CN1332629C - Active intestinal endoscope robot system - Google Patents
Active intestinal endoscope robot system Download PDFInfo
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- CN1332629C CN1332629C CNB2004100542069A CN200410054206A CN1332629C CN 1332629 C CN1332629 C CN 1332629C CN B2004100542069 A CNB2004100542069 A CN B2004100542069A CN 200410054206 A CN200410054206 A CN 200410054206A CN 1332629 C CN1332629 C CN 1332629C
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Abstract
The present invention relates to an active type intestinal endoscope robot system which is formed by orderly connecting a front nacelle, a plurality of linear driving devices and a rear nacelle. The outer part of the whole robot is sealed by an elastic seal film, cables extends out of the tail end of the rear nacelle, and the cables are connected to a controller and a monitor which are respectively used for controlling the robot and displaying images. Furthermore, a minisize color image sensor, a matching lens and a processing chip are arranged in the front nacelle in a sealing way, an imaging direction and a walking direction are controlled by memory alloys, and each linear driving devices are connected with each other through cross universal joints to realize motion with multiple freedom degrees. Additionally, an approximate full radial magnetic field is obtained by sticking a plurality of permanent magnets, and the motion of the linear driving devices is realized by the mutual action of a current carrying coil and a permanent magnetism magnetic field. Besides, the receiving and the sending of the cables are controlled by the rear nacelle during a motion process, and obstacles which are brought by the cables for motion are eliminated by the rear nacelle during a motion process. The robot of the present invention is suitable for an intestinal environment of a human body, and can realize long distance detection in an intestinal tract according to that creeping bionics motion mechanism has no injury and no irritation for a human body.
Description
Technical field
The present invention relates to a kind of intestinal endoscope robot system, relate in particular to a kind of active intestinal endoscope robot system, belong to mechanical ﹠ electrical technology and medical domain based on Creeping Principle.
Background technology
The active endoscope of embodying " create less and do not have planes " interior diagnosis and treatment specification requirement of body has become the emphasis that international biologic medical apparatus industry is is competitively researched and developed.Compare with traditional endoscope, active endoscope also has except that the advantage with conventional endoscope: (1) is easy to use; (2) patient's no pain or few misery; (3) rapidly and efficiently wait advantage.According to reports, Japan Tohoku university utilizes the micromachine manufacturing technology, the employing marmem drives, be developed into the snakelike driving device that is suitable for action under human body intestinal canal or the vascular environment, and will further develop and develop the interior self-propelled diagnosis and therapy system of body to realize the functions such as direct input of fine operation in in-vivo diagnostic, the body, drug disposition.People such as S.Maeds have proposed a kind of active endoscope (the image transmission fiber and the optical transmission fibers of 4260 pixels), and external diameter is that 2mm. maximum deflection angle reaches 60 °.People such as D.Reynaens have 2 crooked degree of freedom based on the robotic endoscope of inchworm motion principle, are used for gastrointestinal tract and get involved its maximum outside diameter 15mm.The micro-robot that is used for the intelligent endoscope system of people such as Krishnan S.M. development is finished by composition mechanism and is driven and handle, and robot is of a size of 30mm * 40mm * 85mm.The J.W.Mrdick of department of mechanical engineering of California Inst Tech USA utilizes air to press to be developed into the air-driven type robot and drives endoscopic system, and the increase by gas pressure and reducing advancing of control system and falls back.The micro Manipulator System that is suitable for human body intestinal canal that China Zhejiang University utilizes microdrive and two pairs of opposite screw drives mechanisms of rotation direction to be developed into.The piezo-electric type intestinal robot system of China Shanghai Communications University development.
In the research of above-mentioned several robotic endoscopes, use the research of marmem driving and air-flow type of drive to occupy main status.Because the temperature in the human body intestinal canal is higher and can not bear too high temperature, this has just caused the distortion of marmem less with the answer temperature difference, and the problem of bringing is that the speed of marmem driving is slower.The air stream drives mode is because its special operation mechanism, and the robot external diameter can not be too little, and it can cause subject discomfort even misery by mode walking of expanding, and this is the problem that has the need for further discussion.Rotating driver drives the problem of aspects such as the raising, system's heating of the microminiaturization have system bulk, power to weight ratio.Piezoelectric Driving has that volume is little, rigidity is big, displacement resolution and positioning accuracy height, good linearity, frequency response advantages of higher, and maximum deficiency is that drive displacement is too little.The linear electromagnetic type of drive is a kind of novel type of drive that occurs in recent years, have that mechanism is simple, controlled, drive displacement is big, be easy to advantage such as manufacturing, but existing linear electromagnetic driver stock size is all bigger, can not satisfy the narrow and small requirement of work space of endoscope, existing specification be dwindled merely and can not be realized.This is because in order to make full use of the excitation of coil windings and permanent magnet, often adopts overall diameter to the tubular permanent magnets that magnetizes, and hour magnetizes in size and almost can not realize, therefore need seek more reasonable structural design.
Except the problem that drives, also there is some other problem in existing various creepage robot, as the place one's entire reliance upon variation on pipeline or walking surface of direction of travel, direction of advance is uncontrollable, can not change direction of travel as required or change imaging direction, the frictional force that the motion of cable and intestinal inwall produces in the process of advancing has also limited the range of movement of robot greatly, and these all are the key issues that needs to be resolved hurrily.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, propose a kind of active intestinal endoscope robot system, further reduce volume, make it to be suitable for the human body intestinal canal environment, can control direction of travel and visual angle, solve the obstruction of cable in the process of walking simultaneously for motion.
For realizing such purpose, the present invention has utilized bionics principle, adopts the linear electromagnetic type of drive, makes robot do lumbricoid vermicular movement in intestinal.Entire machine people is connected in sequence by front deck, several linear actuators and rear deck, and the outside seals with elastic sealing film, and the rear deck afterbody picks out cable and is connected to controller and monitor, is used for controlling robot and display image respectively.Front deck has encapsulated micro color imageing sensor, supporting camera lens and process chip, adopts and saves spatial mounting structure, and imaging direction and direction of travel use memorial alloy control.Be connected by candan universal joint between each linear actuator, to realize multifreedom motion.Adopt the polylith permanent magnet to bond and obtain approximate overall diameter to magnetic field, the motion of linear actuator is that the interaction by current-carrying coil and permanent magnetic field realizes.Rear deck is responsible for the transmitting-receiving of cable in motor process, to eliminate the obstacle that cable brings to motion.
Concrete structure of the present invention is as follows: robot is made of several microminiature DC linear actuators, rear deck and front deck.Front deck is rigidly connected by connecting pin and first linear actuator, the rear end of last linear actuator is connected with rear deck by connecting pin, connect by candan universal joint between linear actuator is mutual, the elastic silicone rubber film that entire machine people is covered the outside one deck and Human Physiology compatibility seals, and cable is picked out by the rear deck afterbody and is connected to controller and monitor.
Front deck of the present invention mainly is made up of camera lens, illuminating lamp, drive end bearing bracket, shell, sensor devices, prism, rear end cap, memory alloy spring, ball pivot and bracing frame.Sensor devices, prism and camera lens constitute imaging system, be encapsulated in the intracavity that constitutes by shell, front and rear cover, the photosurface and the prism of sensor devices are fixed, camera lens is embedded in the hole of drive end bearing bracket, drive end bearing bracket is partially submerged into outer casing inner wall and is tight fit, be embedded on the drive end bearing bracket for imaging provides the illuminating lamp of light source, load onto rear end cap and make anterior imaging moiety relatively independent.Four shape memory alloy springs uniform distribution on the circumference of rear end cap, its other end is fixedly connected on the bracing frame.The bar of ball pivot inserts the centre bore of rear end cap, and ball pivot can rotate in the hemispherical groove on bracing frame.When giving wherein memory alloy spring energising, it is heated and shortens then ball pivot rotation, and the direction of rotation and the size of corner are controlled by the size of giving which shape memory alloy spring power supply and supply voltage.Under the original state, ball pivot is in the state of not deflection, powers up and carries out deflection, and the memory effect ball pivot owing to alloy after the power down is returned to original state.
Linear actuator of the present invention is made up of bobbin, left end cap, coil windings, permanent magnets, magnetic conductive cylinder, right end cap and iron core.Rectangular-shaped permanent magnets is embedded in the groove the inside of magnetic conductive cylinder inwall, the polarised direction unanimity of all permanent magnets outwardly or inwardly, left and right end cap embeds magnetic conductive cylinder, the bobbin that is wound with coil windings is contained in the magnetic conductive cylinder, can on iron core, be free to slide, magnetic conductive cylinder, iron core, left end cap, right end cap process by electrical pure iron, and permanent magnets and the formation of the air gap between permanent magnets and iron core magnetic loop.When the coil windings that is arranged in air-gap field was alived, the sense of current is tangential along circumference, and was vertical with radial magnetic field, produced power vertically, and bobbin is slided on iron core, change the sense of current then bobbin to sliding in the other direction.
Rear deck of the present invention mainly is made up of left cover, motor, urceolus, brush, roller, roller, fixing head, right cover plate.Motor is installed on the left cover, left cover is partially embedded into urceolus in friction tight mode, brush and roller are housed on the motor shaft, be tight fit, L shaped fixing head is bonded in right cover plate middle part, right cover plate also is partially embedded into urceolus in friction tight mode, and three rollers of arranged at right angles are used for guiding cable on fixing head.Motor rotates line is emitted when advancing, and the driver counter-rotating is recovered to the rear deck the inside with line when retreating.
First driver of front deck of the present invention and back uses connecting pin to be connected, for preventing that the rotation between this two joint from influencing the motion of ball pivot, adding additives makes connecting pin be fixed on the coupling part, adopt candan universal joint to connect between the driver, a side connects a last joint driver, and an other side connects next joint driver, between two joints two degree of freedom are arranged, guarantee that whole body is flexibly soft, be fit to the intestinal of bending change, the final section driver adopts connecting pin to be connected with rear deck.Controller is mainly used to produce the control signal sequence of driving, the rotation of control front deck ball pivot, the gait of march of robot and forward and reverse walking, when controller sends certain time sequence control signal, the robot creeping changes the control signal frequency, and the robot creep speed changes, change control signal, robot oppositely walks.Robot overcoat silicone rubber seal film owing to adopt Creeping Principle, reacts so motion can not cause people's discomfort when moving in intestinal.
Microrobot overall system dimensions of the present invention is little, is suitable for the human body intestinal canal environment, and very little to the stimulation of intestinal based on the bionics movement mechanism of wriggling, the patient does not have sense of discomfort, and diaphragm seal and human body intestinal canal physiology compatibility have no side effect.The employing linear actuator drives, simple in structure, the robot overall length is controlled at below the 60mm, the mounting means of micro color imageing sensor and supporting camera lens is controlled at below the φ 11mm diameter of robot, moving cell uses universal joint to connect, being suitable for crooked softish intestinal surface changes, memory alloy spring can be used for controlling imaging direction, can change direction of travel if run into obstacle in the process of walking simultaneously, cut-through moves on, and realization speed and direction of travel and imaging direction can be controlled.Adopt the cable draw off gear to get rid of the obstruction of cable in motor process, can in intestinal, realize long distance detection, and also can detect for the intestinal of bending.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among Fig. 1,1 is front deck, and 2 is connecting pin, and 3 is candan universal joint, and 4 is diaphragm seal, and 5 is linear actuator, and 6 is rear deck, and 7 is controller, and 8 is monitor.
Fig. 2 is the structural representation of front deck 1 among the present invention.
Among Fig. 2,9 is camera lens, and 10 is illuminating lamp, and 11 is drive end bearing bracket, and 12 is shell, and 13 is sensor devices, and 14 is prism, and 15 is rear end cap, and 16 is memory alloy spring, and 17 is ball pivot, and 18 is bracing frame.
Fig. 3 is the structural representation of linear actuator 5.
Among Fig. 3,19 is bobbin, and 20 is left end cap, and 21 is coil windings, and 22 is permanent magnets, and 23 is magnetic conductive cylinder, and 24 is right end cap, and 25 is iron core.
Fig. 4 is the structural representation of candan universal joint 3.
Fig. 5 be in the linear actuator permanent magnets 22 scheme of installation.
Among Fig. 5, a is the magnetic direction signal that permanent magnets produces, and b is the permanent magnets installation site signal on the driver cross section.
Fig. 6 is the structural representation of rear deck 6.
Among Fig. 6,26 is left cover, and 27 is motor, and 28 is urceolus, and 29 is brush, and 30 is roller, and 31 is roller, and 32 is right cover plate.
Fig. 7 is the driver control signal waveforms.
Among Fig. 7, a is a forward walk signal waveform, and b is reverse walk signal waveform.
Fig. 8 is the operation principle sketch map of robot of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is described in detail:
Robot system overall structure of the present invention mainly comprises as shown in Figure 1: front deck 1, connecting pin 2, candan universal joint 3, diaphragm seal 4, several linear actuators 5, rear deck 6, controller 7, monitor 8.Front deck 1 is rigidly connected by connecting pin 2 and first linear actuator 5, and the rear end of last linear actuator 5 is connected with rear deck 6 by connecting pin 2.Linear actuator 5 connects by candan universal joint 3 between mutually.Entire machine people is outside to be sealed with elastic sealing film 4.Cable is picked out by the rear deck afterbody and is connected to controller 7 and monitor 8, is used for controlling robot and display image respectively.
The structure of front deck 1 mainly is made up of camera lens 9, illuminating lamp 10, drive end bearing bracket 11, shell 12, sensor devices 13, prism 14, rear end cap 15, memory alloy spring 16, ball pivot 17 and bracing frame 18 as shown in Figure 2 among the present invention.Constitute imaging system by sensor devices 13, prism 14 and camera lens 9, sensor devices 13 is made up of micro color imageing sensor and treatment circuit thereof, and its profile is a cuboid, uses binding agent that prism 14 is fixing in the outside of photosurface, whole being fixed as one is in the shell 12 of packing into.Camera lens 9 is embedded in the hole of drive end bearing bracket 11, and drive end bearing bracket 11 is partially submerged into shell 12 inwalls, is tight fit, loads onto rear end cap 15 and makes anterior imaging moiety relatively independent.Whole imaging system is encapsulated in the intracavity that is made of shell 12, drive end bearing bracket 11 and rear end cap 15, and the illuminating lamp 10 that is embedded on the drive end bearing bracket 11 provides light source for imaging.Adopt mounting means shown in Figure 2 can reduce requisite space, the robot diameter is controlled at below the φ 11mm.
The centre bore that the bar of ball pivot 17 inserts rear end cap 15 also is that close-fitting merging adding additives is fixed, four shape memory alloy springs 16 uniform distribution on the circumference of rear end cap 15, its other end is fixedly connected on the bracing frame 18, and ball pivot 17 can rotate in the hemispherical groove on the bracing frame 18.Under the original state, ball pivot 17 is in the state of not deflection, when wherein a memory alloy spring 16 is switched on, it is subjected to thermal contraction, then ball pivot 17 rotates, and changes imaging direction, and turn-off current is then because the memory effect of alloy, memory alloy spring 16 is returned to and adds electric current length before, and imaging direction is returned to original state.The direction that ball pivot 17 rotates and the size of corner are controlled by the size of giving which root shape memory alloy spring power supply and supply voltage.Use ball pivot 17 and memory alloy spring 16 to may be controlled to the direction of travel of picture direction and robot.
The structure of cathetus driver of the present invention is made up of bobbin 19, left end cap 20, coil windings 21, permanent magnets 22, magnetic conductive cylinder 23, right end cap 24 and iron core 25 as shown in Figure 3.Coil windings 21 forms solenoid coil around the outer of solenoid coil frame 19.Rectangular-shaped permanent magnets 22 is embedded in the groove the inside of magnetic conductive cylinder 23 inwalls and uses binding agent to fix, and the polarised direction unanimity of all permanent magnets 22 outwardly or inwardly.Left end cap 20, right end cap 24 embed magnetic conductive cylinder 23, are mutually tight fit, and bobbin 19 is contained in the magnetic conductive cylinder 23, iron core 25 passes the centre bore of two end cap and bobbin, with the two end cap centre bore be that tight fit and bobbin 19 centers are loose fit, bobbin 19 can be free to slide on iron core 25.Magnetic conductive cylinder 23, iron core 25, left end cap 20, right end cap 24 process by electrical pure iron, and permanent magnets 22 and the air gap between permanent magnets 22 and iron core 25 constitute magnetic loop.When the coil windings 21 that is arranged in air-gap field was alived, the sense of current is tangential along circumference, and was vertical with radial magnetic field, produced power vertically, and bobbin 19 is slided on iron core 25, change the sense of current then bobbin 19 to slip in the other direction.
Each saves candan universal joint 3 connections of passing through between the linear actuator 5 as shown in Figure 4, and seals with elastic sealing film 4.Candan universal joint 3 one ends connect the motion output shaft of bobbin 19 on the one-level linear actuator 5 of back, and the other end connects the motion output shaft of the bobbin 19 of previous stage linear actuator 5.The effect of candan universal joint 3 is between two linear actuators 5 that it is connected two rotational freedoms to be arranged, and is fit to the motion of out-of-flatness or curved surface, has enough flexible and to the adaptability of crooked intestinal.
Fig. 5 (b) is the installation site sketch map from the permanent magnets 22 of linear actuator cross-wise direction, the strip-shaped permanent-magnet piece that eight cross sections are cuboid is embedded in the groove the inside of magnetic conductive cylinder inwall, be combined into octagon, the polarised direction unanimity of all permanent magnets outwardly or inwardly.The air-gap field of linear actuator of the present invention is that overall diameter approaches to a kind of of the tubular permanent magnets that magnetizes.Because it is very little that magnet size requires, thus overall diameter to magnetize hardly may, but overall diameter is to magnetizing and high magnetic field utilization rate is arranged, so be combined into octagon with the strip-shaped permanent-magnet piece, and all N utmost points is placed proximate acquisition overall diameter outwardly to magnetizing.This structure can in air gap, obtain proximate with iron core 25 be the center to magnetic direction radially in the Western Zhou Dynasty, shown in Fig. 5 (a).
Fig. 6 is the structural representation of rear deck among the present invention.As shown in Figure 6, rear deck mainly is made up of left cover 26, motor 27, urceolus 28, brush 29, roller 30, roller 31, fixing head 32, right cover plate 33.Motor 27 is installed on the left cover 26, left cover 26 is partially embedded into urceolus 28 in friction tight mode, brush 29 and roller 30 are housed on the motor shaft, be tight fit, L shaped fixing head 32 is bonded in right cover plate 33 inboards, right cover plate 33 also is partially embedded into urceolus 28 in friction tight mode, is stained with three rollers 31 layout that meets at right angles on fixing head 32, is used for guiding cable.Motor 27 rotates and will emit around the line on the roller 30 when advancing, and line is regained in motor 27 counter-rotatings when retreating.
The drive control signal waveform of robot of the present invention as shown in Figure 7.Fig. 8 has provided the operation principle of robot of the present invention, and driving down with Fig. 7 (a) forward walk signal, the course of action of a robot forward period of motion of walking is an example.In entire machine people structure, bobbin 19, coil windings 21 and the rear deck 6 of front deck 1 and each linear actuator 5 link together, and do as a wholely during motion, are called and are stator.The left end cap 20 of each linear actuator 5, right end cap 24, iron core 25 and permanent magnets 22 have been assembled as a whole, are called mover.Can under the effect of electromagnetic force relative motion can take place between the two, number A, B, C from left to right respectively for the mover of three linear actuators 1, introduce each step that forward is walked respectively below in conjunction with Fig. 7 (a) and Fig. 8 when coil windings 21 applies voltage:
1, the original state of creeping motion robot system, the position of each moving cell is shown in (1) among Fig. 8.
2, at t
1-t
2In the stage, the voltage that each linear actuator 5 applies is shown in Fig. 7 (a), and promptly the driving signal of first linear actuator is high, and the driving signal of two linear actuators is low in addition, and the mover that be numbered A this moment is to step pitch d of left movement, and other are motionless, at t
2Constantly, the position of each moving cell is shown in (2) among Fig. 8.
3, at t
2-t
3In the stage, mover that is numbered B is to step pitch d of left movement, and other maintenances are motionless, at t
3Release constantly, the position of each moving cell is shown in (3) among Fig. 8.
4, at t
3-t
4In the stage, mover that is numbered C is to step pitch d of left movement, and other maintenances are motionless, at t
4Release constantly, the position of each moving cell is shown in (4) among Fig. 8.
5, at t
4-t
5In the stage, three movers all keep motionless, and the stator step pitch d that travels forward is at t
5Release constantly, the position of each moving cell is shown in (5) among Fig. 8.
Through after the above-mentioned circulation, robot integral body is to step pitch d of left movement.With should apply shown in Fig. 7 (b) control signal the time, then motion sequence changes stator, C, B and A into, and robot moves right.Therefore, change control signal, robot motion's direction changes; Change the control signal frequency within the specific limits, can realize the actuating speed that robot is different.
Claims (3)
1, a kind of active intestinal endoscope robot system, comprise front deck (1), several linear actuators (5) and rear deck (6), front deck (1) is rigidly connected by connecting pin (2) and first linear actuator (5), the rear end of last linear actuator (5) is connected with rear deck (6) by connecting pin (2), connect by candan universal joint (3) between linear actuator (5) is mutual, entire machine people is outside to be sealed with elastic sealing film (4), it is characterized in that cable is picked out by rear deck (6) afterbody to be connected to controller (7) and monitor (8); In the front deck (1), constitute imaging system by sensor devices (13), prism (14) and camera lens (9), be encapsulated in the intracavity that constitutes by shell (12), drive end bearing bracket (11) and rear end cap (15), four shape memory alloy springs (16) uniform distribution on the circumference of rear end cap (15), its other end is fixedly connected on the bracing frame (18), the bar of ball pivot (17) inserts the centre bore of rear end cap (15), and ball pivot (17) can rotate in the hemispherical groove on the bracing frame (18); In the linear actuator (5), permanent magnets (22) is embedded in the groove the inside of magnetic conductive cylinder (23) inwall, the polarised direction unanimity of all permanent magnets (22) outwardly or inwardly, left end cap (20), right end cap (24) embed magnetic conductive cylinder (23), the bobbin (19) that is wound with coil windings (21) is contained in the magnetic conductive cylinder (23), can on iron core (25), be free to slide, magnetic conductive cylinder (23), iron core (25), left end cap (20), right end cap (24) and permanent magnets (22) and be positioned at permanent magnets (22) and iron core (25) between air gap constitute magnetic loop; In the rear deck (6), motor (27) is installed on the left cover (26), left cover (26) is partially embedded into urceolus (28) in friction tight mode, brush (29) and roller (30) are housed on the motor shaft, L shaped fixing head (32) is bonded in right cover plate (33) inboard, right cover plate (33) is partially embedded into urceolus (28) in friction tight mode, goes up three rollers of arranged at right angles (31) at fixing head (32) and is used for guiding cable.
2, active intestinal endoscope robot according to claim 1 system, it is characterized in that in the imaging system of described front deck (1), the outside of sensor devices (13) photosurface and prism (14) are fixing, camera lens (9) is embedded in the hole of drive end bearing bracket (11), the part of drive end bearing bracket (11) embeds shell (12) inwall and is tight fit, be embedded on the drive end bearing bracket (11) for imaging provides the illuminating lamp (10) of light source, load onto rear end cap (15) and make imaging system relatively independent.
3, according to the active intestinal endoscope robot system of claim 1, it is characterized in that described permanent magnets (22) adopts eight strip-shaped permanent-magnet pieces that the cross section is a cuboid, the groove the inside that is embedded in the magnetic conductive cylinder inwall is combined into octagon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100542069A CN1332629C (en) | 2004-09-02 | 2004-09-02 | Active intestinal endoscope robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100542069A CN1332629C (en) | 2004-09-02 | 2004-09-02 | Active intestinal endoscope robot system |
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| CN1586388A CN1586388A (en) | 2005-03-02 |
| CN1332629C true CN1332629C (en) | 2007-08-22 |
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| CNB2004100542069A Expired - Fee Related CN1332629C (en) | 2004-09-02 | 2004-09-02 | Active intestinal endoscope robot system |
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|---|---|
| CN1586388A (en) | 2005-03-02 |
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