Gastrointestinal tract micro-robot kinematic mechanics test system

Abstract

A gastrointestinal tract micro-robot kinematic mechanics testing system comprises a gastrointestinal environment simulation mechanism, a tension testing mechanism and a motion guiding mechanism, and a to-be-tested micro-robot test sample piece is arranged in the gastrointestinal environment simulation mechanism and connected with the tension testing mechanism and the motion guiding mechanism. Resistance opposite to the motion direction of the to-be-tested micro-robot test sample is generated through the motion guide mechanism, and the residence force of the to-be-tested micro-robot test sample in the gastrointestinal environment simulation mechanism is tested through the tension test mechanism. According to the invention, a sample piece guiding device composed of a pulley and a rope is adopted, so that the disturbance error generated in the movement process of the robot is reduced, and the testing precision is improved; the adopted fixing device has the advantages of being simple in structure, reliable in operation and high in testing precision.

Description

technical field [0001] The invention relates to a technology in the field of micro-robots, in particular to a system for testing the kinematics of gastrointestinal micro-robots. Background technique [0002] The residence force of the microrobot in the gastrointestinal tract, that is, the force along the axial direction of the intestinal tract that the robot can reside in a certain place in the gastrointestinal tract must overcome factors such as intestinal peristalsis and its own weight. It is of great significance to reduce the missed detection rate. At present, there is still a lack of accurate testing systems and methods for these two kinematic properties of gastrointestinal microrobots, which seriously restricts the design and development of gastrointestinal microrobots. Contents of the invention [0003] The present invention aims at the technical problem that it is impossible to simply, efficiently and accurately measure the two key kinematic performance data of mi...

AI Technical Summary

Problems solved by technology

[0003] The present invention aims at the technical problem that it is impossible to simply, efficiently and accurately measure the two key kinematic performance data of micro-robots in the test pipeline, the movement resistance and the dwelling force, and proposes a gastrointestinal micro-robot kinematics testing system , the sample guide device composed of a pulley and a wire rope reduces the disturbance error generated during the robot movement and improves the test accuracy; the fixed device used has the advantages of simple structure, reliable operation and high test accuracy

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