Large reduction ratio miniature gastrointestinal robot mechanism

Abstract

A large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism comprises an axial telescopic mechanism and two radial extending mechanism symmetrically arranged at the two ends of the axial telescopic mechanism. Each radial extending mechanism comprises a baffle frame, an extending motor, a transmission mechanism, a clamping station mechanism and a speed reducer, wherein the extending motor, the transmission mechanism, the clamping station mechanism and the speed reducer are arranged in the baffle frame and are connected in sequence. The axial telescopic mechanism comprises a telescopic rack, a telescopic motor, a planetary gear reducer and a lead screw nut mechanism, wherein the telescopic motor, the planetary gear reducer and the lead screw nut mechanism are arranged in the telescopic rack and are connected in sequence. The telescopic motor and the two extending motors are coaxially arranged. By means of the large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism, the radial extending diameter of the clamping station mechanism is enlarged while the initial size is guaranteed, one-time check of the small intestine colon can be achieved conveniently, and sufficient power is provided for a robot.

Description

technical field [0001] The invention relates to a technology in the field of medical equipment, in particular to a miniature gastrointestinal tract robot mechanism with a diameter reduction ratio greater than 2. Background technique [0002] With the continuous improvement of living standards, people's diet structure is constantly enriched, but the work pressure has increased sharply, and there are more and more patients with digestive tract diseases. According to the "Third National Death Cause Retrospective Sampling Survey Report", the death rate of digestive system diseases is 16.78 / 100,000, accounting for 2.67% of the total number of deaths, ranking sixth; the death of digestive system malignant tumors accounts for 40.61% of all malignant tumor deaths . Among malignant tumors of the digestive system, according to the crude mortality rate, gastric cancer (24.71 / 100,000, accounting for 18.19%), esophageal cancer (15.17 / 100,000, accounting for 11.19%) and colorectal cancer...

AI Technical Summary

Problems solved by technology

However, the radial expansion diameter reduction ratios of the above-mentioned technical robots are all less than 2, and when the initial size is less than Under the premise that the maximum expansion diameter is about 30 mm, it cannot meet the size requirements of one-time simultaneous inspection of the small intestine and colon; the three drive motors of the robot are designed to be arranged in parallel axes, and the maximum diameter of the three motors can reach 10.8 mm, resulting in external The space around the coil is compressed, which has an adverse effect on the system's wireless energy supply solution

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