技术领域Technical field
本申请涉及医疗设备技术领域，尤其是涉及一种基于双臂螺旋天线的胶囊机器人系统。The present application relates to the technical field of medical equipment, and in particular to a capsule robot system based on a dual-arm helical antenna.
背景技术Background technique
随着科学技术的发展，无线电子通信系统越来越多地应用于生物医学领域，包括人工耳蜗、神经信号记录系统末梢神经系统、胶囊机器人等，这些医疗设备未疾病诊断、检测、医疗带来了新的选择。其中，胶囊机器人随着科技的发展功能也越来越多样化，具有多个摄像头外还具有还具有组织活动功能和向身体特定部位释放药物或者细胞的功能。With the development of science and technology, wireless electronic communication systems are increasingly used in the biomedical field, including cochlear implants, nerve signal recording systems, peripheral nervous systems, capsule robots, etc. These medical devices have brought great benefits to disease diagnosis, detection, and medical treatment. New options. Among them, capsule robots have become more and more diversified with the development of technology. In addition to having multiple cameras, they also have the function of organizing activities and releasing drugs or cells to specific parts of the body.
相关技术中，胶囊机器人大部分用于胃部液体环境下的检查，亦或是只能依靠肠道的蠕动力实现被动移动，无法实现加速、停止、倒退等运动，限制了对肠道的观察与操作功能，导致医学检查时间被拉长，工作效率不高，存在改进之处。In related technologies, capsule robots are mostly used for inspections in the liquid environment of the stomach, or they can only rely on the peristaltic force of the intestines to move passively, and are unable to accelerate, stop, reverse and other movements, which limits the observation of the intestines. and operating functions, resulting in prolonged medical examination time and low work efficiency, and there is room for improvement.
为此我们提出一种基于双臂螺旋天线的胶囊机器人系统用于解决上述问题。To this end, we propose a capsule robot system based on a double-arm helical antenna to solve the above problems.
发明内容Contents of the invention
为发明的目的在于提供一种基于双臂螺旋天线的胶囊机器人系统，以解决上述背景技术中提出的问题。The purpose of the invention is to provide a capsule robot system based on a dual-arm helical antenna to solve the problems raised in the above background technology.
本申请提供的一种基于双臂螺旋天线的胶囊机器人系统采用如下的技术方案：The capsule robot system based on the dual-arm helical antenna provided by this application adopts the following technical solution:
一种基于双臂螺旋天线的胶囊机器人系统，包括：A capsule robot system based on a double-arm helical antenna, including:
检测模块，包括图像检测单元和惯性检测单元，所述图像检测单元用于采集肠道内图像信息并输出图像采集数据，所述惯性检测单元用于检测胶囊机器人的运动状态并输出运动状态数据；The detection module includes an image detection unit and an inertial detection unit. The image detection unit is used to collect image information in the intestinal tract and output image acquisition data. The inertial detection unit is used to detect the motion state of the capsule robot and output motion state data;
无线通信模块，位于胶囊机器人内部，与所述检测模块信号连接，用于接收所述图像采集数据和所述运动状态数据并发送至外部设备；A wireless communication module, located inside the capsule robot, is signally connected to the detection module, and is used to receive the image collection data and the motion status data and send them to external devices;
所述无线通信模块包括无线控制器和双臂螺旋天线，所述无线控制器与所述双臂螺旋天线信号连接，所述双臂螺旋天线为高低双频段天线，所述高频段天线用于外部设备向胶囊机器人发送唤醒信号和睡眠信号，所述低频段天线用于与外部设备进行数据传输；The wireless communication module includes a wireless controller and a double-arm helical antenna. The wireless controller is signally connected to the double-arm helical antenna. The double-arm helical antenna is a high and low dual-band antenna. The high-frequency band antenna is used for external applications. The device sends wake-up signals and sleep signals to the capsule robot, and the low-frequency band antenna is used for data transmission with external devices;
定向模块，位于胶囊机器人内部，用于识别胶囊机器人的行径路线并确定胶囊机器人的行径方向输出定向运动数据；The orientation module, located inside the capsule robot, is used to identify the capsule robot's path and determine the capsule robot's path direction to output directional motion data;
驱动模块，位于胶囊机器人内部，与所述无线通信模块信号连接，用于接收所述定向数据并驱动胶囊机器人运动；A driving module, located inside the capsule robot, is signally connected to the wireless communication module, and is used to receive the orientation data and drive the capsule robot to move;
所述驱动模块包括驱动控制器、第一驱动单元以及第二驱动单元，所述驱动控制器与所述无线通信单元信号连接，用于控制所述第一驱动单元和所述第二驱动单元工作，所述第一驱动单元用于控制胶囊机器人前进或后退运动，所述第二驱动单元用于控制胶囊机器人转向运动。The drive module includes a drive controller, a first drive unit and a second drive unit. The drive controller is signally connected to the wireless communication unit and is used to control the operation of the first drive unit and the second drive unit. , the first driving unit is used to control the forward or backward motion of the capsule robot, and the second driving unit is used to control the steering motion of the capsule robot.
通过采用上述技术方案，胶囊机器人在肠道内运动，通过检测模块和定向模块判断胶囊机器人的运动路线。使用无线通信模块实现各模块之间的数据传输，无线通信模块采用双臂螺旋天线，双臂螺旋天线具有宽频性，在通过肠道时能够覆盖所述的频段，提高天线的稳定性；同时双臂螺旋天线为高低双频段天线，使胶囊机器人在唤醒和睡眠两种状态下进行切换，节省电量，延长胶囊机器人的使用时间。再利用驱动模块实现胶囊机器人在肠道内的前进或后退和转向的运动，提高胶囊机器人在肠道内运动的流畅性，提高了胶囊机器人的工作效率。By adopting the above technical solution, the capsule robot moves in the intestine, and the movement route of the capsule robot is judged through the detection module and the orientation module. A wireless communication module is used to realize data transmission between modules. The wireless communication module uses a double-arm helical antenna. The double-arm helical antenna has broadband properties and can cover the frequency band when passing through the intestine, improving the stability of the antenna; at the same time, the dual-arm helical antenna The arm spiral antenna is a high and low dual-band antenna, which allows the capsule robot to switch between wake-up and sleep states, saving power and extending the use time of the capsule robot. The drive module is then used to realize the forward, backward and turning movement of the capsule robot in the intestine, thereby improving the smoothness of the capsule robot's movement in the intestine and improving the working efficiency of the capsule robot.
优选的，所述图像检测单元包括摄像控制器、微型摄像头和LED灯，所述摄像控制器位于胶囊机器人内部，与所述定向模块信号连接，用于接收所述定向运动数据，控制所述微型摄像头移动并输出摄像控制信号；所述微型摄像头位于胶囊机器人外表面，可360度转动，所述微型摄像头与所述摄像控制器信号连接，用于接收所述摄像控制信号后在LED灯照明的情况下按照预定方向进行移动后拍摄肠道画面图像输出所述图像采集数据。Preferably, the image detection unit includes a camera controller, a micro camera and an LED light. The camera controller is located inside the capsule robot and is connected with the directional module signal to receive the directional movement data and control the micro camera. The camera moves and outputs a camera control signal; the micro camera is located on the outer surface of the capsule robot and can rotate 360 degrees. The micro camera is connected to the camera controller signal and is used to receive the camera control signal and illuminate the LED light. Under such circumstances, after moving in a predetermined direction, the intestinal screen image is taken and the image collection data is output.
通过采用上述技术方案，由于胶囊机器人在肠道内运动时需要转向，此时微型摄像头也需要根据转换方向调整位置，否则会存胶囊机器人遮挡微型摄像头的情况，造成视角盲区，使获取的图像采集数据的使用效度降低。采用可360度转动的微型摄像头可以避开这一问题，提高胶囊机器人拍摄的灵活性和实用性。By adopting the above technical solution, since the capsule robot needs to turn when moving in the intestine, the micro camera also needs to adjust its position according to the switching direction. Otherwise, the capsule robot will block the micro camera, resulting in a blind spot in the viewing angle, which will make the acquired image collection data The effectiveness of use is reduced. Using a miniature camera that can rotate 360 degrees can avoid this problem and improve the flexibility and practicality of capsule robot shooting.
优选的，所述惯性检测单元包括检测控制器和惯性传感器，所述检测控制器位于胶囊机器人内部，与所述定向模块信号连接，用于接收所述定向运动数据，控制所述惯性传感器检测胶囊机器人运动状态并输出检测控制信号；所述惯性传感器位于胶囊机器人内部，与所述检测控制器信号连接，用于接收所述检测控制信号后开始检测胶囊机器人的运动状态并输出所述运动状态数据。Preferably, the inertial detection unit includes a detection controller and an inertial sensor. The detection controller is located inside the capsule robot and is connected to the orientation module via a signal. It is used to receive the directional movement data and control the inertial sensor to detect the capsule. The robot moves state and outputs a detection control signal; the inertial sensor is located inside the capsule robot and is connected to the detection controller signal, and is used to detect the movement state of the capsule robot after receiving the detection control signal and output the movement state data. .
通过采用上述技术方案，利用惯性传感器可以准确获取胶囊机器人在肠道内的运动状态数据，根据胶囊机器人当下运动的速度信息和加速度信息，根据定向运动数据使胶囊机器人在未运动部分的路线运动，通过改变胶囊机器人的运动速度，使胶囊机器人快速通过肠道，降低了医学检查所需的时间，实现胶囊机器人工作的高效性。By adopting the above technical solution, the inertial sensor can be used to accurately obtain the movement status data of the capsule robot in the intestine. According to the speed information and acceleration information of the capsule robot's current movement, the capsule robot can move along the route of the non-moving part based on the directional movement data. Changing the movement speed of the capsule robot allows the capsule robot to pass through the intestine quickly, reducing the time required for medical examinations and achieving high efficiency of the capsule robot's work.
优选的，所述双臂螺纹天线为柔性材质的平行缠绕柱状双线，所述平行缠绕柱状双线分别为高频段天线和低频段天线，通过所述无线控制器实现胶囊机器人在唤醒和睡眠两种状态下自由切换。Preferably, the two-arm thread antenna is a parallel-wound cylindrical double wire made of flexible material. The parallel-wound cylindrical double wire is a high-frequency band antenna and a low-frequency band antenna respectively. The wireless controller enables the capsule robot to wake up and sleep. Switch freely between states.
通过采用上述技术方案，双臂螺纹天线具有圆极化、波速宽度宽的特点，天线的尺寸与天线的辐射功率成正比，从而提高了天线的辐射功率，从而提高了胶囊机器人的安全性与稳定性。并且双臂螺纹天线设为双频工作模式，使胶囊机器人在唤醒和睡眠两种状态下进行切换。当天线接收到外部设备发送的唤醒信号时，胶囊机器人正常工作，肠道内部数据信息被输送到外部设备中；当系统不需要传输肠道内部数据信息时，天线进入睡眠模式节省能量，延长了胶囊机器人的使用时间。By adopting the above technical solution, the two-arm threaded antenna has the characteristics of circular polarization and wide wave speed width. The size of the antenna is proportional to the radiation power of the antenna, thereby increasing the radiation power of the antenna and thereby improving the safety and stability of the capsule robot. sex. And the double-arm thread antenna is set to dual-frequency working mode, allowing the capsule robot to switch between wake-up and sleep states. When the antenna receives the wake-up signal sent by the external device, the capsule robot works normally and the data information inside the intestine is transmitted to the external device; when the system does not need to transmit the data information inside the intestine, the antenna enters sleep mode to save energy and extend the time Capsule robot usage time.
优选的，所述定向模块包括记忆单元和方向定位单元，所述记忆单元用于记忆胶囊机器人已经运动过的路线并形成认知地图信息存储在记忆单元；所述方向定位单元与所述记忆单元信号连接，用于接收所述认知地图信息后根据胶囊机器人运动过的路线确顶胶囊机器人的进行方向并输出定向运动数据。Preferably, the orientation module includes a memory unit and a direction positioning unit. The memory unit is used to memorize the route that the capsule robot has moved and form cognitive map information to store in the memory unit; the direction positioning unit and the memory unit Signal connection is used to receive the cognitive map information and determine the direction of the capsule robot based on the route the capsule robot has moved and output directional movement data.
通过采用上述技术方案，根据记忆单元形成的认知地图，获取到胶囊机器人在肠道内已经运动过的行径路线，从而利用方向定位单元对胶囊机器人后续的行径方向进行准确定位并输出定向运动数据，胶囊机器人根据定向运动数据在肠道内进行后续运动，提高了胶囊机器人的流畅性。By adopting the above technical solution, based on the cognitive map formed by the memory unit, the path that the capsule robot has moved in the intestine is obtained, and the direction positioning unit is used to accurately locate the subsequent path direction of the capsule robot and output directional movement data. The capsule robot performs subsequent movements in the intestine based on the directional motion data, which improves the smoothness of the capsule robot.
优选的，所述驱动控制器与所述检测单元信号连接，用于接收所述运动状态数据，包括胶囊机器人运动的速度信息和加速度信息，根据胶囊机器人运动的速度信息、加速度信息以及肠道的蠕动情况来控制胶囊机器人未运动部分路线的行径速度并输出运动速度数据。Preferably, the drive controller is signally connected to the detection unit and is used to receive the motion status data, including speed information and acceleration information of the capsule robot's movement. According to the speed information, acceleration information of the capsule robot's movement and the intestinal The peristalsis condition is used to control the traveling speed of the unmoving part of the capsule robot and output the movement speed data.
通过采用上述技术方案，驱动控制器根据接收到的胶囊机器人运动的速度信息和加速度信息以及肠道的蠕动情况来确定胶囊机器人在后续未运动部分路线的行径速度，调高胶囊机器人的运动速度来减短胶囊机器人在肠道内部运动所需的时间，从而提高胶囊机器人的快速性和高效性。By adopting the above technical solution, the drive controller determines the speed of the capsule robot in the subsequent unmoved part of the route based on the received speed information and acceleration information of the capsule robot's movement and the peristalsis of the intestine, and increases the movement speed of the capsule robot. Reduce the time required for the capsule robot to move inside the intestine, thereby improving the speed and efficiency of the capsule robot.
优选的，所述第一驱动单元包括旋转桨叶，位于胶囊机器人的表面，用于移动胶囊机器人；所述驱动控制器与所述第一驱动单元信号连接，控制所述旋转桨叶旋转，带动胶囊机器人前进或后退运动；所述第二驱动单元包括多个触角，位于胶囊机器人表面，用于移动胶囊机器人；所述驱动控制器与所述触角信号连接，控制所述触角转向，带动胶囊机器人转向运动。Preferably, the first drive unit includes a rotating blade located on the surface of the capsule robot for moving the capsule robot; the drive controller is signal-connected to the first drive unit to control the rotation of the rotating blade to drive the capsule robot. The capsule robot moves forward or backward; the second drive unit includes a plurality of tentacles, located on the surface of the capsule robot, for moving the capsule robot; the drive controller is connected with the tentacle signal to control the steering of the tentacles to drive the capsule robot Steering movement.
通过采用上述技术方案，利用第一驱动单元的旋转桨叶的旋转实现胶囊机器人在肠道内的前进或后退运动，利用第二驱动单元的触角实现胶囊机器人在肠道内的转向运动，通过以上两种运动方式，保证胶囊机器人能够准确到达需要检查的区域，减少胶囊机器人在肠道拐弯处出现卡顿的情况，提高了胶囊机器人的准确性和实用性。By adopting the above technical solution, the rotation of the rotating blade of the first drive unit is used to realize the forward or backward movement of the capsule robot in the intestine, and the antennae of the second drive unit are used to realize the steering movement of the capsule robot in the intestine. Through the above two The movement method ensures that the capsule robot can accurately reach the area that needs to be inspected, reduces the situation where the capsule robot gets stuck at the corners of the intestine, and improves the accuracy and practicality of the capsule robot.
优选的，所述第一驱动单元还包括第一防护结构，为环绕于所述旋转桨叶上的罩体，用于防止所述旋转桨叶与胃肠道内粘膜发生接触；所述旋转桨叶和所述罩体均为柔性材质。Preferably, the first driving unit further includes a first protective structure, which is a cover surrounding the rotating blade to prevent the rotating blade from coming into contact with the mucosa in the gastrointestinal tract; the rotating blade Both the cover and the cover are made of flexible materials.
通过采用上述技术方案，利用第一防护结构的罩体可以对旋转桨叶起到的防护作用，有效避免了肠道内的酸性分泌物质对旋转桨叶的腐蚀，增加胶囊机器人的使用寿命；旋转桨叶和罩体都采用柔性材质，有效降低了胶囊机器人与肠道内壁的摩擦，大大降低了肠道的受损程度，提高了胶囊机器人的安全性和可靠性。By adopting the above technical solution, the cover body of the first protective structure can play a protective role on the rotating blade, effectively avoiding the corrosion of the rotating blade by acidic secretions in the intestine, and increasing the service life of the capsule robot; the rotating blade Both the leaves and the cover body are made of flexible materials, which effectively reduces the friction between the capsule robot and the inner wall of the intestine, greatly reduces the degree of damage to the intestine, and improves the safety and reliability of the capsule robot.
优选的，还包括施药模块，位于胶囊机器人内部，用于对患者的肠道指定的位置释放治疗药物。Preferably, it also includes a drug delivery module, which is located inside the capsule robot and is used to release therapeutic drugs to designated locations in the patient's intestines.
通过采用上述技术方案，由于口服药剂极易使得药物收消化道内胃酸的影响，使病灶点药物浓度降低，从而导致治疗效果下降。通过胶囊机器人可以在肠道内指定位置释放治疗药物，实现药物的精准释放，提高了胶囊机器人的适用性，扩大了胶囊机器人的使用范围。By adopting the above technical solution, since oral administration of drugs can easily absorb the influence of gastric acid in the digestive tract, the drug concentration at the focus point is reduced, resulting in a decrease in the therapeutic effect. The capsule robot can release therapeutic drugs at designated locations in the intestine to achieve precise drug release, which improves the applicability of the capsule robot and expands the scope of use of the capsule robot.
优选的，所述施药模块与胶囊机器人表面开设的施药口相接通，施药口设有可降解高分子材料的硅胶塞；所述施药单元与所述检测单元信号连接，接收所述图像采集数据和所述运动状态数据后控制所述硅胶塞移动，带动治疗药物从施药口处释放。Preferably, the medication application module is connected to the medication port provided on the surface of the capsule robot, and the medication port is equipped with a silicone plug of degradable polymer material; the medication application unit is connected to the detection unit signal to receive all the information. After the image acquisition data and the motion state data are used, the movement of the silicone plug is controlled to drive the therapeutic drug to be released from the drug administration port.
通过采用上述技术方案，硅胶塞采用无毒可降解的高分子材料，增加了胶囊机器人的安全性能。在胶囊机器人未运动至肠道内需要治疗的施药点时，硅胶塞将施药口堵住，避免药物流出；当胶囊机器人运动至肠道内需要治疗的施药点时，控制硅胶塞移动，使治疗药物从施药口释放，实现治疗药物的精准施放，增加了胶囊机器人的便捷性和实用性。By adopting the above technical solution, the silicone plug is made of non-toxic and degradable polymer materials, which increases the safety performance of the capsule robot. When the capsule robot does not move to the medication application point in the intestine that needs treatment, the silicone plug blocks the medication port to prevent the drug from flowing out; when the capsule robot moves to the medication application point in the intestine that needs treatment, it controls the movement of the silicone plug so that The therapeutic drugs are released from the dispensing port to achieve precise delivery of the therapeutic drugs, which increases the convenience and practicality of the capsule robot.
综上所述，本申请包括以下至少一种有益技术效果：To sum up, this application includes at least one of the following beneficial technical effects:
1.胶囊机器人在肠道内运动，通过检测模块和定向模块判断胶囊机器人的运动路线。使用无线通信模块实现各模块之间的数据传输，无线通信模块采用双臂螺旋天线，双臂螺旋天线具有宽频性，在通过肠道时能够覆盖所述的频段，提高天线的稳定性；同时双臂螺旋天线为高低双频段天线，使胶囊机器人在唤醒和睡眠两种状态下进行切换，节省电量，延长胶囊机器人的使用时间。再利用驱动模块实现胶囊机器人在肠道内的前进或后退和转向的运动，提高胶囊机器人在肠道内的运动的流畅性，提高了胶囊机器人的工作效率。1. The capsule robot moves in the intestine, and the movement route of the capsule robot is determined through the detection module and orientation module. A wireless communication module is used to realize data transmission between modules. The wireless communication module uses a double-arm helical antenna. The double-arm helical antenna has broadband properties and can cover the frequency band when passing through the intestine, improving the stability of the antenna; at the same time, the dual-arm helical antenna The arm spiral antenna is a high and low dual-band antenna, which allows the capsule robot to switch between wake-up and sleep states, saving power and extending the use time of the capsule robot. The drive module is then used to realize the forward, backward and turning movement of the capsule robot in the intestine, thereby improving the smoothness of the movement of the capsule robot in the intestine and improving the working efficiency of the capsule robot.
2.双臂螺纹天线具有圆极化、波速宽度宽的特点，天线的尺寸与天线的辐射功率成正比，从而提高了天线的辐射功率，从而提高了胶囊机器人的安全性与稳定性。并且双臂螺纹天线设为双频工作模式，使胶囊机器人在唤醒和睡眠两种状态下进行切换。当天线接收到外部设备发送的唤醒信号时，胶囊机器人正常工作，肠道内部数据信息被输送到外部设备中；当系统不需要传输肠道内部数据信息时，天线进入睡眠模式节省能量，延长了胶囊机器人的使用时间，提高了胶囊机器人的实用性。2. The double-arm thread antenna has the characteristics of circular polarization and wide wave speed width. The size of the antenna is proportional to the radiation power of the antenna, thereby increasing the radiation power of the antenna and thereby improving the safety and stability of the capsule robot. And the double-arm thread antenna is set to dual-frequency working mode, allowing the capsule robot to switch between wake-up and sleep states. When the antenna receives the wake-up signal sent by the external device, the capsule robot works normally and the data information inside the intestine is transmitted to the external device; when the system does not need to transmit the data information inside the intestine, the antenna enters sleep mode to save energy and extend the time The usage time of the capsule robot improves the practicality of the capsule robot.
3.利用第一防护结构的桌体可以对旋转桨叶起到的防护作用，有效避免了肠道内的胃酸等物质对旋转桨叶的腐蚀，增加胶囊机器人的使用寿命；旋转桨叶和桌体都采用柔性材质，有效降低了胶囊机器人与肠道内壁的摩擦，大大降低了肠道的受损程度，提高了胶囊机器人的安全性和可靠性。3. The table body using the first protective structure can play a protective role on the rotating blades, effectively preventing gastric acid and other substances in the intestine from corroding the rotating blades, and increasing the service life of the capsule robot; the rotating blades and the table body They are all made of flexible materials, which effectively reduces the friction between the capsule robot and the inner wall of the intestine, greatly reduces the degree of damage to the intestine, and improves the safety and reliability of the capsule robot.
附图说明Description of the drawings
图1为本发明一种基于双臂螺旋天线的胶囊机器人系统的框图。Figure 1 is a block diagram of a capsule robot system based on a double-arm helical antenna according to the present invention.
图中：1、检测模块；11、图像检测单元；111、摄像控制器；112、微型摄像头；113、LED灯；12、惯性检测单元；121、检测控制器；122、惯性传感器；2、无线通信模块；21、无线控制器；22、双臂螺旋天线；3、定向模块；31、记忆单元；32、方向定位单元；4、驱动模块；41、驱动控制器；42、第一驱动单元；421、旋转桨叶；422、第一防护结构；43、第二驱动单元；5、施药模块；6、外部设备。In the figure: 1. Detection module; 11. Image detection unit; 111. Camera controller; 112. Micro camera; 113. LED light; 12. Inertial detection unit; 121. Detection controller; 122. Inertial sensor; 2. Wireless Communication module; 21. Wireless controller; 22. Arm-shaped helical antenna; 3. Directional module; 31. Memory unit; 32. Direction positioning unit; 4. Drive module; 41. Drive controller; 42. First drive unit; 421. Rotating blade; 422. First protective structure; 43. Second driving unit; 5. Pesticide application module; 6. External equipment.
具体实施方式Detailed ways
以下结合本发明的实施例及附图1对本发明作进一步详细说明，但本发明的实施方式不仅限于此。The present invention will be further described in detail below with reference to the embodiments of the present invention and accompanying drawing 1, but the implementation of the present invention is not limited thereto.
本申请实施例公开一种基于双臂螺旋天线的胶囊机器人系统，参照图1，包括：The embodiment of the present application discloses a capsule robot system based on a double-arm helical antenna. Referring to Figure 1, it includes:
检测模块1，包括图像检测单元11和惯性检测单元12，图像检测单元11用于采集肠道内图像信息并输出图像采集数据，惯性检测单元12用于检测胶囊机器人的运动状态并输出运动状态数据；The detection module 1 includes an image detection unit 11 and an inertia detection unit 12. The image detection unit 11 is used to collect image information in the intestinal tract and output image collection data. The inertia detection unit 12 is used to detect the motion state of the capsule robot and output the motion state data;
无线通信模块2，位于胶囊机器人内部，与检测模块1信号连接，用于接收图像采集数据和运动状态数据并发送至外部设备6；The wireless communication module 2 is located inside the capsule robot and is connected to the detection module 1 for signal reception and is used to receive image collection data and motion status data and send them to external devices 6;
无线通信模块2包括无线控制器21和双臂螺旋天线22，无线控制器21与双臂螺旋天线22信号连接，双臂螺旋天线22为高低双频段天线，高频段天线用于外部设备6向胶囊机器人发送唤醒信号和睡眠信号，低频段天线用于与外部设备6进行数据传输；The wireless communication module 2 includes a wireless controller 21 and a double-arm helical antenna 22. The wireless controller 21 is signally connected to the double-arm helical antenna 22. The double-arm helical antenna 22 is a high and low dual-band antenna. The high-band antenna is used for a 6-way capsule of external equipment. The robot sends wake-up signals and sleep signals, and the low-frequency antenna is used for data transmission with external devices 6;
定向模块3，位于胶囊机器人内部，用于识别胶囊机器人的行径路线并确定胶囊机器人的行径方向输出定向运动数据；Orientation module 3, located inside the capsule robot, is used to identify the capsule robot's path and determine the capsule robot's path direction to output directional motion data;
驱动模块4，位于胶囊机器人内部，与无线通信模块2信号连接，用于接收定向数据并驱动胶囊机器人运动；The driving module 4 is located inside the capsule robot and is signal-connected to the wireless communication module 2 for receiving orientation data and driving the capsule robot to move;
驱动模块4包括驱动控制器41、第一驱动单元42以及第二驱动单元43，驱动控制器41与无线通信单元信号连接，用于控制所述第一驱动单元42和所述第二驱动单元43工作，第一驱动单元42用于控制胶囊机器人前进或后退运动，第二驱动单元43用于控制胶囊机器人转向运动。The driving module 4 includes a driving controller 41 , a first driving unit 42 and a second driving unit 43 . The driving controller 41 is signal-connected to the wireless communication unit for controlling the first driving unit 42 and the second driving unit 43 In operation, the first driving unit 42 is used to control the forward or backward movement of the capsule robot, and the second driving unit 43 is used to control the steering movement of the capsule robot.
实际运用中，普通的胶囊机器人都是通过患者自身的肠道蠕动来促进胶囊机器人在肠道中的运动，但肠道并不是一条笔直的通道，而是弯曲不规则的通道，普通的胶囊机器人在经过肠道时会存在卡顿；并且仅仅依靠肠道自身的蠕动来促进胶囊机器人在肠道中运动是非常低效的，当患者的消化系统功能下降时，胶囊机器人在肠道内蠕动缓慢，使整个医学检查过程的时间增加，胶囊机器人的工作效率低下。而通过驱动模块4实现胶囊机器人在肠道内的前进或后退和转向的运动，提高了胶囊机器人在肠道内运动的流畅性，提高了胶囊机器人的工作效率。In practical applications, ordinary capsule robots use the patient's own intestinal peristalsis to promote the movement of the capsule robot in the intestine. However, the intestine is not a straight channel, but a curved and irregular channel. Ordinary capsule robots There will be lags when passing through the intestines; and it is very inefficient to rely solely on the peristalsis of the intestines to promote the movement of the capsule robot in the intestines. When the patient's digestive system function declines, the capsule robot peristalsis in the intestines slows down, causing the entire The time of the medical examination process increases and the working efficiency of the capsule robot is low. The driving module 4 realizes the forward, backward and turning movement of the capsule robot in the intestine, which improves the smoothness of the capsule robot's movement in the intestine and improves the working efficiency of the capsule robot.
参照图1，图像检测单元11包括摄像控制器111、微型摄像头112和LED灯113，摄像控制器111位于胶囊机器人内部，与定向模块3信号连接，用于接收定向运动数据，控制微型摄像头112移动并输出摄像控制信号；微型摄像头112位于胶囊机器人外表面，可360度转动，微型摄像头112与摄像控制器111信号连接，用于接收摄像控制信号后在LED灯113照明的情况下按照预定方向进行移动后拍摄肠道画面图像输出所述图像采集数据。Referring to Figure 1, the image detection unit 11 includes a camera controller 111, a micro camera 112 and an LED light 113. The camera controller 111 is located inside the capsule robot and is connected to the orientation module 3 via signals for receiving directional movement data and controlling the movement of the micro camera 112. And output the camera control signal; the micro camera 112 is located on the outer surface of the capsule robot and can rotate 360 degrees. The micro camera 112 is connected with the camera controller 111 signal, and is used to receive the camera control signal and follow the predetermined direction under the illumination of the LED light 113. After moving, the intestinal picture is taken and the image acquisition data is output.
实际运用中，因为微型摄像头112无法转动，导致胶囊机器人在肠道内运动的过程中因为存在视角盲区，无法拍摄出肠道内完整的图像信息，使获取的图像采集数据不完善，造成医学检查不彻底，从而延误病情的治疗。通过与定向模块3信号连接的摄像控制器111输出的摄像控制信号，调节微型摄像头112在整个空间方向转动，同时，借助LED的照明效果，使胶囊机器人在肠道内运动的过程中可以获取到全面、清晰的图像信息，保证了图像采集数据的使用效度，并输出完善的图像采集数据。In actual application, because the micro camera 112 cannot rotate, the capsule robot cannot capture complete image information in the intestine due to the blind spot in the angle of view during its movement in the intestine, resulting in incomplete image collection data and incomplete medical examination. , thereby delaying the treatment of the condition. Through the camera control signal output by the camera controller 111 signally connected to the orientation module 3, the micro camera 112 is adjusted to rotate in the entire spatial direction. At the same time, with the help of the lighting effect of the LED, the capsule robot can obtain a comprehensive view during the movement in the intestine. , clear image information, ensuring the validity of image collection data, and outputting complete image collection data.
参照图1，惯性检测单元12包括检测控制器121和惯性传感器122，检测控制器121位于胶囊机器人内部，与定向模块3信号连接，用于接收定向运动数据，控制惯性传感器122检测胶囊机器人运动状态并输出检测控制信号；惯性传感器122位于胶囊机器人内部，与检测控制器121信号连接，用于接收检测控制信号后开始检测胶囊机器人的运动状态并输出运动状态数据。Referring to Figure 1, the inertial detection unit 12 includes a detection controller 121 and an inertial sensor 122. The detection controller 121 is located inside the capsule robot and is connected to the orientation module 3 via signals for receiving directional motion data and controlling the inertial sensor 122 to detect the motion state of the capsule robot. and outputs a detection control signal; the inertial sensor 122 is located inside the capsule robot and is connected to the detection controller 121 with a signal, and is used to detect the motion state of the capsule robot after receiving the detection control signal and output the motion state data.
实际运用中，普通的胶囊机器人进入肠道以后不会控制器它的运动速度，只能通过患者自身的肠道蠕动来控制胶囊机器人的运动。通过与定向模块3信号连接的检测控制器121来控制惯性传感器122检测胶囊机器人的运动状态，并输出运动状态数据，运动状态数据包括胶囊机器人的运动速度和运动加速度，并将运动速度和运动加速度与设定速度进行比较，判断是否达到预定速度。若未达到预定速度，通过驱动控制器41增加胶囊机器人的运动速度，以此达到预设的运动速度，降低医学检查所需的时间，实现胶囊机器人工作的高效性。In practical applications, ordinary capsule robots do not control their movement speed after entering the intestine. They can only control the movement of the capsule robot through the patient's own intestinal peristalsis. The inertial sensor 122 is controlled by the detection controller 121 signal-connected to the orientation module 3 to detect the motion state of the capsule robot and output the motion state data. The motion state data includes the motion speed and motion acceleration of the capsule robot, and the motion speed and motion acceleration are Compare with the set speed to determine whether the predetermined speed is reached. If the predetermined speed is not reached, the movement speed of the capsule robot is increased through the drive controller 41, thereby reaching the preset movement speed, reducing the time required for medical examination, and achieving high efficiency of the capsule robot's work.
参照图1，双臂螺纹天线为柔性材质的平行缠绕柱状双线，平行缠绕柱状双线分别为高频段天线和低频段天线，通过无线控制器21实现胶囊机器人在唤醒和睡眠两种状态下自由切换。Referring to Figure 1, the double-arm thread antenna is a parallel-wound cylindrical double wire made of flexible material. The parallel-wound cylindrical double wires are respectively a high-frequency band antenna and a low-frequency band antenna. Through the wireless controller 21, the capsule robot can be freely controlled in two states: waking up and sleeping. switch.
实际运用中，普通的胶囊机器人的无线通信模块2采用的天线一般为窄带天线，而窄带天线在人体内工作时容易出现失调和偏频等现象，导致整个系统无法正常工作。而双臂螺纹天线具有圆极化的优点，它辐射的电磁波不仅能被任意极化天线接收，还可以一致多径干扰，降低比特误码率。同时双臂螺纹天线的波速宽度较宽，提高了天线的辐射功率，进而提高了胶囊机器人的安全性与稳定性。In actual application, the antenna used in the wireless communication module 2 of an ordinary capsule robot is generally a narrow-band antenna, and narrow-band antennas are prone to maladjustment and frequency deviation when working in the human body, causing the entire system to fail to work properly. The double-arm thread antenna has the advantage of circular polarization. The electromagnetic waves it radiates can not only be received by any polarized antenna, but can also cause consistent multipath interference and reduce the bit error rate. At the same time, the wave speed width of the double-arm thread antenna is wider, which increases the radiation power of the antenna, thereby improving the safety and stability of the capsule robot.
与此同时，双臂螺纹天线为高低双频段天线，无线控制器21控制双臂螺旋天线22进入双频工作模式，使得胶囊机器人在唤醒和睡眠两种状态下进行切换。当天线接收到外部设备6发送的唤醒信号时，胶囊机器人正常工作，肠道内部数据信息被输送到外部设备6中；当系统不需要传输肠道内部数据信息时，天线进入睡眠模式，可以根据胶囊机器人的工作需要来确定胶囊机器人的工作状态，节省胶囊机器人消耗的能量，延长胶囊机器人的使用时间。At the same time, the two-arm helical antenna is a high and low dual-band antenna, and the wireless controller 21 controls the two-arm helical antenna 22 to enter a dual-band working mode, allowing the capsule robot to switch between wake-up and sleep states. When the antenna receives the wake-up signal sent by the external device 6, the capsule robot works normally and the data information inside the intestine is transmitted to the external device 6; when the system does not need to transmit the data information inside the intestine, the antenna enters the sleep mode and can be The work needs of the capsule robot determine the working status of the capsule robot, save the energy consumed by the capsule robot, and extend the use time of the capsule robot.
参照图1，定向模块3包括记忆单元31和方向定位单元32，记忆单元31用于记忆胶囊机器人已经运动过的路线并形成认知地图信息存储在记忆单元31；方向定位单元32与记忆单元31信号连接，用于接收认知地图信息后根据胶囊机器人运动过的路线确顶胶囊机器人的进行方向并输出定向运动数据。Referring to Figure 1, the orientation module 3 includes a memory unit 31 and a direction positioning unit 32. The memory unit 31 is used to memorize the route that the capsule robot has moved and form a cognitive map information stored in the memory unit 31; the direction positioning unit 32 and the memory unit 31 Signal connection is used to receive cognitive map information and determine the direction of the capsule robot based on the route it has moved and output directional movement data.
实际运用中，普通的胶囊机器人通过肠道蠕动进行运动，对胶囊机器人的运动方向不加以控制，在胶囊机器人运动至转弯处时，胶囊机器人不会转向，导致胶囊机器人可能会向已经运动过的部分路线移动，重复已经行径过的路线。而通过记忆单元31形成的认知地图，将胶囊机器人已经行径过的运动通过认知地图存储在记忆单元31，方向定位单元32与记忆单元31信号连接，利用方向定位单元32对胶囊机器人后续的行径方向进行准确定位并输出定向运动数据，胶囊机器人可根据定向运动数据在肠道内进行后续的运动。In practical applications, ordinary capsule robots move through intestinal peristalsis, and the direction of movement of the capsule robot is not controlled. When the capsule robot moves to a corner, the capsule robot will not turn, causing the capsule robot to move towards the already moved direction. Part of the route is moved, repeating the route that has already been traveled. Through the cognitive map formed by the memory unit 31, the movements that the capsule robot has taken are stored in the memory unit 31 through the cognitive map. The direction positioning unit 32 is signal-connected to the memory unit 31, and the direction positioning unit 32 is used to perform subsequent operations on the capsule robot. The capsule robot can accurately locate the direction of travel and output directional motion data. The capsule robot can perform subsequent movements in the intestines based on the directional motion data.
参照图1，驱动控制器41与检测单元信号连接，用于接收运动状态数据，包括胶囊机器人运动的速度信息和加速度信息，根据胶囊机器人运动的速度信息、加速度信息以及肠道的蠕动情况来控制胶囊机器人未运动部分路线的行径速度并输出运动速度数据。Referring to Figure 1, the drive controller 41 is connected with the detection unit signal and is used to receive motion status data, including speed information and acceleration information of the capsule robot's movement, and control based on the speed information, acceleration information of the capsule robot's movement and the peristalsis of the intestines. The traveling speed of the capsule robot on the unmoved part of the route and outputs the movement speed data.
实际运用中，普通胶囊机器人只通过肠道蠕动前进，不对其进行速度控制。而通过驱动控制器41接收胶囊机器人的运动状态数据，根据胶囊机器人的速度信息、加速度信息以及肠道的蠕动情况来确定胶囊机器人在后续未运动部分路线的行径速度，进而减短胶囊机器人在肠道内部运动所需的时间，进而减短进行医学检查所需的时间。In practical applications, ordinary capsule robots only advance through intestinal peristalsis without speed control. The driving controller 41 receives the motion status data of the capsule robot, and determines the traveling speed of the capsule robot in the subsequent non-moving parts of the route based on the speed information, acceleration information and intestinal peristalsis of the capsule robot, thereby shortening the time of the capsule robot in the intestine. time required for internal movement of the tract, thereby reducing the time required for medical examinations.
参照图1，第一驱动单元42包括旋转桨叶421，位于胶囊机器人的表面，用于移动胶囊机器人；驱动控制器41与第一驱动单元42信号连接，控制旋转桨叶421旋转，带动胶囊机器人前进或后退运动；第二驱动单元43包括多个触角，位于胶囊机器人表面，用于移动胶囊机器人；驱动控制器41与触角信号连接，控制触角转向，带动胶囊机器人转向运动。Referring to Figure 1, the first drive unit 42 includes a rotating blade 421, which is located on the surface of the capsule robot and is used to move the capsule robot; the drive controller 41 is connected with the first drive unit 42 via a signal to control the rotation of the rotating blade 421 to drive the capsule robot. forward or backward movement; the second drive unit 43 includes a plurality of tentacles, located on the surface of the capsule robot, for moving the capsule robot; the drive controller 41 is connected to the tentacle signals, controls the steering of the tentacles, and drives the capsule robot to move.
实际应用中，通过第一驱动单元42和第二驱动单元43采取的两种运动方式完成胶囊机器人在肠道内的运动，利用驱动控制器41驱动第一驱动单元42的旋转桨叶421旋转，从而带动胶囊机器人在肠道非弯曲的部位进行前进或后退运动；利用驱动控制器41驱动第二驱动单元43的触角转动，从而道东胶囊机器人在肠道弯曲的位置进行转向，保证胶囊机器人可以顺利通过弯曲部分的路径，减少胶囊机器人在运动过程中的卡顿的情况，In practical applications, the movement of the capsule robot in the intestine is completed through two movement modes adopted by the first drive unit 42 and the second drive unit 43, and the drive controller 41 is used to drive the rotating blade 421 of the first drive unit 42 to rotate, thereby Drive the capsule robot to move forward or backward in the non-curved part of the intestine; use the drive controller 41 to drive the antennae of the second drive unit 43 to rotate, so that the Daodong capsule robot can turn in the curved position of the intestine, ensuring that the capsule robot can move smoothly Through the curved part of the path, the capsule robot can be reduced from jamming during movement.
参照图1，第一驱动单元42还包括第一防护结构422，为环绕于旋转桨叶421上的罩体，用于防止旋转桨叶421与胃肠道内粘膜发生接触；旋转桨叶421和罩体均为柔性材质。Referring to Figure 1, the first drive unit 42 also includes a first protective structure 422, which is a cover surrounding the rotating blade 421 to prevent the rotating blade 421 from contacting the mucosa in the gastrointestinal tract; the rotating blade 421 and the cover The bodies are all made of flexible materials.
实际应用中，胶囊机器人在肠道运动过程中会与肠道接触产生摩擦，从而对肠道造成损坏。而环绕与旋转桨叶421上的罩体很好的隔绝了旋转桨叶421与肠道的接触，避免了旋转桨叶421与肠道之间的摩擦。并且旋转桨叶421和罩体都采用柔性材质，很大程度上降低了肠道的受损程度，增强胶囊机器人的安全性能。In practical applications, the capsule robot will come into contact with the intestines and cause friction during intestinal movement, thereby causing damage to the intestines. The cover surrounding the rotating blade 421 well isolates the rotating blade 421 from contact with the intestines, thereby avoiding friction between the rotating blade 421 and the intestines. Moreover, both the rotating blade 421 and the cover body are made of flexible materials, which greatly reduces the degree of damage to the intestinal tract and enhances the safety performance of the capsule robot.
参照图1，还包括施药模块5，位于胶囊机器人内部，用于对患者的肠道指定的位置释放治疗药物。Referring to Figure 1, a drug delivery module 5 is also included, which is located inside the capsule robot and is used to release therapeutic drugs to designated locations in the patient's intestines.
实际运用中，药物治疗是医学领域常用的医疗手段，通常需要患者吞服药剂，但口服药剂需要从口腔进入消化道，在此过程中药物极其容易受到消化道内胃酸或其他菌群的影响，当药物到达病灶点时药物的浓度会降低，导致无法达到预期的治疗效果。通过胶囊机器人的施药模块5，可以当胶囊机器人到达病灶点的位置后，药剂再被释放，有效避免了药剂浓度的降低，达到预期的治疗效果，提高胶囊机器人的适用场合。In actual practice, drug treatment is a commonly used medical treatment in the medical field. Patients usually need to swallow the medicine, but oral medicine needs to enter the digestive tract from the mouth. During this process, the medicine is extremely susceptible to the influence of gastric acid or other flora in the digestive tract. When When the drug reaches the focus point, the concentration of the drug will decrease, resulting in the failure to achieve the expected therapeutic effect. Through the medication application module 5 of the capsule robot, the medication can be released after the capsule robot reaches the location of the focus point, effectively avoiding the reduction of the concentration of the medication, achieving the expected therapeutic effect, and improving the applicable occasions of the capsule robot.
参照图1，施药模块5与胶囊机器人表面开设的施药口相接通，施药口设有可降解高分子材料的硅胶塞；施药单元与检测单元信号连接，接收所述图像采集数据和运动状态数据后控制硅胶塞移动，带动治疗药物从施药口处释放。Referring to Figure 1, the medicine application module 5 is connected to the medicine application port provided on the surface of the capsule robot. The medicine application port is equipped with a silicone plug of degradable polymer material; the medicine application unit is connected with the detection unit signal to receive the image collection data. The movement of the silicone stopper is controlled based on the movement status data to drive the therapeutic drug to be released from the dispensing port.
实际运用中，在胶囊机器人未运动至肠道内需要治疗的施药点时，利用硅胶塞将施药口堵住，避免药物从施药口提前流出；当胶囊机器人到达肠道内需要治疗的病灶点时，通过控制器控制硅胶塞移动，使治疗药物可以从施药口顺利流出，实现药剂的精准施放，保证药物治疗的效果，增加胶囊机器人的便捷性和实用性，扩大胶囊机器人的使用范围。In actual application, when the capsule robot has not moved to the medication application point in the intestine that needs to be treated, a silicone plug is used to block the medication application port to prevent the drug from flowing out from the medication port in advance; when the capsule robot reaches the focus point in the intestine that needs to be treated, At this time, the controller controls the movement of the silicone stopper, so that the therapeutic drugs can flow out smoothly from the dispensing port, achieving precise dispensing of the drugs, ensuring the effect of drug treatment, increasing the convenience and practicality of the capsule robot, and expanding the scope of use of the capsule robot.
本申请实施例一种基于双臂螺旋天线的胶囊机器人系统的实施原理为：检测模块1和定向模块3判断胶囊机器人的运动路线。利用无线通信模块2实现各模块之间的数据传输，无线通信模块2采用双臂螺旋天线22，双臂螺旋天线22具有宽频性，在通过肠道时能够覆盖所述的频段，提高天线的稳定性；同时双臂螺旋天线22为高低双频段天线，使胶囊机器人在唤醒和睡眠两种状态下进行切换；当天线接收到外部设备6发送的唤醒信号时，胶囊机器人正常工作，人体内部信息被输送到体外；当系统不需要传输人体信息时，天线进入睡眠模式，从而节省电量，延长胶囊机器人的使用时间。再利用驱动模块4实现胶囊机器人在肠道内的前进或后退和转向的运动，提高胶囊机器人在肠道内运动的流畅性，提高了胶囊机器人的工作效率。The implementation principle of the capsule robot system based on the dual-arm helical antenna in the embodiment of the present application is as follows: the detection module 1 and the orientation module 3 determine the movement route of the capsule robot. The wireless communication module 2 is used to realize data transmission between modules. The wireless communication module 2 adopts a double-arm helical antenna 22. The double-arm helical antenna 22 has a wide frequency and can cover the frequency band when passing through the intestine, thereby improving the stability of the antenna. At the same time, the double-arm spiral antenna 22 is a high and low dual-band antenna, allowing the capsule robot to switch between wake-up and sleep states; when the antenna receives the wake-up signal sent by the external device 6, the capsule robot works normally, and the internal information of the human body is Transported outside the body; when the system does not need to transmit human body information, the antenna enters sleep mode, thereby saving power and extending the use time of the capsule robot. The driving module 4 is then used to realize the forward, backward and turning movement of the capsule robot in the intestine, thereby improving the smoothness of the movement of the capsule robot in the intestine and improving the working efficiency of the capsule robot.
以上均为本申请的较佳实施例，并非依此限制本申请的保护范围，故：凡依本申请的结构、形状、原理所做的等效变化，均应涵盖于本申请的保护范围之内。The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application shall be covered by the scope of protection of the present application. Inside.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310797960.4ACN116746863A (en) | 2023-06-30 | 2023-06-30 | A capsule robot system based on dual-arm helical antenna |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310797960.4ACN116746863A (en) | 2023-06-30 | 2023-06-30 | A capsule robot system based on dual-arm helical antenna |
| Publication Number | Publication Date |
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| CN116746863Atrue CN116746863A (en) | 2023-09-15 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310797960.4APendingCN116746863A (en) | 2023-06-30 | 2023-06-30 | A capsule robot system based on dual-arm helical antenna |
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| CN (1) | CN116746863A (en) |
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