Active intestinal endoscope robot system

Abstract

The active intestinal endoscope robot system consists of front compartment, linear drivers and back compartment connected together, is sealed completely with elastic sealing film, and is connected via cable led out from the back compartment to the controller and the monitor for controlling the robot and displaying image. The front compartment is provided with mini color image sensor, lens, processing chip and memory alloy to control imaging direction and walking direction. The linear drivers are connected via cross couplers for multiple freedom motion, and have adhered permanent magnets to obtain near radial magnetic field and realize the motion via the mutual action between the current carrying winding and the permanent magnetic field. The back compartment is for winding and unwinding cable to ensure the motion. The present invention is used in the intestinal detection.

Description

technical field [0001] The invention relates to an intestinal endoscope robot system, in particular to an active intestinal endoscope robot system based on the principle of peristalsis, which belongs to the fields of electromechanical technology and medicine. Background technique [0002] The active endoscope, which embodies the technical requirements of "less invasive and no planing" in vivo diagnosis and treatment, has become the focus of research and development in the international biomedical device industry. Compared with traditional endoscopes, in addition to the advantages of traditional endoscopes, active endoscopes also have: (1) easy to use; (2) no pain or less pain for patients; (3) fast and efficient, etc. . According to reports, Japan's Tohoku University has developed a serpentine drive device suitable for human intestines or blood vessels by using micro-mechanical manufacturing technology and shape memory alloy drives. Functions such as diagnosis, in vivo mic...

AI Technical Summary

Problems solved by technology

The linear electromagnetic driving method is a new type of driving method that has appeared in recent years. It has the advantages of simple mechanism, controllability, large driving displacement, and easy manufacture. However, the existing linear electromagnetic drivers are generally large in size and cannot meet the needs of endoscopes. The requirement of a narrow working space cannot be achieved simply by reducing the existing specifications

This is because in order to make full use of the excitation of the coil winding and the permanent magnet, the tubular permanent magnet with full radial magnetization is often used, and the magnetization can hardly be realized when the size is small, so it is necessary to seek a more reasonable structural design

[0004] In addition to the problem of driving, there are some other problems in the existing various peristaltic robots, such as the walking direction is completely dependent on the change of the pipeline or the walking surface, the forward direction is uncontrollable, and the walking direction or imaging direction cannot be changed as needed. During the forward process, the friction generated by the movement of the cable and the inner wall of the intestine also greatly limits the range of motion of the robot. These are key issues that need to be solved urgently

Images