Magnetic control capsule robot with negative pressure suction function

Abstract

The application provides a magnetic control capsule robot with negative pressure suction function, which comprises a shell, a stator permanent magnet, a mover permanent magnet and a flexible sealed cavity in the shell, the mover permanent magnet can rotate in the shell, the flexible sealed cavity is provided with a first liquid suction hole, the shell is provided with a second liquid suction hole, the first liquid suction hole is aligned with the second liquid suction hole, under the drive of an external magnetic field, the stator permanent magnet and the mover permanent magnet can drive the flexible sealed cavity to expand or shrink, when the flexible sealed cavity expands, the volume of the flexible sealed cavity increases, the internal pressure of the flexible sealed cavity decreases, under the action of external atmospheric pressure, intestinal fluid enters the flexible sealed cavity to complete the negative pressure suction sampling operation. The magnetic control capsule robot can repeatedly generate negative pressure suction function by repeatedly applying an external magnetic field, the internal structure of the magnetic control capsule robot is simple, easy to assemble and stable in function.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a magnetically controlled capsule robot with negative pressure suction function. Background Technology

[0002] Gastrointestinal diseases are among the most common diseases in my country and even globally. Bacterial and viral infections of the digestive tract are the main causes and early signs of these diseases. Traditional gastrointestinal examinations mainly use endoscopy to observe lesions within the digestive tract and to sample contents containing bacteria and viruses. These procedures cause significant physical and psychological discomfort to patients. Furthermore, traditional gastrointestinal examinations are often performed after obvious pathological manifestations have already appeared, failing to achieve early detection, early treatment, or even disease prevention.

[0003] Capsule robot technology is a revolutionary innovation in the diagnosis and treatment of gastrointestinal diseases. Although capsule endoscopes currently on the market offer the advantages of painless and non-invasive examinations compared to traditional endoscopy, their main diagnostic method still relies on analyzing images transmitted by the camera module built into the capsule endoscope. This results in a limited diagnostic approach and fails to achieve the effect of biochemical detection of contents related to bacteria and viruses in the digestive tract. Summary of the Invention

[0004] To address the problems in the prior art, this invention provides a magnetically controlled capsule robot with negative pressure suction function, which can generate negative pressure under the action of an external magnetic field to suction intestinal fluid for sampling.

[0005] This invention provides a magnetically controlled capsule robot with negative pressure suction function, comprising a shell, a stator permanent magnet, a mover permanent magnet, and a flexible sealed cavity located within the shell. The mover permanent magnet is rotatable within the shell. The flexible sealed cavity has a first suction hole, and the shell has a second suction hole. The first suction hole and the second suction hole are aligned. Under the drive of an external magnetic field, the stator permanent magnet and the mover permanent magnet cooperate to drive the flexible sealed cavity to expand or contract. When the flexible sealed cavity expands, its volume increases, and the internal pressure decreases. Under the action of external atmospheric pressure, intestinal fluid enters the flexible sealed cavity to complete the negative pressure suction sampling operation.

[0006] As a further improvement of the present invention, the magnetically controlled capsule robot also includes a fixed base, a flexible film, and a movable base. The fixed base, the flexible film, and the movable base constitute the flexible sealed cavity. The fixed base is connected to the outer shell, and the flexible film is installed between the fixed base and the movable base. The first liquid suction hole is provided on the fixed base. Under the drive of an external magnetic field, the stator permanent magnet and the mover permanent magnet cooperate to drive the movable base to move within the outer shell. The movement of the movable base can cause the flexible sealed cavity to expand or contract.

[0007] As a further improvement of the present invention, the magnetically controlled capsule robot also includes a perforated shell and a non-perforated shell, the perforated shell and the non-perforated shell are assembled together to form the shell, the stator permanent magnet is fixedly connected to the perforated shell and the fixed base, and the second liquid suction hole is provided on the perforated shell.

[0008] As a further improvement of the present invention, the fixing base is a hollow cylinder without a cover, and a first liquid absorption hole is provided on the cylindrical wall; the perforated outer shell is a hollow cylinder without a cover with rounded corners and is made of transparent material, and a second liquid absorption hole is provided on the cylindrical wall. The fixing base and the perforated outer shell are interference-fitted, and the first liquid absorption hole and the second liquid absorption hole are tightly fitted to prevent leakage.

[0009] As a further improvement of the present invention, the magnetically controlled capsule robot also includes a fixed base sealing ring, wherein the fixed base and the fixed base sealing ring are interference-fitted to seal the flexible film with the fixed base to form one end of a flexible sealed cavity.

[0010] As a further improvement of the present invention, the moving permanent magnet is mounted on the movable base, and the moving permanent magnet is rotatable on the movable base.

[0011] As a further improvement of the present invention, the magnetically controlled capsule robot also includes a bearing. The mobile base is a hollow cylinder without a cover with a cylinder in the middle. The moving permanent magnet is annular. The bearing is installed on the central cylinder of the mobile base. The moving permanent magnet is installed on the bearing, so that it can rotate freely relative to the mobile base. The flexible film is sealed with the mobile base to form the other end of the flexible sealed cavity.

[0012] As a further improvement of the present invention, the magnetically controlled capsule robot also includes a mobile base sealing cover, which is disc-shaped, and the mobile base and the mobile base sealing cover are interference fit.

[0013] As a further improvement of the present invention, the non-porous shell is a hollow cylinder with rounded corners and no cover. The fixed base, the movable base, the stator permanent magnet, and the mover permanent magnet are all coaxially arranged with the shell. The fixed base, the movable base, the shell, and the base sealing ring are all made of non-magnetic materials. The shell is made of transparent resin, and the flexible film is made of TPE material.

[0014] As a further improvement of the present invention, both the stator permanent magnet and the mover permanent magnet are radially magnetized magnets, and during installation, the magnetic moment direction of the stator permanent magnet points towards the second liquid suction hole.

[0015] The beneficial effects of this invention are as follows: This invention is the first to propose a scheme that uses flexible materials to construct a flexible sealed cavity, and then uses magnetic control to achieve a change in the volume of the flexible sealed cavity to generate negative pressure for intestinal fluid aspiration; the energy required for the change in the volume of the flexible sealed cavity by magnetic control comes from an external magnetic field, and the magnetically controlled capsule robot does not require an internal battery, reducing harm to the human body; the magnetically controlled capsule robot of this invention can achieve multiple negative pressure aspiration functions by repeatedly applying an external magnetic field; the magnetically controlled capsule robot has a simple internal structure, is easy to assemble, and has stable function. Attached Figure Description

[0016] Figure 1 This is an exploded structural diagram of the present invention;

[0017] Figure 2 This is a cross-sectional view of the present invention, excluding the flexible film;

[0018] Figure 3 This is the initial state diagram of the magnetically controlled capsule robot, without showing the flexible film;

[0019] Figure 4 This is a diagram showing the completed drive status of the magnetically controlled capsule robot, but the flexible film is not displayed. Detailed Implementation

[0020] like Figures 1 to 2 As shown, this invention discloses a magnetically controlled capsule robot with negative pressure suction function, including a shell, a stator permanent magnet 102, a mover permanent magnet 107, and a flexible sealed cavity located within the shell. The mover permanent magnet 107 can rotate within the shell. The flexible sealed cavity is provided with a first suction hole, and the shell is provided with a second suction hole. The first suction hole and the second suction hole are aligned. Under the drive of an external magnetic field, the stator permanent magnet 102 and the mover permanent magnet 107 cooperate to drive the flexible sealed cavity to expand or contract. When the flexible sealed cavity expands, the volume of the flexible sealed cavity increases, and the internal pressure of the flexible sealed cavity decreases. Under the action of external atmospheric pressure, intestinal fluid enters the flexible sealed cavity to complete the negative pressure suction sampling operation.

[0021] The negative pressure in the flexible sealed cavity is generated by an external magnetic field.

[0022] The magnetically controlled capsule robot also includes a fixed base 103, a flexible film 105, and a movable base 106. The fixed base 103, the flexible film 105, and the movable base 106 constitute the flexible sealed cavity. The fixed base 103 is connected to the outer shell. The flexible film 105 is installed between the fixed base 103 and the movable base 106. The first liquid suction hole is provided on the fixed base 103. Under the drive of an external magnetic field, the stator permanent magnet 102 and the mover permanent magnet 107 cooperate to drive the movable base 106 to move within the outer shell. The movement of the movable base 106 can cause the flexible sealed cavity to expand or contract.

[0023] The magnetically controlled capsule robot also includes a perforated shell 101 and a non-perforated shell 110. The perforated shell 101 and the non-perforated shell 110 are assembled together to form the shell. The stator permanent magnet 102, the perforated shell 101, and the fixed base 103 are fixed together. The second liquid suction hole is provided on the perforated shell 101.

[0024] The fixed base 103 is an open-top hollow cylinder with a first liquid absorption hole on its cylindrical wall; the perforated outer shell 101 is an open-top hollow cylinder with rounded corners and is made of transparent material, with a second liquid absorption hole on its cylindrical wall. The fixed base 103 and the perforated outer shell 101 are press-fitted together, and the first liquid absorption hole and the second liquid absorption hole are tightly fitted together to prevent leakage.

[0025] The magnetically controlled capsule robot also includes a fixed base sealing ring 104. The fixed base 103 and the fixed base sealing ring 104 are interference-fitted to seal the flexible film 105 to the fixed base 103, forming one end of a flexible sealed cavity. The fixed base sealing ring 104 and the perforated outer shell 101 are positioned to ensure that the first liquid suction hole on the fixed base 103 and the second liquid suction hole on the perforated outer shell 101 are aligned.

[0026] The moving permanent magnet 107 is mounted on the movable base 106, and the moving permanent magnet 107 is rotatable on the movable base 106.

[0027] The magnetically controlled capsule robot also includes a bearing 108. The mobile base 106 is a hollow cylinder without a cover with a central cylinder. The moving permanent magnet 107 is annular. The bearing 108 is mounted on the central cylinder of the mobile base 106, and the moving permanent magnet 107 is mounted on the bearing 108, so that it can rotate freely relative to the mobile base. The flexible film 105 is sealed with the mobile base 106 to form the other end of a flexible sealed cavity.

[0028] The magnetically controlled capsule robot also includes a mobile base sealing cover 109, which is disc-shaped, and the mobile base 106 and the mobile base sealing cover 109 are interference fit.

[0029] The non-porous outer shell 110 is a hollow, rounded, capless cylinder. The fixed base 103, movable base 106, stator permanent magnet 102, and mover permanent magnet 107 are all coaxially arranged with the outer shell. The fixed base 103, movable base 106, outer shell, and base sealing ring 104 are all made of non-magnetic materials, and the outer shell is made of transparent resin. Because the outer shell is transparent, the changes in the flexible sealing cavity during liquid absorption can be directly observed during the testing process.

[0030] Both the stator permanent magnet 102 and the mover permanent magnet 107 are radially magnetized magnets. During installation, the magnetic moment direction of the stator permanent magnet 102 points towards the second suction hole to ensure that when an external magnetic field is applied, the first and second suction holes can be controlled to align with the intestinal fluid.

[0031] The first liquid suction hole on the fixed base 103 and the second liquid suction hole on the perforated outer shell 101 are both small enough to ensure that external liquid will not flow into the capsule when the internal cavity of the capsule robot is at the same pressure as the external air pressure.

[0032] The outer shell is a cylindrical hollow structure with thin walls. The outer shell and the fixed base 103 are interference fit, and the outer shell and the movable base 106 are clearance fit.

[0033] During the process of liquid aspiration by the magnetically controlled capsule robot, the moving base 106 and the fixed base 103 only undergo relative axial translation and do not undergo relative rotation around the axis. During this process, the moving permanent magnet 107 and the stator permanent magnet 102 rotate relative to each other under the action of the external magnetic field, and an axial repulsive force is generated between them, causing the two magnets to bounce away.

[0034] The stator permanent magnet 102 and the mover permanent magnet 107 attract each other in the initial state, and the fixed base 103 and the movable base 106 are tightly fitted in the initial state, and the volume of the flexible sealed cavity is almost zero.

[0035] The flexible film 105 is made of TPE material and has good sealing properties.

[0036] Initial state as Figure 3As shown, when the magnetically controlled capsule robot is not affected by an external magnetic field or is affected by a small magnetic field, the magnetically controlled capsule robot is in its initial state. In the initial state, the stator permanent magnet 102 and the mover permanent magnet 107 are in a state of mutual attraction. At this time, the flexible sealed cavity is in a state of contraction and closure. The internal volume of the flexible sealed cavity is small, the air pressure is equal to that of the external environment, and the liquid will not enter the flexible sealed cavity.

[0037] Work status as Figure 4 As shown, under the influence of a strong external magnetic field, the stator permanent magnet 102 first deflects until its magnetic moment direction aligns with the direction of the external magnetic field. This allows the magnetically controlled capsule robot to flip within the intestine by adjusting the direction of the external magnetic field, aligning the first and second suction holes with the intestinal fluid. Increasing the strength of the external magnetic field causes the mover permanent magnet 107 to also deflect until it aligns with the external magnetic field. At this point, the mover permanent magnet 107 is repelled by the stator permanent magnet 102, causing it to move away from the stator permanent magnet 102. This increases the volume of the flexible sealed cavity and decreases the air pressure. Under the pressure difference between the inside and outside of the flexible sealed cavity, the intestinal fluid is forced into the cavity, thus creating negative pressure to absorb the intestinal fluid.

[0038] This invention adds the function of aspirating intestinal fluid to the existing capsule endoscopy's image acquisition function. The magnetically controlled capsule robot has a simple internal structure, is easy to manufacture, and is readily commercialized. The driving force of the magnetically controlled capsule robot comes from an external magnetic field, eliminating the need to consume the capsule robot's own energy and addressing the issue of insufficient motor power, thus effectively reducing the size of the magnetically controlled capsule robot. The magnetically controlled capsule robot of this invention uses a flexible sealed cavity to generate negative pressure, allowing for repetitive operations by controlling the external magnetic field. Furthermore, a large gap can be maintained between the movable base 106 and the outer shell, reducing friction during mutual movement.

[0039] The magnetic control design of this invention can easily control the deflection of the capsule robot in the intestine, and can be combined with a camera to ensure that the suction hole is aligned with the target area for accurate sampling.

[0040] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A magnetically controlled capsule robot with negative pressure suction function, characterized in that: The device includes an outer shell, a stator permanent magnet (102), a mover permanent magnet (107), and a flexible sealed cavity located within the outer shell. The mover permanent magnet (107) is rotatable within the outer shell. The flexible sealed cavity is provided with a first liquid suction hole, and the outer shell is provided with a second liquid suction hole. The first liquid suction hole and the second liquid suction hole are aligned. Under the drive of an external magnetic field, the stator permanent magnet (102) and the mover permanent magnet (107) work together to drive the flexible sealed cavity to expand or contract. When the flexible sealed cavity expands, the volume of the flexible sealed cavity increases, and the internal pressure of the flexible sealed cavity decreases. Under the action of external atmospheric pressure, intestinal fluid enters the flexible sealed cavity to complete the negative pressure suction sampling operation. The magnetically controlled capsule robot also includes a fixed base (103), a flexible film (105), and a movable base (106). The fixed base (103), the flexible film (105), and the movable base (106) constitute the flexible sealed cavity. The fixed base (103) is connected to the outer shell. The flexible film (105) is installed between the fixed base (103) and the movable base (106). The first liquid suction hole is provided on the fixed base (103). Under the drive of an external magnetic field, the stator permanent magnet (102) and the mover permanent magnet (107) cooperate to drive the movable base (106) to move within the outer shell. The movement of the movable base (106) can cause the flexible sealed cavity to expand or contract.

2. The magnetically controlled capsule robot according to claim 1, characterized in that: The magnetically controlled capsule robot also includes a perforated shell (101) and a non-perforated shell (110), which are assembled together to form the shell. The stator permanent magnet (102), the perforated shell (101), and the fixed base (103) are fixed together. The second liquid suction hole is provided on the perforated shell (101).

3. The magnetically controlled capsule robot according to claim 2, characterized in that: The fixed base (103) is an open-top hollow cylinder with a first liquid absorption hole on its cylindrical wall; the perforated outer shell (101) is an open-top hollow cylinder with rounded corners and is made of transparent material, with a second liquid absorption hole on its cylindrical wall. The fixed base (103) and the perforated outer shell (101) are press-fitted together, and the first liquid absorption hole and the second liquid absorption hole are tightly fitted together to prevent leakage.

4. The magnetically controlled capsule robot according to claim 2, characterized in that: The magnetically controlled capsule robot also includes a fixed base sealing ring (104), and the fixed base (103) and the fixed base sealing ring (104) are interference-fitted to seal the flexible film (105) with the fixed base (103) to form one end of the flexible sealed cavity.

5. The magnetically controlled capsule robot according to claim 1, characterized in that: The moving permanent magnet (107) is mounted on the movable base (106), and the moving permanent magnet (107) is rotatable on the movable base (106).

6. The magnetically controlled capsule robot according to claim 5, characterized in that: The magnetically controlled capsule robot also includes a bearing (108). The mobile base (106) is a hollow cylinder without a cover with a cylinder in the middle. The moving permanent magnet (107) is annular. The bearing (108) is mounted on the central cylinder of the mobile base (106). The moving permanent magnet (107) is mounted on the bearing (108), so that it can rotate freely relative to the mobile base. The flexible film (105) is sealed with the mobile base (106) to form the other end of a flexible sealed cavity.

7. The magnetically controlled capsule robot according to claim 6, characterized in that: The magnetically controlled capsule robot also includes a mobile base sealing cover (109), which is disc-shaped, and the mobile base (106) and the mobile base sealing cover (109) are interference fit.

8. The magnetically controlled capsule robot according to claim 4, characterized in that: The non-porous outer shell (110) is a hollow, rounded, capless cylinder. The fixed base (103), movable base (106), stator permanent magnet (102), and mover permanent magnet (107) are all coaxially arranged with the outer shell. The fixed base (103), movable base (106), outer shell, and base sealing ring (104) are all made of non-magnetic materials. The outer shell is made of transparent resin, and the flexible film (105) is made of TPE material.

9. The magnetically controlled capsule robot according to claim 4, characterized in that: Both the stator permanent magnet (102) and the mover permanent magnet (107) are radially magnetized magnets, and during installation, the magnetic moment direction of the stator permanent magnet (102) points towards the second liquid suction hole.

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