CN108283482A - Radial dilatation device for gastrointestinal tract microrobot - Google Patents
Radial dilatation device for gastrointestinal tract microrobot Download PDFInfo
- Publication number
- CN108283482A CN108283482A CN201810063243.8A CN201810063243A CN108283482A CN 108283482 A CN108283482 A CN 108283482A CN 201810063243 A CN201810063243 A CN 201810063243A CN 108283482 A CN108283482 A CN 108283482A
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- China
- Prior art keywords
- radial dilatation
- cotton rope
- reel
- driven
- dilatation device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/32—Devices for opening or enlarging the visual field, e.g. of a tube of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Gastroenterology & Hepatology (AREA)
- Manipulator (AREA)
Abstract
A kind of radial dilatation device for gastrointestinal robot, including：Radial dilatation device, cotton rope transmission device and power plant.Wherein radial dilatation device uses double-layer staggered formula expansion arm, this structure had not only increased reducing ratio, but also reduced mechanism size；Transmission device is pulled using cotton rope, has not only simplified structure, but also improve transmission efficiency, ensure that the stability of mechanism operation.
Description
Technical field
It is specifically a kind of to be used for gastrointestinal tract micro computer the present invention relates to a kind of technology in medical miniature robot field
The radial dilatation device of device people.
Background technology
Traditional endoscopy is there are missing inspection, process are excessively painful, the problems such as may causing severe complication, and capsule
Endoscope cannot be resident in enteron aisle, cannot implement radial dilatation to gastrointestinal tract, it is difficult to find gastrointestinal tract fold and collapse place
Lesion.Currently, the gastrointestinal disease minitype bionic intestinal robot for having autokinetic movement and radial dilatation gastrointestinal function has become
Current international electromechanical and engineering in medicine area research emphasis.And extension fixture is one of the critical component in intestinal robot,
Its major function has two aspects：First, realizing that robot is resident in enteron aisle, another is to strut enteron aisle so as to robot pair
Enteron aisle carries out observation diagnosis and treatment.
Invention content
The present invention is directed to deficiencies of the prior art, proposes a kind of radial expansion for gastrointestinal tract microrobot
Device is opened, reducing ratio is not only increased, and simplify apparatus structure, is reduced in size, improve mechanism operation stability.
The present invention is achieved by the following technical solutions：
The present invention includes：Cotton rope transmission device and the radial dilatation device and power plant being attached thereto respectively, wherein：
Power plant transmits the force to radial dilatation device by cotton rope transmission device and drives expanding mechanism expansion and shrink.
The cotton rope transmission device includes：It is set to the active reel being connected with power plant in third baffle, three
A driven reel and its driving gear pair, wherein：Active reel is fixedly connected and driven with three respectively with power plant
Reel is connected by cotton rope, and each driven reel further drives radial dilatation device by driving gear pair.
The driving gear pair is that two identical gears are meshed, and one of gear is as driven wheel and turns
One rotation axis of moving axis centering is fixed, another gear is coaxially fixed with driven reel.
The radial dilatation device includes：Pedestal, the first baffle and second baffle, limit for being set to pedestal or more both sides
Position sleeve, expansion arm and rotation axis pair, wherein：Expansion arm is connected with spacing collar, and rotation axis is to being set in spacing collar simultaneously
It is connected with cotton rope transmission device.
The spacing collar is both used to limit driving lever along rotation axis axial position, and the same driving lever that limits is expanded most
Big angle.
The power plant includes：Planetary reducer and motor, the power plant is by the output of motor by subtracting
Fast device slows down and increases torque, then driving active reel rotation drives driven reel to rotate, driven coiling by cotton rope
Wheel drives rotation axis to rotation by driving gear pair, and then realizes the expansion and contraction of expansion arm.
Technique effect
Compared with prior art, present invention employs two layers staggeredly to fold leg formula expansion arm, has both increased the change of expanding mechanism
Diameter ratio, and reduce the size of radial dilatation device；Cotton rope transmission device is used simultaneously, mechanical structure is simplified, improves
Transmission efficiency ensure that mechanism reliability of operation.
Description of the drawings
Fig. 1 is overall schematic of the present invention；
Fig. 2 is that process schematic is unfolded in expanding mechanism：
Fig. 3 is cotton rope transmission device schematic diagram；
Fig. 4 is power plant schematic diagram；
In figure：1 be first baffle, 2 be pedestal, 3 be the first screw, 4 be spacing collar, 5 be expansion arm, 5-1 is actively
Bar, 5-2 be follower lever, 6 be rotation axis to, 7 be second baffle, 8 be cotton rope transmission device, 8-1 is active reel, 8-2 is
Driven reel, 8-3 are driving gear pair, 8-4 is cotton rope, 8-5 is housing screw, 8-6 be third baffle, 9 be the second screw,
10 be power plant, 10-1 is planetary reducer, 10-2 is motor.
Specific implementation mode
As shown in Figure 1, the present apparatus includes：Cotton rope transmission device and the radial dilatation device and power being attached thereto respectively
Device, wherein：Power plant radial dilatation device is transmitted the force to by cotton rope transmission device and drive expanding mechanism expansion with
It shrinks.
The radial dilatation device includes：Pedestal 2, the first baffle 1 and second baffle for being set to about 2 both sides of pedestal
7, the first screw 3, spacing collar 4, expansion arm 5 and the rotation axis pair 6 for compressing baffle and pedestal, wherein：Expansion arm 5 and limit
Position sleeve 4 is connected, and rotation axis pair 6 is set in spacing collar 4 and is connected with cotton rope transmission device.
The expansion arm 5 includes the first driving lever, the first follower lever, the second follower lever and second being sequentially connected end to end
Driving lever, to being staggered installation of up and down, the other end and the rotation of spacing collar 4 of the first driving lever and the second driving lever connect two bars
It connects.
The spacing collar 4 is both used to limit driving lever 5-1 along rotation axis axial position, and the same driving lever that limits expands
Maximum angle is opened, which is open circles column sleeve.
The cotton rope transmission device includes：An active being connected with power plant being set on third baffle 8-6
Reel 8-1, three driven reel 8-2 and its driving gear pair 8-3, three sections of cotton rope 8-4, a housing screw 8-5,
In：Active reel 8-1 is fixedly connected with power plant 10 and is connected respectively by cotton rope 8-4 with three driven reel 8-2,
Each driven reel 8-2 further drives rotation axis pair 6 by driving gear pair 8-3.
The driving gear pair 8-3 is that two identical gears are meshed, and one of gear is as driven wheel
It is fixed with a rotation axis in rotation axis pair 6, another gear is coaxially fixed with driven reel 8-2.
The housing screw 8-5 is screwed by screw thread, and cotton rope 8-4 is fixed on active reel.
The power plant 10 includes：Planetary reducer 10-1 and motor 10-2, the power plant 10 is by motor
Output slowed down by retarder and increase torque, then driving active reel rotation drives driven reel by cotton rope
Rotation, driven reel drive rotation axis to rotation by driving gear pair, and then realize the expansion and contraction of expansion arm.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (7)
1. a kind of radial dilatation device for gastrointestinal robot, which is characterized in that including：Cotton rope transmission device and difference
The radial dilatation device and power plant being attached thereto, wherein：Power plant transmits the force to radial direction by cotton rope transmission device
Extension fixture simultaneously drives expanding mechanism expansion and shrinks；
The cotton rope transmission device includes：Be set to the active reel being connected with power plant in third baffle and three from
Dynamic reel and its driving gear pair, wherein：Active reel be fixedly connected with power plant and respectively with three driven coilings
Wheel is connected by cotton rope, and each driven reel further drives radial dilatation device by driving gear pair.
2. the radial dilatation device according to claim 1 for gastrointestinal robot, characterized in that the driving cog
Wheel set is that two identical gears are meshed, and one of gear is solid as driven wheel and rotation one rotation axis of shaft assignment
Fixed, another gear is coaxially fixed with driven reel.
3. the radial dilatation device according to claim 1 for gastrointestinal robot, characterized in that the radial expansion
Opening device includes：Pedestal is set to the pedestal first baffle of both sides and second baffle, spacing collar, expansion arm and rotation up and down
Axis pair, wherein：Expansion arm is connected with spacing collar, and rotation axis is to being set in spacing collar and being connected with cotton rope transmission device.
4. the radial dilatation device according to claim 3 for gastrointestinal robot, characterized in that the expansion arm
Including the first driving lever, the first follower lever, the second follower lever and the second driving lever being sequentially connected end to end, two bars to handing over up and down
The other end of mistake installation, the first driving lever and the second driving lever is rotatablely connected with spacing collar.
5. the radial dilatation device according to claim 3 for gastrointestinal robot, characterized in that the stop collar
Cylinder is both used to limit driving lever along rotation axis axial position, and the same driving lever that limits expands maximum angle, the spacing collar
For open circles column sleeve.
6. the radial dilatation device according to claim 1 for gastrointestinal robot, characterized in that the active around
Line wheel is equipped with housing screw, screws housing screw by screw thread and cotton rope is fixed on active reel.
7. the radial dilatation device according to claim 1 for gastrointestinal robot, characterized in that the power dress
Set including：The output of motor is slowed down by retarder and increases torque by planetary reducer and motor, the power plant, is driven
Dynamic active reel rotation, then drives driven reel to rotate, driven reel is driven by driving gear pair by cotton rope
Rotation axis realizes the expansion and contraction of expansion arm to rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063243.8A CN108283482A (en) | 2018-01-23 | 2018-01-23 | Radial dilatation device for gastrointestinal tract microrobot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810063243.8A CN108283482A (en) | 2018-01-23 | 2018-01-23 | Radial dilatation device for gastrointestinal tract microrobot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108283482A true CN108283482A (en) | 2018-07-17 |
Family
ID=62835680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810063243.8A Pending CN108283482A (en) | 2018-01-23 | 2018-01-23 | Radial dilatation device for gastrointestinal tract microrobot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108283482A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875724A (en) * | 2019-03-29 | 2019-06-14 | 上海交通大学 | Two axle drive closes clamping device |
| CN110584569A (en) * | 2019-09-23 | 2019-12-20 | 中北大学 | Planetary wheel type radial expansion mechanism for intestinal examination |
| CN110881944A (en) * | 2019-12-12 | 2020-03-17 | 上海交通大学 | Radial expansion mechanism for gastrointestinal tract micro-robot |
| CN111870799A (en) * | 2020-08-04 | 2020-11-03 | 上海交通大学 | Surface contact type expansion and residence device for gastrointestinal tract micro-robot |
| CN111928816A (en) * | 2020-09-01 | 2020-11-13 | 河南省建筑科学研究院有限公司 | Monitoring method and monitoring system for running safety of underground engineering |
| CN112493973A (en) * | 2020-11-20 | 2021-03-16 | 上海交通大学 | Backstroke stink bug imitating type gastrointestinal tract micro-robot |
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| CN201787011U (en) * | 2009-12-18 | 2011-04-06 | 瑞中天明（北京）门业有限公司 | Transmission device and rolling blind using the same |
| CN104398230A (en) * | 2014-10-08 | 2015-03-11 | 上海交通大学 | Gastrointestinal tract robot mechanism |
| CN104783752A (en) * | 2015-04-16 | 2015-07-22 | 上海交通大学 | Large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism |
| CN204576274U (en) * | 2015-04-14 | 2015-08-19 | 徐州泰诺仕视觉科技有限公司 | A kind of mechanical type two dimension peeps head controlling device |
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
-
2018
- 2018-01-23 CN CN201810063243.8A patent/CN108283482A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201787011U (en) * | 2009-12-18 | 2011-04-06 | 瑞中天明（北京）门业有限公司 | Transmission device and rolling blind using the same |
| CN104398230A (en) * | 2014-10-08 | 2015-03-11 | 上海交通大学 | Gastrointestinal tract robot mechanism |
| CN204576274U (en) * | 2015-04-14 | 2015-08-19 | 徐州泰诺仕视觉科技有限公司 | A kind of mechanical type two dimension peeps head controlling device |
| CN104783752A (en) * | 2015-04-16 | 2015-07-22 | 上海交通大学 | Large-diameter-changing-ratio miniature gastrointestinal tract robot mechanism |
| CN104887169A (en) * | 2015-04-16 | 2015-09-09 | 上海交通大学 | Clamp mechanism used for gastrointestinal tract micro-robot and radial expanding mechanism thereof |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109875724A (en) * | 2019-03-29 | 2019-06-14 | 上海交通大学 | Two axle drive closes clamping device |
| CN110584569A (en) * | 2019-09-23 | 2019-12-20 | 中北大学 | Planetary wheel type radial expansion mechanism for intestinal examination |
| CN110584569B (en) * | 2019-09-23 | 2021-07-09 | 中北大学 | Planetary wheel type radial expansion mechanism for intestinal examination |
| CN110881944A (en) * | 2019-12-12 | 2020-03-17 | 上海交通大学 | Radial expansion mechanism for gastrointestinal tract micro-robot |
| CN111870799A (en) * | 2020-08-04 | 2020-11-03 | 上海交通大学 | Surface contact type expansion and residence device for gastrointestinal tract micro-robot |
| CN111928816A (en) * | 2020-09-01 | 2020-11-13 | 河南省建筑科学研究院有限公司 | Monitoring method and monitoring system for running safety of underground engineering |
| CN112493973A (en) * | 2020-11-20 | 2021-03-16 | 上海交通大学 | Backstroke stink bug imitating type gastrointestinal tract micro-robot |
| CN112493973B (en) * | 2020-11-20 | 2021-11-16 | 上海交通大学 | Backstroke stink bug imitating type gastrointestinal tract micro-robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180717 |
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| RJ01 | Rejection of invention patent application after publication |