Capsule robotic leg device for gastrointestinal endoscopy

Abstract

The invention discloses a leg device of a capsule robot used for endoscopic diagnosis and treatment of the digestive tract; it includes setting tension springs at the protruding ends of the adjacent legs of the legged capsule robot to connect a group of protruding legs, and connecting a group of protruding legs. The structure of the leg drive mechanism is simplified by setting a non-directly driven driven leg that is stretched by spring force between the two active legs that are directly driven by the internal mechanism of the robot; , can better expand the intestinal tract on the basis of reducing damage to the intestinal tract so as to facilitate disease inspection during fixed-point stays; when the legs of the robot have been stretched and the springs are stretched, the magnetic shell with radial magnetization is affected by the external The rotating action driven by the magnetic force rubs and scrapes the intestinal wall in contact with the spring, so as to collect part of the intestinal fluid or tissue lesions in the spring, and when the legs contract and the spring is tightened, the stored material in the spring is sealed in the spring, thereby realizing biopsy sampling.

Description

Technical field: [0001] The invention belongs to the technical field of endoscope detection, and more particularly relates to a capsule robot leg device used for gastrointestinal endoscopy diagnosis and treatment. Background technique: [0002] Capsule endoscope is an electronic device widely used in clinical examination of human digestive tract, but it only has the function of disease examination, and the purpose of disease examination is ultimately for treatment; therefore, sampling biopsy and subsequent drug application after the discovery of lesions will It has become an indispensable function for the development of capsule endoscopy. [0003] Sampling biopsy refers to a technique for pathological examination after removing the lesion tissue from the patient's body by certain means. Existing sampling techniques mainly use endoscopic biopsy, which will cause certain discomfort or trauma to the patient. The lesions are diagnosed, and targeted drug application treatment is...

AI Technical Summary

Problems solved by technology

[0003] Sampling biopsy refers to the technology of taking out the lesion tissue from the patient's body by certain means and then conducting pathological examination. The existing sampling technology mainly uses endoscopic biopsy, which will cause certain discomfort or trauma to the patient. Diagnose the lesions and carry out targeted drug application treatment. In addition to the difficulty of precise drug application, the existing drug application technology cannot carry different drugs in multiple drug warehouses at the same time.

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