Micro robot

• US 6,824,510 B2
• Filed: 05/01/2002
• Issued: 11/30/2004
• Est. Priority Date: 05/19/2001
• Status: Expired due to Term

• Current Assignee: Korea Advanced Institute of Science and Technology
• Original Assignee: Korea Advanced Institute of Science and Technology
• Inventors: Lee, Seunghak, Kim, Soo Hyun, Kim, Byungkyu, Park, Jong-Oh, Hong, Yeh-Sun, Kim, Kyoung-Dae
• Primary Examiner(s): Leubecker, John P.
• Application Number:
  US10/136,888
• Publication Number:
  US 20020173700A1
• Time in Patent Office: 944 Days
• Field of Search: 600/101, 600/160, 600/114, 901/1, 901/47, 348/82, 348/84, 348/85, 738/658, 604/95.01
• US Class Current: 600/114
• CPC Class Codes: A61B 1/00156 using self propulsion
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/31 for the rectum, e.g. proctoscopes, sigmoidoscopes , colonoscopes
• CPC Class Codes: A61B 2034/303 specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/72 Micromanipulators

Abstract

A micro robot driving system for endoscope can move a micro robot forward, backward or changing the direction by transmitting rotation force generated by a driving means to a worm gear or a gear tooth shaped belt by a worm. The micro robot driving system in accordance with the present invention includes a micro robot body, rotational force transmitting means installed in the body, for transmitting rotational force generated by driving means and movement means which is connected with the rotational force transmitting means, protruded from the body, for moving the body by rotational force transmitted by the rotational force transmitting means.

Claims

1. A micro robot driving system, comprising:

a micro robot body;

rotational force transmitting means installed in the body, for transmitting rotational force generated by driving means;

movement means which is connected with the rotational force transmitting means, protruded from the body for moving the body by rotational force transmitted by the rotational force transmitting means; and

a body fixing means which is positioned at both ends of the body for fixing the body on an inner wall of intestines.

2. The system of claim 1, wherein the rotational force transmitting means is a worm.

3. The system of claim 1, wherein the rotational force transmitting means comprises a plurality of worms positioned radially with respect to a longitudinal axis of the micro robot body.

4. The system of claim 3, wherein the plurality of worms are connected with the driving means respectively.

5. The system of claim 3, wherein the plurality of worms transmit rotational force in gear with the movement means respectively.

6. The system of claim 5, wherein the movement means is worm gears in line or gear tooth shaped belt.

7. The system of claim 1, wherein the movement means is a plurality of worm gears.

8. The system of claim 1, wherein the movement means is gear tooth shaped belt.

9. The system of claim 1, wherein the movement means are positioned radially with respect to a longitudinal axis of the micro robot body.

10. The system of claim 1, wherein the rotational force transmitting means is a worm having a space inside and the driving means is positioned inside the worm.

11. The system of claim 1, wherein the driving means comprises:

a driving apparatus having a driving shaft for generating rotational force; and

a coupling.

12. The system of claim 1, wherein the body fixing means comprises:

an annular pipe which has a variable volume according to air pressure covering one end of the body; and

an air supply line for infusing air to the annular pipe or discharging air.

13. The system of claim 1, wherein a plurality of slots are formed in the body and the movement means is installed in the body protruding the slots.

14. A micro robot driving system, comprising:

a plurality of micro robot bodies;

rotational force transmitting means installed in the respective bodies, for transmitting rotational force generated by driving means; and

movement means which is connected with the rotational force transmitting means, protruded from the respective bodies, for moving the respective bodies by rotational force transmitted by the rotational force transmitting means, and

body fixing means respectively positioned at both ends of each of the micro robot bodies for fixing the respective bodies on an inner wall of intestines;

wherein the respective bodies are connected by body connection means to each other.

15. The system of claim 14, wherein the body connection means comprises a plurality of linear driving means which are connected in a parallel with the respective bodies.

16. The system of claim 15, wherein the driving means is installed in one of the bodies and the body connection means further comprises a universal joint.

17. The system of claim 14, wherein the driving means is installed in one of the bodies and the body connection means comprises a coupling.

18. The system of claim 14, wherein the driving means is installed in one of the bodies and the body connection means comprises a universal joint.