Actively guiding robot for endoscopic inspection

An active guidance, robotic technology, applied in manipulators, surgery, manufacturing tools, etc., can solve problems such as not comprehensive consideration

Inactive Publication Date: 2002-05-01
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve various problems and deficiencies in existing endoscopic inspection robots due to the lack of comprehensive consideration of the pressure on the human cavity when t

Method used

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Embodiment 1

[0011] An active-guided endoscopic inspection robot suitable for inspecting the cavity of a human body is composed of a pressure sensor 3, a steering mechanism 8 and a peristaltic flexible moving mechanism. The central hole 12 runs through the head and tail of the active guiding endoscopic inspection robot, and the fiber endoscope or CCD camera is arranged in the central hole 12 . The pressure sensor 3 is located at the front of the robot. When the endoscopic inspection robot is actively guided into the cavity of the human body, the force between the robot and the cavity wall of the human body can be detected at any time, and the steering mechanism 8 and the peristaltic flexible moving mechanism can be guided to follow up. The body cavity turns or moves. The middle part is the steering mechanism 8 with the rubber cylindrical ring 5 as the main body, and the peristaltic flexible moving mechanism with gas as the power source is located at the tail. When the endoscopic inspectio...

Embodiment 2

[0013] The actively guided endoscopic inspection robot composed of a pressure sensor 3, a steering mechanism 8, and a peristaltic flexible moving mechanism capable of moving and turning is suitable for the inspection of the cecum and other distal intestinal tracts. The central hole 12 runs through the head and tail of the active guiding endoscopic inspection robot, and has a built-in endoscopic fiberscope or CCD camera. The pressure sensor 3 is composed of a guide head 1, a sensor sensitive element 2 and a conical sensor seat 4, and is located at the front end of the endoscopic inspection robot. The sensor sensitive elements 2 are evenly distributed on the tapered sensor seat 4 to form an array sensor distributed at equal intervals. In order to improve flexibility and reduce volume, the sensitive element 2 of the sensor can adopt pressure-sensitive conductive rubber. The steering mechanism 8 is located behind the pressure sensor 3, and its main body is a rubber cylindrical ri...

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Abstract

An actively guiding robot for endoscopy is composed of a tactile sensation sensor in the front, a knuckle mechanism at its middle part whose main unit is a cylindrical rubber ring, a creeping flexible moving mechanism at its tail part, and an endoscope arranged in its central through hole. Gas is used as its power source. Said tactile sensation sensor can measure the action force between robot and inner surface of tract in human body to guide said knuckle and flexible moving mechanisms. Its advantages are reducing the pain of patient, low perforation possibility, and high efficiency.

Description

technical field [0001] The invention relates to a micro robot. In particular, it relates to an actively guided endoscopic inspection robot. Background technique [0002] At present, endoscopic fiberscope is generally used for inspection of flexible pipelines, especially human cavity. It uses the external thrust of the operator to intervene in the cavity of the human body to be tested. When the device with certain flexibility slides on the tissue of the cavity of the human body, it will generate pressure on the wall of the cavity, which may cause abrasions and strains on the soft tissue inside the human body. . Once a certain threshold is exceeded, it can also cause tissue damage or perforation. In particular, the intestinal structure of the human body is relatively complex, and there are many bends. Even professionally trained and experienced medical personnel insert the fiberscope into the cecum at the distal end of the colon, only 85% to 90% of the time. ...

Claims

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Application Information

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IPC IPC(8): A61B1/00B25J11/00
Inventor 钱晋武龚振邦米智楠沈林勇
Owner SHANGHAI UNIV
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