Microrobots imitating backstroke stink bugs in the gastrointestinal tract

Abstract

A micro-robot imitating the backstroke stinkbug type gastrointestinal tract, including: a radial expansion mechanism and an axial movement mechanism connected by a screw nut pair; the radial expansion mechanism includes: a cylinder, a pair of rotating disks, a plurality of Backstroke arm, radial transmission gear set and integrated driver, wherein: the rotating disc is set outside the cylinder, multiple sets of backstroke arm are set on the rotating plate, and the integrated drive and radial transmission gear set are set inside the cylinder. The integrated driver is connected with the rotating disk through the radial transmission gear set to drive the movement of the backstroke arm. The invention adopts the structure of a single expansion mechanism, which reduces the size of the robot; imitates the movement mode of the backstroke stinkbug, keeps the length of the robot unchanged during the movement process, and improves the steering flexibility and safety of the robot in the intestinal tract; the backstroke stinkbug style The arm adopts a flipper-like design, has a large diameter reduction ratio, and is installed with a PDMS material liner to ensure the safety of the intestinal tract and improve the robot's ability to reside in the intestinal tract.

Description

technical field [0001] The invention relates to a technology in the field of medical equipment, in particular to a backstroke stinkbug-like gastrointestinal microrobot. Background technique [0002] The morbidity and mortality of gastrointestinal malignant tumors and functional diseases are increasing year by year, and they have become chronic diseases that threaten people's health and even life. Traditional endoscopic examination has problems such as missed detection, too painful examination process, and possible serious complications. However, capsule endoscopy cannot autonomously move in the intestinal tract, cannot perform fixed-point detection on the gastrointestinal tract, and cannot detect the gastrointestinal tract. The radial dilation of the tract makes it difficult to find lesions in the folds and collapses of the gastrointestinal tract. At present, micro-bionic intestinal robots for gastrointestinal diseases with autonomous movement and radial expansion of the ga...

AI Technical Summary

Problems solved by technology

Traditional endoscopic examination has problems such as missed detection, too painful examination process, and possible serious complications. However, capsule endoscope cannot move autonomously in the intestinal tract, cannot perform fixed-point detection on the gastrointestinal tract, and cannot detect the gastrointestinal tract. Radial dilation of the tract makes it difficult to find lesions in the folds and collapses of the gastrointestinal tract

At present, micro-bionic intestinal robots for gastrointestinal diseases with autonomous movement and radial expansion of the gastrointestinal tract have become the focus of research in the current international electromechanical and medical engineering fields. The relevant existing technologies have the following problems: the axial length is too long, causing The robot's cornering performance is reduced and it is easy to cause intestinal damage; the radial output shaft driven by the robot to move the radial expansion mechanism is not only used to transmit torque but also acts as a guide rod. In actual work, the mechanism will frequently get stuck

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