Intestinal tract diagnosing and treating robot system and motion control method thereof

Abstract

The invention relates to an intestinal diagnosis robot system for diagnosing intestines of animals or human and the motion control method thereof, which belong to the field of biomedicine engineering. The system comprises an intestinal diagnosis robot and a controller, wherein the diagnosis robot includes a motion driver, a plurality of simulating electrodes, a diagnostic chamber and a flexible fixed ring; the simulating electrodes are fixedly connected with the motion driver; the diagnostic chamber includes a motion control circuit and a miniature diagnosis unit; the motion control circuit is connected with the simulating electrodes through a flexible circuit wire; the diagnostic chamber is flexibly and fixedly connected with the motion driver; and the motion driver can be intestinal parasites or transgenic intestinal parasites, such as ascaris lumbricoides and transgenic ascaris lumbricoides. The motion control method of the intestinal diagnosis robot system mainly comprises simulating the motion driver by use of the simulating electrodes. Compared with prior art, the intestinal diagnosis robot system can enter the deeper portion of intestines in an initiative drive manner, and has higher energy efficiency and better biocompatibility.

Description

Technical field: [0001] The invention relates to an intestinal tract diagnosis and treatment robot system and a motion control method thereof, which are used for performing diagnosis and treatment operations on the intestines of animals or human bodies, and belong to the technical field of biomedical engineering. Background technique: [0002] Non-invasive and minimally invasive has always been an important development direction for the diagnosis and treatment of gastrointestinal diseases. The traditional insertion intestinal endoscope causes severe discomfort and even trauma to the patient during the insertion operation inspection process, and it is difficult to enter the deep part of the intestinal tract. Intestinal Medical Robot (IMR), which can actively enter the intestinal tract under the control of doctors, not only can enter the deep part of the intestinal tract, but also can greatly reduce trauma, has become an international research hotspot in recent years. However...

AI Technical Summary

Problems solved by technology

Studies have shown that the intestinal robot drive technology based on "bionic principle + electromechanical system" still has many problems before its practical application. Among them, the problem of energy supply is more prominent. Various drive mechanisms, such as SMA drive, electromagnetic drive, piezoelectric drive, etc. There is a problem of large energy consumption, and a cable for energy supply is required. Although the trauma of the traditional plug-in operation has been overcome, due to the shackles of the energy supply cable, the overall structure is still the same as the current plug-in digestion. Similar to endoscopy, there are still some limitations in accessing the deep bowel

More importantly, the heat dissipation problem of the driving mechanism of the actively driven intestinal diagnosis and treatment robot is difficult to solve. For example, the driving process of the shape memory alloy is accompanied by repeated heat generation and heat dissipation processes, and a large amount of heat is generated, which leads to hidden dangers of biological safety.

How to overcome the energy bottleneck problem in active driving and obtain an intestinal robot that is independent, has high energy efficiency, and can enter the deep intestine, there is still no good solution.

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