A stomach self-anchoring biopsy magnetic control capsule robot based on a flexible hinge

Abstract

The present invention discloses a stomach self-anchoring biopsy magnetic control capsule robot based on a flexible hinge, which is characterized in that it includes an image module located at the head of the capsule robot, a biopsy module coaxially and fixedly connected to the image module, a rotation decoupling module for controlling the movement of the capsule robot, and a hinge control module for anchoring the capsule robot; the flexible hinge is adopted to enable the capsule to have the function of self-anchoring. A radially magnetized magnet is installed inside the capsule to drive the capsule to roll and release the hinge, and at the same time, an axially magnetized magnet is installed to control the biopsy needle to extend for sampling. The positioning accuracy of the diseased tissue and the stability of the biopsy sampling are improved; the clockwise and counterclockwise movements of the radially magnetized magnet are decoupled through thread fitting and gear fitting, so that it can not only drive the capsule to roll but also control the release of the hinge, improving the adaptability of the capsule in complex environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of endoscopic detection, and particularly relates to a magnetically controlled capsule robot for self-anchoring biopsy of the stomach based on a flexible hinge. Background Art

[0002] Nowadays, capsule robots for the diagnosis of gastrointestinal diseases have developed rapidly. The traditional method uses a manual endoscope, that is, a doctor operates a tube endoscope to enter the body through the digestive tract. This method requires the patient to be anesthetized in advance. The tube endoscope stays in the gastrointestinal tract for a short time and has high requirements for the doctor's operation level. Compared with the traditional endoscope, the capsule diagnosis and treatment robot is small in size and has a long battery life. The patient only needs to drink water and swallow it to start the examination, which can reduce the pain during the examination. In some specific medical environments, doctors need to take biopsy samples of gastrointestinal lesion tissues and bring them out of the body, and determine the treatment plan after testing the samples. Therefore, the capsule robot not only has an image transmission function, but also has a function of performing a biopsy on the target lesion.

[0003] Most of the existing capsule robots move in the body relying on the peristalsis of the gastrointestinal tract. This passive driving method cannot make the capsule actively approach the lesion and stay for further observation. At the same time, there are visual blind spots that cannot be observed during the passive movement of the capsule, resulting in missed diagnoses. In addition, when the capsule takes samples of lesion tissues, it lacks an anchoring function. Affected by the complex internal environment, its own stability is low, and it cannot accurately locate the sampling position. During the sampling process, due to disturbance, the final effect of the biopsy is also poor. Summary of the Invention

[0004] The present invention uses a flexible hinge to enable the capsule to have a self-anchoring function, installs a radially magnetized magnet inside the capsule to drive the capsule to roll and release the hinge, and at the same time installs an axially magnetized magnet to control the biopsy needle to extend for sampling, thus making up for the above defects.

[0005] The present invention provides a magnetically controlled capsule robot for self-anchoring biopsy of the stomach based on a flexible hinge, including an image module located at the head of the capsule robot, a biopsy module coaxially and fixedly connected to the image module, a rotation decoupling module for controlling the movement of the capsule robot, and a hinge control module for anchoring the capsule robot; the image module is used to determine the position of the lesion and transmit information to an external receiving end; the biopsy module is used to capture tissue samples;

[0006] The hinge control module includes a flexible hinge for providing an anchoring torque, a flexible ring for fixing the flexible hinge, a moving ring, and a five-hole partition; one end of the flexible hinge is hinged to the rotation decoupling module; a card slot is formed on the side of the other end of the flexible hinge; the flexible ring is sleeved on the card slot; several hemispherical cylindrical feet are provided at the bottom of the moving ring, and the hemispherical cylindrical feet pass through the five-ring partition and contact the rotation decoupling module, and several metal blades are embedded around the moving ring; the metal blades can cut off the flexible ring to release the flexible hinge; the flexible hinge extends out through the strip-shaped slot of the housing for anchoring.

[0007] The rotation decoupling module is located at the tail of the capsule robot and includes a rotation decoupling housing, a bottom plate hinged to the flexible hinge and fixedly arranged at the bottom of the rotation decoupling housing, a moving device coaxially connected to the bottom plate, a fixed internal thread sleeve coaxially arranged above the moving device, a radially magnetized magnet arranged on the fixed internal thread sleeve, and a pushing device coaxially arranged with the fixed internal thread sleeve; the rotation decoupling housing is a cylinder, and a chain slot for placing the flexible hinge is formed on the cylindrical side of the rotation decoupling housing; when the radially magnetized magnet rotates counterclockwise, the moving device will drive the entire capsule to perform a rolling motion; when the radially magnetized magnet rotates clockwise, the pushing device will push the moving ring upward in a straight line, so that the metal blades on the moving ring move upward to cut off the flexible ring and release the flexible hinge.

[0008] As a preferred solution of the present invention, the biopsy module includes a housing and a single-hole partition, a biopsy needle, an axially magnetized magnet, and a spring arranged inside the housing; the tail end of the biopsy needle is fixed to the axially magnetized magnet; the spring is sleeved on the biopsy needle, and one end of the spring is connected to the axially magnetized magnet and the other end is connected to the single-hole partition.

[0009] As a preferred solution of the present invention, the spring is manufactured by a 3D printer using a flexible material, and has indentations and perforations inside, and can be folded into a paper spring according to the indentations; the perforations are used to sleeve the spring on the biopsy needle.

[0010] As a preferred solution of the present invention, the image module includes a transparent housing and a connection partition, a camera, a wireless transmission circuit, and a button battery arranged inside the transparent housing; the transmission circuit, the battery, and the camera are stacked in sequence and coaxially arranged on the connection partition; the button battery supplies power to the transmission circuit and the camera; the transmission circuit is used to wirelessly transmit the images captured by the camera to an external receiving end.

[0011] As a preferred solution of the present invention, the camera includes a lens and LED lights symmetrically installed around the lens; the LED lights are used to illuminate the front environment.

[0012] As a preferred embodiment of the present invention, a rope hole is provided at the bottom of the rotary decoupling housing, and a thin line passes through the rope hole. After the capsule finishes working, the capsule robot is recovered through the thin line.

[0013] As a preferred embodiment of the present invention, the hinge control module further includes a probe protection channel, which is coaxially and fixedly connected to the single-hole partition plate of the biopsy module. The probe protection channel enables the biopsy needle not to be interfered by water when extending and retracting. The hinge is made of a flexible water-soluble material, and one end of the flexible hinge is hinged to the bottom plate of the rotary decoupling module through a polymer adhesive.

[0014] As a preferred embodiment of the present invention, the moving device includes an edge gear and a double-tooth gear. The double-tooth gear meshes with the edge gear on the bottom plate, and the edge gear is coaxially and fixedly connected to the rotary decoupling housing; the pushing device includes a moving external thread sleeve, a gear boss, a fixed ring and a four-tooth gear; the gear boss and the gear fixed ring are sleeved outside the fixed internal thread sleeve, and the fixed ring is used to determine the initial position of the gear boss. The gear boss is in contact with the moving ring in the hinge control module; one side of the radially magnetized magnet is coaxially and fixedly connected to the double-tooth gear, and the other side of the radially magnetized magnet is coaxially and fixedly connected to the four-tooth gear and the moving external thread sleeve; the moving external thread sleeve is threadedly connected to the fixed thread sleeve.

[0015] As a preferred embodiment of the present invention, when the radially magnetized magnet rotates counterclockwise, the radially magnetized magnet rotates and moves under the limit of the fixed internal thread sleeve, the radially magnetized magnet moves away from the gear boss and approaches the edge gear; the double-tooth gear fixedly connected to one side of the radially magnetized magnet meshes with the edge gear on the bottom plate, thereby driving the entire capsule robot to roll; when the radially magnetized magnet rotates clockwise, the radially magnetized magnet rotates in the opposite direction under the limit of the fixed internal thread sleeve, the radially magnetized magnet moves away from the edge gear and approaches the gear boss, and the four-tooth gear fixedly connected to the other side of the radially magnetized magnet meshes with the gear on the gear boss, driving the gear boss to rotate. The gear boss cooperates with the hemispherical cylindrical feet of the moving ring in the hinge control module to convert the rotational motion into a linear motion. The moving ring and its blade perform a linear motion to cut off the flexible ring for fixing the hinge, releasing the hinge to complete the anchoring of the capsule.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. The present invention uses a flexible hinge to endow the capsule with an anchoring function. The semi-circular indentation in the hinge is used to provide an anchoring moment, which helps to improve the stability of the capsule during biopsy sampling and can effectively complete the task of obtaining a sample of diseased tissue.

[0018] 2. The present invention uses a flexible origami spring made of a flexible material in the biopsy module, which is manufactured by a fused deposition 3D printer. Compared with traditional springs, it is simple to process, low in cost and excellent in performance.

[0019] 3. The present invention decouples the clockwise and counterclockwise rotations of the radially magnetized magnet through gear meshing, screw fitting, and boss movement. One direction of rotation is used to roll the capsule, and the reverse direction of rotation is used to release the hinge, maximizing the utilization of the rotational movement of the radial magnet, making the internal space of the capsule compact and improving the space utilization rate.

[0020] 4. The present invention integrates the functions of observation, anchoring, and biopsy, enhancing the adaptability of the capsule in the complex gastric environment and improving the working efficiency of the capsule.

[0021] 5. The present invention can integrate the three major functions of observation, anchoring, and biopsy. The capsule robot can actively move to the target area and maintain an anchored state throughout the biopsy sampling process, effectively completing the task of capturing tissue samples of lesions, improving the positioning accuracy of the lesions and the stability of biopsy sampling, and enhancing the adaptability in the complex and changeable gastric environment. It has a very large application prospect in the field of endoscopic detection technology. Description of the Drawings

[0022] Figure 1 It is the overall structure diagram of the capsule robot when the flexible hinge is in a force-compressed state;

[0023] Figure 2 It is the overall sectional structure diagram of the capsule robot;

[0024] Figure 3 It is the exploded view of the image module;

[0025] Figure 4 It is the exploded view of the biopsy module;

[0026] Figure 5 It is the working principle diagram of the biopsy;

[0027] Figure 6 It is the exploded view of the hinge control module;

[0028] Figure 7 It is the exploded view of the rotation decoupling module;

[0029] Figure 8 It is the principle diagram of the capsule rolling;

[0030] Figure 9 It is the principle diagram of the capsule self-anchoring;

[0031] Figure 10 It is the principle diagram of the capsule self-anchoring;

[0032] Figure 11 It is the principle diagram of the capsule self-anchoring.

[0033] In the figure: 1 - Image module; 2 - Biopsy module; 3 - Hinge control module; 4 - Rotational decoupling module; 11 - Image housing; 12 - Camera; 13 - Button battery; 14 - Transmission circuit; 15 - Connecting partition; 121 - Lens; 122 - LED lamp; 21 - Biopsy housing; 22 - Axial magnetization magnet; 23 - Flexible origami spring; 24 - Single-hole partition; 25 - Biopsy needle; 231 - Dimple; 232 - Perforation; 241 - Central hole; 31 - Probe protection channel; 32 - Flexible ring; 33 - Moving ring; 34 - Strip groove housing; 35 - Five-hole partition; 36 - Flexible hinge; 331 - Metal blade; 332 - Groove; 333 - Hemispherical cylindrical foot; 351 - Foot hole; 352 - Channel hole; 341 - Strip groove; 361 - Needle hole; 362 - Semicircular dimple; 363 - Ring groove; 41 - Fixed internal thread sleeve; 42 - Moving external thread sleeve; 43 - Gear boss; 44 - Fixed ring; 45 - Four-tooth gear; 46 - Radial magnetization magnet; 47 - Two-tooth gear; 48 - Edge gear; 49 - Base plate; 410 - Rotational decoupling housing; 410a - Rope hole; 410b - Chain groove. Detailed implementation mode

[0034] The present invention will be further described and explained below in conjunction with the detailed implementation mode. The embodiments are only examples of the present disclosure and do not delimit the scope of limitation. Without conflict, the technical features of each implementation mode of the present invention can be combined accordingly.

[0035] As Figure 1 and Figure 2 shown, a stomach self-anchoring biopsy magnetically controlled capsule robot designed by the present invention has four modules: an image module 1, a biopsy module 2, a hinge control module 3, and a rotational decoupling module 4. The image module 1 is located at the head of the capsule, the biopsy module 2 is coaxially and fixedly connected to the image module 1, the rotational decoupling module 4 is located at the tail of the capsule, and the hinge control module 3 is located between the biopsy module 2 and the rotational decoupling module 4.

[0036] In an embodiment of the present invention, the exploded view of the image module 1 is as Figure 3 shown. The image housing 11 is manufactured by a light-curing 3D printer using transparent photosensitive resin, providing a field of view for the camera 12. LED lamps 122 are symmetrically installed around the lens 121 in the camera 12 to illuminate the front environment. The button battery 13 supplies power to the camera 12 and the transmission circuit 14. The transmission circuit 14 wirelessly transmits the images captured by the camera 12 to the outside of the body. The three components of the camera 12, the button battery 13, and the transmission circuit 14 are coaxially connected.

[0037] In an embodiment of the present invention, the exploded view of the biopsy module 2 is as Figure 4As shown, the flexible origami spring 23 is manufactured by a fused deposition 3D printer using a flexible material (such as TPU). It has indentations 231 and perforations 232 inside, and can be folded into the final flexible origami spring 23 according to the indentations 231. The indentations 231 are used to provide elastic force. This spring manufacturing process is simple and the spring has good performance. One side of the flexible origami spring 23 is fixedly connected to the single-hole partition 24, and the other side is fixedly connected to the axially magnetized magnet 22. In the absence of an applied magnetic field, the flexible origami spring 23 is in a partially compressed state, causing the axially magnetized magnet 22 to contact the connection partition 15 of the image module 1, and the axially magnetized magnet 22 does not move at all. The biopsy needle 25 is coaxial with the axially magnetized magnet 22 and passes through the perforation 232 of the flexible origami spring 23 and the central hole 241 of the single-hole partition 24. The half of the axially magnetized magnet 22 connected to the biopsy needle 25 is the S pole, and the other half is the N pole. The biopsy working principle is as Figure 5 As shown, when the capsule completes self-anchoring, a gradient magnetic field is applied to the axially magnetized magnet 22. The axially magnetized magnet 22 is forced to make the biopsy needle 25 penetrate into the diseased tissue. The size of the biopsy needle 25 is 25G (outer diameter 0.51 mm, inner diameter 0.25 mm). When the needle tip penetrates into the diseased tissue, due to the capillary action between the tissue and the needle tube, it is not necessary to apply negative pressure inside the needle tube to capture the tissue sample into the biopsy needle 25. Subsequently, the gradient magnetic field is removed, and the compressed flexible origami spring 23 will make the biopsy needle 25 and the axially magnetized magnet 22 return to the initial position.

[0038] In an embodiment of the present invention, the exploded view of the hinge control module 3 is as Figure 6 As shown, the probe protection channel 31 is coaxially and fixedly connected to the single-hole partition 24 of the biopsy module 2. When the capsule is working, the stomach is filled with water, and the water will enter the interior through the strip-shaped groove 341 of the strip-shaped groove housing 34. The probe protection channel 31 ensures that the biopsy needle 25 will not be interfered by water when it extends and retracts. The metal blade 331 of the moving ring 33 is embedded and fixed in the embedding groove 332, and extends out of the capsule through the strip-shaped groove 341 of the strip-shaped groove housing 34. The hemispherical cylindrical feet 333 of the moving ring 33 pass through the foot holes 351 of the five-hole partition 35, and the channel holes 352 of the five-hole partition 35 are used for the biopsy needle 25 to extend and retract. The flexible hinge 36 is manufactured by a fused deposition 3D printer using a flexible water-soluble material (such as PVA). It has a needle hole 361 for the biopsy needle 25 to pass through, and the semi-circular indentation 362 is used to provide an anchoring moment. The flexible ring 32 is made of a flexible material (such as synthetic fiber). The flexible ring 32 is installed in the ring groove 363 to fix and compress the flexible hinge 36. In the initial state, the flexible ring 32 is at a certain distance from the metal blade 331, and the flexible hinge 36 is in a compressed state.

[0039] In an embodiment of the present invention, the exploded view of the rotation decoupling module 4 is as Figure 7As shown in the figure. The probe protection channel 31 of the fixed internal thread sleeve 41 and the hinge control module 3 are coaxially fixedly connected. The fixed ring 44 is sleeved on the other end of the fixed internal thread sleeve 41. The gear boss 43 is sleeved on the outside of the fixed internal thread sleeve 41 and contacts the fixed ring 44. The fixed ring 44 is used to determine the initial position of the gear boss 43. In the absence of a magnetic field, due to the frictional force between the gear boss 43 and the outside of the fixed internal thread sleeve 41, the gear boss 43 remains in its initial position unchanged. One side of the boss of the gear boss 43 contacts the hemispherical cylindrical foot 333 of the moving ring 33 of the hinge control module 3, and the other side faces the radially magnetized magnet 46. The edge gear 48 is coaxially connected to the bottom plate 49. The left side of the radially magnetized magnet 46 is coaxially connected to the double-tooth gear 47, and the right side is fixedly connected to the four-tooth gear 45 and the moving external thread sleeve 42. The moving external thread sleeve 42 on the radially magnetized magnet 46 is threadedly engaged with the fixed internal thread sleeve 41. In the absence of a magnetic field, due to the frictional force between the threads of the moving external thread sleeve 42 and the fixed internal thread sleeve 41, the radially magnetized magnet 46 does not move at all. When the radially magnetized magnet 46 is forced to rotate counterclockwise, through threaded engagement, it moves away from the gear boss 43 and closer to the edge gear 48, and the double-tooth gear 47 on the left side of the radially magnetized magnet 46 meshes with the edge gear 48 on the bottom plate 49; when the radially magnetized magnet 46 is forced to rotate clockwise, through threaded engagement, it moves away from the edge gear 48 and closer to the gear boss 43, and the four-tooth gear 45 on the right side of the radially magnetized magnet 46 meshes with the gear on the gear boss 43, driving the gear boss 43 to rotate.

[0040] The chain groove 410b of the rotation decoupling housing 410 is used to place the flexible hinge 36 in a fixed compressed state. There is a rope hole 410a at the bottom of the rotation decoupling housing 410. A thin line passes through this rope hole 410a. After the capsule finishes working, the capsule is recovered through the thin line. The bottom plate 49 and the flexible hinge 36 of the hinge control module 3 are bonded by a high-molecular-content PEG. The high-molecular PEG melts at 50 - 60 °C and cools to a solid state at room temperature as an adhesive, and the PEG is soluble in water.

[0041] In order to more clearly express the working process of the gastric self-anchoring biopsy magnetically controlled capsule robot based on the flexible hinge described in the present invention, a working method of the capsule robot described in the present invention is also provided, including the following processes:

[0042] Step 1: The patient drinks water in advance to distend and fill the stomach with water, and swallows the capsule robot; the camera 12 at the head of the capsule observes the position of the diseased tissue; the radially magnetized magnet 46 in the rotation decoupling module 4 is subjected to a counterclockwise rotating magnetic field and rotates counterclockwise. The left-side gear 47 of the magnet meshes with the edge gear 48, thereby driving the capsule robot to roll to the target position;

[0043] Step 2: After the capsule robot reaches the target position, apply a clockwise rotating magnetic field to the radially magnetized magnet 46 in the rotational decoupling module 4. The four-tooth gear 45 on the right side of the radially magnetized magnet 46 meshes with the gear boss 43 and drives it to rotate clockwise. The gear boss 43 cooperates with the moving ring 33 of the hinge control module 3, causing the moving ring 33 to move upward. The metal blades 331 around the moving ring 33 cut off the flexible ring 32 that fixes the flexible hinge 36, and the flexible hinge 36 is released, completing the anchoring of the capsule robot.

[0044] Step 3: After the capsule robot completes anchoring, apply a gradient magnetic field to the axially magnetized magnet 22 in the biopsy module 2. The axially magnetized magnet 22 compresses the flexible origami spring 23, extends the biopsy needle 25, the biopsy needle 25 pierces the diseased tissue to obtain a sample, and then the gradient magnetic field is removed. The flexible origami spring 23 in the compressed state retracts the biopsy needle 25.

[0045] Step 4: The PEG adhesive between the flexible hinge 36 and the bottom plate 49 of the rotational decoupling module 4 is first dissolved, and the capsule is retrieved through the esophagus by a thin wire passing through the rope hole 410a at the bottom of the rotational decoupling housing 410. Then the flexible hinge 36 dissolves and is discharged out of the body.

[0046] The capsule rolling principle is as Figure 8 shown. Apply a counterclockwise rotating magnetic field to the radially magnetized magnet 46 of the rotational decoupling module 4. Under the action of the magnetic field, the radially magnetized magnet 46 rotates counterclockwise. The moving external thread sleeve 42 fixedly connected to the right side of the radially magnetized magnet 46 and the thread of the fixed internal thread sleeve 41 convert the counterclockwise rotational motion of the radially magnetized magnet 46 into a linear motion of the radially magnetized magnet 46 approaching the edge gear 48. Subsequently, the double-tooth gear 47 on the left side of the radially magnetized magnet 46 meshes with the edge gear 48. Since the edge gear 48 and the bottom plate 49 are integrally connected to the rotational decoupling housing 410, the radially magnetized magnet 46 drives the entire capsule to perform a rolling motion. If the rolling motion needs to be terminated, apply a rotating magnetic field in the opposite direction, i.e., a clockwise rotating magnetic field, to the radially magnetized magnet 46. The double-tooth gear 47 on the left side of the radially magnetized magnet 46 no longer meshes with the edge gear 48 and the radially magnetized magnet 46 moves away from the edge gear 48 during rotation.

[0047] The self-anchoring principle of the capsule is as Figure 9 、 Figure 10 and Figure 11As shown in the figure. A clockwise rotating magnetic field is applied to the radially magnetized magnet 46 of the rotation decoupling module 4. Under the action of the magnetic field, the radially magnetized magnet 46 rotates clockwise. The threaded engagement between the moving external thread sleeve 42 fixedly connected to the right side of the radially magnetized magnet 46 and the fixed internal thread sleeve 41 converts the clockwise rotational motion of the radially magnetized magnet 46 into a linear motion of the radially magnetized magnet 46 approaching the gear boss 43. Subsequently, the four-tooth gear 45 on the right side of the radially magnetized magnet 46 meshes with the gear boss 43, and the radially magnetized magnet 46 drives the gear boss 43 to rotate. The boss side of the gear boss 43 contacts the hemispherical cylindrical foot 333 of the moving ring 33 of the hinge control module 3. Through the boss movement, the rotational motion of the gear boss 43 is converted into a linear motion of the moving ring 33. The metal blade 331 in the moving ring 33 moves linearly to cut off the flexible ring 32 that fixes the flexible hinge 36. The flexible hinge 36 returns to its original state, providing an anchoring moment, and finally making the capsule stand upright perpendicular to the gastric tissue to achieve the anchoring function.

[0048] After the capsule anchoring is completed, a biopsy is performed. Subsequently, the adhesive PEG between the flexible hinge 36 and the bottom plate 49 dissolves, and the capsule is recovered through the esophagus using a thin wire passing through the rope hole 410a at the bottom of the rotation decoupling housing 410 in the rotation decoupling module 4. The remaining flexible hinge 36 finally dissolves in water and is discharged out of the body.

[0049] In summary, the flexible hinge-based gastric self-anchoring biopsy magnetically controlled capsule robot of the present invention uses a flexible hinge to endow the capsule with an anchoring function. The semi-circular indentation in the hinge is used to provide an anchoring moment, which helps to improve the stability of the capsule during biopsy sampling and can effectively complete the task of obtaining samples of diseased tissues. The capsule robot of the present invention can actively move to the target area and maintain an anchored state throughout the biopsy sampling process, can effectively complete the task of capturing samples of diseased tissues, improve the positioning accuracy of diseased tissues and the stability of biopsy sampling, and enhance the adaptability in the complex and changeable gastric environment. And the present invention decouples the clockwise and counterclockwise rotations of the radially magnetized magnet through gear meshing, threaded engagement, and boss movement. One-way rotation is used to roll the capsule, and the reverse rotation is used to release the hinge, maximizing the utilization of the rotational motion of the radially magnetized magnet, making the internal space of the capsule compact and improving the space utilization rate.

[0050] The above-described embodiments merely represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent of the present invention. For those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge, characterized in that, it includes an image module located at the head of the capsule robot, a biopsy module coaxially and fixedly connected to the image module, a rotation decoupling module for controlling the movement of the capsule robot, and a hinge control module for anchoring the capsule robot; the image module is used to determine the lesion position and transmit information to an external receiving end; the biopsy module is used to capture tissue samples; The hinge control module includes a flexible hinge for providing an anchoring moment, a flexible ring for fixing the flexible hinge, a moving ring, and a five-hole partition; one end of the flexible hinge is hinged to the rotation decoupling module; a slot is provided on the side of the other end of the flexible hinge; the flexible ring is sleeved on the slot; there are several hemispherical cylindrical feet at the bottom of the moving ring, and the hemispherical cylindrical feet pass through the five-ring partition and contact the rotation decoupling module, and several metal blades are embedded around the moving ring; the metal blades can cut off the flexible ring to release the flexible hinge; the flexible hinge extends out through the strip-shaped groove of the outer shell for anchoring; The rotation decoupling module is located at the tail of the capsule robot and includes a rotation decoupling outer shell, a bottom plate hinged to the flexible hinge and fixedly arranged at the bottom of the rotation decoupling outer shell, a moving device coaxially and fixedly connected to the bottom plate, a fixed internal thread sleeve coaxially arranged above the moving device, a radially magnetized magnet arranged on the fixed internal thread sleeve, and a pushing device coaxially arranged with the fixed internal thread sleeve; the rotation decoupling outer shell is a cylinder, and a chain groove for placing the flexible hinge is provided on the cylindrical side of the rotation decoupling outer shell; when the radially magnetized magnet rotates counterclockwise, the moving device will drive the entire capsule to roll; when the radially magnetized magnet rotates clockwise, the pushing device will push the moving ring upward in a straight line, so that the metal blades on the moving ring move upward to cut off the flexible ring and release the flexible hinge.

2. The stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 1, characterized in that, the biopsy module includes an outer shell and a single-hole partition, a biopsy needle, an axially magnetized magnet, and a spring arranged inside the outer shell; the tail end of the biopsy needle is fixed on the axially magnetized magnet; the spring is sleeved on the biopsy needle, and one end of the spring is connected to the axially magnetized magnet, and the other end is connected to the single-hole partition.

3. The stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 2, characterized in that, the spring is manufactured by a 3D printer using a flexible material, with indentations and perforations inside, and can be folded into a paper spring according to the indentations; the perforations are used to sleeve the spring on the biopsy needle.

4. The stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 1, characterized in that, the image module includes a transparent outer shell and a connection partition, a camera, a wireless transmission circuit, and a button battery arranged inside the transparent outer shell; the transmission circuit, the battery, and the camera are stacked in sequence and coaxially arranged on the connection partition; the button battery supplies power to the transmission circuit and the camera; the transmission circuit is used to wirelessly transmit the images captured by the camera to an external receiving end.

5. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 4, wherein, the camera includes a lens and LED lights symmetrically installed around the lens; the LED lights are used to illuminate the front environment.

6. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 1, wherein, the hinge control module further includes a probe protection channel, which is coaxially and fixedly connected to the single-hole partition of the biopsy module. The probe protection channel ensures that the biopsy needle is not interfered by water when extending and retracting.

7. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 1, wherein, a rope hole is provided at the bottom of the rotary decoupling housing, and a thin wire passes through the rope hole. After the capsule finishes working, the capsule robot is recovered through the thin wire.

8. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 1, wherein, the hinge uses a flexible water-soluble material, and one end of the flexible hinge is hinged to the bottom plate of the rotary decoupling module through a polymer adhesive.

9. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 1, wherein, the moving device includes an edge gear and a double-tooth gear. The double-tooth gear meshes with the edge gear on the bottom plate, and the edge gear is coaxially and fixedly connected to the rotary decoupling housing; the pushing device includes a moving external thread sleeve, a gear boss, a fixed ring, and a four-tooth gear; the gear boss and the gear fixed ring are sleeved outside the fixed internal thread sleeve, and the fixed ring is used to determine the initial position of the gear boss. The gear boss contacts the moving ring in the hinge control module; one side of the radially magnetized magnet is coaxially connected to the double-tooth gear, and the other side of the radially magnetized magnet is coaxially connected to the four-tooth gear and the moving external thread sleeve; the moving external thread sleeve is threadedly connected to the fixed thread sleeve.

10. A stomach self-anchoring biopsy magnetically controlled capsule robot based on a flexible hinge according to claim 9, wherein, when the radially magnetized magnet rotates counterclockwise, the radially magnetized magnet rotates and moves under the limit of the fixed internal thread sleeve, the radially magnetized magnet moves away from the gear boss and approaches the edge gear; the double-tooth gear fixedly connected to one side of the radially magnetized magnet meshes with the edge gear on the bottom plate, thereby driving the entire capsule robot to roll; when the radially magnetized magnet rotates clockwise, the radially magnetized magnet rotates in the opposite direction under the limit of the fixed internal thread sleeve, the radially magnetized magnet moves away from the edge gear and approaches the gear boss. The four-tooth gear fixedly connected to the other side of the radially magnetized magnet meshes with the gear on the gear boss, driving the gear boss to rotate. The gear boss cooperates with the hemispherical cylindrical feet of the moving ring in the hinge control module to convert the rotational motion into a linear motion. The moving ring and its blade move linearly to cut off the flexible ring for fixing the hinge, releasing the hinge to complete the anchoring of the capsule.

Images