A cable-free colon microrobot with front-end autonomous guidance device

Abstract

The present invention specifically relates to a front-end autonomous guiding device for a cable-free colon microrobot, which solves the problem of existing cable-free colon microrobots being unable to guide themselves. The front-end autonomous guiding device for a cable-free colon microrobot comprises a base and a base I, wherein N+1 guide rings and N guide rings I are movably hinged between the base and the base I; the inner cavities of the N+1 guide rings and the inner cavities of the N guide rings I are jointly provided with an upper and lower guiding mechanism and a front and rear guiding mechanism. The present invention achieves the purpose of adjusting the movement direction of the cable-free colon microrobot; the device is controlled in vitro to autonomously guide to the diseased area, facilitating diagnosis by the cable-free colon microrobot, reducing the difficulty of diagnosis, improving diagnosis efficiency, and further having the advantage of simple operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, in particular to a front-end autonomous guiding device of a cable-free colon microrobot. Background Art

[0002] The morbidity and mortality rates of gastrointestinal diseases are increasing year by year, which has seriously threatened people's health and even life. Therefore, the non-invasiveness and accuracy of colon examination are the focus of research.

[0003] Cable-free colon microrobots are small and harmless during colon examinations, effectively enabling non-invasive and painless examinations. However, once inside the intestine, the microrobots lack autonomous navigation and are unable to pinpoint the affected area, making examinations difficult and inefficient.

[0004] Based on this, it is necessary to invent a cable-free colon microrobot front-end autonomous guidance device to solve the above problems. Summary of the Invention

[0005] In order to solve the problem that the existing cable-free colon microrobot has no autonomous guidance, the present invention provides a front end autonomous guidance device of the cable-free colon microrobot.

[0006] The present invention is achieved by adopting the following technical solutions:

[0007] A cable-free colon microrobot front-end autonomous guiding device includes a base and a base I distributed along the left and right sides, wherein N+1 guide rings and N guide rings I are movably hinged between the base and the base I, and the N+1 guide rings and the N guide rings I are arranged in a staggered manner; a movable gap that opens and closes vertically is provided between the base and the first guide ring, and between each guide ring I and the guide ring adjacent to the right; a movable gap I that opens and closes frontally is provided between each guide ring I and the guide ring adjacent to the left, and between the base I and the N+1 guide ring; the inner cavities of the N+1 guide rings and the inner cavities of the N guide rings I are jointly provided with an upper and lower guiding mechanism and a front-back guiding mechanism; N is a positive integer greater than 2;

[0008] The upper and lower guide mechanisms include a driving motor fixed to a base, a rope winding wheel being fixedly mounted on an output shaft of the driving motor, and a guide wheel mounted on the base being provided on the upper and lower sides of the rope winding wheel; two guide lug plates with a semi-circular cross section distributed up and down are fixed on the inner side wall of each guide ring and the inner side wall of each guide ring I, and two pull ropes with opposite winding directions are wound around the rope winding wheel; the free end of one pull rope passes around the guide wheel on the upper side, passes through the guide lug plates on the upper side in sequence from left to right, and is fixed to the guide lug plate at the right end of the upper side; the free end of the other pull rope passes around the guide wheel on the lower side, passes through the guide lug plates on the lower side in sequence from left to right, and is fixed to the guide lug plate at the right end of the lower side; both pull ropes are in a straightened state;

[0009] The front and rear guide mechanism includes a driving motor I fixed on a base I, and a rope winding wheel I is fixedly mounted on the output shaft of the driving motor I, and a guide wheel I mounted on the base I is respectively provided on the front and rear sides of the rope winding wheel I; two guide ear plates I with a semi-circular cross-section distributed along the front and rear are fixed on the inner side wall of each guide ring and each guide ring I, and two pull ropes I with opposite winding directions are wound around the rope winding wheel I; the free end of one of the pull ropes I passes around the guide wheel I on the front side, passes through the guide ear plates I on the front side from right to left in sequence, and is fixed on the guide ear plate I on the left end of the front side; the free end of the other pull rope I passes around the guide wheel I on the rear side, passes through the guide ear plates I on the rear side from right to left in sequence, and is fixed on the guide ear plate I on the left end of the rear side; both pull ropes I are in a straightened state;

[0010] It also includes a controller, and the drive motor and drive motor I are both wirelessly connected to the controller.

[0011] Furthermore, an arc-shaped protrusion with a mountain-shaped cross-section is extended from the front left surface, the rear left surface, the upper right surface and the lower right surface of the guide ring, and a mounting ear plate is fixed on each of the two arc-shaped protrusions on the left surface, and a mounting pin is fixed on each of the two arc-shaped protrusions on the right surface; an arc-shaped protrusion I with a mountain-shaped cross-section is extended from the upper left surface, the lower left surface, the front right surface and the rear right surface of the guide ring I, and a mounting ear plate I matching the mounting pin is fixed on each of the two arc-shaped protrusions I on the left surface, and a mounting pin I matching the mounting ear plate is fixed on each of the two arc-shaped protrusions I on the right surface; a mounting pin II matching the mounting ear plate is fixed on the front right surface and the rear right surface of the base, and a mounting ear plate II matching the mounting pin is fixed on the upper left surface and the lower left surface of the base I.

[0012] Furthermore, an installation groove is provided on the opposite surfaces of the base and the base I, and a clamp is fixed on the inner bottom wall of each of the two installation grooves; a locking bolt is passed through the two ends of each clamp, and a locking nut is screwed on the end of each of the two locking bolts; the side wall of the drive motor and the side wall of the drive motor I are tightly fitted with the inner side walls of the two clamps respectively; the two clamps are made of elastic material.

[0013] Furthermore, two pairs of pin shaft seats distributed in the upper and lower directions are fixed on the inner side wall of the mounting groove on the left side, and each pair of pin shaft seats is penetrated by a pin shaft arranged in the longitudinal direction, and the two guide wheels are respectively sleeved on the two pin shafts; two pairs of pin shaft seats I distributed in the front and back directions are fixed on the inner side wall of the mounting groove on the right side, and each pair of pin shaft seats I is penetrated by a pin shaft arranged in the vertical direction, and the two guide wheels I are respectively sleeved on the two pin shafts I.

[0014] Furthermore, two annular wire grooves are provided on the side wall of each rope winding wheel, and the two pull ropes are respectively wound in the two annular wire grooves; two annular wire grooves I are provided on the side wall of each rope winding wheel I, and the two pull ropes I are respectively wound in the two annular wire grooves I.

[0015] Furthermore, a protrusion with a fan-shaped cross-section and movably contacting the left surface of the first guide ring is extended from the upper right surface and the lower right surface of the base; a protrusion I with a fan-shaped cross-section and movably contacting the right surface of the N+1th guide ring is extended from the front left surface and the rear left surface of the base I.

[0016] Furthermore, the drive motor and drive motor 1 are both stepping motors.

[0017] The structural design of the present invention is reasonable and reliable. By fixing the device to the front end of the cable-free colon microrobot, the purpose of adjusting the movement direction of the cable-free colon microrobot can be achieved; the device is controlled in vitro to autonomously guide to the diseased area, which facilitates the diagnosis of the cable-free colon microrobot, reduces the difficulty of diagnosis, improves the diagnosis efficiency, and reduces the diagnosis time. Furthermore, it has the advantage of simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention.

[0019] Figure 2 It is a schematic diagram of the upper and lower guide mechanism and the front and rear guide mechanism in the present invention.

[0020] Figure 3 It is a structural schematic diagram of the guide ring in the present invention.

[0021] Figure 4 It is a structural schematic diagram of the base in the present invention.

[0022] Figure 5 It is a structural diagram of the base 1 in the present invention.

[0023] Figure 6 It is a schematic diagram of the state of the present invention when it is deflected upward.

[0024] Figure 7 It is a schematic diagram of the state of the present invention when it is deflected downward.

[0025] Figure 8 It is a schematic diagram of the state of the present invention when it is swung forward.

[0026] Figure 9 It is a schematic diagram of the state of the present invention when it is swung backward.

[0027] In the figure: 1-base, 2-base I, 3-guide ring, 4-guide ring I, 6-drive motor, 7-rope winding wheel, 8-guide wheel, 9-guide ear plate, 10-pull rope, 11-drive motor I, 12-rope winding wheel I, 13-guide wheel I, 14-guide ear plate I, 15-pull rope I, 16-mounting ear plate, 17-mounting pin, 18-mounting ear plate I, 19-mounting pin I, 20-mounting pin II, 21-mounting ear plate II, 22-hoop, 23-locking bolt, 24-locking nut, 25-pin seat, 26-pin, 27-pin seat I, 28-pin I, 29-annular wire groove, 30-annular wire groove I, 31-bump, 32-bump I. DETAILED DESCRIPTION

[0028] A cable-free colon microrobot front-end autonomous guidance device, as shown in the attached Figure 1 -Attached Figure 9 As shown, it includes a base 1 and a base I2 distributed along the left and right sides, and N+1 guide rings 3 and N guide rings I4 are movably hinged between the base 1 and the base I2, and the N+1 guide rings 3 and the N guide rings I4 are arranged in a staggered manner; a movable gap that opens and closes along the upper and lower sides is provided between the base 1 and the first guide ring 3, and between each guide ring I4 and the guide ring 3 adjacent to the right; a movable gap I that opens and closes along the upper and lower sides is provided between each guide ring I4 and the guide ring 3 adjacent to the left side, and between the base I2 and the N+1 guide ring 3; the inner cavities of the N+1 guide rings 3 and the inner cavities of the N guide rings I4 are jointly provided with an upper and lower guide mechanism and a front and rear guide mechanism; N is a positive integer greater than 2;

[0029] The upper and lower guide mechanisms include a driving motor 6 fixed to the base 1, and a rope winding wheel 7 is fixedly mounted on the output shaft of the driving motor 6. A guide wheel 8 mounted on the base 1 is provided on the upper and lower sides of the rope winding wheel 7; two guide ear plates 9 with semi-circular cross-sections distributed up and down are fixed on the inner side walls of each guide ring 3 and each guide ring 14, and two pull ropes 10 with opposite winding directions are wound around the rope winding wheel 7; the free end of one of the pull ropes 10 passes around the guide wheel 8 on the upper side, passes through the guide ear plates 9 on the upper side from left to right, and is fixed on the guide ear plate 9 at the right end of the upper side; the free end of the other pull rope 10 passes around the guide wheel 8 on the lower side, passes through the guide ear plates 9 on the lower side from left to right, and is fixed on the guide ear plate 9 at the right end of the lower side; both pull ropes 10 are in a straightened state;

[0030] The front and rear guide mechanism includes a driving motor I11 fixed on the base I2, a rope wheel I12 is fixedly mounted on the output shaft of the driving motor I11, and a guide wheel I13 mounted on the base I2 is provided on the front and rear sides of the rope wheel I12; two guide ear plates I14 with a semi-circular cross section distributed along the front and rear are fixed on the inner side wall of each guide ring 3 and the inner side wall of each guide ring I4, and two tension wires with opposite winding directions are wound around the rope wheel I12. Ropes I15; the free end of one of the pull ropes I15 passes over the front guide wheel I13, passes through the guide lugs I14 on the front side from right to left, and is fixed to the guide lug I14 on the front left end; the free end of the other pull rope I15 passes over the rear guide wheel I13, passes through the guide lugs I14 on the rear side from right to left, and is fixed to the guide lug I14 on the rear left end; both pull ropes I15 are in a straightened state;

[0031] A controller is also included, and the drive motor 6 and the drive motor I11 are both wirelessly connected to the controller.

[0032] In the present invention, the base 1 and the base I2 provide installation space for the upper and lower guide mechanisms and the front and rear guide mechanisms respectively; when the drive motor 6 rotates, the rope wheel 7 rotates to drive the two pull ropes 10 thereon to move. Since the winding directions of the two pull ropes 10 are opposite, when one of the pull ropes 10 is wound and tightened, the other pull rope 10 is spread out and relaxed, thereby driving the N+1 guide rings 3 and the N guide rings I4 to sway in the direction of the winding and tightening of the pull ropes 10, thereby achieving the purpose of directional adjustment of the upper and lower guide mechanisms; the directional adjustment mechanism of the front and rear guide mechanisms is consistent with the directional adjustment mechanism of the upper and lower guide mechanisms, so the omnidirectional steering of the device can be controlled by controlling the rotation direction of the drive motor 6 and the drive motor I11.

[0033] When working, first fix the base 1 to the front end of the cable-free colon microrobot (the base 12 can also be fixed to the front end of the cable-free colon microrobot), then turn on the power, and at the same time, send the cable-free colon microrobot together with the device into the human intestine;

[0034] When the upper and lower guide mechanisms deflect, the driving motor 6 is first controlled to rotate forward, driving the rope winding wheel 7 to rotate forward, and then the pull rope 10 on the upper side is wound and tightened, while the pull rope 10 on the lower side is spread out and relaxed, and the N+1 guide rings 3 and the N guide rings I4 deflect upward together under the action of the two pull ropes 10; when the driving motor 6 is reversed, it drives the rope winding wheel 7 to rotate in the opposite direction, and then the pull rope 10 on the upper side is spread out and relaxed, while the pull rope 10 on the lower side is wound and tightened, and the N+1 guide rings 3 and the N guide rings I4 deflect downward together under the action of the two pull ropes 10; thereby completing the adjustment of the device in the upper and lower directions.

[0035] Similarly, when the front and rear guide mechanisms deflect, the driving motor I11 is first controlled to rotate forward, driving the rope winding wheel I12 to rotate forward, thereby winding and tightening the pull rope I15 on the front side, while the pull rope I15 on the rear side is spread out and loosened, and the N+1 guide rings 3 and the N guide rings I4 deflect forward together under the action of the two pull ropes I15; when the driving motor I11 is reversed, it drives the rope winding wheel I12 to rotate in the opposite direction, thereby spreading and loosening the pull rope I15 on the front side, while winding and tightening the pull rope I15 on the rear side, and the N+1 guide rings 3 and the N guide rings I4 deflect backward together under the action of the two pull ropes I15; thus, the adjustment of the device in the front and rear directions is completed;

[0036] When the rotation direction and number of rotations of the drive motor 6 and the drive motor I11 are controlled at the same time, the device can achieve full-range yaw and yaw angle adjustment, overcoming the problem that the existing cable-free colon microrobot cannot be guided autonomously.

[0037] As attached Figure 1 -Attached Figure 3As shown, an arc-shaped protrusion with a mountain-shaped cross-section is extended from the front left surface, the rear left surface, the upper right surface and the lower right surface of the guide ring 3, and a mounting ear plate 16 is fixed to each of the two arc-shaped protrusions on the left surface, and a mounting pin 17 is fixed to each of the two arc-shaped protrusions on the right surface; an arc-shaped protrusion I with a mountain-shaped cross-section is extended from the upper left surface, the lower left surface, the front right surface and the rear right surface of the guide ring I4, and a mounting ear plate I18 matching the mounting pin 17 is fixed to each of the two arc-shaped protrusions I on the left surface, and a mounting pin I19 matching the mounting ear plate 16 is fixed to each of the two arc-shaped protrusions I on the right surface; a mounting pin II20 matching the mounting ear plate 16 is fixed to the front right surface and the rear right surface of the base 1, and a mounting ear plate II21 matching the mounting pin 17 is fixed to the upper left surface and the lower left surface of the base I2.

[0038] The structural design of the two mounting lugs 16 and the two mounting pins 119 adjacent to the left side realizes the hinged connection between the guide ring 3 and the guide ring 14 adjacent to the left side, so that the guide ring 3 and the guide ring 14 adjacent to the left side can be opened and closed in the vertical direction. The structural design of the two arc-shaped protrusions and the two arc-shaped protrusions 1 adjacent to the left side provides space for the guide ring 3 and the guide ring 14 adjacent to the left side to open and close in the vertical direction.

[0039] The structural design of the two mounting ear plates I18 and the two mounting pins 17 adjacent to the left side realizes the hinged connection between the guide ring I4 and the guide ring 3 adjacent to the left side, so that the guide ring I4 and the guide ring 3 adjacent to the left side can be opened and closed in the front-to-back direction, while the structural design of the two arc-shaped protrusions I and the two arc-shaped protrusions adjacent to the left side provides space for the front-to-back opening and closing of the guide ring I4 and the guide ring 3 adjacent to the left side.

[0040] As attached Figure 4 , Attachment Figure 5 As shown, a mounting groove is provided on the opposite surfaces of the base 1 and the base 12, and a clamp 22 is fixed on the inner bottom wall of each mounting groove; a locking bolt 23 is passed through the two ends of each clamp 22, and a locking nut 24 is screwed on the end of each locking bolt 23; the side wall of the drive motor 6 and the side wall of the drive motor I11 are tightly fitted with the inner side walls of the two clamps 22 respectively; the two clamps 22 are made of elastic material.

[0041] The two mounting grooves provide installation space for the drive motor 6 and the drive motor I11 respectively; the combined structural design of the clamp 22, the locking bolt 23, and the locking nut 24 realizes the installation of the drive motor 6 and the drive motor I11.

[0042] As attached Figure 4 , Attachment Figure 5As shown, two pairs of pin shaft seats 25 distributed in the upper and lower directions are fixed on the inner side wall of the mounting groove on the left side, and each pair of pin shaft seats 25 is penetrated by a pin shaft 26 arranged in the longitudinal direction, and the two guide wheels 8 are respectively sleeved on the two pin shafts 26; two pairs of pin shaft seats I27 distributed in the front and back directions are fixed on the inner side wall of the mounting groove on the right side, and each pair of pin shaft seats I27 is penetrated by a pin shaft I28 arranged in the vertical direction, and the two guide wheels I13 are respectively sleeved on the two pin shafts I28.

[0043] The two pairs of pin seats 25 and the two pins 26 provide installation space for the two guide wheels 8 respectively; the two pairs of pin seats I27 and the two pins I28 provide installation space for the two guide wheels I13 respectively.

[0044] As attached Figure 2 As shown, two annular wire grooves 29 are provided on the side wall of each rope winding wheel 7, and the two pull ropes 10 are respectively wound in the two annular wire grooves 29; two annular wire grooves 130 are provided on the side wall of each rope winding wheel I12, and the two pull ropes I15 are respectively wound in the two annular wire grooves 130.

[0045] The structural design of the annular wire groove 29 can limit the winding and loosening direction of the two pull ropes 10, preventing the two pull ropes 10 from falling off; the structural design of the annular wire groove I30 can limit the winding and loosening direction of the two pull ropes I15, preventing the two pull ropes I15 from falling off; and increase the structural reliability of the device.

[0046] As attached Figure 4 , Attachment Figure 5 As shown, a protrusion 31 with a fan-shaped cross-section and movably contacts the left surface of the first guide ring 3 is extended from the upper part and the lower part of the right surface of the base 1; a protrusion I32 with a fan-shaped cross-section is extended from the front part and the rear part of the left surface of the base I2.

[0047] The driving motor 6 and the driving motor I11 are both stepping motors.

[0048] During the specific implementation process, the two pull ropes 10 and the two pull ropes 115 are both made of slightly elastic materials.

[0049] In the description of the present invention, it should be understood that the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0050] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A cable-free colon microrobot front-end autonomous guidance device, characterized by: The invention comprises a base (1) and a base I (2) distributed along the left and right sides, wherein N+1 guide rings (3) and N guide rings I (4) are movably hinged between the base (1) and the base I (2), and the N+1 guide rings (3) and the N guide rings I (4) are arranged in a staggered manner; a movable gap that opens and closes along the upper and lower sides is provided between the base (1) and the first guide ring (3), and between each guide ring I (4) and the guide ring (3) adjacent to the right; a movable gap I that opens and closes along the front and back sides is provided between each guide ring I (4) and the guide ring (3) adjacent to the left, and between the base I (2) and the N+1 guide ring (3); the inner cavities of the N+1 guide rings (3) and the inner cavities of the N guide rings I (4) are jointly provided with an upper and lower guide mechanism and a front and back guide mechanism; N is a positive integer greater than 2; The upper and lower guide mechanisms include a driving motor (6) fixed on a base (1), a rope pulley (7) fixedly mounted on an output shaft of the driving motor (6), and a guide wheel (8) mounted on the base (1) provided on the upper and lower sides of the rope pulley (7); two guide lugs (9) with semi-circular cross sections distributed vertically are fixed on the inner side walls of each guide ring (3) and each guide ring I (4), and two ropes with opposite winding directions are wound around the rope pulley (7). Draw rope (10); the free end of one draw rope (10) passes around the guide wheel (8) located on the upper side, passes through the guide lugs (9) located on the upper side from left to right, and is fixed to the guide lug (9) located at the right end of the upper side; the free end of the other draw rope (10) passes around the guide wheel (8) located on the lower side, passes through the guide lugs (9) located on the lower side from left to right, and is fixed to the guide lug (9) located at the right end of the lower side; both draw ropes (10) are in a straightened state; The front and rear guide mechanism comprises a driving motor I (11) fixed on a base I (2), a rope pulley I (12) fixedly mounted on the output shaft of the driving motor I (11), and a guide wheel I (13) mounted on the base I (2) is provided on the front and rear sides of the rope pulley I (12); two guide lugs I (14) with a semi-circular cross section distributed along the front and rear are fixed on the inner side wall of each guide ring (3) and the inner side wall of each guide ring I (4), and two ropes with opposite winding directions are wound around the rope pulley I (12). Draw ropes I (15); the free end of one of the draw ropes I (15) passes around the guide wheel I (13) on the front side, passes through the guide lugs I (14) on the front side from right to left, and is fixed to the guide lug I (14) on the left end of the front side; the free end of the other draw rope I (15) passes around the guide wheel I (13) on the rear side, passes through the guide lugs I (14) on the rear side from right to left, and is fixed to the guide lug I (14) on the left end of the rear side; both draw ropes I (15) are in a straightened state; The device also includes a controller, and the drive motor (6) and the drive motor I (11) are both wirelessly connected to the controller.

2. The cable-free colon microrobot front-end autonomous guiding device according to claim 1, characterized in that: The left front surface, the left rear surface, the right upper surface, and the right lower surface of the guide ring (3) are each provided with an arc-shaped protrusion with a mountain-shaped cross section, and a mounting ear plate (16) is fixed on each of the two arc-shaped protrusions on the left surface, and a mounting pin (17) is fixed on each of the two arc-shaped protrusions on the right surface; the left upper surface, the left lower surface, the right front surface, and the right rear surface of the guide ring I (4) are each provided with an arc-shaped protrusion I with a mountain-shaped cross section, and a mounting ear plate I (18) matching the mounting pin (17) is fixed on each of the two arc-shaped protrusions I on the left surface, and a mounting pin I (19) matching the mounting ear plate (16) is fixed on each of the two arc-shaped protrusions I on the right surface; the right front surface and the right rear surface of the base (1) are each provided with a mounting pin II (20) matching the mounting ear plate (16), and the left upper surface and the left lower surface of the base I (2) are each provided with a mounting ear plate II (21) matching the mounting pin (17).

3. The cable-free colon microrobot front-end autonomous guiding device according to claim 1, characterized in that: A mounting groove is provided on the opposite surfaces of the base (1) and the base I (2), and a clamp (22) is fixed on the inner bottom wall of each mounting groove; a locking bolt (23) is passed through each end of each clamp (22), and a locking nut (24) is screwed on the end of each locking bolt (23); the side wall of the drive motor (6) and the side wall of the drive motor I (11) are respectively tightly fitted with the inner side walls of the two clamps (22); the two clamps (22) are made of elastic material.

4. The cable-free colon microrobot front-end autonomous guiding device according to claim 3, characterized in that: Two pairs of pin shaft seats (25) distributed vertically are fixed on the inner side wall of the installation groove on the left side. A pin shaft (26) arranged in the longitudinal direction is passed through each pair of pin shaft seats (25). Two guide wheels (8) are respectively sleeved on the two pin shafts (26). Two pairs of pin shaft seats I (27) distributed frontward and rearward are fixed on the inner side wall of the installation groove on the right side. A pin shaft I (28) arranged vertically is passed through each pair of pin shaft seats I (27). Two guide wheels I (13) are respectively sleeved on the two pin shafts I (28).

5. The cable-free colon microrobot front-end autonomous guiding device according to claim 1, characterized in that: Two annular wire grooves (29) are provided on the side wall of each rope winding wheel (7), and two pull ropes (10) are respectively wound in the two annular wire grooves (29); two annular wire grooves I (30) are provided on the side wall of each rope winding wheel I (12), and two pull ropes I (15) are respectively wound in the two annular wire grooves I (30).

6. The cable-free colon microrobot front-end autonomous guiding device according to claim 1, characterized in that: A protrusion (31) with a fan-shaped cross section and movably contacting the left surface of the first guide ring (3) is provided on the upper right surface and the lower right surface of the base (1); a protrusion I (32) with a fan-shaped cross section and movably contacting the right surface of the (N+1)th guide ring (3) is provided on the front left surface and the rear left surface of the base I (2).

7. The cable-free colon microrobot front-end autonomous guiding device according to claim 1, characterized in that: The drive motor (6) and the drive motor I (11) are both stepper motors.

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