WO2023236492A1

WO2023236492A1 - Wobble doll-like capsule robot

Info

Publication number: WO2023236492A1
Application number: PCT/CN2022/139557
Authority: WO
Inventors: 尚万峰; 李宇璐; 吴新宇
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2022-06-09
Filing date: 2022-12-16
Publication date: 2023-12-14
Also published as: CN115054181A

Abstract

A wobble doll-like capsule robot, relating to the field of medical instruments. The wobble doll-like capsule robot comprises: a housing (1), the housing (1) being configured as a cylinder having one end being an opening; protruding structures (7) are arranged at two ends of lateral sides in a length direction of the housing (1), the protruding structures (7) being used for keeping the balance of the robot; the two ends in the length direction of the housing (1) are configured to be elliptical; the opening end of the housing (1) is connected to a cylindrical housing cover (2) matched with the housing (1); the housing (1) and the housing cover (2) form a sealed wobble doll-like structure, and the wobble doll-like structure is used for keeping the robot positioned or oriented in the same direction. A Halbach magnetic field module (3) is eccentrically arranged in the housing (1), and an integrated circuit control board (4) is arranged at a position lower than the center of mass of the housing (1), thereby offsetting the center of gravity of the capsule robot and enabling continuous directional positioning by means of the described structural properties in combination with the magnetic control of the Halbach magnetic field module (3). Thus the efficiency of the robot is improved, and the posture adjustment is flexible, and the robot is suitable for different working environments.

Description

A tumbler capsule robot

Technical field

This application belongs to the technical field of medical devices, and particularly relates to a tumbler capsule robot.

Background technique

As micro-robots are used more and more widely in the biomedical industry, traditional medical instruments are slowly becoming intelligent, and the demand for capsule robots is growing rapidly. Compared with traditional gastroscopes, colonoscopy causes discomfort, and with the help of With the magnetically controlled capsule gastroscopy robot, the subject can complete a painless, non-invasive, and anesthesia-free examination without the need for intubation. Capsule microrobots perform non-invasive examinations and small-injury surgeries in the human gastrointestinal tract, which are of great significance for reducing patient pain, improving the safety of examinations and surgeries, and reducing medical costs.

At the same time, with the development of robotic technology, researchers have developed a variety of capsule robots for gastrointestinal examination. For example, the miniature digestive tract capsule endoscope developed by people uses the peristalsis of the digestive tract to inspect the entire area, and the inspection image is transmitted wirelessly by an embedded micro camera. At present, wirelessly controlled capsule robots based on embedded image processing can already perform non-invasive diagnosis and treatment of the stomach and achieve clinical applications; this has greatly improved patients' acceptance of gastrointestinal examinations, improved the efficiency of medical examinations, and enabled earlier Discover and solve problems, effectively reducing the probability of disease progression.

However, this technology also has obvious flaws. The current capsule robot cannot be called completely unmanned control, nor can it be called a completely automatic system, because in the narrow environments of the esophagus and intestines, the capsule robot still has visual blind spots. , and it is prone to rolling in the intestines and stomach, and there are problems with inaccurate positioning and orientation. The main problems that exist are how to achieve more precise control and find structural designs suitable for different organ environments to design new capsule robots.

At present, most capsule robots choose magnetic control as the most convenient control method to solve the problem of wireless control in order to achieve directional and fixed-point drug distribution, biopsy, and other diagnostic and treatment operations. Magnetic drive control mainly uses two operating modes: magnetic force and magnetic moment; magnetic force control mainly uses a permanent magnet to provide a gradient magnetic field to apply magnetic force to make the capsule robot flip in the intestines and stomach. The magnetic moment is driven by a rotating magnetic field or the use of a current coil. In terms of structure, there are dual-hemisphere capsule robots, petal robots, inchworm robots, etc. Among them, the passive double-hemisphere capsule robot can achieve rolling walking in the active mode, and "hover" posture adjustment at a fixed point in the passive mode. The conversion of active and passive motion modes is carried out through a multi-dimensional rotating magnetic field. A fixed-point "hover" posture adjustment dynamic model was established using the Lagrange equation, which can effectively realize clinical applications such as fixed-point targeted therapy.

However, these existing capsule robots have multiple structures but are not targeted. They are widely used in different working environments. Most of the existing capsule robots place micro cameras inside the capsule robot. When inspecting lesions, it is necessary to detect the lesions. Click to take a picture. At this time, the direction and position of the capsule robot must be kept constant. However, due to the peristalsis of the gastrointestinal tract, it is difficult for conventional capsule robots to achieve precise positioning through the structure of the capsule robot itself.

Therefore, the existing technology still has shortcomings and needs further development.

Contents of the invention

In order to solve the above problems, the purpose of this application is to provide a tumbler capsule robot to solve the technical problem that existing robots cannot accurately position and orient.

The purpose of this application is achieved through the following technical solutions:

This application provides a tumbler capsule robot, including:

The housing is arranged in the form of a cylinder with one end open, and raised structures are provided at both ends of the sides in the length direction of the housing, and the raised structures are used to maintain the balance of the robot; Both ends of the housing in the length direction are configured as ellipses. One end of the opening of the housing is connected to a cylindrical shell cover that matches the housing. The housing and the shell cover form a closed tumbler structure. The tumbler structure For maintaining the positioning or orientation of the robot in the same direction;

The Halbach magnetic field module is arranged to fit the inner wall of the housing, and the Halbach magnetic field module is eccentrically arranged in the housing;

An integrated circuit control board is attached to the Halbach magnetic field module, and the integrated circuit control board is set lower than the center of mass of the housing to form an eccentric structure;

A visual detection module is provided on the integrated circuit control board and is used for image collection. The visual detection module uses binocular vision for image collection;

Through the position of the integrated circuit control board lower than the center of mass of the housing, the elliptical structure at both ends of the housing, the overall tumbler structure and the magnetic field control of the Halbach magnetic field module, the balance angle of the robot is controlled and the positioning and orientation are achieved.

The technical solution adopted in the embodiment of the present application also includes: the central part of the shell cover is a convex structure, and the lower part of the shell is an arc structure. The center position of the arc does not coincide with the center of mass position of the capsule, and under the gravity The direction is much lower than the center of mass position, and the shell cover is closed on the shell, so that the shell forms a machine shell that closes the cavity.

The technical solution adopted in the embodiment of the present application also includes: the shell cover is in the form of a tank body.

The technical solution adopted in the embodiment of the present application also includes: a battery module is provided in the tank of the shell cover, and the battery module is electrically connected to the integrated circuit control board.

The technical solution adopted in the embodiment of the present application also includes: the end of the shell cover away from the shell is in a convex shape.

The technical solution adopted in the embodiment of the present application also includes: the end of the housing away from the opening is in a convex shape.

The technical solution adopted in the embodiment of the present application also includes: the Halbach magnetic field module, the visual detection module and the integrated circuit control board are connected through adhesive connection.

The technical solution adopted in the embodiment of this application also includes: the length of the machine casing is 28 mm, and the height is 15 mm.

The technical solution adopted in the embodiment of this application also includes: the inner diameter of the housing and the cover is 12mm, the integrated circuit control board is a cuboid of 8mm*25mm*2mm, and the visual detection module is a cube with two side lengths of 7-10mm.

The technical solution adopted in the embodiment of the present application also includes: the Halbach magnetic field module includes 3-8 cubes with side lengths of 2 mm arranged and connected in sequence.

Compared with the existing technology, the beneficial effects produced by the embodiments of the present application are:

The tumbler capsule robot of the present application includes: a shell, which is arranged as a cylinder with one end open, and protruding structures are provided at both ends of the sides of the shell, and the protruding structures are used to maintain the balance of the robot; Halbach magnetic field The module is installed to fit the inner wall of the housing; the integrated circuit control board is attached to the Halbach magnetic field module; the visual detection module is installed to the integrated circuit control board for image acquisition; the robot is controlled through the magnetic field control of the Halbach magnetic field module. The balance angle and the realization of positioning and orientation; in this application, protruding structures are provided at both ends of the sides of the housing in the length direction to maintain the balance of the robot, and both ends of the housing in the length direction are provided with elliptical tumbler structures for use Keep the robot positioned or oriented in the same direction; set the Halbach magnetic field module eccentrically in the shell and set the integrated circuit control board lower than the center of mass of the shell so that the gravity of the capsule robot is biased to one side. The above structural properties are combined with the Halbach magnetic field. The module's magnetic control realizes continuous directional positioning, improving the efficiency of the robot, and its posture adjustment is flexible, making it suitable for different working environments.

Description of drawings

The drawings described here are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the attached picture:

Figure 1 is a structural diagram of the tumbler capsule robot of the present application;

Figure 2 is a cross-sectional view of the tumbler capsule robot of the present application;

Figure 3 is a perspective structural view of the tumbler capsule robot of the present application without a battery module;

Figure 4 is a perspective structural view of the battery module and shell cover of the tumbler capsule robot of the present application;

Figure 5 is a perspective structural view of the tumbler capsule robot of the present application without a battery module and a shell cover;

Figure 6 is a schematic diagram of the tumbler capsule robot of the present application before it is stressed;

Figure 7 is a schematic diagram of the tumbler capsule robot of the present application after being stressed;

Figure 8 is a force diagram of the battery module of the tumbler capsule robot of the present application.

The reference numbers are: 1-shell, 2-shell cover, 3-Halbach magnetic field module, 4-integrated circuit control board, 5-visual detection module, 6-battery module, 7-convex structure, 8-convex .

Detailed ways

In order to enable those in the technical field to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only These are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.

In the field of medical use of capsule robots, the functions that capsule robots can achieve are the focus of our attention; currently, most capsule robots still use the original cylindrical structure. This structure can be used in some small and narrow environments. For example, in the esophagus and intestines, the capsule cannot be kept stable in the same direction as required, and problems such as rolling and turning are prone to occur. It is necessary to rely on human operation and set parameters to adjust the direction of the fixed capsule robot. This method reduces the work of the capsule robot. Efficiency, prone to problems such as inaccurate orientation and positioning.

Therefore, based on the above problems, the capsule robot with a tumbler structure proposed in this application only needs to determine the position of the large magnet used for driving during inspection, so that the positioning and orientation of the capsule robot can be accurately controlled.

Referring to Figures 1 to 5, the tumbler capsule robot according to the embodiment of the present application includes: a shell 1. The shell 1 is arranged in the form of a cylinder with an opening at one end. The shell 1 is provided with protruding structures at both ends of the sides in the length direction. 7. The raised structure 7 is used to maintain the balance of the robot. Both ends of the housing 1 in the length direction are set as elliptical tumblers. The tumbler structure is used to maintain the positioning or orientation of the robot in the same direction. The shell is set as an elliptical tumbler. The structure is that the capsule robot has the mechanical characteristics of a tumbler structure; the Halbach magnetic field module 3 (Halbach-Hailbach) is set up to fit the inner wall of the shell 1, and the Halbach magnetic field module 3 is eccentrically set inside the shell 1; the integrated circuit control board 4, It is attached to the Halbach magnetic field module 3, and the integrated circuit control board 4 is set lower than the center of mass of the shell to form an eccentric structure; the visual detection module 5 is set on the integrated circuit control board 4 for image collection and visual inspection. Module 5 uses binocular vision to collect images; through the magnetic field control of Halbach magnetic field module 3, the robot's balance angle and positioning orientation are controlled; in this application, protruding structures are provided at both ends of the sides in the length direction of the housing 1 for To maintain the balance of the robot, both ends of the housing 1 in the length direction are set into elliptical tumbler structures to maintain the robot's positioning or orientation in the same direction; the Halbach magnetic field module 3 is eccentrically placed in the housing and the integrated circuit control board 4 is placed It is lower than the center of mass of the shell 1 so that the gravity of the capsule robot is biased to one side. Through the structural performance combined with the magnetic control of the Halbach magnetic field module 3, continuous directional positioning is achieved to improve the efficiency of the robot. The attitude adjustment is flexible and can be applied to different working environments. .

This application proposes a new tumbler capsule robot, establishes a three-dimensional structural model diagram, applies a force to the capsule robot, and conducts force analysis to ensure that the design conforms to a monostable structure, so that it can still maintain a stable state after swinging left and right, and at the same time Combined with magnetic control, precise control is achieved. This application mainly solves the problem that the capsule robot is easy to rotate and roll after arriving at the place to be inspected in the intestine; solves the problem of the capsule robot not fully exerting its functions, and controls the direction of travel of the magnetically controlled capsule robot; it can be oriented in a targeted manner, The checkpoints can always maintain the same direction and can be applied to a variety of human body environments.

After the robot enters the intestine, a new environmental magnetic field is formed through the external permanent magnet, which controls the magnetic field of the Halbach magnetic field module 3 in the capsule to change. The force and torque generated by the change in the magnetic field make the robot move; in addition, through The camera can monitor the specific position of the capsule robot on the human body in real time, and combined with the returned image, can make it reach a designated position, or make the robot swing and adjust to a designated state; the shell structure of the capsule robot in this application is a tumbler structure, and the Halbach magnetic field module Located at the bottom of the capsule, this structure allows the capsule robot to return to the same vertical direction at any time under the control of an external magnetic field, so it can be oriented in a targeted manner and can always maintain the same direction for checkpoints.

Compared with the traditional water drop-shaped tumbler structure, the tumbler structure of the present application can be divided into two parts, the shell part 1 and the shell cover part 2. The open end of the shell 1 is connected to a cylindrical shell cover that matches the shell 1 2. The side of the cover 2 is set as an elliptical protrusion 8, and the cover 2 is closed on the housing 1, so that the housing 1 forms a machine casing with a closed cavity; the part of the housing 1 is similar to a "safety lock" The structure of the capsule robot is a tumbler structure, that is, the end of the shell cover 2 away from the opening is an elliptical protrusion 8, and the end of the shell 1 away from the opening is an elliptical protrusion 8, as shown in Figure 1; the overall capsule robot The assembly diagram, as shown in Figure 4, constitutes a monostable structure as a whole. The relationship between the geometric shape and the static balance finger is structurally optimized to maintain the monostable state. The structure designs a complete capsule robot into two parts. , it is convenient to install the required modules into it, and in subsequent experimental use, if any problem is found in the module, it can be replaced immediately.

In the embodiment, the Halbach magnetic field module 3 and other modules required for control are put into the capsule robot structure to establish a three-dimensional model; through experiments, the best placement position is found, and the Halbach magnetic field module 3 is arranged at the bottom of the tumbler structure according to rules. The position of the micro battery module 6 is placed in the housing 1. The integrated circuit control board 4 and the visual detection module 5 are arranged in sequence on the Halbach magnetic field module 3. The assembly diagram of the complete capsule robot is shown in Figures 2 and 4; If new control modules or other functional modules are added later, the existing tumbler structure can still be optimized to achieve continuous positioning in the same direction.

Regarding the connection relationship of the internal structure of the robot, the overall length of the tumbler capsule robot is 28mm and the height is 15mm; the inner diameters of the shell cover 2 and the shell 1 are equal, and the diameter of the inscribed circle is set to 10-14, preferably 12mm; the visual detection module 5 is set to Two equal cubes with a side length of 7-10mm, preferably a cube with a length of 8mm. If other modules are added later, the area of the visual detection module 5 can be placed for optimization; the integrated circuit control board 4 is a cuboid of 8mm*25mm*2mm, located at Above the Halbach magnetic field module 3; the Halbach magnetic field module 3 includes 3-8 cubes with a side length of 2 mm arranged and connected in sequence. Preferably, the Halbach magnetic field module 3 is composed of 5 cubes with a side length of 2 mm.

The five small cubes in the Halbach magnetic field module 3 are glued in the set direction. The integrated circuit control board 4 and the visual detection module 5 are glued on top of the Halbach magnetic field module 3 in turn; the battery module 6 is located on the shell cover 2 Inside the tank, double-sided tape is used for pasting; a rechargeable capacitor battery is used, and the battery module 6 and the integrated circuit control board 4 are connected through wires; the capsule shell is printed using 3D printing technology, which is more environmentally friendly.

Place the Halbach magnetic field module 3 and the micro battery module 6 in different positions, apply force to the capsule robot with a tumbler structure, and observe the stability; the robot of this application can choose whether the shell cover 2 is needed. In order to achieve lasting and effective magnetic control, it ensures that no matter Whether or not the shell cover 2 is added does not affect the realization of the characteristics of the tumbler structure robot. Optimize the design of the tumbler structure. Through testing, it is concluded that the advantages of the tumbler structure can be achieved in the following three situations: (1) Setting the shell cover 2 and the shell 1 connection, (2) set the battery module 6 in the tank of the shell cover 2, (3) do not set the shell cover 2; as shown in Figures 3 to 5.

For the situation in (1) above: arrange the visual detection module 5, the integrated circuit control board 4 and the Halbach magnetic field module 3 in sequence in the shell, and connect the shell cover 2 to the front part through tape, as shown in Figure 3.

For the situation in (2) above: Place the micro battery on the back cover and connect it to the front part in (1) through tape, as shown in Figure 4.

For the situation in (3) above: considering the replacement of the battery module 6 and the convenience of control in a familiar environment, only the visual detection module 5, the integrated circuit control board 4 and the Halbach magnetic field module 3 are arranged in sequence in the shell, which can also ensure the new The tumbler structure implements the function, as shown in Figure 5.

In addition to the necessary power supply and magnetic control device, we will add other devices later, mainly installed on the Halbach magnetic field module 3 side. Simplifying the mating into a particle, when force is applied to the capsule robot, the center of gravity will change and sway left and right. The mass point is simplified to the center of mass of the counterweight, but when it is swinging, the center of mass rotates around the center of the bottom. The counterweight is mainly divided into two parts, namely the battery module 6 part and the part on the magnetic field control side.

The following is a force analysis of the capsule robot:

(1) Perform force analysis on the visual detection module 5 and magnetic field control module of the capsule robot:

When the capsule robot is stressed, it causes the capsule robot to swing. Take the side view of the capsule robot with a tumbler structure as a schematic diagram; the outer shell of the capsule robot can be ignored relative to the counterweight; assume that the overall Halbach magnetic field module 3 side The center of mass of the counterweight is O, the radius is R, the mass is M, and the gravity is G. Let the distance from the counterweight O to the center of the circle be r, and the contact point between the robot's shell and the platform be A. After applying force to the robot, it rotates at an angle θ, and the contact point is A ₁ ; before and after applying force, the schematic diagram is shown in Figure 6 and Figure 7.

The distribution of this part is almost the entire capsule robot with a tumbler structure, which is similar to the analysis of the entire whole; when an external force F is applied, the line of action of the gravity G of the overall counterweight deviates from the original fulcrum A, thus generating a moment M ₂ on the fulcrum, Suppose the original moment is M ₁ ; as the tilt angle of the tumbler continues to increase, the offset of the line of gravity increases, and the moment M ₂ also increases, finally achieving a balance with the external force moment.

The distance between the original contact point A and the current contact point A ₁ is Rθ, and the position vector of the counterweight O relative to the original contact point A can be expressed as:

d＝(Rθ±rsinθ)i+(R±rcosθ)j

When the capsule robot is subjected to an external force F, the moment M ₂ formed by its own counterweight resists the external force. The two moments are in opposite directions. When they are equal, a dynamic balance is achieved; subsequently, as F continues to decrease, it gradually approaches 0. , only the moment M ₂ exists at this time; relying on the moment M ₂ makes the capsule robot return to the original equilibrium point, that is, the balance between gravity and supporting force; the moment arm acted by the external force F is set to l ₁ ; the moment arm acted by the gravity of the counterweight Equivalent to the distance from point O to A ₁ , set to l ₂ ; after the robot is stressed, the center of gravity O changes, causing l ₂ to also change; the equations of M ₁ and M ₂ are expressed as follows:

M ₁ =F*l ₁ M ₂ =Gcosθ*l ₂

The relationship between M ₁ and M ₂ : when M ₁ =M ₂ =0, it is in the initial position, and then when M ₁ gradually increases, and M ₁ > M ₂ , a swing occurs and does not reach the critical value; when M ₁ = When M ₂ , dynamic equilibrium is reached; as the external force F decreases, when M ₁ < M ₂ , it swings back, and finally reaches the original static equilibrium.

During the swing process, the center of mass O of the counterweight rotates and may be above or below the center of the inscribed circle. The positive sign means it is above the center of the circle, and the negative sign means it is below.

Therefore, the potential energy functions of the system above or below the center of the circle are:

According to the principle of conservation of mechanical energy:

According to the above equation, the relevant parameters can be obtained. It mainly reflects the movement of the capsule robot when θ changes; when the center of mass of the counterweight is located above and below the center of the circle, there are two different situations: (1) When it is located above, when θ = 0, the potential energy takes the pole. Large value, when θ increases, the potential energy decreases; in order to comply with the law of conservation of mechanical energy, the kinetic energy increases, and θ will continue to deflect after it starts to deflect from zero; (2) When it is located below, when θ = 0, the potential energy takes the minimum value, when θ increases, the potential energy also increases. In order to comply with the law of conservation of mechanical energy, the kinetic energy needs to be reduced, so θ starts to deflect from zero, reaches rest, and then returns to the direction where θ is equal to zero. The system is the most stable equilibrium point when θ=0.

(2) Analyze and summarize the 6 parts of the capsule robot battery module:

For the analysis of only the battery module 6, when an external force F is applied to the robot and the robot is in a rocking state, the center of mass rotates around the center of the bottom. The battery module 6 is the gravitational component of the overall counterweight, swinging left and right. In the process, set the changing directions of the gravity Ga of the battery module 6 along the rotation axis, one along the tangent direction as Fc, and the other along the direction of the capsule robot as Fb; let OA be the original position of the capsule robot, rotate The angle θ reaches the position of OA _1. At this time, the battery module 6 is simplified into a particle, which is at the end point of OA _1. The schematic diagram is shown in Figure 8 below, and the force is expressed by the following formula:

F _b =G _a cosθ

During the swinging process, the amplitude of the swing depends on the size of the counterweight. The mass of the battery module 6 is lighter than the mass of other parts, so the battery module 6 has little effect on the amplitude of the swing; the battery module 6 does not affect the stability of the entire capsule robot. sports.

The entire part complies with the kinetic energy theorem and the conservation of mechanical energy, and potential energy needs to be taken into account; assuming that the height of the external force swing is h, the relationship between the external force F and Ga can be expressed as:

For the overall new capsule robot, after an external force F is applied, the center of mass of the two parts of the counterweight rotates relative to the center of the bottom. The comprehensive motion of the two parts can be described more intuitively using the moment of inertia; assuming visual detection and magnetic field control The deflection angle of the center of mass of the module is α, and the deflection angle of the center of mass of the 6-part battery module is β; both move at the same time. Suppose the acceleration of the complete capsule robot is ω and J is the moment of inertia. The relationship between ω, α, and β is as follows:

The swing kinetic energy Et can be expressed as:

Bringing in the projection components of the three axes, it can be seen that the kinetic energy of the swing conforms to the superposition principle, as well as the conservation of mechanical energy and the conservation of kinetic energy.

The existing control method of capsule robots basically relies on humans. The robot is basically controlled by humans to perform positioning and orientation detection and take pictures and samples of the lesion points. Most of the capsule robots reach the positioning points based on experience. In this process, it is difficult to maintain the targeted positioning. The direction to be detected does not change, so it is impossible to guarantee that the state will always be maintained during manual debugging; for the detection of lesions, it is difficult to achieve continuous positioning in the same direction, making the existing capsule robots less efficient.

In response to the above problems, this application conducts a stress analysis on the tumbler structure based on theoretical mechanics to obtain a capsule robot; combined with magnetic control, the control angle can be adjusted in real time according to the state of the capsule robot. By controlling the Halbach magnetic field module 3, it can be applied in different environments. This application applies to a new type of tumbler capsule robot that can perform fixed-point positioning and inspection in the human environment. Compared with other capsule robots, it can achieve continuous positioning in the same direction only through structural performance, which greatly improves the working efficiency of the capsule robot.

The beneficial effects of this application are:

1. The existing capsule robot does not orient the robot at a fixed point, and continuously maintains one direction as the focus of research. Therefore, the effectiveness and accuracy of the capsule robot's function are low; this application is a method that can be used in the human environment. Only through structural performance, continuous positioning in the same direction can be achieved, directly reaching the lesion, which improves the working efficiency of the capsule robot. Compared with other capsule robots, the operation is more convenient and simple, making its application more widespread; for example, it can be positioned at fixed points in the gastrointestinal tract. Examination of the tumbler structure of the capsule robot.

2. Most of the existing dynamic models established by capsule robots do not consider counterweights when establishing dynamic models that satisfy the principle of conservation of energy. The capsule robot with a tumbler structure in this application considers additional components required for the control part. The weight behind the Halbach magnetic field module 3, as well as other parts, including the integrated circuit control board 4, the visual detection module 5 and the micro power supply, are then used to analyze the force of the entire capsule robot and establish a mechanical model to make the positioning more accurate.

3. Flexible posture adjustment. In view of the changing action positions of existing capsule robots, the control operation of this application is flexible, which can realize that the posture of the capsule robot can be adjusted at will according to the settings, and after the position is determined, the positioning and orientation can be quickly and stably realized. .

4. It can be applied to different working environments. At present, most capsule robots are more targeted and suitable for gastric examination, but are not well suited for intestinal examination. In this application, the control device is micro and adopts a tumbler structure. , the tumbler shell structure is made of environmentally friendly materials combined with 3D printing technology. The overall size is small, light in weight, and the surface is smooth. By controlling the Halbach magnetic field module 3, it can be suitable for different environments.

This application has been experimentally verified, verifying the feasibility and stability of the proposed structure, which can improve the accuracy of capsule robot's positioning and orientation for focus points. Improve the working efficiency of capsule robots.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A tumbler capsule robot is characterized by including:

The housing is arranged in the form of a cylinder with one end open, and raised structures are provided at both ends of the sides in the length direction of the housing, and the raised structures are used to maintain the balance of the robot; Both ends of the housing in the length direction are configured as ellipses. One end of the opening of the housing is connected to a cylindrical shell cover that matches the housing. The housing and the shell cover form a closed tumbler structure. The tumbler structure For maintaining the positioning or orientation of the robot in the same direction;

The Halbach magnetic field module is arranged to fit the inner wall of the housing, and the Halbach magnetic field module is eccentrically arranged in the housing;

An integrated circuit control board is attached to the Halbach magnetic field module, and the integrated circuit control board is set lower than the center of mass of the housing to form an eccentric structure;

A visual detection module is provided on the integrated circuit control board and is used for image collection. The visual detection module uses binocular vision for image collection;

Through the position of the integrated circuit control board lower than the center of mass of the housing, the elliptical structure at both ends of the housing, the overall tumbler structure and the magnetic field control of the Halbach magnetic field module, the balance angle of the robot is controlled and the positioning and orientation are achieved.
The tumbler capsule robot according to claim 1, characterized in that the center part of the shell cover has a convex structure, the lower part of the shell has an arc structure, and the center position of the arc does not coincide with the center of mass position of the capsule. , and in the direction of gravity far below the center of mass, the shell cover is closed on the shell, so that the shell forms a machine shell that closes the cavity.
The tumbler capsule robot according to claim 2, wherein the shell cover is in the form of a tank.
The tumbler capsule robot according to claim 3, characterized in that a battery module is provided in the tank of the shell cover, and the battery module is electrically connected to the integrated circuit control board.
The tumbler capsule robot according to claim 3, wherein the end of the shell cover away from the shell is convex.
The tumbler capsule robot according to claim 1, wherein the end of the housing away from the opening is convex.
The tumbler capsule robot according to claim 1, wherein the Halbach magnetic field module, the visual detection module and the integrated circuit control board are connected by adhesive connection.
The tumbler capsule robot according to claim 2, characterized in that the length of the housing is 28 mm and the height is 15 mm.
The tumbler capsule robot according to claim 2, wherein the inner diameter of the housing and the shell cover is 12mm, the integrated circuit control board is a cuboid of 8mm*25mm*2mm, and the visual detection module It is two cubes with side lengths of 7-10mm.
The tumbler capsule robot according to claim 2, wherein the Halbach magnetic field module includes 3-8 cubes with side lengths of 2 mm arranged and connected in sequence.