Notonectidae-like gastrointestinal tract micro-robot

Abstract

The invention relates to a notonectidae-like gastrointestinal tract micro-robot. The notonectidae-like gastrointestinal tract micro-robot comprises a radial expansion mechanism and an axial movement mechanism which are connected through a screw-nut pair, wherein the radial expansion mechanism comprises a cylinder body, a pair of rotating discs, a plurality of groups of notonectidae-like arms, a radial transmission gear set and an integrated driver; the rotating discs are arranged outside the cylinder body, the plurality of groups of the notonectidae-like arms are arranged on the rotating discs, the integrated driver and the radial transmission gear set are arranged in the cylinder body, and the integrated driver is connected with the rotating discs through the radial transmission gear setso as to drive the notonectidae-like arms to move. A single-expansion-mechanism structure is adopted, so that the size of the robot is reduced; a notonectidae-like movement mode is adopted, so that the length of the robot is kept unchanged in the movement process, and the steering flexibility and safety of the robot in the intestinal tract are improved; and the notonectidae-like arm adopts flipper-like design, has a large reducing ratio, and is provided with a PDMS material liner, so that the intestinal tract safety is guaranteed, and the residence capacity of the robot in the intestinal tractis improved.

Description

technical field [0001] The invention relates to a technology in the field of medical equipment, in particular to a backstroke stinkbug-like gastrointestinal microrobot. Background technique [0002] The morbidity and mortality of gastrointestinal malignant tumors and functional diseases are increasing year by year, and they have become chronic diseases that threaten people's health and even life. Traditional endoscopic examination has problems such as missed detection, too painful examination process, and possible serious complications. However, capsule endoscopy cannot autonomously move in the intestinal tract, cannot perform fixed-point detection on the gastrointestinal tract, and cannot detect the gastrointestinal tract. The radial dilation of the tract makes it difficult to find lesions in the folds and collapses of the gastrointestinal tract. At present, micro-bionic intestinal robots for gastrointestinal diseases with autonomous movement and radial expansion of the ga...

AI Technical Summary

Problems solved by technology

Traditional endoscopic examination has problems such as missed detection, too painful examination process, and possible serious complications. However, capsule endoscope cannot move autonomously in the intestinal tract, cannot perform fixed-point detection on the gastrointestinal tract, and cannot detect the gastrointestinal tract. Radial dilation of the tract makes it difficult to find lesions in the folds and collapses of the gastrointestinal tract

At present, micro-bionic intestinal robots for gastrointestinal diseases with autonomous movement and radial expansion of the gastrointestinal tract have become the focus of research in the current international electromechanical and medical engineering fields. The relevant existing technologies have the following problems: the axial length is too long, causing The robot's cornering performance is reduced and it is easy to cause intestinal damage; the radial output shaft driven by the robot to move the radial expansion mechanism is not only used to transmit torque but also acts as a guide rod. In actual work, the mechanism will frequently get stuck

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