Microrobot for gastrointestinal tract

Abstract

The invention belongs to the technical field of endoscopes, and provides a microrobot for a gastrointestinal track. The microrobot for the gastrointestinal tract comprises an axial telescoping mechanism, a head radial clamping mechanism and a tail radial clamping mechanism. The head radial clamping mechanism is connected with the axial telescoping mechanism through a radial power mechanism. A radial clamping mechanism comprises a mechanism output gear, a speed regulating output gear, at least three helix line legs and a clamping speed regulating device, wherein the mechanism output gear and the speed regulating output gear are meshed with each other, and the at least three helix line legs are evenly distributed on the outer periphery of the mechanism output gear. The microrobot for the gastrointestinal tract is small in size, simple in structure, simple in controlling, low in cost and reliable in performance, has a larger movement stroke compared with an existing mechanism, can be adapted to a human gastrointestinal tract environment, can move effectively, and avoids the defects of a traditional endoscope and a capsule endoscope.

Description

technical field [0001] The invention relates to a device in the technical field of endoscopes, in particular to a microrobot used in the gastrointestinal tract. Background technique [0002] As a major gastrointestinal disease, the incidence of peptic ulcer is 10% to 20%, and it is the most common cause of upper gastrointestinal bleeding. Although modern medical technology has improved, the mortality rate of peptic ulcer is still high, which is 5% to 10%. For patients with no ulcer history, atypical clinical manifestations and difficult diagnosis, emergency endoscopy within 24 to 48 hours of bleeding can improve the diagnosis rate. Endoscopic examination can observe the bleeding site in the small intestine, and judge whether to perform endoscopic hemostatic treatment based on the bleeding state. The mortality rate of ulcer perforation in elderly patients is as high as 30% to 50%. [0003] Fiberoptic or electronic endoscopy can basically make a diagnosis of upper gastroint...

AI Technical Summary

Problems solved by technology

However, due to the short legs of the robot, it is difficult to fix the mechanism in the gastrointestinal tract, and the effective advancement of the robot cannot be guaranteed. action

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