Magnetically-driven crawling capsule robot based on paper folding mechanism

Abstract

The magnetically-driven crawling capsule robot based on the paper folding mechanism comprises a machine body, a machine cover, an upper flexible body, a lower flexible body, an upper magnet, an upper sliding block and a lower magnet, a guide column is arranged on the machine body, a top cover is connected with the upper portion of the machine body, the upper sliding block is in sliding fit with the guide column, and the lower sliding block is in sliding fit with the machine body. The upper magnet is arranged on the upper sliding block, and the lower magnet is fixed to the lower portion of the machine body. The magnetically-driven crawling capsule robot has the beneficial effects that the magnetically-driven crawling capsule robot has an active crawling motion form, and a narrow part can be actively pushed aside when an intestinal tract deforms, so that a cavity channel with a more sufficient space is formed.

Description

Technical Field

[0001] This invention relates to capsule robots, and more particularly to a magnetically driven crawling capsule robot based on an origami mechanism. Background Technology

[0002] A capsule endoscope (CE) is a swallowable medical device used to examine the human gastrointestinal tract. It is typically equipped with one or two miniature cameras to capture images of the gastrointestinal tract. Doctors can then assess health conditions by examining these images. Building on this, newer magnetically driven capsule endoscopes possess active movement capabilities, moving under the influence of an external magnetic field and working in conjunction with the miniature cameras to locate lesions within the body, facilitating diagnosis by medical professionals.

[0003] Existing magnetically driven capsule endoscopes have relatively simple active movement mechanisms, typically using threaded advancement or differential friction. However, these two types have limited applicability. When faced with intestinal deformation caused by peristalsis, magnetically driven capsule endoscopes cannot pass through narrow sections of the intestine. Furthermore, because intestinal deformation can cause lesions to fold, making them difficult to observe with the capsule endoscope, the efficiency of capsule endoscopy in internal examinations is relatively low. Summary of the Invention

[0004] To overcome the limitations of current magnetically driven capsule endoscopes in maintaining motion within the complex intestinal environment and in observing lesions folded by intestinal peristalsis, this invention provides a magnetically driven crawling capsule robot based on an origami mechanism. This capsule possesses active crawling locomotion capabilities, actively parting narrow sections when the intestine deforms to create more spacious cavities. Furthermore, when fully open, the capsule can expand its diameter by approximately 7.5 mm, effectively extending folded portions of the intestine and facilitating the observation of lesions hidden within intestinal folds.

[0005] This invention provides a magnetically driven crawling capsule robot based on an origami mechanism, comprising a body, a cover, an upper flexible body, a lower flexible body, an upper magnet, an upper slider, and a lower magnet. The body has guide posts, the cover is connected to the upper part of the body, the upper slider slides in cooperation with the guide posts, the upper magnet is mounted on the upper slider, and the lower magnet is fixed to the lower part of the body. The upper end of the upper flexible body is connected to the cover, the lower end of the upper flexible body is connected to the upper slider, the upper end of the lower flexible body is connected to the upper slider, and the lower end of the lower flexible body is connected to the lower end of the body. The upper flexible body has a first fold crease in its middle, allowing it to be compressed and folded along the first fold crease. The lower flexible body has a second fold crease in its middle, allowing it to be compressed and folded along the second fold crease.

[0006] As a further improvement of the present invention, the upper flexible body and the lower flexible body constitute a paper-folding mechanism that can switch between compression folding and stretching.

[0007] As a further improvement of the present invention, both the upper flexible body and the lower flexible body are made of rubber.

[0008] As a further improvement of the present invention, when the upper flexible body is compressed and folded, the lower flexible body is stretched, and when the upper flexible body is stretched, the lower flexible body is compressed and folded.

[0009] As a further improvement of the present invention, the magnetically driven crawling capsule robot based on the origami mechanism also includes an external electromagnetic drive system.

[0010] As a further improvement of the present invention, when the external electromagnetic drive system does not apply a magnetic field, the upper magnet and the lower magnet attract each other, the lower flexible body is compressed and folded, and the upper flexible body is stretched; when the external electromagnetic drive system applies a uniform magnetic field, the upper magnet and the lower magnet repel each other and separate, the upper flexible body is compressed and folded, and the lower flexible body is stretched.

[0011] As a further improvement of the present invention, the upper flexible body has at least two parts and is evenly arranged around the guide post in the circumferential direction.

[0012] As a further improvement of the present invention, at least two of the lower flexible bodies are evenly arranged around the guide post in the circumferential direction.

[0013] As a further improvement of the present invention, the first fold crease divides the upper flexible body into a front part and a rear part, and the slope of the front part of the upper flexible body is less than the slope of the rear part; the second fold crease divides the lower flexible body into a front part and a rear part, and the slope of the front part of the lower flexible body is less than the slope of the rear part.

[0014] As a further improvement of the present invention, the rear part of the upper flexible body is provided with a third fold crease, and the rear part of the lower flexible body is provided with a fourth fold crease.

[0015] As a further improvement of the present invention, the front part of the upper flexible body is provided with a fifth fold crease, and the front part of the lower flexible body is provided with a sixth fold crease. The thickness at the location of the fifth fold crease is greater than the thickness at the location of the first fold crease, the thickness at the location of the first fold crease is greater than the thickness at the location of the third fold crease, the thickness at the location of the sixth fold crease is greater than the thickness at the location of the second fold crease, the thickness at the location of the second fold crease is greater than the thickness at the location of the fourth fold crease, the front part of the upper flexible body is longer and thicker than its rear part, the front part of the lower flexible body is longer and thicker than its rear part, both the front and rear parts of the upper flexible body are spindle-shaped, and both the front and rear parts of the lower flexible body are spindle-shaped.

[0016] As a further improvement of the present invention, the upper magnet is capable of rotating inside the upper slider.

[0017] As a further improvement of the present invention, the upper flexible body and the lower flexible body are both arranged along the axial direction of the guide post on the side of the magnetically driven crawling capsule robot, and the upper flexible body and the lower flexible body are alternately arranged along the circumference of the guide post.

[0018] As a further improvement of the present invention, the magnetically driven crawling capsule robot combines a paper-folding mechanism with a flexible body, using the flexible body as the active motion actuator. The flexible body utilizes its own toughness and elasticity to achieve folding deformation during contraction and resetting during extension, which greatly simplifies the mechanism design and reduces the complexity of the transmission mechanism.

[0019] As a further improvement of the present invention, the magnetically driven crawling capsule robot simultaneously has upper and lower flexible bodies as active motion actuators. When the lower flexible body is compressed and folded, the upper flexible body extends and resets; when the lower flexible body extends, the upper flexible body is compressed and folded. This design alternates the output of a single power source twice, allowing the movements of the upper and lower flexible bodies to complement each other. Simultaneously, it provides a certain anchoring effect for forward movement in the other part, preventing backward misalignment and greatly improving motion efficiency.

[0020] As a further improvement of the present invention, a small amount of lubricating oil is added inside the upper slider of the magnetically driven crawling capsule robot, which facilitates the free rotation of the upper magnet inside the upper slider and reduces jamming. In addition, the aperture of the upper slider and the upper baffle is small, which can prevent the lubricating oil from leaking out.

[0021] As a further improvement of the present invention, the guide column of the magnetically driven crawling capsule robot body has a large diameter, and the top cover has a large space for subsequent improvements to add other functional components such as cameras.

[0022] As a further improvement of the present invention, the magnetically driven crawling capsule robot has a simple structure and is easy to manufacture. Most of the components are assembled by adhesive bonding, making it convenient to operate.

[0023] As a further improvement of the present invention, the magnetically driven crawling capsule robot does not have a capsule shell. Instead, it adopts an internal central axis design to ensure that the axial movement of the upper and lower magnets does not deviate, thereby reducing the diameter of the capsule robot and meeting the actual needs of oral ingestion in clinical use.

[0024] The beneficial effects of this invention are:

[0025] 1. This magnetically driven crawling capsule robot has an active crawling motion mode. When the intestine deforms, it can actively open up narrow parts to form a cavity with more space, which is convenient for movement in a variety of complex environments and can better achieve the task of finding and observing lesions.

[0026] 2. This magnetically driven crawling capsule robot adopts a design that combines origami mechanism with flexible body, which is simple and reliable in structure, greatly reduces the transmission mechanism, has low manufacturing cost, and is easy to control and operate.

[0027] 3. The upper and lower flexible parts of the magnetically driven crawling capsule robot that come into contact with the digestive tract are both made of rubber, which has a certain degree of flexibility and can provide protection for the human body during use. The whole is capsule-shaped, and the parts that come into contact with the human body are all designed with rounded edges, which meets human safety requirements.

[0028] 4. The upper and lower flexible bodies of this magnetically driven crawling capsule robot can move alternately, resulting in high motion efficiency.

[0029] 5. The maximum diameter of the flexible body of this magnetically driven crawling capsule robot is 22mm in both its contracted and extended states, which is within the tolerance range of the human esophagus and has practical clinical application value. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other solutions can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a three-dimensional schematic diagram of a magnetically driven crawling capsule robot based on an origami mechanism according to the present invention;

[0032] Figure 2 This is a top view of a magnetically driven crawling capsule robot based on an origami mechanism according to the present invention.

[0033] Figure 3 This is a front view of a magnetically driven crawling capsule robot based on an origami mechanism according to the present invention;

[0034] Figure 4 yes Figure 3 AA (Cross-section view);

[0035] Figure 5 This is a schematic diagram of a magnetically driven crawling capsule robot in an embodiment of the present invention, in which the magnets attract each other and the robot is in a contracted state under the action of an external magnetic control system.

[0036] Figure 6 This is a schematic diagram of a magnetically driven crawling capsule robot in an embodiment of the present invention, in which the magnets repel each other and are in an extended state under the action of an external magnetic control system. Detailed Implementation

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0041] like Figures 1 to 6As shown, a magnetically driven crawling capsule robot based on an origami mechanism includes a body 8, a cover 1, an upper flexible body 2, a lower flexible body 3, an upper magnet 5, an upper slider 6, and a lower magnet 7.

[0042] The body 8 is provided with a guide post 801, which guides the upper slider 6 up and down. The guide post 801 is cylindrical.

[0043] The top cover 1 is connected to the upper part of the body 8, the upper slider 6 is slidably engaged with the guide post 801, the upper magnet 5 is disposed on the upper slider 6, and the lower magnet 7 is fixed to the lower part of the body 8.

[0044] The top cover 1 is glued and fixed to the top of the body 8.

[0045] The lower magnet 7 is fixed in the lower groove of the body 8, and the upper magnet 5 is placed in the groove of the upper slider 6. The upper slider 6 is connected to the upper baffle 4, which is glued and fixed to the opening above the upper slider to restrict the axial freedom of the upper magnet 5. The upper baffle 4 and the upper slider 6 surround the upper magnet 5 in the groove.

[0046] The upper magnet 5 can rotate relative to the upper slider 6. The upper magnet 5 can move axially together with the upper slider 6. The upper magnet 5 is a movable magnet, while the lower magnet 7 is fixed and is also a movable magnet.

[0047] The upper end of the upper flexible body 2 is connected to the top cover 1, and the lower end of the upper flexible body 2 is connected to the upper slider 6. A groove is provided on the lower outer side of the upper slider 6, and the lower end of the upper flexible body 2 is connected to the groove on the lower outer side of the upper slider 6.

[0048] The upper end of the lower flexible body 3 is connected to the upper slider 6, and the lower end of the lower flexible body 3 is connected to the lower end of the body 8. A groove is provided on the upper outer side of the upper slider 6, and the upper end of the lower flexible body 3 is connected to the groove on the upper outer side of the upper slider 6.

[0049] The upper flexible body 2 has a first fold 201 in the middle, and the upper flexible body 2 can be compressed and folded along the first fold 201. The lower flexible body 3 has a second fold 201 in the middle, and the lower flexible body 3 can be compressed and folded along the second fold 201.

[0050] The upper flexible body 2 and the lower flexible body 3 have the same structure, but are installed in different positions.

[0051] When the upper slider 6 moves upward, the upper flexible body 2 is compressed and folded, and the lower flexible body 3 is stretched.

[0052] When the upper slider 6 moves downward, the upper flexible body 2 is stretched and the lower flexible body 3 is compressed and folded.

[0053] The magnetically driven crawling capsule robot based on origami mechanism also includes an external electromagnetic drive system.

[0054] When the external electromagnetic drive system does not apply a magnetic field, the upper magnet 5 and the lower magnet 7 attract each other, the lower flexible body 3 is compressed and folded, and the upper flexible body 2 is stretched; when the external electromagnetic drive system applies a uniform magnetic field, the upper magnet 5 and the lower magnet 7 repel each other and separate, the upper flexible body 2 is compressed and folded, and the lower flexible body 3 is stretched.

[0055] At least two of the upper flexible bodies 2 are evenly arranged around the guide post 801 in the circumference, preferably three upper flexible bodies 2 are distributed around the guide post 801 at circumferential intervals of 120 degrees.

[0056] At least two of the lower flexible bodies 3 are evenly arranged around the guide post 801 in the circumference, preferably three lower flexible bodies 3 are distributed around the guide post 801 at circumferential intervals of 120 degrees.

[0057] The upper flexible body and lower flexible body of the magnetically driven crawling capsule robot are as follows: Figure 1 As shown, each section is divided into four segments by three folds, with the middle fold separating the upper and lower flexible bodies into front and rear sections. Based on the characteristics of the material, the thinner the structure, the easier it is to deform. Therefore, the design process makes the frontmost fold the thickest and the rearmost fold the thinnest, ensuring that when subjected to external force, the front of the upper and lower flexible bodies experiences minimal deformation, while the rear experiences maximum deformation. Simultaneously, the design incorporates differences in length and thickness between the front and rear sections of the upper and lower flexible bodies, making the front structure longer and thicker, and the rear structure shorter and thinner. Both the front and rear sections employ a spindle-shaped design to prevent tangential deformation. Therefore, both the upper and lower flexible bodies ultimately rotate around the folds, with the front exhibiting less deformation and the rear more, resulting in an overall backward-bending shape for the upper and lower flexible bodies. Therefore, when the upper and lower flexible bodies change from an extended state to a contracted state, the ends that contact the intestinal wall move backward, and the slope of the front part of the flexible body is much smaller than that of the rear part. This can provide differential friction during the movement process, preventing the robot from shifting backward when the flexible body changes from a contracted state to an extended state.

[0058] The first fold 201 divides the upper flexible body 2 into a front part and a rear part, and the slope of the front part of the upper flexible body 2 is less than the slope of the rear part; the second fold 201 divides the lower flexible body 3 into a front part and a rear part, and the slope of the front part of the lower flexible body 3 is less than the slope of the rear part. The slope of the front part of the flexible body is much smaller than the slope of the rear part. This can provide differential friction during movement and prevent the robot from shifting backward when the flexible body changes from a contracted state to an extended state.

[0059] The upper flexible body 2 has a third fold crease 202 at its rear, and the lower flexible body 3 has a fourth fold crease at its rear.

[0060] The upper flexible body 2 has a fifth fold 203 at its front, and the lower flexible body 3 has a sixth fold 203 at its front. The thickness at the location of the fifth fold 203 is greater than the thickness at the location of the first fold 201, the thickness at the location of the first fold 201 is greater than the thickness at the location of the third fold 202, the thickness at the location of the sixth fold 203 is greater than the thickness at the location of the second fold 203, and the thickness at the location of the second fold 203 is greater than the thickness at the location of the fourth fold 203. The front of the upper flexible body 2 is longer and thicker than its rear, and the front of the lower flexible body 3 is longer and thicker than its rear. Both the front and rear of the upper flexible body 2 are spindle-shaped (a spindle is a shape with sharp ends and a wide middle, which can be seen as a three-dimensional figure formed by connecting two cones through their bases). Both the front and rear of the lower flexible body 3 are spindle-shaped. The above structure ensures that when the flexible body changes from an extended state to a contracted state, the end in contact with the intestinal wall moves backward. Furthermore, the slope of the front part of the flexible body is much smaller than that of the rear part. This provides differential friction during movement and prevents the robot from shifting backward when the flexible body changes from a contracted state to an extended state.

[0061] The upper magnet 5 can rotate inside the upper slider 6.

[0062] The upper flexible body 2 and the lower flexible body 3 are both arranged along the axial direction of the guide post 801 on the side of the magnetically driven crawling capsule robot, and the upper flexible body 2 and the lower flexible body 3 are alternately arranged along the circumference of the guide post 801.

[0063] The present invention provides a magnetically driven crawling capsule robot based on a paper-folding mechanism, the working principle of which is as follows:

[0064] When the external electromagnetic drive system does not apply a magnetic field, the upper magnet 5 and lower magnet 7 of the magnetically driven crawling capsule robot attract each other, causing the lower flexible body 3 to be compressed. During the compression process, the outermost point of the lower flexible body 3, as the outermost end, contacts the inner wall of the field, generating a backward force that eventually stretches the intestinal wall. At this time, the lower flexible body 3 acts as an anchor, providing a force to prevent the capsule robot from moving backward when the upper magnet 5 and lower magnet 7 separate. Figure 5 This is a schematic diagram of the above process in an example of the present invention.

[0065] When a uniform magnetic field is applied by the external electromagnetic drive system, the upper magnet 5 and the lower magnet 7 of the magnetically driven crawling capsule robot repel and separate, causing the upper flexible body 2 to be compressed and the lower flexible body 3 to stretch. During the separation process, the turning point of the upper flexible body 2, as the outermost end, contacts the inner wall of the field, generating a backward force that ultimately stretches the intestinal wall. At the same time, the upper flexible body 2 anchors left and right, so that when the upper magnet 5 and the lower magnet 7 attract each other, they provide a force that hinders the capsule robot from moving backward. Figure 6 This is a schematic diagram of the above process in an example of the present invention.

[0066] This invention provides a magnetically driven crawling capsule robot based on an origami mechanism, capable of actively crawling and expanding the intestine for observation. The capsule utilizes the repulsive and attractive properties of magnets to output axial movement of the magnets. This axial movement causes the upper and lower flexible bodies to alternately fold, deform, and expand back to their original positions. Through a specially designed structure, the flexible bodies exhibit a smaller slope at the front and a larger slope at the rear during deformation, generating a backward thrust, which in turn generates a forward thrust during recovery, enabling forward movement. During movement, the folding deformation of the flexible bodies causes the outermost diameter to expand by 7.5 mm compared to its expanded and recovered diameter. This characteristic can expand the intestinal wall to a certain extent, facilitating observation of lesions in the folds of the intestinal wall, while maintaining strong active movement capabilities even in the complex environment of the intestine. The robot has a simple structure, reliable motion, and easy control, exhibiting strong stability. Furthermore, its simple manufacturing and assembly facilitate practical production use.

[0067] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A magnetically driven crawling capsule robot based on an origami mechanism, characterized in that: The device includes a body, a cover, an upper flexible body, a lower flexible body, an upper magnet, an upper slider, and a lower magnet. The body has guide posts. The cover is connected to the upper part of the body. The upper slider slides in cooperation with the guide posts. The upper magnet is mounted on the upper slider. The lower magnet is fixed to the lower part of the body. The upper end of the upper flexible body is connected to the cover, and the lower end is connected to the upper slider. The upper end of the lower flexible body is connected to the upper slider, and the lower end is connected to the lower end of the body. The upper flexible body has a first fold crease in its middle section, allowing it to be compressed and folded along this crease. The lower flexible body has a second fold crease in its middle section, allowing it to be compressed and folded along this crease.

2. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: When the upper flexible body is compressed and folded, the lower flexible body is stretched; when the upper flexible body is stretched, the lower flexible body is compressed and folded.

3. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: The magnetically driven crawling capsule robot based on origami mechanism also includes an external electromagnetic drive system.

4. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 3, characterized in that: When the external electromagnetic drive system does not apply a magnetic field, the upper magnet and the lower magnet attract each other, the lower flexible body is compressed and folded, and the upper flexible body is stretched. When the external electromagnetic drive system applies a uniform magnetic field, the upper magnet and the lower magnet repel and separate from each other, the upper flexible body is compressed and folded, and the lower flexible body is stretched.

5. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: The upper flexible body has at least two parts and is evenly arranged around the guide post in the circumference.

6. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: The lower flexible body has at least two parts and is evenly arranged around the guide post in the circumference.

7. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: The first fold divides the upper flexible body into a front and a rear part. When compressed and folded, the slope of the front part of the upper flexible body is less than the slope of the rear part. The second fold divides the lower flexible body into a front and a rear part. When compressed and folded, the slope of the front part of the lower flexible body is less than the slope of the rear part.

8. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 7, characterized in that: The upper flexible body has a third fold crease at its rear, the lower flexible body has a fourth fold crease at its rear, the upper flexible body has a fifth fold crease at its front, and the lower flexible body has a sixth fold crease at its front. The thickness at the location of the fifth fold crease is greater than the thickness at the location of the first fold crease, the thickness at the location of the first fold crease is greater than the thickness at the location of the third fold crease, the thickness at the location of the sixth fold crease is greater than the thickness at the location of the second fold crease, and the thickness at the location of the second fold crease is greater than the thickness at the location of the fourth fold crease. The front of the upper flexible body is longer and thicker than its rear, and the front of the lower flexible body is longer and thicker than its rear. Both the front and rear of the upper flexible body and the lower flexible body are spindle-shaped.

9. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: The upper magnet is capable of rotating inside the upper slider.

10. The magnetically driven crawling capsule robot based on a paper-folding mechanism according to claim 1, characterized in that: The upper flexible body and the lower flexible body are both arranged along the axial direction of the guide post on the side of the magnetically driven crawling capsule robot, and the upper flexible body and the lower flexible body are alternately arranged along the circumference of the guide post.

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