A magnetic driving capsule robot with biopsy and medicine administration functions based on double magnetic torsion springs

Abstract

The application discloses a magnetic driving capsule robot with biopsy and medicine administration functions based on double magnetic torsion springs, which comprises an image module for determining a lesion position and transmitting information to an external receiving end, a biopsy module integrally fixed with the image module, a medicine administration module located at the tail of the magnetic driving capsule robot, and a double magnetic torsion spring module between the biopsy module and the medicine administration module; the two operation functions of medicine administration and biopsy are integrated into one capsule, so that the capsule can perform a multi-target composite task, and the application scene of the capsule is expanded. The operation can be completed only by changing the strength of an external uniform magnetic field, the operation difficulty is reduced, and the capsule structure is simplified.

Description

Technical Field

[0001] This invention relates to the field of capsule robots, and more specifically to a magnetically driven capsule robot with biopsy drug delivery function based on dual magnetic torsion springs. Background Technology

[0002] Traditional methods use endoscopes, where a tube is inserted into the stomach area to transmit images to the outside for the doctor's reference. However, this method requires preoperative preparation such as anesthesia, the endoscopic device has a short stay in the stomach, and the field of view is limited by the insertion angle of the endoscope, resulting in blind spots. Now, microcapsule robot technology is rapidly developing. Patients simply swallow the robot with water; it carries a camera and wireless transmission device, providing a view covering the entire stomach. Stomach diseases are complex and varied, and biopsy and medication administration are two highly efficient surgical treatment methods. Since images alone cannot provide sufficient information, biopsies of lesions are necessary for external laboratory analysis. When stomach tissue damage is found, precise medication must be administered to the damaged area to promote rapid healing. Therefore, more and more researchers are focusing on integrating surgical functions such as biopsy and medication administration into capsule robots.

[0003] Capsule robots are currently in clinical use, but there are still shortcomings and room for improvement. In terms of propulsion, most capsules rely on the peristaltic forces of the digestive tract to move through the stomach, making it impossible to actively control their posture and thus limiting their ability to remain in a specific location for extended observation. Regarding surgical functions, capsules are limited to single functions, such as drug administration or biopsy, which restricts their application scenarios and prevents them from performing complex multi-objective tasks. In terms of function triggering, some capsules use chemical reactions to trigger surgical functions, but this method only allows for single surgeries with low precision and poor results. Additionally, some capsules use built-in motors to perform surgery, but this increases the capsule's size, makes its internal structure more complex, and requires the battery to power both the camera and the motor simultaneously, reducing the capsule's battery life. Summary of the Invention

[0004] This invention employs a dual magnetic torsion spring to trigger drug delivery and biopsy functions. A uniform, weak magnetic field is applied, causing the drug delivery pusher to rotate and release the drug from the storage chamber to a designated location. A uniform, strong magnetic field is applied, causing the biopsy scraper to rotate, opening the biopsy chamber. As the magnetic field is gradually reduced, the scraper rotates, scraping the lesion tissue into the chamber to complete the biopsy. In other words, the capsule can actively move to the target area under the control of an external magnetic field, integrating both biopsy and drug delivery functions while simplifying the triggering mechanism and overcoming the aforementioned shortcomings.

[0005] This invention provides a magnetically driven capsule robot with biopsy and drug delivery functions based on dual magnetic torsion springs, including an image module disposed on the top of the magnetically driven capsule robot, a biopsy module integrally fixed to the image module, a drug delivery module located at the bottom of the magnetically driven capsule robot, and a dual magnetic torsion spring module located between the biopsy module and the drug delivery module; the image module is used to determine the location of the lesion and transmit information to an external receiving end.

[0006] The biopsy module includes a connecting plate, a two-stage transmission gearbox reducer, a central rod, a biopsy housing, and a scraper. The biopsy housing, scraper, and connecting plate form a closed biopsy chamber. The biopsy housing has a biopsy groove, which is covered by the scraper in its initial position, keeping the biopsy chamber closed. The two-stage transmission gearbox reducer is located below the closed biopsy chamber and drives the scraper to rotate. The scraper includes a blade shaft and an arc-shaped blade. One end of the blade shaft has a through hole, and the other end is fixedly connected to the center of the blade, with the blade shaft pointing towards the center of the arc-shaped blade. One end of the central rod is mounted on the two-stage transmission gearbox reducer, and the other end is placed on the connecting plate. The scraper is fitted onto the central rod through the through hole and can rotate about the central rod. A driven gear is fixedly connected to the scraper.

[0007] The drug delivery module includes a synchronous rotating platform, a push rod, a drug delivery shell, and a tail plate. The drug delivery shell has a storage chamber for storing the drug and a drug release outlet. The push rod is located inside the drug delivery shell. The tail plate is located below the drug delivery shell and has a rope hole through which a thin line can pass to retrieve the capsule. The push rod and the synchronous rotating platform are fixedly connected and rotate at the same angular velocity. A dual magnetic torsion spring module drives the synchronous rotating platform to rotate, which in turn drives the push rod to rotate, thereby delivering the drug in the storage chamber through the release outlet to the designated position to complete the drug delivery.

[0008] The dual-magnetic torsion spring module includes a torsion spring housing, a central radial magnet, a first radial magnet, a second radial magnet, a first bearing, and a second bearing. The torsion spring housing has a central groove, a first mounting groove at one end, and a second mounting groove at the other end. The central radial magnet is placed in the central groove of the torsion spring housing and is fixedly connected to it. When a rotating magnetic field is applied to the magnetically driven capsule robot, the central radial magnet rotates under the influence of the external magnetic field, driving the capsule robot to roll to the target area. The first and second bearings are respectively embedded in the first and second mounting grooves. The first and second radial magnets are respectively placed inside the first and second bearings. The first radial magnet is connected to the secondary transmission gearbox reducer of the biopsy module and can rotate relative to the torsion spring housing, providing the required torque for the biopsy module's scraper. The second radial magnet is coaxially fixed to the synchronous turntable of the drug delivery module and can also rotate relative to the torsion spring housing, providing the required torque for drug delivery to the drug delivery module's push rod.

[0009] As a preferred embodiment of the present invention, the image module includes an image shell and a camera, a light array, a transmission circuit, and a button battery disposed inside the image shell; the image shell is made transparent by photopolymerization 3D printing, the button battery serves as a power source to power the transmission circuit, the light array, and the camera, the light array illuminates the front field of view of the capsule robot, and the image information captured by the camera is transmitted to the external receiving end via the transmission circuit.

[0010] As a preferred embodiment of the present invention, the two-stage transmission gearbox reducer includes a gearbox housing and a driving gear, a transmission gear, and a driven gear disposed inside the gearbox housing; the gearbox housing is a cylindrical housing with openings at both ends; the driving gear is integrally connected to the first radial magnet of the dual magnetic torsion spring module and the driving gear meshes with the transmission gear; the transmission gear also meshes with the driven gear, and the driven gear is fixedly connected to the scraper.

[0011] As a preferred embodiment of the present invention, the push rod includes a push rod shaft and an arc-shaped push end; one end of the push rod shaft is fixedly connected to the center of the arc-shaped push end, and the other end is provided with a through hole and connected to the synchronous rotary table through the through hole, with the push rod shaft pointing to the center of the arc-shaped push end.

[0012] As a preferred embodiment of the present invention, the diameter and thickness of the central radial magnet are both greater than the diameter and thickness of the second radial magnet, the diameter of the second radial magnet is greater than the diameter of the first radial magnet, and the thickness of the second radial magnet is the same as that of the first radial magnet. When a unidirectional uniform magnetic field is applied to the magnetically driven capsule robot, and the direction of the magnetic field is the same as the magnetization direction of the central radial magnet, since the second radial magnet is farther away from the central radial magnet than the first radial magnet, under the action of the unidirectional uniform weak magnetic field, the second radial magnet is the first to overcome the magnetic force of the central radial magnet and rotate, thereby driving the push rod to administer the drug.

[0013] Subsequently, the intensity of the unidirectional uniform magnetic field is increased. Under the uniform strong magnetic field, the first radial magnetized magnet overcomes the magnetic force of the central radial magnetized magnet and drives the scraper to rotate, opening the internal cavity. The double magnetic torsion spring module is subjected to strong attraction, and the capsule adheres tightly to the surface tissue of the stomach, causing a part of the target lesion to be squeezed into the cavity. Then, the intensity of the unidirectional uniform magnetic field is reduced, and the first radial magnetized magnet drives the scraper to rotate, completing the biopsy and capturing the lesion into the cavity.

[0014] In a preferred embodiment of the present invention, when the magnetically driven capsule robot is not subjected to a unidirectional uniform magnetic field, the scraper in its initial state blocks the biopsy slot of the biopsy shell, keeping the chamber closed and preventing non-target tissue from entering. When a uniform strong magnetic field is applied to the capsule, the dual magnetic torsion springs are activated, and the first radial magnetized magnet rotates. The torque is transmitted through the secondary transmission gearbox reducer, and the scraper rotates to open the chamber. Due to the external magnetic field, the central radial magnetized magnet of the dual magnetic torsion spring module is attracted, causing the capsule robot to adhere closely to the target tissue and squeeze the target tissue into the chamber through the biopsy slot of the biopsy shell. Subsequently, the external magnetic field is gradually reduced. Under the magnetic force of the central radial magnetized magnet, the first radial magnetized magnet rotates the drive gear, driving the scraper to rotate. During the rotation, the scraper blade scrapes the target tissue into the chamber. Finally, the external magnetic field is completely removed, and the scraper returns to its initial position to close the chamber. The lesion tissue is collected and stored inside the chamber. Since the chamber is closed, the target tissue will not leak to the outside of the capsule.

[0015] As a preferred embodiment of the present invention, the central radial magnet of the dual magnetic torsion spring module is embedded in the central groove of the torsion spring shell and is integrated with the capsule robot, remaining fixed at all times. The first radial magnet is placed inside the first bearing and can rotate relative to the central radial magnet around the axis without relative displacement. In the initial state without a unidirectional uniform magnetic field, the opposite magnetic poles of the two magnets attract and align with each other, and the relative rotation angle θ1 of the first radial magnet is 0. When an external uniform strong magnetic field with the same magnetic moment direction as the central radial magnet is applied, the first radial magnet overcomes the attraction of the central radial magnet under the action of the external magnetic field and rotates clockwise or counterclockwise until its own magnetic moment direction is the same as the external magnetic field θ1 = ±180°. When the external magnetic field is removed, the first radial magnet returns to its initial position. During this process, the torque generated by the rotation of the first radial magnet is provided to the scraper of the biopsy module for biopsy through the secondary transmission gearbox reducer.

[0016] As a preferred embodiment of the present invention, the second radial magnet of the dual magnetic torsion spring module is placed inside the second bearing, without relative displacement, and can rotate relative to the central radial magnet. In the initial state without an external magnetic field, since the second radial magnet is fixedly connected to the synchronous rotating platform and push rod of the drug application module, the drug application shell limits the push rod, and the opposite magnetic poles of the second radial magnet and the central radial magnet attract each other but are not completely aligned, with a relative rotation angle θ2 = 30°. When an external uniform weak magnetic field with the same direction as the magnetic moment of the central radial magnet is applied to the single magnetic torsion spring for drug application, the second radial magnet rotates in a fixed direction to a relative rotation angle θ2 = 180°. When the external magnetic field is removed, the second radial magnet rotates back to the initial position. During this process, the torque generated by the rotation of the second radial magnet will be provided to the push rod of the drug application module for drug application.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. Using a scraper to rotate and scrape the lesion tissue ensures the biopsy effect while obtaining a sufficient sample volume and reducing tissue damage; using a pusher to rotate and squeeze out the drug ensures the drug administration effect while improving the accuracy of drug delivery.

[0019] 2. A dual magnetic torsion spring composed of three radially magnetized magnets provides working torque to the drug delivery and biopsy module. This structure maximizes the utilization of the internal space of the capsule and further reduces the overall size of the capsule.

[0020] 3. By simply controlling the strength of the external magnetic field, the single magnetic torsion spring for drug administration and the single magnetic torsion spring for biopsy in the dual magnetic torsion spring can be activated in sequence, which reduces the complexity of operation, simplifies the functional triggering mechanism, and is conducive to its promotion in clinical practice.

[0021] 4. It integrates observation, drug administration, and biopsy functions, enabling it to perform complex tasks as needed, enriching the application scenarios of capsules and optimizing their working efficiency. Attached Figure Description

[0022] Figure 1 This is a cross-sectional view of the capsule robot.

[0023] Figure 2 A breakdown diagram of the capsule robot;

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

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

[0026] Figure 5 This is a diagram illustrating the working principle of a biopsy.

[0027] Figure 6 This is an exploded view of the dual magnetic torsion spring module;

[0028] Figure 7 Schematic diagram of a single magnetic torsion spring for biopsy;

[0029] Figure 8 Schematic diagram of a single magnetic torsion spring for pesticide application;

[0030] Figure 9 This is a schematic diagram of the working principle of a double magnetic torsion spring.

[0031] Figure 10 This is an exploded view of the pesticide application module;

[0032] Figure 11 This describes the working principle of pesticide application.

[0033] In the diagram: 1-Image module, 11-Image housing, 12-Light array, 13-Camera, 14-Transmission circuit, 15-Button battery, 2-Biopsy module, 21-Connecting plate, 22-Scraper, 23-Biopsy housing, 24-Driven gear, 25-Transmission gear, 26-Shaft, 27-Gearbox housing, 28-Center rod, 29-Driving gear, 211-Plate hole, 221-Through hole, 222-Blade, 231-Through hole, 232-Housing hole, 233-Biopsy slot, 241-Center hole, 242-Cylindrical boss, 251-Tooth hole, 252-Second gear, 253-First gear, 271-Placement hole, 272-Box hole. 291-Platform hole, 292-Connecting platform, 3-Double magnetic torsion spring module, 31-First bearing, 32-Torsion spring housing, 33-First radial magnetized magnet, 34-Central radial magnetized magnet, 35-Second radial magnetized magnet, 36-Second bearing, 321-First mounting slot, 322-Central slot, 323-Second mounting slot, 4-Application module, 41-Synchronous rotating platform, 42-Application housing, 43-Push rod, 44-Tail plate, 411-Turntable, 412-Rotating rod, 421-Storage slot, 422-Release slot, 423-Limiting slot, 431-Through hole, 432-Limiting platform, 433-Rotating boss, 441-Fixed hole, 442-Rope hole. Detailed Implementation

[0034] The present invention will be further described and illustrated below with reference to specific embodiments. The embodiments described are merely examples of the content of this disclosure and do not limit the scope of the invention. The technical features of each embodiment in the present invention can be combined accordingly, provided that there is no mutual conflict.

[0035] An exploded view of the capsule robot's image module is attached. Figure 3 As shown, the image housing 11 is made of transparent resin using photopolymer 3D printing. A button battery 15 powers the transmission circuit 14, camera 13, and light array 12. The light array 12 surrounds the camera 13, illuminating the area in front and providing a clear and bright field of view. The transmission circuit 14 wirelessly transmits the image information captured by the camera 13 to an external receiver for doctors to reference and analyze.

[0036] An exploded view of the biopsy module of this capsule robot is attached. Figure 4As shown, the gearbox housing 27, biopsy housing 23, and connecting plate 21 are coaxially fixed together. The driving gear 29 is integrally connected to the first radial magnet 33 of the dual magnetic torsion spring module. The cylindrical boss 242 of the driven gear 24 is fixedly connected to the scraper 22. The central hole 241 of the driven gear 24 is coaxial with the through hole 221 of the scraper 22. The scraper 22 rotates together with the driven gear 24 at the same angular velocity. The biopsy housing 23, scraper 22, and connecting plate 21 together form a closed biopsy chamber for collecting and storing lesion tissue samples after biopsy. The scraper is an ∈-shaped scraper, which includes a blade shaft with a through hole at one end and an arc-shaped blade. The other end of the blade shaft is fixedly connected to the center of the blade. One end of the central rod is set on the secondary transmission gearbox reducer, and the other end is placed on the connecting plate. The scraper is sleeved on the central rod through the through hole and can rotate about the central rod as an axis.

[0037] The central rod 28 passes through the gearbox housing 27's housing hole 272, the driven gear 24's central hole 241, and the scraper 22's through hole 221. One end of the central rod is placed in the drive gear 29's platform hole 291, and the other end is placed in the connecting plate 211. The drive gear 29, driven gear 24, and scraper 22 can rotate around the central rod. The shaft 26 passes through the tooth hole 251 of the transmission gear 25. One end of the shaft is placed in the gearbox housing 27's placement hole 271, and the other end is placed in the biopsy housing 23's shell hole 232. The transmission gear 25 can rotate around the shaft 26.

[0038] The driving gear 29 meshes with the first gear 253 of the transmission gear 25, and the second gear 252 of the transmission gear 25 meshes with the driven gear 24, thus forming a two-stage transmission gearbox reducer. Since the torque required for biopsy with a scraper is relatively large, this gearbox amplifies the torque of the driving gear 29 to an ideal range to ensure the final biopsy effect. When the driving gear 29 rotates, it transmits the amplified torque from the gearbox to the scraper 22, causing the scraper 22 to rotate for biopsy.

[0039] The working principle of this capsule robot for biopsy is as follows: Figure 5As shown, when no magnetic field is applied, the scraper 22 in its initial state blocks the biopsy slot 233 of the biopsy shell 23, keeping the chamber closed and preventing non-target tissue from entering. When a uniform strong magnetic field is applied to the capsule, the dual magnetic torsion spring is activated, and the first radial magnetized magnet 33 rotates, driving the drive gear 29 to rotate. Through the cooperation of the three gears in the gearbox, the scraper 22 rotates and opens the chamber. Due to the external magnetic field, the central radial magnetized magnet 34 of the dual magnetic torsion spring module is attracted, causing the capsule to interact with the stomach, allowing the target lesion tissue to be biopsied. The biopsy slot 233 of the shell 23 is squeezed into the cavity; then the external magnetic field is gradually reduced, and under the magnetic force of the first radial magnetized magnet 33 and the central radial magnetized magnet 34, the drive gear 29 rotates, driving the scraper 22 to rotate. During the rotation, the blade 222 of the scraper 22 scrapes the lesion tissue into the cavity for biopsy; finally, the external magnetic field is completely removed, the scraper 22 returns to the initial position to close the cavity, and the lesion tissue is collected and stored in the cavity. Since the cavity is in a closed state, the lesion tissue will not leak to the outside of the capsule.

[0040] An exploded view of the dual magnetic torsion spring module of this capsule robot is attached. Figure 6 As shown, the two torsion spring housings 32 are integrally connected, the central radial magnet 34 is placed in the central groove 322 of the torsion spring housing 32, and the central radial magnet 34 is fixedly connected to the torsion spring housing 32; the first bearing 31 and the second bearing 36 are respectively embedded in the first mounting groove 321 and the second mounting groove 323; the first radial magnet 33 and the second radial magnet 35 are respectively placed inside the first bearing 31 and the second bearing 36.

[0041] The first radial magnet 33 is coaxially fixed to the drive gear 29 of the biopsy module and can rotate relative to the torsion spring housing 32 to provide the required torque for biopsy to the scraper 22 of the biopsy module; the second radial magnet 35 is coaxially fixed to the synchronous turntable 41 of the drug application module and can also rotate relative to the torsion spring housing 32 to provide the required torque for drug application to the push rod 43 of the drug application module.

[0042] In the dual magnetic torsion spring module of this capsule robot, the central radial magnet 34 and the first radial magnet 33 form a pair of single magnetic torsion springs for biopsy; the central radial magnet 34 and the second radial magnet 35 form a pair of single magnetic torsion springs for drug administration. These two pairs of magnetic torsion springs constitute a dual magnetic torsion spring.

[0043] The working principle of a single magnetic torsion spring for biopsy is shown in the attached figure. Figure 7As shown, the central radial magnet 34 is embedded in the central groove 322 of the torsion spring housing 32 and is integrally connected with the capsule, remaining fixed at all times. The first radial magnet 33 is placed inside the first bearing 31 and can rotate relative to the central radial magnet 34 around its axis without relative displacement. In the initial state without an external magnetic field, the opposite magnetic poles of the two magnets attract and align with each other, and the relative rotation angle θ1 of the first radial magnet 33 is 0. When a uniform strong external magnetic field with the same magnetic moment direction as the central radial magnet 34 is applied, the first radial magnet 33 overcomes the attraction of the central radial magnet 34 under the action of the external magnetic field and rotates clockwise or counterclockwise until its own magnetic moment direction is the same as the external magnetic field θ1 = ±180°. When the external magnetic field is removed, the first radial magnet 33 rotates back to its initial position. The torque generated by the rotation of the first radial magnet 33 during this process will be provided to the scraper 22 of the biopsy module for biopsy.

[0044] The working principle of the single magnetic torsion spring for pesticide application is shown in the attached figure. Figure 8 As shown, the second radial magnet 35 is placed inside the second bearing 36 and does not undergo relative displacement, but can rotate relative to the central radial magnet 34. In the initial state without an external magnetic field, the opposite magnetic poles of the second radial magnet 35 and the central radial magnet 34 attract each other but are not fully aligned, with a relative rotation angle θ2 = 30°. This is because the second radial magnet 35 is fixedly connected to the synchronous rotating platform 41 and push rod 43 of the drug delivery module, and the drug delivery housing 42 limits the push rod 43. Therefore, unlike the single magnetic torsion spring used for biopsy, when an external uniform weak magnetic field with the same direction as the magnetic moment of the central radial magnet 34 is applied to the single magnetic torsion spring used for drug delivery, the second radial magnet 35 rotates in a fixed direction to a relative rotation angle θ2 = 180°. When the external magnetic field is removed, the second radial magnet 35 rotates back to its initial position. During this process, the torque generated by the rotation of the second radial magnet 35 is provided to the push rod 43 of the drug delivery module for drug delivery.

[0045] The working principle of the double magnetic torsion spring, consisting of a single magnetic torsion spring for biopsy and a single magnetic torsion spring for drug application, is shown in the attached figure. Figure 9 As shown. The distance between the second radial magnet 35 and the central radial magnet 34 is greater than the distance between the first radial magnet 33 and the central radial magnet 34. Therefore, the magnetic force exerted by the central radial magnet 34 on the second radial magnet 35 is weaker than the magnetic force exerted by it on the first radial magnet 33.

[0046] An external uniform magnetic field with the same magnetic moment direction as the central radial magnet is applied to the double magnetic torsion spring, gradually increasing from zero. During this process, the second radial magnet 35 first overcomes the magnetic force of the central radial magnet 34 and rotates unidirectionally until its own magnetic moment direction is the same as the external magnetic field at θ2 = 180°. That is, under a uniform weak magnetic field, the single magnetic torsion spring for drug administration is activated first. As the magnetic field continues to increase, the first radial magnet 33 overcomes the magnetic force of the central radial magnet 34 and rotates until its own magnetic moment direction is the same as the external magnetic field at θ1 = ±180°. That is, under a uniform strong magnetic field, the single magnetic torsion spring for biopsy is activated. Subsequently, the external magnetic field weakens, and the first radial magnet 33 rotates back to its initial position at θ1 = 0. The external magnetic field decreases again, and finally the second radial magnet 35 rotates back to its initial position at θ2 = 30°.

[0047] By controlling the strength of the external uniform magnetic field applied to the dual magnetic torsion springs, the single magnetic torsion spring for drug administration and the single magnetic torsion spring for biopsy can be activated sequentially, providing the corresponding working torque for drug administration and biopsy.

[0048] An exploded view of the capsule robot's drug delivery module is attached. Figure 10 As shown, the tail plate 44 and the drug delivery shell 42 are fixedly connected. A thin thread can be threaded through the rope hole 442 of the tail plate 44, allowing the capsule to be retrieved after all its work is completed. The two drug delivery shells 42 are integrally connected, and the two storage slots 421 form a storage chamber for storing the drug; the two release slots 422 form a release port for releasing the stored drug. The turntable 411 of the synchronous rotary table 41 is coaxially fixedly connected to the second radial magnetized magnet 35 of the dual magnetic torsion spring module. Its rotating rod 412 passes through the through hole 431 of the rotating push rod 43, with one end placed in the fixed hole 441 of the tail plate 44. The rotating boss 433 of the push rod 43 is fixedly connected to the turntable 411 of the synchronous rotary table 41, and the two rotate synchronously.

[0049] Without the application of an external magnetic field, the limiting groove 423 of the drug application shell 42 contacts the limiting platform 432 of the push rod 43 for limiting, so that the initial relative rotation angle θ2 of the second radial magnetized magnet 35 of the dual magnetic torsion spring module is 30°. When the single magnetic torsion spring for drug application is activated by the subsequent application of a magnetic field, the second radial magnetized magnet 35 rotates in one direction and transmits the torque to the push rod 43 through the synchronous rotating table 41. The rotation of the push rod 43 delivers the drug in the storage chamber to the target lesion tissue through the release port by physical compression to complete the drug application.

[0050] The working principle of this capsule robot's drug delivery system is as follows: Figure 11As shown, when there is no external magnetic field, push rod 43 is in its initial position, and the gel-like drug is stored inside storage tank 421. When a uniform weak external magnetic field is applied, the second radial magnetized magnet 35 of the dual magnetic torsion spring module rotates counterclockwise, transmitting torque to push rod 43. Push rod 43 rotates and squeezes the drug inside storage tank 421, delivering the drug to the target area via release tank 422. After the drug is released, the external magnetic field is removed, and the second radial magnetized magnet 35 of the dual magnetic torsion spring module drives push rod 43 to rotate back to its initial position.

[0051] This document provides a detailed explanation of how the capsule is driven in the dual magnetic torsion spring configuration, and how the external magnetic field is prevented from affecting the "drug administration module 4" and "biopsy module 2" during capsule movement.

[0052] The dual-magnetic torsion spring module 3 includes a second radial magnet 35, a central radial magnet 34, and a first radial magnet 33.

[0053] like Figure 6 As shown, the diameter and thickness of the central radial magnet 34 are both greater than those of the second radial magnet 35, the diameter of the second radial magnet 35 is greater than that of the first radial magnet 33, and the thickness of the second radial magnet 35 is the same as that of the first radial magnet 33.

[0054] The central radial magnet 34 is fixedly connected to the torsion spring housing 32. The first radial magnet 33 and the second radial magnet 35 are respectively placed in the first bearing 31 and the second bearing 36. Both magnets can rotate relative to the torsion spring housing 32.

[0055] Capsule driving mechanism: A spatial rotating magnetic field is applied to the double magnetic torsion spring. This magnetic field causes the central radial magnetized magnet 34 to rotate, which drives the capsule to roll and thus completes the driving. Since the magnetic torque generated by the rotating magnetic field on the central radial magnetized magnet 34 only needs to overcome the frictional torque between the capsule and the surface tissue of the stomach, the strength of the rotating magnetic field is relatively small.

[0056] The working principle of the capsule "biopsy module 2" and "drug administration module 4": When the double magnetic torsion spring is activated, a spatial unidirectional uniform intensity magnetic field is applied to the capsule, and the direction of the magnetic field is the same as the magnetization direction of the central radial magnetized magnet 34.

[0057] The central radial magnet 34 is attracted, while the first radial magnet 33 and the second radial magnet 35 are repelled. Since the size of the central radial magnet 34 is larger than that of the first radial magnet 33 and the second radial magnet 35, the attractive force on the central radial magnet 34 is greater than the sum of the repulsive forces on the first radial magnet 33 and the second radial magnet 35. The dual magnetic torsion spring module 3 as a whole exhibits an attractive force, and the contact force between the capsule and the surface tissue of the stomach is enhanced.

[0058] By increasing the strength of the unidirectional uniform magnetic field, since the second radial magnet 35 is farther from the central radial magnet 34 than the first radial magnet 33, under the action of the unidirectional uniform weak magnetic field, the second radial magnet 35 will first overcome the magnetic force of the central radial magnet 34 and rotate, thus driving the push rod to apply the drug.

[0059] At this time, the unidirectional uniform weak magnetic field is a unidirectional uniform strong magnetic field that rotates relative to the activation of the first radial magnetization magnet 33. The magnetic torque provided by the unidirectional uniform weak magnetic field on the second radial magnetization magnet 35 needs to overcome the magnetic torque applied by the central radial magnetization magnet 34 on the second radial magnetization magnet 35. The magnetic torque exerted by the central radial magnetization magnet 34 on the second radial magnetization magnet 35 is much greater than the frictional torque of the stomach surface tissue on the capsule during the capsule driving process. Therefore, the strength of the unidirectional uniform weak magnetic field that activates the rotation of the second radial magnetization magnet 35 is much greater than the strength of the rotating magnetic field that drives the capsule to roll.

[0060] Subsequently, the intensity of the unidirectional uniform magnetic field is increased. Under the uniform strong magnetic field, the first radial magnet 33 overcomes the magnetic force of the central radial magnet 34 and drives the scraper 22 to rotate, opening the internal cavity. The double magnetic torsion spring module 3 is subjected to strong attraction, and the capsule adheres tightly to the surface tissue of the stomach, causing a part of the target lesion to be squeezed into the cavity. Then, the intensity of the unidirectional uniform magnetic field is reduced, and the first radial magnet 33 drives the scraper 22 to rotate, completing the biopsy and capturing the lesion into the cavity.

[0061] During the operation of the drug delivery module and biopsy module 2, the capsule as a whole does not rotate or roll. Only the second radial magnet 35 inside drives the push rod to rotate and the first radial magnet 33 drives the scraper 22 to rotate. Therefore, the capsule will not be displaced in the stomach during biopsy and drug delivery.

[0062] Summary of the independent operation of capsule-driven processes and capsule function (drug administration and biopsy):

[0063] The capsule rolls through a rotating magnetic field, the strength of which is much smaller than the magnetic field in which the capsule operates.

[0064] The capsule operation (drug administration and biopsy) applies a unidirectional, uniform magnetic field with a strength much greater than that of the capsule's rolling magnetic field, and the capsule does not rotate or roll during the process.

[0065] To more clearly illustrate the workflow of the magnetically driven capsule robot with biopsy drug delivery function based on dual magnetic torsion springs described in this invention, a method for operating the capsule robot described in this invention is also provided, including the following steps:

[0066] Step 1: The patient drinks water, causing the stomach to expand. An external rotating magnetic field is applied to the central radial magnet 34 of the dual magnetic torsion spring module 3. This magnet drives the capsule to roll. The location of the lesion is determined by the camera 13, and the capsule is actively controlled to move to the target area.

[0067] Step 2: Apply a uniform weak magnetic field to the dual magnetic torsion spring module 3. The second radial magnetized magnet 35 rotates, driving the push rod 43 in the drug delivery module to release the drug. Remove the magnetic field and the drug delivery push rod 43 returns to its initial state. If there are multiple target lesions that need to be drug delivered, control the capsule to roll to the designated position and repeat the above operation until all the drugs in the storage chamber are released.

[0068] Step 3: A uniform, strong magnetic field is applied to the dual-magnetic torsion spring module 3. The first radial magnetized magnet 33 rotates, outputting torque, which is amplified by the gearbox reducer of the biopsy module 2 and transmitted to the scraper 22. The scraper 22 rotates to open the chamber. During the process of increasing the magnetic field, the second radial magnetized magnet also rotates. Since all the drugs have been released in step 2, it will not interfere with the biopsy process. Then, the magnetic field is reduced, and the scraper 22 rotates back to its initial position. During this process, the lesion tissue is captured into the chamber to complete the biopsy.

[0069] Step 4: The capsule is retrieved through the digestive tract via a thin thread that passes through the bottom loop of the tail plate 44 of the drug delivery module. The capsule is then opened to test the obtained lesion sample.

[0070] The above-described embodiments are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. Those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A magnetic driving capsule robot with biopsy and drug delivery functions based on double magnetic torsion springs, characterized in that, The system includes an image module mounted on top of the magnetically driven capsule robot, a biopsy module integrally and fixedly connected to the image module, a drug delivery module located at the bottom of the magnetically driven capsule robot, and a dual magnetic torsion spring module located between the biopsy module and the drug delivery module; the image module is used to determine the location of the lesion and transmit information to an external receiving end. The biopsy module includes a connecting plate, a two-stage transmission gearbox reducer, a central rod, a biopsy housing, and a scraper. The biopsy housing, scraper, and connecting plate form a closed biopsy chamber. The biopsy housing has a biopsy groove, which is covered by the scraper in its initial position, keeping the biopsy chamber closed. The two-stage transmission gearbox reducer is located below the closed biopsy chamber and drives the scraper to rotate. The scraper includes a blade shaft and an arc-shaped blade. One end of the blade shaft has a through hole, and the other end is fixedly connected to the center of the blade, with the blade shaft pointing towards the center of the arc-shaped blade. One end of the central rod is mounted on the two-stage transmission gearbox reducer, and the other end is placed on the connecting plate. The scraper is fitted onto the central rod through the through hole and can rotate about the central rod. A driven gear is fixedly connected to the scraper. The drug delivery module includes a synchronous rotating platform, a push rod, a drug delivery shell, and a tail plate. The drug delivery shell has a storage chamber for storing the drug and a drug release outlet. The push rod is located inside the drug delivery shell. The tail plate is located below the drug delivery shell and has a rope hole through which a thin line can pass to retrieve the capsule. The push rod and the synchronous rotating platform are fixedly connected and rotate at the same angular velocity. A dual magnetic torsion spring module drives the synchronous rotating platform to rotate, which in turn drives the push rod to rotate, thereby delivering the drug in the storage chamber through the release outlet to the designated position to complete the drug delivery. The dual-magnetic torsion spring module includes a torsion spring housing, a central radial magnet, a first radial magnet, a second radial magnet, a first bearing, and a second bearing. The torsion spring housing has a central groove, a first mounting groove at one end, and a second mounting groove at the other end. The central radial magnet is placed in the central groove of the torsion spring housing and is fixedly connected to it. When a rotating magnetic field is applied to the magnetically driven capsule robot, the central radial magnet rotates under the influence of the external magnetic field, driving the capsule robot to roll to the target area. The first and second bearings are respectively embedded in the first and second mounting grooves. The first and second radial magnets are respectively placed inside the first and second bearings. The first radial magnet is connected to the secondary transmission gearbox reducer of the biopsy module and can rotate relative to the torsion spring housing, providing the required torque for the biopsy module's scraper. The second radial magnet is coaxially fixed to the synchronous turntable of the drug delivery module and can also rotate relative to the torsion spring housing, providing the required torque for drug delivery to the drug delivery module's push rod.

2. The magnetically propelled capsule robot of claim 1, wherein, The image module includes an image shell and a camera, a light array, a transmission circuit, and a button battery disposed inside the image shell. The image shell is made transparent by photopolymerization 3D printing. The button battery powers the transmission circuit, the light array, and the camera. The light array illuminates the front field of view of the capsule robot. The image information captured by the camera is transmitted to the external receiving end via the transmission circuit.

3. The magnetic propelled capsule robot of claim 1, wherein, The two-stage transmission gearbox reducer includes a gearbox housing and a driving gear, a transmission gear, and a driven gear disposed inside the gearbox housing; the gearbox housing is a cylindrical housing with openings at both ends; The driving gear is integrally connected to the first radial magnet of the dual magnetic torsion spring module, and the driving gear meshes with the transmission gear; the transmission gear also meshes with the driven gear, and the driven gear is fixedly connected to the scraper.

4. The magnetically propelled capsule robot of claim 1, wherein, The push rod includes a push rod shaft and an arc-shaped push end; one end of the push rod shaft is fixedly connected to the center of the arc-shaped push end, and the other end has a through hole and is connected to the synchronous rotary table through the through hole, with the push rod shaft pointing to the center of the arc-shaped push end.

5. The magnetically propelled capsule robot of claim 1, wherein, The diameter and thickness of the central radial magnet are both greater than those of the second radial magnet. The diameter of the second radial magnet is greater than that of the first radial magnet, and the thickness of the second radial magnet is the same as that of the first radial magnet. When a unidirectional uniform magnetic field is applied to the magnetically driven capsule robot, and the direction of this magnetic field is the same as the magnetization direction of the central radial magnet, the second radial magnet is farther away from the central radial magnet than the first radial magnet. Therefore, under the action of the unidirectional uniform weak magnetic field, the second radial magnet is the first to overcome the magnetic force of the central radial magnet and rotate, driving the push rod to administer the drug. Subsequently, the intensity of the unidirectional uniform magnetic field is increased. Under the uniform strong magnetic field, the first radial magnetized magnet overcomes the magnetic force of the central radial magnetized magnet and drives the scraper to rotate, opening the internal cavity. The double magnetic torsion spring module is subjected to strong attraction, and the capsule adheres tightly to the surface tissue of the stomach, causing a part of the target lesion to be squeezed into the cavity. Then, the intensity of the unidirectional uniform magnetic field is reduced, and the first radial magnetized magnet drives the scraper to rotate, completing the biopsy and capturing the lesion into the cavity.

6. The magnetically propelled capsule robot of claim 5, wherein, When no unidirectional uniform magnetic field is applied, the scraper in its initial state blocks the biopsy slot of the biopsy shell, keeping the chamber closed and preventing non-target tissue from entering. When a uniform strong magnetic field is applied to the capsule, the dual magnetic torsion springs are activated, and the first radial magnet rotates. Torque is transmitted through the secondary transmission gearbox reducer, and the scraper rotates to open the chamber. Due to the external magnetic field, the central radial magnet of the dual magnetic torsion spring module is attracted, causing the capsule robot to press against the target tissue and squeeze the target tissue into the chamber through the biopsy slot of the biopsy shell. Subsequently, the external magnetic field is gradually reduced. Under the magnetic force of the central radial magnet, the first radial magnet rotates the drive gear, driving the scraper to rotate. During the rotation, the scraper blade scrapes the target tissue into the chamber. Finally, the external magnetic field is completely removed, and the scraper returns to its initial position to close the chamber. The diseased tissue is collected and stored inside the chamber. Because the chamber is closed, the target tissue will not leak out of the capsule.

7. The magnetically driven capsule robot according to claim 6, characterized in that, The central radial magnet of the dual-magnetic torsion spring module is embedded in the central slot of the torsion spring shell and is integrated with the capsule robot, remaining fixed at all times. The first radial magnet is placed inside the first bearing and can rotate relative to the central radial magnet around the axis without relative displacement. In the initial state without a unidirectional uniform magnetic field, the opposite magnetic poles of the two magnets attract and align with each other, and the relative rotation angle θ1 of the first radial magnet is 0. When an external uniform strong magnetic field with the same magnetic moment direction as the central radial magnet is applied, the first radial magnet overcomes the attraction of the central radial magnet under the action of the external magnetic field and rotates clockwise or counterclockwise until its own magnetic moment direction is the same as the external magnetic field θ1 = ±180°. When the external magnetic field is removed, the first radial magnet returns to its initial position. During this process, the torque generated by the rotation of the first radial magnet is supplied to the scraper of the biopsy module for biopsy through the secondary transmission gearbox reducer.

8. The magnetically driven capsule robot according to claim 6, characterized in that, The second radial magnet of the dual-magnetic torsion spring module is placed inside the second bearing and does not undergo relative displacement, but can rotate relative to the central radial magnet. In the initial state without an external magnetic field, since the second radial magnet is fixedly connected to the synchronous rotating table and push rod of the drug application module, the drug application shell limits the push rod. The opposite magnetic poles of the second radial magnet and the central radial magnet attract each other but are not completely aligned, with a relative rotation angle θ2 = 30°. When an external uniform weak magnetic field with the same direction of magnetic moment as the central radial magnet is applied to the single magnetic torsion spring for drug application, the second radial magnet rotates in a fixed direction to a relative rotation angle θ2 = 180°. When the external magnetic field is removed, the second radial magnet returns to its initial position. During this process, the torque generated by the rotation of the second radial magnet will be provided to the push rod of the drug application module for drug application.

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