An active capsule robot system using bionic power

Abstract

This application discloses an active capsule robot system using bionic power. This application relates to the technical field of capsule robots and includes a capture module that continuously rotates 360 degrees to capture images of the gastrointestinal tract and output image data; a wireless module that receives image data and transmits it to a user terminal; an identification module that identifies the capsule robot's travel path and speed and outputs identification data; and a drive module that drives the capsule robot and outputs drive data. The drive module includes a drive controller, a movement submodule, and a bouncing submodule. The drive controller controls the movement and bouncing submodules and outputs drive signals. The movement submodule moves when required. The bouncing submodule drives the capsule robot to bounce when it determines that bouncing is necessary. This application can reduce the time required for medical examinations and improve the efficiency of capsule robots.

Description

Technical Field

[0001] The present application relates to the technical field of capsule robots, and in particular to an active capsule robot system using bionic power. Background Art

[0002] Interventional examinations and treatments in vivo, with their safety and minimally invasive nature, are rapidly becoming mainstream in the medical engineering field. Capsule robots, intelligent miniature tools capable of entering the human gastrointestinal tract for medical exploration and treatment, represent a new breakthrough in this field. Patients with gastrointestinal problems can simply swallow a "smart capsule" to examine and treat intra-abdominal conditions, eliminating the pain associated with current treatments like endoscopy, radiographic surgery, and more. This represents a significant contribution to medical technology.

[0003] In related technologies, most capsule robots use digestive tract peristalsis to inspect the entire area to drive the capsule robot forward. However, digestive tract peristalsis is uncontrollable, so many capsules are easily stuck at the bends of the intestine, resulting in increased inspection time and low efficiency. There is room for improvement.

[0004] To this end, we propose an active capsule robot system using bionic power to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide an active capsule robot system using bionic power to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An active capsule robot system using bionic power, comprising:

[0008] The shooting module is located on the surface of the capsule robot and rotates 360 degrees continuously to capture images of the stomach and intestines and output the image data;

[0009] A wireless module, located in the capsule robot and connected to the camera module, is used to receive the image data and send it to the user terminal;

[0010] An identification module, located in the capsule robot, is used to identify the capsule robot's travel path and travel speed and output identification data;

[0011] a driving module, located in the capsule robot and connected to the recognition module by signal, for receiving the recognition data and driving the capsule robot to move and then outputting driving data;

[0012] The driving module includes a driving controller, a moving submodule and a bouncing submodule. The driving controller is signal-connected to the identification module for receiving and outputting identification data, controlling the moving submodule and the bouncing submodule to operate and output a driving signal; the moving submodule is signal-connected to the shooting module and the driving controller for receiving the driving signal and the image data, and moving when movement is required; the bouncing submodule is signal-connected to the shooting module and the driving controller for receiving the driving signal and the image data, and driving the capsule robot to bounce when it is determined that bouncing is required.

[0013] By employing this technical solution, the capsule robot can navigate the intestines using two modes: movement and bouncing, adapting to the actual conditions within the intestine. Some areas of the intestine that require minimal inspection can be skipped by bouncing. Furthermore, corners within the intestine where the capsule robot is prone to getting stuck can be controlled by moving the robot, minimizing any potential jams. This reduces medical examination time and improves the efficiency of the capsule robot's use.

[0014] Preferably, the moving submodule includes multiple tentacles and a moving controller, the tentacles are located on the surface of the capsule robot and are used to move the capsule robot; the moving controller is signal-connected to the identification module, the shooting module, and the tentacles, and is used to receive the identification data and the image data. In the case of this movement, according to the standard direction in the identification data, the tentacles in contact with the patient's organs are controlled to move in a cyclic pattern in which half of the tentacles stay and half of the tentacles move in the standard direction, and the movement signal is output to the tentacles.

[0015] By adopting this technical solution, the capsule robot can move through its tentacles, enabling active movement rather than relying solely on intestinal peristalsis. Furthermore, it can choose its own direction of movement, freeing it from the constraints of the intestines. This expands the field of view and reduces lag at intestinal bends, improving the smoothness and practicality of the capsule robot.

[0016] Preferably, the bouncing submodule is configured as a bouncing controller, which is connected to the shooting module signal, the drive controller, the identification module, and the antenna, and is used to receive the image data, determine whether it is necessary to skip the current scene, and after receiving the drive signal and the identification data, control the side of the antenna in contact with the patient's organ to contract, and the position of the antenna remains unchanged, that is, the capsule robot contracts the antenna, accumulates power and bounces in the standard direction, and during the bouncing process, the antenna sends a no-contact signal when there is no contact.

[0017] By adopting this technical solution, the capsule robot can move in a bouncing manner in addition to conventional locomotion. This bouncing method not only allows it to reach the area requiring inspection more quickly, but also reduces friction on the intestines caused by the movement of its tentacles, minimizing gastrointestinal damage. This improves the capsule robot's speed and safety.

[0018] Preferably, the movement controller is signal-connected to the bounce controller for receiving the contactless signal and controlling the swinging of all the antennae.

[0019] By adopting this technical solution, when the capsule robot is not in contact with the intestine and has no leverage point, it can imitate the movement of fish by oscillating its tentacles, speeding up its movement and increasing its travel distance. This improves the application scenarios of the capsule robot and expands its scope of use and practicality.

[0020] Preferably, the identification module includes a memory submodule, a direction submodule and a speed submodule, the memory submodule is used to memorize the route that has been traveled and store it as path data; the direction submodule is signal-connected to the memory submodule and the tentacles, and is used to receive the path data, analyze the direction of the tentacles that are not in contact with other things, that is, the direction of the tentacles that are suspended in the air, and output the direction data after removing the direction that has been traveled; the speed submodule is signal-connected to the wireless module, and is used to collect the preset speed set by the user and calculate the direction of travel of the capsule robot according to the gastrointestinal motility and output the speed data.

[0021] By employing this technical solution, the recognition module can determine the capsule robot's direction and speed based on its current environment. By identifying clear directions, the capsule robot can effectively reduce the risk of getting stuck in the stomach and intestines. By adjusting the capsule robot's speed, the time required for medical examinations can be effectively reduced, thereby improving the efficiency and convenience of the capsule robot.

[0022] Preferably, the movement submodule is signal-connected to the speed submodule, and is used to receive the speed data, adjust the antenna movement frequency, and control the travel speed of the capsule robot.

[0023] By adopting the above technical solution, the tentacles can control the movement of the capsule robot, and the movement frequency of the tentacles can control the movement speed of the capsule robot to meet more needs during the use of the capsule robot, thereby improving the range and practicality of the capsule robot.

[0024] Preferably, the driving module also includes a stimulation submodule, which is signal-connected to the speed submodule, and when the fastest speed of the capsule robot still cannot reach the preset speed, stimulates gastrointestinal peristalsis to increase the speed of the capsule robot; the stimulation submodule includes a comparator, a refrigeration controller and a refrigeration device, the positive input end of the comparator is signal-connected to the driving submodule for receiving the driving data, and the negative input end of the comparator is signal-connected to the speed submodule, and when the speed in the driving data is less than the speed in the speed data, outputs a refrigeration signal; the refrigeration controller is signal-connected to the output end of the comparator for receiving the refrigeration signal and controlling the operation of the refrigeration device; the refrigeration device is located in the capsule robot, and is signal-connected to the refrigeration controller for responding to the refrigeration controller and working.

[0025] By adopting this technical solution, the capsule robot, which is adapted for use in the stomach and intestines, is affected by gastrointestinal motility and can also leverage this motility to achieve the desired effect. Stimulating gastrointestinal motility increases the capsule robot's movement speed, further increasing its inherent speed and achieving unexpected results. This reduces the energy used by the capsule robot, improving its efficiency and energy conservation.

[0026] Preferably, the memory submodule is configured as a secretor and an odor recognition unit. The secretor secretes preset secretions during execution, and the preset secretions are set according to the patient's own conditions; the odor recognition unit is connected to the secretor signal, and is used to collect the preset secretion odor and identify the surrounding odors, store the path identified to the preset secretion odor, and output the path data.

[0027] By adopting this technical solution, the capsule robot can reduce the energy waste caused by repeating the same path. By mimicking the movement of ants, a substance with a distinctive odor can be used to distinguish the paths it has already taken. This can effectively reduce repeated shooting and improve the utilization and intelligence of the capsule robot.

[0028] Preferably, if the direction submodule detects that all the tentacles are not in contact, it outputs an omnidirectional signal; the mobile controller is connected to the direction submodule signal for receiving the omnidirectional signal, and controls the tentacles to swing and move in a circular manner in the direction of intestinal peristalsis.

[0029] By employing this technical solution, the capsule robot can move in any direction when there are no obstacles. By circling in the direction of intestinal peristalsis, it not only maintains its general direction but also captures as many angles as possible, minimizing blind spots and the possibility of missing a patient's condition due to viewing angles. This improves the flexibility and versatility of the capsule robot.

[0030] Preferably, the shooting module includes a shooting controller and a micro camera. The shooting controller is connected to the direction submodule signal for receiving the direction data, controlling the movement of the micro camera and outputting a control signal. The micro camera is located on the surface of the capsule robot, connected to the capsule robot by magnetism, and connected to the shooting controller signal for receiving the control signal and then moving in the set direction and rotating 360 degrees around to shoot the picture and output the image data.

[0031] By adopting this technical solution, the capsule robot can change direction in the stomach and intestines, and the camera must adjust its position accordingly. Otherwise, the capsule robot may block the micro-camera, creating blind spots and duplicate shots. This improves the flexibility and comprehensiveness of the capsule robot's shooting capabilities.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The capsule robot can navigate the intestines using two modes: movement and bouncing, tailored to the specific conditions within the intestine. Some areas of the intestine that require minimal inspection can be skipped by bouncing. Furthermore, some areas of the intestine are prone to corners where the capsule robot can get stuck. This allows the robot to control its direction and minimize any potential jams. This reduces medical examination time and improves the efficiency of the capsule robot.

[0034] 2. Using tentacles to move allows for active movement, rather than relying solely on intestinal peristalsis. Furthermore, the robot can choose its own direction of movement, freeing it from the constraints of the intestines. This expands the field of view and reduces lag around intestinal bends, improving the capsule robot's fluidity and practicality.

[0035] 3. When there are no obstacles, the capsule robot can move in any direction. By circling in the direction of intestinal peristalsis, it can not only avoid losing track of the general direction, but also capture as many images as possible from every angle, reducing blind spots and any missed cases due to viewing angles. This improves the flexibility and versatility of the capsule robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The present invention is a schematic diagram of the specific connections of a shooting module, a wireless module, a recognition module, a driving module and a user terminal of an active capsule robot system using bionic power.

[0037] Explanation of the accompanying drawings: 1. Shooting module; 11. Shooting controller; 12. Miniature camera; 2. Wireless module; 3. Identification module; 31. Memory submodule; 311. Secretor; 312. Odor identification unit; 32. Direction submodule; 33. Speed ​​submodule; 4. Driving module; 41. Driving controller; 42. Moving submodule; 421. Antenna; 422. Moving controller; 43. Bouncing submodule; 44. Stimulation submodule; 441. Refrigeration controller; 442. Refrigeration device; 5. User terminal. DETAILED DESCRIPTION

[0038] Below with reference to the embodiment and the attached Figure 1 The present invention will be described in further detail, but the embodiments of the present invention are not limited thereto.

[0039] Example:

[0040] The present invention discloses a garden water surface garbage intelligent collection and cleaning system, referring to Figure 1 ,include:

[0041] The shooting module 1 is located on the surface of the capsule robot and rotates 360 degrees continuously to capture images of the stomach and intestines and output image data.

[0042] Wireless module 2, located within the capsule robot and connected to camera module 1, receives image data and sends it to user terminal 5. Wireless module 2 facilitates information exchange between the capsule robot and user terminal 5, transmitting image data from the capsule robot to user terminal 5 and receiving information from user terminal 5.

[0043] The recognition module 3 is located inside the capsule robot and is used to identify the capsule robot's travel path and travel speed and output recognition data. The recognition module 3 is signal-connected to the wireless module 2 and is used to receive information transmitted by the user terminal 5.

[0044] The driving module 4 is located inside the capsule robot and is signal-connected to the identification module 3 . It is used to receive identification data and drive the capsule robot to move, and then output driving data.

[0045] The drive module 4 includes a drive controller 41, a movement submodule 42, and a bouncing submodule 43. The drive controller 41 is signal-connected to the recognition module 3 for receiving and outputting recognition data, controlling the movement submodule 42 and the bouncing submodule 43 to operate and output drive signals. The movement submodule 42 is signal-connected to the capture module 1 and the drive controller 41 for receiving drive signals and image data and moving the capsule robot when required. The bouncing submodule 43 is signal-connected to the capture module 1 and the drive controller 41 for receiving drive signals and image data and driving the capsule robot to bounce when required.

[0046] In actual use, ordinary capsule robots need to rely on the patient's own gastrointestinal motility to promote the movement and advancement of the capsule robot. However, since the stomach and intestines are not a straight channel and there are bends, the capsule robot may get stuck. Sometimes, relying solely on the patient's gastrointestinal motility, it takes a lot of time to wait for the capsule robot to move forward, resulting in an increase in the patient's examination time, which leads to low efficiency during the use of the capsule robot. For example, when the capsule robot gets stuck at a bend in the intestine and cannot move forward, the patient's gastrointestinal motility is slow at this time, and the impact force is not enough to drive the capsule robot forward. By controlling the capsule to move or bounce by the drive controller 41, the capsule robot can achieve movement by itself, no longer relying solely on external force, which can speed up the inspection and improve the efficiency of the capsule robot.

[0047] Reference Figure 1 The movement submodule 42 includes multiple tentacles 421 and a movement controller 422. The tentacles 421 are located on the surface of the capsule robot and are made of non-toxic and harmless nanomaterials. The multiple tentacles 421 are distributed throughout the capsule robot's surface and are used to move the capsule robot. Regardless of which side of the capsule robot contacts the stomach and intestines, the tentacles 421 on that side can move the capsule robot, minimizing the possibility of being unable to move due to a lack of tentacles 421 on the contact surface.

[0048] The mobile controller 422 is signal-connected to the identification module 3, the shooting module 1, and the antenna 421, and is used to receive identification data and image data. In the case of this movement, according to the standard direction in the identification data, the antenna 421 in contact with the patient's organ is controlled to move in a cyclic pattern in which half of the antenna 421 stays and half of the antenna 421 moves in the standard direction, and a movement signal is output to the antenna 421.

[0049] In actual use, the capsule robot enters from the mouth and can enter the stomach through the intestines. The movement mode of the capsule robot is differentiated according to the actual part that the patient needs to examine. For example, if the patient needs to examine the intestines, the capsule robot should stay in the intestines for a longer time. At this time, based on the image data sent back by the wireless module 2, it can be known whether the capsule robot has reached the intestines. When the capsule robot reaches the intestines, the movement of the capsule robot is controlled by controlling the contraction of the tentacles 421. Imitating the forward movement of multi-legged animals, half of the tentacles 421 are used to support the capsule robot, and the other half of the tentacles 421 are stretched out in the forward direction after contraction, and then stay to support the capsule robot, and the other half of the tentacles 421 move forward again. The actively driven capsule robot increases the convenience of using the capsule robot.

[0050] Reference Figure 1 The bouncing submodule 43 is configured as a bouncing controller. The bouncing controller is signal-connected to the shooting module 1 signal driving controller 41, the recognition module 3, and the antenna 421. It is used to receive image data and determine whether the current scene needs to be skipped. After receiving the driving signal and the recognition data, the antenna 421 on the side in contact with the patient's organ is controlled to contract. The position of the antenna 421 remains unchanged, that is, the capsule robot contracts toward the antenna 421, and bounces in the standard direction after accumulating power. During the bouncing process, the antenna 421 sends a no-contact signal when there is no contact.

[0051] In actual use, the positions of human organs are fixed. No matter which part of the patient is examined, the capsule robot needs to enter through the mouth and move along the prescribed route. Some parts do not need to be examined, so they can be quickly skipped. The movement of the antennae 421 is too slow, which reduces the efficiency of the capsule robot. The bouncing method can greatly increase the speed of the capsule robot. For example, if a patient needs to undergo a stomach examination, the capsule robot can quickly skip over the intestines. By using the antennae 421 to imitate the bouncing properties of insects such as grasshoppers, the antennae 421 contract and accumulate energy, and then bounce in a predetermined direction, it can pass over a part of the intestine, achieving the effect of rapid passage, thereby improving the efficiency of the capsule robot.

[0052] Reference Figure 1 The mobile controller 422 is connected to the bounce controller signal to receive the contactless signal and control all the antennae 421 to swing.

[0053] In actual use, when the bouncing controller controls the tentacles 421 to bounce, the capsule robot typically jumps from the take-off point, jumps in the forward direction, and then lands. During this jump, there are periods of time when none of the tentacles 421 contact the patient's organs. Inspired by the human long jump, swinging the legs in midair increases the distance of the long jump. Similarly, when the capsule robot jumps without contact, it can be considered "in midair." Controlling the tentacles 421 to swing at this time increases the jump distance, allowing it to pass the current position more quickly and thus increasing the capsule robot's speed.

[0054] Reference Figure 1 The recognition module 3 includes a memory submodule 31, a direction submodule 32, and a speed submodule 33. The memory submodule 31 is used to memorize the routes that have been traveled and store them as path data. The direction submodule 32 is signal-connected to the memory submodule 31 and the antenna 421. It is used to receive path data, analyze the direction of the antenna 421 that is not in contact with other objects, and remove the direction that has been traveled before outputting the direction data. The speed submodule 33 is signal-connected to the wireless module 2. It is used to collect the preset speed set by the user and calculate the capsule robot's travel direction based on gastrointestinal motility before outputting the speed data.

[0055] In actual use, traditional capsule robots advance through gastrointestinal peristalsis, and there's no need to control their direction. However, capsule robots that achieve active movement through antennae 421 can move autonomously, so to reduce the chance of repeating the same path, they need to determine their direction of travel. For example, if a capsule robot gets stuck at a bend in the intestine, most of its surface area is in contact with the intestine, but neither the forward nor the backward sides of the intestine are in contact, allowing it to move. The memory submodule 31 can track the route it has already taken, preventing the capsule robot from retreating and repeating a previously traveled route. Furthermore, different speeds can be set for sections that require careful inspection and those that don't. The user can set the capsule robot's movement speed, which is transmitted and received via wireless module 2 to accommodate a wider range of scenarios, expanding the capsule robot's applicability.

[0056] Reference Figure 1 The movement submodule 42 is connected to the speed submodule 33 by signal, and is used to receive speed data, adjust the movement frequency of the antenna 421, and control the travel speed of the capsule robot.

[0057] In actual use, when a general capsule robot relies on gastrointestinal peristalsis to move forward, its speed is uncontrollable and can only be controlled by gastrointestinal peristalsis. Active capsule robots can move on their own and can control their own speed. When we speed up the extension and retraction of the tentacles 421, the speed of the capsule robot will also increase. For example, in order to more clearly view the details in the intestines, the extension and retraction speed of the tentacles 421 can be appropriately slowed down, from the original 1 second to complete the extension and retraction of the tentacles 421. It is adjusted to 2 seconds to complete the extension and retraction of the tentacles 421. At this time, the movement speed of the capsule robot will slow down. When moving by swinging the tentacles 421, the frequency of the swinging can be controlled, like the tail of a fish. The faster the swing, the faster the speed.

[0058] Reference Figure 1 The driving module 4 also includes a stimulation submodule 44, which is signal-connected to the speed submodule 33. When the capsule robot's maximum speed still fails to reach a preset speed, the stimulation submodule 44 stimulates gastrointestinal motility to increase the capsule robot's speed. The stimulation submodule 44 includes a comparator, a cooling controller 441, and a cooling device 442. The comparator's positive input terminal is signal-connected to the driving submodule for receiving driving data, and the comparator's negative input terminal is signal-connected to the speed submodule 33. When the speed in the driving data is less than the speed data, the comparator outputs a cooling signal. The cooling controller 441 is signal-connected to the comparator's output terminal for receiving the cooling signal and controlling the operation of the cooling device 442. The cooling device 442 is located within the capsule robot and signal-connected to the cooling controller 441 for responding to the cooling controller 441 and operating.

[0059] In practice, to expedite the capsule robot's progress, it can also utilize external forces to help it advance, much like traditional capsule robots rely on gastrointestinal motility. However, accelerating gastrointestinal motility requires some stimulation, and coldness stimulates the stomach and intestines more quickly. If the speed does not reach the user's desired setting, the refrigeration device 442 cools the tentacles 421. The contact between the patient's organs and the tentacles 421, combined with the cool air emitted, stimulates gastrointestinal motility to achieve the desired speed.

[0060] Reference Figure 1 The memory submodule 31 is configured as a secretor 311 and an odor recognition unit 312. During execution, the secretor 311 secretes a preset secretion, which is set according to the patient's condition. The odor recognition unit 312 is configured as an odor sensor, signal-connected to the secretor 311, for collecting the preset secretion odor, identifying surrounding odors, storing the path to the preset secretion odor, and outputting the path data.

[0061] In practice, to remember past routes, the capsule robot releases recognizable odors as it moves, mimicking the way ants remember their routes. For example, if antennae 421 detect that all three directions are traversable, such as east, west, and north, but detect a specific odor in the east and west directions, it indicates that the robot has already traveled and no longer needs to re-explore. Therefore, the capsule robot is directed to the north direction, thus reducing the need for repeated image acquisition.

[0062] Reference Figure 1 If the direction submodule 32 detects that all the tentacles 421 are not in contact, it outputs an omnidirectional signal. The movement controller 422 is connected to the direction submodule 32 signal and is used to receive the omnidirectional signal and control the tentacles 421 to swing and move in a circular manner in the direction of intestinal peristalsis.

[0063] In actual use, due to the capsule robot's compact size, there are instances where the capsule robot doesn't touch any of the patient's organs, as the intestines are larger than the capsule robot. In this case, without contact, the capsule robot's tentacles 421 cannot move. The capsule robot can be considered to exist in the "ocean" or "air," propelled by the oscillation of its tentacles 421. The oscillation of the capsule robot's tentacles 421, whether it's the oscillation of a fish's tail or the flapping of a bird's wings, is similar in nature to the oscillation of the capsule robot's tentacles 421. This allows the capsule robot to move even without contacting organs.

[0064] Reference Figure 1 The camera module 1 includes a camera controller 11 and a micro camera 12. The camera controller 11 is signal-connected to the direction submodule 32 and is used to receive direction data, control the movement of the micro camera 12, and output control signals. The micro camera 12 is located on the surface of the capsule robot and is connected to the capsule robot via magnetic force. It is also signal-connected to the camera controller 11 and is used to receive control signals and move in a set direction and rotate 360 ​​degrees to capture images and output image data.

[0065] In actual use, when the micro-camera 12 is stationary, it is easy for the capsule robot to freeze or rotate, resulting in blind spots in the field of view, resulting in incomplete inspections and missed cases. Adjusting the position of the micro-camera 12 according to the direction of movement can expand the shooting range and reduce blind spots. For example, let the head of the capsule robot be point A and the tail be point B. When the capsule robot initially enters, point A is in front, and the micro-camera 12 rotates and shoots at point A. After freezing, the capsule robot rotates, so that point B is in front. At this time, the position of the micro-camera 12 is adjusted to shoot at point B. If point C in the middle of the capsule robot is in front, the micro-camera 12 moves to point C to shoot. However, when the capsule robot rotates and moves forward, the micro-camera 12 is located at one point and does not move. This is because the rotation of the capsule robot drives the rotation of the micro-camera 12.

[0066] Reference Figure 1 The operating principle is as follows: The direction submodule 32 detects which parts of the capsule robot's tentacles 421 are not in contact with the patient's organ surface, that is, in a suspended state, to determine a preliminary direction. Within this preliminary direction, the odor recognition unit 312 identifies the paths where the secretor 311 has secreted a special substance, and then screens out the paths to determine the movement direction. The capsule robot is moved in a cyclic pattern of half stopping and half moving by manipulating the tentacles 421 in contact with the patient's organs. For areas that do not require examination, the tentacles 421 are retracted, accumulated energy, and then bounced, swinging during the jump to avoid unnecessary areas. For areas completely out of contact with the patient's organ surface, the capsule robot advances by swinging its tentacles 421, and even rotates to expand its field of view. The capsule robot's movement speed is determined by the user's set speed, which is received via the wireless module 2. If the maximum speed still cannot reach the preset speed, the refrigeration controller 441 controls the refrigeration unit 442 to cool the tentacles 421, stimulating gastrointestinal motility and achieving the desired speed.

[0067] In addition, the shooting controller 11 controls the micro camera 12 to move to the head of the forward direction for shooting according to the direction set by the direction submodule 32, thereby reducing the blind spot of the viewing angle.

[0068] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An active capsule robot system using bionic power, characterized in that: include: A shooting module (1) is located on the surface of the capsule robot and continuously rotates 360 degrees to shoot images of the stomach and intestines and output image data; A wireless module (2), located in the capsule robot and connected to the shooting module (1) by signal, is used to receive the image data and send it to the user terminal (5); An identification module (3), located in the capsule robot, is used to identify the capsule robot's travel path and travel speed and output identification data; A driving module (4), located in the capsule robot and connected to the recognition module (3) by signal, is used to receive the recognition data and drive the capsule robot to move and then output driving data; The driving module (4) includes a driving controller (41), a moving submodule (42) and a bouncing submodule (43). The driving controller (41) is connected to the identification module (3) by signal, and is used to receive and output identification data, control the moving submodule (42) and the bouncing submodule (43) to work and output a driving signal; the moving submodule (42) is connected to the shooting module (1) and the driving controller (41) by signal, and is used to receive the driving signal and the image data, and move when movement is required; the bouncing submodule (43) is connected to the shooting module (1) and the driving controller (41) by signal, and is used to receive the driving signal and the image data, and drive the capsule robot to bounce when it is determined that bouncing is required; The moving submodule (42) includes a plurality of antennae (421) and a moving controller (422), wherein the antennae (421) are located on the surface of the capsule robot and are used to move the capsule robot; the moving controller (422) is signal-connected to the recognition module (3), the shooting module (1), and the antennae (421), and is used to receive the recognition data and the image data. In the case of movement, according to the standard direction in the recognition data, the antennae (421) in contact with the patient's organ are controlled to move in a cyclic pattern in which half of the antennae (421) stay and the other half move in the standard direction, and a movement signal is output to the antennae (421); The bouncing submodule (43) is configured as a bouncing controller, and the bouncing controller is connected to the shooting module (1), the driving controller (41), the recognition module (3), and the antenna (421) for receiving the image data, judging whether it is necessary to skip the current scene, and after receiving the driving signal and the recognition data, controlling the antenna (421) on the side in contact with the patient's organ to contract, and the position of the antenna (421) remains unchanged, that is, the capsule robot contracts toward the antenna (421), and after accumulating power, it bounces in the standard direction, and during the bouncing process, when the antenna (421) does not have any contact, it sends a non-contact signal; The movement controller (422) is connected to the bounce controller signal, and is used to receive the contactless signal and control all the antennae (421) to swing.

2. The active capsule robot system using bionic power according to claim 1, characterized in that: The identification module (3) includes a memory submodule (31), a direction submodule (32), and a speed submodule (33). The memory submodule (31) is used to memorize the route that has been traveled and store it as path data; the direction submodule (32) is signal-connected with the memory submodule (31) and the antenna (421) for receiving the path data, analyzing the direction of the antenna (421) that has not touched other things, that is, the direction that has been traveled, and outputting the direction data after removing the direction that has been traveled; the speed submodule (33) is signal-connected with the wireless module (2) for collecting the preset speed set by the user and calculating the direction of travel of the capsule robot according to the gastrointestinal peristalsis situation, and then outputting the speed data.

3. The active capsule robot system using bionic power according to claim 2, characterized in that: The movement submodule (42) is connected to the speed submodule (33) via a signal, and is used to receive the speed data, adjust the movement frequency of the antenna (421), and control the travel speed of the capsule robot.

4. The active capsule robot system using bionic power according to claim 2, characterized in that: The driving module (4) further includes a stimulation submodule (44), which is signal-connected to the speed submodule (33) and, when the fastest speed of the capsule robot still fails to reach a preset speed, stimulates gastrointestinal peristalsis to increase the speed of the capsule robot; the stimulation submodule (44) includes a comparator, a refrigeration controller (441) and a refrigeration device (442); the positive input terminal of the comparator is signal-connected to the driving module for receiving the driving data; the negative input terminal of the comparator is signal-connected to the speed submodule (33) for outputting a refrigeration signal when the speed in the driving data is less than the speed in the speed data; the refrigeration controller (441) is signal-connected to the output terminal of the comparator for receiving the refrigeration signal and controlling the operation of the refrigeration device (442); the refrigeration device (442) is located in the capsule robot and signal-connected to the refrigeration controller (441) for responding to the refrigeration controller (441) and operating.

5. The active capsule robot system using bionic power according to claim 2, characterized in that: The memory submodule (31) is configured as a secretor (311) and an odor recognition unit (312). The secretor (311) secretes a preset secretion during execution, and the preset secretion is set according to the patient's own condition. The odor recognition unit (312) is connected to the secretor (311) by signal, and is used to collect the preset secretion odor, recognize the surrounding odor, store the path identified to the preset secretion odor, and output the path data.

6. The active capsule robot system using bionic power according to claim 2, characterized in that: If the direction submodule (32) detects that all the tentacles (421) are not in contact, it outputs an omnidirectional signal; the mobile controller (422) is connected to the direction submodule (32) signal and is used to receive the omnidirectional signal, and then controls the tentacles (421) to swing and move forward in a circular manner in the direction of intestinal peristalsis.

7. The active capsule robot system using bionic power according to claim 2, characterized in that: The shooting module (1) comprises a shooting controller (11) and a micro camera (12); the shooting controller (11) is connected to the direction submodule (32) by signal, and is used to receive the direction data, control the movement of the micro camera (12) and output the control signal; the micro camera (12) is located on the surface of the capsule robot, is connected to the capsule robot by magnetic force, and is connected to the shooting controller (11) by signal, and is used to move in a set direction after receiving the control signal and rotate 360 ​​degrees around to shoot the picture and output the image data.

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