Micro-robot for colonoscope with motor locomotion and system for colonoscope using the same
First Claim
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1. A micro-robot colonoscope with motor locomotion, comprising:
- an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon;
said information detecting unit further comprises;
a lighting emitting unit for emitting a light in the interior of the colon;
a camera for taking images the interior as the lighting emitting unit illuminates; and
a plurality of sensors for detecting pressure or force which the micro-robot applies to the interior of the colon.
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Abstract
A micro-robot for colonoscope with motor locomotion comprises an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon.
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Citations
19 Claims
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1. A micro-robot colonoscope with motor locomotion, comprising:
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an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon;
said information detecting unit further comprises;
a lighting emitting unit for emitting a light in the interior of the colon;
a camera for taking images the interior as the lighting emitting unit illuminates; and
a plurality of sensors for detecting pressure or force which the micro-robot applies to the interior of the colon. - View Dependent Claims (2)
a controlling unit for controlling the information detecting unit and the driving unit; and
a power supplying unit for supplying power to the information detecting unit, the driving unit and the controlling unit.
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3. A micro-robot colonoscope with motor locomotion, comprising:
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an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon;
said driving unit having a front driving unit for generating a first locomotion and moving in the colon according to the locomotion, which carries the information detecting unit thereon, a rear driving unit for generating a second locomotion and moving in the colon corresponding to the movement of the front driving unit, wherein the rear and front driving units are connected with each other in a predetermined distance, and a steering unit for relatively controlling the front and rear driving units and changing the advancing direction of the micro-robot, which is positioned between the front and rear driving units;
said front driving unit further comprises;
a first motor for generating the first locomotion;
a set of first wheels for rotating by the first locomotion; and
a first driving force transmission unit for transmitting the first locomotion to the set of the first wheels.- View Dependent Claims (4, 5, 6, 7, 8)
a revolute joint for relatively rotating the front and rear driving units;
a plurality of steering linear actuators for controlling angles between the front and the rear driving units with respect to the revolute joint and thus helping steer the micro-robot; and
a plurality of springs for maintaining the interval between the front and rear driving units and aligning the front and rear driving units in a straight line, provided that the linear actuators do not operate.
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6. The micro-robot according to claim 5, wherein said steering linear actuators comprise a pneumatic pressure cylinder operated by air pressure or shape memory alloy and polymer varying its length according to the variation of the supplied power.
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7. The micro-robot according to, claim 3 wherein said micro-robot further comprises a body supporting unit for fixing the micro-robot on the inner wall of colon, wherein said body supporting unit comprising:
a plurality of supporters for fixing the micro-robot on the inner wall of colon; and
a plurality of fixing linear actuators for fixing the supporters to the inner wall of colon.
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8. The micro-robot according to claim 7 wherein said fixing linear actuators comprise a pneumatic pressure cylinder operated by air pressure or shape memory alloy and polymer varying its length according to the variation of the supplied power.
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9. A micro-robot colonoscope with motor locomotion, comprising:
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an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon;
said driving unit having a front driving unit for generating a first locomotion and moving in the colon according to the locomotion, which carries the information detecting unit thereon, a rear driving unit for generating a second locomotion and moving in the colon corresponding to the movement of the front driving unit, wherein the rear and front driving units are connected with each other in a predetermined distance, and a steering unit for relatively controlling the front and rear driving units and changing the advancing direction of the micro-robot, which is positioned between the front and rear driving units;
said rear driving unit further comprises;
a motor for generating the second locomotion;
a set of wheels for rotating by the second locomotion; and
a driving force transmission unit for transmitting the second locomotion to the set of the wheels.- View Dependent Claims (10)
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11. A micro-robot colonoscope with motor locomotion, comprising:
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an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon;
said driving unit having a front driving unit for generating a first locomotion and moving in the colon according to the locomotion, which carries the information detecting unit thereon;
a rear driving unit for generating a second locomotion and moving in the colon corresponding to the movement of the front driving unit; and
a steering unit for connecting the front and rear driving units and steering the micro-robot;
said front driving unit further comprises;
a motor for generating a locomotion;
a plurality of wheels for carrying the front driving unit; and
a third driving force transmission unit for transmitting the locomotion to one of is the wheels.- View Dependent Claims (12, 13, 18)
a first timing belt for connecting the wheel with the rear driving unit and transmitting the locomotion of the motor to the wheel and the rear driving unit; and
a set of first pulleys for being wound by the first timing belt, which are installed at the axis where the third wheel attached and the rear driving unit, respectively.
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18. The system according to claim 11 wherein said steering unit comprises:
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a revolute joint for relatively rotating the front driving unit and the rear driving unit;
a plurality of linear actuators for controlling angles between the front driving unit and the rear driving unit with respect to the revolute joint and steering the micro-robot; and
a plurality of springs for maintaining the interval between the front and the rear driving unit and aligning the front and rear driving units in a straight line provided that the linear actuators do not operate.
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14. A micro-robot colonoscope with motor locomotion, comprising:
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an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon;
said driving unit having a front driving unit for generating a first locomotion and moving in the colon according to the locomotion, which carries the information detecting unit thereon;
a rear driving unit for generating a second locomotion and moving in the colon corresponding to the movement of the front driving unit; and
a steering unit for connecting the front and rear driving units and steering the micro-robot;
said rear driving unit further comprises;
a motor for generating locomotion;
a plurality of wheels for carrying the rear driving unit; and
driving force transmission unit for transmitting the locomotion to one of the wheels.- View Dependent Claims (15, 16)
a timing belt for connecting the wheel with the front driving unit and transmitting the locomotion of the motor to the wheel and the front driving unit; and
a set of pulleys for being wound by the timing belt, which are installed at the axis where the wheel attaches and the front driving unit, respectively.
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17. A systsm for colonoscopy, the system comprising:
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a micro-robot for obtaining information of the interior of a colon, wherein the micro-robot comprises;
an information detecting unit for obtaining information of the interior of the colon; and
a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to walls of the colon, the driving unit including;
a front driving unit for generating a first locomotion and moving in the colon according to the locomotion, which carries the information detecting unit thereon;
a rear driving unit for generating a second locomotion and moving in the colon corresponding to the movement of the front driving unit, wherein the rear and front driving units are connected with each other at a predetermined distance; and
a steering unit for relatively controlling the front and rear driving units and changing the advancing direction of the micro-robot, which is positioned between the front and rear driving units, wherein the front driving unit comprises;
a first motor for generating the first locomotion, a set of first wheels for rotating by the first locomotion; and
a first driving force transmission unit for transmitting the first locomotion to the set of the first wheels;
a controlling unit for controlling the micro-robot; and
a power supplying unit for supplying power to the micro-robot and the controlling unit. - View Dependent Claims (19)
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Specification