Digestive tract robot

Abstract

This application relates to the field of medical device technology and provides a digestive tract robot. The digestive tract robot includes: a shell, a first drive unit, and a suturing unit. The shell includes a main body and a cover plate. The main body has an opening communicating with a mounting cavity. The cover plate is movably mounted on the main body and has a sealed position for sealing the opening and an open position for avoiding the opening. The suturing unit is disposed within the main body and includes a second drive unit, an arc-shaped suture needle, and a suture thread attached to the tail of the suture needle. The arc-shaped suture needle is slidably mounted in a first arc-shaped guide groove. When the cover plate is in the open position, the needle tip of the arc-shaped suture needle can suture the target area under the drive of the second drive unit. The digestive tract robot provided by this application can directly suture the target area without using additional minimally invasive surgical instruments inserted into the patient's esophagus to suture the target area, providing a better user experience for the patient.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and more specifically, relates to a digestive tract robot. Background Technology

[0002] Gastrointestinal diseases are common and prevalent, with a global prevalence exceeding 10%. Malignant tumors caused by gastrointestinal diseases, such as stomach cancer, esophageal cancer, colon cancer, and rectal cancer, account for the majority of cancer cases. Taking stomach cancer as an example, the five-year survival rate for early-stage stomach cancer patients is over 90%, and some are even curable. However, the five-year survival rate for advanced-stage stomach cancer patients is only between 20% and 30%. The survival rate for late-stage stomach cancer patients is only 7%. Therefore, early diagnosis and treatment of gastrointestinal diseases are crucial for improving patient survival rates. Active capsule endoscopy, similar in size to an oral capsule, can be easily swallowed by patients and is a painless new examination method. Currently, some models of capsule endoscopes are commercially available, and patients in some large hospitals can enjoy capsule gastroscopy and colonoscopy services.

[0003] However, current commercial capsule endoscopy robots only have visual transmission capabilities, making their functionality relatively limited. When doctors detect perforations or ulcers in a patient's digestive tract using a commercial capsule endoscopy robot, the primary clinical treatment method still involves inserting minimally invasive surgical instruments through the esophagus and manually suturing the wound. This treatment method requires inserting medical instruments into the body through the digestive tract, causing significant pain to the patient. Summary of the Invention

[0004] The purpose of this application is to provide a digestive tract robot that solves the technical problem that existing digestive tract robots cannot suture target areas.

[0005] To achieve the above objectives, according to one aspect of this application, a digestive tract robot is provided. The digestive tract robot includes: a shell, a first drive unit, and a suturing unit. The shell has an internal mounting cavity. The shell includes a main body and a cover plate. The main body has an opening communicating with the mounting cavity. The cover plate is movably mounted on the main body and has a closed position for sealing the opening and an open position for avoiding the opening. A first arcuate guide groove is provided at a first end of the main body. Both ends of the first arcuate guide groove face the opening and communicate with opposite sides of the opening. The first drive unit is disposed within the mounting cavity, and the output end of the first drive unit... It is connected to the cover plate drive to drive the cover plate to switch between a closed position and an open position; the suture part is located in the main body and includes a second drive part, an arc-shaped suture needle and a suture thread tied to the tail of the suture needle. The arc-shaped suture needle is slidably installed in the first arc-shaped guide groove and is coaxially arranged with the first arc-shaped guide groove. When the cover plate is in the open position, the needle tip of the arc-shaped suture needle can extend from one end of the first arc-shaped guide groove under the drive of the second drive part, pass through the opening and enter the first arc-shaped guide groove from the other end of the first arc-shaped guide groove, and repeat the cycle to suture the target area.

[0006] Optionally, the digestive tract robot also includes an endoscope installed in the mounting cavity. The endoscope includes a camera and a transparent part is provided on the housing, with the camera facing the transparent part.

[0007] Optionally, the cover is made of a transparent material to form a transparent section, with the camera facing the cover in a sealed position.

[0008] Optionally, an installation plate is provided inside the installation cavity, and a clearance hole is provided on the installation plate. The camera is installed at the clearance hole. The digestive tract robot also includes a transparent protective plate, which covers the clearance hole.

[0009] Optionally, the main body has a second arc guide groove inside, and the curvature of the cover plate matches the curvature of the second arc guide groove. The cover plate is slidably installed in the second arc guide groove, and the second arc guide groove forms an entrance and exit at the end of the main body near the opening. The first driving part includes a first driving motor, which is installed at the second end of the mounting cavity. A transmission rod is provided inside the cover plate, and the transmission rod is driven and connected to the output shaft of the first driving motor. The cover plate can extend or retract from the entrance and exit under the drive of the first driving motor.

[0010] Optionally, the first end of the main body is provided with a mounting hole, the extension direction of the inner wall of the mounting hole is coaxial with the extension direction of the first arc guide groove, the mounting hole and the first arc guide groove are at least partially overlapped in the radial direction of the first arc guide groove, the second drive part includes a second drive motor and a magnetic drive part, the second drive motor is fixedly installed in the mounting cavity, the magnetic drive part is drivenly connected to the output end of the second drive motor, the magnetic drive part is rotatably disposed in the mounting hole, and the arc sewing needle is at least partially made of magnetic material.

[0011] Optionally, the magnetic drive unit includes a connector and two magnetic posts disposed on the connector. The connector is driven to the output end of the second drive motor. The tip and tail of the arc-shaped suture needle are both made of magnetic material. The two magnetic posts are respectively disposed opposite to the tip and tail of the arc-shaped suture needle to attract the tip and tail of the arc-shaped suture needle respectively.

[0012] Optionally, the digestive tract robot also includes a drive magnet, which has a cavity inside. The drive magnet is fixedly installed at the second end of the main body and is sleeved outside the second drive motor through the cavity.

[0013] Optionally, the main body has a second arc guide groove inside, and the curvature of the cover plate matches the curvature of the second arc guide groove. The cover plate is slidably installed in the second arc guide groove, and the second arc guide groove forms an inlet and outlet at the end of the main body near the opening. The housing also includes a flip cover and a hinge, with two flaps of the hinge connected to the flip cover and one end of the main body respectively, so that the flip cover can be flipped and connected to the first end of the main body. The housing also includes a partition plate, which covers the mounting hole. When the flip cover is placed at the first end of the main body, there is a receiving space between the partition plate and the flip cover. The receiving space communicates with the first arc guide groove and is used to receive the suture. The inlet and outlet are located on the same side of the opening as the port of the first arc guide groove for the needle to extend from. When the cover plate is in a closed position, the extended end of the cover plate abuts against the other side of the opening. A suture cutter is provided on the side of the extended end of the cover plate near the first arc guide groove.

[0014] Optionally, the digestive tract robot also includes a battery and a control board electrically connected to the battery. Both the battery and the control board are installed in the mounting cavity, and the first drive unit, the second drive unit, and the endoscope are all electrically connected to the control board.

[0015] The beneficial effects of the digestive tract robot provided in this application are as follows: Compared with the prior art, the digestive tract robot provided in this application, by slidably mounting an arc-shaped suture needle in a first arc-shaped guide groove and coaxially arranging the arc-shaped suture needle with the first arc-shaped guide groove, allows the digestive tract robot provided in this application to drive the arc-shaped suture needle through a second drive unit when the cover is in the open position. This allows the needle tip of the arc-shaped suture needle to extend from one end of the first arc-shaped guide groove, pass through the opening, and enter the first arc-shaped guide groove from the other end, repeating the cycle to achieve suturing of the target area. The digestive tract robot provided in this application can directly suture the target area without using additional minimally invasive surgical instruments inserted into the patient's esophagus to suture the target area, providing patients with a better user experience. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the digestive tract robot provided in an embodiment of this application;

[0018] Figure 2 A schematic diagram of the digestive tract robot with some parts removed, provided from another perspective in an embodiment of this application;

[0019] Figure 3 A schematic diagram of the digestive tract robot with some parts removed, provided from another perspective in an embodiment of this application;

[0020] Figure 4 A schematic diagram of a digestive tract robot with some parts removed, provided as an embodiment of this application;

[0021] Figure 5 A schematic diagram of a digestive tract robot with some parts removed, provided as an embodiment of this application;

[0022] Figure 6 This is an explosion diagram of a digestive tract robot provided in an embodiment of this application;

[0023] The details of the reference numerals used in the above figures are as follows:

[0024] 10. Housing; 11. Main body; 111. First arc guide groove; 112. Second arc guide groove; 113. Mounting hole; 12. Cover plate; 121. Transmission rod; 13. Mounting plate; 131. Clearance hole; 14. Flip cover; 15. Hinge; 151. Page plate; 16. Isolation plate;

[0025] 20. First drive unit; 21. First drive motor;

[0026] 30. Suture section; 31. Second drive section; 311. Second drive motor; 312. Magnetic drive section; 3121. Connector; 3122. Magnetic column; 32. Arc-shaped suture needle;

[0027] 40. Endoscopic section; 41. Camera;

[0028] 50. Transparent protective panel;

[0029] 60. Driving magnet section; 61. Cavity;

[0030] 70. Battery;

[0031] 80. Control panel. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0033] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] As described in the background section, digestive tract diseases are common and prevalent, with a global prevalence exceeding 10%. Malignant tumors caused by digestive tract diseases, such as gastric cancer, esophageal cancer, colon cancer, and rectal cancer, account for the majority of cancer patients. Taking gastric cancer as an example, the five-year survival rate for early-stage gastric cancer patients is over 90%, and some are even curable. However, the five-year survival rate for advanced-stage gastric cancer patients is only between 20% and 30%. The survival rate for late-stage gastric cancer patients is only 7%. Therefore, early diagnosis and treatment of digestive tract diseases are crucial for improving patient survival rates. Active capsule endoscopy, similar in size to an oral capsule, can be easily swallowed by patients and is a painless new examination method. Currently, some models of capsule endoscopes are commercially available, and patients in some large hospitals can enjoy capsule gastroscopy and colonoscopy services. However, current commercial capsule endoscopy robots only have visual transmission capabilities, making their functionality relatively limited. When doctors detect perforations or ulcers in a patient's digestive tract using a commercial capsule endoscopy robot, the primary clinical treatment method still involves inserting minimally invasive surgical instruments through the esophagus and manually suturing the wound. This treatment method requires inserting medical instruments into the body through the digestive tract, causing significant pain to the patient.

[0037] See Figures 1 to 6As shown, to solve the above problems, according to one aspect of this application, an embodiment of this application provides a digestive tract robot. The digestive tract robot includes: a housing 10, a first drive unit 20, and a suture unit 30. The housing 10 has an internal mounting cavity. The housing 10 includes a main body 11 and a cover plate 12. The main body 11 has an opening communicating with the mounting cavity. The cover plate 12 is movably mounted on the main body 11 and has a sealed position for sealing the opening and an open position for avoiding the opening. A first arcuate guide groove 111 is provided at the first end of the main body 11. Both ends of the first arcuate guide groove 111 face the opening and communicate with the opposite sides of the opening. The first drive unit 20 is disposed within the mounting cavity. The output end is driven to connect to the cover plate 12 to drive the cover plate 12 to switch between a closed position and an open position; the suture part 30 is disposed in the main body 11. The suture part 30 includes a second drive part 31, an arc suture needle 32 and a suture thread tied to the tail of the suture needle. The arc suture needle 32 is slidably installed in the first arc guide groove 111. The arc suture needle 32 and the first arc guide groove 111 are coaxially arranged. When the cover plate 12 is in the open position, the needle tip of the arc suture needle 32 can extend from one end of the first arc guide groove 111 under the drive of the second drive part 31, pass through the opening and enter the first arc guide groove 111 from the other end of the first arc guide groove 111, and repeat cyclically to suture the target area. In use, with the cover in a sealed position, the digestive tract robot of this application is first placed into the digestive tract and reaches the target area. The digestive tract robot provided in this embodiment slidably mounts the arc-shaped suture needle 32 within the first arc-shaped guide groove 111, and the arc-shaped suture needle 32 is coaxially arranged with the first arc-shaped guide groove 111. This allows the digestive tract robot provided in this embodiment to drive the arc-shaped suture needle 32 via the second drive unit 31 when the cover 12 is in the open position. This allows the needle tip of the arc-shaped suture needle 32 to extend from one end of the first arc-shaped guide groove 111, pass through the opening, and enter the first arc-shaped guide groove 111 from the other end, repeating this cycle to achieve suturing of the target area. The digestive tract robot provided in this embodiment can directly suture the target area without using additional minimally invasive surgical instruments inserted into the patient's esophagus to suture the target area, providing a better user experience for the patient.

[0038] In a preferred embodiment, the shell 10 provided in this embodiment is capsule-shaped to facilitate swallowing by the patient. Of course, in other embodiments, the shell 10 provided in this embodiment may also be spherical, ellipsoidal, or other shapes.

[0039] See Figure 6As shown, to enable the digestive tract robot provided in this embodiment to collect information about its surrounding environment, the digestive tract robot in this embodiment also includes an endoscope 40, which is installed in the mounting cavity. The endoscope 40 includes a camera 41, and a transparent portion is provided on the housing 10, with the camera 41 facing the transparent portion. By placing the camera 41 in the mounting cavity and positioning it facing the transparent portion, the digestive tract robot provided in this embodiment can collect information about its surrounding environment through the camera 41, thereby enabling doctors to determine the location of the target area through the environmental information collected by the camera 41.

[0040] In a preferred embodiment, the endoscope provided in this embodiment further includes an illumination component. The illumination component provided in this embodiment is disposed in the mounting cavity and faces the transparent part. The illumination component provided in this embodiment is used to illuminate the environment around the digestive tract robot.

[0041] In a preferred embodiment, in order for the camera 41 provided in this embodiment to collect environmental information when the cover plate 12 is in a sealed position, the cover plate 12 in this embodiment is made of a transparent material to form a transparent portion, and the camera 41 is positioned facing the cover plate 12 in the sealed position. By positioning the camera 41 towards the cover plate 12 in the sealed position and making the cover plate 12 of this embodiment a transparent material, the camera 41 provided in this embodiment can collect environmental information when the cover plate 12 is in a sealed position.

[0042] See Figures 3 to 6 As shown, in a specific embodiment, to ensure the stable installation of the camera 41 provided in this embodiment, a mounting plate 13 is provided inside the mounting cavity. The mounting plate 13 has a clearance hole 131, and the camera 41 is mounted at the clearance hole 131. The digestive tract robot also includes a transparent protective plate 50, which covers the clearance hole 131. By providing a mounting plate 13 inside the mounting cavity and a clearance hole 131 on the mounting plate 13, the camera 41 provided in this embodiment can be stably installed through the clearance hole 131. Simultaneously, by covering the clearance hole 131 with the transparent protective plate 50, the camera 41 located at the clearance hole 131 is effectively protected.

[0043] See Figures 4 to 6As shown, in order to enable the cover plate 12 provided in this embodiment to switch between a closed position and an open position, the main body 11 in this embodiment is provided with a second arc guide groove 112 inside. The arc of the cover plate 12 is adapted to the arc of the second arc guide groove 112. The cover plate 12 is slidably installed in the second arc guide groove 112. The second arc guide groove 112 forms an entrance and exit at the end of the main body 11 near the opening. The first drive unit 20 includes a first drive motor 21. The first drive motor 21 is installed at the second end of the mounting cavity. A transmission rod 121 is provided inside the cover plate 12. The transmission rod 121 is drivenly connected to the output shaft of the first drive motor 21. The cover plate 12 can extend or retract from the entrance and exit under the drive of the first drive motor 21. By providing a second arc guide groove 112 inside the main body 11 that matches the curvature of the cover plate 12, and slidably mounting the cover plate 12 inside the second arc guide groove 112, the cover plate 12 can move along the extension direction of the second arc guide groove 112. At the same time, by providing a first drive motor 21 on the second end of the mounting cavity, and driving the output shaft of the first drive motor 21 to drive the transmission rod 121 inside the cover plate 12, the cover plate 12 can automatically extend or retract from the inlet / outlet under the drive of the first motor, thereby realizing the rapid switching of the cover plate 12 between the closed position and the open position.

[0044] See Figure 5 and Figure 6As shown, in a specific embodiment, in order to enable the arc-shaped suture needle 32 provided in this embodiment to perform suture operations, the first end of the main body 11 in this embodiment is provided with a mounting hole 113. The extension direction of the inner wall of the mounting hole 113 is coaxial with the extension direction of the first arc-shaped guide groove 111. The mounting hole 113 and the first arc-shaped guide groove 111 at least partially overlap in the radial direction of the first arc-shaped guide groove 111. The second drive unit 31 includes a second drive motor 311 and a magnetic drive unit 312. The second drive motor 311 is fixedly installed in the mounting cavity. The magnetic drive unit 312 is drivenly connected to the output end of the second drive motor 311. The magnetic drive unit 312 is rotatably disposed in the mounting hole 113. The arc-shaped suture needle 32 is at least partially made of magnetic material. By installing a second drive motor 311 in the mounting cavity provided in this embodiment, and simultaneously driving the output end of the second drive motor 311 to be connected to the magnetic drive unit 312, the magnetic drive unit provided in this embodiment can rotate in the mounting hole 113 under the drive of the second drive motor 311. Since the extension direction of the inner wall of the mounting hole 113 provided in this embodiment is coaxial with the extension direction of the first arc guide groove 111, and the mounting hole 113 and the first arc guide groove 111 at least partially overlap in the radial direction of the first arc guide groove 111, the arc suture needle 32, which is at least partially made of magnetic material, will be attracted by the magnetic drive unit. As the magnetic drive unit rotates, it extends out from one end of the first arc guide groove 111, passes through the opening, and enters the first arc guide groove 111 from the other end of the first arc guide groove 111, repeating the cycle, thereby realizing the suturing of the target area.

[0045] See Figure 6 As shown, in a specific embodiment, the magnetic drive unit 312 includes a connector 3121 and two magnetic posts 3122 disposed on the connector 3121. The connector is driven to the output end of the second drive motor 311. The tip and tail of the arc-shaped suture needle 32 are both made of magnetic material. The two magnetic posts 3122 are respectively disposed opposite to the tip and tail of the arc-shaped suture needle 32 to attract the tip and tail of the arc-shaped suture needle 32. By driving the connector provided in this embodiment to the output end of the second drive motor 311, and setting the tip and tail of the arc-shaped suture needle 32 to be made of magnetic material, while simultaneously disposing the two magnetic posts 3122 disposed on the connector 3121 opposite to the tip and tail of the arc-shaped suture needle 32, the magnetic drive unit 312 provided in this embodiment can simultaneously attract the tip and tail of the arc-shaped suture needle 32, thereby fully transmitting the power of the magnetic drive unit to the arc-shaped suture needle 32.

[0046] See Figures 3 to 6As shown, to enable the digestive tract robot provided in this embodiment to move inside the human body, the digestive tract robot in this embodiment also includes a drive magnet part 60. The drive magnet part 60 has a cavity 61 inside and is fixedly installed at the second end of the main body 11. The drive magnet part 60 is sleeved on the outside of the second drive motor 311 through the cavity 61. By providing the drive magnet part 60 on the second end of the main body 11 provided in this embodiment, the digestive tract robot provided in this embodiment can be attracted by magnetic materials, so that doctors can drive the digestive tract robot inside the human body by using magnetic materials from outside the human body. At the same time, by providing the cavity 61 inside the drive magnet part 60 and sleeved on the outside of the second drive motor 311 through the cavity 61, the structure of the digestive tract robot provided in this embodiment is more compact, effectively reducing the size of the digestive tract robot provided in this embodiment.

[0047] In a preferred embodiment, the drive magnet 60 provided in this embodiment can apply a force to the arc suture needle 32 in the direction close to the drive magnet, thereby so that the arc suture needle 32 provided in this embodiment is stably disposed in the first arc guide groove 111.

[0048] See Figures 3 to 6As shown, in a preferred embodiment, in order to enable the arc-shaped suture needle 32 provided in this embodiment to effectively perform suturing, the main body 11 in this embodiment is provided with a second arc-shaped guide groove 112 inside. The curvature of the cover plate 12 is adapted to the curvature of the second arc-shaped guide groove 112. The cover plate 12 is slidably installed in the second arc-shaped guide groove 112. The second arc-shaped guide groove 112 forms an entrance and exit at the end of the main body 11 near the opening. The housing 10 also includes a flip cover 14 and a hinge 15. The two leaf plates 151 of the hinge 15 are respectively connected to the flip cover 14 and one end of the main body 11, so that the flip cover 14 is flipped and connected to the first end of the main body 11. The housing 10 also includes a partition plate 16. The partition plate 16 covers the mounting hole 113. When the flip cover 14 is placed on the first end of the main body 11, the partition plate 16 and the flip cover 14 are separated. It has a receiving space that is connected to the first arc guide groove 111 for receiving sutures. By connecting the two leaf plates 151 of the fold 15 provided in this embodiment to one end of the flip cover 14 and the main body 11 respectively, the flip cover 14 provided in this embodiment can be flipped and connected to the first end of the main body 11 through the fold 15. At the same time, by covering the mounting hole 113 with the partition plate 16 provided in this embodiment, when the flip cover 14 is covered on the first end of the main body 11, a receiving space for receiving sutures can be formed between the partition plate 16 and the flip cover 14. By setting the receiving space to be connected to the first arc guide groove 111, the sutures in the receiving space can be connected to the arc suture needle 32, so that the arc suture needle 32 provided in this embodiment can effectively suture the target area.

[0049] See Figure 4 As shown, in order to ensure that the suture provided in this embodiment can be cut after suturing the target area, the inlet / outlet and the port of the first arc-shaped guide groove 111 for the needle tip to extend are located on the same side of the opening. When the cover plate 12 is in the closed position, the protruding end of the cover plate 12 abuts against the other side of the opening, and a suture cutter is provided on the side of the protruding end of the cover plate 12 near the first arc-shaped guide groove 111. By setting the cover plate 12 provided in this embodiment so that when it is in the closed position, the protruding end of the cover plate 12 abuts against the other side of the opening, and a suture cutter is provided on the side of the protruding end of the cover plate 12 near the first arc-shaped guide groove 111, the digestive tract robot provided in this embodiment can, after completing the suturing of the target area, switch the cover plate 12 from the open position to the closed position, so that the suture is sandwiched between the other side of the opening and the suture cutter, and is cut by the suture cutter.

[0050] In order to ensure that the flip cover 14 provided in this embodiment can remain on the first end of the main body 11 without being subjected to external force, the digestive tract robot provided in this embodiment also includes a magnetic suction assembly. The magnetic suction assembly includes a first magnetic suction member and a second magnetic suction member. The first magnetic suction member and the second magnetic suction member are respectively disposed on the two leaf plates 151 of the flap 15. When the flip cover 14 is on the first end of the main body 11, the positions of the first magnetic suction member and the second magnetic suction member are corresponding, and the first magnetic suction member and the second magnetic suction member are attracted to each other, so that the flip cover 14 can remain on the first end of the main body 11 without being subjected to external force.

[0051] In a preferred embodiment, both the first magnetic attractor and the second magnetic attractor provided in this embodiment are magnets, and the magnetism of the end of the first magnetic attractor near the second magnetic attractor is opposite to the magnetism of the end of the second magnetic attractor near the first magnetic attractor.

[0052] In one optional embodiment, one of the first magnetic attractor and the second magnetic attractor provided in this embodiment is a magnet, and the other is a metal block made of iron, cobalt, nickel and their alloys.

[0053] In a preferred embodiment, the flip cover 14 provided in this embodiment is capable of flipping away from the opening.

[0054] In order to enable the flip cover 14 provided in this embodiment to open as the cover plate 12 is switched from the closed position to the open position, the flip cover 14 provided in this embodiment is provided with a first protrusion on the end near the main body 11, and the cover plate 12 is provided with a first recess on the end near the flip cover 14. The first protrusion and the first recess are adapted to each other. When the flip cover 14 is placed on the first end of the main body 11, the first protrusion passes through the second mutual guide groove and abuts against the first recess. During the process of the cover plate 12 switching from the closed position to the open position, the first recess can apply a force away from the first groove to the first protrusion, so that the flip cover 14 opens as the cover plate 12 opens.

[0055] In one specific embodiment, the first protrusion provided in this embodiment is provided with a first guide slope, and the first groove is provided with a second guide slope. The first guide slope and the second guide slope have the same inclination direction. When the flip cover 14 is placed on the first end of the main body 11, the first guide slope and the second guide slope abut against each other.

[0056] See Figure 6 As shown, in a specific embodiment, the digestive tract robot in this embodiment also includes a battery 70 and a control board 80 electrically connected to the battery 70. The battery 70 and the control board 80 are both installed in the mounting cavity. The first drive unit 20, the second drive unit 31 and the endoscope unit 40 are all electrically connected to the control board 80.

[0057] In a preferred embodiment, the lighting component provided in this embodiment is electrically connected to the control board 80 provided in this embodiment, and the control board 80 provided in this embodiment is used to control the switching of the lighting component.

[0058] In a preferred embodiment, the control board 80 provided in this embodiment is provided with a wireless transmission module. The wireless transmission module provided in this embodiment is used to exchange data with external devices. The information collected by the camera 41 can be transmitted to the external devices through the wireless transmission module provided in this embodiment.

[0059] In one specific embodiment, when using the digestive tract robot provided in this embodiment to suture a target area, the camera 41 first locates the area where the target area is located. Then, the driving magnet 60 moves the digestive tract robot to the area where the target area is located, aligning the opening with the target area. After completing the above operations, the first driving unit 20 drives the cover plate 12, switching it from a closed position to an open position. As the cover plate 12 moves, the flip cover 14 also opens. After the cover plate 12 is opened, the position of the digestive tract robot can be adjusted so that the arc-shaped suture needle 32 aligns with the target area. Since the flip cover 14 opens away from the opening, the arc-shaped suture needle 32 can interact with the driving magnet 60 through an external magnetic field. With proper coordination, the circular suture needle 32 fully contacts the target area. After adjusting the position of the circular suture needle 32, the second drive unit 31 drives the circular suture needle 32 to rotate, thereby suturing the target area. Each time the circular suture needle 32 rotates, it moves a preset distance along the extension direction of the target area until the suturing of the target area is completed. After the suturing of the target area is completed, the first drive unit 20 drives the cover plate 12 to switch from the open position to the closed position. After the cover plate 12 is switched to the closed position, the suture thread connected to the circular suture needle 32 is clamped between the other side of the opening and the suture cutter and is cut by the suture cutter. Finally, through the movement of the digestive tract robot, the flip cover 14 abuts against the inner wall of the digestive tract, thereby causing the flip cover 14 to be repositioned on the first end of the main body 11.

[0060] In summary, the digestive tract robot provided in this embodiment has at least the following beneficial technical effects: By slidably mounting the arc-shaped suture needle 32 within the first arc-shaped guide groove 111 and coaxially aligning it with the first arc-shaped guide groove 111, the digestive tract robot can drive the arc-shaped suture needle 32 via the second drive unit 31 when the cover plate 12 is in the open position. This allows the needle tip of the arc-shaped suture needle 32 to extend from one end of the first arc-shaped guide groove 111, pass through the opening, and then re-enter the first arc-shaped guide groove 111 from the other end, repeating this cycle to achieve suturing of the target area. The digestive tract robot provided in this embodiment can directly suture the target area without requiring additional minimally invasive surgical instruments inserted into the patient's esophagus, providing a better user experience.

[0061] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A digestive tract robot, characterized in that, The digestive tract robot includes: The housing (10) has an installation cavity inside. The housing (10) includes a main body (11) and a cover plate (12). The main body (11) has an opening that communicates with the installation cavity. The cover plate (12) is movably installed on the main body (11). The cover plate (12) has a sealed position that covers the opening and an open position that avoids the opening. The first end of the main body (11) is provided with a first arc guide groove (111). Both ends of the first arc guide groove (111) face the opening and communicate with the two sides opposite to the opening, respectively. A first driving unit (20) is disposed in the mounting cavity. The output end of the first driving unit (20) is driven to be connected to the cover plate (12) to drive the cover plate (12) to switch between the sealed position and the open position. The suture part (30) is disposed in the main body (11). The suture part (30) includes a second drive part (31), an arc suture needle (32), and a suture thread attached to the tail of the suture needle. The arc suture needle (32) is slidably installed in the first arc guide groove (111). The arc suture needle (32) is coaxially arranged with the first arc guide groove (111). When the cover plate (12) is in the open position, the needle tip of the arc suture needle (32) can extend from one end of the first arc guide groove (111) under the drive of the second drive part (31), pass through the opening, and enter the first arc guide groove (111) from the other end of the first arc guide groove (111) repeatedly to suture the target part.

2. The digestive tract robot according to claim 1, characterized in that, The digestive tract robot also includes an endoscope (40) installed in the mounting cavity. The endoscope (40) includes a camera (41). A transparent part is provided on the housing (10), and the camera (41) is positioned facing the transparent part.

3. The digestive tract robot according to claim 2, characterized in that, The cover plate (12) is made of a transparent material to form the transparent portion, and the camera (41) is positioned facing the cover plate (12) located in the sealed position.

4. The digestive tract robot according to claim 3, characterized in that, An installation plate (13) is provided inside the installation cavity. A clearance hole (131) is provided on the installation plate (13). The camera (41) is installed at the clearance hole (131). The digestive tract robot also includes a transparent protective plate (50), which covers the clearance hole (131).

5. The digestive tract robot according to claim 1, characterized in that, The main body (11) is provided with a second arc guide groove (112) inside. The curvature of the cover plate (12) is adapted to the curvature of the second arc guide groove (112). The cover plate (12) is slidably installed in the second arc guide groove (112). The second arc guide groove (112) forms an entrance and exit at one end of the main body (11) near the opening. The first drive unit (20) includes a first drive motor (21), which is installed at the second end of the mounting cavity. A transmission rod (121) is provided inside the cover plate (12), which is driven to the output shaft of the first drive motor (21). The cover plate (12) can extend or retract from the inlet under the drive of the first drive motor (21).

6. The digestive tract robot according to claim 1, characterized in that, The first end of the main body (11) is provided with a mounting hole (113). The extension direction of the inner wall of the mounting hole (113) is coaxial with the extension direction of the first arc guide groove (111). The mounting hole (113) and the first arc guide groove (111) are at least partially overlapped in the radial direction of the first arc guide groove (111). The second driving part (31) includes a second driving motor (311) and a magnetic drive part (312). The second driving motor (311) is fixedly installed in the mounting cavity. The magnetic drive part (312) is drivenly connected to the output end of the second driving motor (311). The magnetic drive part (312) is rotatably disposed in the mounting hole (113). The arc suture needle (32) is at least partially made of magnetic material.

7. The digestive tract robot according to claim 6, characterized in that, The magnetic drive unit (312) includes a connector (3121) and two magnetic posts (3122) disposed on the connector (3121). The connector is driven to the output end of the second drive motor (311). The tip and tail of the arc suture needle (32) are made of magnetic material. The two magnetic posts (3122) are respectively disposed opposite to the tip and tail of the arc suture needle (32) to attract the tip and tail of the arc suture needle (32) respectively.

8. The digestive tract robot according to claim 7, characterized in that, The digestive tract robot also includes a drive magnet part (60), which has a cavity (61) inside. The drive magnet part (60) is fixedly installed at the second end of the main body (11) and is sleeved on the outside of the second drive motor (311) through the cavity (61).

9. The digestive tract robot according to claim 6, characterized in that, The main body (11) is provided with a second arc guide groove (112) inside. The curvature of the cover plate (12) is adapted to the curvature of the second arc guide groove (112). The cover plate (12) is slidably installed in the second arc guide groove (112). The second arc guide groove (112) forms an entrance and exit at one end of the main body (11) near the opening. The housing (10) further includes a flip cover (14) and a hinge (15). The two leaf plates (151) of the hinge (15) are respectively connected to one end of the flip cover (14) and the main body (11), so that the flip cover (14) can be flipped and connected to the first end of the main body (11). The housing (10) further includes a partition plate (16). The partition plate (16) covers the mounting hole (113). When the flip cover (14) is placed on the first end of the main body (11), there is a receiving space between the partition plate (16) and the flip cover (14). The receiving space is connected to the first arc guide groove (111) and is used to receive the suture. The inlet and outlet are located on the same side of the opening as the port of the first arc guide groove (111) for the needle to extend. When the cover plate (12) is in the sealed position, the extended end of the cover plate (12) abuts against the other side of the opening. A tangent is provided on the side of the extended end of the cover plate (12) near the first arc guide groove (111).

10. The digestive tract robot according to any one of claims 2 to 4, characterized in that, The digestive tract robot also includes a battery (70) and a control board (80) electrically connected to the battery (70). The battery (70) and the control board (80) are both installed in the mounting cavity. The first drive unit (20), the second drive unit (31) and the endoscope unit (40) are all electrically connected to the control board (80).

Images