Soft pneumatic robot capable of wriggling, and bending method of soft pneumatic robot

Abstract

The invention discloses a soft pneumatic robot capable of wriggling, and a bending method of the soft pneumatic robot. The soft pneumatic robot comprises an annular air bag, an air bag, a telescopic pipe and an extension spring, wherein both the annular air bag and the air bag are connected with air pipes, initial shapes of the annular air bag and the air bag are in a wizened shape, the telescopicpipe is arranged between the annular air bag and the air bag, three independent closed cavities are formed inside the telescopic pipe, each closed cavity is connected with one corresponding air pipe,the extension spring is arranged in the telescopic pipe, two ends of the extension spring are fixedly connected with two end faces of the telescopic pipe respectively, meanwhile, two ends of the extension spring are fixedly connected with the annular air bag and the air bag respectively, and the extension spring can help the telescopic pipe to complete the contraction. The soft pneumatic robot isdesigned by imitating the motion state of inchworm, and problems that a traditional capsule endoscope is low in efficiency and high in randomness can be solved. The soft pneumatic robot can realize bending in a specified direction at an intestinal tract bending part.

Description

technical field [0001] The invention relates to a medical device, in particular to a soft pneumatic robot capable of bending forward for inspection in the colon and a bending method thereof. Background technique [0002] Currently, colonic capsule endoscopy has been widely used in clinical applications. There are mainly two types of existing microcapsules. One is to use the physiological peristalsis of the intestinal tract to realize the inspection after the patient takes it, so that the capsule is passively discharged, and the inspection is completed in about 8 hours. In the process of physiological peristalsis, the capsule may miss detection; the other is to drive the capsule through the outside world, such as the magnetic material carried on the microcapsule, and the movement of the capsule is controlled by the external magnetic field. At the intestinal wrap, the microcapsules cannot actively bend to adapt to the intestinal environment. [0003] Therefore, it is necessa...

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Problems solved by technology

[0004] In order to solve the problems of low efficiency and large passive randomness of traditional capsule endoscopes and the problem that microcapsules cannot be actively bent in the intestinal tract, the present invention provides a soft pneumatic soft-body that can be bent and advanced for colon inspection. The robot and its bending method, the soft pneumatic robot of the present invention imitates the movement mode of the inchworm, and by controlling the rate of gas in and out, the movement speed of the robot is greatly improved, and the soft pneumatic robot of the present invention moves in the intestinal tract by itself, and can realize bending movement in a specified direction

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