Surface contact type expanding and staying device for gastrointestinal tract micro-robot

Abstract

The invention relates to an expanding and staying device for a gastrointestinal tract micro-robot. The expanding and staying device comprises an expanding device, a power device, a transmission deviceand a fixing device, wherein the expanding device is provided with double layers of expanding arms and a surface contact shell; and the power device penetrates through the fixing device and is connected with the transmission device, and power is transmitted to the double layers of expanding arms of the expanding device through the transmission device to achieve opening and closing, so that the surface contact shell and gastrointestinal tracts form surface contact and open the gastrointestinal tracts. The surface contact manner that an upper-layer inner gear ring and a lower-layer inner gear ring symmetrically move in a staggered manner is adopted, so that the contact area of the expanding mechanism and the intestinal tracts is remarkably increased, and the expansion movement speed is remarkably increased. The safety and the expansion speed are increased, besides, the large reducing ratio is guaranteed, the internal structure of the device is simplified, the operation stability of themechanism is improved, and space is reserved for a sensor.

Description

technical field [0001] The invention relates to a technology in the field of micro-robots, in particular to a surface-contact expanding dwelling device for micro-robots in the gastrointestinal tract. Background technique [0002] The expansion device of the existing micro-active intestinal robot is characterized by: it is composed of a multi-layer leg type, an expansion arm type mechanism and a corresponding transmission mechanism, and the action part with the intestinal tract is the end of the multi-layer leg or the expansion arm of the device. , its disadvantages are: 1. The effective contact area with the intestinal tract during the expansion dwelling process is small, which can be approximated as point contact or line contact, and the movement of the expansion arm during the expansion process causes changes in the contact position, and there is a large Risk of scratching the gut. 2. The resident friction force provided by the existing resident device is relatively small...

AI Technical Summary

Problems solved by technology

[0002] The expansion device of the existing micro-active intestinal robot is characterized by: it is composed of a multi-layer leg type, an expansion arm type mechanism and a corresponding transmission mechanism, and the action part with the intestinal tract is the end of the multi-layer leg or the expansion arm of the device. , its disadvantages are: 1. The effective contact area with the intestinal tract during the expansion dwelling process is small, which can be approximated as point contact or line contact, and the movement of the expansion arm during the expansion process causes changes in the contact position, and there is a large Risk of scratching the gut

2. The resident friction force provided by the existing resident device is small, and it is difficult to provide enough friction force to limit the sliding of the robot relative to the intestinal wall

3. The variable diameter ratio (the ratio of the diameter when the mechanism is fully expanded to the diameter when it is fully contracted) is generally small, and cannot expand the thicker intestinal tract in the human body, so the applicability is limited

4. The transmission link is too long and the structure is complex, which reduces the reliability of the device

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