Capsule robot and capsule robot system

Abstract

The present application belongs to the field of medical equipment technology, and specifically provides a capsule robot and a capsule robot system. The capsule robot includes a shell, a drive device, a biopsy needle, and a spiral structure. The drive device is arranged in the shell and connected to the biopsy needle. It can drive the biopsy needle to move linearly along its own axis to extend out of the shell or retract into the shell. The drive device can also drive the biopsy needle to rotate around its own axis. The biopsy needle is provided with a sampling cavity for accommodating human tissue. The spiral structure is arranged in the sampling cavity to prevent the human tissue in the sampling cavity from escaping from the sampling cavity. The drive device drives the biopsy needle to move linearly to extend out of the shell and then penetrate into the tissue, so that the tissue enters the sampling cavity of the biopsy needle. At the same time, it drives the biopsy needle to rotate around its own axis. The spiral structure cuts the tissue by rotation, and the tissue is embedded in the spiral structure. In the process of retracting the biopsy needle into the shell, the spiral structure can prevent the tissue from escaping from the sampling cavity, thereby improving the sampling success rate.

Description

Technical Field

[0001] The present application belongs to the field of medical equipment technology, and in particular relates to a capsule robot and a capsule robot system. Background Art

[0002] A capsule robot is an intelligent miniature tool capable of entering the human gastrointestinal tract for medical exploration and treatment. Current biopsy capsule robots typically use a hollow, tubular biopsy needle. When sampling tissue, the needle is inserted linearly into the tissue, trapping it within the lumen. However, due to the smooth inner wall of the needle, tissue inside can easily slip out when the needle is retracted, resulting in a low sampling success rate. Summary of the Invention

[0003] The purpose of this application is to provide a capsule robot and a capsule robot system, aiming to solve the technical problem of low success rate of capsule robots in sampling human tissue in the prior art.

[0004] On the one hand, in order to achieve the above-mentioned purpose, the technical solution adopted in this application is: a capsule robot, including a shell, a driving device, a biopsy needle and a spiral structure. The driving device is arranged in the shell and connected to the biopsy needle. It can drive the biopsy needle to move in a straight line along its own axis to extend out of the shell or retract into the shell. The driving device can also drive the biopsy needle to rotate around its own axis. A sampling cavity for accommodating human tissue is provided in the biopsy needle. The spiral structure is arranged in the sampling cavity and extends along the axial direction of the biopsy needle. The spiral structure is used to prevent human tissue in the sampling cavity from escaping from the sampling cavity.

[0005] Compared with the existing technology, the beneficial effect of the capsule robot provided by the present application is that: when sampling human tissue, the driving device drives the biopsy needle to move in a straight line along its own axis to extend out of the shell, and then penetrate into the tissue, so that the tissue enters the sampling cavity of the biopsy needle, and at the same time drives the biopsy needle to rotate around its own axis. The biopsy needle drives the spiral structure to rotate, and the spiral structure cuts human tissue through rotation, so that the tissue entering the sampling cavity is embedded in the spiral structure. In the process of retracting the biopsy needle into the shell, the spiral structure can prevent the tissue in the sampling cavity from leaving the sampling cavity, thereby improving the sampling success rate.

[0006] Furthermore, the spiral structure includes a spiral sheet and barbs arranged on the spiral sheet, and the barbs are used to prevent the tissue in the sampling cavity from escaping from the sampling cavity.

[0007] Furthermore, the driving device includes a rotational driving mechanism, a first threaded fitting and a second threaded fitting. The rotational driving mechanism is connected to the first threaded fitting and can drive the first threaded fitting to rotate. The biopsy needle is arranged on the first threaded fitting. The first threaded fitting is threadedly engaged with the second threaded fitting. The second threaded fitting is fixedly arranged on the shell. The first threaded fitting can move linearly relative to the second threaded fitting when rotating.

[0008] Furthermore, the driving mechanism further includes a telescopic mechanism, and the rotary driving mechanism is connected to the first threaded fitting via the telescopic mechanism, and the telescopic mechanism can be telescopically deformed along the axial direction of the biopsy needle.

[0009] Furthermore, the telescopic mechanism is a planar connecting rod mechanism.

[0010] Furthermore, the planar linkage mechanism includes a first mounting seat, a second mounting seat, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod. The first mounting seat is arranged on the rotation drive mechanism, the second mounting seat is arranged on the first threaded mating part, one end of the first connecting rod and one end of the second connecting rod are both rotatably connected to the first mounting seat, the other end of the first connecting rod is rotatably connected to one end of the third connecting rod, the other end of the second connecting rod is rotatably connected to one end of the fourth connecting rod, and the other end of the third connecting rod and the other end of the fourth connecting rod are both rotatably connected to the second mounting seat.

[0011] Furthermore, the capsule robot further includes a first roller, which is rotatably disposed on the shell.

[0012] Furthermore, there are two first rollers, which are respectively arranged at opposite ends of the housing.

[0013] Furthermore, the first roller can rotate around the first axis relative to the shell, and multiple second rollers are arranged on the wheel surface of the first roller. The multiple second rollers are arranged at intervals along the circumference of the first roller. The second roller can rotate around the second axis relative to the first roller, and the second axis is perpendicular to the first axis.

[0014] On the other hand, to achieve the above-mentioned purpose, the technical solution adopted in this application is: a capsule robot system, including a magnetic control device and the above-mentioned capsule robot, the capsule robot also includes a driving magnet arranged in the shell, and the driving magnet cooperates with the magnetic control device.

[0015] Compared with the prior art, the beneficial effect of the capsule robot system provided in this application is that: the magnetic control device cooperates with the driving magnet to control the movement of the capsule robot to the target tissue. When sampling human tissue, the driving device drives the biopsy needle to move along its own axial straight line to extend out of the shell, and then penetrate into the tissue, so that the tissue enters the sampling cavity of the biopsy needle. At the same time, the biopsy needle is driven to rotate around its own axis, and the biopsy needle drives the spiral structure to rotate. The spiral structure cuts human tissue through rotation, so that the tissue entering the sampling cavity is embedded in the spiral structure. In the process of retracting the biopsy needle into the shell, the spiral structure can prevent the tissue in the sampling cavity from leaving the sampling cavity, thereby improving the sampling success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the structure of the capsule robot provided in an embodiment of the present application;

[0018] Figure 2 for Figure 1 The disassembled structure diagram of the capsule robot shown;

[0019] Figure 3 To set in Figure 2 A schematic diagram of the structure of the accessories in the housing shown;

[0020] Figure 4 for Figure 3 The disassembled structure diagram of the drive device shown;

[0021] Figure 5 for Figure 3 The disassembled structure diagram of the biopsy needle and the spiral structure shown;

[0022] Figure 6 for Figure 4 A schematic structural diagram of the second helical gear shown;

[0023] Figure 7 for Figure 2 The structural diagram of the shell is shown.

[0024] Among them, the reference numerals in the figures are:

[0025] 10. Housing; 11. Sampling port; 12. Fixing column; 13. Motor fixing seat; 14. Connecting column; 15. Battery support seat; 16. Light port; 20. Driving device; 21. Rotary driving mechanism; 211. Motor; 212. First helical gear; 213. Second helical gear; 2131. Ring; 22. First threaded fitting; 23. Second threaded fitting; 24. Telescopic mechanism; 241. First mounting seat; 242. Second mounting seat; 243. First connecting rod; 244. Second connecting rod; 2 45. Third connecting rod; 246. Fourth connecting rod; 247. First mounting axis; 248. Second mounting axis; 249. Third mounting axis; 250. Fourth mounting axis; 30. Biopsy needle; 31. Sampling chamber; 40. Spiral structure; 41. Spiral sheet; 411. Blade; 42. Barb; 50. First roller; 51. Mounting slot; 52. Rotating shaft; 60. Bearing; 70. Second roller; 80. Camera; 90. Control circuit board; 100. Battery; 110. Driving magnet; 120. Transparent cover. DETAILED DESCRIPTION

[0026] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] In the description of this application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position 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, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0028] 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0029] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0030] Combine Figure 1 、 Figure 3 and Figure 5 As shown, an embodiment of the present application provides a capsule robot, including a shell 10, a driving device 20, a biopsy needle 30 and a spiral structure 40. The driving device 20 is arranged in the shell 10 and connected to the biopsy needle 30. It can drive the biopsy needle 30 to move linearly along its own axis to extend out of the shell 10 or retract into the shell 10. The driving device 20 can also drive the biopsy needle 30 to rotate around its own axis. A sampling cavity 31 for accommodating human tissue is provided in the biopsy needle 30. The spiral structure 40 is arranged in the sampling cavity 31 and extends along the axial direction of the biopsy needle 30. The spiral structure 40 is used to prevent human tissue in the sampling cavity 31 from escaping from the sampling cavity 31.

[0031] When sampling human tissue, the driving device 20 drives the biopsy needle 30 to move in a straight line along its own axis to extend out of the shell 10, and then penetrate into the tissue, so that the tissue enters the sampling cavity 31 of the biopsy needle 30. At the same time, the biopsy needle 30 is driven to rotate around its own axis. The biopsy needle 30 drives the spiral structure 40 to rotate. The spiral structure 40 cuts the human tissue by rotation, so that the tissue entering the sampling cavity 31 is embedded in the spiral structure 40. In the process of retracting the biopsy needle 30 into the shell 10, the spiral structure 40 can prevent the tissue in the sampling cavity 31 from escaping from the sampling cavity 31, that is, it can prevent the tissue in the sampling cavity 31 from sliding out of the biopsy needle 30, thereby improving the sampling success rate.

[0032] During the insertion of the biopsy needle 30 into tissue, the rotation of the spiral structure 40 is required to cut the tissue. Therefore, the drive mechanism 20 simultaneously drives the biopsy needle 30 in rotation while simultaneously driving the biopsy needle 30 linearly to extend out of the housing 10. In other words, the biopsy needle 30 penetrates the tissue while simultaneously moving linearly and rotating. During the retraction of the biopsy needle 30, the drive mechanism 20 can drive the biopsy needle 30 solely in linear motion to retract it into the housing 10 without performing rotational motion. Alternatively, the drive mechanism 20 can simultaneously drive the biopsy needle 30 in linear and rotational motion. In the latter case, the biopsy needle 30 experiences the same motion during retraction as during extension, with only the direction of motion changing. This simplifies the control of the biopsy needle 30 by the drive mechanism 20, thereby reducing the development cost of the drive mechanism 20.

[0033] In one embodiment, Figure 5 As shown, the spiral structure 40 includes a spiral piece 41 and a barb 42 provided on the spiral piece 41. The barb 42 is used to prevent the tissue in the sampling cavity 31 from escaping from the sampling cavity 31. The spiral piece 41 is fixedly provided on the inner wall of the biopsy needle 30. The spiral piece 41 is in the shape of a sheet. On the one hand, it occupies less space in the sampling cavity 31, which is conducive to increasing the amount of tissue sampling by the biopsy needle 30 in a single time. On the other hand, it can act as a "baffle" and can increase the contact area with the tissue to increase the friction, thereby effectively preventing the tissue from escaping from the sampling cavity 31. The barb 42 is a protrusion protruding from the surface of the spiral piece 41. Specifically, it can be in the shape of a triangular prism and has directionality. When the biopsy needle 30 is inserted into the tissue, the tissue can smoothly pass over the barb 42 and accumulate along the axial direction of the biopsy needle 30. When the biopsy needle 30 is retracted, the barb 42 can clamp the tissue in the sampling cavity 31, thereby effectively preventing the tissue from escaping from the sampling cavity 31.

[0034] In one embodiment, Figure 5 As shown, the barbs 42 are provided on the end of the spiral piece 41 near the insertion end of the biopsy needle 30. The insertion end of the biopsy needle 30 refers to the end of the biopsy needle 30 that penetrates the tissue. By providing the barbs 42 on the end of the spiral piece 41 near the insertion end of the biopsy needle 30, it can not only prevent tissue from sliding out of the biopsy needle 30 from the insertion end, but also provide a larger internal space for the biopsy needle 30 to store tissue, thereby increasing the amount of tissue sampled by the biopsy needle 30 in a single shot.

[0035] In one embodiment, Figure 5 As shown, a blade 411 is provided at one end of the spiral piece 41 close to the insertion end of the biopsy needle 30. The end of the spiral piece 41 close to the insertion end of the biopsy needle 30 is the end for cutting tissue. By providing a relatively sharp blade 411 on this end, it is easy to cut tissue and improve tissue sampling efficiency.

[0036] In one embodiment, Figure 4As shown, the drive device 20 includes a rotary drive mechanism 21, a first threaded member 22, and a second threaded member 23. The rotary drive mechanism 21 is connected to the first threaded member 22 and can drive the first threaded member 22 to rotate. The biopsy needle 30 is disposed on the first threaded member 22. The first threaded member 22 is threadedly engaged with the second threaded member 23. The second threaded member 23 is fixed to the housing 10. The first threaded member 22 can move linearly relative to the second threaded member 23 when it rotates. During operation, the rotary drive mechanism 21 drives the first threaded member 22 to rotate, causing the first threaded member 22 to rotate with the biopsy needle 30 about its own axis. At the same time, due to the threaded engagement between the first threaded member 22 and the second threaded member 23, the first threaded member 22 moves linearly relative to the second threaded member 23 when it rotates, driving the biopsy needle 30 to move linearly along its own axis. This enables the drive device 20 to simultaneously drive the biopsy needle 30 to perform both rotational and linear motions. By simply providing a single power source, namely a rotary drive, the biopsy needle 30 can achieve simultaneous rotational and linear motion, significantly reducing the difficulty of controlling the biopsy needle 30 by the drive device 20, thereby reducing the development cost of the drive device 20. Specifically, the rotary drive mechanism 21 first drives the first threaded fitting 22 to rotate in a first direction, causing the biopsy needle 30 to extend from the housing 10 to sample tissue. After sampling is completed, the rotary drive mechanism 21 then drives the first threaded fitting 22 to rotate in a direction opposite to the first direction, causing the biopsy needle 30 to move in the opposite direction and retract into the housing 10. It should be noted that the second threaded fitting 23 is fixed within the housing 10 and does not rotate with the rotation of the first threaded fitting 22, thereby ensuring that the first threaded fitting 22 rotates linearly relative to the second threaded fitting 23.

[0037] In one embodiment, Figure 4 As shown, the first threaded fitting 22 is a threaded rod, and the second threaded fitting 23 is a retaining ring. The retaining ring is fixed within the housing 10 and threadedly sleeved onto the threaded rod. When the rotary drive mechanism 21 drives the threaded rod to rotate, the threaded rod can move linearly within the retaining ring along its own axis. The axis of the biopsy needle 30 is aligned with the axis of the threaded rod, thereby driving the biopsy needle 30 to move linearly along its own axis.

[0038] In one embodiment, Figure 4As shown, the drive device 20 also includes a telescopic mechanism 24. The rotary drive mechanism 21 is connected to the first threaded fitting 22 via the telescopic mechanism 24. The telescopic mechanism 24 can be telescoped and deformed along the axial direction of the biopsy needle 30. During operation, the rotary drive mechanism 21 first drives the telescopic mechanism 24 to rotate in the first direction. The telescopic mechanism 24 drives the first threaded fitting 22 to rotate in the first direction. The first threaded fitting 22 drives the biopsy needle 30 to rotate in the first direction. When the first threaded fitting 22 rotates, it moves linearly relative to the second threaded fitting 23 in a direction away from the rotary drive mechanism 21, pushing the biopsy needle 30 out of the housing 10 to sample tissue. During this process, the telescopic mechanism 24 stretches and deforms to accommodate the increase in the distance between the first threaded fitting 22 and the rotary drive mechanism 21. After sampling is completed, After completion, the rotary drive mechanism 21 then drives the telescopic mechanism 24 to rotate in a direction opposite to the first direction. The telescopic mechanism 24 drives the first threaded fitting 22 to rotate in a direction opposite to the first direction. The first threaded fitting 22 drives the biopsy needle 30 to rotate in a direction opposite to the first direction. During rotation, the first threaded fitting 22 moves linearly relative to the second threaded fitting 23 in a direction closer to the rotary drive mechanism 21, retracting the biopsy needle 30 out of the housing 10. During this process, the telescopic mechanism 24 shortens and deforms to accommodate the reduction in the distance between the first threaded fitting 22 and the rotary drive mechanism 21. When the rotary drive mechanism 21 is fixed within the housing 10, the provision of the telescopic mechanism 24 between the rotary drive mechanism 21 and the first threaded fitting 22 can accommodate changes in the distance between the rotary drive mechanism 21 and the first threaded fitting 22, allowing the rotary drive mechanism 21 to continuously transmit rotational power to the first threaded fitting 22, thereby achieving simultaneous rotational and linear motion of the first threaded fitting 22, and thus achieving simultaneous rotational and linear motion of the biopsy needle 30.

[0039] In one embodiment, Figure 4As shown, the telescopic mechanism 24 is a planar linkage mechanism. The planar linkage mechanism is composed of a plurality of connecting rods, which are rotatably connected to each other. The cooperation of each connecting rod can realize the overall telescopic movement, which has a simple structure and low manufacturing cost. Specifically, the telescopic mechanism 24 is a parallelogram linkage mechanism, including a first mounting seat 241, a second mounting seat 242, a first connecting rod 243, a second connecting rod 244, a third connecting rod 245 and a fourth connecting rod 246. The first mounting seat 241 is arranged on the rotation drive mechanism 21, and the second mounting seat 242 is arranged on the first threaded fitting 22. One end of the first connecting rod 243 and one end of the second connecting rod 244 are both rotatably connected to the first mounting seat 241, the other end of the first connecting rod 243 is rotatably connected to one end of the third connecting rod 245, the other end of the second connecting rod 244 is rotatably connected to one end of the fourth connecting rod 246, and the other end of the third connecting rod 245 and the other end of the fourth connecting rod 246 are both rotatably connected to the second mounting seat 242. When the first threaded fitting 22 moves linearly in a direction away from the rotary drive mechanism 21, the angle between the first link 243 and the second link 244 becomes smaller, the angle between the third link 245 and the fourth link 246 becomes smaller, the angle between the first link 243 and the third link 245 becomes larger, the angle between the second link 244 and the fourth link 246 becomes larger, and the parallelogram linkage mechanism is stretched to adapt to the increase in the distance between the first threaded fitting 22 and the rotary drive mechanism 21; when the second threaded fitting 23 moves linearly in a direction approaching the rotary drive mechanism 21, the angle between the first link 243 and the second link 244 becomes larger, the angle between the third link 245 and the fourth link 246 becomes larger, the angle between the first link 243 and the third link 245 becomes smaller, the angle between the second link 244 and the fourth link 246 becomes smaller, and the parallelogram mechanism is compressed to adapt to the reduction in the distance between the first threaded fitting 22 and the rotary drive mechanism 21.

[0040] In one embodiment, Figure 4As shown, the telescopic mechanism 24 further includes a first mounting shaft 247, a second mounting shaft 248, a third mounting shaft 249 and a fourth mounting shaft 250. The first mounting shaft 247 passes through the first mounting seat 241, one end of the first connecting rod 243 and one end of the second connecting rod 244. The first connecting rod 243 and the second connecting rod 244 can both rotate around the first mounting shaft 247. The second mounting shaft 248 passes through the other end of the first connecting rod 243 and one end of the third connecting rod 245. The first connecting rod 24 The third connecting rod 244 and the third connecting rod 245 are both capable of rotating around the second mounting axis 248. The third mounting axis 249 passes through the other end of the second connecting rod 244 and one end of the fourth connecting rod 246. The second connecting rod 244 and the fourth connecting rod 246 are both capable of rotating around the third mounting axis 249. The fourth mounting axis 250 passes through the second mounting seat 242, the other end of the third connecting rod 245 and the other end of the fourth connecting rod 246. The third connecting rod 245 and the fourth connecting rod 246 are both capable of rotating around the fourth mounting axis 250.

[0041] In one embodiment, Figure 4 As shown, the rotation drive mechanism 21 includes a motor 211, a first bevel gear 212, and a second bevel gear 213. The motor 211 is connected to the first bevel gear 212 and can drive the first bevel gear 212 to rotate. The first bevel gear 212 is meshed with the second bevel gear 213. The first mounting base 241 is disposed on the second bevel gear 213, and the first bevel gear 212 is perpendicular to the second bevel gear 213. During operation, the motor 211 drives the first bevel gear 212 to rotate, which in turn drives the second bevel gear 213 to rotate. The second bevel gear 213 then drives the entire telescopic mechanism 24 to rotate via the first mounting base 241. Specifically, the shell 10 is capsule-shaped, having a length direction and a width direction. The biopsy needle 30, the first threaded fitting 22 and the telescopic mechanism 24 are distributed along the width direction of the shell 10. If the motor 211 is used to directly drive the first mounting seat 241 to rotate, the motor 211 needs to be arranged along the width direction of the shell 10 at the end of the telescopic mechanism 24 away from the first threaded fitting 22. To meet the installation requirements of the motor 211, it is undoubtedly necessary to increase the width of the shell 10. By arranging a first bevel gear 212 and a second bevel gear 213 that are perpendicular to each other between the motor 211 and the first mounting seat 241, the installation direction of the motor 211 can be changed, so that the motor 211 can be arranged on one side of the telescopic mechanism 24 along the length direction of the shell 10, thereby making full use of the internal space of the shell 10 and making the structure more compact.

[0042] In one embodiment, Figure 1As shown, the capsule robot also includes a first roller 50, which is rotatably mounted on the housing 10. Conventional capsule robots generally roll along the digestive tract wall under the control of an external magnetic field. This causes the biopsy needle to roll along with the housing, making it difficult to perform precise biopsies. However, by providing the first roller 50 on the housing 10, the present application enables the capsule robot to move along the digestive tract wall. During movement, the housing 10 and the biopsy needle 30 do not roll along with the first roller 50, allowing the biopsy needle 30 to remain oriented toward the digestive tract wall, thereby facilitating precise biopsy.

[0043] In one embodiment, Figure 1 As shown, there are two first rollers 50, one at each opposite end of the housing 10. By providing a first roller 50 at each opposite end of the housing 10, the stability of the capsule robot during movement can be improved, facilitating accurate biopsy. Of course, in other embodiments, the number of first rollers 50 can also be three, four, or more. Specifically, the housing 10 is cylindrical, and the first rollers 50 are hemispherical. The housing 10 and the two first rollers 50 form the outer shape of the capsule.

[0044] In one embodiment, Figure 2 As shown, the capsule robot further includes two bearings 60, which are disposed between the first roller 50 and the housing 10 to achieve a rotational connection between the first roller 50 and the housing 10. Specifically, the number of bearings 60 is the same as the number of first rollers 50, that is, two, and the two bearings 60 are disposed at opposite ends of the housing 10.

[0045] In one embodiment, Figure 1 As shown, the first roller 50 is capable of rotating about a first axis relative to the housing 10. A plurality of second rollers 70 are disposed on the wheel surface of the first roller 50, spaced apart along the circumference of the first roller 50. The second rollers 70 are capable of rotating about a second axis relative to the first roller 50, with the second axis being perpendicular to the first axis. It should be noted that the wheel surface of the first roller 50 refers to the area of ​​the surface of the first roller 50 that contacts the digestive tract wall. If the digestive tract wall is considered an XY plane, with the first axis oriented along the Y axis, the first roller 50 enables the capsule robot to move along the X axis, while the second roller 70 enables the capsule robot to move along the Y axis. The first roller 50 and the second roller 70 cooperate with each other to facilitate the capsule robot's comprehensive, close-range digestive tract inspections and precise biopsies. The number of second rollers 70 on each first roller 50 is not specifically limited. By way of example, each first roller 50 is provided with eight second rollers 70, equally spaced along the circumference of the first roller 50.

[0046] In one embodiment, Figure 2 As shown, the wheel surface of the first roller 50 is provided with a mounting groove 51 , a rotating shaft 52 is provided in the mounting groove 51 , and the second roller 70 is rotatably sleeved on the rotating shaft 52 and protrudes out of the mounting groove 51 .

[0047] In one embodiment, Figure 3 As shown, the capsule robot also includes a camera 80, which is connected to the shell 10 and is used to provide images of the patient's body for inspection. Traditional capsule robots generally roll when moving on the wall of the digestive tract under the control of an external magnetic field. The biopsy needle and camera will roll along with the shell of the capsule robot, which is inconvenient for inspection and biopsy. However, the present application provides a first roller 50 on the shell 10, so that the capsule robot can move along the wall of the digestive tract. During the movement, the shell 10, the biopsy needle 30 and the camera 80 do not roll with the first roller 50. The biopsy needle 30 and the camera 80 can remain facing the wall of the digestive tract, thereby facilitating inspection and biopsy.

[0048] In one embodiment, Figure 3 As shown, the capsule robot further includes a control circuit board 90 . The control circuit board 90 is disposed in the housing 10 and electrically connected to the motor 211 for controlling the operation of the motor 211 .

[0049] In one embodiment, Figure 3 As shown, the capsule robot further includes a battery 100 , which is disposed in the housing 10 and electrically connected to the control circuit board 90 , and can supply power to the motor 211 .

[0050] In one embodiment, Figure 3 As shown, the capsule robot further includes a driving magnet 110 . The driving magnet 110 is disposed in the housing 10 and is used to cooperate with an external magnetic field to control the movement of the capsule robot.

[0051] In one embodiment, Figure 1 As shown, the housing 10 is provided with a sampling port 11 , through which the biopsy needle 30 extends out of the housing 10 and is retracted into the housing 10 .

[0052] In one embodiment, Figure 2 As shown, the camera 80 is disposed in the housing 10. The housing 10 has a light opening 16 at a position corresponding to the camera 80. The capsule robot further includes a transparent cover 120, which covers the light opening 16. The camera 80 can obtain images of the external environment through the transparent cover 120.

[0053] In one embodiment, Figure 7As shown, a fixing column 12 is provided on the inner wall of the housing 10 , and the second threaded fitting 23 is fixed on the fixing column 12 to limit its own rotation, thereby satisfying the linear motion of the first threaded fitting 22 relative to the second threaded fitting 23 when rotating.

[0054] In one embodiment, Figure 7 As shown, a motor fixing seat 13 is provided on the inner wall of the housing 10 , and the motor 211 is provided on the motor fixing seat 13 .

[0055] In one embodiment, Figure 7 As shown, a connecting column 14 is provided on the inner wall of the housing 10. Figure 6 As shown, a circular ring 2131 is provided on the second bevel gear 213 , and the second bevel gear 213 is sleeved on the connecting column 14 through the circular ring 2131 and can rotate around the axis of the connecting column 14 .

[0056] In one embodiment, Figure 7 As shown, a battery support seat 15 is provided at the bottom of the housing 10, and the battery 100 is placed on the battery support seat 15. The battery support seat 15 can provide a flat surface to stably support the battery 100.

[0057] The present application also provides a capsule robot system, comprising a magnetic control device and the aforementioned capsule robot. The magnetic control device cooperates with a drive magnet 110 disposed within a housing 10. After a patient swallows the capsule robot, the magnetic control device cooperates with the drive magnet 110 to control the capsule robot to move along the wall of the digestive tract. The digestive tract wall is inspected via a camera 80. When tissue requiring biopsy is found, the drive device 20 drives the biopsy needle 30 to move linearly along its own axis, extending out of the housing 10 and then piercing the tissue, causing the tissue to enter the sampling cavity 31 of the biopsy needle 30. Simultaneously, the drive device 20 drives the biopsy needle 30 to rotate about its own axis, causing the helical structure 40 to rotate. The helical structure 40 cuts the human tissue by rotating, causing the tissue entering the sampling cavity 31 to become embedded within the helical structure 40. After sampling is completed, the drive device 20 retracts the biopsy needle 30 into the housing 10. During the retraction of the biopsy needle 30 into the housing 10, the helical structure 40 prevents the tissue in the sampling cavity 31 from escaping, thereby improving the sampling success rate.

[0058] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A capsule robot, characterized in that: The biopsy needle comprises a housing, a drive device, a biopsy needle, and a spiral structure. The drive device is disposed within the housing and connected to the biopsy needle, capable of driving the biopsy needle to move linearly along its own axis to extend out of the housing or retract into the housing. The drive device can also drive the biopsy needle to rotate about its own axis. The biopsy needle is provided with a sampling cavity for accommodating human tissue. The spiral structure is disposed within the sampling cavity and extends along the axial direction of the biopsy needle. The spiral structure is used to prevent human tissue in the sampling cavity from escaping from the sampling cavity. The spiral structure includes a spiral sheet and barbs arranged on the spiral sheet, and the barbs are used to prevent the tissue in the sampling cavity from escaping from the sampling cavity; the driving device includes a rotation driving mechanism, a first threaded fitting and a second threaded fitting, the rotation driving mechanism is connected to the first threaded fitting and can drive the first threaded fitting to rotate, the biopsy needle is arranged on the first threaded fitting, the first threaded fitting is threadedly engaged with the second threaded fitting, the second threaded fitting is fixedly arranged on the housing, and the first threaded fitting can move linearly relative to the second threaded fitting when rotating; the driving mechanism also includes a telescopic mechanism, and the rotation driving mechanism is connected to the second threaded fitting through the telescopic mechanism. The telescopic mechanism is connected to a threaded fitting, and can be telescopically deformed along the axial direction of the biopsy needle; the telescopic mechanism is a planar linkage mechanism; the planar linkage mechanism includes a first mounting seat, a second mounting seat, a first link, a second link, a third link and a fourth link, the first mounting seat is arranged on the rotation drive mechanism, the second mounting seat is arranged on the first threaded fitting, one end of the first link and one end of the second link are both rotatably connected to the first mounting seat, the other end of the first link is rotatably connected to one end of the third link, the other end of the second link is rotatably connected to one end of the fourth link, and the other end of the third link and the other end of the fourth link are both rotatably connected to the second mounting seat.

2. The capsule robot according to claim 1, wherein: The capsule robot further includes a first roller, which is rotatably disposed on the shell.

3. The capsule robot according to claim 2, wherein: There are two first rollers, and the two first rollers are respectively arranged at two opposite ends of the housing.

4. The capsule robot according to claim 3, wherein: The first roller is capable of rotating around a first axis relative to the shell. A plurality of second rollers are arranged on the wheel surface of the first roller. The plurality of second rollers are arranged at intervals along the circumference of the first roller. The second roller is capable of rotating around a second axis relative to the first roller. The second axis is perpendicular to the first axis.

5. A capsule robot system, characterized in that: The capsule robot comprises a magnetic control device and the capsule robot according to any one of claims 1 to 4, wherein the capsule robot further comprises a driving magnet arranged in the shell, and the driving magnet cooperates with the magnetic control device.

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