A tumbler capsule robot

Abstract

The present invention relates to the field of medical devices, and in particular to a tumbler capsule robot, comprising: a shell, wherein the shell is in the form of a cylinder with an opening at one end, and protruding structures are arranged at both ends of the side edges in the length direction of the shell, and the protruding structures are used to maintain the balance of the robot, and both ends of the shell in the length direction are arranged in the form of ellipses, and the open end of the shell is connected to a cylindrical shell cover matched with the shell, and the shell and the shell cover constitute a closed tumbler structure, and the tumbler structure is used to maintain the same direction positioning or orientation of the robot; a Halbach magnetic field module is eccentrically arranged in the shell and an integrated circuit control board is arranged below the center of mass of the shell, so as to realize the offset of the center of gravity of the capsule robot, and continuous directional positioning is realized through the above-mentioned structural performance combined with the magnetic control of the Halbach magnetic field module, thereby improving the efficiency of the robot, and the posture adjustment is flexible, and it can be applied to different working environments.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a tumbler capsule robot. Background Art

[0002] With the increasing application of micro-robots in the biomedical industry, traditional medical instruments are also slowly becoming intelligent, and the demand for capsule robots is growing rapidly. Compared with the discomfort caused by traditional gastroscopy and colonoscopy, with the help of magnetically controlled capsule gastroscopy robots, the examinee can complete a painless, non-invasive, and anesthesia-free examination without intubation. Capsule micro-robots perform non-invasive examinations and minor lesion surgeries in the human stomach and intestines, which is of great significance for alleviating patients' pain, improving the safety of examinations and surgeries, and reducing medical costs.

[0003] At the same time, with the development of robotics technology, researchers have developed a variety of capsule robots for gastrointestinal examinations. For example, the micro-digestive capsule endoscope developed by people uses the peristalsis of the digestive tract to examine the entire area, and the embedded micro-camera transmits the inspection image wirelessly. At present, wireless-controlled capsule robots based on embedded image processing can already implement non-invasive diagnosis and treatment of the stomach and realize clinical applications; this greatly improves patients' acceptance of gastrointestinal examinations, improves the efficiency of medical examinations, discovers and solves problems earlier, and effectively reduces the probability of worsening of the disease.

[0004] However, this technology also has obvious defects. The current capsule robot cannot be called a completely unmanned control system or a fully automatic system, because in the narrow environment of the esophagus and intestines, the capsule robot still has a visual blind spot, and it is easy to roll over in the stomach and intestines, and there are problems with positioning and orientation. The main problem is how to achieve more precise control and find a new capsule robot with a structure suitable for different organ environments.

[0005] At present, most capsule robots choose magnetic control as the most convenient control method to solve the problem of wireless control in order to achieve targeted and fixed-point drug distribution, biopsy, and other diagnostic and treatment operations. Magnetic drive control mainly uses two operating modes: magnetic force and magnetic moment; magnetic force control mainly uses permanent magnets to provide gradient magnetic fields to exert magnetic force to make the capsule robot flip in the stomach and intestines, and the magnetic moment is driven by a rotating magnetic field or a current coil. In terms of structure, there are dual-hemispherical capsule robots, petal robots, and inchworm robots. Among them, the passive dual-hemispherical capsule robot realizes rolling walking in the active mode and fixed-point "hovering" posture adjustment in the passive mode. The active and passive motion modes are converted through a multi-dimensional rotating magnetic field. The fixed-point "hovering" posture adjustment dynamics model is established using the Lagrange equation, which can effectively realize clinical applications such as fixed-point targeted treatment.

[0006] However, these existing capsule robots have diverse structures, but are not targeted and widely implemented in different working environments. Most of the existing capsule robots place micro cameras inside the capsule robots. When examining lesions, it is necessary to take pictures of the lesions. At this time, the direction and position of the capsule robot must be kept constant. However, due to the peristalsis of the gastrointestinal tract, it is difficult for conventional capsule robots to achieve precise positioning through the structure of the capsule robot itself.

[0007] Therefore, the prior art still has deficiencies and needs to be further developed. Summary of the invention

[0008] In order to solve the above problems, the purpose of the present invention is to provide a tumbler capsule robot to solve the technical problem that existing robots cannot accurately locate and orient themselves.

[0009] The objective of the present invention is achieved through the following technical solutions:

[0010] The present invention provides a tumbler capsule robot, comprising:

[0011] A shell, wherein the shell is in the form of a cylinder with an opening at one end, and protruding structures are provided at both ends of the side edges in the length direction of the shell, and the protruding structures are used to maintain the balance of the robot; both ends of the shell in the length direction are arranged in the form of ellipses, and the open end of the shell is connected to a cylindrical shell cover that matches the shell, and the shell and the shell cover form a closed tumbler structure, and the tumbler structure is used to maintain the same direction positioning or orientation of the robot;

[0012] A Halbach magnetic field module is arranged in contact with the inner wall of the shell, and the Halbach magnetic field module is eccentrically arranged in the shell;

[0013] An integrated circuit control board is attached to the Halbach magnetic field module, and the integrated circuit control board is arranged below the center of mass of the shell to form an eccentric structure;

[0014] A visual detection module is arranged on the integrated circuit control board and is used for image acquisition. The visual detection module uses binocular vision to acquire images.

[0015] The balance angle of the robot and the positioning and orientation are controlled by setting the integrated circuit control board below the center of mass of the shell, the elliptical structures at both ends of the shell, the overall tumbler structure and the magnetic field control of the Halbach magnetic field module.

[0016] Furthermore, the central part of the shell cover is a convex structure, and the lower part of the shell is an arc structure. The center position of the arc does not coincide with the center of mass of the capsule, and is much lower than the center of mass in the direction of gravity. The shell cover is closed on the shell, so that the shell forms a machine shell with a closed cavity.

[0017] Furthermore, the shell cover is a groove body.

[0018] Furthermore, a battery module is arranged in the slot body of the shell cover, and the battery module is electrically connected to the integrated circuit control board.

[0019] Furthermore, the end of the shell cover away from the shell body is convex.

[0020] Furthermore, the end of the shell away from the opening is convex.

[0021] Furthermore, the Halbach magnetic field module, the visual detection module and the integrated circuit control board are connected by gluing.

[0022] Furthermore, the length of the housing is 28 mm and the height is 15 mm.

[0023] Furthermore, the inner diameter of the shell and the shell cover is 12 mm, the integrated circuit control board is a rectangular parallelepiped of 8 mm*25 mm*2 mm, and the visual detection module is a cube with two sides of 7-10 mm.

[0024] Furthermore, the Halbach magnetic field module includes 3-8 cubes with a side length of 2 mm which are arranged and connected in sequence.

[0025] The tumbler capsule robot of the present invention comprises: a shell, which is arranged in the form of a cylinder with an opening at one end, and protruding structures are arranged at both ends of the side of the shell, and the protruding structures are used to maintain the balance of the robot; a Halbach magnetic field module, which is arranged in contact with the inner wall of the shell; an integrated circuit control board, which is arranged on the Halbach magnetic field module; a visual detection module, which is arranged on the integrated circuit control board and is used to collect images; the balance angle of the robot is regulated and the positioning and orientation are achieved through the magnetic field control of the Halbach magnetic field module; the present invention is provided with protruding structures at both ends of the side of the shell in the length direction for maintaining the balance of the robot, and both ends of the shell in the length direction are arranged as elliptical tumbler structures for maintaining the same direction positioning or orientation of the robot; the Halbach magnetic field module is eccentrically arranged in the shell and the integrated circuit control board is arranged below the center of mass of the shell, so that the gravity of the capsule robot is biased to one side, and continuous directional positioning is achieved through the above-mentioned structural performance combined with the magnetic control of the Halbach magnetic field module, thereby improving the efficiency of the robot, and the posture adjustment is flexible, and it can be applied to different working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1 is a structural diagram of the tumbler capsule robot of the present invention;

[0028] Figure 2 is a cross-sectional view of the tumbler capsule robot of the present invention;

[0029] Figure 3 This is a perspective structural diagram of the tumbler capsule robot of the present invention without a battery module;

[0030] Figure 4 It is a perspective structural diagram of the battery module and the shell cover of the tumbler capsule robot of the present invention;

[0031] Figure 5 This is a perspective structural diagram of the tumbler capsule robot of the present invention without a battery module and a shell cover;

[0032] Figure 6 is a schematic diagram of the tumbler capsule robot of the present invention before being subjected to force;

[0033] Figure 7 is a schematic diagram of the tumbler capsule robot of the present invention after being subjected to force;

[0034] Figure 8 It is a schematic diagram of the force on the battery module of the tumbler capsule robot of the present invention.

[0035] The figures are marked as follows: 1-shell, 2-shell cover, 3-Halbach magnetic field module, 4-integrated circuit control board, 5-visual detection module, 6-battery module, 7-protrusion structure, 8-protrusion. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] In the field of medical use of capsule robots, the functions that capsule robots can achieve are our focus; however, most of the current capsule robots still use the original cylindrical structure. This structure cannot keep the capsule stable in the same required direction in some tiny and narrow environments, such as the esophagus and intestines, and is prone to rolling, turning and other problems. It is necessary to rely on manual operation and setting parameters to adjust the direction of the fixed capsule robot. This method reduces the working efficiency of the capsule robot and is prone to problems such as inaccurate directional positioning.

[0038] Therefore, based on the above problems, the capsule robot with a tumbler structure proposed in the present invention only needs to determine the position of the large magnet used for driving during inspection, so as to achieve accurate control of the positioning and orientation of the capsule robot.

[0039] refer to Figures 1 to 5 The tumbler capsule robot of the embodiment of the present invention comprises: a shell 1, the shell 1 is a cylindrical body with an opening at one end, and protruding structures 7 are arranged at both ends of the side of the shell 1 in the length direction, and the protruding structure 7 is used to maintain the balance of the robot, and both ends of the shell 1 in the length direction are arranged as elliptical tumbler structures, and the tumbler structure is used to maintain the same direction positioning or orientation of the robot. The shell is arranged as an elliptical tumbler structure, so that the capsule robot has the mechanical characteristics of a tumbler dynamic structure; a Halbach magnetic field module 3 (Halbach-Heilbach), which is arranged to fit the inner wall of the shell 1, and the Halbach magnetic field module 3 is eccentrically arranged in the shell 1; an integrated circuit control board 4, which is attached to the Halbach magnetic field module 3, and the integrated circuit control board 4 is arranged below the center of mass of the shell to form an eccentric structure; a visual detection module 5, arranged on the integrated circuit control board 4, for image acquisition, the visual detection module 5 adopts binocular vision for image acquisition; the balance angle of the robot is regulated and the positioning and orientation are realized through the magnetic field control of the Halbach magnetic field module 3; the present invention is provided with a protruding structure at both ends of the side of the shell 1 in the length direction for maintaining the balance of the robot, and both ends of the shell 1 in the length direction are arranged as an elliptical tumbler structure for maintaining the same direction positioning or orientation of the robot; the Halbach magnetic field module 3 is eccentrically arranged in the shell and the integrated circuit control board 4 is arranged below the center of mass of the shell 1, so that the gravity of the capsule robot is biased to one side, and continuous directional positioning is realized through the structural performance combined with the magnetic control of the Halbach magnetic field module 3, thereby improving the efficiency of the robot, and the posture adjustment is flexible, and it can be applied to different working environments.

[0040] The present invention proposes a new tumbler capsule robot, establishes a three-dimensional structural model diagram, applies a force to the capsule robot, performs force analysis, ensures that the design conforms to the monostable structure, and can make it remain stable after swinging left and right. At the same time, it combines magnetic control to achieve precise control. The present invention mainly solves the problem that the capsule robot is prone to rotation and rolling after reaching the location to be inspected in the intestine; solves the problem that the capsule robot does not fully play its function, and controls the direction of travel of the magnetically controlled capsule robot; it can be oriented in a targeted manner, and the inspection point can always maintain the same direction, and it can be applied to a variety of human body environments.

[0041] After the robot enters the intestine, a new environmental magnetic field is formed through the external permanent magnet, which controls the change of the magnetic field of the Halbach magnetic field module 3 in the capsule. The force and torque generated by the change of the magnetic field make the robot move. In addition, the specific position of the capsule robot in the human body can be monitored in real time by the camera. Combined with the transmitted image, it can be made to reach the specified position, or the robot can be swayed and adjusted to a specified state. The shell structure of the capsule robot of the present application is a tumbler structure, and the Halbach magnetic field module is located at the bottom of the capsule. This structure allows the capsule robot to return to the same vertical direction at any time under the control of the external magnetic field, so it can be oriented in a targeted manner and the checkpoint can always maintain the same direction.

[0042] Compared with the traditional teardrop-shaped tumbler structure, the tumbler structure of the present invention can be divided into two parts, a shell 1 part and a shell cover 2 part. The open end of the shell 1 is connected with a cylindrical shell cover 2 that matches the shell 1. The side of the shell cover 2 is set as an elliptical protrusion 8. The shell cover 2 is closed on the shell 1, so that the shell 1 forms a machine shell with a closed cavity; the shell 1 part is similar to the structure of a "safety lock"; both ends of the capsule robot are tumbler structures, that is, the shell cover 2 is an elliptical protrusion 8 at the end away from the opening, and the shell 1 is an elliptical protrusion 8 at the end away from the opening, such as Figure 1 As shown; the overall assembly diagram of the capsule robot, as shown Figure 4 As shown, the overall structure is a monostable structure, which optimizes the relationship between the geometric shape and the static balance finger in the structure to maintain the monostable state; the structure designs a complete capsule robot into two parts, which is convenient for loading the required modules into it. In subsequent experimental use, if any module is found to have a problem, it is convenient to replace it immediately.

[0043] In the embodiment, the Halbach magnetic field module 3 and other modules required for control are placed in the capsule robot structure to establish a three-dimensional model; through experiments, the best placement position is found, the Halbach magnetic field module 3 is arranged regularly at the bottom of the tumbler structure, the position of the micro battery module 6 is placed in the shell 1, and the integrated circuit control board 4 and the visual detection module 5 are arranged in sequence on the Halbach magnetic field module 3. The assembly diagram of the complete capsule robot is as follows: Figure 2 and Figure 4 As shown; the subsequent addition of new control modules or other functional modules can still achieve continuous same-direction positioning by optimizing the existing tumbler structure.

[0044] The connection relationship of the internal structure of the robot is that the overall length of the tumbler capsule robot is 28mm and the height is 15mm; the inner diameters of the shell cover 2 and the shell 1 are equal, and the diameter of the inscribed circle is set to 10-14, preferably 12mm; the visual detection module 5 is set to two equal cubes with a side length of 7-10mm, preferably a cube with a length of 8mm, and other modules are added later, and the area where the visual detection module 5 is placed can be optimized; the integrated circuit control board 4 is a rectangular parallelepiped of 8mm*25mm*2mm, located above the Halbach magnetic field module 3; the Halbach magnetic field module 3 includes 3-8 cubes with a side length of 2mm, which are arranged and connected in sequence. Preferably, the Halbach magnetic field module 3 is composed of 5 cubes with a side length of 2mm.

[0045] The five small cubes in the Halbach magnetic field module 3 are glued together in the set direction, and the integrated circuit control board 4 and the visual detection module 5 are glued on top of the Halbach magnetic field module 3 in turn; the battery module 6 is located in the groove of the shell cover 2 and is glued with double-sided tape; a rechargeable capacitor battery is used, and the battery module 6 and the integrated circuit control board 4 are connected by a wire; the capsule shell is printed using 3D printing technology, which is more environmentally friendly.

[0046] The Halbach magnetic field module 3 and the micro battery module 6 are placed in different positions, and force is applied to the capsule robot with a tumbler structure to observe the stability. The robot of the present invention can choose whether to need a shell cover 2. In order to achieve long-lasting and effective magnetic control, it is ensured that whether or not the shell cover 2 is added does not affect the characteristics of the tumbler structure robot. The design of the tumbler structure is optimized. Through testing, it is found that the following three situations can achieve the advantages of the tumbler structure: (1) the shell cover 2 is connected to the shell 1, (2) the battery module 6 is arranged in the slot of the shell cover 2, and (3) the shell cover 2 is not arranged; Figures 3 to 5 shown.

[0047] For the above situation (1): the visual detection module 5, the integrated circuit control board 4 and the Halbach magnetic field module 3 are arranged in the shell in sequence, and the shell cover 2 is connected to the front part by tape, as shown in FIG. Figure 3 shown.

[0048] For the above situation (2): place the micro battery on the back cover and connect it to the front end of (1) with tape, such as Figure 4 shown.

[0049] Regarding the above situation (3): Considering the replacement of the battery module 6 and the convenience of control in a familiar environment, only the visual detection module 5, the integrated circuit control board 4 and the Halbach magnetic field module 3 are arranged in the shell in sequence, which can also ensure that the new tumbler structure can realize its function, such as Figure 5 shown.

[0050] In addition to the necessary power supply and magnetic control device, we will add other devices later, mainly installed on the side of Halbach magnetic field module 3. Simplify the mating into a mass point. When force is applied to the capsule robot, the center of gravity will change and swing left and right. Simplify the mass point to the center of mass of the counterweight, but when it is in a swinging state, the center of mass rotates around the bottom center. The counterweight is mainly distributed into two parts, namely the battery module 6 part and the part on the magnetic field control side.

[0051] The following is a force analysis of the capsule robot:

[0052] (1) Perform force analysis on the visual detection module 5 and the magnetic field control module of the capsule robot:

[0053] When the capsule robot is subjected to force, it swings. The side view of the capsule robot with a tumbler structure is taken as a schematic diagram. The shell of the capsule robot can be ignored relative to the counterweight. Assume that the center of mass of the overall counterweight on one side of the Halbach magnetic field module 3 is O, the radius is R, the mass is M, the gravity is G, the distance from the counterweight O to the center of the circle is r, the contact point between the shell of the robot and the platform is A, and after the force is applied to the robot, it rotates by an angle θ, and the contact point is A1. Before and after the force is applied, the schematic diagram is as shown in FIG. Figure 6 and Figure 7 shown.

[0054] The distribution of this part is almost the entirety of the capsule robot with a tumbler structure, which is similar to the analysis of the entire body; when the external force F is applied, the line of action of the gravity G of the overall counterweight deviates from the original fulcrum A, thereby generating a torque M2 on the fulcrum, assuming that the original torque is M1; as the tilt angle of the tumbler continues to increase, the offset of the gravity line increases accordingly, and the torque M2 also increases accordingly, eventually achieving a balance with the external force torque.

[0055] The distance between the original contact point A and the current contact point A1 is Rθ. The position vector of the counterweight O relative to the original contact point A can be expressed as:

[0056] d = (Rθ ± rsinθ)i + (R ± rcosθ)j

[0057] When an external force F is applied, the moment M2 formed by the counterweight of the capsule robot resists the external force, and the directions of the two moments are opposite. When they are equal, dynamic equilibrium is achieved. Subsequently, as F continues to decrease and gradually approaches 0, only the moment M2 exists at this time. Relying on the moment M2, the capsule robot returns to the original equilibrium point, that is, the gravity and the supporting force are balanced. The lever arm of the external force F is set as l1; the lever arm of the gravity of the counterweight is equivalent to the distance from point O to A1, which is set as l2; after the robot is stressed, the center of gravity O changes, resulting in the change of l2 as well. The equations of M1 and M2 are expressed as follows:

[0058] M1 = F * l1 M2 = Gcosθ * l2

[0059] The relationship between M1 and M2: When M1 = M2 = 0, it is in the initial position. Subsequently, when M1 gradually increases and M1 > M2, it sways and does not reach the critical value; when M1 = M2, dynamic equilibrium is achieved; as the external force F decreases and M1 < M2, it swings back and finally reaches the original static equilibrium.

[0060] During the swaying process, the centroid O of the counterweight rotates and may be above or below the inscribed circle center. The positive sign indicates above the circle center, and the negative sign indicates below.

[0061] Therefore, the system potential energy functions when above or below the circle center are respectively:

[0062]

[0063]

[0064] According to the law of conservation of mechanical energy, there is:

[0065]

[0066] According to the above equation, the relevant parameters can be obtained. It mainly reflects the movement of the capsule robot when θ changes; when the center of mass of the counterweight is located above and below the center of the circle, there are two different situations: (1) When it is located above, when θ = 0, the potential energy takes a maximum value, and when θ increases, the potential energy decreases; in order to comply with the law of conservation of mechanical energy, the kinetic energy increases, and θ will continue to deflect after it starts to deflect from zero; (2) When it is located below, when θ = 0, the potential energy takes a minimum value, and when θ increases, the potential energy also increases. In order to comply with the law of conservation of mechanical energy, the kinetic energy must decrease, so θ starts to deflect from zero and reaches a stationary state, and then returns to the direction where θ is equal to zero. The system is at the most stable equilibrium point when θ = 0.

[0067] (2) Analyze and summarize the six parts of the capsule robot battery module:

[0068] For the analysis of only the battery module 6 part, when an external force F is applied to the robot, the robot is in a swaying state, and the center of mass rotates around the bottom center. The battery module 6 is the gravity component for the overall counterweight. In the process of swaying left and right, the gravity Ga of the battery module 6 is changed along the rotation axis, one along the tangent direction is set to Fc, and the other along the direction of the capsule robot is set to Fb; let OA be the original position of the capsule robot, rotate through an angle θ to reach the position of OA1, at this time, the battery module 6 is simplified to a mass point, which is at the end point of OA1; the schematic diagram is as follows Figure 8 As shown, the force is expressed by the following formula:

[0069] F b =G a cosθF c =G a sinθ

[0070] During the swinging process, the swinging amplitude depends on the size of the counterweight. The mass of the battery module 6 is lighter than that of other parts, so the battery module 6 has little effect on the swinging amplitude; the battery module 6 does not affect the movement of the entire capsule robot.

[0071] The whole part complies with the kinetic energy theorem and the conservation of mechanical energy, and potential energy needs to be taken into account; assuming that the height of the external force swinging is h, the relationship between the external force F and Ga can be expressed as:

[0072]

[0073] For the new capsule robot as a whole, after applying external force F, the center of mass of the two parts of the counterweight rotates relative to the bottom center. The combined movement of the two parts can be more intuitively described using the moment of inertia. Let the center of mass deflection angle of the visual detection and magnetic field control module be α, and the center of mass deflection angle of the battery module 6 be β. The two move at the same time, let the acceleration of the complete capsule robot be ω, and J be the moment of inertia. The relationship between ω, α, and β is as follows:

[0074]

[0075] The swing kinetic energy Et can be expressed as: By substituting the projection components of the three axes, it can be seen that the kinetic energy of the swing conforms to the superposition principle, and at the same time conforms to the conservation of mechanical energy and the conservation of kinetic energy.

[0076] The control method of existing capsule robots basically relies on manual labor. The implementation of positioning, point-fixing and directional detection and the photo sampling of lesion points are basically controlled by humans. Most of them reach the positioning point based on experience. In this process, it is difficult to keep the direction of the required detection unchanged, so it is impossible to ensure that the same state is always maintained during manual debugging; for the detection of lesions, it is more difficult to achieve continuous positioning in the same direction, which makes the working efficiency of existing capsule robots low.

[0077] In view of the above problems, the present invention conducts a force analysis on the tumbler structure based on theoretical mechanics to obtain a capsule robot; combined with magnetic control, the control angle can be adjusted in real time according to the state of the capsule robot, and the Halbach magnetic field module 3 can be controlled to achieve application in different environments. The present invention is a new type of tumbler capsule robot that can be used for fixed-point positioning inspection in the human body environment. Compared with other capsule robots, it can achieve continuous same-direction positioning only through structural performance, which greatly improves the work efficiency of the capsule robot.

[0078] The beneficial effects of the present invention are:

[0079] 1. Existing capsule robots do not focus on orienting the robot to a fixed point and continuously moving in one direction, so the effectiveness and accuracy of the capsule robot in performing its functions are low; the present invention is a capsule robot that can achieve continuous same-direction positioning in the human body environment only through structural performance and directly reach the lesion, thereby improving the work efficiency of the capsule robot, and the operation is more convenient and simple than other capsule robots, making its application more extensive; for example, a capsule robot with a tumbler structure that can be used for fixed-point positioning inspection in the gastrointestinal tract.

[0080] 2. The dynamic models of most existing capsule robots are established without considering the counterweight under the condition of satisfying the theorem of conservation of energy. The capsule robot with a tumbler structure of the present invention considers the weight of the control part after the required Halbach magnetic field module 3 is added, as well as other parts, including the integrated circuit control board 4, the visual detection module 5 and the micro power supply, and then performs a force analysis on the entire capsule robot, establishes a mechanical model, and makes the positioning more accurate.

[0081] 3. Flexible posture adjustment: In view of the variable movement positions of existing capsule robots, the control operation of the present invention is flexible, and the posture of the capsule robot can be adjusted at will according to the settings. After the position is determined, the positioning and orientation can be achieved quickly and stably.

[0082] 4. It can be applied to different working environments. Currently, most capsule robots are applicable to more targeted objects, such as stomach examinations, but not to intestinal examinations. In the present invention, the control device is miniature and adopts a tumbler structure. The tumbler shell structure is made of environmentally friendly materials combined with 3D printing technology. The overall volume is small, the weight is light, and the surface is smooth. By controlling the Halbach magnetic field module 3, it can be applied to different environments.

[0083] The present invention has been experimentally verified, and the feasibility and stability of the proposed structure have been verified, which can improve the accuracy of the capsule robot in positioning and orienting the lesion point, and improve the working efficiency of the capsule robot.

[0084] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A tumbler capsule robot, characterized in that: include: A shell, wherein the shell is in the form of a cylinder with an opening at one end, and protruding structures are provided at both ends of the side edges in the length direction of the shell, and the protruding structures are used to maintain the balance of the robot; both ends of the shell in the length direction are arranged in the form of ellipses, and the open end of the shell is connected to a cylindrical shell cover that matches the shell, and the shell and the shell cover form a closed tumbler structure, and the tumbler structure is used to maintain the same direction positioning or orientation of the robot; A Halbach magnetic field module is arranged in contact with the inner wall of the shell, and the Halbach magnetic field module is eccentrically arranged in the shell; An integrated circuit control board is attached to the Halbach magnetic field module, and the integrated circuit control board is arranged below the center of mass of the shell to form an eccentric structure; A visual detection module is arranged on the integrated circuit control board and is used for image acquisition. The visual detection module uses binocular vision to acquire images. The balance angle of the robot and the positioning and orientation are controlled by setting the integrated circuit control board below the center of mass of the shell, the elliptical structures at both ends of the shell, the overall tumbler structure and the magnetic field control of the Halbach magnetic field module.

2. The tumbler capsule robot according to claim 1, characterized in that: The central part of the shell cover is a convex structure, and the lower part of the shell is an arc structure. The center position of the arc does not coincide with the center of mass of the capsule, and is much lower than the center of mass in the direction of gravity. The shell cover is closed on the shell, so that the shell forms a machine shell with a closed cavity.

3. The tumbler capsule robot according to claim 2, characterized in that: The shell cover is a groove body.

4. The tumbler capsule robot according to claim 3, characterized in that: A battery module is disposed in the slot of the shell cover, and the battery module is electrically connected to the integrated circuit control board.

5. The tumbler capsule robot according to claim 3, characterized in that: The shell cover is convex at one end away from the shell body.

6. The tumbler capsule robot according to claim 1, characterized in that: The end of the shell away from the opening is convex.

7. The tumbler capsule robot according to claim 1, characterized in that: The Halbach magnetic field module, the visual detection module and the integrated circuit control board are connected by gluing.

8. The tumbler capsule robot according to claim 2, characterized in that: The length of the housing is 28 mm and the height is 15 mm.

9. The tumbler capsule robot according to claim 2, characterized in that: The inner diameter of the shell and the shell cover is 12 mm, the integrated circuit control board is a rectangular parallelepiped with a size of 8 mm*25 mm*2 mm, and the visual detection module is a cube with two sides with a length of 7-10 mm.

10. The tumbler capsule robot according to claim 2, characterized in that: The Halbach magnetic field module includes 3-8 cubes with a side length of 2 mm which are arranged and connected in sequence.

Images