Title:
CAPSULE ROBOT HAVING SYMMETRICAL SIDE FORCE SENSING FUNCTION
Document Type and Number:
WIPO Patent Application WO/2019/242293
Kind Code:
A1
Abstract:
An endoscopic capsule robot having a symmetrical side force sensing function, which is capable of sensing a multi-side interactive contact force between a capsule-shaped head (1) and the external environment and which comprises: the capsule-shaped head (1), a connector (3), a force sensing module disposed within the capsule-shaped head (1), and a channel module (2) used for connecting the capsule-shaped head (1) and the connector (3): the force sensing unit comprises two or more film pressure sensors (14) that are evenly distributed along the circumference of a head casing (5), the pressure sensors (14) being used for sensing pressure data of the external environment on the capsule head (1), and transmitting the sensed pressure data to a force data output unit so as to wirelessly transmit to an external host computer. The capsule-shaped head (1) moves as driven by an external single magnetic field or multiple magnetic fields, thereby being capable of detecting an interactive contact force between a small lumen wall of the gastrointestinal tract or the wall of the small intestinal and the capsule-shaped head (1); in addition to the capsule-shaped head (1), a channel of the capsule robot that enters the human body is a flexible tube which will not cause pain, and movement is controlled by means of an external magnetic field, thus achieving painless omni-directional controlled observation.
Inventors:
HUANG QIANG (CN)
LI JING (CN)
ZHOU LONG (CN)
PAOLO DARIO (CN)
GASTONE CIUTI (CN)
ZHANG WENHUI (CN)
LI JING (CN)
ZHOU LONG (CN)
PAOLO DARIO (CN)
GASTONE CIUTI (CN)
ZHANG WENHUI (CN)
Application Number:
PCT/CN2019/000128
Publication Date:
December 26, 2019
Filing Date:
June 19, 2019
Export Citation:
Assignee:
BEIJING INSTITUTE TECH (CN)
HUANG QIANG (CN)
LI JING (CN)
ZHOU LONG (CN)
PAOLO DARIO (CN)
GASTONE CIUTI (CN)
ZHANG WENHUI (CN)
HUANG QIANG (CN)
LI JING (CN)
ZHOU LONG (CN)
PAOLO DARIO (CN)
GASTONE CIUTI (CN)
ZHANG WENHUI (CN)
International Classes:
A61B1/06; A61B1/045; A61B1/12
Foreign References:
| CN108836241A | 2018-11-20 | |||
| CN108158549A | 2018-06-15 | |||
| CN105796043A | 2016-07-27 | |||
| CN105682597A | 2016-06-15 | |||
| CN102176855A | 2011-09-07 | |||
| DE102007051862A1 | 2009-05-14 |
Other References:
See also references of EP 3811846A4
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