公开(公告)号：US20220409305A1

公开(公告)日：2022-12-29

申请号：US17383498

申请日：2021-07-23

Applicant: Harbin Institute of Technology

Inventor： Longqiu Li ,  Dekai Zhou ,  Yongchang Zhang ,  Pengchun Li ,  Jiale Quan ,  Xiaocong Chang ,  Guangbin Shao

IPC: A61B34/30 ,  A61B1/273 ,  A61B90/00 ,  A61B90/30

Abstract: The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. Wherein the robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The front end of each microfluid channels is a sealed end, a rear end of each of the microfluid channels is an open end. The open end of each microfluid channels communicates with an end opening of a flow channel of one air cylinder. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.

公开(公告)号：US11786322B2

公开(公告)日：2023-10-17

申请号：US17383498

申请日：2021-07-23

Applicant: Harbin Institute of Technology

Inventor： Longqiu Li ,  Dekai Zhou ,  Yongchang Zhang ,  Pengchun Li ,  Jiale Quan ,  Xiaocong Chang ,  Guangbin Shao

IPC: A61B1/00 ,  A61B34/30 ,  A61B90/30 ,  A61B90/00 ,  A61B1/273

CPC classification number: A61B34/30 ,  A61B1/273 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/301 ,  A61B2562/0285 ,  A61B2562/162

Abstract: The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. The robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.