Capsule robot and capsule robot system

Abstract

The application belongs to the technical field of medical equipment, and specifically provides a capsule robot and a capsule robot system. The capsule robot system comprises a capsule robot and a magnetic control device. The capsule robot comprises a shell and an ultraviolet assembly. The shell has a space for storing medicines. The shell is provided with a delivery port. The medicines stored in the shell can be released to the outside of the shell through the delivery port. The ultraviolet assembly is arranged in the shell. The ultraviolet assembly can emit ultraviolet rays to the outside of the shell through the delivery port. The medicines with photosensitive properties are loaded into the shell of the capsule robot. The magnetic control device cooperates with a driving magnet to control the movement of the capsule robot to a patient position. The delivery port of the shell is aligned with the patient position. The medicines stored in the shell are released to the patient position through the delivery port. Then, the ultraviolet assembly emits ultraviolet rays to the outside of the shell through the delivery port. The medicines are solidified and adhered to the patient position and are not easy to dissipate, thereby enhancing the treatment effect of the medicines.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a capsule robot and a capsule robot system. Background Technology

[0002] Capsule robots are intelligent miniature tools that can enter the human gastrointestinal tract for medical exploration and treatment, and they generally have drug delivery capabilities. However, current capsule robots can only simply release drugs at the site of the lesion. The drugs are easily dissipated due to the patient's eating and drinking, as well as the peristalsis of the digestive tract, resulting in poor therapeutic effects. Summary of the Invention

[0003] The purpose of this application is to provide a capsule robot and a capsule robot system, which aims to solve the technical problem in the prior art that drugs released by capsule robots at the site of disease are easily dissipated due to the effects of patients eating and drinking and gastrointestinal peristalsis, resulting in poor therapeutic effects.

[0004] On the one hand, to achieve the above objectives, the technical solution adopted in this application is: a capsule robot, including a shell and an ultraviolet component, the shell having a space for storing medicine, the shell having a delivery port, the medicine stored in the shell being able to be released to the outside of the shell through the delivery port, the ultraviolet component being disposed inside the shell, the ultraviolet component being able to emit ultraviolet light to the outside of the shell through the delivery port.

[0005] Compared with the prior art, the beneficial effects of the capsule robot provided in this application are as follows: During operation, a drug with photosensitive properties is loaded into the capsule robot's shell and transported to the affected area in the human body by the capsule robot. The delivery port of the shell is aligned with the affected area, and the drug stored in the shell is released to the affected area through the delivery port. Then, the ultraviolet component emits ultraviolet light to the outside of the shell through the delivery port. The ultraviolet light irradiates the drug applied to the affected area, causing the drug to solidify and adhere to the affected area and not easily dissipate, thereby enhancing the therapeutic effect of the drug.

[0006] Furthermore, the capsule robot also includes a container, which is disposed within the shell. The container has a first receiving cavity and a first through hole. The first receiving cavity can be used to store medicines, and the first through hole is connected to the first receiving cavity. Both the container and the ultraviolet component can move relative to the shell so that the first through hole and the ultraviolet component are aligned with the delivery port in sequence.

[0007] Furthermore, the ultraviolet component has a positive electrode and a negative electrode; the capsule robot also includes a propulsion mechanism, which includes a motion drive component and a conductive movable block. The motion drive component is disposed inside the housing, and the movable block is disposed on the motion drive component. When the ultraviolet component is aligned with the delivery port, the motion drive component can drive the movable block to move toward the ultraviolet component, so that the opposite ends of the movable block are connected to the positive electrode and the negative electrode, respectively.

[0008] Furthermore, when the movable block is aligned with the delivery port, the moving drive assembly can drive the movable block to move towards the delivery port; when the first through hole is aligned with the delivery port, the movable block moves towards the delivery port to deliver the medicine stored in the first receiving cavity out of the housing through the first through hole and the delivery port; when the ultraviolet component is aligned with the delivery port, the movable block moves towards the delivery port to connect the positive electrode and the negative electrode.

[0009] Furthermore, the container is also provided with a first connecting hole communicating with the first receiving cavity. The first through hole and the first connecting hole are located on opposite sides of the first receiving cavity. The capsule robot also includes a piston block, which is movably disposed in the first receiving cavity. When the first through hole is aligned with the delivery port, the movable block can enter the first receiving cavity through the first connecting hole, thereby pushing the piston block to move toward the direction closer to the first through hole.

[0010] Furthermore, the moving drive assembly includes a propulsion motor, a threaded rod, a nut block, and two push rods. The propulsion motor is connected to the threaded rod, and the nut block is sleeved on the threaded rod and can move along the length of the threaded rod as it rotates. The two push rods are respectively located on opposite sides of the threaded rod, with one end of each push rod connected to the nut block and the other end of each push rod connected to a movable block.

[0011] Furthermore, the container is also provided with a second receiving cavity and a second through hole. The second receiving cavity is independent of the first receiving cavity, and the second through hole is connected to the second receiving cavity. The ultraviolet component is disposed in the second receiving cavity. The ultraviolet component can emit ultraviolet light into the second through hole. The container can move relative to the shell so that the first through hole and the second through hole are aligned with the delivery port in sequence.

[0012] Furthermore, the capsule robot also includes a rotary drive mechanism connected to the container, which can drive the container to rotate relative to the shell around its own central axis. The first and second receiving cavities are distributed circumferentially around the container, and the first and second through holes are distributed circumferentially around the container.

[0013] Furthermore, the number of first receiving cavities is at least two, and the multiple first receiving cavities are independent of each other. The number of first through holes is the same as the number of first receiving cavities. The multiple first through holes are respectively connected to the multiple first receiving cavities one by one. The container can move relative to the shell so that each first through hole is aligned with the delivery port in sequence.

[0014] On the other hand, in order to achieve the above objectives, the technical solution adopted in this application is: a capsule robot system, including a magnetic control device and the capsule robot described above, wherein the capsule robot further includes a drive magnet disposed in the shell, and the drive magnet cooperates with the magnetic control device.

[0015] During operation, a photosensitive drug is loaded into the capsule robot's shell. The magnetic control device works in conjunction with the drive magnet to control the capsule robot to move to the patient's location, aligning the delivery port of the shell with the patient's location. The drug stored in the shell is then released to the patient's location through the delivery port. Next, the ultraviolet component emits ultraviolet light through the delivery port to the outside of the shell. The ultraviolet light irradiates the drug applied to the patient's location, causing the drug to solidify and adhere to the patient's location, making it less likely to dissipate, thereby enhancing the therapeutic effect of the drug. Attached Figure Description

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

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

[0018] Figure 2 Local explosion of the capsule robot provided in the embodiments of this application Figure 1 ;

[0019] Figure 3 Local explosion of the capsule robot provided in the embodiments of this application Figure 2 ;

[0020] Figure 4 Local explosion of the capsule robot provided in the embodiments of this application Figure 3 ;

[0021] Figure 5 Exploded view of the container provided in the embodiments of this application;

[0022] Figure 6 An exploded view of the ultraviolet component provided in the embodiments of this application;

[0023] Figure 7A schematic diagram of the propulsion mechanism provided in the embodiments of this application;

[0024] Figure 8 This is a schematic diagram of the structure of the first split shell provided in an embodiment of this application;

[0025] Figure 9 This is a schematic diagram of the structure of the second split shell provided in an embodiment of this application;

[0026] Figure 10 This is a schematic diagram of the structure of the magnetic control device provided in the embodiments of this application;

[0027] Figure 11 An exploded view of the magnetic control device provided in the embodiments of this application.

[0028] The following are the labeling elements in the figure:

[0029] 100. Capsule robots;

[0030] 10. Housing; 11. Conveying port; 12. Main housing; 121. First split housing; 1211. First slide rail; 1212. First slot; 1213. Second slot; 1214. Third slot; 122. Second split housing; 1221. Sliding protrusion; 1222. Fourth slot; 1223. Second slide rail; 13. End cap; 14. Through port;

[0031] 20. Ultraviolet component; 21. Positive electrode; 22. Negative electrode; 23. Light source; 24. First battery; 25. First wire; 26. Second wire;

[0032] 30. Container; 31. First receiving cavity; 32. Second receiving cavity; 33. Cylindrical portion; 34. Base; 35. Divider portion; 36. First cover portion; 361. First through hole; 362. Second through hole; 37. Second cover portion; 371. First connecting hole; 372. Threaded hole; 373. Second connecting hole; 38. Piston block; 39. Fixing block; 391. Mounting hole; 392. Receiving groove; 393. Wire passage hole;

[0033] 40. Rotary drive mechanism; 41. Power take-off shaft;

[0034] 50. Bearings;

[0035] 60. Pushing mechanism; 61. Motion drive assembly; 611. Propulsion motor; 612. Threaded rod; 613. Nut block; 614. Push rod; 62. Movable block; 63. Base;

[0036] 71. Control circuit board; 72. Sensor; 73. Second battery; 74. Drive magnet; 75. Camera; 76. LED light;

[0037] 200. Magnetically controlled device; 210. Inspection platform; 220. Coil mechanism; 221. First coil; 222. Second coil; 223. Third coil; 230. Outer shell; 231. Fifth slot; 232. Sixth slot; 233. Third split shell; 234. Fourth split shell; 240. Inner shell. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0039] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0042] Please refer to the following: Figures 1 to 5This application provides a capsule robot 100, including a housing 10 and an ultraviolet component 20. The housing 10 has a space for storing medicines and a delivery port 11. Medicines stored in the housing 10 can be released to the outside of the housing 10 through the delivery port 11. The ultraviolet component 20 is disposed inside the housing 10 and can emit ultraviolet light to the outside of the housing 10 through the delivery port 11.

[0043] During operation, a photosensitive drug is loaded into the shell 10 of the capsule robot 100 and transported to the affected area within the body. The delivery port 11 of the shell 10 is aligned with the affected area, and the drug stored in the shell 10 is released to the affected area through the delivery port 11. Then, the ultraviolet (UV) component 20 emits UV light through the delivery port 11 to the outside of the shell 10. The UV light irradiates the drug applied to the affected area, causing the drug to solidify and adhere to the affected area, preventing it from easily dissipating and thus enhancing the therapeutic effect. The capsule robot 100 provided in this application embodiment utilizes UV light to solidify and adhere a photosensitive drug to the affected area, effectively enhancing the therapeutic effect of the drug, and is particularly suitable for treating patients with symptoms such as gastrointestinal bleeding and ulcers. Of course, depending on each patient's physical condition, when it is not necessary or suitable to use UV light to solidify and adhere the drug to the affected area, the capsule robot 100 provided in this application embodiment can be used as a general capsule robot 100, simply releasing ordinary drugs to the affected area.

[0044] In another embodiment of this application, combined with Figure 2 and Figure 5 As shown, the capsule robot 100 also includes a container 30, which is disposed inside the housing 10. The container 30 has a first receiving cavity 31 and a first through hole 361. The first receiving cavity 31 can be used to store medicines. The first through hole 361 communicates with the first receiving cavity 31. The container 30 and the ultraviolet component 20 can both move relative to the housing 10 so that the first through hole 361 and the ultraviolet component 20 are aligned with the delivery port 11 in sequence.

[0045] During operation, the capsule robot 100 moves to the patient's location, aligning the delivery port 11 of the housing 10 with the patient's location. Then, the container 30 moves relative to the housing 10, aligning the first through-hole 361 with the delivery port 11. Subsequently, the photosensitive drug stored in the first receiving cavity 31 is released sequentially through the first through-hole 361 and the delivery port 11 to the patient's location. Then, both the container 30 and the ultraviolet component 20 move relative to the housing 10, moving the first through-hole 361 away from the delivery port 11, while the ultraviolet component 20 replaces the first through-hole 361 and aligns with the delivery port 11. The ultraviolet component 20 then emits ultraviolet light into the delivery port 11. After passing through the delivery port 11, the ultraviolet light irradiates the drug applied to the patient's location, causing the drug to solidify and adhere to the patient's location. It should be understood that the delivery port 11 can only be aligned with one of the first through-hole 361 and the ultraviolet component 20 at a time. This is to reduce the size of the delivery port 11, allowing the drug or ultraviolet light to be concentrated and precisely applied to the affected area. The size of the delivery port 11 can be the same as or close to the size of the first through-hole 361. Based on this, by moving the container 30 and the ultraviolet component 20 relative to the housing 10, the first through-hole 361 and the ultraviolet component 20 are aligned with the delivery port 11 sequentially, thus ensuring that the drug and ultraviolet light act on the affected area in a sequential manner. Of course, in some other embodiments, the size of the delivery port 11 can be increased so that the first through-hole 361 and the ultraviolet component 20 are aligned with the delivery port 11 simultaneously.

[0046] The container 30 and the ultraviolet (UV) component 20 can move independently or synchronously. When the container 30 and UV component 20 can move independently, the container 30 can first be moved closer to the conveyor port 11, aligning its first through-hole 361 with the port 11. Then, the first through-hole 361 can be moved away from the port 11, no longer aligned with it. Next, the UV component 20 can be moved closer to the port 11, replacing the first through-hole 361 and aligning with it. When the container 30 and UV component 20 move synchronously, the first through-hole 361 of the container 30 can first be moved closer to the port 11, aligning it with the port 11. Simultaneously, the UV component 20 can move away from the port 11. Then, the UV component 20 can be moved closer to the port 11, simultaneously moving the first through-hole 361 away from it, no longer aligned with it, thus allowing the UV component 20 to replace the first through-hole 361 and align with the port 11.

[0047] The following is a further explanation of the synchronous movement of container 30 and ultraviolet component 20:

[0048] Combination Figure 2 and Figure 5As shown, the container 30 is also provided with a second receiving cavity 32 and a second through hole 362. The second receiving cavity 32 is independent of the first receiving cavity 31. The second through hole 362 is connected to the second receiving cavity 32. The ultraviolet component 20 is disposed in the second receiving cavity 32. The ultraviolet component 20 can emit ultraviolet light into the second through hole 362. The container 30 can move relative to the shell 10 so that the first through hole 361 and the second through hole 362 are aligned with the delivery port 11 in sequence.

[0049] During operation, firstly, the container 30 moves relative to the housing 10 to align the first through-hole 361 with the delivery port 11, so that the medicine stored in the first receiving cavity 31 can be released onto the patient site through the first through-hole 361 and the delivery port 11 in sequence. Then, the container 30 moves relative to the housing 10 to move the first through-hole 361 away from the delivery port 11 and no longer align it with the delivery port 11. At the same time, the second through-hole 362 moves closer to the delivery port 11 and replaces the first through-hole 361 to align with the delivery port 11, so that the ultraviolet rays emitted by the ultraviolet component 20 provided in the second receiving cavity 32 can pass through the second through-hole 362 and the delivery port 11 in sequence to irradiate the medicine applied to the patient. By providing a second receiving cavity 32 within the container 30, and placing the ultraviolet (UV) component 20 inside the second receiving cavity 32, the container 30 can move together with the UV component 20, achieving synchronous movement between the container 30 and the UV component 20. This synchronous movement eliminates the need for separate drive devices for the container 30 and the UV component 20, thus simplifying the structure of the capsule robot 100 and reducing manufacturing costs. Furthermore, placing the UV component 20 within the second receiving cavity 32 of the container 30 effectively prevents the UV component 20 from detaching from the container 30, improving operational reliability.

[0050] The motion of container 30 is not limited; it can be linear motion or rotational motion. The following is a further explanation of the case where container 30 is in rotational motion:

[0051] like Figure 3 As shown, the capsule robot 100 also includes a rotation drive mechanism 40, which is connected to the container 30 and can drive the container 30 to rotate relative to the shell 10 around its own central axis. The first receiving cavity 31 and the second receiving cavity 32 are distributed circumferentially around the container 30, and the first through hole 361 and the second through hole 362 are distributed circumferentially around the container 30.

[0052] When the rotary drive mechanism 40 drives the container 30 to rotate relative to the housing 10 around its own central axis, the first through hole 361 and the second through hole 362 will make circular motion around the central axis of the container 30, thereby being able to alternately align with the delivery port 11.

[0053] Specifically, the rotary drive mechanism 40 can be a rotary motor.

[0054] Specifically, such as Figure 3 As shown, the capsule robot 100 also includes a bearing 50, which is disposed inside the housing 10 and sleeved on the container 30 to allow the container 30 to rotate relative to the housing 10.

[0055] In one embodiment, combined Figure 2 and Figure 5 As shown, there are at least two first receiving cavities 31, and the multiple first receiving cavities 31 are independent of each other. The number of first through holes 361 is the same as the number of first receiving cavities 31. The multiple first through holes 361 are respectively connected to the multiple first receiving cavities 31. The container 30 can move relative to the shell 10 so that each first through hole 361 is aligned with the delivery port 11 in sequence.

[0056] During operation, at least one first receiving cavity 31 is used to store a photosensitive drug. The remaining first receiving cavities 31 can be used to store ordinary drugs or medical devices, such as biopsy needles and scalpels, to enrich the functionality of the capsule robot 100. Of course, photosensitive drugs can also be placed in each first receiving cavity 31, depending on actual needs. The container 30 can move relative to the shell 10 so that each first through hole 361 is sequentially aligned with the delivery port 11, so that items stored in each first receiving cavity 31 can be sequentially transported to the patient's site through the corresponding first through hole 361 and delivery port 11. The second receiving cavity 32 and the multiple first receiving cavities 31 are arranged around the central axis of the container 30. The container 30 is driven to rotate around its own central axis relative to the shell 10 by a rotation drive mechanism 40, which can switch between the first receiving cavity 31 and the second receiving cavity 32, as well as between the multiple first receiving cavities 31.

[0057] For example, such as Figure 5 The diagram shows three first receiving cavities 31. One of these cavities can hold a photosensitive drug, such as gelatinized methacrylic anhydride (GelMA). The other two cavities can hold sodium alginate and calcium chloride solutions, respectively. The sodium alginate and calcium chloride solutions can react chemically to form a cross-linked structure that solidifies and adheres to the affected area, preventing it from easily dissipating and thus enhancing the therapeutic effect of the drug. Depending on actual needs, other drug particles with therapeutic effects can be added to the aforementioned drug to further enhance the overall efficacy.

[0058] In one embodiment, combined Figure 4 and Figure 5As shown, the container 30 includes a cylindrical portion 33, a base 34, and partition portions 35. The base 34 is located at the center of the cylindrical portion 33. There are at least three partition portions 35. Each partition portion 35 is plate-shaped. One end of each partition portion 35 is connected to the base 34, and the other end of each partition portion 35 is connected to the inner wall of the cylindrical portion 33. The partition portions 35 are distributed circumferentially along the base 34. Each pair of adjacent partition portions 35 forms a receiving space. One of the receiving spaces is a second receiving cavity 32, and the remaining multiple receiving spaces are first receiving cavities 31.

[0059] One end of the partition 35 is connected to the base 34, and the other end of the partition 35 is connected to the inner wall of the cylindrical part 33. Multiple partitions 35 are distributed circumferentially along the base 34, thereby dividing the internal space of the cylindrical part 33 into multiple independent receiving spaces. The partitions 35 are sheet-like, which can improve the utilization rate of the internal space of the cylindrical part 33, thereby allowing more drugs or medical devices to be loaded into the container 30.

[0060] Specifically, the partition 35 is a flat sheet structure, and the cross-sectional shape of the receiving space formed between each pair of adjacent partitions 35 is fan-shaped, which has the advantages of simple structure and easy processing and manufacturing.

[0061] Specifically, there are four partitions 35, which form four independent containment spaces. One of the containment spaces is the second containment cavity 32, and the other three containment spaces are the first containment cavity 31.

[0062] Furthermore, combined Figure 2 and Figure 5 As shown, the container 30 also includes a first cover portion 36, which covers one end opening of the cylindrical portion 33. The first cover portion 36 has a first through hole 361 corresponding to the position of each first receiving cavity 31, and a second through hole 362 corresponding to the position of the second receiving cavity 32.

[0063] Furthermore, such as Figure 5 As shown, the container 30 also includes a second cover 37, which covers the opening at the end of the cylindrical portion 33 away from the first cover 36. The second cover 37 has a first connecting hole 371 corresponding to the position of each first receiving cavity 31. Figure 3 and Figure 4As shown, the capsule robot 100 also includes a pushing mechanism 60, which includes a moving drive assembly 61 and a movable block 62. The moving drive assembly 61 is disposed inside the housing 10, and the movable block 62 is disposed on the moving drive assembly 61. The moving drive assembly 61 can drive the movable block 62 through the first connecting hole 371 into the first receiving cavity 31, and deliver the items stored in the first receiving cavity 31 out of the housing 10 through the first through hole 361 and the delivery port 11.

[0064] Specifically, while the container 30 rotates relative to the shell 10, it can also rotate relative to the movable block 62 of the pushing mechanism 60, so that each of the first connecting holes 371 is aligned with the movable block 62 in sequence, thereby the moving drive assembly 61 can drive the movable block 62 into each of the first receiving cavities 31 respectively, and push out the items stored in each of the first receiving cavities 31.

[0065] Specifically, such as Figure 4 As shown, the second cover 37 has a threaded hole 372 at the center of the side facing the rotary drive mechanism 40. The rotary drive mechanism 40 has a power output shaft 41, which is threadedly connected to the threaded hole 372, so that the rotary drive mechanism 40 can drive the container 30 to rotate around its own central axis.

[0066] Furthermore, combined Figure 2 and Figure 5 As shown, the container 30 also includes a piston block 38, which is movably disposed within the first receiving cavity 31. A movable block 62 can enter the first receiving cavity 31 through the first connecting hole 371, thereby pushing the piston block 38 towards the first through hole 361. Before the capsule robot 100 enters the human body, the piston block 38 is first moved to a position near the second cover 37, allowing sufficient medication to be placed on the side of the piston block 38 facing the first through hole 361. When it is necessary to release the medication stored in the first receiving cavity 31 during operation, the moving drive assembly 61 drives the movable block 62 through the first connecting hole 371 into the first receiving cavity 31. The movable block 62 pushes the piston block 38 towards the first through hole 361, thereby expelling the medication stored in the first receiving cavity 31 from the first through hole 361. When the first receiving cavity 31 contains a medical device, the medical device can be directly fixed on the side of the piston block 38 facing the first through hole 361, and the piston block 38 drives the medical device to extend out of the first receiving cavity 31 through the first through hole 361.

[0067] Specifically, the piston block 38 is shaped to fit the first receiving cavity 31, and the periphery of the piston block 38 is in sealed contact with the inner wall of the first receiving cavity 31. As the piston block 38 moves towards the first through hole 361, it effectively prevents the drug from entering the side of the piston block 38 facing away from the first through hole 361 and thus being unable to be pushed out of the first receiving cavity 31, thereby improving the utilization rate of the drug. The piston block 38 is fan-shaped corresponding to the first receiving cavity 31, which is simple in structure and easy to manufacture.

[0068] Specifically, the second cover portion 37 is detachably connected to the cylindrical portion 33 to facilitate the installation of the piston block 38.

[0069] In one embodiment, combined Figure 4 and Figure 5 As shown, the ultraviolet component 20 has a positive electrode 21 and a negative electrode 22. The movable block 62 is conductive. When the ultraviolet component 20 is aligned with the delivery port 11, the moving drive component 61 can drive the movable block 62 to move towards the ultraviolet component 20, so that the opposite ends of the movable block 62 are connected to the positive electrode 21 and the negative electrode 22 respectively.

[0070] It should be noted that when the movable block 62 is separated from the positive electrode 21 and the negative electrode 22, the circuit of the ultraviolet component 20 is open, and the ultraviolet component 20 does not work. When the two ends of the movable block 62 are connected to the positive electrode 21 and the negative electrode 22 respectively, the positive electrode 21 and the negative electrode 22 are connected, the circuit of the ultraviolet component 20 is open, and the ultraviolet component 20 works and emits ultraviolet light. That is, the movable block 62 acts as a circuit switch. During operation, the first through hole 361 is first aligned with the delivery port 11 so that the medicine stored in the first receiving cavity 31 is released sequentially through the first through hole 361 and the delivery port 11 onto the patient's site. Then, the ultraviolet component 20 is aligned with the delivery port 11, and the movement drive component 61 drives the movable block 62 to move towards the ultraviolet component 20, so that the two ends of the movable block 62 are connected to the positive electrode 21 and the negative electrode 22 respectively, and the ultraviolet component 20 works and emits ultraviolet light. It should be understood that the moving drive component 61 can also drive the movable block 62 to move away from the ultraviolet component 20, so that the movable block 62 is separated from the positive electrode 21 and the negative electrode 22. When the movable block 62 is separated from the positive electrode 21 and the negative electrode 22, the circuit of the ultraviolet component 20 is open and the ultraviolet component 20 stops emitting ultraviolet light.

[0071] In one embodiment, the movable block 62 is aligned with the delivery port 11, and the motion drive assembly 61 can drive the movable block 62 to move toward the delivery port 11. When the first through hole 361 is aligned with the delivery port 11, the movable block 62 can move toward the delivery port 11 to deliver the item stored in the first receiving cavity 31 to the outside of the housing 10 through the first through hole 361 and the delivery port 11. When the ultraviolet component 20 is aligned with the delivery port 11, the movable block 62 can move toward the delivery port 11 to connect the positive electrode 21 and the negative electrode 22.

[0072] Specifically, when the first through hole 361 is aligned with the delivery port 11, the first connecting hole 371 is aligned with the movable block 62. The movable block 62 can enter the first receiving cavity 31 through the first connecting hole 371, thereby pushing the piston block 38 to move towards the first through hole 361, thus delivering the item in the first receiving cavity 31 out of the housing 10. The alignment of the ultraviolet component 20 with the delivery port 11 specifically means that the second through hole 362 is aligned with the delivery port 11, so that the ultraviolet rays emitted by the ultraviolet component 20 can pass through the second through hole 362 and the delivery port 11 in sequence.

[0073] In this embodiment, the movable block 62 can be aligned with the first connecting hole 371 to push the drug in the first receiving cavity 31 out of the first receiving cavity 31, and can also be aligned with the ultraviolet component 20 to trigger the ultraviolet component 20 to switch on and off. There is no need to configure the pushing mechanism 60 separately for the first receiving cavity 31 and the ultraviolet component 20, which helps to simplify the structure of the capsule robot 100 and reduce the manufacturing cost.

[0074] In one embodiment, combined Figure 4 and Figure 5 As shown, the container 30 also includes a fixing block 39, which is located inside the second receiving cavity 32 and connected to the side of the second cover 37 facing the second receiving cavity 32. The second cover 37 has a second connecting hole 373 corresponding to the position of the fixing block 39. The positive electrode 21 and the negative electrode 22 are both embedded on the side of the fixing block 39 facing the second connecting hole 373. When the second through hole 362 is aligned with the delivery port 11, the second connecting hole 373 is aligned with the movable block 62. The movable block 62 can pass through the second connecting hole 373 and connect to the positive electrode 21 and the negative electrode 22.

[0075] By embedding the positive electrode 21 and the negative electrode 22 on the side of the fixing block 39 facing the second connection hole 373, the positive electrode 21 and the negative electrode 22 can be fixed, and the movable block 62 can be easily connected or separated from the positive electrode 21 and the negative electrode 22, making the switch operation very simple.

[0076] Furthermore, combined Figure 5 and Figure 6 As shown, the ultraviolet component 20 includes a light source 23, a first battery 24, a first wire 25, and a second wire 26. The light source 23 and the first battery 24 are both installed within the second receiving cavity 32. The positive electrode 21 passes through the fixing block 39 and is electrically connected to the positive electrode of the first battery 24. The negative electrode of the first battery 24 is connected to the light source 23 via the first wire 25. One end of the second wire 26 is connected to the light source 23, and the other end passes through the fixing block 39 and is connected to the negative electrode 22. When the two opposite ends of the movable block 62 are connected to the positive electrode 21 and the negative electrode 22 respectively, current flows out from the positive electrode of the first battery 24, then sequentially passes through the positive electrode 21, the movable block 62, the negative electrode 22, the second wire 26, the light source 23, and the first wire 25 before returning to the negative electrode of the first battery 24, forming a closed circuit. The light source 23 then turns on and emits ultraviolet light. Specifically, the first battery 24 can be a button battery.

[0077] Furthermore, such as Figure 6 As shown, the fixing block 39 has a mounting hole 391, a receiving groove 392, and a wire passage hole 393. The mounting hole 391 penetrates the fixing block 39, and the positive electrode 21 is embedded in the mounting hole 391. The receiving groove 392 is opened on the side of the fixing block 39 facing the second connecting hole 373, and the negative electrode 22 is embedded in the receiving groove 392. The wire passage hole 393 is opened at the bottom of the receiving groove 392 and penetrates the side of the fixing block 39 facing away from the second connecting hole 373. The second wire 26 passes through the wire passage hole 393 and connects to the negative electrode 22. By providing the mounting hole 391, receiving groove 392, and wire passage hole 393 on the fixing block 39, the installation and fixing of the positive electrode 21 and the negative electrode 22 are satisfied, as well as the connection between the second wire 26 and the negative electrode 22. The structure is simple and the manufacturing cost is low.

[0078] Furthermore, the fixing block 39 is strip-shaped, and its length is greater than the distance between the center of the positive electrode 21 and the center of the negative electrode 22. This greater length allows the fixing block 39 to easily connect to both the positive and negative electrodes simultaneously, effectively preventing the fixing block 39 from failing to connect to both electrodes simultaneously due to deviations in the rotation angle of the container 30, thus improving operational stability and reliability.

[0079] In one embodiment, as shown in Figure 7, the moving drive assembly 61 includes a propulsion motor 611, a threaded rod 612, a nut block 613, and two push rods 614. The propulsion motor 611 is connected to the threaded rod 612. The nut block 613 is sleeved on the threaded rod 612 and can move along the length direction of the threaded rod 612 as the threaded rod 612 rotates. The two push rods 614 are respectively arranged on opposite sides of the threaded rod 612. One end of each push rod 614 is connected to the nut block 613, and the other end of each push rod 614 is connected to the movable block 62.

[0080] During operation, the propulsion motor 611 drives the threaded rod 612 to rotate. The nut block 613 moves along the length of the threaded rod 612 as it rotates. The threaded block, through two push rods 614, drives the movable block 62 to move closer to or further away from the ultraviolet component 20. Compared to a single push rod 614, by using two push rods 614, with the two push rods 614 located on opposite sides of the threaded rod 612, the influence of torque can be effectively eliminated, reducing the occurrence of jamming in the propulsion motor 611.

[0081] Furthermore, such as Figure 7 As shown, the mobile drive assembly 61 also includes a base 63, on which the propulsion motor 611 is mounted, and the bottom of the nut block 613 is in contact with the base 63. By having the bottom of the nut block 613 in contact with the base 63, the rotation of the nut block 613 as the threaded rod 612 rotates can be restricted, thereby allowing the nut block 613 to move along the length of the threaded rod 612 as the threaded rod 612 rotates.

[0082] In one embodiment, such as Figure 3 As shown, the capsule robot 100 also includes a control circuit board 71, which is installed inside the housing 10 and electrically connected to the propulsion motor 611 and the rotary drive mechanism 40.

[0083] In one embodiment, such as Figure 3 As shown, the capsule robot 100 also includes a sensor 72, which is installed inside the housing 10 and used to detect the attitude of the capsule robot 100. Specifically, the sensor 72 may be an IMU sensor 72, capable of measuring the three-axis attitude angles and acceleration of the capsule robot 100.

[0084] In one embodiment, such as Figure 3 As shown, the capsule robot 100 also includes a second battery 73, which is installed inside the housing 10 and electrically connected to the control circuit board 71.

[0085] In one embodiment, such as Figure 3As shown, the capsule robot 100 also includes a drive magnet 74, which is installed inside the housing 10 and is used to cooperate with an external magnetic control device 200 to control the movement of the capsule robot 100.

[0086] In one embodiment, such as Figure 2 As shown, the capsule robot 100 also includes a camera 75, which is installed inside the housing 10 and positioned near the delivery port 11 to provide images of the patient inside the body.

[0087] In one embodiment, such as Figure 2 As shown, the capsule robot 100 also includes an LED light 76, which is installed inside the housing 10. The LED light 76 can emit light to the outside of the housing 10 to improve the shooting conditions of the camera 75.

[0088] In one embodiment, combined Figure 1 and Figure 2 As shown, the housing 10 includes a main housing 12 and an end cap 13. One end of the main housing 12 is provided with a passage 14. The end cap 13 is connected to the end of the main housing 12 with the passage 14 and covers the passage 14. The conveying port 11 is provided on the end cap 13. The pushing mechanism 60, the rotary drive mechanism 40, the control circuit board 71, the sensor 72, the second battery 73, and the drive magnet 74 are all installed inside the main housing 12. One end of the container 30 is located inside the main housing 12 to be connected to the rotary drive mechanism 40, and the other end of the container 30 is located inside the end cap 13 to be connected to the conveying port 11. The camera 75 and the LED light 76 are installed inside the end cap 13.

[0089] Furthermore, such as Figure 2 As shown, the LED light 76 is disposed on one end of the main body shell 12 where the access port 14 is provided, and is arranged around the access port 14.

[0090] In one embodiment, combined Figure 2 and Figure 3 As shown, the main body shell 12 includes a first split shell 121 and a second split shell 122. The first split shell 121 and the second split shell 122 are detachably connected to facilitate the installation and maintenance of the pushing mechanism 60, the rotary drive mechanism 40, the control circuit board 71, the sensor 72, the second battery 73 and the drive magnet 74.

[0091] Furthermore, combined Figure 8 and Figure 9 As shown, the first split shell 121 is provided with a first slide rail 1211, and the second split shell 122 is provided with a sliding protrusion 1221. The sliding protrusion 1221 slides and engages with the first slide rail 1211 to achieve a detachable connection between the first split shell 121 and the second split shell 122. The structure is simple and easy to assemble and disassemble.

[0092] Furthermore, combined Figure 3 and Figure 8 As shown, the first split shell 121 is provided with a first slot 1212, a second slot 1213 and a third slot 1214. The second battery 73 and the driving magnet 74 are both installed in the first slot 1212. The second slot 1213 and the third slot 1214 are respectively located on opposite sides of the first slot 1212. The control circuit board 71 is installed in the second slot 1213 and the sensor 72 is installed in the third slot 1214. The first slot 1212 is square in shape corresponding to the shape of the second battery 73 and the driving magnet 74. The second slot 1213 is flat in shape corresponding to the shape of the control circuit board 71. The third slot 1214 is flat in shape corresponding to the shape of the sensor 72.

[0093] Furthermore, combined Figure 3 and Figure 9 As shown, the second split shell 122 is provided with a fourth slot 1222, and the rotary drive mechanism 40 is installed in the fourth slot 1222. The shape of the fourth slot 1222 corresponding to the rotary drive mechanism 40 is set as an arc.

[0094] Furthermore, combined Figure 7 and Figure 9 As shown, the second split shell 122 is provided with a second slide rail 1223. The base 63 of the moving drive assembly 61 is slidably engaged with the second slide rail 1223. The engagement between the base 63 and the second slide rail 1223 facilitates the pushing mechanism 60 being pushed into the main shell 12. The shape of the second slide rail 1223 corresponding to the base 63 is set as a dovetail shape.

[0095] This application also provides a capsule robot system, such as Figure 10 As shown, the capsule robot system includes a magnetic control device 200 and the aforementioned capsule robot 100. The magnetic control device 200 cooperates with a drive magnet 74 disposed inside the housing 10.

[0096] During operation, a photosensitive drug is loaded into the shell 10 of the capsule robot 100. The magnetic control device 200 works in conjunction with the drive magnet 74 to control the capsule robot 100 to move to the patient's location, aligning the delivery port 11 of the shell 10 with the patient's location. The drug stored in the shell 10 is then released to the patient's location through the delivery port 11. Subsequently, the ultraviolet component 20 emits ultraviolet light through the delivery port 11 to the outside of the shell 10. The ultraviolet light irradiates the drug applied to the patient's location, causing the drug to solidify and adhere to the patient's location, making it less likely to dissipate, thereby enhancing the therapeutic effect of the drug.

[0097] Furthermore, combined Figure 10 and Figure 11As shown, the magnetic control device 200 includes an examination platform 210 and a coil mechanism 220, with the coil mechanism 220 arranged around the examination platform 210. During operation, the patient swallows the capsule robot 100 and then lies flat on the examination platform 210. When energized, the coil mechanism 220 generates a magnetic field. Under the control of this magnetic field, the drive magnet 74 inside the capsule robot 100, located within the patient's body, can drive the capsule robot 100 to perform multi-degree-of-freedom movements, thereby enabling precise movement to the target lesion.

[0098] Furthermore, combined Figure 10 and Figure 11 As shown, the magnetic control device 200 also includes an outer shell 230 and an inner shell 240. The inner shell 240 is disposed inside the outer shell 230, and the examination platform 210 is disposed within the inner shell 240. The coil mechanism 220 is located between the outer shell 230 and the inner shell 240. The coil mechanism 220 includes three sets of coils with mutually perpendicular directions, each set including two oppositely arranged coils. By placing the coil mechanism 220 between the outer shell 230 and the inner shell 240, the influence of the external environment on the operation of the coil mechanism 220 can be effectively avoided, and the coil mechanism 220 can be protected. Furthermore, when the patient lies flat on the examination platform 210 disposed within the inner shell 240, contact between the patient and the coil mechanism 220 can be avoided, thus ensuring the patient's safety. By setting three sets of coils with mutually perpendicular directions, each set including two oppositely arranged coils, the capsule robot 100 can be controlled to perform multi-degree-of-freedom movements.

[0099] Specifically, the coil mechanism 220 includes a first coil group, a second coil group, and a third coil group. The first coil group includes two first coils 221, the second coil group includes two second coils 222, and the third coil group includes two third coils 223. The two first coils 221 are spaced apart along a first direction, the two second coils 222 are spaced apart along a second direction, and the two third coils 223 are spaced apart along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other. The first direction is the front-back direction, the second direction is the up-down direction, and the third direction is the left-right direction.

[0100] Furthermore, combined Figure 10 and Figure 11 As shown, two first coils 221 are respectively sleeved on opposite ends of the inner shell 240 and are both locked between the inner shell 240 and the outer shell 230. The outer shell 230 has a fifth slot 231 on each of the two opposite inner walls in the second direction and a sixth slot 232 on each of the two opposite inner walls in the third direction. The two second coils 222 are respectively set in the two fifth slots 231, and the two third coils 223 are respectively set in the two sixth slots 232.

[0101] Furthermore, combined Figure 10 and Figure 11 As shown, the outer casing 230 includes a third split casing 233 and a fourth split casing 234, which are detachably connected to facilitate the installation and maintenance of the coil mechanism 220. The sixth slot 232 is formed by the third split casing 233 and the fourth split casing 234.

[0102] Furthermore, the inspection platform 210 is slidably connected to the inner shell 240 to facilitate the delivery of the patient into the inner shell 240.

[0103] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A capsule robot, characterized in that, The capsule robot includes a housing and an ultraviolet (UV) component. The housing has a space for storing medicine and a delivery port through which medicine stored in the housing can be released to the outside of the housing. The UV component is disposed within the housing and emits UV light to the outside of the housing through the delivery port. The capsule robot also includes a container disposed within the housing. The container has a first receiving cavity and a first through-hole. The first receiving cavity can be used to store medicine, and the first through-hole communicates with the first receiving cavity. Both the container and the UV component are movable relative to the housing, such that the first through-hole and the UV component are sequentially aligned with the delivery port. The UV component has a positive electrode and a negative electrode. The capsule robot also includes a propulsion mechanism comprising a motion drive component and a conductive movable block. The motion drive component is disposed within the housing, and the movable block is disposed on the motion drive component. When the ultraviolet component is aligned with the delivery port, the moving drive component can drive the movable block to move towards the ultraviolet component, so that the opposite ends of the movable block are respectively connected to the positive electrode and the negative electrode; when the movable block is aligned with the delivery port, the moving drive component can drive the movable block to move towards the delivery port; when the first through hole is aligned with the delivery port, the movable block moves towards the delivery port, delivering the medicine stored in the first receiving cavity out of the housing through the first through hole and the delivery port; when the ultraviolet component is aligned with the delivery port, the movable block moves towards the delivery port to connect the positive electrode and the negative electrode.

2. The capsule robot according to claim 1, characterized in that: The container is also provided with a first connecting hole communicating with the first receiving cavity. The first through hole and the first connecting hole are respectively located on opposite sides of the first receiving cavity. The capsule robot also includes a piston block, which is movably disposed in the first receiving cavity. When the first through hole is aligned with the delivery port, the movable block can enter the first receiving cavity through the first connecting hole, thereby pushing the piston block to move toward the direction close to the first through hole.

3. The capsule robot according to claim 1, characterized in that: The moving drive assembly includes a propulsion motor, a threaded rod, a nut block, and two push rods. The propulsion motor is connected to the threaded rod. The nut block is sleeved on the threaded rod and can move along the length of the threaded rod as it rotates. The two push rods are respectively located on opposite sides of the threaded rod. One end of each push rod is connected to the nut block, and the other end of each push rod is connected to the movable block.

4. The capsule robot according to claim 1, characterized in that: The container is further provided with a second receiving cavity and a second through hole. The second receiving cavity is independent of the first receiving cavity, and the second through hole is connected to the second receiving cavity. The ultraviolet component is disposed in the second receiving cavity. The ultraviolet component can emit ultraviolet light into the second through hole. The container can move relative to the shell so that the first through hole and the second through hole are aligned with the delivery port in sequence.

5. The capsule robot according to claim 4, characterized in that: The capsule robot also includes a rotary drive mechanism connected to the container, which can drive the container to rotate relative to the shell about its own central axis. The first receiving cavity and the second receiving cavity are distributed circumferentially around the container, and the first through hole and the second through hole are distributed circumferentially around the container.

6. The capsule robot according to claim 4, characterized in that: The number of the first receiving cavities is at least two, and the multiple first receiving cavities are independent of each other. The number of the first through holes is the same as the number of the first receiving cavities. The multiple first through holes are respectively connected to the multiple first receiving cavities one by one. The container can move relative to the shell so that each of the first through holes is sequentially aligned with the delivery port.

7. A capsule robot system, characterized in that, The device includes a magnetic control device and a capsule robot as described in any one of claims 1-6, wherein the capsule robot further includes a drive magnet disposed within the housing, the drive magnet cooperating with the magnetic control device.

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