Capsule-type biopsy robot driven by external magnetic field

Abstract

A capsule biopsy robot driven by an external magnetic field belongs to the technical field of micro medical robots. The present invention aims to solve the problem that the existing capsule endoscope robot can only perform image acquisition but cannot perform tissue sampling. It includes a robot body and an external magnetic field module. The robot body includes a shell, an image acquisition module, a biopsy module and an internal magnetic drive module. The biopsy module and the internal magnetic drive module are arranged in the inner cavity of the shell, and the external magnetic field module is arranged outside the shell; the internal magnetic drive module and the external magnetic field module cooperate with each other to drive the robot body to realize movement along the axial direction of the shell and rotation or swing along the circumferential direction of the shell, and the biopsy body tissue is picked up through the biopsy module; the image acquisition module is arranged inside the shell, corresponding to the execution front end of the biopsy module, and is used for collecting images of in vivo tissues. The present invention is a capsule robot.

Description

Technical Field

[0001] The invention relates to a capsule-type biopsy robot driven by an external magnetic field, belonging to the technical field of micro medical robots. Background Art

[0002] Since the advent of the capsule endoscope robot, it has occupied a very important share in the field of gastrointestinal examination and treatment. The working principle is that the patient swallows the capsule robot orally into the digestive tract, and the capsule robot collects images through the internal endoscope and transmits the image information to the PC through the wireless transmission module. The doctor observes the images sent back by the capsule robot on the PC to examine and assist in the treatment of gastrointestinal diseases.

[0003] The capsule endoscope robot has the advantages of easy inspection, no trauma, no cross infection, simple operation, and it can also increase the field of vision. As an emerging method in the field of gastrointestinal inspection and treatment, the capsule endoscope robot has a bright development prospect and has become an important research direction in the field of endoscopic diagnosis and treatment.

[0004] At present, most commercial capsule robots, such as the PillCam SB, PillCam ESO and PillCam COLON capsule endoscopes developed by Given Imaging in Israel and the MiroCam SB capsule endoscope developed by Intromedic in South Korea, cannot actively move in the gastrointestinal tract and need to change their position with the peristalsis of the human digestive tract itself. Since the movement of the capsule endoscope robot cannot be controlled, it will not only cause missed diagnosis, but also fail to achieve long-term observation of the part of interest. In addition, due to the passive nature of the capsule movement, the examination time may take 8-16 hours, and it will eventually be excreted from the body with feces. Its excretion time is also related to the individual's intestinal physiological state. A few commercial robots, such as the OMOM capsule robot developed by Chongqing Jinshan Technology Group, can achieve autonomous movement, but its function is single and only has image acquisition function. In many clinical application scenarios, it is difficult for doctors to diagnose the disease based solely on the collected images, especially when the image features of some diseases are very similar, which will interfere with the doctor's judgment. When the doctor cannot diagnose the disease, an additional biopsy operation is required to obtain living tissue for detailed in vitro testing. The secondary biopsy will undoubtedly bring inconvenience and pain to the patient. Summary of the invention

[0005] In view of the problem that the existing capsule endoscope robot can only perform image acquisition but cannot perform tissue sampling, the present invention provides a capsule biopsy robot driven by an external magnetic field.

[0006] The present invention discloses a capsule-type biopsy robot driven by an external magnetic field, comprising a robot body and an external magnetic field module, wherein the robot body comprises a shell, an image acquisition module, a biopsy module and an internal magnetic drive module.

[0007] The biopsy module and the internal magnetic drive module are arranged in the inner cavity of the shell, and the external magnetic field module is arranged outside the shell; the internal magnetic drive module and the external magnetic field module cooperate with each other to drive the robot body to move along the axial direction of the shell and rotate or swing along the circumference of the shell, and pick up the biopsy body tissue through the biopsy module;

[0008] The image acquisition module is arranged inside the shell, corresponding to the execution front end of the biopsy module, and is used for acquiring images of in vivo tissues.

[0009] According to the capsule biopsy robot driven by an external magnetic field of the present invention, the shell comprises a cylindrical front end cover and a columnar rear end cover, the cylindrical front end cover and the columnar rear end cover are connected to form a rear end cover inner cavity, the center of the head end of the cylindrical front end cover is provided with a front end cover through hole, the cylinder wall of the cylindrical front end cover extends inward along the front end cover through hole to form a biopsy needle front end guide channel; the end of the cylindrical front end cover is provided with a cylinder bottom, the center of the cylinder bottom is provided with a cylinder bottom through hole corresponding to the biopsy needle guide channel, and an annular boss is provided on the outer surface of the cylinder bottom along the periphery of the cylinder bottom through hole;

[0010] The head end of the columnar rear end cover is connected to the side wall of the cylindrical front end cover to form a rear end cover inner cavity, and the center of the bottom of the end has an end guide channel extending outward; the rear end cover inner cavity is used to fix the biopsy module.

[0011] According to the capsule-type biopsy robot driven by an external magnetic field of the present invention, the internal magnetic drive module includes a housing positioning annular permanent magnet and a rotation driving annular permanent magnet.

[0012] The rotation driving annular permanent magnet is located at the bottom of the end of the columnar rear end cover, and the shell positioning annular permanent magnet is located at the bottom of the cylindrical front end cover.

[0013] According to the capsule biopsy robot driven by an external magnetic field of the present invention, the biopsy module comprises a biopsy needle, a shape memory alloy spring, a return spring and a needle seat.

[0014] The tail end of the biopsy needle is fixed to the needle seat by interference fit, and the outer surface of the needle seat is fixed to the inner ring of the rotation driving annular permanent magnet by interference fit;

[0015] One end of the shape memory alloy spring is connected to one end of the needle seat, and the other end is fixed to the annular boss of the cylindrical front end cover;

[0016] The outer periphery of the shape memory alloy spring is coaxially sleeved with a return spring, one end of the return spring acts on the bottom of the cylindrical front end cover, and the other end acts on the corresponding end surface of the rotation driving annular permanent magnet;

[0017] The head end of the biopsy needle passes through the shape memory alloy spring, the bottom of the cylindrical front end cover and the shell positioning annular permanent magnet, and extends into the front end guide channel of the biopsy needle.

[0018] The capsule-type biopsy robot driven by an external magnetic field according to the present invention further comprises a wire and a silicone hose.

[0019] The silicone hose is arranged in the terminal guide channel, and a wire is arranged in the silicone hose. Two ends of the wire are correspondingly connected to two ends of the shape memory alloy spring for electrically heating the shape memory alloy spring.

[0020] According to the capsule biopsy robot driven by an external magnetic field of the present invention, a wire is used to heat a shape memory alloy spring so that the initial state of the shape memory alloy spring is a pre-compression state, at which time the biopsy needle extends out of the cylindrical front end cover; then the wire stops heating the shape memory alloy spring, and the shape memory alloy spring is restored to an extended state through a reset spring, driving the biopsy needle to be retracted into the cylindrical front end cover.

[0021] According to the capsule-type biopsy robot driven by an external magnetic field of the present invention, the rotating driving annular permanent magnet is equally divided into two sections along the circumferential direction, one section is magnetized as an N pole, and the other section is magnetized as an S pole; the external magnetic field module swings along the circumferential direction of the corresponding rotating driving annular permanent magnet outside the shell, and through the magnetic torque effect with the rotating driving annular permanent magnet, the rotating driving annular permanent magnet is caused to rotate or swing in the expected direction, and the robot body is driven to rotate or swing;

[0022] The external magnetic field module moves outside the shell along the axial direction of the robot body, and attracts the rotating driving annular permanent magnet, so that the rotating driving annular permanent magnet is subjected to magnetic force in the expected direction, and drives the robot body to move;

[0023] The shell positioning annular permanent magnet is magnetized along the axial direction, and in the pre-compression state of the shape memory alloy spring, it is attracted to the external magnetic field module axially arranged in front of the cylindrical front end cover to achieve the positioning of the shell.

[0024] According to the capsule-type biopsy robot driven by an external magnetic field of the present invention, the image acquisition module includes a circuit board and a micro camera. The circuit board is fixed to the upper end surface of the shell positioning annular permanent magnet. The micro camera is arranged on the upper surface of the circuit board. The circuit board provides power supply for the micro camera. The cylindrical front end cover is made of transparent material.

[0025] According to the capsule-type biopsy robot driven by an external magnetic field of the present invention, the image acquisition module further comprises an LED lamp, which is arranged on the upper surface of the circuit board and is powered by the circuit board.

[0026] According to the capsule-type biopsy robot driven by an external magnetic field of the present invention, the external magnetic field module includes a cylindrical permanent magnet, and the cylindrical permanent magnet is magnetized along the axial direction;

[0027] The external magnetic field module is driven by the moving device to achieve position change corresponding to the internal magnetic drive module.

[0028] Beneficial effects of the present invention: The present invention provides a medical device that can be used to diagnose gastrointestinal diseases with the aid of the capsule-type biopsy robot of the present invention. The device of the present invention has active motion capability and can perform biopsy of in vivo tissue samples while collecting images.

[0029] The robot of the present invention has the ability to move actively through the control of an external magnetic field; compared with the existing capsule robot, the present invention can not only obtain gastrointestinal images in real time, but also directly sample living tissues through the cooperation of the image acquisition module and the biopsy module. It can simplify the operation process of human tissues and realize the integration of medical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the capsule-type biopsy robot driven by an external magnetic field according to the present invention;

[0031] Figure 2 It is a schematic diagram of the exploded structure of the capsule-type biopsy robot;

[0032] Figure 3 is a schematic diagram of the motion state of the robot body; the left side of the figure is a schematic diagram of the linear motion of the robot body when the shape memory alloy spring is in the extended state, and the right side is a schematic diagram of the rotation of the robot body;

[0033] Figure 4 It is a schematic diagram of the shell positioning annular permanent magnet cooperating with the external magnetic field module to realize the positioning biopsy when the shape memory alloy spring is in a pre-compressed state. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0037] Specific implementation method 1. Combination Figures 1 to 4 As shown, the present invention provides a capsule-type biopsy robot driven by an external magnetic field, comprising a robot body and an external magnetic field module, wherein the robot body comprises a shell, an image acquisition module, a biopsy module and an internal magnetic drive module.

[0038] The biopsy module and the internal magnetic drive module are arranged in the inner cavity of the shell, and the external magnetic field module is arranged outside the shell, which is an external driving device; the internal magnetic drive module and the external magnetic field module cooperate with each other to drive the robot body to move along the axial direction of the shell and rotate or swing along the circumferential direction of the shell, and pick up the biopsy body tissue through the biopsy module;

[0039] The image acquisition module is arranged inside the shell, corresponding to the execution front end of the biopsy module, and is used for acquiring images of in vivo tissues.

[0040] Further, combined with Figure 1 and Figure 2 As shown, the shell includes a cylindrical front end cover 1 and a columnar rear end cover 12, the cylindrical front end cover 1 and the columnar rear end cover 12 are connected to form a rear end cover inner cavity, the center of the head end of the cylindrical front end cover 1 has a front end cover through hole, the barrel wall of the cylindrical front end cover 1 extends inward along the front end cover through hole to form a biopsy needle front end guide channel; the end of the cylindrical front end cover 1 has a barrel bottom, the center of the barrel bottom has a barrel bottom through hole corresponding to the biopsy needle guide channel, and an annular boss is arranged on the outer surface of the barrel bottom along the periphery of the barrel bottom through hole; the annular boss can be used for the nesting and fixation of the shape memory alloy spring 6.

[0041] The head end of the columnar rear end cover 12 is connected to the side wall of the cylindrical front end cover 1 to form a rear end cover inner cavity, and the center of the bottom end has an end guide channel extending outward; the rear end cover inner cavity is used to fix the biopsy module.

[0042] In this embodiment, the front guide channel of the biopsy needle can be used for guiding the extension of the biopsy needle on the one hand, and can be used for temporary storage of tissue samples on the other hand. The end guide channel is used for the wire 10 and the silicone hose 11 to pass through.

[0043] In this embodiment, the internal magnetic drive module includes a housing positioning annular permanent magnet 13 and a rotation driving annular permanent magnet 9.

[0044] The rotation driving annular permanent magnet 9 is located at the bottom of the end of the columnar rear end cover 12 , and the shell positioning annular permanent magnet 13 is located at the bottom of the cylindrical front end cover 1 .

[0045] The shell positioning annular permanent magnet 13 is used to form a magnetic interaction force with the external magnetic field module to offset the reaction force of the biopsy needle during biopsy when the capsule biopsy robot performs a biopsy task; the rotation driving annular permanent magnet 9 and the cylindrical rear end cover 12 are clearance-fitted to form a linear motion pair, which can drive the linear motion and circular motion of the capsule biopsy robot.

[0046] In this embodiment, through holes are provided at the center of the two annular permanent magnets for the operation of the biopsy needle and the passage of the wire.

[0047] In this embodiment, the biopsy module includes a biopsy needle 2, a shape memory alloy spring 6, a return spring 7 and a needle seat 8.

[0048] The tail end of the biopsy needle 2 is fixed with the needle seat 8 by interference fit, and the outer surface of the needle seat 8 is fixed with the inner ring of the rotation driving annular permanent magnet 9 by interference fit;

[0049] One end of the shape memory alloy spring 6 is connected to one end of the needle seat 8, and the other end is fixed to the annular boss of the cylindrical front end cover 1;

[0050] The outer periphery of the shape memory alloy spring 6 is coaxially sleeved with a return spring 7, one end of the return spring 7 acts on the bottom of the cylindrical front end cover 1, and the other end acts on the corresponding end surface of the rotation driving annular permanent magnet 9;

[0051] The head end of the biopsy needle 2 passes through the shape memory alloy spring 6, the bottom of the cylindrical front end cover 1 and the housing positioning annular permanent magnet 13, and extends into the front end guide channel of the biopsy needle. The nested SMA spring and the return spring can realize the extension and retraction of the biopsy needle, and the external magnetic field can control the biopsy needle to penetrate and withdraw the biopsy tissue.

[0052] Going a step further, combined Figure 1 As shown, this embodiment also includes a wire 10 and a silicone hose 11.

[0053] The silicone hose 11 is arranged in the terminal guide channel, and a wire 10 is arranged in the silicone hose 11. The two ends of the wire 10 are correspondingly connected to the two ends of the shape memory alloy spring 6, which is used to electrically heat the shape memory alloy spring 6. By utilizing the shape memory effect of the shape memory alloy spring 6 and the cooperation of the reset spring 7, the biopsy needle 2 can be extended and retracted, thereby realizing its biopsy function.

[0054] Combination Figure 4 As shown, the shape memory alloy spring 6 is heated by the wire 10, so that the initial state of the shape memory alloy spring 6, i.e., the SMA spring, is a pre-compressed state, at which time the biopsy needle 2 extends out of the cylindrical front end cover 1; then the wire 10 stops heating the shape memory alloy spring 6, and the shape memory alloy spring 6 is restored to the extended state through the reset spring 7, driving the biopsy needle 2 to be retracted into the cylindrical front end cover 1.

[0055] The biopsy needle 2 can be a 20G hollow fine needle for extracting living tissue; the SMA spring, as the driver of the biopsy module, has the advantages of small size, simple control, large driving force, and repeated sampling.

[0056] As an example, the rotationally driven annular permanent magnet 9 is equally divided into two sections along the circumferential direction, one section is magnetized as an N pole, and the other section is magnetized as an S pole; the external magnetic field module swings along the circumferential direction of the corresponding rotationally driven annular permanent magnet 9 outside the shell, and through the magnetic torque effect with the rotationally driven annular permanent magnet 9, the rotationally driven annular permanent magnet 9 is caused to rotate or swing in the expected direction, and the robot body is driven to rotate or swing;

[0057] The external magnetic field module moves along the axial direction of the robot body outside the shell, and attracts the rotating driving annular permanent magnet 9, so that the rotating driving annular permanent magnet 9 is subjected to magnetic force in the expected direction and drives the robot body to move; the shell positioning annular permanent magnet 13 is magnetized along the axial direction, and in the pre-compression state of the shape memory alloy spring 6, it attracts the external magnetic field module axially arranged in front of the cylindrical front end cover 1 to achieve the positioning of the shell.

[0058] Combination Figure 3 As shown, F mag is the attraction of the external magnetic field module to the rotating driving annular permanent magnet 9, T mag is the driving torque of the rotating annular permanent magnet 9 to drive the capsule robot to rotate, T res is the resistance torque encountered by the capsule robot during its rotational motion. It can be seen that the capsule robot can achieve both linear motion and rotational motion under the action of the external magnetic field, and the rotational motion can effectively reduce the friction between the capsule robot and the outside world (static friction is converted into dynamic friction). The details are as follows:

[0059] The linear motion and swing of the robot body are achieved through the interaction between the internal and external magnetic field modules:

[0060] 1) When the external magnetic field module moves along the axial direction of the robot body, the robot body is subjected to F mag The effect of linear motion;

[0061] 2) When the external magnetic field module swings in a circle above the robot body along an axis parallel to the axis of the robot body, the robot body is subjected to T mag The effect of swinging;

[0062] 3) The linear motion of the biopsy needle is when the robot body moves to the specified position, the biopsy needle is driven by the SMA spring and the rotating driving annular permanent magnet moves together to achieve the extension of the biopsy needle and complete the biopsy. At this time, the robot body is stationary.

[0063] Going a step further, combined Figure 1As shown, the image acquisition module includes a circuit board 5 and a micro camera 3. The circuit board 5 is fixed to the upper end surface of the housing positioning annular permanent magnet 13. The micro camera 3 is arranged on the upper surface of the circuit board 5. The circuit board 5 provides power supply for the micro camera 3. The cylindrical front end cover 1 is made of transparent material for image acquisition.

[0064] The image acquisition module further includes an LED lamp 4, which is disposed on the upper surface of the circuit board 5 and is powered by the circuit board 5. The LED lamp 4 can provide lighting for the micro camera 3. The image acquisition module can not only observe the gastrointestinal tract conditions, but also monitor the biopsy process in real time to guide the real-time operation of the physician.

[0065] As an example, the external magnetic field module includes a cylindrical permanent magnet, which is magnetized along the axial direction;

[0066] The external magnetic field module is driven by a moving device, such as a six-degree-of-freedom mechanical arm, to achieve position change corresponding to the internal magnetic drive module.

[0067] During use, the movement state of the robot is indirectly controlled by operating the moving device.

[0068] Below, the specific operation process of the present invention is described in detail:

[0069] 1. System initialization: adjust the initial position of the robot arm according to the experimental object, prepare to cooperate with the drive of the capsule biopsy robot, turn off the power supply of the wire 10 and connect the silicone hose to the air source.

[0070] 2. Image acquisition starts: After the patient swallows the capsule robot orally, the image acquisition module starts to collect digestive tract information, which is then transmitted to the PC outside the body for observation and analysis by the physician. The physician uses the feedback information from the image acquisition module to manipulate the position of the robotic arm through the joystick, and uses the gradient magnetic field generated by the external magnetic field module carried by the mobile device to drive the rotation of the annular permanent magnet 9 inside the capsule robot to control the active movement of the capsule robot.

[0071] 3. Preparation for biopsy process: When a biopsy is needed, the physician controls the external magnetic field module to move the capsule robot to the specified position, and adjusts the position of the external magnetic field module according to the feedback information of the micro camera 3 so that the head of the capsule biopsy robot is aligned with the part requiring biopsy.

[0072] 4. Start the biopsy module: start the power supply, apply current to the SMA spring through the wire 10 to heat it to make it phase change and shrink. One end of the shape memory alloy spring 6 is fixed on the biopsy needle holder 8, and the other end is fixed on the front cover of the capsule robot. When the needle holder 8 shrinks, it drives the biopsy needle holder 8 and the rotation driving annular permanent magnet 9 to slide toward the head of the capsule robot, thereby pushing the biopsy needle 2 out of the capsule.

[0073] 5. Start of biopsy sampling: After the biopsy needle 2 is extended, the capsule robot is adjusted to a posture through the external magnetic field module, so that the tip of the biopsy needle 2 is facing the biopsy site, and then the position and direction of the external magnetic field are adjusted, and the attraction F of the external magnetic field module on the rotating driving annular permanent magnet 9 is used. mag , apply positive pressure to the biopsy needle to make it penetrate the tissue to be sampled, such as Figure 4 shown.

[0074] 6. End of biopsy sampling: Combined Figure 4 As shown, when the biopsy needle tip is completely inserted into the tissue, the direction of the external magnetic field module is controlled to apply a reverse external magnetic field to the robot, and at the same time, the power supply of the wire 10 is disconnected to stop heating the SMA spring, and cold air is introduced through the silicone hose 11 to accelerate the cooling speed of the SMA spring. Finally, under the action of the external magnetic field and the reset spring 7, the biopsy needle 2 is pulled out of the tissue.

[0075] 7. Mission completion: When the biopsy needle 2 is completely retracted into the capsule shell, the capsule robot is pulled out of the patient's body. The biopsy needle 2 is taken out of the capsule and connected to the syringe. By applying positive pressure in the syringe to discharge the sample, the doctor can perform further tests based on the sample collected by the biopsy needle.

[0076] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A capsule-type biopsy robot driven by an external magnetic field, characterized in that It includes a robot body and an external magnetic field module, wherein the robot body includes a shell, an image acquisition module, a biopsy module and an internal magnetic drive module. The biopsy module and the internal magnetic drive module are arranged in the inner cavity of the shell, and the external magnetic field module is arranged outside the shell; the internal magnetic drive module and the external magnetic field module cooperate with each other to drive the robot body to move along the axial direction of the shell and rotate or swing along the circumference of the shell, and pick up the biopsy body tissue through the biopsy module; The image acquisition module is arranged inside the housing, corresponding to the execution front end of the biopsy module, and is used for acquiring images of in vivo tissues; The housing comprises a cylindrical front end cover (1) and a columnar rear end cover (12), the cylindrical front end cover (1) and the columnar rear end cover (12) being connected to form a rear end cover inner cavity, a front end cover through hole being provided at the center of the front end of the cylindrical front end cover (1), a cylinder wall of the cylindrical front end cover (1) extending inwardly along the front end cover through hole to form a biopsy needle front end guide channel; a cylinder bottom being provided at the end of the cylindrical front end cover (1), a cylinder bottom through hole being provided at the center of the cylinder bottom corresponding to the biopsy needle guide channel, and an annular boss being provided on the outer surface of the cylinder bottom along the periphery of the cylinder bottom through hole; The head end of the columnar rear end cover (12) is connected to the side wall of the cylindrical front end cover (1) to form a rear end cover inner cavity, and the center of the bottom of the end has an end guide channel extending outward; the rear end cover inner cavity is used to fix the biopsy module; The internal magnetic drive module comprises a housing positioning annular permanent magnet (13) and a rotation driving annular permanent magnet (9). The rotation driving annular permanent magnet (9) is located at the bottom of the end of the columnar rear end cover (12), and the shell positioning annular permanent magnet (13) is located at the bottom of the cylindrical front end cover (1); The biopsy module comprises a biopsy needle (2), a shape memory alloy spring (6), a return spring (7) and a needle seat (8). The tail end of the biopsy needle (2) is fixed to the needle seat (8) by interference fit, and the outer surface of the needle seat (8) is fixed to the inner ring of the rotation driving annular permanent magnet (9) by interference fit; one end of the shape memory alloy spring (6) is connected to one end of the needle seat (8), and the other end is fixed to the annular boss of the cylindrical front end cover (1); The shape memory alloy spring (6) is coaxially sleeved with a return spring (7), one end of the return spring (7) acts on the bottom of the cylindrical front end cover (1), and the other end acts on the corresponding end surface of the rotation driving annular permanent magnet (9); The front end of the biopsy needle (2) passes through the shape memory alloy spring (6), the bottom of the cylindrical front end cover (1) and the shell positioning annular permanent magnet (13), and extends into the front end guide channel of the biopsy needle; The rotationally driven annular permanent magnet (9) is equally divided into two sections along the circumferential direction, one section is magnetized to an N pole, and the other section is magnetized to an S pole; the external magnetic field module swings along the circumferential direction corresponding to the rotationally driven annular permanent magnet (9) outside the shell, and through the magnetic torque effect with the rotationally driven annular permanent magnet (9), the rotationally driven annular permanent magnet (9) is caused to rotate or swing along the expected direction, and the robot body is driven to rotate or swing; The external magnetic field module moves outside the shell along the axial direction of the robot body, and attracts the rotation driving annular permanent magnet (9), so that the rotation driving annular permanent magnet (9) is subjected to magnetic force in a desired direction, and drives the robot body to move; The shell positioning annular permanent magnet (13) is magnetized in the axial direction and, in the pre-compression state of the shape memory alloy spring (6), is attracted to an external magnetic field module axially arranged in front of the cylindrical front end cover (1), thereby achieving the positioning of the shell.

2. The capsule-type biopsy robot driven by an external magnetic field according to claim 1, characterized in that: It also includes a wire (10) and a silicone hose (11), The silicone hose (11) is arranged in the terminal guide channel, a wire (10) is arranged in the silicone hose (11), and two ends of the wire (10) are correspondingly connected to two ends of the shape memory alloy spring (6) for electrically heating the shape memory alloy spring (6).

3. The capsule-type biopsy robot driven by an external magnetic field according to claim 2, characterized in that: The shape memory alloy spring (6) is heated by a wire (10) so that the initial state of the shape memory alloy spring (6) is a pre-compression state, at which time the biopsy needle (2) extends out of the cylindrical front end cover (1); then the wire (10) stops heating the shape memory alloy spring (6), and the shape memory alloy spring (6) is restored to an extended state by a reset spring (7), driving the biopsy needle (2) to be retracted into the cylindrical front end cover (1).

4. The capsule-type biopsy robot driven by an external magnetic field according to claim 3, characterized in that: The image acquisition module comprises a circuit board (5) and a micro camera (3); the circuit board (5) is fixed to the upper end surface of a housing positioning annular permanent magnet (13); the micro camera (3) is arranged on the upper surface of the circuit board (5); and the circuit board (5) provides power supply for the micro camera (3); and the cylindrical front end cover (1) is made of a transparent material.

5. The capsule-type biopsy robot driven by an external magnetic field according to claim 4, characterized in that: The image acquisition module also includes an LED lamp (4), which is arranged on the upper surface of the circuit board (5) and is powered by the circuit board (5).

6. The capsule-type biopsy robot driven by an external magnetic field according to claim 5, characterized in that: The external magnetic field module comprises a cylindrical permanent magnet, which is magnetized along the axial direction; The external magnetic field module is driven by the moving device to achieve position change corresponding to the internal magnetic drive module.

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