Biopsy capsule robot

Abstract

The invention provides a biopsy capsule robot, which comprises a robot main body, the robot main body comprises a shell, a biopsy capsule, a biopsy capsule and a capsule, the shearing device is arranged on the shell and is used for cutting off biopsy tissues entering the biopsy inlet; the collecting part is driven by a main driving device to be rotatably arranged in the shell, at least two collecting cavities which are separated from each other are formed in the collecting part, and the collecting part can be driven by the main driving device to rotate until the collecting cavities are aligned with the biopsy inlet one by one and communicated with the biopsy inlet one by one. The biopsy capsule robot can respectively perform biopsy sampling on a plurality of pathological tissues in one examination, and the biopsy tissues sampled each time are not easy to contact with each other to cause tissue pollution, so that the examination time can be effectively shortened, the examination cost can be reduced, and the accuracy of subsequent medical examination results can be ensured.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to the field of biopsy capsule robots. Background Art

[0002] Gastrointestinal diseases are one of the diseases with a higher incidence in recent years, which usually cause great pain to patients. Currently, commonly used gastrointestinal diagnosis and treatment methods, such as colonoscopy and gastroscopy, are inserted into the digestive tract to enter the human body for diagnosis and treatment, which will cause great discomfort and pain to patients. With the development and progress of medical robots, capsule robots with image acquisition functions are used for gastrointestinal examinations. They carry micro cameras to take pictures or videos in the patient's body, and then transmit the collected image data to an external receiving device. Medical staff can use these image data to carry out corresponding treatment plans; currently, the biopsy execution methods of capsule robots mainly include magnetic field drive, motor drive, paraffin block trigger and shape memory alloy drive.

[0003] Currently, capsule robots can already be integrated with biopsy devices. Currently, there are mainly two types of biopsy devices: blade cutting and biopsy needle sampling. In existing biopsy capsule robots, this type of biopsy device can often only perform single biopsy sampling. In clinical examinations, considering that there may be multiple diseased tissues in the patient's intestines, a single biopsy cannot confirm whether the biopsy collection in the human body is successful. At the same time, it is impossible to fully realize biopsy sampling, and it is difficult to perform multiple diseased tissue collection tasks. If a single biopsy device is used for multiple diseased tissue collection tasks, the collected tissues will contact each other and cause tissue contamination, which will affect subsequent medical examination tasks such as slice analysis by medical staff. Therefore, when multiple diseased tissues are found, it is often necessary to use multiple capsule robots to perform multiple biopsy operations, and the inspection time and cost will increase exponentially. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art and to provide a biopsy capsule robot that can complete multiple biopsy samplings and can effectively shorten the inspection time and reduce the inspection cost.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] A biopsy capsule robot comprises a robot body, wherein the robot body comprises:

[0007] A housing, wherein a biopsy inlet is provided on the housing;

[0008] a shearing device, disposed on the housing, for cutting off the biopsy tissue entering the biopsy inlet;

[0009] The collecting member is driven by a main driving device and is rotatably arranged in the shell. The collecting member is provided with at least two collecting chambers separated from each other. The collecting member can be driven by the main driving device and rotated until each of the collecting chambers is aligned with and connected to the biopsy entrance one by one.

[0010] Preferably, the shearing device comprises a shearing piece driven by the main driving device and rotatable back and forth, the shearing piece being provided with a first cutter for cutting off biopsy tissue; the collecting piece being provided with a limiting structure, the limiting structure being used to limit the collecting piece to unidirectional rotation only in a predetermined direction.

[0011] Preferably, the limiting structure comprises a first ratchet structure arranged between the collecting member and the main driving device, and the main driving device can drive the collecting member to rotate unidirectionally toward the predetermined direction through the first ratchet structure.

[0012] Preferably, the limiting structure further comprises a second ratchet structure provided between the collecting member and the housing, and the second ratchet structure is used for limiting the rotation of the collecting member in a direction opposite to the predetermined direction.

[0013] Preferably, the main drive device includes a driving shaft, the first ratchet structure includes a first ratchet arranged on the collecting member and a first pawl arranged on the driving shaft; the second ratchet structure includes a second ratchet arranged on the collecting member and a second pawl arranged on the outer shell.

[0014] Preferably, the shearing piece is cylindrical, the collecting piece is arranged in the inner cavity of the shearing piece and together with the inner wall of the shearing piece form the collecting cavity; a shearing opening is arranged on one side of the shearing piece, and the shearing opening can be aligned with the biopsy entrance as the shearing piece rotates, the first cutter is arranged at the edge of the shearing opening, and a second cutter matching the first cutter is arranged on the outer shell at the edge of the biopsy entrance.

[0015] Preferably, at least one anchoring member is disposed on the housing so as to be laterally movable, and the anchoring member is driven by the main driving device to be extended or retracted.

[0016] Preferably, the robot body further comprises an auxiliary camera device aligned with the biopsy entrance.

[0017] Preferably, the main driving device is a permanent magnet with a magnetization angle.

[0018] Preferably, at least one pre-positioning member is swingably provided on the shell, and a soft magnet is provided on the pre-positioning member, and the soft magnet is laterally aligned with the permanent magnet; the pre-positioning member can be swung to protrude out of the shell, and a resistance structure is provided between the shell and the pre-positioning member for providing resistance to the swinging of the pre-positioning member.

[0019] The beneficial effects of the present invention are as follows: the biopsy capsule robot, by arranging a plurality of mutually separated collecting chambers on the collecting piece, the main driving device drives the collecting piece to rotate so that each collecting chamber is aligned with and connected to the biopsy entrance one by one, thereby being able to accommodate the biopsy tissues cut by the shearing device one by one multiple times and separate each biopsy tissue, being able to perform biopsy sampling on a plurality of diseased tissues separately in one examination, and the biopsy tissues sampled each time are not easy to contact each other and cause tissue contamination, being able to effectively shorten the examination time and reduce the examination cost, and helping to ensure the accuracy of subsequent medical examination results. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Figure 1 It is an overall structural diagram of a preferred embodiment of the present invention;

[0022] Figure 2 It is an internal structure diagram of a preferred embodiment of the present invention;

[0023] Figure 3 A cross-sectional view of a preferred embodiment of the present invention;

[0024] Figure 4 It is a structural diagram of the collecting member and the shearing device part in the preferred embodiment of the present invention;

[0025] Figure 5 An exploded view of the collecting member and the shearing device in a preferred embodiment of the present invention;

[0026] Figure 6 It is a structural diagram of the anchoring part in a preferred embodiment of the present invention;

[0027] Figure 7 An exploded view of the anchoring member in a preferred embodiment of the present invention;

[0028] Figure 8 It is a structural diagram of the anchor member when it is extended in a preferred embodiment of the present invention;

[0029] Fig. 9 It is an exploded view of the pre-positioning member part in the preferred embodiment of the present invention;

[0030] Fig.10 It is a structural diagram of the expanded type of the pre-positioning member in the preferred embodiment of the present invention;

[0031] Fig.11 A cross-sectional view of a preferred embodiment of the present invention at the position of a collecting member during the first step of operation;

[0032] Fig.12 A cross-sectional view of a preferred embodiment of the present invention at the position of a collecting member during the second step of operation;

[0033] Fig.13 A cross-sectional view of a preferred embodiment of the present invention at the position of a collecting member during the third step of operation;

[0034] Fig.14 A cross-sectional view of a preferred embodiment of the present invention at the position of a collecting member during the fourth step of operation;

[0035] Fig.15 It is a cross-sectional view of a preferred embodiment of the present invention at the position of the collecting member during the fifth step of operation.

[0036] Among them, the reference numerals in the figure are:

[0037] 10. Shell; 11. Biopsy entrance; 12. Second cutter; 13. Transparent cover; 14. Socket; 15. Bearing; 21. Shearing piece; 22. First cutter; 23. Shearing opening; 30. Collecting piece; 31. Collecting chamber; 41. First ratchet; 42. First pawl; 43. Second ratchet; 44. Second pawl; 45. Non-magnetic metal sheet; 51. Anchor; 511. Support plate; 512. Guide rod; 61. Auxiliary camera device; 62. Main camera device; 70. Permanent magnet; 71. Main shaft; 711. Drive shaft; 72. Crankshaft; 81. Pre-positioning piece; 82. Soft magnet; 83. Support arm; 84. Bump; 90. Biopsy tissue. DETAILED DESCRIPTION

[0038] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0039] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0041] Reference Figures 1 to 15 According to a preferred embodiment of the present invention, a biopsy capsule robot comprises a robot body, wherein the robot body comprises: a shell 10, on which a biopsy inlet 11 is arranged; a shearing device, arranged on the shell 10, for cutting off the biopsy tissue 90 entering the biopsy inlet 11; a collecting member 30, which is rotatably arranged in the shell 10 and driven by a main driving device, and the collecting member 30 is provided with at least two collecting chambers 31 separated from each other, and the collecting member 30 can be driven by the main driving device to rotate until each collecting chamber 31 is aligned with and connected to the biopsy inlet 11 one by one. The biopsy capsule robot is provided with a plurality of mutually separated collecting chambers 31 on the collecting member 30. The main driving device drives the collecting member 30 to rotate so that each collecting chamber 31 is aligned with and connected to the biopsy entrance 11 one by one. Thus, the biopsy tissues 90 cut by the shearing device can be received one by one multiple times and each biopsy tissue 90 can be separated. In one examination, multiple diseased tissues can be biopsied and sampled separately, and the biopsy tissues 90 sampled each time are not easy to contact each other and cause tissue contamination. The examination time and the examination cost can be effectively shortened and the examination cost can be reduced, and it helps to ensure the accuracy of the subsequent medical examination results.

[0042] As a preferred embodiment of the present invention, it may also have the following additional technical features:

[0043] Reference Figures 2 to 5 and Figures 11 to 15In this embodiment, the shearing device includes a shearing piece 21 driven by a main driving device and capable of rotating back and forth, and a first cutter 22 for cutting off the biopsy tissue 90 is arranged on the shearing piece 21; a limiting structure is arranged on the collecting piece 30, and the limiting structure is used to limit the collecting piece 30 to only be able to rotate in one direction in a predetermined direction. In this way, a single main driving device can be used to simultaneously drive the shearing device and the collecting piece 30 to move, which can effectively reduce the volume of the biopsy capsule robot and simplify the control method of the biopsy capsule robot. In addition, since the limiting structure limits the collecting piece 30 to only be able to rotate in one direction in a predetermined direction, during the process of the main driving device driving the shearing piece 21 to rotate back and forth, the collecting piece 30 will not rotate back and forth with it, but will only rotate in the predetermined direction, which can prevent the collecting chamber 31 containing the biopsy tissue 90 from rotating back to the biopsy entrance 11, and can effectively ensure the separation of each biopsy tissue 90, avoid tissue contamination, and help ensure the accuracy of subsequent medical examination results. In other embodiments, a secondary driving device may be added to independently drive the shearing device to avoid interference between the movement of the shearing device and the rotation of the collecting member 30; or the shearing device may adopt other suitable shearing structures, such as an openable and closable scissors structure driven by a main driving device, etc. Technical personnel in this field may flexibly select according to needs, and are not limited to this.

[0044] In this embodiment, the limiting structure includes a first ratchet structure arranged between the collecting piece 30 and the main driving device. The main driving device can drive the collecting piece 30 to rotate unidirectionally in a predetermined direction through the first ratchet structure. The first ratchet structure thus has the functions of limiting the rotation direction of the collecting piece 30 and transmitting the power between the collecting piece 30 and the main driving device, which helps to further simplify the structure of the biopsy capsule robot and reduce the volume of the biopsy capsule robot.

[0045] In this embodiment, the limiting structure also includes a second ratchet structure arranged between the collecting piece 30 and the outer shell 10, and the second ratchet structure is used to limit the rotation of the collecting piece 30 in the opposite direction to the predetermined direction. In this way, the rotation direction of the collecting piece 30 can be more reliably limited to prevent the collecting piece 30 from rotating and causing the sampled biopsy tissues 90 to be contaminated with each other.

[0046] In this embodiment, the main driving device includes a driving shaft 711, the first ratchet structure includes a first ratchet 41 arranged on the collecting member 30 and a first pawl 42 arranged on the driving shaft 711; the second ratchet structure includes a second ratchet 43 arranged on the collecting member 30 and a second pawl 44 arranged on the housing 10, and the ratchet teeth of the first ratchet 41 and the second ratchet 43 are in opposite directions. In this way, when the driving shaft 711 drives the first pawl 42 to rotate in the forward direction relative to the first ratchet 41, the second ratchet 43 rotates in the reverse direction relative to the second pawl 44, thereby making Therefore, neither the first ratchet 41 nor the second ratchet 43 will rotate with the driving shaft 711. When the driving shaft 711 drives the first pawl 42 to rotate counter-clockwise relative to the first ratchet 41, the second ratchet 43 rotates clockwise relative to the second pawl 44. This means that the driving shaft 711 can drive the first ratchet 41 and then the collecting piece 30 to rotate. At the same time, the second ratchet 43 and the second pawl 44 will not interfere with the rotation in this direction. The structure is simple and reliable, and the space occupied is small, which helps to reduce the size of the biopsy capsule robot and facilitates the patient's swallowing and movement in the patient's body.

[0047] In other embodiments, other commonly used restricting structures can also be used to enable the collecting member 30 to rotate only in one direction. For example, a first ratchet structure can be combined with a damping plate structure. A damping plate is provided between the outer shell 10 and the collecting member 30 to increase the rotational resistance. The rotational resistance is made greater than the resistance of the first ratchet structure's clockwise rotation and less than the resistance of the first ratchet structure's counterclockwise rotation, thereby achieving one-way rotation of the collecting member 30. In addition, there are many commonly used one-way rotation structures, and technicians in this field can flexibly select them according to needs, and are not limited to them.

[0048] In addition, in this embodiment, non-magnetic metal sheets 45 are provided on the tooth-aligned surfaces of the first pawl 42 and the second pawl 44, which can reduce the resistance encountered by the first ratchet structure and the second ratchet structure when rotating along the teeth.

[0049] In this embodiment, the shearing piece 21 is cylindrical, and the collecting piece 30 is arranged in the inner cavity of the shearing piece 21 and encloses the collecting cavity 31 together with the inner wall of the shearing piece 21; a shearing notch 23 is arranged on one side of the shearing piece 21, and the shearing notch 23 can be aligned with the biopsy inlet 11 as the shearing piece 21 rotates, and the first cutter 22 is arranged at the edge of the shearing notch 23, and the outer shell 10 is provided with a second cutter 12 that matches the first cutter 22 at the edge of the biopsy inlet 11, so that during the back and forth rotation of the shearing piece 21, the first cutter 22 and the second cutter 12 can cooperate to cut the biopsy tissue 90, and the cut biopsy tissue 90 can then enter the collecting cavity 31 enclosed by the collecting piece 30 and the shearing piece 21, and deviate from the biopsy inlet 11 for storage as the collecting piece 30 rotates, the structure is simple and reliable, and it helps to reduce the volume of the biopsy capsule robot. In other embodiments, the shearing piece 21 can also adopt other shapes, and the collecting cavity 31 can also be arranged only on the collecting piece 30, but is not limited to this. In this embodiment, the rear section of the collecting member 30 is in a cross shape, thereby forming four collecting chambers 31. In other embodiments, the collecting member 30 may also adopt other suitable shapes, and the number of collecting chambers 31 may also be two, three, five or any other number. Technical personnel in this field can flexibly select according to needs.

[0050] Reference Figures 1 to 3 and Figures 6 to 8 In this embodiment, two anchors 51 are arranged on the housing 10 and can be moved laterally. The anchors 51 are driven by the main drive device to extend or retract. In this way, during the biopsy sampling process, the anchors 51 can be extended by the main drive device, so that the biopsy capsule robot is fixed in the intestine, which is convenient for cutting the biopsy tissue 90, and helps to improve the success rate of biopsy sampling, which is more reliable. In this embodiment, the head of the anchor 51 is an arc-shaped support plate 511, and a guide rod 512 is arranged on both sides. The housing 10 is correspondingly provided with a receiving groove adapted to the anchor 51 and a guide hole adapted to the guide rod 512, so that the anchor 51 will not protrude outside the housing 10 when it is retracted and affect the movement of the biopsy capsule robot. The guide rod 512 and the guide hole can guide the movement of the anchor 51 to prevent the anchor 51 from being offset and misplaced. In other embodiments, the anchor 51 can also be selected from one, three or other suitable numbers, but is not limited to this.

[0051] Reference Figure 2 and Fig.10In this embodiment, the robot body also includes an auxiliary camera device 61 aligned with the biopsy inlet 11, which facilitates the alignment of the biopsy inlet 11 with the biopsy tissue 90, and facilitates operation and control. In addition, in this embodiment, a light-transmitting cover 13 is also provided at the front end of the robot body, and a main camera device 62 is provided in the light-transmitting cover 13 to assist the operator in controlling the movement of the biopsy capsule robot and observing the situation in the intestine.

[0052] Reference Figures 4 to 7 In this embodiment, the main driving device is a permanent magnet 70 with a magnetization angle, so that the movement and rotation of the biopsy capsule robot and the actions of the collecting member 30, the shearing member 21 and the anchoring member 51 can be conveniently controlled by applying different magnetic fields in the outside world. The structure is simple and the space occupied is also smaller. The permanent magnet 70 with a magnetization angle, that is, the corresponding magnetic field control method, has been used in the art, and its structural principle and control method are well known to those skilled in the art, and will not be described in detail here.

[0053] In this embodiment, the permanent magnet 70 is arranged on a main shaft 71, one end of the main shaft 71 extends to form a driving shaft 711 that cooperates with the first ratchet structure to drive the collection member 30 to rotate, and the other end extends to the opposite side and is connected to a crankshaft 72. The two anchor members 51 are driven to extend and retract by the rotation of the crankshaft 72. The shear member 21 is directly fixed on the permanent magnet 70 so that it can rotate back and forth with the permanent magnet 70. In addition, the two ends and the middle section of the main shaft 71 are respectively connected to a bearing 15 fixed in the housing 10, so that the main shaft 71 is subjected to less resistance when rotating, which is convenient for control. In other embodiments, the main drive device can also select other commonly used drive structures such as motors and shape memory alloys, but is not limited to this.

[0054] Reference Figure 1 and Figures 9 to 15In this embodiment, two pre-positioning members 81 are swingably provided on the housing 10, and a soft magnet 82 is provided on the pre-positioning member 81, and the soft magnet 82 is laterally aligned with the permanent magnet 70; the pre-positioning member 81 can be swung to protrude from the housing 10, and a resistance structure for providing resistance to the swing of the pre-positioning member is provided between the housing 10 and the pre-positioning member 81. The soft magnet 82 is easy to be magnetized, and its magnetism is also easy to disappear. In this way, the magnetic direction of the soft magnet 82 can be changed by the magnetic field applied from the outside, so that it is attracted and retracted by the permanent magnet 70 or repelled and unfolded by the permanent magnet 70. The housing 10 can be pre-fixed by the pre-positioning member 81, so that when the permanent magnet 70 is driven to rotate later, the housing 10 will not rotate with it, so that the permanent magnet 70 can smoothly drive the anchor 51, the collecting member 30 and the shearing member 21 to move. In this embodiment, an elastic support arm 83 is provided on the pre-positioning member 81, and an arc-shaped protrusion 84 is provided on the support arm 83. A corresponding insertion hole 14 is provided on the housing 10. After the pre-positioning member 81 is unfolded, the protrusion 84 is inserted into the insertion hole 14 and serves as a resistance structure, so that the pre-positioning member 81 can still remain unfolded after the external magnetic field is removed and play a pre-fixing role. When a magnetic field is applied from the outside, so that the attraction exerted by the permanent magnet 70 on the soft magnet 82 exceeds a predetermined value, the support arm 83 can be deformed to make the protrusion 84 staggered with the insertion hole 14, so that the pre-positioning member 81 can be swung and retracted. In other embodiments, the resistance structure of the pre-positioning member 81 can also select other suitable structures of the damping sheet, and the pre-positioning member 81 can also select other suitable numbers, which are not limited to this.

[0055] Reference Figures 11 to 15 , the operation flow of this embodiment is shown as follows: the first step is to refer to Fig.11 , the biopsy capsule robot is moved and rotated by the external magnetic field to reach the location of the biopsy tissue 90, and the biopsy tissue 90 enters the biopsy entrance 11; the second step, referring to Fig.12 , changing the applied magnetic field so that the two pre-positioning members 81 are repelled by the permanent magnets 70 and unfolded and supported on the intestinal wall, thereby limiting the rotation of the biopsy capsule robot; the third step, referring to Fig.13 , the external magnetic field exerts a force on the permanent magnet 70 to make the permanent magnet 70 rotate in the direction opposite to the predetermined direction, and the two anchoring members 51 are then unfolded and supported on the intestinal wall, further fixing the biopsy capsule robot. At the same time, as the permanent magnet 70 rotates, the shearing opening 23 also rotates to align with the biopsy entrance 11, and the biopsy tissue 90 is thus embedded in the collection cavity 31 aligned with the biopsy entrance 11, and the collection member 30 is kept motionless by the first ratchet structure and the second ratchet structure during this process; the fourth step, referring to Fig.14, the external magnetic field exerts a force on the permanent magnet 70, so that the permanent magnet 70 rotates in a predetermined direction. At this time, under the transmission action of the first ratchet structure, the shearing member 21 and the collecting member 30 rotate synchronously, and the biopsy component is cut off by the first cutter 22 and the second cutter 12 and enters the collecting chamber 31. With the rotation of the collecting member 30, it moves to be staggered with the biopsy entrance 11, and the next vacant collecting chamber 31 is aligned with the biopsy entrance 11 for the next biopsy sampling. At the same time, with the rotation of the permanent magnet 70, the two anchoring members 51 are also retracted; the fifth step, referring to Fig.15 , change the applied external magnetic field so that the two pre-positioning members 81 are attracted by the permanent magnet 70 and retracted, thus completing a biopsy collection. Then, the biopsy capsule robot is controlled to move to the next biopsy tissue 90, and the above operation is repeated to complete the next biopsy sampling. The biopsy tissues 90 collected each time can be stored in different collection chambers 31 in sequence.

[0056] Under the premise that no conflict occurs, those skilled in the art may freely combine and superimpose the above-mentioned additional technical features.

[0057] The above description is only a preferred implementation mode of the present invention. Any technical solution that achieves the purpose of the present invention by substantially the same means belongs to the protection scope of the present invention.

Claims

1. A biopsy capsule robot, characterized in that: The robot body includes: A housing (10), wherein a biopsy inlet (11) is provided on the housing (10); a shearing device, arranged on the housing (10) and used for cutting off the biopsy tissue (90) entering the biopsy inlet (11); The collecting member (30) is rotatably arranged in the housing (10) and driven by a main driving device. The collecting member (30) is provided with at least two collecting chambers (31) separated from each other. The collecting member (30) can be driven by the main driving device to rotate until each of the collecting chambers (31) is aligned with and communicated with the biopsy entrance (11) one by one.

2. A biopsy capsule robot according to claim 1, characterized in that: The shearing device comprises a shearing member (21) driven by the main driving device to rotate back and forth, and the shearing member (21) is provided with a first cutter (22) for cutting off the biopsy tissue (90); the collecting member (30) is provided with a limiting structure, and the limiting structure is used to limit the collecting member (30) to unidirectional rotation in a predetermined direction.

3. The biopsy capsule robot according to claim 2, characterized in that: The limiting structure comprises a first ratchet structure arranged between the collecting member (30) and the main driving device, and the main driving device can drive the collecting member (30) to rotate unidirectionally in the predetermined direction through the first ratchet structure.

4. The biopsy capsule robot according to claim 3, characterized in that: The limiting structure further comprises a second ratchet structure arranged between the collecting member (30) and the housing (10), the second ratchet structure being used to limit the rotation of the collecting member (30) in a direction opposite to the predetermined direction.

5. The biopsy capsule robot according to claim 4, characterized in that: The main drive device comprises a drive shaft (711); the first ratchet structure comprises a first ratchet (41) arranged on the collecting member (30) and a first pawl (42) arranged on the drive shaft (711); the second ratchet structure comprises a second ratchet (43) arranged on the collecting member (30) and a second pawl (44) arranged on the housing (10).

6. The biopsy capsule robot according to claim 2, characterized in that: The shearing piece (21) is cylindrical in shape. The collecting piece (30) is arranged in the inner cavity of the shearing piece (21) and together with the inner wall of the shearing piece (21) form the collecting cavity (31). A shearing opening (23) is arranged on one side of the shearing piece (21). The shearing opening (23) can be aligned with the biopsy entrance (11) as the shearing piece (21) rotates. The first cutter (22) is arranged at the edge of the shearing opening (23). A second cutter (12) that matches the first cutter (22) is arranged on the outer shell (10) at the edge of the biopsy entrance (11).

7. The biopsy capsule robot according to claim 1, characterized in that: At least one anchoring member (51) is arranged on the housing (10) so as to be laterally movable. The anchoring member (51) is driven by the main driving device so as to be extended or retracted.

8. The biopsy capsule robot according to claim 1, characterized in that: The robot body also includes an auxiliary camera device (61) aligned with the biopsy entrance (11).

9. A biopsy capsule robot according to any one of claims 1 to 8, characterized in that: The main driving device is a permanent magnet (70) with a magnetization angle.

10. The biopsy capsule robot according to claim 9, characterized in that: At least one pre-positioning member (81) is swingably provided on the housing (10), a soft magnet (82) is provided on the pre-positioning member (81), and the soft magnet (82) is laterally aligned with the permanent magnet (70); the pre-positioning member (81) can be swung to protrude outside the housing (10), and a resistance structure for providing resistance to the swing of the pre-positioning member is provided between the housing (10) and the pre-positioning member (81).

Images