Self-propelled endoscopic micro-robot and system for intestinal endoscopy using the same

• US 6,702,734 B2
• Filed: 11/14/2001
• Issued: 03/09/2004
• Est. Priority Date: 02/10/2001
• Status: Expired due to Term

• Current Assignee: Korea Advanced Institute of Science and Technology
• Original Assignee: Korea Advanced Institute of Science and Technology
• Inventors: Kim, Soo Hyun, Kim, Byungkyu, Lee, Jinhee, Lim, Young Mo, Park, Jisang, Park, Jong-Oh
• Primary Examiner(s): MULCAHY, JOHN M
• Application Number:
  US09/993,850
• Publication Number:
  US 20020111535A1
• Time in Patent Office: 846 Days
• Field of Search: 600/114-116, 600/127, 600/129, 600/150, 600/152, 604/95.01
• US Class Current: 600/114
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging

Abstract

A self-propelled endoscopic micro-robot, comprising a head for obtaining the errorless information of an interior of a tubular organ; an impact force generating unit connected the head generating an impact force according to a pneumatic pressure externally supplied and sucked by a air pressure supplier and making the self-propelled endoscopic micro-robot move in the tubular organ; and a plurality of supporting arms connected the head with end of the impact force for covering the impact force generating unit, making a housing of the self-propelled endoscopic micro-robot, and adjusting frictional force between the interior of the tubular organ and the housing as desired.

Claims

1. A system for intestinal endoscopy, comprising:

an air pressure supplier for generating a predetermined pressure; and

a self-propelled endoscopic micro-robot with which said air pressure supplier is externally connected capable of moving in a tubular organ by an impact force generated by a pneumatic pressure provided and sucked by the air pressure supplier without any damage to the tubular organ, and obtaining precise images of the interior of the tubular organ.

2. The system according to claim 1, wherein said head comprises:

a light emitting unit for lighting the interior of the tubular organ; and

a camera for obtaining the precise images as the light emitting unit lighted the interior of the tubular organ.

3. The system according to claim 2, wherein said light emitting unit comprises a plurality of light emitting diodes.

4. The system according to claim 1, wherein said impact force generating unit comprises:

a cylinder for generating the impact force by pneumatic pressure supplied and sucked by the pneumatic pressure supplier; and

a plurality of linear actuators installed between the head and cylinder controlling the direction of the self-propelled endoscopic micro-robot.

5. The system according to claim 4, wherein said linear actuators comprises a shape-memory alloy or a polymer variable in length according to applied voltages thereto.

6. The system according to claim 4, wherein said cylinder comprises:

a propulsion piston for pneumatically coming into collision with either wall of the cylinder to generate impact force according to the pneumatic pressure supplied or sucked by the air pressure supplier and making the self-propelled endocsopic micro-robot move forward or backward in the tubular organ; and

a plurality of holes for inputting and outputting air, which are formed at a predetermined portion of the cylinder toward the head.

7. The system according to claim 4, wherein said system further comprises a damper installed between the head and the linear actuators for protecting the head from propulsive impact force generated by the propulsion piston.

8. The system according to claim 1, wherein said system further comprises a hose to flow the air between the impact force generating unit and the pneumatic pressure supplier.

9. The system according to claim 1, wherein said supporting arms are flexible arc-shaped bars bent from the self-propelled endoscopic micro-robot towards the tubular organ.

10. The system according to claim 1, wherein said air pressure supplier comprises:

a pneumatic pressure generating unit for generating the pneumatic pressure;

an air flow rate controlling unit for controlling the pneumatic pressure supplied and sucked to and from the self-propelled endoscopic micro-robot; and

a pneumatic pressure controller for controlling the air flow rate controlling unit.

11. The system according to claim 10, wherein said air flow rate controlling unit comprises:

a pneumatic pressure valve for switching direction of the pneumatic pressure between the pneumatic pressure generating unit and the self-propelled endoscopic micro-robot according to the control of the pneumatic pressure controller; and

a plurality of air flow rate controlling valves for controlling air flow rate via the pneumatic pressure valve.

12. The system according to claim 10, wherein said flow rate controlling unit comprises:

a plurality of pneumatic pressure flow rate controlling valves for controlling pneumatic flow rates inputted and outputted to and from the pneumatic pressure valve according to the control of the pneumatic pressure controller;

a vacuum generating unit for sucking pneumatic pressure from the self-propelled endoscopic micro-robot; and

a ventilation valve for outwardly exhausting the pneumatic pressure from the self-propelled endoscopic micro-robot, which is generated by the operation of the vacuum generating unit.

13. The system according to clam 1, wherein said impact force depends on the pneumatic pressure and applied speed thereof between the air pressure supplier and the self-propelled endoscopic micro-robot.

14. A self-propelled endoscopic micro-robot, comprising:

a head for obtaining the errorless information of an interior of a tubular organ;

an impact force generating unit connecting the head generating an impact force according to a pneumatic pressure externally supplied and sucked by a air pressure supplier and making the self-propelled endoscopic micro-robot move in the tubular organ; and

a plurality of supporting arms connecting the head with end of the impact force generating unit for covering the impact force generating unit, making a housing of the self-propelled endoscopic micro-robot, and adjusting frictional force between the interior of the tubular organ and the housing as desired.

15. The self-propelled endoscopic micro-robot according to claim 14, wherein said head comprises:

a light emitting unit for lighting the interior of the tubular organ; and

an information obtaining unit for obtaining the precise images as the light emitting unit lighted the interior of the tubular organ.

16. The system according to claim 15, wherein said light emitting unit comprises a plurality of light emitting diodes.

17. The system according to claim 14, wherein said impact force generating unit comprises:

a cylinder for generating the impact force by pneumatic pressure supplied and sucked by the pneumatic pressure supplier; and

a plurality of linear actuators installed between the head and cylinder controlling a steering of the self-propelled endoscopic micro-robot.

18. The system according to claim 17, wherein said linear actuators comprises a shape-memory alloy or a polymer variable in length according to applied voltages thereto.

19. The system according to claim 17, wherein said cylinder comprises:

a propulsion piston for pneumatically coming into collision with either wall of the cylinder to generate impact force according to the pneumatic pressure supplied or sucked by the air pressure supplier and making the self-propelled endoesopic micro-robot move forward or backward in the tubular organ; and

a plurality of holes for inputting and outputting air, which are formed at a predetermined portion of the cylinder toward the head.

20. The system according to claim 17, wherein said system further comprises a damper installed between the head and the linear actuators for protecting the head from propulsive impact force generated by the propulsion piston.

21. The system according to claim 14, wherein said system further comprises a hose to flow the air between the impact force generating unit and the pneumatic pressure supplier.

22. The system according to claim 14, wherein said supporting arms are round-typed bars bent from the self-propelled endoscopic micro-robot towards the tubular organ.

23. The system according to the claim 14, wherein said impact force depends on the pneumatic pressure and supplied speed thereof between the air pressure supplier and the self-propelled endoscopic micro-robot.