Capsule robot with compliant biopsy mechanism

Abstract

The application discloses a capsule robot with a flexible biopsy mechanism, which comprises a shell, the outer wall of the shell is smooth and can pass through the intestinal tract in the human body; a flexible clamp is located in the shell and can extend and retract from one end of the shell to clamp pathological tissues in the intestinal tract; a flexible leg is movably arranged in the shell and can extend from the side wall of the shell to support the inner wall of the intestinal tract; and a driving system is arranged in the shell and used for driving the flexible clamp and the flexible leg to move. The capsule robot with the flexible biopsy mechanism can clamp pathological tissues in the intestinal tract, and is convenient for doctors to examine and diagnose.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical robots, and particularly relates to a capsule robot with a soft biopsy mechanism. BACKGROUND

[0002] With the modern life pace getting faster and faster, eating habits are also changing constantly, and people's physical health is also suffering from various digestive system diseases. A large part of the cause of the high global cancer mortality rate is attributed to digestive system cancer. The harm caused by digestive tract cancer to human health is increasingly significant. Therefore, it is extremely important to find and treat digestive tract cancer as soon as possible, to improve the prevention awareness, to have regular physical examination, and to do a good job in early screening, which can effectively reduce the mortality rate of such cancer. Therefore, the medical market related to the diagnosis and treatment of digestive diseases has great potential, and more and more medical devices are being developed for the diagnosis and treatment of digestive diseases.

[0003] The human digestive system includes upper and lower digestive systems, and the narrow and long intestinal tract in the lower digestive system is taken as an example, which is mainly composed of small intestine and large intestine. The inner diameter of the small intestine is between 20-35mm, and the length is 5-7m. The inner diameter of the small intestine is about 65mm, and the length is 1.5m. The intestinal tract is narrow and tortuous, and once a lesion occurs, there are great difficulties in examination and treatment. Clinically, an endoscope is mainly inserted into the human intestinal tract through the oral cavity or anus to observe, diagnose, perform biopsy, and remove tumors. Such insertion type screening can bring great pain and psychological fear to patients, and the cross infection and complications may even accelerate the deterioration of the patient's condition. Therefore, patients may miss the best opportunity for diagnosis and treatment due to their rejection and fear of traditional endoscopic examination.

[0004] In order to alleviate the pain of patients, a swallowable capsule endoscope with a camera and a light source inside is used for the diagnosis and treatment of the digestive system. The capsule endoscope robot is a successful application of micro robots in the field of biomedicine, which belongs to medical robots and effectively promotes the development of medicine. The capsule endoscope robot is designed to be very small in size so as to be able to pass through the narrow space inside the human body, and the shape is similar to that of a cold capsule taken when a human being has a cold, which can freely travel in the gastrointestinal tract and collect and transmit images and signals of the gastrointestinal tract through the built-in camera, LED lamp set and signal transmitting device and other functional modules. The captured images are transmitted to the display screen outside the body in real time to help doctors complete diagnosis, treatment and monitoring and other tasks. The capsule endoscope is used to enter the human digestive system through the oral cavity for endoscopic examination, and then is discharged through the anus. This medical device can non-invasively examine the intestinal tract, stomach and other digestive systems, and can detect early symptoms of digestive system diseases, including digestive system malignant tumors such as gastric cancer and colon cancer, which provides important support for early diagnosis and treatment.

[0005] The birth of capsule robot brings a blessing to the related lesion screening, the patient only needs to swallow the miniature robot with built-in camera and light source to obtain the information of healthy information in the digestive tract. However, its function is limited to image acquisition, the picture transmitted back may be dark or unclear, the doctor cannot diagnose, the patient still needs to experience the pain of traditional intubation sampling, and the capsule robot has not become the gold standard of clinical diagnosis. SUMMARY

[0006] The purpose of the present application is to provide a capsule robot with a soft biopsy mechanism to solve the above-mentioned problems existing in the prior art, which can clamp pathological tissues in the intestinal tract, and facilitate the doctor to examine and diagnose.

[0007] To achieve the above-mentioned purpose, the present application provides the following scheme:

[0008] The present application provides a capsule robot with a soft biopsy mechanism, comprising a shell, the outer wall of the shell is a smooth structure, which can pass through the intestinal tract inside the human body; a soft clamp located in the shell and capable of telescoping from one end of the shell to clamp pathological tissues in the intestinal tract; a soft leg movably arranged in the shell and capable of extending from the side wall of the shell to prop open the inner wall of the intestinal tract; a drive system arranged in the shell for driving the soft clamp and the soft leg to act.

[0009] Optionally, the shell comprises a first shell and a second shell, the first shell is a cylindrical structure, the second shell is symmetrically arranged at both ends of the first shell, and the second shell is a hemispherical structure, one of the second shells is provided with a soft clamp passage, and a plurality of soft leg passages are arranged on the side wall of the first shell.

[0010] Optionally, the soft clamp comprises two symmetrically arranged clamp bodies, the clamp body is a smooth arc structure, two clamp bodies can be opened outward after extending out of the shell, and two clamp bodies can be closed against the inner side of the one end of the shell after retracting into the shell.

[0011] Optionally, the flexible clamp further comprises a base fixedly arranged in the shell, a shuttle movably arranged in the base, and the driving system is capable of driving the shuttle to move in the base; two connecting grooves are symmetrically arranged on the inner wall of the base near one end of the flexible clamp passage, a connecting block is arranged on the outer side of the clamp body near one end of the shell, and the connecting block is hingedly connected to the connecting grooves; a connecting protrusion is arranged on the shuttle near one end of the flexible clamp passage, a sliding groove is arranged on the side wall of the connecting protrusion, a sliding block is arranged on the inner side of the clamp body near one end of the shell, the sliding block is slidingly arranged in the sliding groove, limiting posts are arranged on the two end faces of the sliding block, recessed limiting grooves are arranged on the two side walls of the sliding groove, the limiting posts are movably arranged in the limiting grooves, and the sliding block is capable of rotating around the limiting posts in the sliding groove.

[0012] Optionally, the flexible clamp further comprises a base fixedly arranged in the shell, a shuttle movably arranged in the base, and the driving system is capable of driving the shuttle to move in the base; two connecting grooves are symmetrically arranged on the inner wall of the base near one end of the flexible clamp passage, a connecting block is arranged on the outer side of the clamp body near one end of the shell, and the connecting block is hingedly connected to the connecting grooves; a connecting protrusion is arranged on the shuttle near one end of the flexible clamp passage, a sliding groove is arranged on the side wall of the connecting protrusion, a sliding block is arranged on the inner side of the clamp body near one end of the shell, the sliding block is slidingly arranged in the sliding groove, limiting posts are arranged on the two end faces of the sliding block, recessed limiting grooves are arranged on the two side walls of the sliding groove, the limiting posts are movably arranged in the limiting grooves, and the sliding block is capable of rotating around the limiting posts in the sliding groove.

[0013] Optionally, the flexible leg comprises a flexible leg base, a plurality of supporting legs are annularly arranged at one end of the flexible leg base, the supporting legs are made of flexible material, and the supporting legs are arranged to extend out of the first shell from the corresponding flexible leg passage at the terminal end; and the driving system is capable of driving the flexible leg base to move in the shell.

[0014] Optionally, the flexible leg comprises a flexible leg base, a plurality of supporting legs are annularly arranged at one end of the flexible leg base, the supporting legs are made of flexible material, and the supporting legs are arranged to extend out of the first shell from the corresponding flexible leg passage at the terminal end; and the driving system is capable of driving the flexible leg base to move in the shell.

[0015] Optionally, the driving system comprises a lead screw fixedly arranged in the shell, one end of the lead screw being drivingly connected with a lead screw motor, the lead screw motor being electrically connected with a battery and a communication circuit board, the communication circuit board being wirelessly connected with an external control end.

[0016] The present application has the following technical effects relative to the prior art:

[0017] The capsule robot with the flexible biopsy mechanism has a small volume, is similar to a capsule structure as a whole, and is convenient to swallow; the flexible forceps can be extended and retracted under the control of the driving system in the intestinal tract, and are opened when extended and closed when retracted, so as to realize clamping of pathological tissues in the intestinal tract; the flexible leg end can be easily extended to the outside of the shell in order to prop open the intestinal tract, and can also be conveniently retracted into the shell, so as to realize the function of supporting and propping open the intestinal tract wall when the pathological tissues are clamped; the driving system is provided with a power supply, and is wirelessly connected with the external control end, so as to control the movement of the flexible leg and the flexible forceps. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0019] Figure 1 It is a structural schematic diagram of the capsule robot with the flexible biopsy mechanism of the present application.

[0020] Figure 2 It is a structural schematic diagram of the flexible forceps of the present application.

[0021] Figure 3 It is a partial schematic diagram of the flexible leg of the present application.

[0022] Legend of the drawings: 1-shell, 101-first shell body, 102-second shell body, 2-flexible forceps, 201-base, 202-shuttle, 203-forceps body, 204-connection protrusion, 3-flexible leg, 301-flexible leg base, 302-leg, 4-driving system, 401-lead screw, 402-lead screw motor, 403-battery, 404-communication circuit board. DETAILED DESCRIPTION

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The purpose of this invention is to provide a capsule robot with a compliant biopsy mechanism to solve the problems existing in the prior art, which can grasp pathological tissue in the intestine, making it convenient for doctors to examine and diagnose.

[0025] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] This invention provides a capsule robot with a compliant biopsy mechanism, such as Figure 1 As shown, the capsule robot includes a smooth outer shell 1, which serves a protective function when passing through the human intestinal tract. Its smooth outer wall prevents damage to the intestinal tract and facilitates swallowing and excretion. Inside the shell 1, a drive system 4, compliant legs 3, and a compliant biopsy mechanism are arranged sequentially. The compliant biopsy mechanism includes compliant forceps 2, which can extend and retract from one end of the shell 1, opening when extended and closing when retracted, thereby grasping pathological tissue from the intestinal tract. The compliant legs 3 can extend from the side wall of the shell 1 to spread open the intestinal wall, facilitating the compliant forceps 2 to grasp pathological tissue. The drive system 4 is wirelessly connected to an external control terminal, which uses an existing computer control program for easy operation. It drives the compliant forceps 2 and compliant legs 3 to perform their respective functions. The capsule robot of this invention with a compliant biopsy mechanism is short and compact, with an overall size of 20mm in diameter and less than 60mm in length. The compliant forceps 2 can be integrated into the robot surface when folded, resulting in a compact structure, and is deployed only when performing tasks. Considering the limited radial dimensions of the capsule robot and the lack of space to add a transmission mechanism, the compliant forceps 2 is designed at the head of one end of the capsule robot. The compliant forceps 2 can exhibit bistable characteristics by utilizing the elastic potential energy change when its flexible segment deforms, which makes it easy to grasp pathological tissues.

[0027] To facilitate swallowing and reduce its overall volume, the capsule robot with a compliant biopsy mechanism is designed with a capsule-like outer shell 1. The outer shell 1 includes a first shell 101 and a second shell 102. The first shell 101 is cylindrical, and the second shell 102 is symmetrically arranged at both ends of the first shell 101. The second shell 102 is hemispherical. One of the second shells 102 has a compliant forceps channel, and the side wall of the first shell 101 has multiple compliant leg channels. Thus, the compliant forceps 2 can extend and retract within the compliant forceps channels. Similarly, the ends of the compliant legs 3 can extend out of the compliant leg channels to support the intestinal wall or retract into the outer shell 1 to avoid damage to the intestine.

[0028] Further preferred, such as Figure 2 As shown, the compliant forceps 2 of the present invention includes a base 201 and two symmetrically arranged forceps bodies 203. The forceps bodies 203 have a smooth arc-shaped structure, similar to a crescent moon. The ends of the two forceps bodies 203 are provided with crescent-shaped tips. After extending out of the outer shell 1, they can open outwards. After retracting into the outer shell 1, the inner sides of the crescent-shaped tips of the two forceps bodies 203 away from the inner side of the outer shell 1 can close and abut. Thus, the crescent-shaped tips temporarily store the pathological tissue grasped in the space between the two forceps bodies 203. Specifically, the base 2 The base 201 has a sliding shuttle 202, which is driven by the drive system 4 to move within the base 201. Two connecting slots are symmetrically formed on the inner wall of the base 201 near the compliant pliers channel. A connecting block is provided on the outer side of the pliers body 203 near the inner side of the outer shell 1, and the connecting block is hinged within the connecting slot. A connecting protrusion 204 is provided on the end of the sliding shuttle 202 near the compliant pliers channel, and a sliding groove is formed on the side wall of the connecting protrusion 204. A slider is provided on the inner side of the pliers body 203 near the inner side of the outer shell. The block is slidably disposed within the slide groove, and limiting posts are provided on both end faces of the slider. Recessed limiting grooves are provided on both side walls of the slide groove, with the limiting posts movably disposed within them. The slider can rotate around the limiting posts within the slide groove, thereby driving system 4 to control the back-and-forth movement of the shuttle 202. One end of the shuttle 202 is connected to a protruding slide groove and slides relative to the slider. When the shuttle 202 moves to the position where the end face of the shuttle 202 with the connecting protrusion 204 abuts against the end of the clamp body 203 away from the crescent-shaped tip,... The end face of the shuttle 202 pushes the forceps 203 forward. Due to the limiting effect of the sliding groove and the connecting groove, the forceps 203 cannot continue to move forward. Under the push of the shuttle 202, the forceps 203 rotates around the connecting block and the limiting post, so that the two forceps 203 separate outward. After the ends of the forceps 203 abut against the pathological tissue, the shuttle 202 is controlled to move in the opposite direction. Then, the two forceps 203 clamp the pathological tissue and retract until the crescent-shaped tips of the two forceps 203 close and abut, thus realizing the clamping of the pathological tissue.

[0029] When the capsule robot is sampling in the intestinal tract, the intestinal tract is usually in a collapsed state, and the inner wall tightly wraps the capsule robot shell. When the flexible forceps cut pathological tissues, the intestinal inner wall may be damaged due to adhesion caused by collapse. In order to make the capsule robot flexible forceps more convenient and safer to clamp pathological tissues, an intestinal tract opening device needs to be designed. The device forms a stable contact between the end and the inner wall to open the intestinal tract. At this time, the pathological tissues on the inner wall are separated from the adhered tissue inner wall due to the tension caused by the opening of the inner wall. The opening of the device unblocks the original blocked area, and the biopsy operation process is safer and more convenient to cut larger pathological tissues. Therefore, the capsule robot with a flexible biopsy mechanism is added with a flexible leg 3 as an intestinal tract opening device to help open the intestinal tract inner wall. As shown in Figure 3 The flexible leg 3 includes a flexible leg base 301, a plurality of leg branches 302 are arranged at one end of the flexible leg base 301, the leg branches 302 extend from the corresponding flexible leg channel to the first shell 101, and the leg branches 302 are made of flexible material. The driving system 4 can drive the flexible leg base 301 to move in the shell 1. When the flexible leg base 301 moves close to the flexible leg channel, it pushes the leg branches 302 to extend out of the flexible leg channel. Since the other end of the leg branch 302 is fixedly connected with the flexible leg base 301, the leg branch 302 is arc-shapedly bent outward, and its end supports the intestinal tract inner wall after extending out of the flexible leg channel, so as to facilitate the flexible forceps 2 to clamp pathological tissues. When the flexible leg base 301 moves reversely, the leg branch 302 moves away from the flexible leg channel, and then the leg branch 302 gradually retracts into the shell 1, so as not to hinder the movement of the capsule robot in the intestinal tract and avoid damaging the intestinal tract inner wall.

[0030] Further preferably, the driving system 4 comprises a lead screw 401 fixedly arranged in the shell, one end of the lead screw 401 being drivingly connected with a lead screw motor 402, the two can be connected through a shaft coupling or can be drivingly connected through a gear set, the lead screw motor 402 being electrically connected with a battery 403 and a communication circuit board 404, the communication circuit board 404 being wirelessly connected with an external control end; the lead screw 401 is provided with two nuts, the two nuts being respectively used for being connected with the compliant leg base 301 or the base 201, in order to further reduce the equipment size, therefore one end of the lead screw 401 is slidingly arranged in a through hole of the base 201 and the compliant leg base 301, the two nuts being fixedly connected with the inner walls of the through holes of the corresponding base 201 and the compliant leg base 301, the space arrangement of the supporting legs 302 being designed as being distributed at equal angles with the central axis of the lead screw 401 as the center, the more the number of the supporting legs 302, the better the intestinal expanding effect, although theoretically so, however, it cannot be ignored that with the increase of the number of the supporting legs 302, the contact area with the collapsed tissue is larger, for the supporting legs, the resistance borne is larger, therefore the demand of the mechanical device for energy consumption is larger, and if the energy supply is insufficient, the leg expanding force can be insufficient. However, the energy supply of the lead screw motor 402 of the lead screw 401 with a diameter of 4mm is limited, and large energy and thrust need to use a lead screw motor 402 with a larger output diameter, which does not meet the design requirement that the capsule robot should be miniaturized as much as possible. Considering the above factors, the number of the supporting legs 302 of the present application is set to three, and the tripod can meet the requirement of expanding the intestine in the three-dimensional space. The three supporting legs 302 are centered on the central axis of the lead screw, and the angles between the two supporting legs 302 are all 120°. Since the three supporting legs 302 stretch and retract in the shell like the opening and closing of an umbrella, the three supporting legs 302 are called umbrella leg mechanism. When the umbrella leg mechanism stretches out of the shell, the contact force on the inner wall of the circular digestive tract is applied in three directions uniformly arranged along the center, considering the size limitation of the capsule robot, the compliant pincer 2 and the umbrella leg mechanism are designed to be driven by the common lead screw motor. During biopsy, the intestinal expanding mechanism expands the intestine, and the compliant pincer is opened at the same time, so that the pathological tissue falls into the range of the compliant pincer. The supporting leg is designed based on the C-shaped compliant beam and its pseudo-rigid body model, the end of which can be easily stretched out of the shell to expand the intestine, and can also be easily retracted into the shell; the compliant leg base 301 connected with the three supporting legs 302 is provided with a hexagonal nut matched with the lead screw 401 in the cavity, the lead screw 401 uniformly rotates to drive the nut to advance and retreat, thereby driving the supporting legs to stretch out and retract. The intestinal expanding device and the compliant pincer are driven by the common lead screw motor, therefore the limit position of the opening and closing of the compliant pincer can also correspond to the limit position of the stretching and retracting of the supporting legs; it is worth noting that after the end of the supporting leg 302 touches the inner wall tissue of the intestine, the end and the tissue will adhere together due to the adhesion force, the end of the supporting leg 302 and the inner wall tissue of the intestine adhere after the collision due to the large friction force, and the adhered end moves together with the intestine.The supporting leg is made of TPU95A material, which is as soft as rubber, and the supporting leg will not slide in the x direction relative to the inner wall tissue.

[0031] In another embodiment, two symmetrical sliding grooves are formed in the inner wall of the base 201 of the compliant forceps 2 near the end of the compliant forceps channel, and a sliding block is arranged on the outer side of the end of the forceps body 203 inside the shell 1. The sliding block is slidably arranged in the sliding groove, and limit rods are arranged on the two end faces of the sliding block. Limit rod grooves are formed in the side walls of the sliding groove, and the limit rods are movably arranged in the limit rod grooves. The sliding block can rotate on the sliding groove around the limit rods. When the compliant forceps 2 are quickly closed, a large output impulse is generated, which is beneficial for breaking and clamping the tissue. Compared with the traditional endoscopic biopsy forceps, which cut off the tissue by clamping and pulling, the present application uses the large output impulse generated by the bistable state to cut off the tissue, which can reduce the pain felt by the patient. The compliant leg 3 includes a compliant leg base 301, and a plurality of supporting legs 302 are arranged around one end of the compliant leg base 301. The supporting legs 302 are hingedly connected to the compliant leg base 301 at one end, and the other end of the supporting legs 302 extends out of the first shell through the compliant leg channel. When the compliant leg base 301 moves towards the compliant leg channel, it pushes the end of the supporting leg to extend out of the compliant leg channel. Since the other end of the supporting leg 302 is hingedly connected to the compliant leg base 301, the supporting leg 302 bends outwardly around the hinge point in an arc shape, and its end supports the inner wall of the intestinal tract after extending out of the compliant leg channel, which facilitates the compliant forceps to clamp the tissue of the patient. When the compliant leg base 301 moves in the opposite direction, the supporting legs 302 move away from the compliant leg channel, and then the supporting legs 302 gradually retract into the shell, which does not hinder the movement of the capsule robot in the intestinal tract and avoids damaging the inner wall of the intestinal tract.

[0032] The present application can also carry a miniature camera on the capsule robot with a compliant biopsy mechanism, which facilitates the shooting of the internal structure of the intestinal tract. The edges of the two compliant forceps 2 are provided with blades, which have a small contact area with the tissue and a large pressure, which is more conducive to tissue biopsy. The existing capsule robots do not have autonomous navigation function. The present application can add a rubidium magnet inside the capsule robot, which can autonomously reach the biopsy site under the action of an external magnetic field and image guidance to perform surgery. In order to accurately resect the pathological tissue, the photographed image, such as the outline of the polyp tissue, needs to be segmented to achieve accurate positioning, and then the pose of the robot is adjusted by the external magnetic field.

[0033] In the description of the present application, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0034] The principles and implementation manners of the present application are described by applying specific examples in the present application, and the above description of the examples is only for the purpose of helping to understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application range. In view of the above, the content of the present application should not be understood as a limitation on the present application.

Claims

1. A capsule robot having a compliant biopsy mechanism, characterized by: The shell has a smooth outer wall and can pass through the human body; A flexible clamp is arranged in the shell and can extend from one end of the shell to clamp pathological tissues in the intestine; A flexible leg is movably arranged in the shell and can extend from the side wall of the shell to support the inner wall of the intestine; A driving system is arranged in the shell and is used to drive the flexible clamp and the flexible leg to move; The shell comprises a first shell and a second shell, the first shell is a cylindrical structure, the second shell is symmetrically arranged at two ends of the first shell, and the second shell is a semispherical structure, one of the second shells is provided with a flexible clamp passage, and a plurality of flexible leg passages are arranged on the side wall of the first shell; the flexible leg comprises a flexible leg base, three legs are arranged at one end of the flexible leg base, the legs are hingedly connected to the flexible leg base, and the other ends of the legs extend out of the first shell from the corresponding flexible leg passages; the driving system can drive the flexible leg base to move in the shell; The three legs are arranged around the central axis of the screw rod, and the included angle between any two legs is 120°; when the flexible leg base moves close to the flexible leg passage, the end of the leg is pushed to extend out of the flexible leg passage, and since the other end of the leg is hingedly connected to the flexible leg base, the leg is bent outward around the hinge point, and the end of the leg supports the inner wall of the intestine after extending out of the flexible leg passage; when the flexible leg base moves in the opposite direction, the leg moves away from the flexible leg passage, and then the leg gradually retracts into the shell; The flexible clamp comprises two symmetrically arranged clamp bodies, the clamp bodies are smooth and arc-shaped structures, the two clamp bodies can be opened outward after extending out of the shell, and the two clamp bodies can be closed against the inner side of one end of the shell after retracting into the shell; The flexible clamp further comprises a base fixedly arranged in the shell, a shuttle movably arranged in the base, and a screw rod fixedly arranged in the shell; one end of the screw rod is drivingly connected to a screw rod motor, the screw rod motor is electrically connected to a battery and a communication circuit board, the communication circuit board is wirelessly connected to an external control end, and two nuts are arranged on the screw rod and used to be connected to the flexible leg base or the base.

2. The capsule robot having a compliant biopsy mechanism of claim 1, wherein: Two connecting grooves are symmetrically arranged on the inner wall of the base close to the flexible clamp passage, a connecting block is arranged on the outer side of one end of the clamp body close to the shell, the connecting block is hingedly connected to the connecting grooves, a connecting protrusion is arranged on the shuttle close to the flexible clamp passage, a sliding groove is arranged on the side wall of the connecting protrusion, a sliding block is arranged on the inner side of one end of the clamp body close to the shell, the sliding block is slidingly arranged in the sliding groove, limiting columns are arranged on two end faces of the sliding block, recessed limiting grooves are arranged on two side walls of the sliding groove, and the limiting columns are movably arranged in the limiting grooves; the sliding block can rotate around the limiting columns in the sliding groove.

3. The capsule robot having a compliant biopsy mechanism of claim 1, wherein: Two symmetrical slideways are arranged on the inner wall of the base near one end of the flexible forceps channel, a sliding block is arranged on the outer side of the forceps body near one end of the inner part of the shell, the sliding block is slidably arranged in the slideway, limit rods are arranged on the two end faces of the sliding block, limit rod grooves are arranged on the side walls of the slideway, the limit rods are movably arranged in the limit rod grooves, and the sliding block can rotate on the slideway around the limit rods; a connecting protrusion is arranged on the sliding shuttle near one end of the flexible forceps channel, a sliding groove is arranged on the side wall of the connecting protrusion, a sliding block is arranged on the inner side of the forceps body near one end of the inner part of the shell, the sliding block is slidably arranged in the sliding groove, limit columns are arranged on the two end faces of the sliding block, limit grooves are arranged on the two side walls of the sliding groove, the limit columns are movably arranged in the limit grooves, and the sliding block can rotate in the sliding groove around the limit columns.

4. The capsule robot having a compliant biopsy mechanism of claim 1, wherein: The supporting legs are made of flexible material.

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