Microrobot for gastrointestinal tract

A technology of micro-robots and robots, which is applied in the field of endoscopes, can solve problems such as the telescopic mechanism is stuck and cannot guarantee the effective advancement of the robot, and achieves the effects of simple control, protection of the intestinal wall, and reliable performance

Active Publication Date: 2013-07-24
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 gas

Method used

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  • Microrobot for gastrointestinal tract
  • Microrobot for gastrointestinal tract
  • Microrobot for gastrointestinal tract

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0031] Such as figure 1 As shown, this embodiment includes: an axial expansion mechanism 20, a head radial clamping mechanism 19 and a tail radial clamping mechanism 21, wherein: the head radial clamping mechanism 19 is composed of a radial power device and an axial telescopic The mechanisms 20 are connected, and the tail radial clamping mechanism 21 is connected with the axial telescopic mechanism 20 by the tail power device 22 .

[0032] The overall size of the robot prototype is Ф13×32.65mm. The expanded outer diameter of the robotic arm of the robot prototype reaches 27.6mm.

[0033] Such as figure 2 , image 3 As shown, the radial clamping mechanism 19 and the tail radial clamping mechanism 21 both include: a mechanism output gear 2 and a speed-regulating output gear 3 that mesh with each other, and at least 3 helical legs that are evenly distributed on the outer circumference of the mechanism output gear 2 4 and the clamp speed regulating device 6, wherein: the root...

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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...

Claims

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Application Information

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IPC IPC(8): A61B1/00B25J7/00
Inventor 颜国正柯全王志武姜萍萍刘华罗伟杰陈雯雯贺术吉星春
Owner SHANGHAI JIAO TONG UNIV
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