CN117814730B - Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle - Google Patents
Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle Download PDFInfo
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- CN117814730B CN117814730B CN202410021564.7A CN202410021564A CN117814730B CN 117814730 B CN117814730 B CN 117814730B CN 202410021564 A CN202410021564 A CN 202410021564A CN 117814730 B CN117814730 B CN 117814730B
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 97
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- 239000002245 particle Substances 0.000 title claims abstract description 27
- 230000000903 blocking effect Effects 0.000 title claims abstract description 17
- 239000012530 fluid Substances 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 239000007787 solid Substances 0.000 claims abstract description 13
- 210000001243 pseudopodia Anatomy 0.000 claims description 45
- 239000000945 filler Substances 0.000 claims description 13
- 239000002344 surface layer Substances 0.000 claims description 12
- 239000006249 magnetic particle Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 3
- 241001006347 Pseudopoda Species 0.000 abstract description 8
- 239000007901 soft capsule Substances 0.000 abstract description 8
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 239000011859 microparticle Substances 0.000 abstract description 3
- 230000002572 peristaltic effect Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000004044 response Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009747 swallowing Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000001246 colloidal dispersion Methods 0.000 description 1
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- 230000014759 maintenance of location Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A61B1/00064—Constructional details of the endoscope 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
- A61B1/00131—Accessories for endoscopes
-
- 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
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- 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
- A61B1/04—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
- A61B1/045—Control thereof
-
- 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
- A61B1/2736—Gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
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- Mechanical Engineering (AREA)
- Gastroenterology & Hepatology (AREA)
- Magnetic Treatment Devices (AREA)
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Abstract
The invention discloses a deformable soft magnetic control capsule robot based on rheological property and particle blocking principle, which comprises a robot main body, an upper soft pseudopoda and a lower soft pseudopoda, wherein the upper soft pseudopoda and the lower soft pseudopoda are respectively connected with the upper end face and the lower end face of the robot main body. The invention controls the deformation of the upper and lower pseudo feet through the magnetic field, adjusts the overall shape and the pose of the capsule robot, improves the contact area between the capsule robot and the tissue surface, ensures the stability of movement, and adapts to the complex gastrointestinal tract environment of soft and peristaltic movement; in addition, the invention utilizes the blocking principle of solid particles and the rheological property of magnetorheological fluid, controls the rheological process of the magnetorheological fluid through a magnetic field, further controls the blocking degree of micro particles, realizes the rigidity adjustment of the soft capsule robot, improves the driving capability of the soft capsule robot, avoids the pneumatic driving and the motor driving with larger traditional volume, and has higher response speed.
Description
Technical Field
The invention relates to a robot, in particular to a deformable soft magnetic control capsule robot based on rheological property and particle blocking principle, and belongs to the technical field of soft robots.
Background
Magnetorheological fluids are a colloidal dispersion composed of a base carrier liquid and a particulate magnetic solid. The base carrier liquid, i.e., the dispersion medium, is generally kerosene, machine oil, or the like, and the solid magnetic particles as the dispersed phase are usually ferromagnetic substances such as iron, cobalt, nickel, magnetic oxides thereof, and the like. The magnetorheological fluid has colloid stability, component stability and good magnetization property. When no external magnetic field is applied, the liquid has better fluidity; when the magnetorheological fluid is subjected to an external magnetic field, the magnetorheological fluid is instantaneously converted into the Bingham fluid from the Newton fluid, the viscosity is rapidly increased, and the magnetorheological fluid is restored to the initial state after the space magnetic field is removed.
Micro-particles are a very specific substance, and although each is solid, a population of particles has a liquid-like fluidity in a loose state. Meanwhile, if pressure is applied to loose particles, a blocking effect is generated among the particles, and the particles are mutually extruded, so that the whole particles are in a solid state. By means of the fluidity of the particles, the particles are used as media to achieve the effect similar to hydraulic transmission or gas transmission, so that the transmission of power is carried out. Compared with gas and liquid transmission, the particulate matter transmission does not need to be tightly sealed, so that the design of a transmission structure can be simplified and rigidity change can be carried out. However, conventional particle blocking transmission methods require pneumatic or motor drive, which has application limitations in small soft robots.
Currently, capsule robots are mainly magnetically controlled and mostly have smooth and hard surface structures. Aiming at the wet and slippery environment and peristaltic state of the gastrointestinal tract, the traditional capsule robot can not realize effective and continuous track control only by the driving of a space strong magnetic field, has the risks of detection dead areas and retention in vivo, and can not provide gold standard for diagnosis of various gastrointestinal tract diseases. Therefore, in recent years, soft capsule robots made of soft materials have become a research hotspot. Although soft capsule robots have made great progress, there are still many limitations. The software capsule robot in the prior art has the following problems: 1) The completely low stiffness structure in the case of large deformations limits the load-bearing properties of its practical operation; 2) The driving and controlling means of the soft material are complicated and difficult to be effectively applied in closed and narrow spaces.
In order to solve these problems, there is a need to develop a deformable and stiffness-changing technology for a soft capsule robot, so as to ensure the flexibility and environmental adaptability of the capsule robot and improve the bearing capacity of the system.
Disclosure of Invention
The invention aims to solve at least one technical problem and provide the deformable soft magnetic control capsule robot based on the rheological property and the particle blocking principle, which combines the particle blocking principle with the rheological property of magnetorheological fluid, so that the soft capsule robot has the advantages of adjustable form and rigidity and strong environment adaptability.
The invention realizes the above purpose through the following technical scheme: a deformable soft magnetic control capsule robot based on rheological property and particle blocking principle comprises a robot, wherein the robot comprises soft pseudofeet and a robot body, and the soft pseudofeet are connected with the surface of the robot body;
The software pseudopodium comprises an upper software pseudopodium and a lower software pseudopodium, and the upper software pseudopodium and the lower software pseudopodium are respectively connected to the upper end face and the lower end face of the robot main body;
the robot comprises a robot main body, wherein a control circuit, a camera module and a system power supply are arranged in the robot main body, the system power supply supplies power to all parts of the robot, and the camera module is in signal transmission connection with the control circuit.
As still further aspects of the invention: two upper soft pseudopodia are symmetrically arranged, and the shapes of the two upper soft pseudopodia are inverted triangles.
As still further aspects of the invention: the upper soft artificial foot surface layer is an elastic rubber film, and a plurality of soft magnetic brackets are uniformly distributed in the inner cavity of the upper soft artificial foot; each soft magnetic support is a rectangular sheet film, one end of the soft magnetic support is fixedly connected to the rubber film on one side of the surface layer of the upper soft pseudopodium, and the other end of the soft magnetic support is not contacted with the rubber film on the other side of the upper soft pseudopodium, so that the soft magnetic support has relative movement.
As still further aspects of the invention: magnetic particles which are arranged in an array are embedded in the soft magnetic support of the inner cavity of the upper soft pseudopodium, and the magnetic fields of the two upper soft pseudopodium are symmetrically opposite in direction.
As still further aspects of the invention: and magnetic control fillers are filled between the soft magnetic supports of the inner cavity of the upper soft pseudopodium, and comprise magnetorheological fluid and submillimeter-level solid particles.
As still further aspects of the invention: two lower software pseudopodia are symmetrically arranged, and the shapes of the two lower software pseudopodia are inverted triangles.
As still further aspects of the invention: the surface layer of the lower soft artificial foot is an elastic rubber film, and a plurality of soft magnetic brackets are uniformly distributed in the inner cavity of the lower soft artificial foot; each soft magnetic support is a rectangular sheet film, one end of the soft magnetic support is fixedly connected to the rubber film on one side of the surface layer of the lower soft pseudopodium, and the other end of the soft magnetic support is not contacted with the rubber film on the other side of the lower soft pseudopodium, so that the soft magnetic support has relative movement.
As still further aspects of the invention: magnetic particles which are arranged in an array are embedded in the soft magnetic support of the inner cavity of the lower soft pseudopodium, and the magnetic fields of the two lower soft pseudopodium are symmetrically opposite in direction.
As still further aspects of the invention: and magnetic control fillers are filled between the soft magnetic supports of the inner cavity of the lower soft pseudopodium, and comprise magnetorheological fluid and submillimeter-level solid particles.
As still further aspects of the invention: when the robot is in a normal state or not swallowed, the upper soft pseudopodia and the lower soft pseudopodia keep elastic curling; when the robot is in a supine type detection state after being swallowed by a patient, permanent magnets with five degrees of freedom are respectively arranged right above and right below a human body.
The beneficial effects of the invention are as follows:
1) The invention can control the deformation of the upper and lower pseudo feet through a magnetic field, adjust the overall shape and the pose of the capsule robot, improve the contact area between the capsule robot and the tissue surface, ensure the stability of movement and adapt to the complex gastrointestinal tract environment of soft and peristaltic movement;
2) The invention utilizes the blocking principle of solid particles and the rheological property of magnetorheological fluid, controls the rheological process of the magnetorheological fluid through a magnetic field, further controls the blocking degree of micro particles, realizes the rigidity adjustment of the soft capsule robot, improves the driving capability of the soft capsule robot, avoids the pneumatic driving and the motor driving with larger traditional volume, and has higher response speed.
Drawings
FIG. 1 is a schematic view of a three-dimensional model of the upper and lower software pseudopodia contracted state of the present invention;
FIG. 2 is a schematic view of a three-dimensional model of the upper and lower software pseudopodia extension state of the present invention;
FIG. 3 is a schematic cross-sectional view of the upper and lower soft-body pseudopodia extension state of the present invention;
FIG. 4 is a schematic diagram of the connection structure of the soft magnetic support and the rubber film according to the invention;
FIG. 5 is a schematic view of the magnetization direction structure of a soft body prosthetic foot according to the present invention;
FIG. 6 is a schematic representation of a three-dimensional model of the deformation state of upper and lower software pseudopodia according to the present invention.
In the figure: 1. the robot comprises an upper soft artificial foot, a robot body, a lower soft artificial foot, a soft magnetic support, a magnetic control filler, a control circuit, a camera module, a system power supply and a rubber film, wherein the upper soft artificial foot, the robot body, the lower soft artificial foot, the soft magnetic support, the magnetic control filler and the rubber film are sequentially arranged in sequence, and the upper soft artificial foot, the robot body, the lower soft artificial foot, the soft magnetic support, the magnetic control filler, the control circuit, the camera module, the system power supply and the rubber film are sequentially arranged.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1 as shown in fig. 1 to 6, a deformable soft magnetically controlled capsule robot based on rheological characteristics and particle blocking principle comprises a robot including soft pseudopodia and a robot body 2, the soft pseudopodia being connected with a surface of the robot body 2;
The software pseudopodium comprises an upper software pseudopodium 1 and a lower software pseudopodium 3, and the upper software pseudopodium 1 and the lower software pseudopodium 3 are respectively connected to the upper end face and the lower end face of the robot main body 2;
The robot main body 2 is internally provided with a control circuit 6, a camera module 7 and a system power supply 8, the system power supply 8 supplies power to all parts of the robot, and the camera module 7 is in signal transmission connection with the control circuit 6.
Embodiment 2, in addition to all the technical features in embodiment one, further includes: two upper soft pseudopodia 1 are symmetrically arranged, and the two upper soft pseudopodia 1 are inverted triangle.
The surface layer of the upper soft artificial foot 1 is an elastic rubber film 9, and a plurality of soft magnetic brackets 4 are uniformly distributed in the inner cavity of the upper soft artificial foot 1; each soft magnetic support 4 is a rectangular sheet film, one end of the soft magnetic support 4 is fixedly connected to the rubber film 9 on one side of the surface layer of the upper soft pseudopoda 1, and the other end of the soft magnetic support is not contacted with the rubber film 9 on the other side of the upper soft pseudopoda 1, so that the soft magnetic support has relative movement.
Magnetic particles distributed in an array are embedded in a soft magnetic support 4 of the inner cavity of the upper soft pseudopoda 1, and the magnetic fields of the two upper soft pseudopoda 1 are symmetrically opposite in direction.
A magnetic control filler 5 is filled between the soft magnetic supports 4 of the inner cavity of the upper soft pseudopodium 1, and the magnetic control filler 5 comprises magnetorheological fluid and submillimeter-level solid particles.
Embodiment 3, in addition to all the technical features in embodiment one, further includes: two lower software pseudopodia 3 are symmetrically arranged, and the two lower software pseudopodia 3 are inverted triangle.
The surface layer of the lower soft artificial foot 3 is an elastic rubber film 9, and a plurality of soft magnetic brackets 4 are uniformly distributed in the inner cavity of the lower soft artificial foot 3; each soft magnetic support 4 is a rectangular sheet film, one end of the soft magnetic support 4 is fixedly connected to the rubber film 9 on one surface layer side of the lower soft pseudopodium 3, and the other end of the soft magnetic support is not contacted with the rubber film 9 on the other side of the lower soft pseudopodium 3, so that the soft magnetic support has relative movement.
Magnetic particles distributed in an array are embedded in the soft magnetic support 4 of the inner cavity of the lower soft pseudopodium 3, and the magnetic fields of the two lower soft pseudopodium 3 are symmetrically opposite in direction.
A magnetic control filler 5 is filled between the soft magnetic supports 4 of the inner cavity of the lower soft pseudopodium 3, and the magnetic control filler 5 comprises magnetorheological fluid and submillimeter-level solid particles.
Embodiment 4, in addition to all the technical features in embodiment one, further includes: when the robot is in a normal state or not swallowed, the upper soft artificial foot 1 and the lower soft artificial foot 3 keep elastic curling, and the whole volume is minimum, so that the swallowing of a patient is facilitated; when the robot is in a supine type detection state after being swallowed by a patient, permanent magnets with five degrees of freedom are respectively arranged right above and right below a human body and used for controlling the movement of the capsule robot.
The working process comprises the following steps: the robot is in a contracted state in a normal state or when not swallowed, the upper end soft pseudopodia and the lower end soft pseudopodia keep elastic curling, the whole volume is minimum, and the swallowing of a patient is facilitated. The patient is in a supine detection state after swallowing, and permanent magnets with five degrees of freedom are respectively arranged right above and right below the human body and used for controlling the motion of the capsule robot. After the soft magnetic control capsule robot enters the gastrointestinal tract of a human body, the whole soft pseudopodia of the soft magnetic control capsule robot is magnetic when in a contracted state, and the magnetic field direction is from the upper end to the lower end. Firstly, a permanent magnet (a magnetic field is far away from the human body) below slowly approaches to the human gastrointestinal tract region, and the capsule robot is attracted to be stable through magnetic force; subsequently, the upper permanent magnet (the magnetic field is opposite to the lower magnetic field) is symmetrical to the lower permanent magnet and approaches the human body. At this time, the capsule robot is locked by the permanent magnet below under the action of gravity and magnetic force, and the soft artificial foot 1 at the upper end of the capsule robot generates magnetic moment by the soft magnetic bracket 4 inside the capsule robot under the action of the space permanent magnet, so that the soft artificial foot is twisted to stretch. Then, the pose of the lower permanent magnet is kept unchanged, and the upper permanent magnet rotates 180 degrees clockwise to excite the other soft pseudopodia 3 to stretch. Because the magnetic fields of the soft pseudopodia at the same end are opposite in direction, the two pseudopodia can keep an extended and outwards inclined state.
After the soft magnetic control capsule robot stretches through the pseudo-feet, the directions of the magnetic fields of the upper space permanent magnet and the lower space permanent magnet are the same, after the two permanent magnets are further close to a human body, the soft pseudo-feet at the upper end and the lower end of the capsule robot are subjected to the action of larger magnetic moment and magnetic force, deformation is increased, based on rheological property and particle blocking principle, the viscosity of magnetorheological fluid in the pseudo-feet is rapidly increased, a solid-like state is presented, the fluidity of submillimeter-level solid particles mixed in the magnetorheological fluid is rapidly reduced, namely, the blocking effect is generated, the rigidity of the soft pseudo-feet is greatly improved while the soft pseudo-feet are deformed, and the driving capability of the pseudo-feet is improved. In the deformation state, the upper and lower space permanent magnets are arranged to turn over anticlockwise and move forwards, so that the soft magnetic control capsule robot generates corresponding clockwise forward rolling motion. In the rolling process, the contact area between the upper soft pseudopodia and the lower soft pseudopodia of the capsule robot and the tissue surface is increased, and the capsule robot has certain rigidity, so that the motion performance of the robot is effectively improved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (2)
1. A deformable soft magnetic control capsule robot based on rheological property and particle blocking principle comprises a robot, and is characterized in that: the robot comprises a soft body pseudopodium and a robot main body (2), wherein the soft body pseudopodium is connected with the surface of the robot main body (2);
the software pseudopodium comprises an upper software pseudopodium (1) and a lower software pseudopodium (3), wherein the upper software pseudopodium (1) and the lower software pseudopodium (3) are respectively connected to the upper end face and the lower end face of the robot main body (2);
a control circuit (6), a camera module (7) and a system power supply (8) are arranged in the robot main body (2), the system power supply (8) supplies power to all parts of the robot, and the camera module (7) is in signal transmission connection with the control circuit (6);
two upper soft pseudopodia (1) are symmetrically arranged, and the two upper soft pseudopodia (1) are inverted triangle;
The surface layer of the upper soft artificial foot (1) is an elastic rubber film (9), and a plurality of soft magnetic brackets (4) are uniformly distributed in the inner cavity of the upper soft artificial foot (1); each soft magnetic support (4) is a rectangular sheet film, one end of each soft magnetic support (4) is fixedly connected to the rubber film (9) on one side of the surface layer of the upper soft artificial foot (1), and the other end of each soft magnetic support is not contacted with the rubber film (9) on the other side of the upper soft artificial foot (1) and has relative movement;
magnetic particles which are arranged in an array manner are embedded in a soft magnetic support (4) of the inner cavity of the upper soft pseudopodium (1), and the magnetic field directions of the two upper soft pseudopodium (1) are symmetrically opposite;
a magnetic control filler (5) is filled between the soft magnetic supports (4) of the inner cavity of the upper soft pseudopodium (1), and the magnetic control filler (5) comprises magnetorheological fluid and submillimeter-level solid particles;
Two lower software pseudopodia (3) are symmetrically arranged, and the two lower software pseudopodia (3) are inverted triangle;
the surface layer of the lower soft artificial foot (3) is an elastic rubber film (9), and a plurality of soft magnetic brackets (4) are uniformly distributed in the inner cavity of the lower soft artificial foot (3); each soft magnetic support (4) is a rectangular sheet film, one end of each soft magnetic support (4) is fixedly connected to the rubber film (9) on one side of the surface layer of the lower soft artificial foot (3), and the other end of each soft magnetic support is not contacted with the rubber film (9) on the other side of the lower soft artificial foot (3) and has relative movement;
Magnetic particles which are arranged in an array manner are embedded in a soft magnetic support (4) of the inner cavity of the lower soft pseudopodium (3), and the magnetic field directions of the two lower soft pseudopodium (3) are symmetrically opposite;
a magnetic control filler (5) is filled between the soft magnetic supports (4) of the inner cavity of the lower soft pseudopodium (3), and the magnetic control filler (5) comprises magnetorheological fluid and submillimeter-level solid particles;
when the robot is in a supine detection state after being swallowed by a patient, permanent magnets with five degrees of freedom are respectively arranged right above and right below a human body.
2. The deformable soft magnetically controlled capsule robot of claim 1, wherein: the robot is kept elastically curled by the upper soft body pseudopodia (1) and the lower soft body pseudopodia (3) in a normal state or when not swallowed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410021564.7A CN117814730B (en) | 2024-01-08 | 2024-01-08 | Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle |
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| CN202410021564.7A CN117814730B (en) | 2024-01-08 | 2024-01-08 | Deformable soft magnetic control capsule robot based on rheological property and particle blocking principle |
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| CN117814730B true CN117814730B (en) | 2024-05-31 |
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