Biopsy capsule that realizes different track controls in both forward and reverse directions by the same swing control mechanism

Abstract

The present invention relates to a biopsy capsule that realizes different trace control in both forward and backward directions by the same swing control mechanism. The movement and deformation of this quadrilateral mechanism are driven by a lead screw nut system; then, the swing control mechanism combined with the lead screw nut system controls whether the quadrilateral mechanism moves or deforms, thereby realizing the biopsy function of different traces back and forth for the biopsy forceps of the present invention to open (unload) - extend - sample - close - retract. The present invention utilizes the attitude control seat to actively control the capsule attitude, and uses the swing control mechanism to cooperate with the biopsy motor to drive the telescopic movement and opening and closing swing of the biopsy forceps, realizing the multiple biopsy function of "non - same trace for entry and exit". Finally, a series of actions of the biopsy forceps moving, stopping, sampling, and unloading are completed, enabling the present invention to perform sampling operations on multiple parts of the human body multiple times in one swallow, saving both time and cost, and improving the biopsy efficiency and success rate.

Description

Technical Field

[0001] The present invention relates to a medical device product, and in particular to a biopsy capsule that realizes different track controls in both forward and backward directions by the same swing control mechanism. Background Art

[0002] Gastrointestinal diseases are common clinical diseases with 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 is as high as 300 million, accounting for 21% of the total population of China. Since the length of the human gastrointestinal tract is 8 - 10 meters and the diseases in the gastrointestinal tract are hidden and difficult to detect, early detection and early treatment are the keys to the 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 the 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 have a one-time biopsy function. When multiple parts of the human body or multiple sites in the same part need to be sampled, they need to be swallowed again, which is not only inefficient but also costly and time-consuming, causing much inconvenience.

[0004] Therefore, there is an urgent need to propose a capsule biopsy robot with multiple sampling functions after one-time swallowing to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art and provide a biopsy capsule that realizes different track controls in both forward and backward directions by the same swing control mechanism.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] The present invention provides a biopsy capsule that can realize back and forth different track control by the same swing control mechanism, including blades, attitude motors, attitude control seats, blade seats, compression springs, electric control magnets, energy coils, electric control boxes, lower shells, guide rails, clamp seats, swing control mechanisms, sample storage boxes, inspection clamps, connecting clamp rods, nuts, lead screws, couplings, biopsy motors and upper shells;

[0008] The blade, attitude motor and attitude control seat are connected in sequence and installed on the blade seat to provide driving force for active movement of the capsule, so that the capsule moves;

[0009] The electric-controlled magnet and energy coil are installed on the lower shell and are located directly below the bottom of the attitude control seat. One end of the compression spring is fixedly connected to the bottom of the attitude control seat, and the other end is fixedly connected to the lower shell. The compression spring, the electric-controlled magnet and the energy coil are combined to provide a directional yaw angle for the attitude control of the capsule, thereby controlling the movement direction of the capsule.

[0010] The biopsy motor, coupling, screw rod and nut are sequentially connected in series to form a screw rod and nut system;

[0011] The said checking pliers are provided with a pair and the connecting pliers rods are provided with two. The checking pliers are connected in series and bridged between the pliers seat and the nut, so as to form a quadrilateral mechanism. The movement and deformation of the quadrilateral mechanism are driven by the screw nut system.

[0012] The swing control mechanism includes a support, a swing rod with different tracks, a pressure rod, a magnetic seat, a pressure bolt and a compound swing spring. The swing control mechanism controls the parking of the clamp seat through the swing rod with different tracks, and cooperates with the joint control of the screw nut system, so that the quadrilateral mechanism can be controlled to move or deform under the forward and reverse rotation control of the biopsy motor.

[0013] The biopsy capsule as a whole can realize the non-co-trajectory biopsy function of opening (unloading)-extending-sampling-closing-retracting;

[0014] The sample storage box is installed inside the lower shell and is located below the route that the forceps must pass through. The sample storage box is used to store human tissue samples retrieved by the forceps.

[0015] The electric control box is fixed inside the lower shell, an electric control board is arranged inside the electric control box, and a sealing cover is provided on the upper end of the electric control box for waterproofing and anti-fouling;

[0016] The guide rails are provided with two left and right rails, each of which includes a pillow block and a slide bar, the pillow block is fixed in the lower shell, and the slide bar is fixed on the pillow block;

[0017] The upper shell and the lower shell are buckled together to form a capsule shape.

[0018] In one embodiment of the present invention, the upper shell is provided with an upper grid at the tail portion and a flexible cover at the head portion;

[0019] The tail of the lower shell is provided with a lower grid, and the head is provided with a transparent cover;

[0020] Inside the lower shell, there is also a circular seat. A fixed spring hole is provided on the circular seat, which is located below the compression spring and is used to fix one end of the compression spring.

[0021] At the front end of the lower shell, there is a partition board, and a lighting device and a camera device are provided on the partition board.

[0022] The transparent cover covers the lighting device and the camera device, forming a sealed chamber with the partition board, which is used to protect the camera device from the influence of the humid internal environment of the human body, etc.

[0023] In an embodiment of the present invention, in front of the attitude control seat, there is a motor mounting seat, and a ball head is provided in the middle. The attitude motor is fixed to the head of the attitude control seat through the motor mounting seat, the blade is fixed to the rotating shaft of the attitude motor, the attitude control seat is mounted on the blade seat through the ball head, and the blade seat is fixed to the tail of the lower shell. Thus, the blade, the attitude motor, and the attitude control seat are connected in series in sequence, arranged at the tail of the capsule, providing a driving power system for the active movement of the capsule in the human intestine. Thus, the attitude motor can drive the blade to rotate, and further push the capsule to move in the opposite direction.

[0024] In an embodiment of the present invention, four magnetic claws are provided at the rear end of the attitude control seat, and a magnetic sheet is attached to each magnetic claw.

[0025] The electro-magnet is mounted on the circular seat of the lower shell and close to the bottom of the magnetic claw of the attitude control seat. The electro-magnet is located directly behind the magnetic sheet, and the number of electro-magnets is the same as that of the magnetic claws, both being four.

[0026] There are four fixed spring holes on the circular seat, all of which are located around the electro-magnet. One end of the compression spring is connected to the fixed spring hole on the circular seat, and one end of the spring wire of the compression spring is inserted into the fixed spring hole for fixation. The number of compression springs is the same as that of the magnetic claws, both being four.

[0027] The other end of the compression spring presses against the magnetic claw or is fixedly connected to the magnetic claw.

[0028] The electro-magnet is controlled by the electronic control board to sequentially attract the magnetic sheet, cooperating with the compression spring, that is, the electro-magnet and the compression spring are combined together to control the deflection direction of the attitude control seat, and further control the orientation of the blade, so as to control the orientation of the driving power system, and finally control the traveling direction of the capsule.

[0029] That is, the active movement of the capsule of the present invention is three-dimensionally controllable: forward direction, pitch angle, and yaw angle movement.

[0030] In an embodiment of the present invention, the support and the magnetic seat of the swing control mechanism are fixed inside the lower shell. A bolt hole is provided at the top of the magnetic seat, and an electromagnetic suction is provided at the lower part.

[0031] The top of the pressure bolt is provided with a top cover, the lower end is provided with a magnetic bead and an electromagnetic suction, the middle is connected by a pin, the pin is provided with a bolt shaft, the pressure bolt is movably inserted into the bolt hole, and the pin is matched with the bolt hole;

[0032] The compound pendulum spring is arranged on the pin and presses against the top of the magnetic seat, that is, the pressure pin is pushed upward;

[0033] One end of the pressure rod is movably connected to the bolt shaft, and the other end is movably connected to the different-path swing rod;

[0034] The different-track swing rod comprises an asynchronous contact head, a support hole and a pressing hole, the spacing between the support hole and the pressing hole is smaller than the distance between the asynchronous contact head and the support hole, the different-track swing rod is movably connected to the support through the support hole, and the asynchronous contact head points to the clamp seat;

[0035] Thus, under the action of the compound pendulum spring, the pressure bolt moves upward, driving the pressure rod upward, and then driving the different-track pendulum rod to return to its original position. However, under the action of the suction force of the electromagnetic suction, the pressure bolt moves downward, thereby driving the pressure rod downward to drive the different-track pendulum rod to swing to another position, ultimately realizing the deformation control of the pendulum control mechanism.

[0036] In one embodiment of the present invention, the clamp seat is bilaterally symmetrical, and a clamp shaft is provided at the center of the top of the clamp seat;

[0037] Slide blocks are provided on the outer sides of both sides of the clamp seat, and the slide blocks are movably connected to the slide bars of the guide rails to form a linear moving pair, so that the clamp seat can move linearly forward and backward along the guide rails in the capsule;

[0038] Two-way bumpers are provided at the lower ends of both sides of the clamp seat. The elongation of the two-way bumpers matches the different-track swing rods of the swing control mechanism. The swing control mechanism controls the up and down positions of the different-track swing rods to control the stop of the clamp seat.

[0039] In one embodiment of the present invention, the inspection forceps are provided with two symmetrical left and right parts, the inspection forceps head is provided with a clamp head, a gill hole is provided in the middle, and a driving hole is provided at the rear end, the two inspection forceps are movably connected through the gill hole, and are installed on the clamp shaft of the clamp seat to form a compound rotating pair;

[0040] There are also two connecting rods, one end of which is connected to the driving holes of the inspection clamp respectively, and the other end of which is movably connected to the nut, so that the connecting rod and the inspection clamp form a movable four-bar mechanism for sampling;

[0041] The two symmetrical forceps heads are both provided with sharp teeth, and the sharp teeth are combined to form a forceps spoon for storing the human tissue samples taken.

[0042] In one embodiment of the present invention, a rotating shaft is provided on the top of the nut and is movably connected to two connecting clamp rods through a rotating pair to form a composite pair; a threaded through hole is provided in the middle of the nut to cooperate with a screw rod to form a spiral pair.

[0043] In one embodiment of the present invention, one end of the coupling is fixedly connected to the rotating shaft of the biopsy motor, and the other end is fixedly connected to the lead screw, so that the biopsy motor, the coupling, the lead screw, and the nut are sequentially connected to form a lead screw-nut system;

[0044] Thus, under the forward and reverse rotation control of the biopsy motor in the lead screw-nut system, the four-bar linkage deforms inside the capsule and moves back and forth along the capsule. Finally, with the assistance of the swing control mechanism through the biopsy motor, the four-bar linkage can be driven to realize the non-synchronous biopsy function of the biopsy forceps opening (unloading) - extending - sampling - closing - retracting.

[0045] In one embodiment of the present invention, the energy coil is fixed on the circular seat of the lower shell and is used to receive external power supply to provide power for the capsule.

[0046] In one embodiment of the present invention, a bearing seat is further included, which is used to limit the position of the lead screw and avoid asymmetric deformation of the four-bar linkage caused by asymmetric forces on both sides of the forceps seat.

[0047] In one embodiment of the present invention, the swing control mechanism further includes a long-hole rod. The long-hole rod is a symmetric part, with a fixed hole in the middle and long circular holes at both ends. The fixed hole of the long-hole rod is fixed on the bolt shaft of the pressure bolt;

[0048] The pressing hole of the non-synchronous swing rod is movably connected to the long-hole rod through the long circular hole.

[0049] The present invention uses the swing control mechanism to control the movement or stop of the forceps seat, and uses the blades to drive the movement of the capsule, and then uses the attitude control seat to control the movement direction of the capsule. Thus, the present invention realizes the biopsy function of the biopsy forceps' head opening, extending for sampling, closing and retracting, leaving samples or opening for unloading samples, and can repeat the above actions. Therefore, it can complete the function of taking samples from multiple parts of the human gastrointestinal tract by swallowing once; that is, the present invention uses the swing control mechanism to cooperate with the biopsy motor to drive the telescopic movement and opening and closing swing of the biopsy forceps "in and out non-synchronously", realizing that the biopsy forceps have different back-and-forth trajectories of opening for unloading - extending - sampling - closing - retracting.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0051] The swing control mechanism is used to cooperate with the biopsy motor to drive the telescopic movement and opening / closing swing of the biopsy forceps, achieving "different trajectories for entry and exit". It intermittently realizes different back-and-forth trajectories of the biopsy forceps, including opening (unloading) - extending - sampling - closing - retracting, and finally completes a series of actions of the biopsy forceps moving out, stopping for sampling and retracting for sample retention, and opening (unloading). The swing control mechanism uses a small force to control a large force, and its front and back directions are exactly the two limit positions of the forceps base. Therefore, a set of swing control mechanisms can control the movement of the forceps base in two directions and at different points. This enables the present invention to perform sampling operations on multiple parts of the human body multiple times in one swallow, saving time and cost, improving the biopsy efficiency and success rate, having a simple and reliable structure, low power consumption, 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. Brief Description of the Drawings

[0052] Figure 1 is the overall structural schematic diagram of the present invention;

[0053] Figure 2 is the exploded structural schematic diagram of the present invention;

[0054] Figure 3 is the structural schematic diagram of the lead screw - nut system driving the quadrilateral mechanism in the present invention;

[0055] Figure 4 is the structural schematic diagram of the lower shell in the present invention;

[0056] Figure 5 is the effect diagram of the lower shell with a transparent cover installed in the present invention;

[0057] Figure 6 is the structural schematic diagram of the upper shell in the present invention;

[0058] Figure 7(a) is the structural schematic diagram of the blade, attitude motor and attitude control base connected in the present invention;

[0059] Figure 7(b) is the structural schematic diagram of the driving power system in the present invention;

[0060] Figure 7(c) is the structural schematic diagram of the electric control magnet installed on the lower shell in the present invention;

[0061] Figure 8 is the structural schematic diagram of the swing control mechanism in the present invention;

[0062] Figure 9 is the exploded structural schematic diagram of the swing control mechanism in the present invention;

[0063] Figure 10 is the structural schematic diagram of the different - trajectory swing rod in the present invention;

[0064] Figure 11It is a schematic structural diagram of the pressure bolt in the present invention;

[0065] Figure 12 It is a schematic structural diagram of the magnetic base in the present invention;

[0066] Figure 13 It is a schematic structural diagram of the pliers base in the present invention;

[0067] Figure 14 It is a schematic structural diagram of the different-trace pendulum rod swinging down in the pendulum control mechanism of the present invention;

[0068] Figure 15 It is a schematic structural diagram of the different-trace pendulum rod swinging up in the pendulum control mechanism of the present invention;

[0069] Figure 16 It is a schematic structural diagram of the inspection pliers in the present invention;

[0070] Figure 17 It is a schematic structural diagram of the long-hole rod in the present invention;

[0071] Figure 18 It is a schematic structural diagram of another embodiment of the pendulum control mechanism swinging up in the present invention;

[0072] Figure 19 It is a schematic structural diagram of another embodiment of the pendulum control mechanism swinging down in the present invention;

[0073] Figure 20 It is a structural effect diagram when the present invention is in the initial state and ready to open the inspection pliers;

[0074] Figure 21 It is a structural effect diagram when the inspection pliers of the present invention are opened (unloading the sample);

[0075] Figure 22 It is a structural effect diagram when the present invention is ready to push out the inspection pliers, that is, unlock the pendulum control mechanism;

[0076] Figure 23 It is a structural effect diagram when the inspection pliers of the present invention have been pushed out and extended outside the bladder;

[0077] Figure 24 It is a structural effect diagram when the present invention is ready to take a sample, that is, close the pendulum control mechanism;

[0078] Figure 25 It is a structural effect diagram after the inspection pliers of the present invention are closed and the sample has been taken;

[0079] Figure 26 It is a structural effect diagram when the present invention is ready to retract the inspection pliers after taking a sample, that is, the pendulum control mechanism is unlocked;

[0080] Figure 27 It is a structural effect diagram after the inspection pliers are pulled back after the sampling of the present invention is completed;

[0081] Figure 28 It is a flowchart of the whole process of different trace sampling of the present invention.

[0082] In the figure,

[0083] 1 is the blade;

[0084] 2 is the attitude motor;

[0085] 3 is the attitude control seat, 301 is the ball head, 302 is the magnetic claw, 303 is the magnetic piece;

[0086] 4 is the blade seat;

[0087] 5 is the compression spring;

[0088] 6 is the electro - magnetic control;

[0089] 7 is the energy coil;

[0090] 8 is the electric control box;

[0091] 9 is the lower shell, 901 is the lower grid, 902 is the circular seat, 9021 is the fixed spring hole, 903 is the lighting device, 904 is the camera device, 905 is the partition board, 906 is the transparent cover;

[0092] 10 is the guide rail, 1001 is the sliding rod, 1002 is the pillow block;

[0093] 11 is the clamp seat, 1101 is the slider, 1102 is the two - way collision pad, 1103 is the clamp shaft;

[0094] 12 is the swing control mechanism, 1201 is the support, 1202 is the different - trace swing rod, 12021 is the asynchronous collision head, 12022 is the support hole, 12023 is the pressing hole, 1203 is the pressing rod, 1204 is the magnetic seat, 12041 is the bolt hole, 12042 is the electromagnetic suction, 1205 is the pressing bolt, 12051 is the top cover, 12052 is the pin bolt, 12053 is the magnetic bead, 12054 is the bolt shaft, 1206 is the double - swing spring, 1207 is the long - hole rod, 12071 is the long - round hole, 12072 is the fixing hole;

[0095] 13 is the sample storage box;

[0096] 14 is the inspection clamp, 1401 is the drive hole, 1402 is the cheek hole, 1403 is the clamp head, 14031 is the clamp key, 14032 is the sharp teeth;

[0097] 15 is the connecting clamp rod;

[0098] 16 is the nut;

[0099] 17 is the lead screw;

[0100] 18 is the coupling;

[0101] 19 is the biopsy motor;

[0102] 20 is the upper shell, 2001 is the upper grid, and 2002 is the flexible cover. Detailed implementation mode

[0103] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0104] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0105] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0106] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection or a wireless communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0107] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions conflicts with each other or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0108] Embodiment

[0109] See Figure 1 and, with reference to Figures 2 - 6。This embodiment provides a biopsy capsule that realizes different-track control in both forward and backward directions by the same swing control mechanism, including a blade 1, an attitude motor 2, an attitude control base 3, a blade base 4, a compression spring 5, an electromagnetic control 6, an energy coil 7, an electronic control box 8, a lower shell 9, a guide rail 10, a clamp base 11, a swing control mechanism 12, a sample storage box 13, biopsy forceps 14, a connecting forceps rod 15, a nut 16, a lead screw 17, a coupling 18, a biopsy motor 19, and an upper shell 20;

[0110] The blade 1, the attitude motor 2, and the attitude control base 3 are connected in sequence and installed on the blade base 4, providing the driving force for the active movement of the capsule to make the capsule move;

[0111] The electromagnetic control 6 and the energy coil 7 are installed on the lower shell 9 and directly below the bottom of the attitude control base 3. One end of the compression spring 5 is fixedly connected to the bottom of the attitude control base 3, and the other end is fixedly connected to the lower shell 9. The combination of the compression spring 5, the electromagnetic control 6, and the energy coil 7 provides a direction yaw angle for the attitude control of the capsule, controlling the movement direction of the capsule;

[0112] The biopsy motor 19, the coupling 18, the lead screw 17, and the nut 16 are connected in series in sequence to form a lead screw-nut system;

[0113] There are a pair of the biopsy forceps 14 and two connecting forceps rods 15. After the biopsy forceps 14 are connected in series, they are bridged between the clamp base 11 and the nut 16, thus forming a quadrilateral mechanism.

[0114] The swing control mechanism 12 includes a support 1201, a different-track swing rod 1202, a pressure rod 1203, a magnetic seat 1204, a pressure bolt 1205, and a compound swing spring 1206. The swing control mechanism 12 controls the stop of the clamp base 11 through the different-track swing rod 1202, and cooperates with the combined control of the lead screw-nut system. Thus, under the forward and reverse rotation control of the biopsy motor 19, the quadrilateral mechanism can be driven by the lead screw-nut system to move or deform. Finally, the present invention realizes the biopsy function of different tracks in both forward and backward directions of opening (unloading) - extending - sampling - closing - retracting.

[0115] The sample storage box 13 is installed inside the lower shell 9 and below the path that the biopsy forceps 14 must pass through. The sample storage box 13 is used to store the human tissue samples retrieved by the biopsy forceps 14;

[0116] The electronic control box 8 is fixed inside the lower shell 9. There is an electronic control board (not shown) inside the electronic control box 8. The upper end of the electronic control box 8 is covered with a sealing cover for waterproofing and anti-fouling;

[0117] There are two left and right guide rails 10, both of which include a pillow block 1002 and a slide bar 1001. The pillow block 1002 is fixed inside the lower shell 9, and the slide bar 1001 is fixed on the pillow block 1002;

[0118] The upper shell 20 and the lower shell 9 are buckled together to form a capsule shape.

[0119] In this embodiment, a upper grid 2001 is provided at the tail of the upper shell 20, and a flexible cover 2002 is provided at the head thereof;

[0120] A lower grid 901 is provided at the tail of the lower shell 9, and a transparent cover 906 is provided at the head thereof;

[0121] Inside the lower shell 9, a round seat 902 is further provided, and a fixing spring hole 9021 is provided on the round seat 902. The fixing spring hole 9021 is located below the compression spring 5 and is used to fix one end of the compression spring 5;

[0122] A partition 905 is provided at the front end of the lower shell 9, and a lighting device 903 and a camera device 904 are provided on the partition 905;

[0123] The transparent cover 906 covers the lighting device 903 and the camera device 904, and forms a sealed chamber with the partition 905, which is used to protect the camera device 904 from the influence of the humid internal environment of the human body, etc.

[0124] See Figure 7a 、 Figure 7b 、 Figure 7c and, for combined reference, see Figure 1 、 Figure 2 . In this embodiment, a motor mounting seat is provided in front of the attitude control seat 3, and a ball head 301 is provided in the middle. The attitude motor 2 is fixed to the head of the attitude control seat 3 through the motor mounting seat, the blade 1 is fixed to the rotating shaft of the attitude motor 2, and the attitude control seat 3 is mounted on the blade seat 4 through the ball head 301. The blade seat 4 is fixed to the tail of the lower shell 9. Thus, the blade 1, the attitude motor 2, and the attitude control seat 3 are connected in series in sequence and are arranged at the tail of the capsule to provide a driving power system for the active movement of the capsule in the human intestine. Therefore, the attitude motor 2 can drive the blade 1 to rotate, and further push the capsule to move in the opposite direction.

[0125] Four magnetic claws 302 are provided at the rear end of the attitude control seat 3, and magnetic sheets 303 are attached to each magnetic claw;

[0126] The electronic control magnet 6 is mounted on the round seat 902 of the lower shell 9 and is close to the bottom of the magnetic claw 302 of the attitude control seat 3. The electronic control magnet 6 is located directly behind the magnetic sheet 303, and the number of the electronic control magnets 6 is the same as that of the magnetic claws 302, both being four;

[0127] There are four fixing spring holes 9021 on the round seat 902, all of which are located around the electronic control magnet 6. One end of the compression spring 5 is connected to the fixing spring hole 9021 on the round seat 902, and one end of the spring wire of the compression spring 5 is inserted into the fixing spring hole 9021 for fixation. The number of the compression springs 5 is the same as that of the magnetic claws 302, both being four;

[0128] The other end of the compression spring 5 presses against the magnetic claw 302 or is fixedly connected to the magnetic claw 302;

[0129] The electronic control magnet 6 is controlled by the electronic control board to attract the magnetic sheet 303 in sequence, and cooperate with the compression spring 5. That is, the electronic control magnet 6 and the compression spring 5 are combined together to control the deflection direction of the attitude control seat 3, and further control the orientation of the blade 1, so as to control the orientation of the driving power system, and finally control the traveling direction of the capsule.

[0130] That is, the active movement of the capsule of the present invention is three-dimensionally controllable: forward direction, pitch angle, and yaw angle movement.

[0131] See Figures 8 - 12 , and cooperate with the reference Figure 14 , Figure 15 . In this embodiment, the support 1201 and the magnetic seat 1204 of the pendulum control mechanism 12 are fixed inside the lower shell 9. A bolt hole 12041 is provided at the top of the magnetic seat 1204, and an electromagnetic suction 12042 is provided at the lower part;

[0132] The top of the pressure bolt 1205 is provided with a top cover 12051, a magnetic bead 12053 is provided at the lower end and is close to the electromagnetic suction 12042, and the middle is connected by a pin bolt 12052. A bolt shaft 12054 is provided on the pin bolt 12052. The pressure bolt 1205 is movably inserted into the bolt hole 12041, and the pin bolt 12052 cooperates with the bolt hole 12041;

[0133] The compound pendulum spring 1206 is arranged on the pin bolt 12052. The lower end of the compound pendulum spring 1206 presses against the top of the magnetic seat 1204, and the upper end presses against the top cover 12051, so that the pressure bolt 1205 presses upward;

[0134] One end of the pressure rod 1203 is movably connected to the bolt shaft 12054, and the other end is movably connected to the different trace pendulum rod 1202;

[0135] The different trace pendulum rod 1202 includes an asynchronous collision head 12021, a support hole 12022, and a pressing hole 12023. The distance between the support hole 12022 and the pressing hole 12023 is less than the distance between the asynchronous collision head 12021 and the support hole 12022, so as to increase the transformation ratio and control a large displacement with a small displacement, that is, a large displacement change of the asynchronous collision head 12021 is caused by a small displacement pressing of the pressing hole 12023; the different trace pendulum rod 1202 is movably connected to the support 1201 through the support hole 12022, and the asynchronous collision head 12021 points to the clamp seat 11;

[0136] Thus, under the action of the compound pendulum spring 1206, the pressure bolt 1205 moves upward, driving the pressure rod 1203 upward, and further driving the different trace pendulum rod 1202 to return to its original position. However, under the suction force of the electromagnetic suction 12042, the pressure bolt 1205 moves downward, thereby driving the pressure rod 1203 downward to drive the different trace pendulum rod 1202 to swing to another position, and finally realizing the deformation control of the pendulum control mechanism 12.

[0137] See Figure 13, see in conjunction with Figure 14 and Figure 15 . In this embodiment, the pliers base 11 is symmetrical left and right. A pliers shaft 1103 is provided at the center of the top of the pliers base 11; slider 1101 is provided on the outer side surfaces of both sides of the pliers base 11, and the slider 1101 is movably connected to the slide rod 1001 of the guide rail 10 to form a linear motion pair, so that the pliers base 11 can linearly move back and forth along the guide rail 10 in the capsule; two-way collision pads 1102 are provided at the lower ends of both sides of the pliers base 11, and the elongation amount of the two-way collision pads 1102 is matched with the different-trace swing rod 1202 of the swing control mechanism 12. The up and down position of the swing of the different-trace swing rod 1202 is controlled by the swing control mechanism 12 to control the stop of the pliers base 11. The swing control mechanism 12 adopts the method of using small force to control large force, and its front and back directions are exactly the two limit positions of the pliers base 11. Therefore, a set of swing control mechanism can realize the stop control of the movement of the pliers base 11 in two directions and at different points. The mechanical structure control method it adopts is simple and reliable, with low power consumption and reduces the number of motors.

[0138] See Figure 16 , see in conjunction with Figure 14 and Figure 15 . In this embodiment, two symmetrical left and right inspection pliers 14 are provided. The inspection pliers 14 are provided with a pliers head 1403 at the head, a cheek hole 1402 in the middle, and a driving hole 1401 at the rear end. The two inspection pliers 14 are movably connected through the cheek hole 1402 and are installed on the pliers shaft 1103 of the pliers base 11 to form a compound rotating pair; there are also two connecting pliers rods 15. One end of each connecting pliers rod 15 is correspondingly connected to the driving hole 1401 of the inspection pliers 14, and the other end of the connecting pliers rod 15 is movably connected to the nut 16. Thus, the connecting pliers rod 15 and the inspection pliers 14 form a movable four-bar linkage mechanism for sampling; pointed teeth 14032 are provided on both symmetrical pliers heads 1403, and the pointed teeth are combined to form a pliers key 14031 for storing the taken human tissue sample.

[0139] See Figure 3 , see in conjunction with Figure 1 and Figure 14 . In this implementation, the top of the nut 16 is provided with a rotating shaft and is movably connected to the two connecting pliers rods 15 through a rotating pair to form a compound pair; a threaded through hole is provided in the middle of the nut 16 and is matched with the lead screw 17 to form a screw pair. One end of the coupling 18 is fixedly connected to the rotating shaft of the biopsy motor 19, and the other end is fixedly connected to the lead screw 17. Thus, the biopsy motor 19, the coupling 18, the lead screw 17, and the nut 16 are sequentially connected to form a lead screw-nut system; thus, under the forward and reverse rotation control of the biopsy motor 19 in the lead screw-nut system, the four-bar linkage mechanism deforms and moves back and forth along the capsule in the capsule. Finally, through the biopsy motor 19 and with the assistance of the swing control mechanism 12, the four-bar linkage mechanism can be driven to realize the non-synchronous biopsy function of the inspection pliers 14 opening - extending - sampling - closing - retracting.

[0140] In this embodiment, the energy coil 7 is fixed on the circular seat 902 of the lower case 9 and is used to receive external power supply to provide power for the capsule.

[0141] In addition, for stable driving, the lead screw nut system further includes a bearing seat (not shown) for restricting the position of the lead screw 17 to prevent asymmetric deformation of the four-bar linkage due to asymmetric forces on both sides of the clamp seat 11.

[0142] See Figure 17 , and in conjunction with Figure 18 、 Figure 19 . In this embodiment, the swing control mechanism 12 further includes a long-hole rod 1207. The long-hole rod 1207 is a symmetric member with a fixed hole 12072 in the middle and long circular holes 12071 at both ends. The fixed hole 12072 of the long-hole rod 1207 is fixed on the bolt shaft 12054 of the pressure bolt 1205; the pressing holes 12023 of the different-trace swing rods 1202 are movably connected to the long-hole rod 1207 through the long circular holes 12071.

[0143] The present invention uses the swing control mechanism 12 to control the movement or stop of the clamp seat 11, uses the blade 1 to drive the movement of the capsule, and then uses the posture control seat 3 to control the movement direction of the capsule. Thus, the present invention realizes the biopsy function of the clamp head 1403 of the biopsy forceps 14 to open, extend for sampling, close and retract, leave a sample or open and discharge the sample, and can repeat the above actions, so as to complete the function of taking samples from multiple parts of the human gastrointestinal tract by one-time swallowing.

[0144] That is, the present invention uses the same swing control mechanism 12 in cooperation with the biopsy motor 19 to drive the telescopic movement and opening and closing swing of the biopsy forceps 14 with "different traces in and out", realizing the back-and-forth bidirectional different trajectory movement of the biopsy forceps 14 with opening (discharging)-extending-sampling-closing-retracting, and finally completing a series of actions of the movement, stop, sampling, and discharging of the biopsy forceps 14, enabling the present invention to perform sampling operations on multiple parts of the human body multiple times by one-time swallowing, saving time and cost, and improving the biopsy efficiency and success rate. The schematic diagram of its different-trace back-and-forth cycle is as shown in Figure 28 , and the movement process of completing one cycle of its use is as shown in Figures 20 - 27 schematically shown:

[0145] ① The different-trace swing rod 1202 swings upward to lock the movement of the clamp seat 11, as shown in Figure 20 : The swing control mechanism 12 needs to be locked first, that is, the electromagnetic suction 12042 is energized so that the different-trace swing rod 1202 swings upward to the upper limit position, causing the different-trace swing rod 1202 to contact the asynchronous contact head 12021, and the different-trace swing rod 1202 blocks the clamp seat 11, making the clamp seat 11 unable to move forward.

[0146] ②Open and unload the sample: The biopsy motor 19 starts to rotate forward to initiate the procedure of opening the forceps head. As a result, the nut 16 moves forward, causing the four-bar linkage formed by the connecting forceps rod 15 and the biopsy forceps 14 to deform. That is, the four-bar linkage deforms in place, and finally the forceps head of the biopsy forceps 14 will be opened; as Figure 21 shown in the schematic diagram of the state when the biopsy forceps 14 are opened to the limit in place (inside the capsule);

[0147] At this time, if there is a sampled sample in the forceps head, it will be unloaded into the sample storage box 13;

[0148] The entire biopsy sampling device is still inside the capsule.

[0149] ③Swing down to unlock, as Figure 22 shown: The swing control mechanism 12 unlocks the forceps seat 11, that is, the electromagnetic suction 12042 is powered off, so that the different trace swing rod 1202 swings downward to the lower limit position, causing the different trace swing rod 1202 to disengage from the asynchronous contact head 12021. The different trace swing rod 1202 clears the path of the forceps seat 11, enabling the forceps seat 11 to move freely.

[0150] ④Extend out of the capsule: The biopsy motor 19 continues to rotate forward to push the forceps head 1403 of the biopsy forceps 14 out of the capsule. The nut 16 continues to move forward. The four-bar linkage stops deforming due to reaching the limit position, causing the nut 16 to start driving the four-bar linkage to move forward together, thereby pushing the biopsy forceps 14 to move forward and extend out of the capsule;

[0151] Figure 23 The schematic diagram shows the state when the biopsy forceps 14 are extended out of the capsule in the open state.

[0152] ⑤Swing up again to lock, as Figure 24 shown: The swing control mechanism 12 locks the forceps seat 11 again, that is, the electromagnetic suction 12042 is powered on again, so that the different trace swing rod 1202 swings upward to the upper limit position, causing the other end of the different trace swing rod 1202 to contact the other end of the asynchronous contact head 12021. The different trace swing rod 1202 blocks the forceps seat 11, making the forceps seat 11 unable to move backward.

[0153] ⑥Close and sample: The biopsy motor 19 starts to rotate in reverse, so the nut 16 starts to move backward, pulling the four-bar linkage to deform. Since the forceps seat 11 remains stationary in place, the biopsy forceps 14 start to clamp human tissue outside the capsule for sampling;

[0154] Figure 25 The schematic diagram shows the state when the biopsy forceps 14 completely close the forceps head and the sampling is completed.

[0155] ⑦Swing down again to unlock, as Figure 26As shown: The swing control mechanism 12 unlocks the clamp seat 11 again, that is, the electromagnetic suction 12042 is powered off, so that the different trace swing rod 1202 swings downward to the lower limit position, causing the different trace swing rod 1202 to disengage from the asynchronous contact head 12021. The different trace swing rod 1202 clears the path of the clamp seat 11, enabling the clamp seat 11 to move freely again.

[0156] ⑧ Retract into the capsule: The biopsy motor 19 continues to reverse. At this time, since the four-bar linkage mechanism has just deformed to the limit and cannot be further deformed, the nut 16 will pull the clamp seat 11 to move backward together. Finally, the entire four-bar linkage mechanism returns into the capsule.

[0157] Figure 27 It is a schematic diagram of the final state when the biopsy forceps 14 of the present invention returns into the capsule.

[0158] ⑨ If re-sampling is required, the above steps ① - ⑧ can be repeated to achieve it.

[0159] The above description of the embodiments is to enable those of ordinary skill in the art to understand and use the invention. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative efforts. Therefore, the present invention is not limited to the above embodiments, and the improvements and modifications made by those skilled in the art without departing from the scope of the present invention according to the disclosure of the present invention should be within the protection scope of the present invention.

Claims

1. A biopsy capsule that realizes different trace controls in both forward and backward directions by the same swing control mechanism, characterized in that, It comprises a blade (1), an attitude motor (2), an attitude control seat (3), a blade seat (4), a compression spring (5), an electric control magnet (6), an energy coil (7), an electric control box (8), a lower shell (9), a guide rail (10), a clamp seat (11), a swing control mechanism (12), a sample storage box (13), a clamp inspection (14), a clamp connecting rod (15), a nut (16), a screw rod (17), a coupling (18), a biopsy motor (19) and an upper shell (20); The blade (1), the attitude motor (2), and the attitude control seat (3) are connected in sequence and mounted on the blade seat (4) to provide a driving force for active movement of the capsule, thereby causing the capsule to move; The electrically controlled magnet (6) and the energy coil (7) are mounted on the lower shell (9) and are located directly below the bottom of the attitude control seat (3); one end of the compression spring (5) is fixedly connected to the bottom of the attitude control seat (3), and the other end is fixedly connected to the lower shell (9); the compression spring (5), the electrically controlled magnet (6), and the energy coil (7) are combined to provide a directional yaw angle for the attitude control of the capsule, thereby controlling the movement direction of the capsule; The biopsy motor (19), the coupling (18), the screw (17), and the nut (16) are sequentially connected in series to form a screw-nut system; The said checking pliers (14) are provided with a pair, and the connecting pliers rods (15) are provided with two. The checking pliers (14) are connected in series and bridged between the pliers seat (11) and the nut (16), so as to form a quadrilateral mechanism, and the movement and deformation of the quadrilateral mechanism are driven by the screw nut system; The swing control mechanism (12) comprises a support (1201), a non-trajectory swing rod (1202), a pressure rod (1203), a magnetic base (1204), a pressure bolt (1205) and a compound swing spring (1206). The swing control mechanism (12) controls the parking of the clamp seat (11) through the non-trajectory swing rod (1202), and cooperates with the joint control of the screw nut system, so that the quadrilateral mechanism can be controlled to move or deform under the forward and reverse rotation control of the biopsy motor (19). The biopsy capsule as a whole can realize the non-co-trajectory biopsy function of opening-extending-sampling-closing-retracting; The sample storage box (13) is installed inside the lower shell (9) and is located below the route that the forceps (14) must pass through. The sample storage box (13) is used to store human tissue samples retrieved by the forceps (14); The electric control box (8) is fixed inside the lower shell (9), and an electric control board is provided inside the electric control box (8); The guide rail (10) is provided with two left and right guide rails, each of which comprises a pillow block (1002) and a slide bar (1001); the pillow block (1002) is fixed in the lower shell (9), and the slide bar (1001) is fixed on the pillow block (1002); The upper shell (20) and the lower shell (9) are buckled together to form a capsule shape; In front of the attitude control seat (3), there is a motor mounting seat, and in the middle, there is a ball head (301). The attitude motor (2) is fixed to the head of the attitude control seat (3) through the motor mounting seat. The blade (1) is fixed to the rotating shaft of the attitude motor (2). The attitude control seat (3) is mounted on the blade seat (4) through the ball head (301). The blade seat (4) is fixed to the tail of the lower shell (9). Thus, the blade (1), the attitude motor (2), and the attitude control seat (3) are connected in series in sequence and are arranged at the tail of the capsule, providing a driving power system for the capsule to actively move in the human intestine. Therefore, the attitude motor (2) can drive the blade (1) to rotate, and further push the capsule to move in the opposite direction; The support (1201) and the magnetic seat (1204) of the pendulum control mechanism (12) are fixed inside the lower shell (9). There is a bolt hole (12041) at the top of the magnetic seat (1204), and an electromagnetic suction (12042) at the lower part; At the top of the pressure bolt (1205), there is a top cover (12051), and at the lower end, there is a magnetic bead (12053) close to the electromagnetic suction (12042). The middle is connected by a pin bolt (12052). There is a bolt shaft (12054) on the pin bolt (12052). The pressure bolt (1205) is inserted into the bolt hole (12041) movably, and the pin bolt (12052) cooperates with the bolt hole (12041); The double pendulum spring (1206) is arranged on the pin bolt (12052) and presses against the top of the magnetic seat (1204); One end of the pressure rod (1203) is movably connected to the bolt shaft (12054), and the other end is movably connected to the non-synchronous swing rod (1202); The non-synchronous swing rod (1202) includes an asynchronous meeting head (12021), a support hole (12022), and a pressing hole (12023). The distance between the support hole (12022) and the pressing hole (12023) is less than the distance between the asynchronous meeting head (12021) and the support hole (12022). The non-synchronous swing rod (1202) is movably connected to the support (1201) through the support hole (12022), and the asynchronous meeting head (12021) points to the clamp seat (11); Under the action of the double pendulum spring (1206), the pressure bolt (1205) moves upward, driving the pressure rod (1203) upward, and further driving the non-synchronous swing rod (1202) to return to its original position. Under the suction force of the electromagnetic suction (12042), the pressure bolt (1205) moves downward, thus driving the pressure rod (1203) downward to drive the non-synchronous swing rod (1202) to swing to another position, finally realizing the deformation control of the pendulum control mechanism (12).

2. The biopsy capsule according to claim 1, which realizes different trace controls in both forward and backward directions by the same swing control mechanism, characterized in that, At the tail of the upper shell (20), there is an upper grid (2001), and at the head, there is a flexible cover (2002); At the tail of the lower shell (9), there is a lower grid (901), and at the head, there is a transparent cover (906); Inside the lower shell (9), there is also a circular seat (902). There is a fixed spring hole (9021) on the circular seat (902). The fixed spring hole (9021) is located below the compression spring (5) and is used to fix one end of the compression spring (5); A partition plate (905) is provided at the front end of the lower shell (9), and a lighting device (903) and a camera device (904) are provided on the partition plate (905); The transparent cover (906) covers the lighting device (903) and the camera device (904), and forms a sealed chamber with the partition plate (905) to protect the camera device (904).

3. The biopsy capsule according to claim 1, which realizes different trace controls in both forward and backward directions by the same swing control mechanism, characterized in that, Four magnetic claws (302) are provided at the rear end of the attitude control seat (3), and magnetic sheets (303) are pasted on each magnetic claw; The electro-magnet (6) is installed on the circular seat (902) of the lower shell (9) and close to the bottom of the magnetic claw (302) of the attitude control seat (3). The electro-magnet (6) is located directly behind the magnetic sheet (303). The number of electro-magnets (6) is the same as that of the magnetic claws (302), both being four; Four fixing spring holes (9021) are provided on the circular seat (902), all of which are located around the electro-magnet (6). One end of the compression spring (5) is connected to the fixing spring hole (9021) on the circular seat (902). One end of the spring wire of the compression spring (5) is inserted into the fixing spring hole (9021) for fixation. The number of compression springs (5) is the same as that of the magnetic claws (302), both being four; The other end of the compression spring (5) presses against the magnetic claw (302) or is fixedly connected to the magnetic claw (302); The electro-magnet (6) is controlled by the electronic control board to sequentially attract the magnetic sheet (303). In cooperation with the compression spring (5), the deflection direction of the attitude control seat (3) is controlled, and then the orientation of the blade (1) is controlled, so as to control the orientation of the drive power system, and finally control the traveling direction of the capsule.

4. The biopsy capsule according to claim 1, which realizes different trace controls in both forward and backward directions by the same swing control mechanism, characterized in that, The pliers seat (11) is symmetric left and right, and a pliers shaft (1103) is provided at the center of the top of the pliers seat (11); Sliders (1101) are provided on the outer sides of both sides of the pliers seat (11). The sliders (1101) are movably connected to the slide rod (1001) of the guide rail (10) to form a linear motion pair, so that the pliers seat (11) can move linearly back and forth in the capsule along the guide rail (10); Two-way collision pads (1102) are provided at the lower ends of both sides of the pliers seat (11). The elongation of the two-way collision pads (1102) is matched with the different-trace swing rod (1202) of the swing control mechanism (12). The swing control mechanism (12) controls the up and down positions of the swing of the different-trace swing rod (1202) to control the stop of the pliers seat (11).

5. A biopsy capsule that realizes different track controls in both forward and backward directions by the same swing control mechanism according to claim 1, characterized in that There are two symmetrically arranged inspection pliers (14). The head of the inspection pliers (14) is provided with a pliers head (1403), a gill hole (1402) is provided in the middle, and a drive hole (1401) is provided at the rear end. The two inspection pliers (14) are movably connected through the gill hole (1402) and are installed on the pliers shaft (1103) of the pliers seat (11) to form a compound rotating pair; There are also two connecting pliers rods (15). One end of each connecting pliers rod (15) is correspondingly connected to the drive hole (1401) of the inspection pliers (14), and the other end of the connecting pliers rod (15) is movably connected to the nut (16). Thus, the connecting pliers rod (15) and the inspection pliers (14) form a movable four-bar mechanism for sampling; Sharp teeth (14032) are provided on both symmetric pliers heads (1403), and the sharp teeth together form a pliers key (14031) for storing the taken human tissue specimen.

6. A biopsy capsule that realizes different track controls in both forward and backward directions by the same swing control mechanism according to claim 5, characterized in that One end of the coupling (18) is fixedly connected to the rotating shaft of the biopsy motor (19), and the other end is fixedly connected to the lead screw (17). Thus, the biopsy motor (19), the coupling (18), the lead screw (17), and the nut (16) are connected in sequence to form a lead screw-nut system; Thus, under the forward and reverse rotation control of the biopsy motor (19) in the lead screw-nut system, the four-bar linkage deforms inside the capsule and moves back and forth along the capsule. Finally, with the assistance of the swing control mechanism (12) through the biopsy motor (19), the four-bar linkage can be driven to realize the non-trace biopsy function of the biopsy forceps (14) opening - extending - sampling - closing - retracting.

7. A biopsy capsule that realizes different track controls in both forward and backward directions by the same swing control mechanism according to claim 1, characterized in that It also includes a bearing seat for restricting the position of the lead screw (17) to prevent the four-bar linkage from being asymmetrically deformed due to asymmetric forces on both sides of the forceps seat (11).

8. A biopsy capsule that realizes different track controls in both forward and backward directions by the same swing control mechanism according to claim 1, characterized in that The swing control mechanism (12) further includes a long-hole rod (1207). The long-hole rod (1207) is a symmetric part, with a fixing hole (12072) in the middle and long round holes (12071) at both ends. The fixing hole (12072) of the long-hole rod (1207) is fixed on the bolt shaft (12054) of the pressure bolt (1205); The pressing hole (12023) of the non-trace swing rod (1202) is movably connected to the long-hole rod (1207) through the long round hole (12071).

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