A lubrication and drag reduction device for intestinal endoscope robot travel

Abstract

The present invention provides a lubrication and drag reduction device for the movement of an intestinal endoscope robot, and its structure includes an oil and gas overflow module, an oil and gas supply module, an oil and gas control module, an oil and gas pipeline, a mounting plate, a controller, a remote control, and a workbench. The oil and gas overflow module and the oil and gas supply module are connected by pipelines and fixedly installed on the workbench, and the oil and gas control module is electrically connected to the oil and gas supply module and is controlled by the controller and remote control. The drag reduction device of the present invention is mainly used in the field of medical intestinal robots, and can reduce the travel resistance of the intestinal endoscope robot during operation, improve the motion performance of the robot system, and improve the safety and reliability of medical operations.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, and in particular to a lubrication and drag reduction device for an intestinal endoscope robot. Background Art

[0002] Intestinal examination is an important part of intestinal health detection and disease treatment. Currently, traditional intestinal endoscopes are mainly used for this work. In order to reduce the risks of traditional examinations and patient discomfort, intestinal endoscope robots have been widely studied. This type of robot can be divided into wired and wireless types. The wireless robots currently used in medical trials are limited by the fact that they have to enter alone and have no energy replenishment during the working process. There are problems such as long inspection time, lack of real-time and controllability.

[0003] Wired capsule robot inspections are safe and efficient, with strong controllability and abundant clinical trial experience and data. The towing wire tube of traditional wired intestinal endoscopy robots is made of ordinary medical materials. As the robot's travel distance increases, the friction between the towing wire tube and the intestine gradually increases, reducing the robot's motion performance and inspection results, and increasing the inspection time and risk.

[0004] Therefore, how to reduce the resistance of the wired intestinal endoscope robot during its movement has become an urgent problem to be solved in this field. Summary of the invention

[0005] In view of this, the present invention provides a lubrication and drag reduction device for the movement of an intestinal endoscope robot, which can solve the problem that traditional intestinal endoscopes and related wired intestinal robots have high resistance during intestinal movement, and the movement performance decreases with the increase of travel distance.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a lubrication and drag reduction device for the movement of an intestinal endoscope robot, comprising a workbench, an oil and gas supply module, an oil and gas pipeline, an oil and gas overflow module, a mounting seat, a mounting plate, a remote control and a controller.

[0007] The oil and gas spray module is fastened to the workbench by bolts, and is connected to the oil and gas supply module by oil and gas pipelines; the function of the oil and gas spray module is to spray the drag reducing material to the appropriate position of the intestine for lubrication.

[0008] The oil and gas supply module is placed on the workbench according to the actual pipeline location requirements.

[0009] The controller is bolted to the workbench.

[0010] The mounting plate is fastened to the workbench by bolts.

[0011] The remote control should be placed in an appropriate position in the space according to actual usage needs.

[0012] Furthermore, the oil and gas overflow module adopts one of a mobile module type, an integral type, and a combination of a mobile module type and an integral type to realize the pipe body overflow resistance reduction.

[0013] Furthermore, when the oil and gas overflow module adopts an integral type, it includes overflow module A and overflow module B. Overflow module A wraps a plurality of pipes around an outer pipe, and overflow holes are distributed on the pipes; overflow module B arranges a plurality of pipes along the axis direction of the outer pipe, and overflow holes are distributed on the pipes.

[0014] When the oil and gas overflow module adopts a combination of a mobile module type and an integral type, the combined overflow module consists of an outer tube (14), an overflow branch and a mounting seat, the mounting seat is fastened to the workbench by bolts, the outer tube is installed in the mounting seat and is positioned and fastened by positioning screws, the overflow branch is installed on the outside of the outer tube, and the number of the overflow branch is at least one.

[0015] Furthermore, the overflow branch is composed of an overflow moving unit, a steel wire, a front baffle, a rear baffle, a motor and a reel.

[0016] There are multiple holes distributed on the main body surface of the overflow mobile unit, and the ears at the front and rear ends are respectively fastened to the steel wire wrapped around the reel, and the air holes connected to the internal cavity are connected to the oil and gas supply module through the oil and gas pipeline; the overflow mobile unit is arranged in a number of slide grooves opened on the outside of the outer tube.

[0017] The motor and the reel are fastened together, and the motor is fastened together with the mounting plate by bolts.

[0018] Furthermore, the oil and gas supply module consists of an oil and gas supply device, an oil and gas pipeline and an electric control valve. The oil and gas supply device is fastened to the workbench by bolts; the electric control valve is fastened to the mounting plate by bolts, and the oil and gas pipeline connects the oil and gas box and the electric control valve.

[0019] Furthermore, the controller and the remote controller control the start and stop of the oil and gas spray by controlling the oil and gas supply module, and the control signal is sent by the remote controller or other external system.

[0020] Furthermore, the outer tube's distal end is used to install a capsule endoscope robot or other medical equipment, and the outer tube's interior is used to arrange various wire pipes. The length and shape of the pipes and the supporting modules are determined according to usage requirements.

[0021] Beneficial effects:

[0022] 1. The present invention provides a lubrication and drag reduction device for the movement of an intestinal endoscope robot. A drag reduction device is designed to reduce pressure and friction by spraying oil and gas at a required position during the movement of a towing wire tube. The device can solve the problem that traditional intestinal endoscopes and related wired intestinal robots have high resistance during the movement of the intestine, and the movement performance decreases with the increase of the travel distance.

[0023] 2. The present invention provides a lubrication and drag reduction device for the movement of an intestinal endoscope robot. The device can reduce the pressure and friction between the robot and the intestine by controlling the injection or overflow of gas, lubricating oil, and oil-gas mixture at positions with greater friction during the movement of the robot, thereby improving the robot's movement performance and safety in the intestine and reducing patient discomfort and examination risks.

[0024] 3. The present invention provides a lubrication and drag reduction device for intestinal endoscope robot travel, which reduces the travel resistance of the pipeline in the gastrointestinal tract by reducing the friction coefficient and contact pressure between the pipeline and the intestine. The controller and remote controller are used to control the start and stop of the oil and gas spray, and the control signal can be sent by the remote controller or other external system.

[0025] 4. The present invention provides a lubrication and drag reduction device for the movement of an intestinal endoscope robot. The distal end of the outer tube is used to install a capsule endoscope robot or other medical equipment. The interior of the outer tube can be used to arrange various wire pipes. The length and shape of the pipes and supporting modules are determined according to the use requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 : A schematic diagram of a lubrication and drag reduction device for intestinal endoscopy robot travel;

[0027] Figure 2 : Schematic diagram of oil and gas spill module;

[0028] Figure 3 : Schematic diagram of the key structure of the overflow branch part;

[0029] Figure 4 : Schematic diagram of the structure of oil and gas overflow module B;

[0030] Figure 5 : Schematic diagram of the structure of oil and gas overflow module C;

[0031] In the figure: 1-workbench, 2-oil and gas supply device, 3-oil and gas pipeline, 4-electric control valve, 5-steel wire, 6-combined oil and gas spray module, 7-mounting seat, 8-mounting plate, 9-remote control, 10-controller, 11-reel, 12-motor, 13-front baffle, 14-outer tube, 15-spray moving unit, 16-positioning bolt, 17-rear baffle, 18-oil and gas spray module A, 19-oil and gas spray module B. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0033] The present invention provides a lubrication and drag reduction device for an intestinal endoscope robot, which mainly includes an oil and gas spray module, an oil and gas supply module, an oil and gas pipeline 3, a mounting plate 8, a controller 10, a remote controller 9, and a workbench 1. The materials in contact with the human body on the device of the present invention are all medical grade materials.

[0034] The oil and gas overflow module is fastened to the workbench 1 by bolts, and is connected to the oil and gas supply module through the oil and gas pipeline 3. The function of the oil and gas overflow module is to spray liquid oil, gas, oil and gas mixture and other drag reducing substances to the appropriate position of the intestine for lubrication. The oil and gas overflow module can be a mobile module type (such as a combined overflow module), an integral type (such as an overflow module A and an overflow module B, the structure of the oil and gas overflow module B is as follows Figure 4 As shown, the structure of the oil and gas overflow module C is as follows Figure 5 As shown), a combination of mobile modules and integral types are used to realize pipe body overflow resistance reduction, wherein the integral type can wrap a number of pipes around an outer pipe and arrange them along the axis of the outer pipe, and overflow holes are distributed on the pipes, such as overflow module A and overflow module B, wherein overflow module A wraps a number of pipes around an outer pipe, and overflow holes are distributed on the pipes. The pipes are wrapped around the outside of the outer pipe, and the wrapping method is not limited and can be set as needed. It can completely cover the outside of the outer pipe or partially cover the outer pipe; overflow module B arranges a number of pipes along the axis of the outer pipe, and overflow holes are distributed on the pipes, wherein the length of the pipe can be the same as the length of the outer pipe, or it can be shorter than the length of the outer pipe. When in use, overflow module A and overflow module B can replace Figure 1 The combined overflow module 6 is connected to the oil and gas supply module through the oil and gas pipeline 3.

[0035] When the oil and gas overflow module adopts a combination of mobile module type and integral type, the combined overflow module 6 is composed of an outer tube 14, an overflow branch and a mounting seat 7. The mounting seat 7 is fastened to the workbench 1 by bolts. The outer tube 14 is installed in the mounting seat 7 and is positioned and fastened by positioning screws. The overflow branch is installed on the outside of the outer tube. The number of overflow branches is at least one, and the number of overflow branches can be set according to needs.

[0036] The overflow branch is composed of an overflow moving unit 15, a steel wire 5, a front end baffle 13, a rear end baffle 17, a motor 12, and a drum 11. The main body surface of the overflow moving unit 15 is distributed with a plurality of holes, and the ears at the front and rear ends are respectively fastened to the steel wires that pass around the drum, and the air holes connected to the internal cavity are connected to the oil and gas supply module through the oil and gas pipeline 3. The drum 11 is fastened to the motor 12, and the motor 12 is fastened to the mounting plate 8 by bolts. The overflow moving unit 15 is set in a plurality of chutes opened on the outside of the outer tube; the number of the overflow branches is at least one, and the chutes can be arranged along the axis direction of the outer tube, or can be set according to needs, or can be curved, and the length of the chutes is set according to needs.

[0037] The oil and gas overflow module is fastened to the workbench 1 by bolts, and is connected to the oil and gas supply module through the oil and gas pipeline 3. The oil and gas overflow module is composed of an outer tube 14, an overflow branch and a mounting seat 7. Figure 2 As shown; the key structure of the overflow branch is as follows Figure 3 shown.

[0038] The oil and gas supply module can realize the control of oil and gas on and off through electrical signals, and the electrical signals can be sent by the remote controller 9 and other processing systems. The module consists of an oil and gas supply device 2, an oil and gas pipeline 3 and an electric control valve 4. The oil and gas supply device 2 is fastened to the workbench 1 by bolts, and the oil and gas pipeline 3 can use ordinary plastic hoses of different diameters. The electric control valve 4 is fastened to the mounting plate 8 by bolts, and the oil and gas pipeline 3 connects the oil and gas supply device 2 and the electric control valve 4. The material of the outer tube 14 is rubber and soft plastic, etc., and its length and diameter can be determined according to actual use needs, and the size of the central hole and the surface mounting groove is determined according to actual matching needs.

[0039] The mounting seat 7 is fastened to the workbench 1 by bolts, the outer tube 14 is installed in the mounting seat 7 and is positioned and fastened by positioning screws, and the overflow moving unit 15 on the overflow branch is installed in a number of slide grooves on the outer tube 14. The distribution form and number of the overflow branches on the outer tube 14 have various combinations to adapt to different working environments and requirements. The structural parts such as the workbench 1 and the mounting seat 7 are processed and assembled with stainless steel and aluminum alloy materials, the reel 11 is made of resin material, and the motor 12 and the reel 11 are assembled through the shaft hole. The steel wire 5 is wound around the reel 11 for multiple turns, and the appropriate tension is maintained, and there is no obvious sliding between the reel 11 and the steel wire 5.

[0040] The oil and gas supply module is placed on the workbench 1 according to the actual pipeline position requirements, the controller 10 is fastened to the workbench 1 by bolts, the mounting plate 8 is fastened to the workbench 1 by bolts, and the remote control 9 is placed in an appropriate position in the space according to actual use requirements.

[0041] The working process of the device is as follows: the actual use of the device of the present invention is to install it at the rear end of the intestinal endoscope robot, that is, to connect the extended end of the device to the intestinal endoscope robot, and the robot's supporting electrical, gas and water pipelines connect the robot with other peripherals through the central hole of the device. After the intestinal inspection work begins, the drag reduction device follows the robot and continues to move along the intestine. When it reaches the position, the operator controls the spray moving unit 15 on the spray branch to move to the appropriate position through the remote control or the host computer, and sprays oil and gas lubricants to reduce the friction between the device and the intestine by reducing the pressure and friction coefficient between the two. Work in this way until the intestinal inspection and treatment are completed, and finally exit the working environment by dragging or driving the front-end robot, and disinfect and prepare for subsequent use.

[0042] The directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. in the specification and claims of this application and the above-mentioned drawings are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the application and its embodiments, and are not used to limit the specific directions of the indicated parts, or the structures and operations performed in specific directions.

[0043] In addition, the terms "set", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection, and the like. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In the absence of conflict, the embodiments and related features in this application can be combined with each other. In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical solutions 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 in the present invention, all other embodiments obtained by ordinary technicians of this field without making creative work are within the scope of protection of the present invention.

[0044] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lubrication and drag reduction device for an intestinal endoscope robot, characterized in that: It comprises a workbench (1), an oil and gas supply module, an oil and gas pipeline (3), an oil and gas overflow module, a mounting seat (7), a mounting plate (8), a remote controller (9) and a controller (10); The oil and gas spray module is fastened to the workbench (1) by bolts, and is connected to the oil and gas supply module by an oil and gas pipeline (3); the function of the oil and gas spray module is to spray the drag reducing material to a suitable position of the intestine for lubrication; The oil and gas supply module is placed on the workbench according to the actual pipeline position requirements; The controller (10) is fixed on the workbench (1) by means of bolts; The mounting plate (8) is fastened to the workbench (1) by means of bolts; The remote controller (9) is placed at an appropriate position in the space according to actual usage requirements; The oil and gas overflow module adopts a mobile module type, or a combination of a mobile module type and an integral type, to realize the pipe body overflow resistance reduction; The integrated oil and gas overflow module includes overflow module A and overflow module B. Overflow module A wraps a plurality of pipes around an outer pipe, and overflow holes are distributed on the pipes. Overflow module B arranges a plurality of pipes along the axis of the outer pipe, and overflow holes are distributed on the pipes. The mobile modular oil and gas overflow module comprises a combined overflow module (6), the combined overflow module (6) comprising an outer tube (14), an overflow branch and a mounting seat (7), the mounting seat (7) being fastened to a workbench (1) by bolts, the outer tube (14) being mounted in the mounting seat (7) and being positioned and fastened by positioning screws, the overflow branch being mounted on the outer side of the outer tube, and the number of the overflow branch being at least one; The overflow branch is composed of an overflow moving unit (15), a steel wire (5), a front baffle (13), a rear baffle (17), a motor (12) and a reel (11); The main body surface of the spill moving unit (15) is provided with a plurality of holes, the hanging ears at the front and rear ends thereof are respectively fastened to the steel wire (5) wound around the reel (11), and the air hole connected to the internal cavity is connected to the oil and gas supply module via an oil and gas pipeline; the spill moving unit (15) is arranged in a plurality of slide grooves provided on the outside of the outer tube; The motor (12) and the reel (11) are fastened together, and the motor (12) is fastened together with the mounting plate (8) via bolts.

2. A lubrication and drag reduction device for intestinal endoscope robot according to claim 1, characterized in that: The oil and gas supply module is composed of an oil and gas supply device (2), an oil and gas pipeline (3) and an electric control valve (4); the oil and gas supply device (2) is fastened to the workbench (1) by bolts; the electric control valve (4) is fastened to the mounting plate (8) by bolts; and the oil and gas pipeline (3) connects the oil and gas box and the electric control valve (4).

3. The lubrication and drag reduction device for intestinal endoscope robot according to claim 1, characterized in that: The controller (10) and the remote controller (9) control the start and stop of the oil and gas spray by controlling the oil and gas supply module, and the control signal is sent by the remote controller (9) or other external systems.

4. A lubrication and drag reduction device for intestinal endoscope robot according to claim 1, 2 or 3, characterized in that: The outer tube (14) is used for installing a capsule endoscope robot or other medical equipment at the distal end thereof, and the interior of the outer tube (14) is used for arranging various wire pipes, and the length and shape of the pipes and the supporting modules are determined according to the use requirements.

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