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Radial expansion mechanism of gastrointestinal tract robot

A robot and gastrointestinal tract technology, applied in the direction of gastroscope, esophagoscope, rectoscope, etc., can solve the problems of intestinal trauma, asymmetry, and limitation of fixation methods, so as to ensure safety, ensure stability, and save radial space Effect

Inactive Publication Date: 2018-03-13
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the defects of asymmetry, limited fixation methods and easy intestinal trauma in the current intestinal expansion mechanism, the present invention proposes a radial expansion mechanism for a gastrointestinal tract robot, which has the advantages of small radial thickness and safe contact , Intestinal expansion mechanism with symmetrical opening and closing transmission

Method used

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  • Radial expansion mechanism of gastrointestinal tract robot
  • Radial expansion mechanism of gastrointestinal tract robot
  • Radial expansion mechanism of gastrointestinal tract robot

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Embodiment Construction

[0021] Such as figure 1 As shown, the present embodiment includes three groups of transmission gear trains 1, 3, 5, which are evenly distributed on one side of the baffle plate 4. Each group consists of two small gears with the same number of teeth and the same modulus and a large transmission gear. Two slave gears are meshed, one of which is meshing with the large gear. The transmission gear set transmits the torque from the gear 2 to the sun gear, and then the sun gear transmits the torque to three sets of output gears 1, 3, 5 evenly distributed on the circumference. In this way, the transmission ratios of the three sets of output gears can be guaranteed to be the same, and the synchronization and consistency of the actuators can also be guaranteed. Any set of output teeth is respectively connected to the two active links in the corresponding four-link expansion mechanism through the shaft passing through the baffle plate 4, driving the four-link expansion mechanism to expa...

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Abstract

The invention relates to a radial expansion mechanism of a gastrointestinal tract robot. The radial expansion mechanism comprises a central gear on one side of a baffle, three output gear sets meshedwith the central gear, and three four-bar linkage expansion mechanisms arranged on the other side of the baffle, wherein the output gear sets are connected with the corresponding four-bar linkage mechanisms, and the torque from the central gear is output to the four-bar linkage mechanisms. The expansion mechanism has the expansion safety of the intestinal tract and the contact safety, and a posture is stable.

Description

technical field [0001] The invention relates to a device in the technical field of endoscopes, in particular to a radial expansion mechanism of a gastrointestinal tract robot. Background technique [0002] Existing intestinal micro-robots for endoscopy have the size of a pill, can actively move in the intestinal tract, and can be equipped with a variety of tools (such as cameras, micro-clamps, drug release mechanisms, etc.) to achieve microscopic monitoring of intestinal diseases. Create diagnosis and treatment. The expansion mechanism is an essential mechanism for intestinal micro-robots, and it has three functions: firstly, it cooperates with other mechanisms inside the robot to make the relative displacement between the robot and the intestinal tract to realize active movement; The designated position of the tract can be stopped to complete the diagnosis and treatment task; thirdly, the expansion of the folded intestine can avoid missed detection and improve the quality ...

Claims

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Application Information

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IPC IPC(8): A61B1/04A61B1/045A61B1/00A61B1/273A61B5/07A61B1/31
CPCA61B1/041A61B1/00131A61B1/045A61B1/2736A61B1/31A61B5/07
Inventor 韩玎颜国正颜琳王志武赵凯汪炜李达伟蒲鹏先
Owner SHANGHAI JIAO TONG UNIV
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