A capsule-shaped biopsy robot capable of multiple samplings

Abstract

The present invention relates to a capsule-shaped biopsy robot capable of multiple samplings, which includes a semi-capsule-shaped body and a capsule cover. The two are spliced with each other to form a capsule shape. A control box, a camera system, a fixed plate, a universal joint seat, an impeller driving mechanism, a direction control unit, a screw driving mechanism, a multi-station pedestal, a firing pin, a hole seat, a clamp and a multi-compartment box are arranged inside the body. The control box is respectively connected to the impeller driving mechanism, the hole seat, the camera system, the screw driving mechanism and the direction control unit. The universal joint seat is connected to the impeller driving mechanism. The direction control unit passes through the fixed plate and then is connected to the impeller driving mechanism. The firing pin and the clamp are respectively connected to the multi-station pedestal. The firing pin is arranged corresponding to the hole seat. The screw driving mechanism is connected to the clamp. The multi-compartment box is arranged corresponding to the hole seat and is located on the necessary route of the clamp. Compared with the prior art, the present invention has the function of multiple samplings at different parts of the gastrointestinal tract, can save inspection time, improve biopsy efficiency, reduce inspection costs, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a capsule-shaped biopsy robot capable of multiple samplings. Background Art

[0002] Gastrointestinal diseases, as common diseases in clinical practice, have a long latent period and inconspicuous early symptoms, seriously affecting people's physical and mental health. Their prevalence rate is as high as 74%, and the total number of patients in China reaches 300 million, accounting for 21% of the total population of China. Since the human gastrointestinal tract is 8-10 meters long and the diseases in the gastrointestinal tract are hidden and difficult to detect, early detection and early treatment are the keys to successful treatment of gastrointestinal diseases.

[0003] Currently in clinical practice, the main device for diagnosing gastrointestinal diseases is the traditional intubation endoscope. As an invasive diagnostic examination method, the traditional endoscope will cause pain to patients during the diagnosis process and may bring a series of complications. At present, corresponding diagnostic alternatives to the traditional intubation endoscope have emerged, such as barium enema and fecal occult blood, but the false positive rates of these two alternative methods are relatively high and the diagnostic effectiveness is low. The successful development of the active motion capsule robot enables patients to swallow the capsule robot to enter the human body for biopsy, making it possible to accurately clamp the required tissue, so as to collect relevant pathological tissues for doctors, make an accurate diagnosis of the lesion type, confirm the disease, realize early detection and early treatment of digestive tract diseases, so as to carry out symptomatic treatment and improve the treatment effect. It is not only easy to operate, but also a minimally invasive diagnosis and treatment method, greatly reducing the discomfort of patients during the diagnosis of gastrointestinal diseases. Therefore, realizing a capsule robot with a biopsy function is one of the key technologies urgently needed to be solved in clinical practice. However, most of the existing capsule robots with biopsy functions are for single biopsy. When multiple parts of the human body or multiple places in the same part need to be sampled, it is necessary to swallow again, which is not only inefficient, but also costly and time-consuming, and very inconvenient. Therefore, there is an urgent need to propose a capsule biopsy robot with multiple sampling functions after one swallowing to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art and provide a capsule-shaped biopsy robot capable of multiple samplings.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A capsule-shaped biopsy robot capable of multiple samplings, comprising semi-capsule-shaped bodies and caps with the same shape and size, which are spliced with each other to form a capsule shape. A control box, a camera system, a fixed plate, a universal joint seat, an impeller drive mechanism, a direction control unit, a screw drive mechanism, a multi-station pedestal, a punch, a hole seat, a clamp and a multi-compartment box are arranged inside the body. The control box is respectively connected to the impeller drive mechanism, the hole seat, the camera system, the screw drive mechanism and the direction control unit. The universal joint seat is connected to the impeller drive mechanism. The direction control unit passes through the fixed plate and then is connected to the impeller drive mechanism. The punch and the clamp are respectively connected to the multi-station pedestal. The punch is arranged corresponding to the hole seat. The screw drive mechanism is connected to the clamp. The multi-compartment box is arranged corresponding to the hole seat and is located on the inevitable route of the clamp.

[0007] Further, the fixed plate is fixed inside one end of the body. A first mesh cover is arranged at the end of the fixed plate. The universal joint seat is arranged between the fixed plate and the first mesh cover. Multiple first mounting holes for connecting the direction control unit are arranged on the fixed plate. The number of the direction control units is the same as that of the first mounting holes.

[0008] Further, the impeller drive mechanism includes a universal ball, a direction seat connected to the rear end of the universal ball, a first motor connected to the rear end of the universal ball, and an impeller connected to the rotating shaft of the first motor. Multiple support feet are arranged on the outer side of the direction seat. The number of the support feet is the same as that of the first mounting holes, and the set positions are matched. The impeller drive mechanism is movably mounted on the universal joint seat through the universal ball.

[0009] Further, each of the direction control units is arranged below each support foot. One end of each direction control unit is fixed in the first mounting hole, and the other end is fixedly connected to each support foot.

[0010] Further, an electronic control board is arranged inside the control box. A receiving coil is arranged on the fixed plate. The receiving coil is connected to the electronic control board.

[0011] Further, the screw drive mechanism includes a second motor, a coupling, a lead screw connected in sequence. The lead screw is connected to a screw block. A second push column is arranged on the screw block. One end of a push rod is hinged to the second push column. A push-pull hole is arranged behind the clamp. The other end of the push rod is hinged to the push-pull hole.

[0012] Further, the screw block is of a hexagonal prism structure. The front side and the rear side of the hexagonal prism structure are both hexagons. The top surface, the bottom surface and the other side surfaces are quadrilaterals. The second push column is arranged at the top of the top surface. A through screw hole for connecting the lead screw is arranged in the middle of the front side and the rear side.

[0013] Further, the multi-station pedestal has a door-shaped structure that is symmetric left and right. A first push post protruding upward is provided at the center of the top of the door-shaped structure. Slide sleeves are symmetrically provided on both sides of the door-shaped structure. Tracks that cooperate with the slide sleeves are provided inside the capsule body. A clutch seat is provided at the bottom of the slide sleeve, and a second mounting hole is provided on the clutch seat.

[0014] Further, there are multiple hole seats, and the multiple hole seats are sequentially installed on the inner sides of both sides of the capsule body and are located at the positions where the clutch seat passes through. Each hole seat includes an electro-suction sheet. The electro-suction sheet is provided at the end of the side facing the clutch seat. A small hole that cooperates with the ejector pin is provided at the center of the electro-suction sheet. The electro-suction sheet is electrically connected to the electronic control board.

[0015] Further, the ejector pin includes a compression spring and a needle rod. A pressing piece is provided at one end of the needle rod, and a magnetic piece is provided at the other end. The pressing piece and the magnetic piece are connected by a guide rod. The outer end of the magnetic piece is provided with a needle tip. The size of the guide rod matches that of the second mounting hole and is movably connected to the clutch seat. The needle tip points to the small hole, and the outer dimension of the needle tip matches the hole shape dimension of the small hole. The compression spring is provided on the guide rod.

[0016] The capsule-shaped biopsy robot capable of multiple samplings provided by the present invention has at least the following beneficial effects compared with the prior art:

[0017] The present invention utilizes the electric control clutch of the ejector pin and multiple hole seats at different positions, and the clamp can be driven by the second motor to open and close at different positions, so as to complete the action of the clamp opening (unloading) at multiple different positions inside the capsule, and can extend for sampling and return; and the capsule is driven to move by the impeller, and then the movement direction of the capsule is controlled by the direction control unit; enabling the present invention to perform sampling operations on multiple parts of the human body and multiple times with one swallow, saving time and cost, improving the biopsy efficiency and success rate, having a simple structure, being easy to implement, reducing the number of motors, thereby reducing the volume and weight of the capsule, making the mechanism more compact and efficient. Description of the Drawings

[0018] Figure 1 It is a schematic cross-sectional view of the overall structure of the capsule-shaped biopsy robot capable of multiple samplings in the embodiment;

[0019] Figure 2 It is a schematic exploded view of the capsule-shaped biopsy robot capable of multiple samplings in the embodiment;

[0020] Figure 3 It is a schematic connection diagram of the impeller, the first motor, the direction seat and the direction control unit in the embodiment;

[0021] Figure 4 It is a schematic diagram of the structure of the second motor driving the clamp under the control of the hole seat in the embodiment;

[0022] Figure 5 Schematic diagram of the structure of the capsule body and the camera in the embodiment;

[0023] Figure 6 Schematic diagram of the structure of the capsule body and the lamp shade in the embodiment;

[0024] Figure 7 Schematic diagram of the structure of the capsule cover in the embodiment;

[0025] Figure 8 Schematic diagram of the connection structure of the impeller, the first motor and the direction seat in the embodiment;

[0026] Figure 9 Schematic diagram of the structure of the screw block in the embodiment;

[0027] Figure 10 Schematic diagram of the structure of the clamp in the embodiment;

[0028] Figure 11 Schematic diagram of the structure of the multi-station pedestal in the embodiment;

[0029] Figure 12 Schematic diagram of the structural relationship between the striker and the hole seat in the embodiment;

[0030] Figure 13 Schematic diagram of the structure of the needle rod in the striker in the embodiment;

[0031] Figure 14 Schematic diagram of the structure of the hole seat in the embodiment;

[0032] Figure 15 Schematic diagram of the structure of the box-type multi-compartment box in the embodiment;

[0033] Figure 16 Effect diagram of the structure of the knocking part in the embodiment;

[0034] Figure 17 Effect diagram of the structure when the striker starts to move after being closed in the embodiment;

[0035] Figure 18 Effect diagram of the structure when the clamp opens (unloads the sample) in the embodiment;

[0036] Figure 19 Effect diagram of releasing the multi-station pedestal after the striker is opened in the embodiment;

[0037] Figure 20 Effect diagram of the structure of pushing out the clamp in the embodiment;

[0038] Figure 21 Effect diagram of the structure when the clamp is ready to close and sample after the striker is closed in the embodiment;

[0039] Figure 22The structural effect diagram after the clamp is closed and the sample is taken in the embodiment;

[0040] Figure 23 The structural effect diagram for releasing the multi-station pedestal after the striker is reopened in the embodiment;

[0041] Figure 24 The structural effect diagram after the sampling is completed, the clamp returns to a hole seat and the striker is opened in the embodiment;

[0042] As shown by the reference numerals in the figure:

[0043] 1 is an impeller; 2 is a first motor;

[0044] 3 is a direction seat, 301 is a universal ball, 302 is a support leg;

[0045] 4 is a direction control unit; 5 is a receiving coil; 6 is a control box;

[0046] 7 is a bladder, 701 is a first mesh cover, 702 is a universal seat, 703 is a fixed piece, 7031 is a first mounting hole, 704 is a lighting lamp, 705 is a camera, 706 is an interchamber plate, 707 is a lamp shade;

[0047] 8 is a striker, 801 is a compression spring, 802 is a needle rod, 8021 is a pressing piece, 8022 is a guide rod, 8023 is a magnetic piece, 8024 is a needle tip;

[0048] 9 is a hole seat, 901 is an electro-suction piece, 902 is a small hole;

[0049] 10 is a multi-station pedestal, 1001 is a first push column, 1002 is a clutch seat, 1003 is a second mounting hole, 1004 is a sliding sleeve;

[0050] 11 is a track; 12 is a pillow seat; 13 is a multi-compartment box;

[0051] 14 is a clamp, 1401 is a push-pull hole, 1402 is a gill hole, 1403 is a chuck, 14031 is an enclosed space, 14032 is a gripping tooth;

[0052] 15 is a push-pull rod; 16 is a screw block, 1601 is a screw hole, 1602 is a second push column;

[0053] 17 is a lead screw; 18 is a coupling; 19 is a second motor;

[0054] 20 is a bladder cover, 2001 is a second mesh cover, 2002 is a protective cover;

[0055] 21 is a box-type multi-compartment box, 2101 is a compartment, 2102 is a guiding inclined surface, 2103 is an anti-overflow edge, 2104 is a baffle;

[0056] 22 is the knocking part, 2201 is the limiting groove, 2202 is the knocking column, and 22011 is the knocking edge. Detailed implementation mode

[0057] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] Embodiment

[0059] As Figures 1 to 14 shown, the present invention relates to a capsule-shaped biopsy robot capable of multiple samplings, including a capsule body 7, an impeller 1, a first motor 2, a direction seat 3, a direction control unit 4, a receiving coil 5, a control box 6, a track 11, a pillow seat 12, a multi-station pedestal 10, a hole seat 9, a firing pin 8, a clamp 14, a push-pull rod 15, a screw block 16, a second motor 19, a coupling 18, a lead screw 17, a multi-compartment box 13, and a capsule cover 20.

[0060] The capsule body 7 and the capsule cover 20 are respectively semi-capsule-shaped, with the same shape and volume. They are spliced with each other to form a capsule shape, that is, the longitudinal section of the capsule body 7 and the capsule cover 20 is an ellipse of the capsule section, and the transverse section is a semi-circle. A fixed piece 703 is fixed inside the rear end of the capsule body 7. A first mesh cover 701 is provided at the tail of the fixed piece 703, and a universal joint seat 702 is fixed between the fixed piece 703 and the first mesh cover 701. The fixed piece 703 is provided with a plurality of first mounting holes 7031, and the number of the first mounting holes 7031 is at least two. A chamber partition plate 706 is provided at the front end of the capsule body 7. The chamber partition plate 706 is a vertically placed spacer. A lamp cover 707 is provided at the head of the chamber partition plate 706. A lighting lamp 704 and a camera 705 are provided on the chamber partition plate 706. The camera 705 inspects and photographs the human gastrointestinal tract with the assistance of the lighting lamp 704. The lamp cover 707 covers the lighting lamp 704 and the camera 705, and forms a sealed chamber with the chamber partition plate 706 to protect the camera 705 from the influence of the humid environment inside the human body.

[0061] The impeller 1, the first motor 2, and the direction seat 3 are connected in sequence and installed on the universal seat 702. That is, the impeller 1 is fixed on the rotating shaft of the first motor 2, the first motor 2 is fixed on the direction seat 3, and a universal ball 301 is provided in the middle of the direction seat 3. The direction seat 3 is movably connected to the universal seat 702 through the universal ball 301. The rotation of the impeller 1 can drive the capsule (referring to the space enclosed by the capsule body 7 and the capsule cover 20 in the present invention) to move in the opposite direction, that is, the capsule moves forward, making the present invention an active motion type capsule. A plurality of feet 302 are provided on the outer side of the direction seat 3. The number of the feet 302 is at least two, which is the same as the number of the first mounting holes 7031 on the capsule body 7, and the set positions match each other.

[0062] The steering unit 4 ( Figure 3 , Figure 8 ) is provided with a plurality of, at least two, and is also the same as the number of the first mounting holes 7031. They are evenly arranged at the bottom of the direction seat 3 directly below the feet 302. One end of it is fixed in the first mounting hole 7031 of the fixed piece 703, and the other end is fixedly connected to the feet 302 at the bottom of the direction seat 3. The steering unit 4 can be electrically controlled to expand and contract to change the length, so that the orientation of the direction seat 3 can be controlled by sequentially changing the steering unit 4, that is, the yaw orientation of the impeller 1, and further the movement direction of the capsule is controlled. In this embodiment, the steering unit 4 is an electrostrictive element, such as electroactive polymer material (EAP), shape memory alloy (SMA); the steering unit 4 is electrically connected to an electronic control board (not shown), so that the electronic control board (not shown) can control the contraction of the steering unit 4, thereby changing the distance between the feet 302 and the fixed piece 703, and further controlling the deflection direction of the direction seat 3, so as to control the orientation of the impeller 1, and finally realize the regulation of the movement direction of the capsule. Using electrostrictive elements can reduce weight and simplify the structural connection. Further, the steering unit 4 can also be in the form of a spring + electrostrictive element. The spring and the electrostrictive element are connected in parallel between the feet 302 and the first mounting hole 7031 to reduce the power-on jitter, enhance the stability of the direction control, and quickly return to the initial position after power-off.

[0063] The receiving coil 5 ( Figure 3 ) is also fixed on the fixed piece 703, and is used to receive the power supply outside the body to provide power for the capsule.

[0064] The control box 6 ( Figure 1 , Figure 2 , Figure 5 ) is fixed inside the capsule body 7. An electronic control board (not shown) is provided inside the control box 6, which is the software and hardware control system of the entire capsule. A sealing cover is provided at the top of the control box 6 for waterproofing and anti-pollution to protect the electronic control board (not shown).

[0065] There are two left and right tracks 11 ( Figure 5 ), which are symmetrically arranged and fixed inside the capsule body 7 through the pillow seat 12.

[0066] The multi-station pedestal 10( Figure 11 ) is symmetric left and right, in a structure similar to a door shape. A first push post 1001 protruding upward is provided at the center of its top. Slide sleeves 1004 are symmetrically provided on both sides. The slide sleeves 1004 are slidably connected in cooperation with the track 11. Thus, the multi-station pedestal 10 can move linearly back and forth along the track 11 inside the capsule. A clutch seat 1002 is provided at the bottom of the slide sleeve 1004. The clutch seat 1002 is a vertically protruding vertical plate structure, and a second mounting hole 1003 is provided on the clutch seat 1002.

[0067] The hole seats 9( Figure 14 ) are at least in two pairs. The structures of the hole seats are the same. Each hole seat includes an electro-suction piece 901 and a small hole 902. A plurality of hole seats 9 are sequentially installed on both inner sides of the capsule body 7 and are arranged symmetrically left and right, beside the position where the clutch seat 1002 passes. Its electro-suction piece 901 is provided at the end of the side opposite to the clutch seat 1002. A small hole 902 matching the striker 8 is provided at the center of the electro-suction piece 901. The electro-suction piece 901 is electrically connected to an electronic control board (not shown). The electro-suction piece 901 is an electromagnetic element. Thus, the electronic control board (not shown) can control whether the electro-suction piece 901 has magnetism by energizing it.

[0068] The striker 8( Figure 12 、 Figure 13)It includes a compression spring 801 and a needle rod 802; a pressing piece 8021 is provided at the tail end of the needle rod 802, a magnetic piece 8023 is provided at the front end, and they are connected by a guide rod 8022 in the middle. A needle tip 8024 is further provided at the front part of the magnetic piece 8023. The size of the guide rod 8022 is matched with the second mounting hole 1003 of the multi-station pedestal 10, so that the ejector pin 8 is installed on the second mounting hole 1003 and is movably connected to the clutch seat 1002. The needle tip 8024 points to the small hole 902, and the outer dimension of the needle tip 8024 is matched with the hole shape dimension of the small hole 902. The compression spring 801 is arranged on the guide rod 8022 between the clutch seat 1002 and the pressing piece 8021. Thus, in the natural state, the compression spring 801 presses against the pressing piece 8021, making the needle tip 8024 away from the small hole 902; when the needle tip 8024 is aligned with the small hole 902, the electro-suction piece 901 can be controlled to attract the magnetic piece 8023 to fit with it, and then control the needle tip 8024 to penetrate into the small hole 902, so as to control that the multi-station pedestal 10 cannot move back and forth along the track 11. When the electro-suction piece 901 is powered off, under the action of the compression spring 801, it will drive the needle rod 802 to return to its original position, making the needle tip 8024 away from the small hole 902, so as to allow the multi-station pedestal 10 to move back and forth along the track 11. That is, by energizing and de-energizing the hole seat 9, the clutch state between the ejector pin 8 and it can be controlled, and then the free movement or stop of the multi-station pedestal 10 can be controlled. Using the method of the needle tip penetrating into the small hole can increase the tangential resistance, prevent misoperation caused by too small suction force, where it should be locked but is pushed, so that a lighter and more energy-saving magnetic piece 8023 and electro-suction piece 901 can be designed to reduce the weight and the supply current to the electro-suction piece 901.

[0069] The clamp 14( Figure 4 、 Figure 10 )There is a pair with left-right symmetric structure. The clamps 14 are hinged to each other through the gill holes 1402 provided in the middle and are also hinged to the first push post 1001 on the multi-station pedestal 10; at the rear end of the clamp 14, that is, behind the gill hole 1402, there is a push-pull hole 1401, which is respectively hinged to one end of two push-pull rods 15; the head of the clamp 14 is provided with a chuck 1403, and complementary grasping teeth 14032 are provided on the chuck 1403 for cutting human tissues; when the chuck 1403 of the clamp 14 is closed, the grasping teeth 14032 are staggered to form a sealed space 14031 for storing human tissue samples. In addition, the inner surface of the chuck 1403 is smooth, and the inner surface or the lower surface of the sealed space has a certain inclination, so as to facilitate the sample of human tissue to fall into the multi-compartment box 13 when the chuck 1403 is opened.

[0070] The screw block 16( Figure 9) is a hexagonal prism structure. The front and rear sides of this structure are both hexagonal, and the top surface, bottom surface, and the remaining sides are quadrilateral. A second push rod 1602 is provided at the top of the top surface, and a through screw hole 1601 is provided in the middle of the front and rear sides; the other end of the push rod 15 is hinged to the second push rod 1602 on the screw block 16; thus, the second push rod 1602 and the two push rods 15 form a compound rotating pair.

[0071] The lead screw 17( Figure 1 、 Figure 2 ) has a thread on its outer surface for mating with the screw hole 1601, so that the lead screw 17 and the screw block 16 form a screw pair.

[0072] The second motor 19, the coupling 18, and the lead screw 17 are connected in sequence( Figure 1 、 Figure 2 、 Figure 4 ), that is, the rotating shaft of the second motor 19 is fixedly connected to the lead screw 17 through the coupling 18, and the screw block 16 is also threadedly connected to the lead screw 17. Thus, the forward and reverse rotation of the second motor 19 can drive the screw block 16 to move linearly back and forth along the bladder 7, and further drive the clamp 14 to move through the push rod 15, changing the angle of the clamp 14; thus enabling the present invention to achieve: under the combined control of the forward and reverse rotation of the second motor 19 and the stop of the multi-station pedestal 10 controlled by the hole seat 9, the clamp 14 can be moved, opened and closed, or both alternately at multiple hole seat 9 positions. Thus, the biopsy function of driving the clamp 14 to open for sample retention, extend for sampling, and close and retract can be realized, and the above actions can be repeated.

[0073] The multi-compartment box 13 is installed at the front end inside the bladder 7 and is located on the path that the clamp 14 must pass through, but does not hinder the movement of the clamp 14. The multi-compartment box 13 is used to store the human samples retrieved by the clamp 14; the multi-compartment box 13 has multiple compartments, each compartment corresponding to each pair of hole seats 9 on both sides, and their positional relationship is determined by the positional relationship between the clamping head 1403 of the clamp 14 and the clutch seat 1002 of the multi-station pedestal 10.

[0074] A second mesh cover 2001 is provided at the tail of the bladder cover 20( Figure 7 ), and a protective cover 2002 is provided at the head. The protective cover 2002 is composed of a plurality of thin plastic sheets with a certain hardness connected in sequence, covering the head of the bladder cover 20 to prevent human soft tissues from entering the inside of the capsule robot; a rabbet corresponding to the bladder 7 is provided on the bladder cover 20, which can be buckled with the bladder 7 to form a capsule shape, and the internal space it encloses is called a capsule, protecting the above components inside the capsule.

[0075] Further, refer to Figure 15 and refer to in conjunction with Figure 1 、 Figure 2The multi-compartment box 13 can also be a box-type multi-compartment box 21, which is divided into multiple compartments 2101 by a baffle 2104. The number of compartments 2101 is one less than the number of pairs of hole seats 9 numerically. There are holes provided on the compartments 2101, and each compartment 2101 is independent and used for separately storing the human tissue samples retrieved each time. A guiding inclined surface 2102 is provided around the holes for guiding the human tissue samples to fall into the compartments 2101 through the holes. An anti-overflow edge 2103 is provided at the bottom of the guiding inclined surface 2012 to prevent the human tissue samples from sliding into other spaces inside the capsule from different compartments 2101 and mixing together when the attitude of the capsule changes, making it difficult to distinguish the samples retrieved each time. The anti-overflow edge 2103 and the guiding inclined surface 2102 are not in the same plane. Preferably, the anti-overflow edge 2103 is a vertical plate-like structure, and the guiding inclined surface 2102 has an inclination angle compared to the vertical plane where the anti-overflow edge 2103 is located.

[0076] See Figure 16 , in conjunction with Figure 1 The present invention further includes a knocking part 22 for generating vibration knocking and rotational limiting on the clamp 14. The knocking part 22 is provided with a limiting groove 2201 and a knocking post 2202. One end of the limiting groove 2201 is provided with a knocking edge 22011. The knocking post 2202 cooperates with the limiting groove 2201 and is respectively arranged on the two push-pull rods 15, close to the hinge, or arranged on the clamp 14, close to the hinge of the two cheek holes 1402. Figure 16 As shown in the figure, it is close to the hinge of the two push-pull rods 15 and the screw block 16. The limiting groove 2201 is arranged on the upper surface of one push-pull rod 15, and the knocking post 2202 is arranged on the lower surface of the other push-pull rod 15. The limiting groove 2201 cooperates with the knocking post 2202, and the knocking edge 22011 is arranged at the place corresponding to the clamp 14 being opened to the extreme limit. Thus, when the second motor 19 moves to the place where the knocking post 2202 contacts the knocking edge 22011, vibration will be transmitted to the chuck 1403, thereby helping to unload the retrieved sample into the multi-compartment box 13.

[0077] Furthermore, as a preferred solution, the present invention further includes a bearing seat (not shown), which is arranged at the end of the lead screw 17 for limiting the position of the lead screw 17 to avoid asymmetric deformation of the clamp 14 caused by asymmetric forces on both sides of the multi-station pedestal 10.

[0078] Furthermore, as a preferred solution, the present invention further includes a rotary encoder, which is installed at the end of the lead screw 17 (not shown) for detecting the rotation speed and forward and reverse rotation of the lead screw 17, and then knowing the position of the screw block 16. Using a rotary encoder is more accurate and reliable than obtaining the displacement only by the power-on time of the second motor 19 or calculating the pulses sent to it, so as to more precisely master the position of the screw block 16.

[0079] In summary, the present invention controls the movement or stop of the multi-station pedestal 10 by using the engagement and disengagement of the firing pin 8 and multiple hole seats 9, and also uses the forward and reverse rotation of the second motor 19 to drive the clamp 14 to expand and contract through the push-pull rod 15, so as to realize the opening, closing and forward and backward movement of the chuck 1403 of the clamp 14 along the capsule, enabling the clamp 14 to perform a series of actions such as opening and sampling at multiple positions, extending for sampling, and retracting into the capsule, and then repeating the above actions in a cycle, thereby finally realizing the related operation function of the patient being able to perform multiple biopsies on multiple parts of the gastrointestinal tract in one-time swallowing, which not only saves time and cost, but also improves the biopsy efficiency and the success rate of each swallowing biopsy. In addition, the impeller 1 is used to drive the capsule to move, and then the movement direction of the capsule is controlled by the direction seat 3, making the present invention more active and convenient for sampling operations. And the method of piercing the small hole with the tip of the needle can increase the tangential resistance, prevent misoperation caused by too small suction force, where it should be locked but is pushed instead, and make the whole structure more lightweight and energy-saving.

[0080] The biopsy sampling operation cycle process of the present invention is as Figures 17 to 24 shown and explained as follows:

[0081] Step 1: After power-on and locking, start the program for opening the chuck 1403, as Figure 17 shown: First, power-on and lock the firing pin 8, that is, first energize one of the electro-suction sheets 901 in the hole seat 9 to attract the magnetic sheet 8023 of the needle rod 802, so that the tip 8024 of the needle pierces into the small hole 902 to lock the firing pin 8 and lock the front and back positions of the multi-station pedestal 10 on the track 11.

[0082] After that, the second motor 19 starts to rotate forward, so that the screw block 16 moves forward, pushing the push-pull rod 15 and then driving the clamp 14 to open the chuck 1403. The schematic diagram after opening is as Figure 18 shown.

[0083] At this time, if there is a sampling sample in the chuck 1403, it will be placed in one of the grids of the multi-compartment box 13, and this grid is the position where it stopped according to the parking requirement last time.

[0084] Step 2: After power-off and unlocking, prepare to push the chuck 1403 of the clamp 14 out of the capsule, as Figure 19 shown: First, power-off and unlock, that is, power-off the electro-suction sheet 901 of the hole seat 9 that was just energized, so that the tip 8024 leaves the small hole 902, making the multi-station pedestal 10 float and able to slide freely on the track 11;

[0085] The second motor 19 continues to rotate forward, and the screw block 16 continues to move forward. After reaching the opening limit of the chuck 1403, the clamp 14 will stop deforming. At this time, the screw block 16 will push the clamp 14 forward, so that it is pushed out of the capsule (the chuck exposes outside the capsule);

[0086] Figure 20 It is a schematic diagram of the state where the clamp 14 opens the chuck 1403 and is pushed out of the capsule. At this time, the tip 8024 of the firing pin 8 will align with the frontmost hole seat 9.

[0087] Step 3: Re - energize and lock, start closing the chuck 1403 for sampling, as Figure 21 shown: Re - energize and lock the firing pin 8 again, that is, energize the frontmost hole seat 9, so that the tip 8024 pierces into the small hole 902 again, and lock the multi - station pedestal 10 again to make it unable to move back and forth;

[0088] The second motor 19 starts to reverse, so the screw block 16 starts to move backward. Since the multi - station pedestal 10 remains stationary, the push - pull rod 15 is pulled, thereby driving the clamp 14 to close the chuck 1403 for sampling;

[0089] Figure 22 It is a schematic diagram of the state where the clamp 14 completely closes the chuck and the sampling is completed, and the sample is temporarily stored in the chuck 1403.

[0090] Step 4: Dis - energize and unlock again, retract into the capsule, as Figure 23 shown: Start the retraction program, that is, de - energize the electro - suction piece 901 in the frontmost hole seat 9, unlock the needle rod 802, and the tip 8024 temporarily leaves the small hole 902, so that the multi - station pedestal 10 is released again and can slide freely on the track 11;

[0091] The second motor 19 continues to reverse. At this time, since the chuck 1403 is closed and cannot be further deformed, the screw block 16 will pull the multi - station pedestal 10 to move backward together. Finally, the chuck 1403 returns into the capsule, and the specific parking position can be determined according to which grid of the multi - cell box 13 is needed.

[0092] Figure 24 It is a schematic diagram of the final state where the clamp 14 of the present invention returns into the capsule and the closed chuck 1403 stops above the required multi - cell box 13.

[0093] Step 5: If sampling is needed again, repeat the above steps to achieve it.

[0094] The present invention utilizes the electric control clutch at different positions between the firing pin and multiple hole seats, and the second motor can be used to drive the clamp to open and close at different positions, so as to complete the actions of the clamp opening (unloading) at multiple different positions in the capsule, and can extend for sampling and return; it also utilizes the impeller to drive the capsule to move, and then the direction - control unit controls the movement direction of the capsule; enabling the present invention to perform sampling operations on multiple parts of the human body and multiple times in one swallow, which not only saves time and cost, but also improves the biopsy efficiency and success rate. The structure is simple and easy to implement, reduces the number of motors, thereby reducing the volume and weight of the capsule, making the mechanism more compact and efficient.

[0095] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A capsule-shaped biopsy robot capable of multiple samplings, comprising semi-capsule-shaped bodies (7) and capsule caps (20) with the same shape and size, which are spliced with each other to form a capsule shape. Characterized in that, A control box (6), a camera system, a fixed piece (703), a universal joint seat (702), an impeller driving mechanism, a direction control unit (4), a screw driving mechanism, a multi-station pedestal (10), a firing pin (8), a hole seat (9), a clamp (14) and a multi-compartment box (13) are arranged in the body (7). The control box (6) is respectively connected to the impeller driving mechanism, the hole seat (9), the camera system, the screw driving mechanism and the direction control unit (4). The universal joint seat (702) is connected to the impeller driving mechanism. The direction control unit (4) passes through the fixed piece (703) and then is connected to the impeller driving mechanism. The firing pin (8) and the clamp (14) are respectively connected to the multi-station pedestal (10). The firing pin (8) is arranged corresponding to the hole seat (9). The screw driving mechanism is connected to the clamp (14). The multi-compartment box (13) is arranged corresponding to the hole seat (9) and is located on the inevitable route of the clamp (14). The multi-station pedestal (10) is a left-right symmetric door-shaped structure. A first push column (1001) protruding upward is arranged in the center of the top of the door-shaped structure. Slide sleeves (1004) are symmetrically arranged on both sides of the door-shaped structure. A track (11) matched with the slide sleeve (1004) is arranged in the body (7). A clutch seat (1002) is arranged at the bottom of the slide sleeve (1004). A second mounting hole (1003) is arranged on the clutch seat (1002). A plurality of hole seats (9) are provided. The plurality of hole seats (9) are sequentially installed on both inner sides of the body (7) and are arranged at the position where the clutch seat (1002) passes through. Each hole seat (9) includes an electro-suction piece (901). The electro-suction piece (901) is arranged at the end of the side opposite to the clutch seat (1002). A small hole (902) matched with the firing pin (8) is arranged in the center of the electro-suction piece (901). The electro-suction piece (901) is electrically connected to an electric control board. The firing pin (8) includes a compression spring (801) and a needle rod (802). A pressing piece (8021) is arranged at one end of the needle rod (802), and a magnetic piece (8023) is arranged at the other end. The pressing piece (8021) and the magnetic piece (8023) are connected by a guide rod (8022). A needle tip (8024) is arranged at the outer end of the magnetic piece (8023). The size of the guide rod (8022) is matched with the second mounting hole (1003) and is movably connected to the clutch seat (1002). The needle tip (8024) points to the small hole (902). The outer shape size of the needle tip (8024) is matched with the hole shape size of the small hole (902). The compression spring (801) is arranged on the guide rod (8022).

2. The capsule-shaped biopsy robot capable of multiple samplings according to claim 1, Characterized in that, The fixed piece (703) is fixed inside one end of the capsule body (7). A first mesh cover (701) is provided at the end of the fixed piece (703). The universal joint seat (702) is arranged between the fixed piece (703) and the first mesh cover (701). Multiple first mounting holes (7031) for connecting the direction control unit (4) are provided on the fixed piece (703). The number of the direction control units (4) is the same as that of the first mounting holes (7031).

3. The capsule-shaped biopsy robot capable of multiple samplings according to claim 2, characterized in that, the impeller driving mechanism includes a universal ball (301), a direction seat (3) connected to the rear end of the universal ball (301), a first motor (2) connected to the rear end of the universal ball (301), and an impeller (1) connected to the rotating shaft of the first motor (2). Multiple supporting feet (302) are provided on the outer side of the direction seat (3). The number of the supporting feet (302) is the same as the number of the first mounting holes (7031), and the set positions match; the impeller driving mechanism is movably mounted on the universal joint seat (702) through the universal ball (301).

4. The capsule-shaped biopsy robot capable of multiple samplings according to claim 3, characterized in that, each of the direction control units (4) is arranged below each of the supporting feet (302). One end of each of the direction control units (4) is fixed in the first mounting hole (7031), and the other end is fixedly connected to each of the supporting feet (302).

5. The capsule-shaped biopsy robot capable of multiple samplings according to claim 1, characterized in that, an electronic control board is provided in the control box (6). A receiving coil (5) is provided on the fixed piece (703). The receiving coil (5) is connected to the electronic control board.

6. The capsule-shaped biopsy robot capable of multiple samplings according to claim 1, characterized in that, the screw driving mechanism includes a second motor (19), a coupling (18), and a lead screw (17) connected in sequence. The lead screw (17) is connected to a screw block (16). A second push rod (1602) is provided on the screw block (16). One end of the second push rod (1602) is hinged to one end of a push-pull rod (15). A push-pull hole (1401) is provided behind the clamp (14). The push-pull hole (1401) is hinged to the other end of the push-pull rod (15).

7. The capsule-shaped biopsy robot capable of multiple samplings according to claim 6, characterized in that, the screw block (16) has a hexagonal prism structure. The front side and the rear side of the hexagonal prism structure are both hexagons. The top surface, the bottom surface, and the other side surfaces are quadrilaterals. The second push rod (1602) is provided at the top of the top surface. A screw hole (1601) for connecting the lead screw (17) is provided in the middle of the front side and the rear side and penetrates through.

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