阅读说明：本技术 一种超微型内窥视机器人 (Ultra-miniature peep-in robot ) 是由 陈乐春 于 2020-05-28 设计创作，主要内容包括：本发明公开了一种超微型内窥视机器人,包括机器人本体,机器人本体的形状为球形、椭球形或胶囊型,机器人本体的表面固定嵌接有若干摄像头,摄像头的数量为两个以上,所有摄像头的拍摄区域之和覆盖机器人本体外部的所有空间方向,机器人本体包括有外壳,外壳外部包裹有穿戴装置,所述穿戴装置上设置包括磁铁、磁轴或磁环在内的电磁装置,外壳的内部设置有内壳,内壳中设置有电路板、主控芯片及通信模块。本发明便于观察体内的情况,只需很短时间即可完成拍摄,不需要操作者实时观察人体内的情况,快速形成胃里的全景图像,全程计算机控制,效率高,对操作者的技术水平不高,也降低对人体器官的损伤。(The invention discloses an ultra-miniature peeping robot, which comprises a robot body, wherein the robot body is spherical, ellipsoidal or capsule, a plurality of cameras are fixedly embedded on the surface of the robot body, the number of the cameras is more than two, the sum of shooting areas of all the cameras covers all spatial directions outside the robot body, the robot body comprises an outer shell, a wearing device is wrapped outside the outer shell, an electromagnetic device comprising a magnet, a magnetic shaft or a magnetic ring is arranged on the wearing device, an inner shell is arranged inside the outer shell, and a circuit board, a main control chip and a communication module are arranged in the inner shell. The invention is convenient to observe the condition in the body, can complete shooting in a short time, does not need an operator to observe the condition in the body in real time, quickly forms a panoramic image in the stomach, is controlled by a computer in the whole process, has high efficiency, has low technical level on the operator and reduces the damage to the organs of the human body.)

1. The ultra-miniature peeping robot comprises a robot body and is characterized in that cameras are fixedly embedded in the surface of the robot body, the number of the cameras is more than two, the cameras are distributed equidistantly or in unequal intervals, and the sum of shooting areas of all the cameras covers all spatial directions outside the robot body.

2. The ultra-miniature endoscopic robot according to claim 1, wherein said robot body is streamlined and has a shape including a spherical shape, an ellipsoidal shape, and a capsule shape.

3. The ultra-miniature endoscopic robot according to claim 1, wherein said robot body is internally equipped with a magnetic compass and a lithium battery.

4. The ultra-miniature endoscopic robot according to claim 1, wherein the robot body comprises a housing, a wearing device is wrapped outside the housing, and an electromagnetic device is disposed on the wearing device, wherein the electromagnetic device comprises a magnet, a magnetic shaft or a magnetic ring.

5. The ultra-miniature endoscopic robot according to claim 1, 3 or 4, wherein an inner housing is disposed inside the outer housing, and a circuit board, a main control chip and a communication module are disposed inside the inner housing.

6. The ultra-miniature endoscopic robot according to claim 5, wherein the signal transmitting terminal and the receiving terminal of the main control chip are respectively connected to the receiving terminal and the transmitting terminal of the communication module via signal lines.

7. The ultra-miniature endoscopic robot according to claim 5, wherein the output terminal pin of said main control chip is connected with the electromagnet and magnetic compass in the robot body by wires.

8. The ultra-miniature endoscopic robot according to claim 5, wherein an input terminal of said main control chip is connected to a camera via a conductive wire.

Technical Field

The invention relates to the technical field of medical equipment, in particular to an ultra-miniature endoscopic robot.

Background

The medical robot is an intelligent service robot and is used for medical treatment or auxiliary medical treatment of hospitals and clinics. The capsule robot can independently compile an operation plan, determine an action program according to actual conditions, and then change the action into the movement of an operation mechanism.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a super-miniature endoscopic robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an ultramicro peep robot, includes the robot body, the fixed scarf joint in surface of robot body has the camera, the quantity of camera is more than two, the camera is equidistance distribution or not equidistance distribution, and the regional sum of shooting of all cameras covers all spatial directions of robot body outside.

Furthermore, the robot body is streamline, and the shape comprises a sphere, an ellipsoid and a capsule.

Further, the robot body is internally provided with a magnetic compass and a lithium battery.

Further, the robot body comprises a shell, a wearing device wraps the outer portion of the shell, an electromagnetic device is arranged on the wearing device, and the electromagnetic device comprises a magnet, a magnetic shaft or a magnetic ring.

Further, an inner shell is arranged inside the outer shell, and a circuit board, a main control chip and a communication module are arranged in the inner shell.

Furthermore, the signal transmitting end and the receiving end of the main control chip are respectively connected with the receiving end and the transmitting end of the communication module through signal lines.

Furthermore, the output end pin of the main control chip is in signal connection with an electromagnet and a magnetic compass in the robot body through wires.

Furthermore, the input end of the main control chip is in signal connection with the camera through a conducting wire.

The invention has the beneficial effects that:

1. through this robot that sets up to in observing the internal condition, only need the very short time can accomplish the shooting, do not need the internal condition of operator real-time observation human, form the panoramic picture in the stomach fast, whole computer control, it is efficient, not high to operator's technical merit, also reduce the damage to human organ.

2. Through the wearing device who sets up, have electromagnetic means on the wearing device, for example can be according to the electro-magnet of array arrangement, the computer controls the magnetism intensity of the electro-magnet of each position on the wearing device through control current, makes capsule robot move everywhere in the human body through the change that changes the electromagnetic force.

3. Through a plurality of visual devices that set up, each direction is observed respectively to each visual device's camera, then constitutes 360 degrees panoramic pictures all around, when medical robot walked in the human body, can shoot in real time to constitute 360 degrees panoramic pictures, it is not only efficient, but also can reduce the damage to human organ.

4. Through the magnetic compass and the camera, an image with position information can be obtained at each position through the camera and the magnetic compass. During the movement process of the medical robot, the whole 3D model in the stomach can be slowly constructed through the images, the efficiency is high, and the damage to human organs can be reduced.

Drawings

Fig. 1 is a schematic view of an appearance structure of a capsule-type robot body of an ultra-miniature endoscopic robot according to the present invention.

Fig. 2 is a schematic view of the appearance structure of a spherical robot body of the ultra-miniature endoscopic robot according to the present invention.

Fig. 3 is a schematic view of the internal structure of an ultra-miniature endoscopic robot according to the present invention.

Fig. 4 is an enlarged schematic view of a structure at a position a of the ultra-miniature endoscopic robot according to the present invention.

Fig. 5 is a control flow chart of the ultra-miniature endoscopic robot according to the present invention.

In the figure: the robot comprises a robot body 1, a camera 2, an outer shell 3, a wearable device 4, a cushion 5, an inner shell 6, a built-in groove 7, a bus line 8, a bus line 9, a circuit board 10, a main control chip 11, a communication module 12, a fixing plate 13, a lithium battery 14, a fixing seat 15, a magnetic compass 16, a wearable shell 17, an electromagnet 18, a sealing gasket 19, a first thread ring 20, a first thread groove 21, a second thread ring 22, a second thread groove 23, a first fixing column 24, a power line 25 and a second fixing column 26.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 5, the present invention provides an ultra-miniature endoscopic robot, which includes a robot body 1, wherein the shape of the robot body 1 is streamlined, and the specific shape may be ellipsoidal, capsule-shaped or spherical. Fig. 1 shows a capsule-type robot body. Fig. 2 shows a spherical robot body. The fixed surface of robot body 1 has inlayed a plurality of cameras 2, and the quantity of camera 2 is more than two, and these cameras 2 are equidistance annular distribution, also can not equidistance distribution. As shown in fig. 1, when the technical solution is two cameras, the two cameras are arranged in tandem on the robot body 1, and respectively detect the front and rear directions to form a 360-degree panoramic image. Three cameras, four cameras, even more cameras and the like are also available, and as shown in fig. 2, when a plurality of cameras are provided, the cameras are arranged at equal intervals, and a 360-degree panoramic image is also formed. As shown in fig. 3 and 4, the robot body 1 includes an outer shell 3, a wearing device 4 is wrapped outside the outer shell 3, a plurality of cushion pads 5 are adhered inside the outer shell 3, the cushion pads 5 can prevent the inner shell 6 from shaking inside the robot body 1, the inner shell 6 is arranged inside the outer shell 3, a circuit board 10 is arranged at the temporal part of the inner shell 6, a main control chip 11 is welded at the bottom of the circuit board 10, a communication module 12 is welded at the top of the circuit board 10, the communication module 12 on the circuit board 10 is connected with a communication module on a computer through a wireless signal, then shooting is carried out through a camera 2 on the robot body 1, then modeling is carried out on image data information through the computer, a whole 3D model in the stomach can be built slowly through the images, the efficiency is high, damage to human organs can be reduced, the wearing device 4 includes a wearing shell 17, a plurality of electromagnets 18 are distributed in the wearing shell 17 at equal, the computer controls the strength of the magnetism of the electromagnets 18 at each part of the wearable device 4 by controlling the current, the capsule robot moves around in the human body by changing the change of the electromagnetic force, the sealing gasket 19 is arranged at the joint between the shells 3, and the sealing gasket 19 can increase the sealing performance between the gaps of the robot body 1.

The inner shell 6 is internally provided with a built-in groove 7, the built-in groove 7 is provided with a bus cable 8, a plurality of branch cables 9 are distributed around the bus cable 8 at equal intervals, and the branch cables 9 are connected with the signal end of the camera 2.

Another half internal fixation of inner shell 6 has fixing base 15, and magnetic compass 16 is installed through the bolt at the top of fixing base 15, and magnetic compass 16's top is provided with lithium cell 14, and lithium cell 14's output is connected with power cord 25, and the one end of power cord 25 is connected on circuit board 10, and fixed plate 13 is installed through the bolt at lithium cell 14's top.

Half inside welding of one of them inner shell 6 has second fixed column 26, and circuit board 10 passes through the bolt and installs on second fixed column 26, and half inside welding of another inner shell 6 has first fixed column 24, and fixed plate 13 passes through the bolt and installs on first fixed column 24.

The bottom of one half of the shell 3 is welded with a first thread ring 20, the top of the other half of the shell 3 is provided with a first thread groove 21, the first thread ring 20 is threaded in the first thread groove 21, and the first thread ring 20 and the first thread groove 21 are matched to fixedly connect the two halves of the shell 3.

The second thread ring 22 is welded at the bottom of one half of the inner shell 6, the second thread groove 23 is formed at the top of the other half of the inner shell 6, the second thread ring 22 is threaded in the second thread groove 23, and the second thread ring 22 and the second thread groove 23 are matched to fixedly connect the two half inner shells 63.

The signal transmitting end and the receiving end of the main control chip 11 are respectively connected with the receiving end and the transmitting end of the communication module 12 through signal lines, the output end pin of the main control chip 11 is in signal connection with the electromagnet 18 and the magnetic compass 16 through wires, and the input end of the main control chip 11 is in signal connection with the camera 2 through a conducting wire.

The working principle of the invention is as follows: when in use, firstly, the circuit board 10 in the inner shell 6 is installed in one half of the inner shell 6 through bolts, then the magnetic compass 16 and the lithium battery 14 are placed in the other half of the inner shell 6, then the fixing plate 13 is fixed on the first fixing column 24 through bolts, the circuit board 10 is connected through the power cord 25, then the bus cable 8 of the camera 22 is communicated with the circuit board 10 through a cable, then the two half of the inner shell 6 is fixedly connected on the first thread groove 23 through the second thread ring 22 threads, then the two half of the outer shell 3 are fixedly connected on the first thread groove 21 through the first thread ring 20 threads, the wearing device 4 is provided with electromagnets arranged according to an array, the computer controls the magnetism intensity of the electromagnets 18 at each part of the wearing device 4 through controlling current, and the capsule robot moves around the human body through changing the change of the electromagnetic force, each direction is observed respectively to each visual device's camera 2, then constitutes 360 degrees panoramic pictures all around, from top to bottom, can shoot in real time when medical robot wanders away in the human body to constitute 360 degrees panoramic pictures, it is not only efficient, but also can reduce the damage to human organ, through camera 2 and magnetic compass 16, can all obtain the image that has positional information to each position. During the movement process of the medical robot, the whole 3D model in the stomach can be slowly constructed through the images, the efficiency is high, and the damage to human organs can be reduced.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.