Miniature robot facing tiny pipes of inner cavity of human body and motion method of miniature robot

Abstract

The invention relates to a miniature robot facing tiny pipes of an inner cavity of a human body and a motion method of the miniature robot and belongs to the technical field of medical miniature robots. In the method, based on opposition rotating directions of a motor permanent magnet and a coil and spiral grooves which are fixedly connected to the coil and the permanent magnet and have differentrotating directions on the inner surface and the outer surface of the robot, when the robot rotates in the liquid environment at high speed, the force of propelling the inner surface and the outer surface of the robot by the generated liquid are consistent; and based on the dynamic pressure effect of the liquid between the pipe wall of the inner cavity and the outer shell of the robot, the robot runs in the tiny pipes of the inner cavity, full of mucus, of the human body at high speed in a suspension mode and the aim of non-damage driving is fulfilled. According to imaging, communication and control modules encapsulated in the robot, in vitro wireless control on the robot can be realized. The robot has tiny volume, is convenient to operate and control, and can be used for checking and diagnosing the tiny pipes (such as main artery, urethral canal and the like) of the inner cavity of the human body.

Description

technical field [0001] The invention relates to a medical micro-robot, in particular to a micro-robot facing the tiny pipeline of the human body cavity and a movement method thereof. Background technique [0002] Minimally invasive surgical medical technology is a research hotspot in the world today. Minimally invasive surgical techniques emerged in the 1980s, and interventional surgery is an important branch. In interventional surgery, there is a phenomenon that the quality of surgery is affected by unstable manual operation. The combination of robot technology and interventional technology is one of the ways to solve the above problems. At present, the research on minimally invasive surgery is mainly carried out in two aspects: one is to improve the traditional medical endoscope system and further miniaturize the system; the other is to improve the driving method of the medical endoscope system entering the human body cavity. For the human gastrointestinal tract, Phee e...

AI Technical Summary

Problems solved by technology

In short, various driving methods and devices of medical micro-robots have been studied at home and abroad, but there are still some defects: one is that the robot is in contact with the wall of the inner cavity when it moves, and it is easy to cause damage to human organic tissues; the other is that the structure of the robot is relatively small. Complex and costly; third, the robot needs to be driven by an external magnetic field and is not easy to operate

However, the above-mentioned structure is too large, the outer diameter of the micro-motor and the cylinder must be the same, and the liquid resistance during the movement is too large. In the case of a small suspension thickness of the robot, the rotation speed of the micro-motor or the helical groove of the cylinder shell is too high and it is easy to damage the inner cavity wall.

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