CN103598868A - Wheel-claw type endoscope robot - Google Patents
Wheel-claw type endoscope robot Download PDFInfo
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- CN103598868A CN103598868A CN201310531639.8A CN201310531639A CN103598868A CN 103598868 A CN103598868 A CN 103598868A CN 201310531639 A CN201310531639 A CN 201310531639A CN 103598868 A CN103598868 A CN 103598868A
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- fuselage
- ellipsoid
- wheel
- robot
- telescopic claw
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- 230000000968 intestinal effect Effects 0.000 claims abstract description 33
- 210000000078 claw Anatomy 0.000 claims abstract description 20
- 238000001574 biopsy Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract 2
- 239000000463 material Substances 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 3
- 230000007797 corrosion Effects 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 claims description 2
- 230000002209 hydrophobic effect Effects 0.000 claims description 2
- 238000005286 illumination Methods 0.000 claims 1
- 208000028774 intestinal disease Diseases 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 210000001035 gastrointestinal tract Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000036285 pathological change Effects 0.000 description 3
- 231100000915 pathological change Toxicity 0.000 description 3
- 208000031481 Pathologic Constriction Diseases 0.000 description 2
- 206010039509 Scab Diseases 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000002496 gastric effect Effects 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000036262 stenosis Effects 0.000 description 2
- 208000037804 stenosis Diseases 0.000 description 2
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000001198 duodenum Anatomy 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 210000003405 ileum Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 210000001630 jejunum Anatomy 0.000 description 1
- 210000002429 large intestine Anatomy 0.000 description 1
- 239000011553 magnetic fluid Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
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Abstract
The invention relates to an endoscope robot used for examining and treating intestinal diseases. The robot is composed of a robot body, ellipsoidal wheels, a telescopic claw, a lighting and camera shooting component, a circuit board, a power source, an energy receiving coil, a pair of biopsy forceps and the like, and is characterized in that advancing power of the robot is generated by fixing the ellipsoidal wheels on an intestinal wall by using the telescopic claw and driving the ellipsoidal wheels to rotate along the intestinal wall by the motor under the control of a microcontroller, the length of the telescopic claw is adjusted at any time based on the size of friction force among the ellipsoidal wheels and the intestinal wall until non-slip exits. The ellipsoidal wheels at different parts go forwards at different rotating speeds to accordingly drive the robot to do complex actions when the robot turns a corner and goes up and down; energy is provided by both a battery and a wireless transmission; the biopsy forceps can sample simply under the command of an operator.
Description
Technical field
The present invention relates to a kind of endoscope robot of intestinal tract disease inspection treatment use.Specifically, be a kind of artificial intelligence's of having tire formula endoscope robot.
Background technology
At present, clinically in this field of full intestinal tract disease diagnosis and treatment, what endoscope used occurred the earliest is capsule endoscope, and its application is quite to limit to, roughly to observe, understand intestinal inner case only, passive exercise with intestinal makes to check tool randomness, and does not reach the object of biopsy and treatment intestinal tract disease.After this, day double-balloon endoscope of the present invention, substantially can diagnose and treat full intestinal tract disease, but when the endoscope of this principle moves in intestinal, relative displacement is short, by manual operation, overlong time, weak patient is many can not be tolerated, and when shank arrives the certain depth of intestinal, further enter mirror very large difficulty can occur.While therefore utilizing this pair of air bag endoscope to check patient, can not once reach ileocecus (Anal route) or stomach (per anum enters mirror), want to observe full intestinal, just must from contrary direction, enter mirror by secondary, increase medical personnel's labor intensity, the difficulty of inspection and patient's misery.For this reason, clinically in the urgent need to a kind of can be once just relatively short to full intestinal inspection and time, can make the instrument of grab sampling, treatment.This only has initiatively robot system to complete.The mode that adopts robot to realize active exercise mainly contains imitative Inchworm type, imitative earthworm-type, adsorption-type, swimming type, paddling formula, adopts the schemes such as magnetic fluid drives, spiral, rotating excitation field drive-type, artificial reconstructed biology in addition, but these schemes or efficiency is low, have a big risk, technical sophistication, be not suitable for intestinal complex environment, or state-of-the art can not be realized, and the supply of the energy is also a difficult problem, so all in laboratory stage, therefore, clinically in the urgent need to the more novel endoscope robot system of a kind of technology.
Summary of the invention
Task of the present invention is the deficiency for above technology, and a kind of technology maturation is provided, and easy to use, efficiency is high, can make the scope disposable tire formula endoscope robot system with artificial intelligence that completes whole intestinal inspection at short notice.This machine compact conformation, is controlled at front and back walking up and down automatically in intestinal by microcomputer, and movement velocity is fast, flexible movements.
The structural principle of this tire formula endoscope robot is, machine is comprised of fuselage, ellipsoid wheel, telescopic claw, crust, CCD camera assembly, circuit board, power supply, energy receiving coil, biopsy forceps etc., fuselage is cylindrical, diameter is about the 50-70% of adult intestinal diameter, its skeleton consists of elastic hard material spiral surrounding or swivel hook, central shaft consists of flexible elastic hard material, fuselage covers the smooth hydrophilic material of wear resistant corrosion resistant outward, and inside is circuit board, battery, energy receiving coil.The motion parts of robot can be organized at the most tire group by two groups and form, the position that lays respectively at each section of center of gravity in fuselage front and back, each organizes the layout of tire angle, can be partly corresponding, part is intersected, telescopic claw length is scalable, also can increase folder function, in ellipsoid wheel, is motor, can drive its rotation, the elastic hydrophobic material of the ellipsoid outer deposite device of wheel, it is convex stripe in addition, to increase frictional force; Each telescopic claw and ellipsoid wheel under microcomputer is controlled under different positions and rotating speed driven machine advance.Fuselage head-tail is CCD camera assembly, and effect is to take intestinal walls image and pass to external microcomputer by image is wireless; Photographic head can be carried down movingly along universal under steer motor traction, has guide effect concurrently; Fuselage can be done two degrees of freedom and rotate.
Operation principle is as follows, and before machine is started working, ellipsoid wheel and telescopic claw are hidden in fuselage.While starting working, tire stretches out, fixedly ellipsoid is taken turns in intestinal wall, under photographic head guiding, under controlling, self microprocessor or manipulation in vitro person advanced along intestinal wall vertical axes by driven by motor ellipsoid wheel, the length of each telescopic claw is adjusted at any time according to ellipsoid wheel and the size of intestinal wall frictional force, with non-slip, is limited.During turning, different ellipsoid wheels advance with different rotating speeds, thereby drive machine turns.Walking has several modes: 1, resistance is little, when intestinal is straight, can be only by the ellipsoid wheel work on fuselage below and both sides, the retraction fuselage of top, mainly by fuselage gravity pressure below ellipsoid take turns and advance with intestinal wall friction.2, creep up and down, resistance is when large, all ellipsoids wheels are all worked, and the compound action that cooperatively interacted under microcomputer is controlled.3, the outstanding enteral of local stenosis of bowel or swollen thing, by need, in the place ahead tire is collapsible time fuselage, by the promotion of rear tire and the place ahead photographic head guiding direction, pass through fuselage first half, then the place ahead tire stretches out work, and rear tire is retracted, thereby body is all passed through.When intestinal destroys machine walking conditioned disjunction and may go out danger due to reasons such as suddenly aggravating activities torsions, machine tire can be retracted in fuselage in time, avoids intestinal or machine impaired; In the time of if necessary, machine also retreats under photographic head guiding in the wings, completes some work.Biopsy forceps can pass through photographic head picture grab sampling under operator commander.
In work, if adhered to foreign material in ellipsoid wheel groove, the friction of impact and intestinal, in regracting fuselage, ellipsoid wheel rotates, and by hairbrush, is removed.
Because intestinal is long, to energy reserve, require high, battery powered can not complete whole work, so the present invention has added wireless energy transform device, by two or more coils, form receptor, receive external electromagnetic wave or alternating magnetic field energy, be machine power supply, to complete smoothly inspection work together with battery.
With existing technology ratio, advantage of the present invention is 1, machine turns and the power that advances are all provided by tire, is difficult for skidding, and fuselage seldom contacts with intestinal wall, and friction consumes few, and efficiency is high; 2, ellipsoid wheel has radian, large with intestinal wall contact area, is difficult for intestinal to damage high safety; 3, can in intestinal, under each environment, freely creep, performance is good, and this is that a lot of robots are not accomplished; 4, comparable more smoothly by bowel narrow place, strong adaptability, this also a lot of robots do not accomplish; 5, telescopic claw free adjustment length, easily regulating friction force size.Therefore there are many innovative points.
Accompanying drawing explanation
Figure l is the vertical section structure schematic diagram of a kind of embodiment of this tire formula endoscope robot, and for ease of draw describing principle, the structure of 2 group of 8 tire of take is example (comparative optimization be 3 group of 9 tire structure).1 CCD camera assembly wherein, 2 steering assemblies, 3 fuselages, 4 hairbrush, 5 ellipsoids wheel longitudinal sections, 6 telescopic claws, 7 circuit board group and battery, 8 energy receiving coils, 12 central shafts, 13 crusts, 14 burrs, 15, biopsy forceps.
Fig. 2 is the drawing in side sectional elevation of the wheel of endoscope robot shown in Fig. 1 claw portion, wherein, and 9 ellipsoid wheel cross sections, 10 ellipsoid wheel supports, 11 ellipsoid wheel shafts.
The specific embodiment
With reference to Figure of description, with a kind of specific embodiment, tire formula endoscope robot of the present invention is described in detail below, but not as a limitation of the invention.
In embodiment, endoscope robot is comprised of CCD camera assembly, biopsy forceps, fuselage, wheel claw assembly, circuit board, power supply four parts.
CCD camera assembly is fixed in the hemispherical dome structure at fuselage two ends, and hemispherical dome structure is fixed on the two ends of fuselage by universal knot, and wheel claw assembly is uniformly distributed in around fuselage.
Before use, those who are investigated empty intestinal, then lie on the back on examinating couch, suitably apply downern.With per os, enter as example, machine is sent into after gastric by mouth, robot starts working, image transmits and wireless energy transfer system work simultaneously, tire stretches out, fixedly ellipsoid is taken turns in intestinal wall, under photographic head guiding, under self microprocessor or manipulation in vitro personnel control, along the intestinal wall longitudinal axis, advance, enter successively duodenum, jejunum, ileum, large intestine, turn, walk up and down, by pathological changes and stenosis, all under operator commander, carry out, when operator finds that by monitor pathological changes need conscientiously check with biopsy, even machine stops, fixed main body, operator's biopsy device of operating machine carries out biopsy, after completing whole intestinal inspection, machine is excreted by anus, as it is serious to run into intestinal pathological changes, machine by may cause danger time, retreats to gastric, by gastroscope, is taken out.
Material making, method of attachment and control method, the software of above-described embodiment all can pass through existing techniques in realizing.
Above-described embodiment, just the specific embodiment of the easy principle of specification of the present invention for example, in fact, 3 group of 9 tire is better.Because graphic capability is limit, accompanying drawing only represents the machine operation principle, does not represent the ratio of actual size, also not exclusively represents the true form of each parts; The common variation that those skilled in the art carries out within the scope of technical solution of the present invention and replacement (as increased a plurality of tires, steering mechanism, photographic head, biopsy forceps, tire shift in position etc. on the same group) all should be included in protection scope of the present invention.
Claims (4)
1. a tire formula endoscope robot, by fuselage, ellipsoid wheel, telescopic claw, crust, illumination camera assembly, circuit board, power supply, energy receiving coil, biopsy forceps etc., formed, it is characterized in that: endoscope robot by many group telescopic claws fixedly ellipsoid take turns in intestinal wall, under microprocessor is controlled, by driven by motor rotation, advanced; Energy is provided jointly by battery and wireless transmission.
2. tire formula endoscope robot according to claim 1, its architectural feature is that the motion parts of endoscope robot consists of ellipsoid wheel, telescopic claw; Fuselage rear and front end is photographic head, and photographic head can be carried down movingly along universal under motor traction, and biopsy forceps retractable rotates; Fuselage can be done two degrees of freedom and rotate.
3. tire formula endoscope robot according to claim 1, its fuselage composition characteristic is, cylindrical skeleton consists of elastic hard material spiral surrounding or swivel hook, central shaft consists of flexible elastic hard material, fuselage covers the smooth hydrophilic material of wear resistant corrosion resistant outward, and inside is circuit board, battery, energy receiving coil; Telescopic claw root fuselage has elliposoidal groove, and large I is held ellipsoid wheel and entered, and has hairbrush in groove.
4. tire formula endoscope robot according to claim 1, its motion parts composition characteristic is, two or more sets ellipsoid wheels, telescopic claw lay respectively at the corresponding position of centre of gravity of fuselage, telescopic claw is scalable and folding, in ellipsoid wheel, it is motor, can drive it to rotate, the elastic hydrophobic material of the ellipsoid outer deposite device of wheel, and tyre convex stripe; Each telescopic claw and ellipsoid wheel under microcomputer is controlled under different positions and rotating speed driven machine advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310531639.8A CN103598868B (en) | 2013-11-01 | 2013-11-01 | A kind of Wheel-claw type endoscope robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310531639.8A CN103598868B (en) | 2013-11-01 | 2013-11-01 | A kind of Wheel-claw type endoscope robot |
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| CN103598868A true CN103598868A (en) | 2014-02-26 |
| CN103598868B CN103598868B (en) | 2015-11-04 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105361841A (en) * | 2015-11-30 | 2016-03-02 | 青岛大学附属医院 | Wireless capsule endoscope system for gastrointestinal tract diagnosis and treatment |
| CN106974613A (en) * | 2017-04-26 | 2017-07-25 | 常州信息职业技术学院 | A kind of miniature gastrointestinal robot |
| CN109730624A (en) * | 2019-02-18 | 2019-05-10 | 陈嘉浩 | A kind of crawler formula gastroscope |
| CN110089991A (en) * | 2019-04-23 | 2019-08-06 | 南通市传染病防治院(南通市第三人民医院) | A kind of Alimentary tract disease treatment surgical endoscope positioning device and its localization method |
| CN110420005A (en) * | 2019-08-09 | 2019-11-08 | 上海市第一人民医院 | It is expansible, with telescopic arm, the miniature gastroscope robot that can be colonized |
| CN113576371A (en) * | 2021-07-02 | 2021-11-02 | 柏为（武汉）医疗科技股份有限公司 | Endoscope and detection instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105361841A (en) * | 2015-11-30 | 2016-03-02 | 青岛大学附属医院 | Wireless capsule endoscope system for gastrointestinal tract diagnosis and treatment |
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| CN109730624A (en) * | 2019-02-18 | 2019-05-10 | 陈嘉浩 | A kind of crawler formula gastroscope |
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| CN110420005A (en) * | 2019-08-09 | 2019-11-08 | 上海市第一人民医院 | It is expansible, with telescopic arm, the miniature gastroscope robot that can be colonized |
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| CN113576371A (en) * | 2021-07-02 | 2021-11-02 | 柏为（武汉）医疗科技股份有限公司 | Endoscope and detection instrument |
| CN113576371B (en) * | 2021-07-02 | 2024-03-15 | 柏为（武汉）医疗科技股份有限公司 | Endoscope and detecting instrument |
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| CN103598868B (en) | 2015-11-04 |
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