CN201912084U - Screw active propulsion capsule-like robot - Google Patents
Screw active propulsion capsule-like robot Download PDFInfo
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- CN201912084U CN201912084U CN2011200014881U CN201120001488U CN201912084U CN 201912084 U CN201912084 U CN 201912084U CN 2011200014881 U CN2011200014881 U CN 2011200014881U CN 201120001488 U CN201120001488 U CN 201120001488U CN 201912084 U CN201912084 U CN 201912084U
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Abstract
The utility model provides a screw active propulsion capsule-like robot which comprises a front cover, a controller, a sensor, a battery holder, a battery, a driving motor, a housing, a seal ring, a rear cover, a flexible coupler and a propulsion screw rod. The connection relation is that the driving motor is nested in the front cavity of the housing; the battery is positioned in the battery holder, one end of the battery is in contact with the driving motor, and the other of the battery is in contact with the battery holder; the bottom of the battery holder is in contact with the controller and the sensor; the front cover is nested at one end of the housing and enables the controller, the sensor, the battery holder, the battery and the driving motor to be closed in the front cavity of the housing; the seal ring is arranged in the rear cavity of the housing; the rear cover is arranged at the other end of the housing in an interference fit or threaded fit way to form a back cavity with the housing; and one end of the flexible coupler is connected with the motor shaft of the driving motor in a tightening way, and the other end of the flexible coupler is connected with the handle end of the propulsion screw rod. The screw active propulsion capsule-like robot provided by the utility model has good exercise performance, high drive efficiency, reliability, and practicability, and is suitable for flexible and elastic organ wall environments.
Description
Technical field
This utility model relates to medical instruments field in the body, relates more specifically to a kind of screw active propulsion capsule robot.
Background technology
In medical apparatus and instruments, the critical medical devices of the position that is used to observe body cavities internal organizational structure, focus, size, form and character that the medical endoscope RECENT DEVELOPMENTS is got up, because of its direct-view, Wicresoft, advantage such as objective, the diagnosis and the treatment of clinical each section have been widely used at present.The M2A of wireless capsule endoscope at first succeeded in developing in Israel Given Image company in 2000, and was applied to clinical.Finish the gastrointestinal tract image check by oral wireless capsule endoscope, overcome traditional cable-line method and had deficiencies such as to realize in complete small bowel examination and the damage cavity tissue and the huge misery of having avoided splanchnoscopy to bring to patient.
Present capsule endoscope all utilizes digestive tract to wriggle naturally and travels through whole inspection area, and this process is slow and uncontrollable.For realizing the function expansion of wireless capsule endoscope, must on existing basis, add driving control safely and effectively.
Both at home and abroad, it is at the early-stage that the active drive of capsule endoscope and attitude are adjusted Control Study, and each research institution has only the imagination and the design of some drive schemes.Carry out mainly containing of this respect research: the people's such as Byungkyu Kim at Korea S University of Science and Technology micro-system center the paddle-type air capsule endoscope that moves about, its progressive effect is bad, and efficient is low; By the capsule robot of creeping that the lower limb that drives based on marmem is arranged that people such as Italian Paolo Dario develop, the energy consumption high efficiency is low; People such as the K. Ishiyama of northeastern Japan university propose a kind of type of drive of utilizing the outfield magnetic torque. and it is to provide space rotating magnetic field by similar three Helmholtz coils, the control loading current is to adjust the size and the direction of magnetic field intensity, mode with magnetic torque acts on the embedded magnet of capsule, precession under capsule surface spiral lamination promotes, its control procedure are quite complicated; People such as the Zhou Yinsheng of Zhejiang University have proposed the drive mechanism of bicylinder spiral endoscope robot.Make left and right sides spiral fluted cylinder rotation by micro motor,, make microrobot be in suspended state and drive to realize not damaged by means of the dynamic pressure effect effect.This dual mode all needs to make the body of microrobot closely to contact with surrounding.But because organ walls has viscous-elastic behaviour, closely contact is restricted, and when the gap of cylinder spiral ribs and tube wall was too big, the Hydrodynamic thin film can break, and propulsive force die-offs, and advances weak effect.
The utility model content
The purpose of this utility model is to overcome the deficiency that prior art exists, and screw active propulsion capsule robot is provided.This utility model can be in being full of the gentle elastic tube wall environment of big viscosity solid-liquid medium, and realization can externally be controlled, in the gentle elastic pipeline of the sealing that is full of big viscous liquid, initiatively move and the adjustment attitude, but the capsule robot of forward-reverse and acceleration and deceleration.This capsule robot that can ACTIVE CONTROL is in the future microoperation, detect with treating etc. good platform is provided.Robot motion's function admirable of the present utility model drives the efficient height, is applicable to gentle elasticity organ walls environment, has reliability and practicality, and concrete technical scheme is as follows.
Screw active propulsion capsule robot comprises protecgulum, control and pick off, battery holder, battery, drive motors, shell, sealing ring, bonnet, flexible clutch and augering screw, and its annexation is: drive motors is linked in the shell ante-chamber; Battery is arranged in battery holder, and battery one end contacts with drive motors, and the battery other end and battery floor seated connection touch; The battery holder bottom contacts with pick off with control; Protecgulum is linked in an end of shell and control and pick off, battery holder, battery, drive motors is enclosed within the shell ante-chamber; Sealing ring places in the shell back cavity; Bonnet forms back cavity by interference or the threaded engagement other end at shell with shell; One end of flexible clutch and the motor shaft sleeve stressed joint of drive motors, the other end is connected with the pommel of augering screw.
Above-mentioned screw active propulsion capsule robot, described shell excircle evenly is interval with two or more fins.
Above-mentioned screw active propulsion capsule robot, described augering screw main body are that outer surface has been cut the spiral fluted cylinder or cut conical surface spiral fluted circular cone, and the section shape of groove is a rectangle or trapezoidal.
Above-mentioned screw active propulsion capsule robot, protecgulum front end be arc and be coated with when being used to reduce to move and the anti-adhesion varnish of organ friction.
Above-mentioned screw active propulsion capsule robot, control comprises camera head, control module and radio communication device with pick off.
Above-mentioned screw active propulsion capsule robot, the flexible clutch plastic flexible pipe directly tightly is enclosed within on the pommel of the motor shaft of drive motors and augering screw.
Actuating unit of the present utility model is that of its rear portion opens the slotted screw rod of different parameters, it is during by the drive motors driven rotary and mucus or mixture effect in the organ, forms propulsive force forward or backward and forms total propulsive force with axial rub pull strength that the contact surface effect produces.By remote control, it can be on one's own initiative moves being coated with on the mucous organ walls, by the control to its drive motors, can carry out forward-reverse and stop and operation such as speed change.Between main body and the rear portion driving device is a flexible coupling, makes worm propeller can adapt to the bending of organs such as intestinal and effectively propelling.Drive motors is linked in the shell ante-chamber, and motor fuselage and shell inner cavity are that one effect is arranged is to prevent that the liquid etc. in the robot working environment from carrying out influencing battery, control module etc. to interference fit.Battery is in battery holder, and battery contacts with drive motors; The battery holder bottom contacts with pick off with control.Protecgulum is linked on the shell, and control and pick off, battery holder, battery, drive motors are enclosed within the shell ante-chamber; Sealing ring places in the shell back cavity; Bonnet on shell, forms back cavity with shell by interference or threaded engagement.The motor shaft sleeve stressed joint of one of flexible clutch and drive motors, one is connected with the pommel of augering screw.Flexible clutch can directly be used plastic flexible pipe, directly tightly is enclosed within on the pommel of the motor shaft of drive motors and augering screw, gets final product carry-over moment.
Because when the drive motors rotation drives augering screw, produce reverse moment of torsion, make robot that rotation can take place, the effect of influence shooting and other detection or operation, so two or more fin of shell circumference uniform distribution of screw active propulsion capsule robot, be used to form resistance when rotated, in order to offset reaction torque, with the rotation that prevents to form because of reaction torque.
The form parameter of augering screw of the present utility model can have difference.The augering screw main body is that outer surface has been cut the spiral fluted cylinder or cut conical surface spiral fluted circular cone.The section shape of groove can be a rectangle or trapezoidal or the like, can be the helicla flute of or bull.The propulsive force size and the effect of these parameters and generation are all influential.
This utility model utilizes screw rod as actuating unit, and is simple in structure, and control is convenient.Screw rod is during by the drive motors driven rotary and the mixture effect in organ or the mucus, forms propulsive force forward or backward and forms total propulsive force with axial rub pull strength that the contact surface effect produces.By remote control, it can be on one's own initiative moves in being coated with mucous organ walls, by the control to its drive motors, can carry out forward-reverse and stop and operation such as speed change.Between main body and the rear portion driving mechanism is a flexible coupling, makes worm propeller can adapt to the bending of organs such as intestinal and effectively propelling.
Generally speaking.Robot motion's function admirable of the present utility model drives the efficient height, is applicable to gentle elasticity organ walls environment, has reliability and practicality.Because structure and control system are simple, so cost and use cost are low, have vast market prospect.
Description of drawings
Fig. 1 is the assembling sketch map of screw active propulsion capsule robot.
Upward view when Fig. 2 is the turning of screw active propulsion capsule robot.
Cutaway view (the A-A direction among Fig. 2 is analysed and observe) when Fig. 3 is the turning of screw active propulsion capsule robot.
Fig. 4 is the sketch map of the different tapering forms of screw rod.
Fig. 5 is the screw active propulsion capsule robot sketch map that advances in intestinal environment.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and embodiments, but protection domain of the present utility model is not limited to the scope of embodiment statement.
As shown in Figure 1 to Figure 3, screw active propulsion capsule robot of the present utility model is characterized by: comprise protecgulum 01, control and pick off 02, battery holder 03, battery 04, drive motors 05, shell 06, sealing ring 07, bonnet 08, flexible clutch 09, augering screw 10.
When the work beginning, the operator is by wireless remotely-controlled device (use prior art), send the forward/backward signal to the control of screw active propulsion capsule robot and the radio communication device of pick off 02, and radio communication device is transferred to the control module of controlling with pick off 02 with the control signal that receives, and the control module output signal is to drive motors 05.Drive motors 05 obtains the signal of battery 04 power supply and forward or reverse, and carries out forward startup or oppositely startup; Drive motors 05 drives augering screw 10 rotations by flexible clutch 09.Mucus or mixture effect in the augering screw 10 of rotation and the organ form propulsive force forward or backward, and form total propulsive force with axial rub pull strength that the contact surface effect produces.Similarly, allow screw active propulsion capsule robot quicken or slow down or when stopping, also can send control information and control when needs by remote control.
As shown in Figure 5, when screw active propulsion capsule robot runs into bend,, make augering screw 10 can act on mutually with peripheral wall surface better on the one hand, keep propulsive force because flexible clutch 09 adaptability ground carries out bending; Can do not blocked on the other hand yet, allow advance more smooth and easy.
As shown in Figure 1, because when drive motors 05 rotation drives augering screw 10, produce reverse moment of torsion, make robot that rotation can take place, the effect of influence shooting and other detection or operation, so the two or more fin of shell circumference uniform distribution of screw active propulsion capsule robot are used to form resistance when rotated, in order to offset reaction torque, with the rotation that prevents to form because of reaction torque.But fin and shell 06 one shape, or after processing respectively, cement in together.
As shown in Figure 3, enter in the body in order to prevent the foreign material such as liquid in the environment, this robot utilizes sealing ring 07(O shape circle) be placed on the flexible clutch 09, to form movable sealing.Bonnet be by interference or threaded engagement on shell 06, can be by adjusting the precession amount of bonnet on shell, to sealing ring 07(O shape circle) compress or loosen, adjust sealing ring 07(O shape circle to reach) with the degree of tightness that cooperates of flexible clutch 09, be beneficial to movable sealing and also can reduce simultaneously because sealing ring 07(O shape is enclosed) frictional resistance that brings.
As shown in Figure 4, the form parameter of augering screw 10 of the present utility model can have difference.Augering screw 10 main bodys are that outer surface has been cut spiral fluted cylinder (screw rod 10a) or cut conical surface spiral fluted circular cone ( screw rod 10b and 10c).The section shape of groove can be a rectangle or trapezoidal or the like, can be the helicla flute of or bull.The propulsive force size and the effect of these parameters and generation are all influential.
Screw active propulsion capsule robot, protecgulum 01 front end be arc and be coated with when being used to reduce to move and the anti-adhesion varnish of organ friction.
Control is that screw active propulsion capsule robot comprises camera head, control module (as processor) and radio communication device with pick off 02, is used to realize functions such as shooting, processing, control, communication.
Actuating unit of the present utility model is a screw rod at its rear portion, screw rod is during by the drive motors driven rotary and the mixture effect in organ or the mucus, forms propulsive force forward or backward and forms total propulsive force with axial rub pull strength that the contact surface effect produces.By remote control, it can be on one's own initiative moves in being coated with mucous organ walls, by the control to its drive motors, can carry out forward-reverse and stop and operation such as speed change.Between main body and the rear portion driving mechanism is a flexible coupling, makes worm propeller can adapt to the bending of organs such as intestinal and effectively propelling.
Claims (6)
1. screw active propulsion capsule robot, it is characterized in that comprising protecgulum, control and pick off, battery holder, battery, drive motors, shell, sealing ring, bonnet, flexible clutch and augering screw, its annexation is: drive motors is linked in the shell ante-chamber; Battery is arranged in battery holder, and battery one end contacts with drive motors, and the battery other end and battery floor seated connection touch; The battery holder bottom contacts with pick off with control; Protecgulum is linked in an end of shell and control and pick off, battery holder, battery, drive motors is enclosed within the shell ante-chamber; Sealing ring places in the shell back cavity; Bonnet forms back cavity by interference or the threaded engagement other end at shell with shell; One end of flexible clutch and the motor shaft sleeve stressed joint of drive motors, the other end is connected with the pommel of augering screw.
2. screw active propulsion capsule robot according to claim 1 is characterized in that described shell excircle evenly is interval with two or more fins.
3. screw active propulsion capsule robot according to claim 1 is characterized in that described augering screw main body is that outer surface has been cut the spiral fluted cylinder or cut conical surface spiral fluted circular cone, and the section shape of groove is a rectangle or trapezoidal.
4. according to the described screw active propulsion of claim 1 capsule robot, it is characterized in that the protecgulum front end be arc and be coated with when being used to reduce to move and the anti-adhesion varnish of organ friction.
5. according to each described screw active propulsion capsule robot of claim 1 to 4, it is characterized in that control and pick off comprise camera head, control module and radio communication device.
6. screw active propulsion capsule robot according to claim 5 is characterized in that the flexible clutch plastic flexible pipe, directly tightly is enclosed within on the pommel of the motor shaft of drive motors and augering screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200014881U CN201912084U (en) | 2011-01-05 | 2011-01-05 | Screw active propulsion capsule-like robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200014881U CN201912084U (en) | 2011-01-05 | 2011-01-05 | Screw active propulsion capsule-like robot |
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| Publication Number | Publication Date |
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| CN201912084U true CN201912084U (en) | 2011-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011200014881U Expired - Fee Related CN201912084U (en) | 2011-01-05 | 2011-01-05 | Screw active propulsion capsule-like robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
| CN103393389A (en) * | 2013-08-16 | 2013-11-20 | 哈尔滨工业大学深圳研究生院 | Endoscope microcapsule robot |
| CN104434008A (en) * | 2014-12-12 | 2015-03-25 | 北京大学第三医院 | Endoscopic robot |
| CN105377102A (en) * | 2014-05-30 | 2016-03-02 | 株式会社Mu | Capsule endoscope |
| CN111150436A (en) * | 2020-02-15 | 2020-05-15 | 赵勇 | Screw propulsion type medical robot |
-
2011
- 2011-01-05 CN CN2011200014881U patent/CN201912084U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
| CN102048517B (en) * | 2011-01-05 | 2012-05-30 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
| CN103393389A (en) * | 2013-08-16 | 2013-11-20 | 哈尔滨工业大学深圳研究生院 | Endoscope microcapsule robot |
| CN105377102A (en) * | 2014-05-30 | 2016-03-02 | 株式会社Mu | Capsule endoscope |
| CN105377102B (en) * | 2014-05-30 | 2018-06-22 | 株式会社Mu | Capsule endoscope |
| CN104434008A (en) * | 2014-12-12 | 2015-03-25 | 北京大学第三医院 | Endoscopic robot |
| CN104434008B (en) * | 2014-12-12 | 2016-09-21 | 北京大学第三医院 | Endoscope robot |
| CN111150436A (en) * | 2020-02-15 | 2020-05-15 | 赵勇 | Screw propulsion type medical robot |
| CN111150436B (en) * | 2020-02-15 | 2023-05-30 | 赵勇 | Spiral propulsion type medical robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110803 Termination date: 20140105 |