A bistable gastric anchoring magnetic-driven biopsy capsule robot based on magnetic torsion spring

Abstract

The application discloses a kind of based on magnetic torsion spring's bistable state stomach anchoring magnetic drive biopsy capsule robot, including camera module, biopsy module, magnetic torsion spring module and stable state switching module.Based on the bistable state structure of magnetic torsion spring.Two radial magnetization magnets in capsule are close, connecting rod is retracted, and the first stable state of capsule is obtained by driving magnet, and the robot is rolled to target position;And two radial magnetization magnets are far away, connecting rod is stretched, and the second stable state of robot is completed anchoring, and the lesion tissue is biopsied, and by applying external magnetic field, it is switched between two stable states, i.e., capsule can be actively moved to lesion tissue, and multiple anchoring multiple biopsy can be completed.

Description

Technical Field

[0001] This invention belongs to the field of endoscopic detection technology, specifically relating to a bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring. Background Technology

[0002] For gastric diseases, analyzing images of lesion tissue alone is insufficient to accurately diagnose the corresponding symptoms. Therefore, a biopsy is necessary, involving the removal of lesion tissue through forceps or puncture for pathological examination, ultimately leading to a clinical diagnosis and treatment plan. Traditional endoscopic gastric biopsies are quite uncomfortable for patients and require a high level of skill from the surgeon. Currently, capsule robots, which integrate microsurgical devices for biopsies, have attracted considerable attention from researchers. Compared to traditional treatment methods, biopsy capsule robots are small, easy to swallow, and can improve patient comfort during gastric examinations.

[0003] The physiological environment of the human stomach is very complex. Capsules that rely on peristalsis cannot accurately reach the lesion. While capsules with internal motors can reach the target, this reduces the capsule's endurance, increases its volume, and makes its internal structure more complex. At the same time, during the biopsy, the capsule is subject to external disturbances and cannot remain fixed, lacking anchoring ability. This results in poor stability of the entire biopsy process, which may lead to sample loss or insufficient sample volume. In addition, some capsules can only perform a single anchoring and single biopsy, which cannot meet the needs of sampling multiple lesions. Summary of the Invention

[0004] This invention employs a bistable structure based on a magnetic torsion spring. In the first steady state, when the two radially magnetized magnets inside the capsule approach each other, the connecting rod retracts, and the robot takes on a capsule shape. The capsule rolls to the target position by driving the magnets. In the second steady state, when the two radially magnetized magnets move away from each other, the connecting rod extends, the robot anchors, and a biopsy is performed on the lesion tissue. By applying an external magnetic field, the system switches between these two steady states, allowing the capsule to actively move to the lesion tissue and perform multiple anchoring and biopsies, thus overcoming the aforementioned deficiencies.

[0005] This invention provides a bistable gastric anchoring magnetic biopsy capsule robot based on a magnetic torsion spring, comprising a camera module located on top of the bistable gastric anchoring magnetic biopsy capsule robot, a biopsy module connected to the camera module for sample collection, a magnetic torsion spring module for anchoring the bistable gastric anchoring magnetic biopsy capsule robot, and a steady-state switching module located between the biopsy module and the magnetic torsion spring module capable of mode switching;

[0006] The camera module is used to confirm the location of the lesion tissue and transmit the location information to the in vitro receiver; the steady-state switching module can switch between a first steady state for the movement of the capsule robot and a second steady state for the anchoring of the capsule robot.

[0007] The magnetic torsion spring module includes a magnetic torsion spring shell, a guide pipe coaxially fixed to the magnetic torsion spring shell, a first ring and a second ring sleeved on the guide pipe, a second radial magnet sleeved between the first ring and the second ring, a first radial magnet sleeved on the guide pipe and fixed to the steady-state switching module, and an inner ring coaxially fixed to the connecting foot of the first ring; the magnetic torsion spring shell includes a circular partition plate, with several baffles and hinge holes spaced around the circumference of the circular partition plate, and a second connecting rod hinged to the hinge holes; a groove is formed at one end of the second connecting rod near the hinge hole; a first connecting rod is hinged to the groove; one end of the first connecting rod is hinged to the second connecting rod, and the other end of the first connecting rod is hinged to the second ring;

[0008] The biopsy module includes a biopsy shell, an outer ring, an axially magnetized magnet movably fitted inside the biopsy shell, a movable disk disposed on one side of the axially magnetized magnet, a biopsy needle coaxially connected to the movable disk, and a spring fitted on the biopsy needle and located between the three-hole partition and the movable disk; the movable disk has cylindrical feet, which pass through the perforations of the three-hole partition and are fixedly connected to the outer ring.

[0009] As a preferred embodiment of the present invention, the camera module includes a camera housing, a connecting plate, an illumination array, a power supply battery, a communication circuit, and a camera; the power supply battery, the communication circuit, and the camera are coaxially fixed on the connecting plate, and the illumination array is placed around the camera; the power supply battery supplies power to the communication circuit, the illumination array, and the camera; during operation, the illumination array makes the camera's field of view clearer and brighter, and the communication circuit transmits the image information acquired by the camera to an external receiving end.

[0010] As a preferred embodiment of the present invention, the steady-state switching module includes a steady-state switching housing, a compression spring boss, a fixing base, and a five-hole partition; the five-hole partition is a circular plate, and a central hole for a biopsy needle to pass through is provided at the center of the five-hole partition. Four second fixing holes are also provided around the central hole of the five-hole partition, and a fixing rod is fixed in the second fixing holes.

[0011] The fixed platform has a blind hole that is not fully open for installing the compression spring boss. The lower part of the left and right sides of the fixed platform is provided with side ears, and the side ears are provided with first fixing holes. The fixing rod passes through the first fixing hole of the fixed seat and the second fixing hole of the five-hole partition, and fixes the fixed seat and the five-hole partition together.

[0012] The cylindrical boss is placed on the top of the limiting spring and is coaxially fixed to the limiting spring. The compression spring boss is installed in the blind hole of the fixed seat and can extend and retract along the axis of the blind hole. The fixing rod passes through the first fixing hole of the fixed seat and the second fixing hole of the five-hole partition, fixing the fixed seat and the five-hole partition. The steady-state switching housing is coaxially fixed to the five-hole partition.

[0013] In a preferred embodiment of the present invention, both ends of the first connecting rod are provided with first rod holes, and one end of the second connecting rod is provided with a groove. The walls on both sides of the groove are symmetrically provided with slots having the same diameter as the first rod holes. One end of the first connecting rod is hinged to the groove via a central rod. The magnetic torsion spring housing has a needle hole at its center for a biopsy needle to pass through. The circumference of the second ring is provided with annular holes for hinged connection with the first connecting rod.

[0014] In a preferred embodiment of the present invention, the second radially magnetized magnet is sleeved between the first and second rings via a bearing. A rope hole is provided at the bottom of the magnetic torsion spring housing, and a thin line for retrieving the capsule robot is attached to the rope hole.

[0015] As a preferred embodiment of the present invention, when a gradient magnetic field is applied to the axially magnetized magnet, the axially magnetized magnet pushes the biopsy needle and the movable disk to move and compress the spring. At the same time, the movable disk also drives the biopsy needle to perform puncture and sampling. When the gradient magnetic field is removed, the spring causes the axially magnetized magnet, the movable disk and the biopsy needle to return to their initial positions.

[0016] As a preferred embodiment of the present invention, the second radial magnet is sleeved on the bearing and can move axially along the guide rail; when the second radial magnet moves away from the first radial magnet, the first link and the second link unfold to make the capsule robot anchor; when the second radial magnet moves closer to the first radial magnet, the first link and the second link retract to make the capsule robot unanchor.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. This invention uses two radially magnetized magnets as magnetic torsion springs. The repulsive force between the two magnets unfolds the connecting rod to complete the anchoring, and the attractive force between the two magnets retracts the connecting rod to release the anchoring. This maximizes the use of the interaction force between the magnets and simplifies the internal structure of the capsule.

[0019] 2. The capsule robot of the present invention does not require the action of an external magnetic field when it is in the first steady state and the second steady state. The magnetic field is only required when switching steady states, performing biopsies, and actively moving to the target lesion, which reduces the complexity of operation and reduces the energy consumption required for control.

[0020] 3. After locating the pathological tissue, the capsule robot of the present invention performs anchoring, biopsy, and unanchoring in sequence, which enhances the stability of the sample capture process, improves the efficiency of biopsy, and can effectively complete the task of capturing pathological tissue.

[0021] 4. The capsule of this invention moves in the first steady state and performs biopsy in the second steady state. It can also sample multiple pathological tissues as required, which helps to improve the working efficiency of the capsule and expand the application scenarios of the capsule.

[0022] 5. This invention uses a pair of radially magnetized magnets as magnetic torsion springs. By applying an external magnetic field to the torsion springs, the repulsive force between the two magnets unfolds the connecting rod. Under the constraint of the compression spring boss and the inner ring, the capsule is in an anchored steady state. After the biopsy is completed, the axially magnetized magnet drives the outer ring to release the constraint of the compression spring boss on the inner ring, and the two radially magnetized magnets move closer to retract the connecting rod, thus releasing the capsule from anchoring. By switching between the first and second steady states, the capsule can repeatedly perform lesion tissue localization, anchoring, biopsy, and unanchoring in the stomach. The sampling process is stable, the biopsy effect is good, and it has a strong adaptability to complex physiological environments. Attached Figure Description

[0023] Figure 1 A breakdown diagram of the capsule robot;

[0024] Figure 2 This is a diagram of the overall structure of the capsule robot;

[0025] Figure 3 This is a cross-sectional view of the capsule robot.

[0026] Figure 4 Exploded view of the camera module;

[0027] Figure 5 This is an exploded view of the biopsy module;

[0028] Figure 6 Exploded view of the steady-state switching module;

[0029] Figure 7 This is a schematic diagram of the disassembled structure of the magnetic torsion spring module;

[0030] Figure 8 This is a schematic diagram illustrating the working principle of a magnetic torsion spring.

[0031] Figure 9 This is a schematic diagram illustrating the capsule anchoring principle.

[0032] Figure 10 This is a schematic diagram of the overall capsule anchoring process;

[0033] Figure 11 This is a schematic diagram illustrating the principle of capsule biopsy.

[0034] Figure 12 A schematic diagram of the overall process of capsule unanchoring;

[0035] Figure 13 This is a schematic diagram illustrating the principle of capsule unanchoring.

[0036] In the diagram: 1. Camera module; 11. Camera housing; 12. Camera; 13. Illumination array; 14. Communication circuit; 15. Power supply battery; 16. Connecting plate; 2. Biopsy module; 21. Biopsy housing; 22. Axial magnetized magnet; 23. Movable disk; 24. Spring; 25. Three-hole partition; 26. Outer ring; 27. Biopsy needle; 231. Cylindrical foot; 251. Perforation; 252. Center hole; 261. Mounting hole; 3. Steady-state switching module; 31. Steady-state switching housing; 32. Compression spring boss; 33. Fixing base; 34. Fixing rod; 35. Five-hole partition; 321. Limiting spring; 322. Cylindrical boss; 331. Blind hole; 332. First fixing hole; 351. Central hole; 352. Second fixing hole; 4. Magnetic torsion spring module; 41. Inner ring; 42. First radial magnetized magnet; 43. First ring; 44. Second radial magnetized magnet; 45. Guide pipe; 46. Bearing; 47. Second ring; 48. First connecting rod; 49. Second connecting rod; 410. Magnetic torsion spring housing; 411. Central rod; 41a. Through hole; 41b. Fixed hole; 431. Connecting foot; 432. First sleeve; 471. Second sleeve; 472. Ring hole; 481. First rod hole; 491. Groove; 492. Slot hole; 493. Second rod hole; 410a. Strip groove; 410b. Shell hole; 410c. Pin hole; 410d. Rope hole. Detailed Implementation

[0037] The present invention will be further described and illustrated below with reference to specific embodiments. The embodiments described are merely examples of the content of this disclosure and do not limit the scope of the invention. The technical features of each embodiment in the present invention can be combined accordingly, provided that there is no mutual conflict.

[0038] like Figure 1 , Figure 2 as well as Figure 3 As shown, the present invention discloses a bistable gastric anchoring magnetic biopsy capsule robot based on a magnetic torsion spring, comprising four modules: a camera module 1, a biopsy module 2, a steady-state switching module 3, and a magnetic torsion spring module 4. The camera module 1 is located at the top of the capsule, the magnetic torsion spring module 4 is located at the tail of the capsule robot, the biopsy module 2 is integrally connected to the camera module 1, and the steady-state switching module 3 is located between the biopsy module 2 and the magnetic torsion spring module 4.

[0039] In one embodiment of the present invention, such as Figure 4The image shown is an exploded view of the capsule robot's camera module 1. The power supply battery 15 powers the communication circuit 14, the illumination array 13, and the camera 12. The camera housing 11 is made of rigid transparent resin using photopolymerization 3D printing. The power supply battery 15, communication circuit 14, and camera 12 are coaxially fixed on the connecting plate 16. The illumination array 13 surrounds the camera 12, ensuring a clear and bright field of view during operation. The camera 12 captures images of the stomach, and the communication circuit 14 transmits these images to an external receiver. Doctors analyze the images to determine the location of lesions.

[0040] In one embodiment of the present invention, such as Figure 5 The exploded view shows the biopsy module 2 of the capsule robot. The axial magnet 22, movable disk 23, spring 24, and biopsy needle 27 are coaxially fixed together. The part of the axial magnet 22 connected to the biopsy needle 27 is the S pole, and the other part is the N pole. The biopsy needle 27 passes through the central hole 252 of the three-hole partition 25. The cylindrical foot 231 of the movable disk 23 is fixedly connected to the mounting hole 261 of the outer ring 26 through the through hole 251 of the three-hole partition 25. The outer ring 26 is located within the steady-state switching module 3. When a gradient magnetic field is applied to the axial magnet 22, it pushes the biopsy needle 27 and the movable disk 23 to move. Simultaneously, the movable disk 23 also moves the outer ring 26 an equal distance within the steady-state switching module 3. When the gradient magnetic field is removed, the spring 24 returns all moving parts to their initial positions.

[0041] In one embodiment of the present invention, such as Figure 6 The exploded view of the steady-state switching module 3 of the capsule robot is shown. The cylindrical boss 322 is placed on the top of the limiting spring 321 and is coaxially fixed to it. The compression spring boss 32 is installed in the blind hole 331 of the fixed seat 33 and can extend and retract along the axis of the blind hole 331. The fixing rod 34 passes through the first fixing hole 332 of the fixed seat 33 and the second fixing hole 352 of the five-hole partition 35, fixing the fixed seat 33 and the five-hole partition 35. The central hole 351 of the five-hole partition 35 allows the biopsy needle 27 to pass through. The steady-state switching shell 31 is fixedly connected to the five-hole partition 35.

[0042] In one embodiment of the present invention, such as Figure 7The diagram shows the disassembled structure of the magnetic torsion spring module 4 of the capsule robot. The guide pipe 45 is coaxially and fixedly connected to the outer shell 410. During sampling, the biopsy needle 27 pierces the lesion tissue through the needle hole 410c along the guide pipe 45. The first ring 43 and the second ring 47 pass through the guide pipe 45 and are coaxially and fixedly connected. The bearing 46 is placed outside the first sleeve 432 and the second sleeve 471. The second radial magnet 44 is installed outside the bearing 46 and can move axially along the guide pipe 45. The first radial magnet 42 is coaxially and fixedly connected to the five-hole partition 35 of the steady-state switching module. The inner ring 41 is fixedly connected to the connecting foot 431 of the first ring 43. The inner ring 41 is located inside the steady-state switching module and can move. The central rod 411 passes through the annular hole 472 and the first rod hole 481, forming a first revolute joint with the first connecting rod 48 and the second ring 47. The central rod 411 also passes through the first rod hole 481 and the slot hole 492, forming a second revolute joint with the first connecting rod 48 and the second connecting rod 49. The central rod 411 further passes through the second rod hole 493 and the shell hole 410b, forming a third revolute joint. When the second radial magnet 44 moves away from the first radial magnet 42, it can cause the two connecting rods to unfold, thus anchoring the capsule; when it moves closer, it can cause the two connecting rods to retract, thus unanchoring the capsule.

[0043] To more clearly illustrate the working process of the bistable gastric anchored magnetic biopsy capsule robot based on a magnetic torsion spring described in this invention, a method for operating the capsule robot described in this invention is also provided, including the following steps:

[0044] Step 1: The patient drinks water to expand their stomach, and then swallows the capsule; the camera 12 at the capsule head confirms the location of the lesion; the first radial magnet 42 of the magnetic torsion spring is subjected to an externally applied rotating magnetic field, which causes the capsule to roll to the designated position;

[0045] Step 2: After reaching the designated position, the magnetic torsion spring is subjected to a uniform magnetic field applied externally. The second radial magnet 44 moves away from the first radial magnet 42, causing the connecting rod to unfold until the capsule is fully anchored. When the external magnetic field is removed, the capsule remains in the second steady state, i.e., the anchored state.

[0046] Step 3: Apply an external gradient magnetic field to the axial magnet 22. The axial magnet 22 compresses the spring 24 to push the biopsy needle 27 into the lesion tissue to complete the biopsy sampling. After the sampling is completed, first increase the gradient magnetic field, the connecting rod retracts, and then the gradient magnetic field is removed. The spring 24 pushes the axial magnet 22 and the biopsy needle 27 back to their original positions, and the capsule switches to the first steady state.

[0047] Step 4: Repeat steps 2 and 3 to perform biopsies on multiple lesions;

[0048] Step 5: The capsule is retrieved via a fine thread passing through the rope hole 410d at the bottom of the magnetic torsion spring housing 410, and the sample captured in the biopsy needle 27 is subjected to pathological examination.

[0049] The working principle of the magnetic torsion spring is as follows: Figure 8 As shown, the first radial magnet 42 and the second radial magnet 44 form a pair of magnetic torsion springs. When no magnetic field is applied, the N and S poles of the second radial magnet 44 and the first radial magnet 42 attract each other and approach each other. The first radial magnet 42, being integrally connected to the capsule, remains fixed. When a sufficiently large magnetic field with the same magnetic moment direction as the first radial magnet 42 is applied externally, the second radial magnet 44 rotates 180° until its own magnetic moment direction is the same as the external magnetic field. During this process, due to the repulsion between like magnetic poles, the second radial magnet 44 also moves away from the first radial magnet 42.

[0050] The principle of capsule anchoring is as follows: Figure 9 As shown in the attached diagram, the overall anchoring process of the capsule is as follows. Figure 10 As shown. In stage I, an external uniform magnetic field with the same direction of magnetic moment as the first radial magnet 42 is applied to the magnetic torsion spring; in stage II, under the application of the uniform magnetic field, the second radial magnet 44 moves away from the first radial magnet 42 along the guide pipe 45 and extends the connecting rod. The second radial magnet 44 drives the inner ring 41 to approach the compression spring boss 32 via the first ring 43, but no contact occurs; in stage III, the inner ring 41 contacts the compression spring boss 32, and with the cooperation of the inner ring 41 and the cylindrical boss 322, the limiting spring 321 is compressed into the blind hole 331; in stage IV, the second radial magnet 44 rotates 180°, and its own magnetic moment direction... The capsule moves to its furthest point, aligned with the external magnetic field and away from the first radial magnet 42. At this point, the connecting rod fully extends, and the capsule is anchored. The inner ring 41 moves to below the compression spring boss 32, which then releases its compression and returns to its original position. The external magnetic field is removed. Although the second radial magnet 44 is attracted and tends to move closer to the first radial magnet 42, the compression spring boss 32, located above the inner ring 41, prevents it from moving back. This prevents the first ring 43 from moving, ultimately keeping the second radial magnet 44 stationary. The capsule remains anchored, completing the transition from the first to the second steady state. The capsule biopsy principle is shown in the attached diagram. Figure 11 As shown, after the capsule completes anchoring and switches to the second steady state, a gradient magnetic field is applied to the axial magnet 22 of the biopsy module 2. The axial magnet 22 pushes the biopsy needle 27 to pierce the gastric lesion tissue. The needle size is 23G (outer diameter 0.64mm, inner diameter 0.33mm). The tissue sample is captured into the needle by capillary force, completing the biopsy. At this time, the spring 24 is not fully compressed. While the axial magnet 22 moves, the movable disk 23, which is coaxially fixed to it, drives the outer ring 26 to move the same distance. The outer ring 26 approaches the compression spring boss 32 but does not make contact.

[0051] The principle of capsule anchorage release is as follows: Figure 13As shown in the attached diagram, the overall process of unanchoring is as follows: Figure 12 As shown. After the capsule completes the biopsy, in stage I, the gradient magnetic field strength of the axial magnet 22 is increased; in stage II, the axial magnet 22 drives the outer ring 26 to continue moving, at which time the spring 24 is fully compressed, and the outer ring 26 contacts the compression spring boss 32 to compress it; in stage III, the compression spring boss 32 in the compressed state no longer exerts any constraint on the inner ring 41, and the second radial magnet 44 is attracted by the attraction of the first radial magnet 42 and moves closer to it, retracting the connecting rod; in stage IV, the external gradient magnetic field is removed, and the axial magnet 22, the outer ring 26 and the biopsy needle 27 all return to their initial positions under the action of the spring force of the spring 24, and the capsule switches from the second steady state to the first steady state.

[0052] If the camera module 1 detects other lesions requiring sample collection, the anchoring, biopsy, and unanchoring steps are repeated. After all biopsy tasks are completed, the capsule is retrieved through the digestive tract via a fine thread passing through the rope hole 410d at the bottom of the magnetic torsion spring housing 410, and the obtained sample is taken out for further examination.

[0053] In summary, the capsule robot designed in this invention uses two radially magnetized magnets as magnetic torsion springs. Anchoring is achieved by the repulsive force between the two magnets unfolding the connecting rod, and anchoring is released by the attractive force between the two magnets retracting the connecting rod. This maximizes the utilization of the interaction force between the magnets and simplifies the internal structure of the capsule. By switching between a first and a second steady state, the capsule can repeatedly perform lesion localization, anchoring, biopsy, and unanchoring within the stomach. The sampling process is stable, the biopsy results are good, and it has strong adaptability to complex physiological environments. The capsule robot designed in this invention only requires the application of a magnetic field when switching steady states, performing biopsies, and actively moving to the target lesion, reducing operational complexity and energy consumption required for control. This improves biopsy efficiency and effectively accomplishes the task of capturing pathological tissue.

[0054] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. Those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A bistable gastric-anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring, characterized in that, It includes a camera module located on top of the bistable gastric anchoring magnetic biopsy capsule robot, a biopsy module connected to the camera module for collecting samples, a magnetic torsion spring module for anchoring the bistable gastric anchoring magnetic biopsy capsule robot, and a steady-state switching module located between the biopsy module and the magnetic torsion spring module that can switch modes. The camera module is used to confirm the location of the lesion tissue and transmit the location information to the in vitro receiver; the steady-state switching module can switch between a first steady state for the movement of the capsule robot and a second steady state for the anchoring of the capsule robot. The magnetic torsion spring module includes a magnetic torsion spring shell, a guide pipe coaxially fixed to the magnetic torsion spring shell, a first ring and a second ring sleeved on the guide pipe, a second radial magnet sleeved between the first ring and the second ring, a first radial magnet sleeved on the guide pipe and fixed to the steady-state switching module, and an inner ring coaxially fixed to the connecting foot of the first ring; the magnetic torsion spring shell includes a circular partition plate, with several baffles and hinge holes spaced around the circumference of the circular partition plate, and a second connecting rod hinged to the hinge holes; a groove is formed at one end of the second connecting rod near the hinge hole; a first connecting rod is hinged to the groove; one end of the first connecting rod is hinged to the second connecting rod, and the other end of the first connecting rod is hinged to the second ring; The biopsy module includes a biopsy shell, an outer ring, an axially magnetized magnet movably fitted inside the biopsy shell, a movable disk disposed on one side of the axially magnetized magnet, a biopsy needle coaxially connected to the movable disk, and a spring fitted on the biopsy needle and located between the three-hole partition and the movable disk; the movable disk has cylindrical feet, which pass through the perforations of the three-hole partition and are fixedly connected to the outer ring; The steady-state switching module includes a steady-state switching housing, a compression spring boss, a fixing base, and a five-hole partition. The five-hole partition is a circular plate with a central hole at its center for a biopsy needle to pass through. Four second fixing holes are also provided around the central hole of the five-hole partition, and a fixing rod is fixed in each of the second fixing holes. The fixed base has a blind hole that is not fully open for installing the compression spring boss. The lower part of the left and right sides of the fixed base is provided with side ears, and the side ears have a first fixing hole. The fixing rod passes through the first fixing hole of the fixed base and the second fixing hole of the five-hole partition plate to fix the fixed base and the five-hole partition plate. A cylindrical boss is placed on the top of the limiting spring and is coaxially fixed to the limiting spring. A compression spring boss is installed in the blind hole of the fixed seat and can extend and retract along the axis of the blind hole. A fixing rod passes through the first fixing hole of the fixed seat and the second fixing hole of the five-hole partition, fixing the fixed seat and the five-hole partition together. The steady-state switching housing is coaxially fixed to the five-hole partition. The second radial magnet is sleeved on the bearing and can move axially along the guide rail; when the second radial magnet moves away from the first radial magnet, the first link and the second link unfold to anchor the capsule robot; when the second radial magnet moves closer to the first radial magnet, the first link and the second link retract to unanchor the capsule robot.

2. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, The camera module includes a camera housing, a connecting plate, an illumination array, a power supply battery, a communication circuit, and a camera. The power supply battery, communication circuit, and camera are coaxially fixed on the connecting plate, and the illumination array is placed around the camera. The power supply battery supplies power to the communication circuit, illumination array, and camera. During operation, the illumination array makes the camera's field of view clearer and brighter, and the communication circuit transmits the image information acquired by the camera to an external receiver.

3. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, The first connecting rod has a first rod hole at both ends, and the second connecting rod has a groove at one end. The walls on both sides of the groove have symmetrical slots with the same diameter as the first rod hole. One end of the first connecting rod is hinged in the groove through a central rod.

4. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, The magnetic torsion spring housing has a needle hole at its center for the biopsy needle to pass through.

5. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, The second ring has a ring hole on its circumference for hinged connection with the first connecting rod.

6. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, The second radial magnet is sleeved between the first ring and the second ring via a bearing.

7. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, When a gradient magnetic field is applied to the axial magnet, the axial magnet pushes the biopsy needle and the movable disk to move and compress the spring. At the same time, the movable disk also drives the biopsy needle to perform puncture and sampling. When the gradient magnetic field is removed, the spring causes the axial magnet, the movable disk and the biopsy needle to return to their initial positions.

8. The bistable gastric anchored magnetically driven biopsy capsule robot based on a magnetic torsion spring according to claim 1, characterized in that, The bottom of the magnetic torsion spring housing is provided with a rope hole, and a thin line for retrieving the capsule robot is attached to the rope hole.

Images