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Capsule endoscope based on IPMC (ionic polymer metal composite) driving and driving method thereof

A technology of capsule endoscope and capsule, which is applied in the direction of gastroscope, esophagoscope, internal radio detector, etc.

Inactive Publication Date: 2015-09-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the protection of the inner tube wall of the digestive tract, the traditional mechanical drive can no longer meet the needs of active control of the capsule endoscope robot, so it is necessary to design a drive mechanism that is non-destructive to the human body and miniaturized

Method used

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  • Capsule endoscope based on IPMC (ionic polymer metal composite) driving and driving method thereof
  • Capsule endoscope based on IPMC (ionic polymer metal composite) driving and driving method thereof
  • Capsule endoscope based on IPMC (ionic polymer metal composite) driving and driving method thereof

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Embodiment 2

[0040] Embodiment 2: the difference between the present embodiment and embodiment 1 is that two sheet IPMCs are arranged in parallel at the capsule tail structure 3, and the control signal phase difference of these two sheet IPMCs is 180 °; the freedom of two sheet IPMCs Both ends are connected to the same flexible film, which constitutes a flexible double tail fin.

[0041] Compared with the example 1 where a piece of IPMC flexible caudal fin unit is placed at the tail of the capsule body, the IPMC swings back and forth under the drive of a periodic signal to drive the capsule forward. This propulsion method has a simple structure and low driving energy consumption. In order to improve the stability of the capsule body during driving, two identical IPMC flexible caudal fin units are placed side by side at the tail of the capsule endoscopic robot, and the two flexible caudal fin units swing symmetrically with a phase difference of 180°. The deflection torque generated by the ...

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Abstract

The invention relates to a capsule endoscope based on IPMC (ionic polymer metal composite) driving and a driving method thereof. The capsule endoscope based on the IPMC driving comprises a capsule front cover, a capsule main body structure and a capsule tail structure, wherein a plurality of slice IPMCs are arranged on the outer side of the capsule main body structure and on the capsule tail structure along the axial direction of a capsule. Under normal moving status of the capsule endoscope based on the IPMC driving, the slice IPMCs on the outer side of the capsule main body structure can be folded along the capsule, and are unfolded outwards after control signals are applied onto the slice IPMCs on the outer side of the capsule main body structure, and thereby can be used to achieve a deceleration or clamping function. When the slice IPMCs on the outer side of the capsule main body structure are respectively controlled, a posture adjustment for the capsule can be achieved. One or two IPMCs can be installed at the tail end of the capsule, and are used to achieve an active driving function. The capsule endoscope based on the IPMC driving and the driving method thereof use IPMC artificial muscle smart materials good in biocompatibility to achieve movement and posture control of the capsule endoscope based on the IPMC driving in a human body.

Description

technical field [0001] The invention relates to a capsule endoscope and belongs to the technical field of intelligent driving. Background technique [0002] With the improvement of my country's economic level and medical conditions, humanized minimally invasive / non-invasive diagnosis and treatment technologies are becoming more and more popular. Capsule endoscopy, known as "the fourth milestone in the diagnosis of digestive tract diseases" by the medical community, was born in 2001 as a visual diagnostic device for digestive tract diseases. However, as a new type of visual diagnostic equipment for digestive tract diseases, capsule endoscopy is not fully functional. The endoscopic capsule moves forward with the peristalsis of the digestive tract in the human body. The images of the digestive tract taken are random, and the angle of the lens cannot be controlled, so suspicious lesions cannot be observed repeatedly from multiple angles, which may easily cause image omission, d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/273A61B5/07
Inventor 于敏张梦汪磊何青松杨旭戴振东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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