An adjustable profile endoscopic robot

Abstract

The application provides a cavity-in-wall robot with adjustable contour. The cavity-in-wall robot with adjustable contour provided by the application adjusts the pressure in the gas chamber by using the air pipe, so that the contour size of the robot can be adjusted to adapt to the change of the cavity diameter. The robot provided by the application has resonance characteristics due to the damping effect of the gas in the gas chamber in the robot. When the frequency of the voltage signal is close to the resonance frequency, the displacement and power output of the dielectric elastomer film can be maximized, so that the robot can realize fast directional crawling. Meanwhile, the elastic outer pipe has certain elasticity and flexibility, so that the whole robot is a flexible structure and can adapt to the curved cavity.

Description

Technical Field

[0001] This invention relates to the field of soft robot technology, and more particularly to an intracavitary crawling robot with an adjustable profile. Background Technology

[0002] With the increasing demands for higher quality medical services, the need for minimally invasive or non-invasive intracavitary tissue detection, localization, and treatment is constantly growing. Endoscopes and their associated intracavitary instruments are widely used in minimally invasive detection and treatment. Current endoscopes and their associated instruments consist of three parts: the tip (working parts such as camera and clamps), the guide body (channel body), and the tip (handle, etc.). The length of the guide body is determined by the distance between the target area and the detection entry point. If the guide body length cannot meet the distance requirements, an incision must be made in the body before detection, thus increasing trauma.

[0003] Cavity crawling robots or capsule robots can circumvent the above problems. Traditional cavity (duct) crawling robots are driven by rigid motors and achieve directional crawling by periodic deformation of a fixed-size bristle structure (directional movement structure). However, this structure has the following problems: the bristles and the body have a given structural dimensional relationship, and neither can be adjusted. They can only passively adapt to the inner diameter of the cavity. On the one hand, this reduces the robot's ability to adapt to the inner diameter (range). On the other hand, when crawling in cavities with small inner diameters, the interaction force between the two is large, the robot crawls slowly, and the tissue inside the cavity is severely damaged.

[0004] It is necessary to improve upon the shortcomings of current intracavitary (duct) crawling robots. Summary of the Invention

[0005] In view of this, the present invention proposes an intracavitary crawling robot with an adjustable outer contour to solve the technical problems existing in the prior art.

[0006] In a first aspect, the present invention provides an intracavitary crawling robot with an adjustable outer profile, comprising:

[0007] A dielectric elastomer inner tube, configured to undergo axial expansion and contraction deformation when energized;

[0008] An elastic outer tube is sleeved outside the dielectric elastic inner tube, and at least one elastic protrusion is sleeved on the outer periphery of the elastic outer tube, forming a gas chamber between the elastic outer tube and the dielectric elastic inner tube.

[0009] A vent tube that communicates with the gas chamber;

[0010] Multiple sideburn structures, each of the sideburn structures including a flexible support that conforms to the elastic protrusion.

[0011] Preferably, a first fixing sleeve is respectively fitted at both ends of the outer peripheral surface of the dielectric elastic inner tube;

[0012] The inner surface of the first fixing sleeve is in contact with the outer peripheral surface of the dielectric elastic inner tube, and the outer surface of the first fixing sleeve is in contact with the inner surface of the elastic outer tube.

[0013] The gas chamber is formed by the elastic outer tube, the dielectric elastic inner tube, and the first fixed sleeve.

[0014] Preferably, the dielectric elastomer inner tube includes a plurality of dielectric elastomer films and flexible electrodes arranged in a radially staggered manner;

[0015] When the flexible electrode is energized, the flexible electrode thins the dielectric elastomer film it holds and can stretch and deform axially within the dielectric elastomer inner tube.

[0016] Preferably, the sideburn structure further includes a fixing member located on the outer peripheral surface of the elastic outer tube and close to the elastic protrusion;

[0017] The elastic protrusion is a frustum-shaped elastic protrusion with a small diameter at one end and a large diameter at the other end.

[0018] The end of the fixing member with the smaller diameter near the elastic protrusion is hinged to the end of the flexible spreading member with the smaller diameter near the elastic protrusion.

[0019] Preferably, a second fixing sleeve is also fitted at both ends of the outer circumferential surface of the elastic outer tube;

[0020] The dielectric elastomer inner tube has a core rod fitted inside both ends.

[0021] Preferably, it also includes a metal foil, which is electrically connected to the flexible electrode.

[0022] Preferably, the fastener includes a first fastening layer and a second fastening layer, wherein the first fastening layer is located on the outer peripheral surface of the elastic outer tube, and the second fastening layer is located on the surface of the first fastening layer;

[0023] The flexible support includes a first support layer and a second support layer, the first support layer is attached to the elastic protrusion, and the second support layer is located on the surface of the first support layer;

[0024] The first spreading layer is hinged to the end of the first fixing layer that is closer to the end of the elastic protrusion with a smaller diameter.

[0025] Preferably, a limiting sleeve is fitted around the outer periphery of the elastic outer tube near the elastic protrusion, and the fixing member is located on the outer periphery of the limiting sleeve.

[0026] Preferably, the projected length of the first spreading layer in the axial direction of the elastic outer tube is greater than the projected length of the elastic protrusion in the axial direction of the elastic outer tube.

[0027] Preferably, the materials of the first spreading layer and the first fixing layer are low-stiffness films;

[0028] The second expansion layer and the second fixing layer are made of low-stiffness thin plates;

[0029] The low-stiffness film includes at least one of polyimide film and silicone rubber film;

[0030] The low-stiffness sheet includes at least one of PET sheet, carbon fiber sheet, metal sheet, and ceramic sheet.

[0031] The intracavitary crawling robot with adjustable outer contour of the present invention has the following advantages over the prior art:

[0032] 1. The adjustable-profile intracavitary crawling robot of the present invention includes a dielectric elastic inner tube, an elastic outer tube, and a venting tube. At least one elastic protrusion is sleeved around the outer periphery of the elastic outer tube, forming a gas chamber between the elastic outer tube and the dielectric elastic inner tube. The venting tube communicates with the gas chamber. Multiple mantle structures are included, each mantle structure including a flexible support attached to the elastic protrusion. Gas is introduced into the gas chamber through the venting tube. As gas is introduced, the pressure within the gas chamber gradually increases. When the pressure within the gas chamber exceeds the external atmospheric pressure, the elastic protrusion deforms. As the pressure within the gas chamber increases, the deformation of the elastic protrusion increases, causing the flexible support to open and the profile to increase. Therefore, when the inner diameter of the cavity is small, a smaller pressure is introduced into the gas chamber, resulting in smaller deformation of the elastic protrusion and a smaller opening angle of the flexible support, thus obtaining a smaller profile. When the inner diameter of the cavity is large, a larger pressure is introduced into the gas chamber, resulting in larger deformation of the elastic protrusion and a larger opening angle of the flexible support, thus obtaining a larger profile. The crawling robot of the present invention uses a ventilator to regulate the pressure inside the gas chamber, thereby allowing the outer size of the crawling robot to be adjusted to adapt to changes in the inner diameter of the chamber.

[0033] 2. The adjustable-profile intracavitary crawling robot of the present invention has a dielectric elastomer film with viscoelasticity. At the same time, due to the damping effect of the gas in the internal gas chamber of the robot, the robot has resonant characteristics. When the voltage signal frequency is close to the resonant frequency, the displacement and power output of the dielectric elastomer film can be maximized, thereby enabling the robot to achieve rapid directional crawling. When driven in the non-resonant frequency domain, the robot can slowly directionally undulate. At the same time, since the elastic outer tube has a certain degree of elasticity and flexibility, the robot as a whole can be a flexible structure that can adapt to curved cavities. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a three-dimensional structural diagram of the cavity crawling robot with adjustable outer contour according to the present invention.

[0036] Figure 2 An exploded view of the cavity-crawling robot with adjustable outer contour according to the present invention;

[0037] Figure 3 This is a schematic diagram of the connection structure of the dielectric elastic inner tube, the first fixing sleeve, and the second fixing sleeve of the present invention.

[0038] Figure 4 This is a schematic diagram of the structure of the elastic outer tube of the present invention;

[0039] Figure 5 This is a schematic diagram of the structure of the dielectric elastic inner tube of the present invention;

[0040] Figure 6 This is a front view of the cavity crawling robot with adjustable outline according to the present invention.

[0041] Figure 7 This is a cross-sectional view of the cavity crawling robot with adjustable outer contour according to the present invention.

[0042] Figure 8 for Figure 7 Enlarged view of point A in the middle;

[0043] Figure 9 This is a schematic diagram of the sideburn structure in one embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram illustrating how the elastic protrusion deforms by introducing gas into the gas chamber through a vent pipe, according to the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0046] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application’s specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” to another element, it can be directly connected to the other element, or there may be intermediate elements. Furthermore, the term “connected” as used herein can include wireless connections. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0047] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be understood that although the terms first, second, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0050] This invention provides an intracavitary crawling robot with an adjustable outer profile, such as... Figures 1-10 As shown, it includes:

[0051] The dielectric elastomer inner tube 1 is configured to undergo axial expansion and contraction deformation when energized.

[0052] An elastic outer tube 2 is sleeved outside the dielectric elastic inner tube 1. At least one elastic protrusion 3 is sleeved on the outer periphery of the elastic outer tube 2, and a gas chamber 21 is formed between the elastic outer tube 2 and the dielectric elastic inner tube 1.

[0053] Ventilation tube 4 is connected to gas chamber 21;

[0054] Multiple sideburn structures 5, each sideburn structure including a flexible support 51 attached to an elastic protrusion 3.

[0055] The adjustable-profile intracavitary crawling robot of the present invention includes a dielectric elastomer inner tube 1 and an elastic outer tube 2 coaxially disposed within the dielectric elastomer inner tube 1. At least one elastic protrusion 3 is sleeved on the outer periphery of the elastic outer tube 2. The material of the dielectric elastomer inner tube 1 is a dielectric elastomer film. Dielectric elastomers (DE) are a new type of electro-active polymers (EAPs) with advantages such as good flexibility, high energy density, high precision, and fast response speed. The dielectric elastomer includes a dielectric elastomer film and flexible electrodes covering the upper and lower surfaces of the film. When a voltage is applied to the flexible electrodes on both sides of the dielectric elastomer, the dielectric elastomer film thins in the thickness direction under the action of electrostatic force, thereby driving the inner tube 1 of the dielectric elastomer to stretch and deform in the axial direction, thus enabling the robot to move. Specifically, the number of elastic protrusions 3 is 1, 2, 3...n, and the elastic protrusions 3 are sequentially spaced on the outer circumferential surface of the outer tube 2 along the axial direction of the outer tube 2. The inner surface of the outer tube 2 and the outer circumferential surface of the inner tube 1 of the dielectric elastomer form a gas chamber 21. The vent pipe 4 is connected to the gas chamber 21 and is connected to an external gas source, through which gas is introduced into the gas chamber 21. The outer tube 2 is provided with multiple mantle structures 5 corresponding to the elastic protrusions 3, and the mantle structures 5 are arranged circumferentially along the elastic protrusions 3. Each mantle structure includes a flexible support 51 located on the elastic protrusion 3.

[0056] In use, gas is introduced into the gas chamber 21 through the vent pipe 4. As gas is introduced, the pressure inside the gas chamber 21 gradually increases. When the pressure inside the gas chamber 21 is greater than the external atmospheric pressure, the elastic protrusion 3 deforms and also causes the elastic outer tube 2 to elongate axially. As the pressure inside the gas chamber 21 increases, the deformation of the elastic protrusion 3 becomes greater, which in turn causes the flexible expansion member 51 to open, increasing its outer contour. Therefore, when the inner diameter of the cavity is small, a smaller pressure is introduced into the gas chamber 21, resulting in smaller deformation of the elastic protrusion 3 and a smaller opening angle of the flexible expansion member 51, resulting in a smaller outer contour. When the inner diameter of the cavity is large, a larger pressure is introduced into the gas chamber 21, resulting in larger deformation of the elastic protrusion 3 and a larger opening angle of the flexible expansion member 51, resulting in a larger outer contour. The crawling robot of this invention uses the vent pipe to adjust the pressure inside the gas chamber, thereby allowing the size of the crawling robot's outer contour to be adjusted to adapt to changes in the inner diameter of the cavity. The crawling robot of the present invention has a dielectric elastomer film with viscoelasticity. At the same time, due to the damping effect of the gas in the internal gas chamber of the robot, the robot has resonant characteristics. When the voltage signal frequency is close to the resonant frequency, the displacement and power output of the dielectric elastomer film can be maximized, thereby enabling the robot to achieve rapid directional crawling. When driven in the non-resonant frequency domain, the robot can slowly directional undulation.

[0057] The crawling robot of this invention features a dielectric elastomer inner tube that can achieve directional deformation through electromechanical coupling, while also possessing a certain degree of flexibility. Combining the dielectric elastomer inner tube with an inflatable elastic outer tube creates a novel design concept: the pressure within the gas chamber is adjusted using a vent pipe, allowing the robot's overall size to adapt to changes in the chamber's inner diameter; the gas pressure within the chamber enables the dielectric elastomer to resonate at higher frequencies, achieving rapid movement; and because the elastic outer tube is made of an elastic material, it possesses elasticity and flexibility, allowing the robot to have a flexible overall structure that can adapt to curved chambers.

[0058] The principle of the robot's directional movement in this invention is as follows: When the robot is inside the cavity, the flexible support member 51 in the mantle structure contacts the inner wall of the cavity and undergoes a slight bending deformation. This causes the friction force experienced by the robot when moving in the positive direction to be less than the friction force experienced when moving in the negative direction. Consequently, when the dielectric elastic inner tube moves within one cycle, the distance moved in the positive direction is greater than the distance moved in the negative direction, thus achieving directional movement.

[0059] Specifically, the number of sideburn structures 5 is 1, 2, 3...n, and the sideburn structures 5 are arranged circumferentially along the elastic protrusions 3.

[0060] In some embodiments, first fixing sleeves 6 are respectively fitted at both ends of the outer peripheral surface of the dielectric elastomer inner tube 1.

[0061] The inner side of the first fixing sleeve 6 is in contact with the outer peripheral surface of the dielectric elastic inner tube 1, and the outer side of the first fixing sleeve 6 is in contact with the inner side of the elastic outer tube 2.

[0062] A gas chamber 21 is formed by the elastic outer tube 2, the dielectric elastic inner tube 1, and the first fixed sleeve 6.

[0063] In the above embodiment, the inner ends of the elastic outer tube 2 and the dielectric elastic inner tube 1 are provided with first fixed sleeves 6, and the inner side of the first fixed sleeve 6 is in contact with the outer peripheral surface of the dielectric elastic inner tube 1, and the outer side of the first fixed sleeve 6 is in contact with the inner side of the elastic outer tube 2. The inner side of the elastic outer tube 2, the outer peripheral surface of the dielectric elastic inner tube 1, and the upper and lower end faces of the two first fixed sleeves 6 enclose a gas chamber 21. The gas chamber 21 is connected to the vent pipe 4. Specifically, one end of the vent pipe 4 passes through the side wall of one of the first fixed sleeves 6 and is connected to the gas chamber 21, and the other end is connected to an external gas source (with a pressure regulating valve). By adjusting the pressure of the external gas source, the pressure of the gas entering the gas chamber 21 is adjusted.

[0064] In some embodiments, further references Figure 8 As shown, the dielectric elastomer inner tube 1 includes a plurality of dielectric elastomer films 11 and flexible electrodes 12 arranged in a radially staggered manner.

[0065] When the flexible electrode 12 is energized, the flexible electrode 12 thins the dielectric elastomer film 11 it holds and can stretch and deform axially within the dielectric elastomer inner tube.

[0066] In the above embodiments, flexible electrodes 12 are provided between any two adjacent dielectric elastomer films 11 and between each pair of dielectric elastomer films 11. Under the action of a high voltage (e.g., 2000-10000V), the inner tube 1 of the dielectric elastomer undergoes expansion and contraction deformation. When a high voltage excitation is applied to the flexible electrodes 12 on both sides of the dielectric elastomer film 11, the dielectric elastomer film will thin under the action of Maxwell stress (parallel to the film thickness direction), resulting in an increase in the area of ​​thinning. However, since the dielectric elastomer sleeve 1 is cylindrical and the dielectric elastomer film 11 is also wound into a cylindrical shape, when the dielectric elastomer film 11 thins, the circumferential deformation of the dielectric elastomer film 11 is restricted due to the limitation of the first fixed sleeve 6. Therefore, it will only undergo elongation deformation along the axial direction. After the electrode pair is de-energized, the dielectric elastomer film 11 can return to its original shape, that is, shorten in the axial direction. If the high voltage becomes a non-negative bias alternating voltage, the dielectric elastomer will undergo periodic axial expansion and contraction deformation.

[0067] Specifically, the dielectric elastomer inner tube 1 is in the shape of a hollow cylinder. The dielectric elastomer inner tube 1 is formed by winding a dielectric elastomer film 11 with flexible electrodes 12 attached to both sides, or by sequentially nesting multiple hollow cylindrical dielectric elastomer films 11 with flexible electrodes 12 attached to both sides.

[0068] In some embodiments, flexible electrodes 12 are provided between any two adjacent dielectric elastomer films 11 and are attached to both dielectric elastomer films 11. Specifically, flexible electrodes 12 are provided on both sides of each dielectric elastomer film 11. The flexible electrodes 12 are distributed circumferentially on the sides of the dielectric elastomer film 11. When all electrode pairs in the circumferential direction are energized, the dielectric elastomer film 11 in each region elongates, and the dielectric elastomer inner tube 1 as a whole elongates in the axial direction. When only some electrode pairs are energized, the dielectric elastomer film 11 in the energized region elongates while the dielectric elastomer film 11 in other unenergized regions remains unchanged. The energized region on the dielectric elastomer inner tube 1 can bend towards the unenergized region. By independently controlling whether multiple electrode pairs are energized, the dielectric elastomer inner tube 1 can undergo axial elongation deformation or directional bending deformation.

[0069] In some embodiments, the sideburn structure 5 further includes a fastener 52, which is located on the outer peripheral surface of the elastic outer tube 2 and close to the elastic protrusion 3.

[0070] Elastic protrusion 3 is a frustum-shaped elastic protrusion with a small diameter at one end and a large diameter at the other end;

[0071] The end of the fastener 52 near the smaller diameter of the elastic protrusion 3 is hinged to the end of the flexible support 51 near the smaller diameter of the elastic protrusion 3.

[0072] In the above embodiment, the elastic protrusion 3 has a smaller diameter at one end and a larger diameter at the other end. The elastic protrusion 3 is a frustum-shaped elastic protrusion, and its projection on the vertical plane is trapezoidal. The flexible support member 51 is attached to the elastic protrusion 3, with one end facing the end with a smaller diameter and the other end facing the end with a larger diameter. The fixing member 52 is on the outer circumferential surface of the elastic outer tube 2, and the end of the fixing member 52 near the end with a smaller diameter is hinged to the end of the flexible support member 51 near the end with a smaller diameter. When gas is introduced into the gas chamber 21 through the vent pipe 4, the elastic protrusion 3 undergoes a protrusion deformation. As the deformation of the elastic protrusion 3 increases, the opening angle of the flexible support member 51 increases, that is, the included angle between the flexible support member 51 and the axis of the elastic outer tube 2 increases, and the outer contour increases.

[0073] In some implementations, a second fixing sleeve 7 is also fitted at both ends of the outer circumferential surface of the elastic outer tube 2. The second fixing sleeve 7 is fitted on the outer circumferential surface of the end of the elastic outer tube 2. Due to the limiting effect of the second fixing sleeve 7, the deformation of the elastic outer tube 2 in the circumferential direction is restricted, so that it only deforms in the axial direction. There are two second fixing sleeves 7, which are respectively fitted on the outer circumferential surfaces of the two ends of the elastic outer tube 2.

[0074] In some implementations, a core rod 8 is provided inside both ends of the dielectric elastic inner tube 1. Specifically, the core rod 8 is located inside the dielectric elastic inner tube 1 and at both ends of the dielectric elastic inner tube 1. The outer circumferential surface of the core rod 8 is in contact with the inner surface of the dielectric elastic inner tube 1. The core rod plays a supporting role to prevent the hollow part of the dielectric elastic inner tube 1 from deforming (distorting) when the first fixing sleeve 6 fixes the dielectric elastic inner tube 1.

[0075] In some embodiments, a metal foil 9 is also included, which is electrically connected to the flexible electrode 12.

[0076] Specifically, the metal foil 9 includes, but is not limited to, copper foil, etc. The metal foil 9 serves as a conductor, and is connected to an external power source via external wires, thereby achieving electrical connection between the external power source and the flexible electrode 12. Specifically, the flexible electrodes 12 on both sides of the dielectric elastomer film 11 are connected to the positive and negative terminals of the voltage source respectively through the metal foil 9, thereby achieving the expansion and contraction deformation of the dielectric elastomer inner tube 1. The metal foil 9 is located at both ends of the dielectric elastomer inner tube 1 and is electrically connected to the corresponding flexible electrode 12.

[0077] In some embodiments, further references Figure 9 As shown, the fastener 52 includes a first fastening layer 521 and a second fastening layer 522. The first fastening layer 521 is located on the outer peripheral surface of the elastic outer tube 2, and the second fastening layer 522 is located on the surface of the first fastening layer 521.

[0078] The flexible support 51 includes a first support layer 511 and a second support layer 512. The first support layer 511 is attached to the elastic protrusion 3, and the second support layer 512 is located on the surface of the first support layer 511.

[0079] The first spreading layer 511 is hinged to the end of the first fixing layer 521 near the end of the elastic protrusion 3 with a smaller diameter.

[0080] Specifically, the first spreading layer 511 and the first fixing layer 521 are hinged by a flexible hinge, such as using polyimide film tape to achieve the flexible hinge between the first spreading layer 511 and the first fixing layer 521.

[0081] In some embodiments, a limiting sleeve 22 is sleeved on the outer periphery of the elastic outer tube 2 near the elastic protrusion 3, and the fixing member 52 is located on the outer periphery of the limiting sleeve 21.

[0082] In the above embodiment, the outer periphery of the elastic outer tube 2 is fitted with a plurality of limiting sleeves 22 spaced apart along its axial direction. The number of limiting sleeves 22 corresponds to the number of elastic protrusions 3. The fixing member 52 is attached to the outer periphery of the limiting sleeve 22. Specifically, the first fixing layer 521 is attached to the outer periphery of the limiting sleeve 22.

[0083] In some embodiments, the projected length of the first spreading layer 511 in the axial direction of the elastic outer tube 2 is greater than the projected length of the elastic protrusion 3 in the axial direction of the elastic outer tube 2.

[0084] In some embodiments, the materials of the first spreading layer 511 and the first fixing layer 521 are low-stiffness films, including at least one of polyimide film and silicone rubber film.

[0085] In some embodiments, the second spreading layer 512 and the second fixing layer 522 are made of low-stiffness sheet, which includes at least one of PET sheet, carbon fiber sheet, metal sheet, and ceramic sheet.

[0086] In some embodiments, the elastic outer tube 2, the elastic protrusion 3, and the vent tube 4 are made of a soft, elastic material. Preferably, the elastic outer tube 2 and the elastic protrusion 3 are made of silicone rubber. Using silicone rubber for the elastic outer tube 2 avoids the biocompatibility issues present with the flexible electrodes in the dielectric elastomer inner tube.

[0087] Further reference Figure 10 As shown, when gas is introduced into the gas chamber 21 through the vent pipe 4, and the pressure inside the gas chamber 21 is greater than the external atmospheric pressure, the elastic protrusion 3 deforms and protrudes, as shown. Figure 10 As indicated by the middle arrow, as the pressure inside the gas chamber 21 increases, the deformation of the elastic protrusion 3 increases, which in turn causes the opening angle of the flexible support 51 to increase, that is, the angle between the flexible support 51 and the axis of the elastic outer tube 2 increases, and the outer contour increases.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intracavitary crawling robot with an adjustable outer contour, characterized in that, include: A dielectric elastomer inner tube, configured to undergo axial expansion and contraction deformation when energized; An elastic outer tube is sleeved outside the dielectric elastic inner tube, and at least one elastic protrusion is sleeved on the outer periphery of the elastic outer tube, forming a gas chamber between the elastic outer tube and the dielectric elastic inner tube. A vent tube that communicates with the gas chamber; Multiple sideburn structures, each of the sideburn structures including a flexible support member conforming to the elastic protrusion; The sideburn structure also includes a fastener located on the outer peripheral surface of the elastic outer tube and close to the elastic protrusion; The elastic protrusion is a frustum-shaped cone with a smaller diameter at the end pointing in the positive direction and a larger diameter at the end pointing in the negative direction. The end of the fixing member with the smaller diameter near the elastic protrusion is hinged to the end of the flexible spreading member with the smaller diameter near the elastic protrusion. Gas is introduced into the gas chamber through the vent pipe. When the pressure inside the gas chamber is greater than the external atmospheric pressure, the elastic protrusion deforms. As the pressure inside the gas chamber increases, the deformation of the elastic protrusion increases, causing the flexible support to open and its outer contour to increase. The flexible support in the mantle structure contacts the inner wall of the cavity and undergoes micro-bending deformation, resulting in the friction force experienced by the robot when moving in the positive direction being less than that when moving in the negative direction. Consequently, when the dielectric elastic inner tube moves within one cycle, the distance moved in the positive direction is greater than the distance moved in the negative direction, thus achieving directional movement.

2. The intracavitary crawling robot with adjustable outer contour as described in claim 1, characterized in that, The dielectric elastic inner tube is also fitted with a first fixing sleeve at both ends of its outer peripheral surface. The inner surface of the first fixing sleeve is in contact with the outer peripheral surface of the dielectric elastic inner tube, and the outer surface of the first fixing sleeve is in contact with the inner surface of the elastic outer tube. The gas chamber is formed by the elastic outer tube, the dielectric elastic inner tube, and the first fixed sleeve.

3. The intracavitary crawling robot with adjustable outer contour as described in claim 1, characterized in that, The dielectric elastomer inner tube includes a plurality of dielectric elastomer films and flexible electrodes arranged in a radially staggered manner; When the flexible electrode is energized, the flexible electrode thins the dielectric elastomer film it holds and can stretch and deform axially within the dielectric elastomer inner tube.

4. The cavity crawling robot with adjustable outer contour as described in any one of claims 1 to 3, characterized in that, The two ends of the outer circumferential surface of the elastic outer tube are also fitted with second fixing sleeves; The dielectric elastomer inner tube has a core rod fitted inside both ends.

5. The intracavitary crawling robot with adjustable outer contour as described in claim 3, characterized in that, It also includes a metal foil, which is electrically connected to the flexible electrode.

6. The cavity-crawling robot with adjustable outer contour as described in claim 1, characterized in that, The fastener includes a first fastening layer and a second fastening layer, wherein the first fastening layer is located on the outer peripheral surface of the elastic outer tube, and the second fastening layer is located on the surface of the first fastening layer; The flexible support includes a first support layer and a second support layer, the first support layer is attached to the elastic protrusion, and the second support layer is located on the surface of the first support layer; The first spreading layer is hinged to the end of the first fixing layer that is closer to the end of the elastic protrusion with a smaller diameter.

7. The cavity crawling robot with adjustable outer contour as described in claim 1, characterized in that, A limiting sleeve is fitted around the outer periphery of the elastic outer tube near the elastic protrusion, and the fixing member is located on the outer periphery of the limiting sleeve.

8. The cavity crawling robot with adjustable outer contour as described in claim 6, characterized in that, The projection length of the first spreading layer in the axial direction of the elastic outer tube is greater than the projection length of the elastic protrusion in the axial direction of the elastic outer tube.

9. The intracavitary crawling robot with adjustable outer contour as described in claim 6, characterized in that, The materials of the first spreading layer and the first fixing layer are low-stiffness thin films; The second support layer and the second fixing layer are made of low-stiffness thin plates; The low-stiffness film includes at least one of polyimide film and silicone rubber film; The low-stiffness sheet includes at least one of PET sheet, carbon fiber sheet, metal sheet, and ceramic sheet.

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