包括：工作端1、头端气囊2、蠕动伸缩管3、尾端气囊4、中空圆柱状头端支架10、中空圆柱状尾端支架8，以及通气管道和开关阀。
可选地，该机器人头端气囊和尾端气囊为弹性柔性可变形体，可以径向膨胀和收缩，并采取冗余设计，即充气膨胀后可以主动适应不同管径和形状的管道。蠕动伸缩管3充气后可以轴向伸长，排气后可以轴向缩短。
该机器人在气压驱动下，通过控制开关阀的通断，交替控制头端气囊、尾端气囊的径向的膨胀和收缩及伸缩管的轴向伸缩，辅以吸盘对管壁或墙壁的一定吸附力，从而使该机器人在不同管径管道上蠕动，将工作端运送至目标位置。相对于相关技术中的内镜而言，由于不再借助细长管子被动推进，因此与中空式气囊蠕动机器人连接的管子不需要采用具有一定程度刚性和较大直径的管子，解决了内镜因管子的刚性和较大直径导致检查过程不适的问题，减轻了检查过程的不适感。
工作端1包括照明系统和成像系统，为机器人蠕动时提供实时周围环境，让机器人能智能自主决策其运动轨迹。
如图2所示，为尾端气囊充气膨胀示意图。气囊充气膨胀后为横截面为类多边形的形状，可以根据实际应用需求设计多边形。在图2中示出的是类六边形形状。气囊通过气囊固定环9固定在尾端支架8或头端支架10上。尾端气囊通过尾端支架8的通气管道8-2给气或排气，从而膨胀或收缩。
可选地，多边形气囊集成有一个或者多个吸盘5。在吸盘为多个的时候，优选为均匀分布在气囊上，尤其是分布在气囊侧平面上。具体而言，每个吸盘附着于气囊内壁，在气囊外壁有多个开口，该多个开口即为吸盘气孔；每个吸盘还包括一圈吸盘密封条，吸盘密封条设置在气囊外壁上， 并包围这个吸盘的全部吸盘气孔。
可选地，尾端吸盘通过尾端支架通气管道8-1统一给气或排气；尾端吸盘也可以通过通道7与吸盘通道开关控制阀6的一端连接，开关控制阀6的另一端与尾端支架通气管道8-1连接，由开关控制阀6单独控制每个方向的吸盘的给气或排气。在实际应用中，当尾端气囊通气膨胀后，尾端气囊被动式自适应与管道内壁紧密接触，使吸盘密封条5-1与管道内壁形成密闭空间，此时吸盘排气形成负压，从而提供一定的吸附力，使尾端气囊更牢固地“支撑”在管道内。
其中，尾端气囊与吸盘均可单独或联合使用，均可为机器人提供相应的固位力；但尾端气囊与吸盘联用时固位力最佳。
头端气囊的内部结构与形态与尾端气囊一致，即都包括气囊、独立控制气囊给气或排气的通气管道；在一些优选的实施例中，头端气囊和尾端气囊都设置有一个或者多个吸盘。
头端气囊充气膨胀结果和尾端气囊一样，其头端气囊通气由尾端支架通道8-3供气，经过伸缩管11连接头端支架10，给头端气囊通气。头端吸盘通过尾端支架通气管道8-4，经过伸缩管12连接头端支架，给头端吸盘统一给气或排气，如图3所示，图示中头端气囊为排气收缩状态示意图。与尾端吸盘类似的，头端也可以通过通道与吸盘通道开关控制阀的一端连接，开关控制阀的另一端与尾端支架通气管道8-4连接，由开关控制阀单独控制每个方向的吸盘的给气或排气。在实际应用中，当头端气囊通气膨胀后，头端气囊被动式自适应与管道内壁紧密接触，使吸盘密封条5-1与管道内壁形成密闭空间，此时吸盘排气形成负压，从而提供一定的吸附力，使头端气囊更牢固地“支撑”在管道内。
其中，头端气囊与吸盘均可单独或联合使用，均可为机器人提供相应的固位力，但头端气囊与吸盘联用时固位力最佳。
可选地，上述的吸盘开关控制阀由多个独立控制的阀门构成，阀门的数量与吸盘的数量相同。该阀门优选为电磁阀门。
其中，被动伸缩管11和被动伸缩管12可以被动适应蠕动伸缩管3的 伸缩而变形。
如图4所示为蠕动伸缩管连接示意图，蠕动伸缩管3只能轴向伸缩，当其充气后可以轴向伸长，增加头端和尾端之间的距离，排气后轴向缩短，减小头端和尾端之间的距离；从而实现了机器人的蠕动伸缩。在蠕动伸缩管的数量为多个的情况下，蠕动伸缩管均匀分布在头端支架和尾端支架之间。本实例中使用了四根蠕动伸缩管3-1、3-2、3-3、3-4，分别由尾端供气通道8-5、8-6、8-7、8-8供气，实际应用中可以根据需求设计蠕动伸缩管的个数。
可选地，在多个蠕动伸缩管中气体压强不同时，各个蠕动伸缩管的伸缩长度不一，使得机器人的头端和尾端相对弯曲，从而使机器人转向。
如图5所示，为工作端示意图。工作端穿过头尾端支架中空孔，并与头端支架固连，与尾端支架可以相对滑动，从而不影响蠕动伸缩管伸缩。工作端组成部分可以根据实际需要配置。在将机器人应用到胃部或者肠道检查和治疗中时，工作端1可以包括照明光纤1-1、工作激光光纤1-2、成像光纤1-3、正负压通道1-4，借助照明光纤，成像光纤可以实时反馈机器人前进方向周围环境，从而让机器人能智能自主决策运动轨迹，也可以实现安全控制。正负压通道1-4用于通入冷却工作面的气体或者给药，或者吸出液体。
以应用在管道中为例，基于上述设计，中空式气囊蠕动机器人在管道内的蠕动移动就是借助气囊、吸盘、伸缩管的协同交替作用实现在管道内主动的蠕动前进：
步骤1，初始状态时，中空式气囊蠕动机器人的头端气囊和尾端气囊未充气，蠕动伸缩管为收缩状态。在此状态下，气囊直径小于管道直径，气囊外壁和管道内壁基本不接触，二者之间的摩擦力可以认为没有，中空式气囊蠕动机器人可以在管道内自由移动；在此状态下可以讲机器人置于管道内的事宜位置。
步骤2，尾端气囊充气膨胀，使尾端气囊和管道内壁紧密接触，尾端气囊外壁和管道内壁挤压产生摩擦力，使中空式气囊蠕动机器人保持在管道内；若尾端气囊和管道内壁摩擦力不够可以让紧密接触的吸盘工作，提 供一定的吸附力，让尾端气囊能牢固地“支撑”在管道内壁上。
步骤3，蠕动伸缩管充气或排气，若蠕动伸缩管中气体压强相同，则头端将直线前进，若蠕动伸缩管中气体压强不同，则头端将发生转弯并前进。
步骤4，当头端前进一段距离后，头端气囊充气膨胀，让头端气囊紧密和管道内壁紧密接触，尾端气囊外壁和管道内壁挤压产生摩擦力，使中空式气囊蠕动机器人保持在管道内；若头端气囊和管道内壁摩擦力不够可以让紧密接触的吸盘工作，提供一定的吸附力，让头端气囊能牢固地“支撑”在管道内壁上。
步骤5，尾端气囊排气，让尾端气囊与管道内壁分离，使尾端气囊处于收缩和无阻力状态；若使用了吸盘增强吸附力，则在尾端气囊排气前，吸盘气孔还将充气以去除吸盘的负压，解除吸盘的工作状态。
步骤6，蠕动伸缩管排气，让蠕动伸缩管轴向缩短，同时带动尾端气囊向前方移动。
步骤7，尾端气囊充气膨胀，使尾端气囊和管道内壁紧密接触，尾端气囊外壁和管道内壁挤压产生摩擦力，使中空式气囊蠕动机器人保持在管道内；若尾端气囊和管道内壁摩擦力不够可以让紧密接触的吸盘工作，提供一定的吸附力，让尾端气囊能牢固地“支撑”在管道内壁上。
步骤8，头端气囊排气，让头端气囊与管道内壁分离，使头端气囊处于收缩和无阻力状态；若使用了吸盘增强吸附力，则在头端气囊排气前，吸盘气孔还将充气以去除吸盘的负压，解除吸盘的工作状态。
中空式气囊蠕动机器人通过上述的步骤1～步骤8完成了一次前进蠕动，循环执行上述的步骤3～步骤8，通过不断改变头端气囊、尾端气囊和蠕动伸缩管的通/排气状态，就能实现机器人不断蠕动前进。在前进过程中，工作端成像光纤实时反馈周围环境，可以让机器人智能主动决策运动轨迹，比如是直行还是转弯。
如图6所示，为尾端各个通气管道和开关控制阀连接示意图。
通过本发明实施例提供的中空式气囊蠕动机器人应用到医疗领域的 腔肠检查和治疗，相对于传统的内镜而言减轻了检查过程的不适感，并且该中空式气囊蠕动机器人可以重复使用，相对于胶囊内镜机器人大大降低了检查成本。并且，与以往的只能够进行疾病探查的内镜而言，通过对机器人工作端的配置，还能够实现查治一体化，在明确病变部位的同时，完成病变组织的治疗或切除。
需要说明的是，本发明实施例提供的中空式气囊蠕动机器人不仅适用于医疗领域的腔肠检查和治疗，还可以应用于管道、爬墙或者其他的需要贴壁爬行运动的领域。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种中空式气囊蠕动机器人，其特征在于，包括：工作端、中空圆柱状的头端支架、头端气囊、蠕动伸缩管、中空圆柱状的尾端支架和尾端气囊，其中，
    所述头端气囊环绕设置在所述头端支架的侧面上，且所述头端气囊通过给气或排气而沿径向膨胀或收缩；
    所述尾端气囊环绕设置在所述尾端支架的侧面上，且所述尾端气囊通过给气或排气而沿径向膨胀或收缩；
    所述蠕动伸缩管连接在所述头端支架的底面和所述尾端支架的顶面之间，且所述蠕动伸缩管通过给气或排气而沿轴向伸长或缩短；
    所述工作端贯穿所述尾端支架和所述头端支架的中空部位，并从所述头端支架的顶部伸出；所述工作端与所述头端支架固定连接，与所述尾端支架滑动配合。
  2. 根据权利要求1所述的中空式气囊蠕动机器人，其特征在于，所述中空式气囊蠕动机器人还包括：多个通气管道和多个通气管道的开关阀，其中，
    所述多个通气管道与气泵连通，用于分别为所述头端气囊、所述尾端气囊以及所述伸缩管给气或排气。
  3. 根据权利要求2所述的中空式气囊蠕动机器人，其特征在于，所述头端气囊和所述尾端气囊上还设置有一个或者多个吸盘，所述吸盘包括吸盘密封条和吸盘气孔，所述吸盘气孔与通气管道连通；其中，
    在所述头端气囊或所述尾端气囊膨胀后，所述吸盘密封条与管道内壁形成密闭空间，与所述吸盘气孔连通的通气管道排气使所述密闭空间内形成负压，以提升所述头端气囊或所述尾端气囊与管道内壁间的吸附力。
  4. 根据权利要求2所述的中空式气囊蠕动机器人，其特征在于，
    所述尾端气囊通过所述尾端支架的第一通气管道给气或排气；
    所述头端气囊通过所述尾端支架的第二通气管道给气或排气，所述第二通气管道经由连接所述头端支架和所述尾端支架的第一被动伸缩管与所述头端气囊连通；
  5. 根据权利要求3所述的中空式气囊蠕动机器人，其特征在于，
    所述尾端气囊上设置的全部吸盘的吸盘气孔均与所述尾端支架的第三通气管道连通，以通过所述第三通气管道给气或排气；
    所述头端气囊上设置的全部吸盘的吸盘气孔均与所述尾端支架的第四通气管道连通，以通过所述第四通气管道给气或排气，所述第四通气管道经由连接所述头端支架和所述尾端支架的第二被动伸缩管与所述头端气囊连通。
  6. 根据权利要求3所述的中空式气囊蠕动机器人，其特征在于，所述中空式气囊蠕动机器人还包括：第一吸盘开关控制阀和第二吸盘开关控制阀，其中，
    所述尾端气囊上设置的全部吸盘的吸盘气孔均经由所述第一吸盘开关控制阀与所述尾端支架的第三通气管道连通，以通过所述第三通气管道给气或排气；
    所述头端气囊上设置的全部吸盘的吸盘气孔均经由所述第二吸盘开关控制阀与所述尾端支架的第四通气管道连通，以通过所述第四通气管道给气或排气，所述第四通气管道经由连接所述头端支架和所述尾端支架的第二被动伸缩管与所述头端气囊连通；
    所述第一吸盘开关控制阀用于控制每个吸盘的吸盘气孔的打开或关闭；
    所述第二吸盘开关控制阀用于控制每个吸盘的吸盘气孔的打开或关闭。
  7. 根据权利要求2所述的中空式气囊蠕动机器人，其特征在于，所述蠕动伸缩管的数量为多个，所述多个蠕动伸缩管在所述头端之间和所述尾端支架之间均匀分布，且每个蠕动伸缩管分别通过所述尾端支架上独立的通气管道给气或排气。
  8. 根据权利要求1至7中任一项所述的中空式气囊蠕动机器人，其特征在于，所述工作端包括：照明光纤、工作激光光纤、成像光纤和正负压通道。
  9. 根据权利要求1至7中任一项所述的中空式气囊蠕动机器人，其特征在于，所述头端气囊和所述尾端气囊充气膨胀后的形状为横截面为类多边形的形状。
  10. 根据权利要求9所述的中空式气囊蠕动机器人，其特征在于，所述头端气囊和所述尾端气囊为弹性柔性可变形体，充气膨胀后可以主动适应不同管径和形状的管道。
PCT/CN2019/096272 2019-06-18 2019-07-17 用于腔肠、管道或爬墙的中空式气囊蠕动机器人 WO2020252838A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910527787.X 2019-06-18
CN201910527787.XA CN110142783A (zh) 2019-06-18 2019-06-18 用于腔肠、管道或爬墙的中空式气囊蠕动机器人

Publications (1)

Publication Number Publication Date
WO2020252838A1 true WO2020252838A1 (zh) 2020-12-24

Family

ID=67591608

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/096272 WO2020252838A1 (zh) 2019-06-18 2019-07-17 用于腔肠、管道或爬墙的中空式气囊蠕动机器人

Country Status (2)

Country Link
CN (1) CN110142783A (zh)
WO (1) WO2020252838A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114992102A (zh) * 2022-06-29 2022-09-02 常州大学 一种自蠕动式采油电潜泵

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112137567A (zh) * 2020-10-27 2020-12-29 曹庆恒 一种内道镜机器人及其使用方法
WO2022087915A1 (zh) * 2020-10-28 2022-05-05 曹庆恒 一种内道镜机器人及其使用方法
CN112643645B (zh) * 2020-12-09 2023-08-18 杭州电子科技大学 在不规则软管中运动的三段式软体微机器人及其运动方法
CN114161400B (zh) * 2021-11-02 2024-07-16 燕山大学 气囊行进式蛇形爬行机器人
CN114291178B (zh) * 2022-01-06 2023-07-28 合肥综合性国家科学中心人工智能研究院(安徽省人工智能实验室) 便携式运货上楼机器人系统
CN115413994B (zh) * 2022-08-10 2024-03-19 武汉大学 一种消化内科胃镜检查设备及其使用方法
CN116922446B (zh) * 2023-09-18 2024-01-05 中国科学技术大学 一种自生长可移动柔性机械臂
CN117442297B (zh) * 2023-11-22 2024-08-30 广东高信智能科技有限公司 一种仿生机器人

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02135414A (ja) * 1988-11-17 1990-05-24 Olympus Optical Co Ltd 管内自走装置
JP2001315636A (ja) * 2000-05-08 2001-11-13 Shigeo Kato 管内走行装置並びにそれを用いる管内走行システム及び管内検査方法
CN103190877A (zh) * 2013-02-01 2013-07-10 上海交通大学 具有吸附能力的柔性内窥镜机器人
CN103494593A (zh) * 2013-01-22 2014-01-08 蔡信东 智能肠镜
JP2014200324A (ja) * 2013-04-01 2014-10-27 学校法人 中央大学 伸縮ユニット、管体内移動体、及び管体内探査装置
CN104523215A (zh) * 2015-01-15 2015-04-22 黄明 一种管腔蠕动摄影检测器及检测装置
CN108720792A (zh) * 2017-04-24 2018-11-02 曹炳鑫 一种蠕动自定位胶囊内镜

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6517477B1 (en) * 2000-01-27 2003-02-11 Scimed Life Systems, Inc. Catheter introducer system for exploration of body cavities
CN1346732A (zh) * 2001-10-30 2002-05-01 上海大学 主动引导内窥检查机器人
CN101430038A (zh) * 2007-11-07 2009-05-13 北京和升达信息安全技术有限公司 一种可在各种管道内自由进退的装置
CN103070659B (zh) * 2013-01-07 2015-05-20 上海交通大学 无缆气囊式机器人系统
CN103786165A (zh) * 2014-01-22 2014-05-14 北华大学 气动空间弯曲柔性关节
CN106239561A (zh) * 2016-08-22 2016-12-21 上海交通大学 气控气囊式软体机械臂
CN107498538B (zh) * 2017-08-25 2021-02-02 哈尔滨工业大学 一种高适应性的新型自变形模块化软体机器人
CN207953859U (zh) * 2018-03-11 2018-10-12 中南大学 一种变刚度柔性机械臂
CN210161176U (zh) * 2019-06-18 2020-03-20 北京大学口腔医学院 用于腔肠、管道或爬墙的中空式气囊蠕动机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02135414A (ja) * 1988-11-17 1990-05-24 Olympus Optical Co Ltd 管内自走装置
JP2001315636A (ja) * 2000-05-08 2001-11-13 Shigeo Kato 管内走行装置並びにそれを用いる管内走行システム及び管内検査方法
CN103494593A (zh) * 2013-01-22 2014-01-08 蔡信东 智能肠镜
CN103190877A (zh) * 2013-02-01 2013-07-10 上海交通大学 具有吸附能力的柔性内窥镜机器人
JP2014200324A (ja) * 2013-04-01 2014-10-27 学校法人 中央大学 伸縮ユニット、管体内移動体、及び管体内探査装置
CN104523215A (zh) * 2015-01-15 2015-04-22 黄明 一种管腔蠕动摄影检测器及检测装置
CN108720792A (zh) * 2017-04-24 2018-11-02 曹炳鑫 一种蠕动自定位胶囊内镜

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114992102A (zh) * 2022-06-29 2022-09-02 常州大学 一种自蠕动式采油电潜泵
CN114992102B (zh) * 2022-06-29 2023-09-26 常州大学 一种自蠕动式采油电潜泵

Also Published As

Publication number Publication date
CN110142783A (zh) 2019-08-20

Similar Documents

Publication Publication Date Title
WO2020252838A1 (zh) 用于腔肠、管道或爬墙的中空式气囊蠕动机器人
CN210161176U (zh) 用于腔肠、管道或爬墙的中空式气囊蠕动机器人
CA2552203C (en) Pressure-propelled system for body lumen
US10251540B2 (en) Apparatus and method for fixing and shortening bowel at the time of endoscopy
US20110054253A1 (en) Method and device for automated translational movement of an endoscope through the digestive tract
US20020143237A1 (en) Inflatable member for an endoscope sheath
US11779196B2 (en) Gastrointestinal endoscopy with attachable intestine pleating structures
US20070179339A1 (en) Self-propelled endoscopic device
US20080097292A1 (en) Pressure-Propelled System For Body Lumen
CN201759539U (zh) 一种软式内窥镜的外套管
JP2009055955A (ja) 内視鏡装置
KR20010042280A (ko) 가요성 슬리브관을 이용한 결장 내 탐침의 돌출
US8419678B2 (en) Pressure-propelled system for body lumen
WO2009067544A2 (en) Inflatable artificial muscle for elongated instrument
BR112012007897B1 (pt) tubo equipado com punho
BR112020003730A2 (pt) aparelho para visualização aprimorada para procedimentos endoscópicos
CN105559834A (zh) 一种内窥镜用诊疗鞘管
JP2012075595A (ja) 流体による自己推進機能を有するダブルバルーン式内視鏡装置
KR100839546B1 (ko) 관내 자율 주행형 로봇 구동 시스템
JP2008043669A (ja) 管内移動体用アクチュエータ、管内移動体、内視鏡用移動装置、並びに内視鏡
CN201453244U (zh) 带有一次性保护套的医疗内窥镜及其保护套安装拆卸装置
CN210643983U (zh) 一种消化内科临床食道诊断装置
KR101149639B1 (ko) 이동 로봇 시스템 및 이동 로봇의 이동 제어 방법
JPWO2019073886A1 (ja) オーバーチューブ
CN215688027U (zh) 一种一次性使用的经食管超声探头无菌保护罩

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19934030

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19934030

Country of ref document: EP

Kind code of ref document: A1