A single-drive capsule biopsy device with multi-point self-unlocking

Abstract

The present invention relates to a single-drive capsule biopsy device with multi-point self-unlocking, comprising a capsule-shaped shell (22) provided with a transparent cover (2203), and a one-way driving mechanism, an ectopic self-unlocking mechanism, a camera system (15) and a sample receiving box (16) arranged in the shell (22), wherein the one-way driving mechanism is connected to the ectopic self-unlocking mechanism, the camera system (15) is arranged beside the ectopic self-unlocking mechanism and placed in the transparent cover (2203), and the sample receiving box (16) is arranged below the ectopic self-unlocking mechanism. Compared with the prior art, the present invention has the advantages of one-time swallowing and multiple sampling, low difficulty in mechanism control, compactness and high efficiency, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a single-drive capsule biopsy device with multi-point self-unlocking. Background Art

[0002] Gastrointestinal diseases are common clinical diseases with a long latent period and unclear early symptoms, which seriously affect people's physical and mental health. The prevalence rate is as high as 74%. Since the length of the human gastrointestinal tract is 8 to 10 meters and the diseases in the gastrointestinal tract are hidden and difficult to detect, early detection and early treatment are the key to the successful treatment of gastrointestinal diseases. At present, the main equipment for diagnosing gastrointestinal diseases in clinical practice is the traditional intubation endoscope. As an invasive diagnostic examination method, the traditional endoscope will cause pain to the patient during the diagnosis process and may bring a series of complications. At present, there are corresponding diagnostic alternatives to the traditional intubation endoscope, such as barium enema and fecal occult blood, but these two alternatives have a high false detection rate and low diagnostic effectiveness. The successful development of active motion capsule robots has enabled patients to swallow capsule robots to enter the human body for biopsy, making it possible to accurately clamp the required tissues, thereby allowing doctors to collect relevant pathological tissues, make accurate diagnoses of lesion types, and confirm diseases, so as to achieve early detection and early treatment of digestive tract diseases, so as to provide symptomatic treatment and improve treatment effects. It is not only easy to operate, but also a minimally invasive diagnosis and treatment method, which greatly reduces 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 that urgently need to be solved in clinical practice. However, most of the existing capsule robots with biopsy functions have a one-time biopsy function. When samples are required from multiple parts of the human body or multiple parts of the same part, they need to be swallowed again, which is not only inefficient, but also costly, time-consuming, and inconvenient. Therefore, it is urgent to propose a capsule biopsy robot with multiple sampling functions that can be swallowed once to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a single-drive capsule biopsy device with multi-point self-unlocking.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] A single-drive capsule biopsy device with multi-point self-unlocking, the device comprises a capsule-shaped shell provided with a transparent cover, and a one-way driving mechanism, an ectopic self-unlocking mechanism, a camera system and a sample receiving box arranged in the shell, the one-way driving mechanism is connected to the ectopic self-unlocking mechanism, the camera system is arranged next to the ectopic self-unlocking mechanism and placed in the transparent cover, and the sample receiving box is arranged below the ectopic self-unlocking mechanism.

[0006] Furthermore, the one-way drive mechanism includes a motor arranged in a housing, a paddle wheel device connected to one end of the motor, a coupling connected to the other end of the motor, a screw connected to the coupling, and a screw nut movably connected to the screw, and the screw nut is connected to the out-of-position self-unlocking mechanism.

[0007] Furthermore, the out-of-situ self-unlocking mechanism includes a lock seat, a guide rod and a locking bar arranged on the lock seat, a clamp seat connected to the guide rod, a movable locking tooth fixed under the clamp seat, a sampling clamp movably connected to the clamp seat, and a multifunctional unlocking plate fixed on the lead screw nut and connected to the sampling clamp through a connecting rod, the locking bar engages with the movable locking tooth, and the movable locking tooth and the multifunctional unlocking plate are arranged correspondingly.

[0008] Furthermore, the movable locking tooth includes a tooth seat and a torsion spring, the tooth seat is provided with a spring groove, a rotating hole and a tooth head, the tooth head of the movable locking tooth in a free state meshes and locks with the teeth on the lock bar, and the tooth seat and the torsion spring are connected to the clamp seat through the rotating hole.

[0009] Furthermore, the outer side surface of the clamp seat is provided with a guide block for being movably connected to the guide rod to form a moving pair, the inner side of the clamp seat is provided with a mounting shaft for installing a movable locking tooth, and a clamp hole is provided in the top center of the clamp seat, the tooth seat of the movable locking tooth and the torsion spring are movably connected to the mounting shaft through a rotating hole and hidden in the spring groove.

[0010] Furthermore, the multifunctional unlocking plate includes a positioning plate, a mounting hole, a connecting plate and a wing plate, the mounting hole is connected to the connecting rod, the connecting plate is connected to the screw nut, and the wing plate is provided with a step corresponding to the movable locking tooth, and the step includes a front pull step, a front unlocking gear, a front guide surface, a hollow gear, a rear guide surface, a rear unlocking gear and a rear push step which are arranged in sequence.

[0011] Furthermore, one end of the sampling forceps is provided with a forceps head, the other end is provided with a driving hole for rotationally connecting with the connecting rod, and the middle part of the sampling forceps is provided with a gill hole for movably connecting with the forceps hole.

[0012] Furthermore, a transverse partition for achieving sealing is provided on the inner side of the shell, the motor is fixed on one side of the transverse partition, and a coil is provided on the other side of the transverse partition.

[0013] Furthermore, the paddle wheel device includes a driving propeller, a paddle wheel, a transmission gear set and a paddle wheel. The driving propeller is fixedly connected to the paddle wheel. One end of the transmission gear set is meshed with the paddle wheel gear, and the other end is meshed with the paddle wheel gear. The paddle wheel is fixed on the rotating shaft of the motor.

[0014] Furthermore, the camera system includes a seat plate arranged in the shell, and a camera and a lighting lamp arranged on the seat plate. The seat plate is located in the transparent cover and forms a closed space with the transparent cover for accommodating the camera and the lighting lamp.

[0015] The single-drive capsule biopsy device with multi-point self-unlocking provided by the present invention has at least the following beneficial effects compared with the prior art:

[0016] 1) The present invention sets a single motor drive, and utilizes the unlocking plate carried by the ectopic self-unlocking mechanism to complete unlocking and locking at different positions, so as to realize the biopsy functions of the capsule-type biopsy mechanism extending out for sampling, retracting in for retaining samples, and opening for unloading samples through self-intermittent control, so as to meet the sampling operation functions of multiple parts of the human body and multiple times under one-time swallowing by the patient, thereby reducing the control difficulty and complexity of the mechanism. It utilizes the position unlocking of the mechanical structure itself to ensure the reliability of the mechanism operation, and will not generate cumulative errors due to multiple cycles.

[0017] 2) All the mechanisms of the present invention are integrated into the accommodating space formed by the upper half shell and the lower half shell, and only a single motor drive is used to complete the operation of one-time swallowing and multiple sampling, without the need for additional motor drives and other auxiliary equipment, thereby reducing the volume and weight of the capsule and making the mechanism more compact and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The overall structural diagram of the single-drive capsule biopsy device with multi-point self-unlocking provided in the embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the decomposed structure of the present invention provided as an embodiment;

[0020] Figure 3 A schematic diagram of the structure of the out-of-position self-unlocking mechanism in the present invention provided in an embodiment;

[0021] Figure 4 A schematic diagram of a structure in which some components of the out-of-position self-unlocking mechanism of the present invention are installed on the lower half shell provided in an embodiment;

[0022] Figure 5 A schematic diagram of the transmission structure of the driving propeller in the present invention provided as an embodiment;

[0023] Figure 6 A schematic diagram of the structure of the multifunctional unlocking plate of the present invention provided in an embodiment;

[0024] Figure 7 A schematic diagram of the exploded structure of the movable locking tooth in the present invention provided as an embodiment;

[0025] Figure 8A schematic diagram of the structure of the clamp seat in the present invention provided as an embodiment;

[0026] Fig. 9 A schematic diagram of the structure of the movable locking tooth of the present invention provided in an embodiment being engaged and locked with the locking bar in a free state;

[0027] Fig.10 A schematic diagram of the positions of the multifunctional unlocking plate and the movable locking teeth in the out-of-position self-unlocking mechanism of the present invention provided in an embodiment;

[0028] Fig.11 This is a schematic diagram of the initial state of the present invention in the embodiment, i.e., when the sampling clamp is retracted and closed;

[0029] Fig.12 It is a schematic diagram of the state of the sampling forceps in the present invention when they are opened in situ in the embodiment;

[0030] Fig.13 This is a schematic diagram of the state when the sampling forceps in the present invention begin to extend in the embodiment;

[0031] Fig.14 It is a schematic diagram of the state when the sampling clamp in the present invention in the embodiment is fully extended and starts to close for sampling;

[0032] Fig.15 It is a schematic diagram of the state of the sampling clamp in the present invention in the embodiment when it starts to retract after sampling is completed;

[0033] Fig.16 Schematic diagram of the structure of the camera system in the present invention in the embodiment;

[0034] Fig.17 It is a schematic diagram of the structure of the guide groove in the present invention in the embodiment;

[0035] Fig.18 It is a schematic diagram of the structure of the brush of the present invention in the embodiment;

[0036] Fig.19 It is a schematic diagram of the structure of a single-open cover in the present invention in an embodiment;

[0037] The numbers in the figure show:

[0038] 1 is the driving propeller; 2 is the connecting wheel; 3 is the coil; 4 is the diaphragm; 5 is the transmission gear set; 6 is the motor; 7 is the driving wheel; 8 is the electric control seat;

[0039] 9 is a multifunctional unlocking plate, 901 is a mounting hole, 902 is a connecting plate, 903 is a positioning plate, 904 is a wing plate, 9041 is a rear push step, 9042 is a rear unlocking gear, 9043 is a rear guide surface, 9044 is a hollow gear, 9045 is a front guide surface, 9046 is a front unlocking gear, and 9047 is a front pull step;

[0040] 10 is a movable locking tooth, 1001 is a tooth seat, 10011 is a spring slot, 10012 is a rotating hole, 10013 is a tooth head, and 1002 is a torsion spring;

[0041] 11 is a clamp seat, 1101 is a clamp hole, 1102 is a mounting shaft, and 1103 is a guide block;

[0042] 12 is a guide rod; 13 is a lock bar; 14 is a lock seat;

[0043] 15 is a camera system, 1501 is a camera head, 1502 is a seat plate, and 1503 is a lighting lamp;

[0044] 16 is a sample receiving box, 1601 is a single-opening cover;

[0045] 17 is a sampling forceps, 1701 is a driving hole, 1702 is a gill hole, and 1703 is a forceps head;

[0046] 18 is a connecting rod; 19 is a screw nut; 20 is a screw rod; 21 is a coupling;

[0047] 22 is a housing, 2201 is a grid, 2202 is a gear seat, 2203 is a transparent cover, 2204 is a flexible cover, 2205 is a guide groove; 23 is a brush. DETAILED DESCRIPTION

[0048] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should belong to the scope of protection of the present invention.

[0049] Example

[0050] like Figure 1 , 3 , as shown in 16, with reference to Figure 2 , Figure 4 , Figure 5 The present invention relates to a single-drive capsule biopsy device with multi-point self-unlocking, which includes a shell 22, a coil 3, a diaphragm 4, a driving propeller 1, a connecting paddle wheel 2, a transmission gear set 5, an electric control seat 8, a driving paddle wheel 7, a motor 6, a coupling 21, a screw nut 19, a screw 20, a camera system 15, a sample box 16, and an ectopic self-unlocking mechanism.

[0051] The shell 22 is in the shape of a capsule as a whole, including an upper shell and a lower shell of the same shape and volume, which are spliced ​​together. The longitudinal section of each half shell is an ellipse of the capsule section, and the transverse section is a semicircle. A grid 2201 is provided at the tail of the shell 22, that is, the grid 2201 is arranged at the tail of the upper shell and the lower shell. A flexible cover 2204 is provided at the head of the upper shell. The flexible cover 2204 can be composed of multiple thin plastic sheets of a certain hardness connected in sequence, covering the head of the upper shell, and is used to prevent human soft tissue from entering the interior of the capsule biopsy device. A transparent cover 2203 is provided at the head of the lower shell, so that when the camera system 15 takes pictures of the patient's part of the human body, the camera is prevented from being contaminated and affecting the camera effect; a gear seat 2202 and an electric control seat 8 are provided inside the lower shell. The electric control seat 8 is used to install electric control components or circuit boards. The electric control components or circuit boards are used to control the motor 6 and control the camera system 15 to collect and transmit images. The upper shell and the lower shell are provided with stoppers for connecting with each other. The accommodating space formed by the upper half shell and the lower half shell is provided with a driving propeller 1, a connecting wheel 2, a transmission gear set 5, a driving wheel 7, a coupling 21, a screw nut 19, a screw 20, a camera system 15 and an out-of-position self-unlocking mechanism.

[0052] See also Figure 4 There are two transverse partitions 4, which are fixed on the inner side of the housing 22, specifically arranged on the inner side of the lower half shell, one of which is close to the tail of the lower half shell, and the motor 6 is fixed on one side of the transverse partition 4, and the coil 3 is fixed on the other side, and the coil 3 is used to receive external energy and power the motor 6. When the upper half shell and the lower half shell are matched through the stopper, the two transverse partitions 4 are combined with the upper half shell and the lower half shell to play the role of cabin sealing, which is used to seal the motor 6 from the external environment; the other transverse partition 4 is located in front of the motor 6, and the two transverse partitions 4 form a sealed cabin to protect the motor 6 from the humid environment in the human body.

[0053] The driving propeller 1 of the present invention is fixedly connected to the paddle wheel 2, and the paddle wheel 2 is connected to the driving paddle wheel 7 through the transmission gear set 5. Specifically, the transmission gear set 5 is installed on the gear seat 2202, one end of the transmission gear set 5 is meshed with the paddle wheel 2, and the other end is meshed with the driving paddle wheel 7, and the driving paddle wheel 7 is fixed on the rotating shaft of the motor 6, so that the rotating shaft of the motor 6 rotates to drive the propeller 1 to rotate. The other end of the rotating shaft of the motor 6 is connected to the coupling 21.

[0054] One end of the coupling 21 of the present invention is fixedly connected to the motor 6, and the other end is fixedly connected to the screw rod 20; the screw rod nut 19 is movably connected to the screw rod 20 through a threaded pair.

[0055] The camera system 15 of the present invention includes a seat plate 1502, a camera 1501 and a lighting lamp 1503 arranged on the seat plate 1502. The camera system 15 is fixed in the lower half shell near the head and is located inside the transparent cover 2203 and protected by the transparent cover 2203. The seat plate 1502 and the transparent cover 2203 form a closed space (not shown), thereby protecting the camera 1501 and the lighting lamp 1503 from being polluted by the human body. The camera system 15 is used for monitoring and capturing images in the gastrointestinal tract.

[0056] See also Figure 3 , Figure 6 , Figure 7 , Figure 8 , see also Figure 2 , Figures 9 to 15 . The ectopic self-unlocking mechanism includes a multifunctional unlocking plate 9, a movable locking tooth 10, a locking bar 13, a locking seat 14, a guide rod 12, a clamp seat 11, a sampling clamp 17 and a connecting rod 18. The ectopic self-unlocking mechanism is installed inside the lower half shell through the locking seat 14. The above components are connected in sequence to form a capsule biopsy device. In this embodiment, the locking bar 13, the guide rod 12, and the locking seat 14 are provided in two groups that are symmetrical on the left and right; that is, the two locking seats 14 are symmetrically arranged, and the locking bar 13 and the guide rod 12 in the ectopic self-unlocking mechanism are fixed on the locking seat 14, the guide rod 12 is connected to the clamp seat 11, and the movable locking tooth 10 is fixedly connected to the lower part of the clamp seat 11.

[0057] The movable lock tooth 10 in the out-of-position self-unlocking mechanism includes a tooth seat 1001 and a torsion spring 1002. The tooth seat 1001 is provided with a spring groove 10011, a rotation hole 10012 and a tooth head 10013. When the movable lock tooth 10 is in a free state, its tooth head 10013 meshes and locks with the teeth on the lock bar 13, so that the movable lock tooth 10 in a free state also locks the clamp seat 11 connected thereto on the guide rod 12. The clamp seat 11 is bilaterally symmetrical, and two guide rods 12 are connected to each other on both sides. The outer side surface of the clamp seat 11 is provided with a left-right symmetrical guide block 1103, and the inner side surface is provided with a mounting shaft 1102. A clamp hole 1101 is provided in the top center of the clamp seat 11. The outer side of the clamp seat 11 is movably connected with the guide rod 12 through the guide block 1103 to form a moving pair. A movable locking tooth 10 is provided on the mounting shaft 1102 on the inner side of the clamp seat 11. The tooth seat 1001 of the movable locking tooth 10 and the torsion spring 1002 are movably connected to the mounting shaft 1102 of the clamp seat 11 through the rotating hole 10012 and hidden in the spring groove 10011.

[0058] refer to Figure 6The multifunctional unlocking plate 9 in the out-of-position self-unlocking mechanism includes a positioning plate 903, a mounting hole 901, a connecting plate 902 and left-right symmetrical wing plates 904; the positioning plate 903 is located at the rear end of the unlocking plate 9 and is perpendicular to the connecting plate 902. The positioning plate 903 is tightly attached to the end of the screw nut 19, and is used to accurately locate the position of the multifunctional unlocking plate 9 and the screw nut 19, thereby accurately determining the front and rear position of the multifunctional unlocking plate 9 in the housing 22; the connecting plate 902 is located at the upper end of the unlocking plate 9, is placed horizontally, and the connecting plate 902 is installed on the upper end surface of the screw nut 19; the wing plates 904 are located on both sides of the unlocking plate 9, specifically arranged at the connecting section of the connecting plate 902, and are fixedly connected to the connecting plate 902 and extend forward, and each wing plate 904 is provided with There are outward steps: the steps include a front pull step 9047, a rear push step 9041, a front guide surface 9045, a rear guide surface 9043, a middle gap 9044, a front unlocking gap 9046, and a rear unlocking gap 9042. The front pull step 9047, the front unlocking gap 9046, the front guide surface 9045, the middle gap 9044, the rear guide surface 9043, the rear unlocking gap 9042, and the rear push step 9041 are arranged in sequence, so that the entire step presents a multi-angle changing pit shape. As a preferred solution, the front pull step 9047, the front unlocking gap 9046, the front guide surface 9045 and the rear guide surface 9043, the rear unlocking gap 9042, and the rear push step 9041 are symmetrically arranged. The multifunctional unlocking plate 9 is fixed on the screw nut 19, and the steps on the wing plate 904 are arranged corresponding to the movable locking teeth 10.

[0059] The sampling forceps 17 in the ectopic self-unlocking mechanism are provided with two symmetrical left and right sides. The head of the sampling forceps 17 is provided with a forceps head 1703, the middle is provided with a gill hole 1702, and the rear end is provided with a driving hole 1701. The sampling forceps 17 are hinged to the forceps hole 1101 of the forceps seat 11 through the gill hole 1702.

[0060] There are also two connecting rods 18 in the ectopic self-unlocking mechanism that are symmetrical on the left and right, corresponding to the sampling forceps 17. One end of the two connecting rods 18 are rotatably connected to the two sampling forceps 17 through the cooperation of the driving holes 1701, and the other ends are rotatably connected to the multi-functional unlocking plate 9 through the cooperation of the mounting holes 901. Because the multifunctional unlocking plate 9 is fixed on the lead screw nut 19, the two connecting rods 18 can rotate relative to the lead screw nut 19. Therefore, when the motor 6 drives the lead screw nut 19 to move forward and backward, the multifunctional unlocking plate 9 in the ectopic self-unlocking mechanism presses the tooth seat 1001 of the movable locking tooth 10 through the step steps on the wing plate 904 in sequence to intermittently contact to control the locking and unlocking of the locking bar 13 by the movable locking tooth 10 and push the locking tooth 10, thereby controlling the front and rear positions of the movable locking tooth 10 on the locking bar 13, and controlling the front and rear positions of the clamp seat 11 on the guide rod 12, thereby changing the configuration of the ectopic self-unlocking mechanism itself to produce displacement or configuration change, so as to finally realize the sampling clamp 17 in the ectopic self-unlocking mechanism to move or open and close at different positions.

[0061] The sample receiving box 16 of the present invention is fixed in the lower half shell and is located below the sampling clamp 17 in the ectopic self-unlocking mechanism. Fig.19 The sample receiving box 16 is also provided with a single opening cover 1601, which can only be opened in one direction to facilitate the human tissue sample to fall in and prevent the human tissue from overflowing. The single opening cover 1601 can be realized by a flexible plastic sheet with certain unidirectional flexibility and elasticity.

[0062] Further, see Fig.17 The present invention further includes a guide groove 2205, which is slidably matched with the screw nut 19, and can limit the screw nut 19 to only move in a straight line along the housing 22 in the forward and backward directions, and cannot rotate around the axis of the screw nut 19 itself. The guide block 1103 of the present invention is installed on the guide rod 12, so that the clamp seat 11 cannot rotate, and then the connecting rod 18 and the screw nut 19 connected thereto cannot rotate. However, in order to further restrict the self-rotation of the screw nut 19 and prevent the ectopic self-unlocking mechanism in the present invention from producing an asymmetric configuration change due to uneven force, the guide groove 2205 is added.

[0063] See also Fig.18 The present invention also includes a brush 23, which has a certain elasticity. The brush 23 is arranged on the upper half shell just above the sample box 16, and the head of the brush 23 points to the lower half shell and is located where the clamp head of the sampling forceps 17 must pass, so as to prevent the human tissue taken by the sampling forceps 17 from not falling into the sample box 16 due to adhesion.

[0064] Furthermore, as a preferred embodiment, the coupling 21 in the present invention can also be a micro magnetic powder clutch. When the magnetic powder clutch is in a disengaged state, the motor 6 cannot drive the screw 20 to rotate, and is only used to drive the drive propeller 1 to rotate to drive the capsule to move and displace, without performing a sampling operation; when the magnetic powder clutch is energized and in a closed state, the screw 20 and the drive propeller 1 can be driven to move at the same time. At this time, the movement can provide a pushing force for the sampling of the sampling forceps 17, preventing the sampling forceps 17 from slipping and the capsule from retreating, making it easier for the sampling forceps 17 to grasp human tissue.

[0065] The out-of-position self-unlocking mechanism of the present invention unlocks itself at different positions, and the process of controlling the multifunctional unlocking plate 9 to lock and unlock the movable locking tooth 10 is as follows:

[0066] Step 1: Fig.11 As shown, the ectopic self-unlocking mechanism in the present invention is in an initial state, at which time the clamp head 1703 of the sampling clamp 17 therein is closed and is in the capsule (the space formed by the upper half shell and the lower half shell).

[0067] Step 2: Fig.12 As shown, see Figure 6 , Figure 7 , the ectopic self-unlocking mechanism in the present invention is deformed, the sampling forceps 17 remains stationary and the pliers head is opened: that is, when the motor 6 rotates forward, the screw rod 20 is driven to rotate through the coupling 21, so that the screw nut 19 moves forward. At this time, because the friction between the multifunctional unlocking plate 9 and the tooth seat 1001 is very small, the multifunctional unlocking plate 9 moves forward, causing the tooth seat 1001 of the movable locking tooth 10 to disengage from the front unlocking gear 9046 and enter the hollow gear 9044, so that the movable locking tooth 10 will be locked on the locking strip 13, so that the pliers seat 11 is locked on the guide rod 12 and does not move. The screw nut 19 will push the ectopic self-unlocking mechanism to deform, and then push the pliers head 1703 of the sampling forceps 17 to open. At this time, if there is a human tissue sample taken last time in the pliers head, it will be unloaded into the sample receiving box 16.

[0068] Step 3: Fig.13 As shown, see Figure 6 , Figure 7, the ectopic self-unlocking mechanism in the present invention will stop deforming to prepare to push out the capsule: that is, the motor 6 continues to rotate forward, and the multifunctional unlocking plate 9 continues to move forward. Because the movable locking tooth 10 is locked on the locking strip 13 and does not move, the rear guide surface 9043 of the multifunctional unlocking plate 9 contacts the tooth seat 1001 of the movable locking tooth 10, thereby driving the tooth head 10013 on the tooth seat 1001 to disengage from the locking strip 13, and the tooth seat 1001 stays on the rear unlocking gear 9042. The tooth head 10013 and the locking strip 13 are completely disengaged. When the backward push step 9041 hits the tooth seat 1001, the multifunctional unlocking plate 9 will push the clamp seat 11 connected to the tooth seat 1001 to move forward together; at this time, the ectopic self-unlocking mechanism will stop deforming, and the multifunctional unlocking plate 9 begins to push the entire ectopic self-unlocking mechanism (except the guide rod 12) to extend the capsule outward.

[0069] Step 4: Fig.14 As shown, see Figure 6 , Figure 7 , the sampling forceps 17 in the ectopic self-unlocking mechanism of the present invention has extended out of the capsule, and the ectopic self-unlocking mechanism will begin to deform again to close the sampling forceps 17 to sample human tissue: that is, when the sampling forceps 17 extend out of the capsule and aim at the affected part in the patient's gastrointestinal tract, the motor 6 begins to reverse, and the multifunctional unlocking plate 9 moves backward. Similarly, because the friction between the multifunctional unlocking plate 9 and the tooth seat 1001 is very small, the tooth seat 1001 of the movable locking tooth 10 will be separated from the rear unlocking gear 9042 and enter the hollow gear 9044, so that the movable locking tooth 10 is locked on the locking strip 13 again, so that the clamp seat 11 connected thereto is locked, and the screw nut 19 will pull the ectopic self-unlocking mechanism to deform, thereby pulling the clamp head 1703 of the sampling forceps 17 to close for sampling. During this process, the camera 1501 in the camera system 15 will monitor the image of the affected part in real time under the illumination of the illuminating lamp 1503.

[0070] Step 5: Fig.15 As shown, the sampling forceps 17 in the ectopic self-unlocking mechanism of the present invention will be retracted into the capsule after sampling: that is, the motor 6 continues to reverse, and the multifunctional unlocking plate 9 continues to move backward. Because the movable locking tooth 10 is locked on the locking strip 13 and does not move, the front guide surface 9045 contacts the tooth seat 1001 of the movable locking tooth 10, thereby driving the tooth head 10013 on the tooth seat 1001 to disengage from the locking strip 13, and the tooth seat 1001 stays on the front unlocking gear 9046, and the tooth head 10013 is completely separated from the locking strip 13. When the front pull step 9047 hits the tooth seat 1001, the multifunctional unlocking plate 9 will pull the clamp seat 11 connected thereto to move backward together; at this time, the ectopic self-unlocking mechanism will stop deforming again, and the multifunctional unlocking plate 9 will eventually pull the entire ectopic self-unlocking mechanism to move backward together and retract into the capsule. Finally, it will return to the position and state of Figure 11.

[0071] Repeating steps 1 to 5 will allow the human tissue to be sampled again.

[0072] Obviously, in the back-and-forth path of the out-of-position self-unlocking mechanism, the locking and unlocking positions of the movable locking tooth 10 do not overlap.

[0073] The present invention utilizes the multifunctional unlocking plate 9 of the ectopic self-unlocking mechanism to self-control the movement or parking of its clamp seat 11, thereby realizing the opening and closing of its sampling clamp 17 in different positions, and utilizes the driving propeller 1 to drive the capsule to move, thereby realizing the self-intermittent control of the ectopic self-unlocking mechanism driven by a single motor to complete the biopsy functions of the capsule biopsy mechanism extending out for sampling, retracting for retaining samples, and opening for unloading samples, thereby realizing the sampling operation functions of multiple parts of the human body and multiple times of swallowing at one time.

[0074] The present invention uses a single motor to drive the ectopic self-unlocking mechanism to unlock and lock at different positions, thereby sequentially completing the biopsy functions of the capsule-type biopsy mechanism extending to take samples, retracting to retain samples, and opening to unload samples, thereby achieving the sampling operation functions of multiple parts of the human body and multiple times of swallowing at one time, reducing the control difficulty and device complexity, reducing the volume and weight of the capsule, and making the device more compact and efficient.

[0075] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A single-drive capsule biopsy device with multi-point self-unlocking, It is characterized in that It comprises a capsule-shaped housing (22) provided with a transparent cover (2203), and a one-way driving mechanism, an ectopic self-unlocking mechanism, a camera system (15), and a sample receiving box (16) arranged in the housing (22), wherein the one-way driving mechanism is connected to the ectopic self-unlocking mechanism, the camera system (15) is arranged beside the ectopic self-unlocking mechanism and placed in the transparent cover (2203), and the sample receiving box (16) is arranged below the ectopic self-unlocking mechanism; The one-way drive mechanism comprises a motor (6) disposed in a housing (22), a paddle wheel device connected to one end of the motor (6), a coupling (21) connected to the other end of the motor (6), a screw (20) connected to the coupling (21), and a screw nut (19) movably connected to the screw (20), the screw nut (19) being connected to the out-of-position self-unlocking mechanism; The out-of-position self-unlocking mechanism comprises a lock seat (14), a guide rod (12) and a lock bar (13) arranged on the lock seat (14), a clamp seat (11) connected to the guide rod (12), a movable lock tooth (10) fixed below the clamp seat (11), a sampling clamp (17) movably connected to the clamp seat (11), and a multifunctional unlocking plate (9) fixed to a screw nut (19) and connected to the sampling clamp (17) via a connecting rod (18), the lock bar (13) meshing with the movable lock tooth (10), and the movable lock tooth (10) and the multifunctional unlocking plate (9) are arranged correspondingly; The movable locking tooth (10) comprises a tooth seat (1001) and a torsion spring (1002); the tooth seat (1001) is provided with a spring groove (10011), a rotation hole (10012) and a tooth head (10013); the tooth head (10013) of the movable locking tooth (10) in a free state meshes with and locks with the teeth on the lock bar (13); the tooth seat (1001) and the torsion spring (1002) are connected to the clamp seat (11) via the rotation hole (10012); The outer side surface of the clamp seat (11) is provided with a guide block (1103) for movably connecting with the guide rod (12) to form a moving pair, the inner side of the clamp seat (11) is provided with a mounting shaft (1102) for mounting a movable locking tooth (10), and a clamp hole (1101) is provided at the top center of the clamp seat (11). The tooth seat (1001) of the movable locking tooth (10) and the torsion spring (1002) are movably connected to the mounting shaft (1102) through a rotating hole (10012) and are hidden in the spring groove (10011); The multifunctional unlocking plate (9) comprises a positioning plate (903), a mounting hole (901), a connecting plate (902) and a wing plate (904); the mounting hole (901) is connected to a connecting rod (18); the connecting plate (902) is connected to a screw nut (19); and the wing plate (904) is provided with a step corresponding to a movable locking tooth (10); the step comprises a front pull step (9047), a front unlocking gear (9046), a front guide surface (9045), a middle hollow gear (9044), a rear guide surface (9043), a rear unlocking gear (9042) and a rear push step (9041) which are arranged in sequence.

2. The single-drive capsule biopsy device with multi-point self-unlocking according to claim 1, It is characterized in that A transverse diaphragm (4) for achieving sealing is provided on the inner side of the housing (22), the motor (6) is fixed on one side of the transverse diaphragm (4), and a coil (3) is provided on the other side of the transverse diaphragm (4).

3. The single-drive capsule biopsy device with multi-point self-unlocking according to claim 2, It is characterized in that The paddle wheel device comprises a driving propeller (1), a paddle wheel (2), a transmission gear set (5) and a paddle wheel (7), wherein the driving propeller (1) is fixedly connected to the paddle wheel (2), one end of the transmission gear set (5) is meshedly connected to the gear of the paddle wheel (2), and the other end is meshedly connected to the gear of the paddle wheel (7), and the paddle wheel (7) is fixed on the rotating shaft of the motor (6).

4. The single-drive capsule biopsy device with multi-point self-unlocking according to claim 1, It is characterized in that The camera system (15) comprises a seat plate (1502) disposed in the housing (22), and a camera (1501) and an illumination lamp (1503) disposed on the seat plate (1502); the seat plate (1502) is located in a transparent cover (2203), and together with the transparent cover (2203) forms a closed space for accommodating the camera (1501) and the illumination lamp (1503).

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