Patent ID: 11950763
Assignee: TSINGHUA UNIVERSITY
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A

Claim 0:
1. A self-propelled soft robot body, adapted for automatically moving in a tract, comprising a tube which is internally and axially provided with
a tube cavity,
at least one propelling structure, comprising a first driving unit, a second driving unit and a third driving unit, which are embedded within a peripheral wall of the tube cavity, relative to an axis thereof, and along the axis of the tube; and
at least two support structures, with each two adjacent support structures having the at least one propelling structure arranged therebetween;
wherein,
the first driving unit, the second driving unit and the third driving unit are respectively telescopic along the axis of the tube; and
the support structures are fixedly connected with the propelling structure and arranged about the peripheral wall of the tube cavity, for fixing at least one end of the self-propelled soft robot body on the tract, and providing support for the self-propelled soft robot body in the tract during movement.