CN103784228B - Based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications - Google Patents

Abstract

The invention discloses a slimming capsule robot based on a motor linear mechanism and wireless communication, which is composed of a chemical expansion module, a mechanical hardware module and a wireless communication control module. The harmful carbon dioxide gas inflates the inflation balloon; the mechanical hardware module is mainly composed of the linear output mechanism of the stepping screw motor, equipped with a trigger blade and a needle to realize the deflation of the inflation balloon; the wireless communication control module is set in the slimming capsule robot The wireless module communicates with the in vitro base station to control the rotation angle of the stepping screw motor and the displacement of the linear mechanism, thereby controlling the expansion and contraction of the inflatable balloon. The invention has the advantages of small size, novel mechanism, unique energy supply control mode, safety and reliability, and extremely convenient intake and discharge; the implantation process basically does not harm the body.

Description

Slimming capsule robot based on motor linear mechanism and wireless communication

technical field

The invention relates to a miniature slimming capsule robot based on a motor linear mechanism and wireless communication control, which is a medical device for treating obesity, and belongs to the technical field combining mechanical electronics and biomedicine.

Background technique

According to the latest data from the World Health Organization (WHO), 1.6 billion adults worldwide are overweight, and 400 million adults are obese, and obesity can induce diseases such as high blood pressure, coronary heart disease, stroke, etc. more and more attention.

In 1982, Neiben proposed the concept that intragastric balloons occupy a certain space in the stomach, thereby reducing hunger and reducing food intake. See reference [1]: NeibenOG, HarboeH. Intragastric balloon as an artificial bezoar for treatment of obesity. Lancet1982; This proposal has proven to be an effective therapy for the short-term treatment of obesity. Based on this theory, some devices filled with liquid or gas have been invented, like GEGB, Ballobes, Wilson-Cook, Tremco, Taylor and Dow-Corning, etc. See reference [2]: ForestieriP, DePalmaGD, FormatoA, etal.Heliosphere bagin the treatment of severe obesity: preliminary experience [J]. Obesity surgery, 2006, 16(5): 635-637. However, these products do not have a long service life, are prone to air leakage, and the ideal expansion volume and required optimal expansion time cannot be effectively controlled.

Currently, the most commercially available treatments for obesity on the market are Bioentrics IntragastricBalloon (BIB) and HeliosphereBag, both of which are also based on the principle of intragastric ballooning. Although these two devices have achieved remarkable results in the treatment of obesity, they need to go deep into the patient's stomach with the help of a gastroscope at the beginning and end of treatment, which brings great discomfort and pain to obese patients. These defects are to a certain extent This limits its further commercialization.

Recently, researchers in Singapore have implemented a weight loss device based on wireless communication technology to control intragastric balloons in the laboratory. See reference [3]: KencanaAP, RasouliM, HuynhVA, et al. 2010 Annual International Conference of the IEEE. IEEE, 2010: 963-966, and did a preliminary experiment in pigs. However, limited by the mechanical scheme of the device, the device has a large size and cannot be taken by the human body normally. Moreover, the expansion volume of the balloon is too large, and the impact on human body functions cannot be ignored.

Therefore, to improve the mechanical scheme of the device based on the principle of intragastric balloon surgery, that is, to design the mechanical principle based on the motor linear mechanism, to use the wireless communication control method for information communication and control, and to develop a device with a smaller size to reach the edible level. It is particularly urgent and important to improve the performance of the device to achieve better therapeutic effects and reduce the side effects of the device on the human body.

Contents of the invention

The present invention proposes a miniature slimming capsule robot based on motor linear mechanism and wireless communication control. The purpose is to solve the problem that current weight loss devices are not easy to take in, the introduction of auxiliary equipment brings great pain to patients, and the effect of weight loss treatment is not obvious. question.

The miniature slimming capsule robot of the present invention is mainly composed of three major modules: a chemical expansion module, a mechanical hardware module, and a wireless communication control module, and the mutual cooperation between the modules is easy to assemble. The chemical expansion module is to inflate the inflation balloon through the contact reaction of acetic acid and sodium bicarbonate powder to produce carbon dioxide gas that is harmless to the human body; the mechanical hardware module is mainly based on the linear output mechanism of the stepping screw motor, equipped with triggering reaction blades and realizing expansion The needle for balloon deflation; the wireless communication control module is to control the rotation angle of the stepping screw motor and the displacement of the linear mechanism through the wireless module installed in the slimming capsule robot to communicate with the external base station, thereby controlling the expansion and contraction of the inflatable balloon .

The miniature slimming capsule robot specifically includes a main shell, a secondary shell, an inflatable balloon, an air outlet end cover, a buffer sponge sheet, a sealing film, a wireless transceiver board, a control board, a power supply, a stepping screw motor, a triggering reaction blade, and a sleeve , needle, blade slideway, threaded screw, guide rail and slide plate, the secondary housing is located inside the main housing, and the interference fit connection between the two; the inner surface of the main housing and the outer surface of the secondary housing form an annular sodium bicarbonate powder Cavity, four working chambers are formed inside the secondary shell, wireless transceiver board, control board and power supply are arranged outside the right end face of the main shell, the power supply is connected to the stepping screw motor through the wiring hole on the rear end face of the main shell to supply power . The interference fit between the left end of the main housing and the air outlet end cover presses the inflatable balloon inflation port and the sealing film on the air outlet end cover to achieve sealing, and a buffer sponge sheet is also arranged between the air outlet end cover and the sealing film . The inflatable balloon communicates with the sodium bicarbonate powder cavity through the carbon dioxide gas channel on the right end surface of the main casing. A motor mounting hole is provided on the right end surface of the secondary housing, and the stepping screw motor is interference-fitted with the motor mounting hole to realize the fixing of the stepping screw motor. The output shaft of the stepping screw motor is located inside the secondary housing, and the output shaft is a threaded screw, on which a slide plate is threaded, and a sleeve is fixed on the slide plate, and three handles are arranged around the sleeve. The reaction blade is triggered, and the needle is arranged on the free end face of the sleeve. The needle is coaxial with the sleeve. A guide rail is arranged below the threaded screw rod, and the guide rail passes through the slide plate to ensure that the slide plate moves linearly along the long axis of the threaded screw rod. Both ends of the guide rail are fixed on the motor shaft end baffle, and the motor shaft end baffle is fixed on the motor casing.

The inner space of the secondary shell is divided into an inverted "П" shaped space through a partition, including three acetic acid bag cavities and a motor working chamber. A blade slide is processed on the partition, and the blade slide runs through the entire In the direction of the long axis of the secondary casing, on both sides of each blade slideway, near the right end surface of the secondary casing, a boss is processed, and the thickness of the boss along the long axis of the secondary casing is not less than the blade width of the triggering reaction blade. The number of said blade slides is the same as the number of trigger reaction blades. The boss is located on the side of the partition in the left working chamber, the right working chamber and the lower working chamber.

An acetic acid liquid channel is arranged on the wall of the secondary housing to facilitate the acetic acid liquid to enter the sodium bicarbonate powder cavity. A carbon dioxide gas channel is provided on the right end of the main housing for communicating with the sodium bicarbonate powder cavity and the inflation balloon.

The new mechanical principle scheme and control method make the volume of the device very small and reach the edible level; the moderate expansion volume can reduce the side effects of the inflation balloon in the stomach on the human body, and can have a more ideal therapeutic effect.

The advantages of the present invention are:

(1) The slimming capsule robot of the present invention is small in size, novel in mechanism and device, unique in energy supply control mode, safe and reliable, and extremely convenient in intake and discharge;

(2) The slimming capsule robot of the present invention does not need to be put into or discharged from the human body through surgery or other means, and the implantation process does not cause any harm to the body;

(3) The traditional water capsule weight loss method is extremely complicated due to the intake and discharge, and often needs to stay in the body for more than half a year. Shorten the residence time of each capsule in the body (for example, stay for two weeks to be discharged, rest for a few days and then ingest again), so as to eliminate or reduce the side effects on the body;

(4) The slimming capsule robot of the present invention has simple mechanical structure, convenient processing and manufacture, low cost, and high economic efficiency, which provides the possibility for realizing its marketization.

Description of drawings

Fig. 1 is a sectional view of the overall assembly of the present invention;

Fig. 2A and Fig. 2B are the matching diagram of the main shell and the secondary shell and the schematic diagram of the formed working chamber;

Fig. 3 is the installation structural diagram of stepper motor and cutting tool;

4A and 4B are schematic structural views and cross-sectional views of the gas outlet end cap. Figure 1

Detailed ways

The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

The present invention provides a miniature slimming capsule robot based on a motor linear mechanism and wireless communication, which is a mechatronic device and uses the principle of intragastric ballooning. The miniature slimming capsule robot mainly includes a chemical expansion module, a mechanical hardware module and The wireless communication control module has three parts. The chemical expansion module mainly includes an air outlet cover 1, a buffer sponge sheet 2, a sealing film 3, and an expansion balloon 8; the mechanical hardware module includes a main casing 4, a secondary casing 5, a stepping screw motor 12, a triggering reaction blade 13, a sleeve Barrel 14, needle head 15 and blade slideway 16; wireless communication control module includes wireless transceiver board 9, control board 10, power supply 11. Among them, the chemical expansion module and the mechanical hardware module mainly press the inflation port of the expansion balloon 8 and the sealing film 3 tightly on the air outlet cover 1 through the interference fit between the air outlet end cover 1 and the main shell 4 to ensure the airtightness of the device , the cavity structure inside the secondary housing 5 is used to store the acetic acid bag of the chemical expansion module, and the annular gap between the main housing 4 and the secondary housing 5 is used to store the sodium bicarbonate powder of the chemical expansion module and the reaction chamber for generating carbon dioxide as a device The wireless communication control module is used to supply power to the mechanical hardware module and send and receive control signals and control the entire device. The wireless transceiver board 9, control board 10 and power supply 11 are stored in the cavity of the main housing 4 of the mechanical hardware module.

The internal components, connection methods and functions of each module in the present invention will be described in detail below with reference to FIGS. 1 to 3 .

The chemical expansion module is the functional module for the expansion and contraction of the intragastric balloon, and is the main module for the device to produce the effect of treating obesity. It mainly includes an acetic acid bag cavity 6, a sodium bicarbonate powder cavity 7 and an inflatable balloon 8 to form an inflatable expansion part, and an air outlet end cap 1, a buffer sponge sheet 2 and a sealing film 3 to form a deflated buffer part. The acetic acid liquid is wrapped in the acetic acid bag, and the acetic acid bag is stored in the three working chambers (left working chamber 601, right working chamber 602, and lower working chamber 603) of the secondary shell 5, and the sodium bicarbonate powder is stored in the main shell 4 and the secondary shell In the annular gap between 5, the annular distribution spreads out and has increased the contact area of sodium bicarbonate powder and acetic acid liquid reaction. When the reaction started, the acetic acid bag was scratched by the trigger reaction blade 13 moved in the blade slideway 16, and the acetic acid liquid flowed out from the acetic acid bag, and flowed into the sodium bicarbonate powder chamber 7 through the acetic acid liquid passage 502 on the wall surface of the secondary shell 5, and mixed with bicarbonate The sodium powder reacts to generate carbon dioxide gas, and the carbon dioxide gas enters the interior of the inflatable balloon 8 through the carbon dioxide gas channel 401 to inflate the initially contracted inflatable balloon 8 . After the treatment period, the sealing film 3 is punctured by the needle 15 on the linear mechanism of the motor, and the carbon dioxide gas is directly discharged from the capsule through the air outlet 101 on the buffer sponge sheet 2 and the air outlet end cap 1, and the inflatable balloon 8 shrinks. As shown in FIGS. 4A and 4B , the air outlet end cap 1 has an air outlet 101 , and a buffer sponge sheet 2 is arranged between the air outlet 101 and the sealing film 3 . The sodium bicarbonate powder adsorbed in the buffer sponge sheet 2 not only has the effect of "washing" the carbon dioxide discharged from the capsule, but also can prevent gastric acid from corroding the weight-loss capsule robot and play a buffer role.

The mechanical hardware module takes the stepping screw motor 12 as the main body, and cooperates with components such as the main casing 4, the secondary casing 5, the sleeve 14, the triggering reaction blade 13, the needle head 15, and the blade slideway 16. The output end of the stepping screw motor 12 is a precision threaded screw 17 structure, and the stepping screw motor 12 receives the control pulse sent by the single-chip microcomputer chip, so that the slide plate 19 threaded on the threaded screw 17 moves along the direction of the guide rail 18 Linear displacement; the hollow structure of the secondary shell 5 forms three acetic acid bag chambers 6 and a motor working chamber 605, as shown in Figure 2A and Figure 2B, that is, the left working chamber 601, the right working chamber 602, the lower working chamber 603 and the motor working chamber 605 , the four working chambers are disconnected by a partition plate 604, and there is a blade slideway 16 on the partition plate 604; the right end surface of the secondary housing 5 and the inner hole of the right end surface of the main housing 4 form a transition fit for connection and fixation; further preferably, in the secondary housing Two boss pins are processed on the right end surface of 5, and the connection is realized through the transition fit between the two boss pins and the inner hole on the right end surface of the main shell 4. The annular gap formed by the inner surface of the main shell 4 and the outer surface of the secondary shell 5 forms a sodium bicarbonate powder chamber 7, and the left end area of the main shell 4 corresponding to the annular gap has a circular hole, which is used as a carbon dioxide gas channel 401 to communicate with hydrogen carbonate. Sodium powder chamber 7 and expansion balloon 8, the carbon dioxide gas that makes reaction in the sodium bicarbonate powder chamber 7 can be filled into expansion balloon 8 in the sodium bicarbonate powder chamber 7, for making acetic acid bag not be triggered reaction when not requiring reaction The blade 13 is scratched, and the internal space of the secondary housing 5 is divided into an inverted "П"-shaped space through a partition 604, including three acetic acid bag chambers 6 and a motor working chamber 605, as shown in Figure 2A, in the partition 604 A blade slideway 16 is processed on the top, and the blade slideway 16 runs through the long axis direction of the entire secondary casing 5. On both sides of each blade slideway 16, near the right end surface of the secondary casing 5, a boss 501 is processed, and the boss 501 The thickness along the long axis direction of the secondary housing 5 is not less than the blade width of the triggering reaction blade 13 . The number of the blade slideways 16 is the same as the number of the triggering reaction blades 13 . The boss 501 is located on the side of the partition 604 in the left working chamber 601 , the right working chamber 602 and the lower working chamber 603 .

The stepping screw motor 12 is a stepping screw micromotor, and its output end is a threaded screw 17 structure, as shown in Figure 3, the stepping screw motor 12 is fixed on the right end of the secondary housing 5 by means of interference fit In the motor installation hole 503 on the surface, and the output end of the stepping screw motor 12, that is, the threaded screw 17 is located in the upper working chamber 605; the threaded screw 17 is used as the output shaft of the stepping screw motor 12 A slide plate 19 is threadedly connected to the threaded screw 17, a sleeve 14 is fixedly connected to the slide 19, the sleeve 14 is located below the threaded screw 17, and the long axis direction of the sleeve 14 is parallel to the threaded screw 17. Guide rail 18 is set below described threaded screw mandrel 17, and described guide rail 18 and described threaded screw mandrel 17 are positioned in same vertical plane, and are parallel to each other, and described guide rail 18 passes slide plate 19, makes slide plate 19 along thread The screw mandrel 17 keeps moving axially during the movement. Both ends of the guide rail 18 are fixed on the motor shaft end baffle 20, and the motor shaft end baffle 20 is fixed on the motor casing. One end face of the sleeve 14 is connected to the slide plate 19 of the stepping screw motor 12, and the other end face is coaxially fixed with the needle 15; three triggering reaction blades 13 are arranged on the outer wall circumference of the sleeve 14 for Cut the three acetic acid bags placed in the acetic acid bag cavity 6, thereby triggering the reaction to realize the inflation process; the triggering reaction blade 13 is perpendicular to the outer wall of the sleeve 14, and the direction of the blade is parallel to the axis of the sleeve 14, and each triggering reaction The initial positions of the blades 13 are located in the respective blade slideways 16 and at the positions of the corresponding bosses 501 . For the radial length of the triggering reaction blade 13, the following conditions are met:

If the distance from the axis of the sleeve 14 to the cutting edge of the triggering reaction blade 13 is L1, the distance from the axis of the sleeve 14 to the outside of the corresponding working chamber partition is L2, and the distance from the axis of the sleeve 14 to the outer edge of the boss 501 is L3, Then there exists L1 greater than L2 and less than L3.

The tip of the needle 15 is facing the sealing film 3 on the air outlet end cap 1. After the treatment period, by controlling the number of pulses, the longitudinal displacement of the needle 15 is realized, thereby puncturing the sealing film 3 to realize the exhaust of the device. The structure is shown in Figure 3.

The wireless communication control module mainly includes a wireless transceiver board 9 , a control board 10 and a power supply 11 . The wireless transceiver board 9 is responsible for wireless communication with the in vitro console by transmitting and receiving 433Mhz radio frequency signals; the single-chip microcomputer chip and the corresponding interface on the control board 10 and the microcontroller CC430 of TI Company are responsible for processing the received wireless signal and driving the stepper The screw motor 12 moves accordingly; the power supply 11 is a button battery with small size and large energy storage, which is responsible for supplying power to the stepping screw motor 12, the wireless transceiver board 9, and the control board 10. During the working process, the wireless transceiver board 9 receives the command signal from the in vitro workstation, generates control pulses through the single-chip microcomputer, controls the rotation angle of the stepping screw motor 12, and converts the linear motion of the slide plate through the lead screw on the output end, Depending on the number of pulses, different displacements of the slide plate 19 are realized, thereby realizing the process of inflation and deflation of the inflatable balloon 8 . The wireless transceiver board 9, the control board 10 and the power supply 11 are arranged inside the cylindrical structure processed on the outside of the right end surface of the main casing 4, and a wiring hole 504 is processed on the right end surface of the main casing 4, so as to facilitate the connection between the power supply 11 and the stepper. The wiring between the screw motors 12 supplies power for the stepping screw motors 12 .

The working mode of the whole system is as follows:

The slimming capsule robot enters the stomach of the human body through normal oral administration and reaches its initial state, that is, the acetic acid liquid is wrapped in the acid bag and placed in the acetic acid bag cavity 6 of the secondary shell 5, and the sodium bicarbonate powder is evenly distributed in the sodium bicarbonate powder cavity In 7, three triggering reaction blades 13 are parked inside the protective boss 501 of the secondary housing 5, to prevent the triggering reaction blades 13 from causing damage to the acetic acid bag in the initial state, and the sealing film 3 and the inflation port of the expansion balloon 8 are tightly attached to each other. Sealing is realized on the gas outlet end cap 1, and the inflatable balloon 8 is in a contracted state. When the base station outside the body sends out a signal, it transmits a radio frequency signal to the equipment in the body. After processing, the single-chip microcomputer chip generates pulses to control the stepping screw motor 12. The rotation of the threaded screw 17 drives the slide plate 19 to produce linear motion, and is fixed on the slide plate. The movement of the trigger reaction blade 13 on 19 leaves the boss 501 thereupon, and the acetic acid bag is scratched. The outflowing acetic acid liquid reacts with the sodium bicarbonate powder through the acetic acid liquid channel 502 of the secondary housing 5 to generate carbon dioxide gas and enter the inflatable balloon 8 through the carbon dioxide gas channel 401 to inflate the inflatable balloon 8 . When the number of pulses sent by the single-chip microcomputer reaches the number of the initial setting, the slide plate 19 drives the triggering reaction blade 13 to stop moving, that is, the needle 15 on the sleeve 14 has a certain distance from the sealing film 3 and does not touch. When the treatment period ends, the high-frequency signal from the base station outside the body makes the single-chip microcomputer generate a trigger pulse again, and the slide plate 19 continues to move forward, so that the needle 15 on the sleeve 14 will puncture the sealing film 3, and the high-pressure gas in the inflation balloon 8 passes through the buffer sponge. The air outlet 101 on the sheet 2 and the air outlet end cap 1 is slowly discharged to the outside of the capsule, that is, the stomach of the human body, so the process of discharging carbon dioxide gas has basically no side effects on the human body. During the whole process, all the modules and components cooperate with each other, and the exhausted device can be directly discharged from the body because of its extremely small size, and a treatment process is completely completed.

Claims (6)

1. based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications, comprise main shell, expanding baloon, buffering sponge sheet, sealing film, power supply, wireless receiving and dispatching plate and panel, it is characterized in that: described miniature slimming capsule robot, also comprise time shell, end cap of giving vent to anger, stepping lead screw motor, trigger reaction blade, sleeve, syringe needle, threaded screw rod, guide rail and slide plate, described time shell is positioned at main shell inside, and interference fit connects therebetween; The inner surface of main shell forms annular sodium bicarbonate powder chambers with the outer surface of time shell, secondary enclosure forms four working chambers, outside the right side of described main shell, arrange wireless receiving and dispatching plate, panel and power supply, power supply is connected with stepping lead screw motor for it is powered by main shell rear end face upward wiring hole; Expanding baloon inflation inlet and sealing film are pressed on end cap of giving vent to anger and realize sealing by the left end of described main shell and interference fit between end cap of giving vent to anger, and described expanding baloon is communicated with sodium bicarbonate powder chamber by carbon dioxide passage on main shell right side; The right side of described shell is arranged motor installing hole, described stepping lead screw motor and described motor installing hole interference fit, realize fixing stepping lead screw motor; The output shaft of described stepping lead screw motor is positioned at a working chamber of time shell, described output shaft is threaded screw rod, described threaded screw rod is threaded slide plate, fixed muffle on described slide plate, sleeve surrounding arranges that three triggering reaction blade, sleeve free end face arranges syringe needle, and syringe needle is coaxial with sleeve; Below described threaded screw rod, be provided with guide rail, guide rail passes slide plate, for ensureing slide plate threadingly screw mandrel long axis direction rectilinear motion; Guide rail two ends are fixed on motor shaft end baffle plate, and described motor shaft end baffle plate is fixed on motor housing; Described time inner space is divided into down " П " shape space by dividing plate by enclosure, comprise three acetic acid bag chambeies and a machine operation chamber, described dividing plate is processed with blade slideway, through whole the shell long axis direction of described blade slideway, in each blade slideway both sides, near the right side of time shell, be processed with boss, boss is not less than along the thickness of time shell long axis direction the blade width triggering reaction blade; The quantity of described blade slideway is identical with triggering the quantity of reacting blade; Described shell wall is provided with acetic acid liquid passage, for being communicated with acetic acid bag chamber and sodium bicarbonate powder chamber; Described main shell left side is provided with carbon dioxide passage, for being communicated with sodium bicarbonate powder chamber and expanding baloon.

2. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: cover in described outlet side and set out QI KOU, be provided with buffering sponge sheet between gas outlet and sealing film.

3. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: described boss is positioned at three described acetic acid bag intracavity, processes in bulkhead sides.

4. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, it is characterized in that: process two boss pins in the right side of described shell, realized the connection of main shell and time shell by the endoporus interference fits on two boss pins and main shell right side.

5. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: described guide rail and described threaded screw rod are positioned at same vertical plane, and are parallel to each other.

6. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: the described radical length triggering reaction blade, meets following condition:

If described sleeve axis is L1 to triggering the distance of reacting blade cutting edge, the distance outside sleeve axis to relevant work chamber dividing plate is L2, and sleeve axis is so there is L1 and be greater than L2, be less than L3 to the distance of boss outer rim.