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

A robot and bending technology, which is applied in the field of medical devices, can solve the problems of microcapsules that cannot be actively bent, low efficiency of endoscopes, and large passive randomness, so as to reduce human tissue damage and achieve the effect of inspection speed

Inactive Publication Date: 2020-12-25
TIANJIN UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

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

Method used

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

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Embodiment Construction

[0028] In order to further understand the invention content, characteristics and effects of the present invention, the following examples are given, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0029] as attached Figure 1 to Figure 5 As shown, a soft pneumatic robot that can bend forward includes an annular air bag 1, a first air pipe 2, an air bag 3, a second air pipe 4, a telescopic tube 5, a third air pipe 6, a fourth air pipe 7, a fifth air pipe 8, Tension spring 9 and retaining ring 10.

[0030] The bottom of the annular airbag 1 is connected to the first trachea 2 , and the annular airbag 1 is inflated and deflated to shrink through the first trachea 2 . The middle of the annular airbag 1 is a through hole, the annular airbag 1 is wrapped on the shaft hub, and the second air pipe 4, the third air pipe 6, the fourth air pipe 7 and the fifth air pipe 8 are all placed on the shaft. inside the hub.

[0031] The bottom of the a...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/31A61B1/04
CPCA61B1/00108A61B1/00119A61B1/00147A61B1/041A61B1/31
Inventor 宋智斌张文杰
Owner TIANJIN UNIV
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