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CN-122004729-A - Capsule endoscope robot

CN122004729ACN 122004729 ACN122004729 ACN 122004729ACN-122004729-A

Abstract

The invention discloses a capsule endoscope robot which comprises a body, a driving module and a driving assembly, wherein the body comprises a shell, a camera module, a communication module and a power module are arranged in the shell, a perspective window is arranged in the shell, the driving module is connected with the shell and is configured to drive the body to move forwards or backwards, and the driving assembly is configured to realize relative rotation of the camera module and the shell. The capsule endoscope robot provided by the technical scheme of the invention can reduce the focus missing detection rate and improve the overall diagnosis quality.

Inventors

  • WANG PENG

Assignees

  • 南方科技大学医院(深圳市南山区西丽人民医院)

Dates

Publication Date
20260512
Application Date
20260403

Claims (10)

  1. 1. A capsule endoscopic robot, comprising: the body comprises a shell and a camera module, a communication module and a power module which are arranged in the shell, wherein the shell is provided with a perspective window; A drive module coupled to the housing, the drive module configured to drive the body forward or backward, and A drive assembly configured to effect relative rotation of the camera module and the housing.
  2. 2. The capsule endoscopic robot of claim 1, wherein the drive assembly comprises a drive member and a transmission mechanism, the drive member being coupled to the camera module via the transmission mechanism and driving the camera module to rotate relative to the housing via the transmission mechanism.
  3. 3. The capsule endoscopic robot of claim 1, further comprising a first mechanical arm mounted outside the housing and an electrocautery hook mounted at an end of the first mechanical arm remote from the housing and electrically connected to the power module.
  4. 4. The capsule endoscopic robot of claim 3, further comprising a second mechanical arm mounted outside of said housing and an electrocautery snare mounted at an end of said second mechanical arm remote from said housing and electrically connected to said power module.
  5. 5. The capsule endoscopic robot of claim 4, wherein an outer side surface of the housing is concavely provided with a clearance groove, the first mechanical arm and the second mechanical arm are both installed in the clearance groove, and have a working state protruding from a notch of the clearance groove to be accommodated in an accommodating state in the clearance groove, and in the accommodating state, surfaces of the first mechanical arm and the second mechanical arm are not higher than the outer side surface of the housing.
  6. 6. The capsule endoscopic robot of claim 1, wherein the capsule endoscopic robot is configured to, the capsule endoscope robot further comprises an edible capsule shell, and the edible capsule shell is wrapped on the outer side of the shell.
  7. 7. The capsule endoscopic robot of claim 1, wherein the capsule endoscopic robot comprises a wireless charging coil mounted within the housing and electrically connected to the power module.
  8. 8. The capsule endoscopic robot of claim 7, wherein said wireless charging of at least two wireless charging coils, Including arranging at least two wireless charging coils on different space planes, two wireless charging coils mutually quadrature sets up, and two wireless charging coils correspond respectively with the axial and the radial correspondence of shell body.
  9. 9. The capsule endoscopic robot of claim 8, wherein the wireless charging coil is arranged in an arc shape, and the wireless charging coil is applied on the inner wall of the housing.
  10. 10. The capsule endoscopic robot of claim 1, wherein the drive module comprises a first motor and a tail, the first motor is disposed in the housing, the tail is disposed outside the housing, the tail comprises a spine and a track, one end of the spine is connected with an output end of the first motor, the other end of the spine extends spirally away from the housing, one end of the track is rotatably connected with the housing, the other end of the track extends away from the housing, the track comprises a plurality of frames rotatably connected, the frames are enclosed on the periphery of the spine, When the tail is driven by the first motor to rotate, the spine drives the crawler belt to do sine wave-shaped swing so as to drive the body to advance or retreat.

Description

Capsule endoscope robot Technical Field The invention relates to the technical field of medical instruments, in particular to a capsule endoscope robot. Background With the continuous development of medical technology, the capsule endoscope becomes a non-invasive diagnostic tool and can be used for examining internal organs such as intestines and stomach, digestive tract and the like. At present, when the capsule endoscope robot moves in the gastrointestinal tract of a human body, the problems of limited observation field (only shooting the right front) and the like exist, so that the inspection efficiency is low, blind areas possibly exist, and the accuracy and the diagnosis rate are affected. Disclosure of Invention The invention mainly aims to provide a capsule endoscope robot which aims to avoid the occurrence of detection blind areas. In order to achieve the above object, the present invention provides a capsule endoscope robot comprising: the body comprises a shell and a camera module, a communication module and a power module which are arranged in the shell, wherein the shell is provided with a perspective window; A drive module coupled to the housing, the drive module configured to drive the body forward or backward, and A drive assembly configured to effect relative rotation of the camera module and the housing. Optionally, the driving assembly comprises a driving piece and a transmission mechanism, wherein the driving piece is connected with the camera module through the transmission mechanism and drives the camera module to rotate relative to the shell through the transmission mechanism. Optionally, the capsule endoscope robot further comprises a first mechanical arm and an electrocautery hook, wherein the first mechanical arm is installed on the outer side of the shell, and the electrocautery hook is installed on one end, far away from the shell, of the first mechanical arm and is electrically connected with the power module. Optionally, the capsule endoscope robot further comprises a second mechanical arm and an electrocautery ring sleeve, wherein the second mechanical arm is installed on the outer side of the shell, and the electrocautery ring sleeve is installed at one end, far away from the shell, of the second mechanical arm and is electrically connected with the power module. Optionally, the lateral surface of shell is concave to be equipped with keeps away the position groove, first arm with the second arm all install in keep away the position inslot, and have from keep away the operating condition that the position groove notch stretches out in order to accomodate in keep away the state of accomodating in the position groove accomodate the state, first arm with the surface of second arm is not higher than the lateral surface of shell. Optionally, the capsule endoscope robot further comprises an edible capsule shell, and the edible capsule shell is wrapped outside the shell. Optionally, the capsule endoscope robot comprises a wireless charging coil, and the wireless charging coil is installed in the shell and is electrically connected with the power module. Optionally, the wireless charging coils include at least two wireless charging coils arranged on different space planes, the two wireless charging coils are orthogonally arranged, and the two wireless charging coils respectively correspond to the axial direction and the radial direction of the shell body. Optionally, the wireless charging coil is arc-shaped, and the wireless charging coil is attached to the inner wall of the shell. Optionally, the driving module comprises a first motor and a tail, the first motor is arranged in the shell, the tail is arranged outside the shell, the tail comprises a spine and a track, one end of the spine is connected with the output end of the first motor, the other end of the spine spirally extends in a direction away from the shell, one end of the track is rotatably connected with the shell, the other end of the track extends in a direction away from the shell, the track comprises a plurality of frames rotatably connected with each other, the frames are enclosed on the periphery of the spine, When the tail is driven by the first motor to rotate, the spine drives the crawler belt to do sine wave-shaped swing so as to drive the body to advance or retreat. According to the technical scheme, the camera module, the communication module and the power module are arranged in the shell, the perspective window is arranged on the shell, the driving module is connected with the shell and is configured to drive the body to move forwards or backwards, and the driving assembly is configured to realize relative rotation of the camera module and the shell. The visual angle of the camera module is adjusted through the driving assembly, so that no matter where the robot is located, the camera can perform panoramic scanning, and the fundamental problem that the visual field of the traditional capsule endoscope is random