Gastrointestinal tract robot mechanism

Abstract

The invention relates to a gastrointestinal tract robot mechanism in the technical field of endoscopes. The end of each brushed direct current motor is connected with a reduction box and drives a front end expansion mechanism, a back end expansion mechanism and a middle axial telescoping mechanism; and the front end expansion mechanisms and the back end expansion mechanisms are the same in structure. The gastrointestinal tract robot mechanism comprises three pairs of arc-shaped legs, a first inner gear ring, a second inner gear ring, an output end gear and a transmission gear set, wherein the three pairs of arc-shaped legs are evenly arranged on the first inner gear ring and the second inner gear ring which are oppositely arranged; the output end gear is connected with the output end of one reduction box and meshed with the first inner gear ring and one end of the transmission gear set; and the other end of the transmission gear set is meshed with the second inner gear ring, so that the first inner gear ring and the second inner gear ring rotate oppositely at an equal speed, and expansion motion and retraction motion of the three pairs of arc-shaped legs are accordingly achieved. By means of the gastrointestinal tract robot mechanism, the overall length of a robot is decreased, and the step pitch ratio is increased.

Description

Technical field [0001] The invention relates to a device in the technical field of endoscopes, in particular to a gastrointestinal robot mechanism. Background technique [0002] Traditional gastroscopy and colonoscopy are currently the two most important and effective methods for the diagnosis and treatment of gastrointestinal diseases. With the help of cameras and micro instruments installed at the front end of the slender flexible tube, traditional gastroscopes can detect esophagus, stomach and duodenal diseases, and traditional colonoscopy can detect rectum and colon. When performing traditional gastrointestinal endoscopy, the intervention of a slender flexible tube will cause pain to the patient. Anesthesia is usually required to reduce the pain, and it is difficult for traditional gastrointestinal endoscopy to penetrate into the empty and ileum parts of the small intestine. In order to overcome these limitations Some research institutions have developed wireless capsule endo...

AI Technical Summary

Problems solved by technology

However, the disadvantage of this technology is that the arc-shaped legs are fixed on one side of the inner gear ring, that is, the arc-shaped legs alone occupy a certain axial length, resulting in a relatively large axial thickness of the rotating body. When the rotating body is directly used as the expansion mechanism at both ends of the inchworm-type micro-robot mechanism, it will make the inchworm-type robot mechanism very long, which is not conducive to the improvement of the step ratio

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