Self-assembling modular robot system, and connector thereof
A robotic system and modular technology, applied in the field of robotics, can solve the problems of the inspected person being unable to move freely and increasing the cost.
Active Publication Date: 2015-04-15
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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The external magnetic field driving method described in these patents requires a complex control system to realize, which not only increases the cost, but also makes the subject's movement difficult
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[0034] The self-assembled modular robot system of this embodiment includes an in vitro control system and a plurality of in vivo robot modules. The extracorporeal control system includes a computer (not shown) and a wireless transceiver (not shown). The in vivo robot module is provided with a wireless communication device for transmitting signals with the external control system.
[0035] The in vivo robot module adopts a heterogeneous structure, that is, the structures and functions of all modules are not exactly the same. The in vivo robot module can be divided into root module and sub-module according to the task role in the self-assembly process. The root module will be used as the main module in the self-assembly process, which is responsible for grabbing the required sub-modules from the surrounding environment and connecting them together , is also responsible for releasing unneeded submodules from the assembled robot body. Modules can be divided into functional modul...
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The invention relates to a self-assembling modular robot system which comprises an in vitro control system and at least two in vivo robot modules; each in vivo robot module comprises an electromechanical platform and a connector, wherein the electromechanical platform is provided with a control circuit, the control circuit comprises a wireless communication device which mutually transmits signals with the in vitro control system, and a switching circuit which is connected with the wireless communication device; the connector comprises a fixing unit which is arranged on the electromechanical platform, a guide bar which is arranged on the fixing unit, and a moving unit which is movably arranged on the fixing unit by the guide bar; wherein a shape memory alloy spring and a restoring spring which are used for connecting the fixing unit with the moving unit are arranged between both; a magnetic unit capable of generating magnetism is arranged on the moving unit; the shape memory alloy spring is communicated with the switching circuit; the wireless communication device receives an instruction of the in vitro control system and then control on-off of the switching circuit; the shape memory alloy spring is heated when the switching circuit is switched on.
Description
technical field [0001] The invention relates to the field of robots, in particular to a self-assembled modular robot system and a connector thereof for gastrointestinal examination and treatment. Background technique [0002] Since Israel launched PillCam, a pill-type capsule endoscope that can be swallowed, in 2000, capsule endoscopy has played an increasingly important role in the examination of human digestive tract diseases and has been welcomed by many patients. However, this microcapsule The endoscope is only a passive image acquisition and emission device, which can only rely on the natural peristalsis of the gastrointestinal tract, so its movement is uncontrollable. In order to develop a motion-controllable wireless digestive tract inspection robot, many researchers are currently working on adding a driving device to this capsule endoscope to make its motion controllable. There are two main methods: A moving mechanism is added to the capsule and an external magnetic...
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IPC IPC(8): A61B1/00A61B5/07A61M31/00A61B17/00A61B10/02
Inventor 付国强吕高利周翊民
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI