An intestinal microcapsule robot with multi-directional living sampling function

Abstract

The invention relates to the field of medical instruments, in particular to an intestinal microcapsule robot with a multi-directional living body sampling function. The robot comprises a capsule shell, a controller, a propeller, motors, driving motor shafts and a sampling device, and the controller, the propeller, the motors, the driving motor shafts and the sampling device are arranged in the shell; a plurality of sampling ports are formed in the outer wall of the capsule shell along the circumference at equal intervals, the shell is internally provided with sampling grooves corresponding tothe sampling ports, and each sampling groove is internally provided with a sampling device and extends into the corresponding sampling port in the outer wall of the capsule shell from the interior ofthe capsule shell; each sampling device comprises a cam arranged on the center line in the capsule shell, a roller follower and a biopsy module facing the corresponding sampling port, the cams are connected with the motors through the driving motor shafts, and the roller followers are arranged at the tail ends of the biopsy modules and evenly distributed around the cams; each biopsy module comprises a fixed plate, a jacking rod, a movable plate and biopsy forceps arranged on the movable plate, the fixed plates are connected with the roller followers, and the movable plates are connected with the fixed plates through return springs. The intestinal microcapsule robot has the advantages of simple structure, precise sampling and small surgical trauma.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to an intestinal microcapsule robot with multi-directional living body sampling functions. Background technique [0002] Biopsy refers to the technique of cutting, clamping or puncturing the diseased tissue from the patient's body for pathological examination in response to the needs of diagnosis and treatment. With the development of science and technology and the needs of medical treatment, many researchers are combining the surgical function of biopsy with robots. [0003] At present, the biopsy mechanism of the capsule robot mainly consists of a trigger with a paraffin block, a rotating tissue cutting razor with a torsion spring and a controller; there is also a capsule endoscopic biopsy device, which controls the biopsy module through a spring to achieve cutting and sample the tissue. The main problem of the above design is that the mechanism is relatively complicated, and the ...

AI Technical Summary

Problems solved by technology

The main problem of the above design is that the mechanism is relatively complex and the stability of the transmission motion is not high

Moreover, the capsule robots with biopsy function described above only have a single biopsy function, and cannot realize the functions of multiple biopsy and accurate sampling at one time.

Moreover, the structure is more complex and difficult to control

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