Gastric retention capsule robot and gastric retention capsule device

Abstract

The invention discloses a gastric retention capsule robot and a gastric retention capsule device, and relates to the technical field of medical instruments, the gastric retention capsule robot comprises a capsule shell, a robot body, an unfolding arm, a driving mechanism and a restoring mechanism; the robot body is arranged in the capsule shell, and a carrying module used for carrying the functional module is arranged on the robot body; the unfolding arm is movably arranged on the robot body; the driving mechanism is arranged on the robot body, and after the capsule shell is dissolved, the driving mechanism can drive the unfolding arm to unfold towards the outside of the robot body so as to limit discharging of the robot body; the restoring mechanism is arranged on the robot body and can fold the unfolding arm to be attached to the robot body so that the robot body can be discharged. The device can be detained in the stomach and can be discharged from the gastral cavity through active folding, the timeliness is good, the risks of gastrointestinal tract blockage, mechanical injury and the like existing in a passive discharging mode are avoided, and the personal safety of a patient is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a gastric retention capsule robot and a gastric retention capsule device. BACKGROUND

[0002] Gastric cancer is the second leading cause of cancer death worldwide, with high incidence and mortality, and more than one million people are diagnosed every year. Among the many treatment methods for gastric cancer, ingestible capsule robots are also rapidly becoming a key technology. They can carry drugs or sensors into the stomach, target drug delivery, or complete point-of-care testing. The effective residence time of the capsule robot in the stomach is the premise for it to complete its task. Although there are existing expandable gastric retention systems, they rely on passive disintegration or potential trigger disintegration to be expelled from the stomach cavity. For example, biodegradable polymers such as PLA and PCL are used, which gradually decompose in the acidic environment of the stomach or under the action of enzymes. pH-sensitive polymers such as enteric elastomers are used, which dissolve when the device enters the intestine from the stomach (acidic environment), triggering the disintegration of the structure and passive expulsion. If an adverse reaction occurs in the stomach, it cannot be expelled in time, which may lead to potential risks such as gastrointestinal obstruction and mechanical damage, and long-term retention may have unknown effects on gastrointestinal health. SUMMARY

[0003] The purpose of the present application is to provide a gastric retention capsule robot and a gastric retention capsule device that can be retained in the stomach and actively folded to be expelled from the stomach cavity, with good timeliness, avoiding the risks of passive expulsion such as gastrointestinal obstruction and mechanical damage, ensuring the safety of patients, and solving the problems of the prior art.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0005] The present application provides a gastric retention capsule robot, comprising a capsule shell, a robot body, a deployment arm, a driving mechanism and a recovery mechanism, the capsule shell being soluble in the stomach; the robot body is arranged inside the capsule shell, and a carrying module for carrying functional modules is arranged on the robot body; the deployment arm is movably arranged on the robot body; the driving mechanism is arranged on the robot body, and after the capsule shell dissolves, the driving mechanism can drive the deployment arm to deploy outward of the robot body to limit the robot body from being expelled; the recovery mechanism is arranged on the robot body, and the recovery mechanism can fold the deployment arm to fit the robot body, so that the robot body can be expelled.

[0006] In some embodiments, the driving mechanism comprises an elastic body, one end of the elastic body is fixedly connected with the end of the unfolding arm, the other end of the elastic body is fixedly connected with the robot body, after the capsule shell dissolves, the elastic body can pop the unfolding arm to make the unfolding arm unfold to the outside of the robot body.

[0007] In some embodiments, the robot body further comprises a head and an unfolding body, the head, the carrying module and the unfolding body are sequentially and orderly connected; the side of the head away from the carrying module is a curved surface, the side of the head connected with the carrying module is a plane; the unfolding body comprises a platform, a connecting column and a bottom support which are sequentially and orderly connected; one side of the platform is fixedly connected with the carrying module, the other side of the platform is fixedly connected with the connecting column; the side of the bottom support fixedly connected with the connecting column is a plane, the side of the bottom support away from the connecting column is a curved surface.

[0008] In some embodiments, a plurality of the unfolding arms are provided, the plurality of the unfolding arms are uniformly distributed around the circumference of the connecting column; the number of the elastic bodies is not less than the number of the unfolding arms, the plurality of the elastic bodies are uniformly distributed around the circumference of the connecting column, each of the elastic bodies is fixed on the connecting column, and each of the elastic bodies is fixedly connected with the corresponding unfolding arm.

[0009] In some embodiments, the elastic body is a V-shaped elastic piece, the tip of the V-shaped elastic piece is fixedly connected with the connecting column, the two elastic arms of the V-shaped elastic piece are respectively fixedly connected with the ends of the two adjacent unfolding arms, and each of the unfolding arms is simultaneously fixedly connected with the two elastic arms of the two adjacent V-shaped elastic pieces which are close to each other; any one of the elastic arms can be twisted and stored energy when the unfolding arm is attached to the connecting column, and can be reset and released energy when the unfolding arm unfolds to the outside of the connecting column.

[0010] In some embodiments, the restoring mechanism comprises a heat receiving metal and a memory alloy torsion spring, the heat receiving metal is arranged on the side of the bottom support close to the connecting column, the heat receiving metal can heat under the action of an external field; the memory alloy torsion spring is arranged close to the heat receiving metal, one end of the memory alloy torsion spring is provided on the connecting column, and the other end of the memory alloy torsion spring is fixedly connected with the side of the unfolding arm close to the capsule shell, the memory alloy torsion spring can be heated and released energy after heat exchange with the heat receiving metal to drive the unfolding arm to flip and reset to be attached to the connecting column.

[0011] In some embodiments, the heat receiving metal is an aluminum sheet.

[0012] In some embodiments, the carrying module comprises a drug loading body, the functional module is a drug, and the drug loading body is provided with a plurality of grooves capable of loading the drug.

[0013] In some embodiments, the carrying module is a carrying bracket, and the functional module is a detection module comprising a sensing device and a battery electrically connected to the sensing device.

[0014] The application also provides a gastric retention capsule device comprising a functional module and the gastric retention capsule robot according to any one of claims 1-9.

[0015] The application has the following technical effects relative to the prior art:

[0016] The gastric retention capsule robot provided by the application comprises a robot body, an unfolding arm, a driving mechanism and a restoring mechanism. After the patient swallows the gastric retention capsule robot, the capsule shell dissolves, the unfolding arm rotates to extend outside the robot body under the action of the driving mechanism, so that the capsule robot cannot be discharged with the peristalsis of the stomach and can be retained in the stomach. After the functional module performs the required function, the unfolding arm is folded by the restoring mechanism to adhere to the robot body, so that the gastric retention capsule robot can be discharged from the patient's body, avoiding the risks of gastrointestinal obstruction and mechanical damage caused by the gastric retention capsule robot not being discharged in time, and ensuring the personal safety of the patient.

[0017] The gastric retention capsule robot provided by the application adopts an active discharge mode, can be discharged immediately after performing the required function, and improves the safety and effectiveness of the system.

[0018] The gastric retention capsule robot provided by the application adopts an unfolding type, can carry multiple drugs, and can be better combined with monitoring electronic equipment due to its mechanical structure, thereby laying a technical foundation for the application of ingestible bioelectronics in transient diagnosis and treatment strategies.

[0019] The gastric retention capsule device provided by the application can realize long-acting drug release or long-term index sensing in the stomach of the patient through the functional module carried thereby, can assist in the treatment of gastric diseases, and helps the patient recover soon. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Fig. 1 Figure 1 is a schematic diagram of the overall structure of the gastric retention capsule robot in the first embodiment of the present application;

[0022] Fig. 2 Figure 2 is a schematic diagram of the overall structure of the gastric retention capsule robot in the first embodiment of the present application after the deployment arm is deployed;

[0023] Fig. 3 Figure 3 is an exploded view of the gastric retention capsule robot in the first embodiment of the present application;

[0024] Fig. 4 Figure 4 is a schematic diagram of the overall structure of the gastric retention capsule robot in the second embodiment of the present application;

[0025] Fig. 5 Figure 5 is a schematic diagram of the overall structure of the gastric retention capsule robot in the second embodiment of the present application after the deployment arm is deployed;

[0026] Fig. 6 Figure 6 is an exploded view of the gastric retention capsule robot in the second embodiment of the present application;

[0027] Figs. 7-9 Figure 7 is a schematic diagram of the action process of the gastric retention capsule robot in the first embodiment of the present application;

[0028] Figs. 10-12 Figure 8 is a schematic diagram of the action process of the gastric retention capsule robot in the second embodiment of the present application.

[0029] In the figure: 100-gastric retention capsule robot; 1-robot body; 11-head; 12-drug carrying body; 13-detection module; 131-sensing device; 132-battery; 14-deployment body; 141-platform; 142-connection column; 143-bottom support; 2-deployment arm; 3-V-shaped elastic member; 4-recovery mechanism; 41-memory alloy torsional spring; 42-aluminum sheet. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] The purpose of the present application is to provide a gastric retention capsule robot and a use method thereof, which can be retained in the stomach and can be actively folded and discharged from the stomach cavity, with good timeliness, avoiding the risks of gastrointestinal obstruction and mechanical damage in passive discharge mode, ensuring the personal safety of patients, and solving the problems existing in the prior art.

[0032] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the following will combine the accompanying drawings to further describe the present application in detail. Figs. 1-12 And the specific implementation is further described in detail.

[0033] Example one

[0034] The present application provides a gastric retention capsule robot 100, referring to Figs. 1-3 , including a capsule shell (not shown in the figure), a robot body 1, a deployment arm 2, a driving mechanism, and a recovery mechanism 4, the capsule shell is soluble in the stomach; the robot body 1 is arranged inside the capsule shell, and a carrying module for carrying a functional module is arranged on the robot body 1; the deployment arm 2 is movably arranged on the robot body 1; the driving mechanism is arranged on the robot body 1, and after the capsule shell dissolves, the driving mechanism can drive the deployment arm 2 to deploy outside the robot body 1 to limit the robot body 1 from being discharged; the recovery mechanism 4 is arranged on the robot body 1, and the recovery mechanism 4 can fold the deployment arm 2 to fit the robot body 1, so that the robot body 1 can be discharged. In this embodiment, the capsule shell is made of gelatin, and in other embodiments, the capsule shell can also be made of other materials that can be taken orally by patients. By arranging the deployment arm 2, the driving mechanism and the recovery mechanism 4 on the robot body 1, after the patient swallows the gastric retention capsule robot 100, the capsule shell dissolves, the deployment arm 2 rotates to extend outside the robot body 1 under the action of the driving mechanism, so that the gastric retention capsule robot 100 will not be discharged with the peristalsis of the stomach, and can be retained in the stomach, and after the function module is used, the deployment arm 2 is folded by the recovery mechanism 4, so that the deployment arm 2 fits the robot body 1, and the gastric retention capsule robot 100 can be discharged outside the patient's body, avoiding the risk of gastrointestinal obstruction, mechanical damage and other risks caused by the gastric retention capsule robot 100 not being discharged in time, and ensuring the safety of the patient. The specific functional module can be a drug or a sensor. When the functional module is a drug, the gastric retention capsule robot 100 stays in the stomach, which can ensure the drug release time of the drug to ensure the drug efficacy, and when the functional module is a sensor, the patient's stomach parameters can be extracted and checked according to the inspection needs, and then discharged outside in time to avoid affecting the patient's health.

[0035] In some embodiments, referring to Figs. 1-3The driving mechanism comprises an elastic body, one end of the elastic body is fixedly connected with the end of the unfolding arm 2, and the other end of the elastic body is fixedly connected with the robot body 1. After the capsule shell is dissolved, the elastic body can expand the unfolding arm 2, so that the unfolding arm 2 is unfolded to the outside of the robot body 1. By arranging the elastic body on the robot body 1, the unfolding arm 2 is expanded by the elastic body to be unfolded to the outside of the robot body 1, which can be unfolded in time after the capsule shell is dissolved and retained in the stomach, so that the situation that the gastric retention capsule robot 100 is accidentally discharged out of the body is avoided. Moreover, the gastric retention capsule robot 100 is prevented from being discharged by the arrangement of the elastic body to expand the unfolding arm 2, which is simple in structure, easy to implement, and does not need a driving motor, so that the gastric retention capsule robot 100 is compact in structure and easy to be swallowed by the patient.

[0036] In some embodiments, with reference to Figs. 1-3 The robot body further comprises a head 11 and an unfolding body 14, the head 11, the carrying module and the unfolding body 14 are sequentially connected in sequence; one side of the head 11 away from the carrying module is a curved surface, and the side of the head 11 connected with the carrying module is a plane; the unfolding body 14 comprises a platform 141, a connecting column 142 and a bottom support 143 which are sequentially connected in sequence; one side of the platform 141 is fixedly connected with the carrying module, and the other side of the platform 141 is fixedly connected with the connecting column 142; one side of the bottom support 143 fixedly connected with the connecting column 142 is a plane, and the side of the bottom support 143 away from the connecting column 142 is a curved surface. The fixed connection here is in the form of detachable fixed connection, which can be interference insertion, threaded connection or other fixed connection, so that the carrying module can be easily detached when it needs to be replaced or maintained. By arranging the robot body in the form that the head 11, the carrying module and the unfolding body 14 are sequentially connected in sequence, and arranging the side of the head 11 and the side of the bottom support 143 of the unfolding body 14 away from each other as curved surfaces, the gastric retention capsule robot 100 can avoid causing harm to the patient's stomach when it stays in the patient's stomach.

[0037] In some embodiments, with reference to Figs. 2-3 The unfolding arm 2 is provided in plurality, and the plurality of unfolding arms 2 are uniformly distributed around the circumference of the connecting column 142; the number of the elastic bodies is not less than the number of the unfolding arms 2, the plurality of elastic bodies are uniformly distributed around the circumference of the connecting column 142, each elastic body is fixed on the connecting column 142, and each elastic body is fixedly connected with the corresponding unfolding arm 2. By arranging the plurality of unfolding arms 2 to be uniformly distributed around the circumference of the connecting column 142, the structure of the gastric retention capsule robot 100 can be more symmetrical in the axial direction, so that the gastric retention capsule robot 100 can maintain a relatively stable movement in the stomach, and the effect of the carrying module can be improved.

[0038] In some embodiments, with reference toFigs. 2-3 , the elastic body is a V-shaped elastic member 3, the tip of the V-shaped elastic member 3 is fixedly connected with the connecting column 142, the two elastic arms of the V-shaped elastic member 3 are respectively fixedly connected with the end of the two adjacent unfolding arms 2, and each unfolding arm 2 is fixedly connected with the two elastic arms of the two adjacent V-shaped elastic members 3 which are close to each other. Any elastic arm can store energy when the unfolding arm 2 is attached to the connecting column 142, and can reset and release energy when the unfolding arm 2 unfolds to the outside of the connecting column 142. Specifically, when the capsule shell is not dissolved, the two elastic arms of each V-shaped elastic member 3 are respectively fixedly connected with the side of the two adjacent unfolding arms 2 close to the connecting column 142, and each unfolding arm 2 is fixedly connected with the two elastic arms of the two adjacent V-shaped elastic members 3 which are close to each other, and the two elastic arms are parallel to each other. The advantage of this connection is that the unfolding direction of the unfolding arm 2 is controllable, and the unfolding arm 2 will not twist when it unfolds, so that after the capsule shell is dissolved, the unfolding arm 2 can be stably popped out to make the unfolding arm 2 extend out of the robot body 1, thereby ensuring that the gastric retention capsule robot 100 can be retained in the stomach.

[0039] In some embodiments, with reference to Figs. 2-3 , the restoring mechanism 4 includes a heatable metal and a memory alloy torsion spring 41. The heatable metal is arranged on one side of the bottom support 143 close to the connecting column 142, and can heat under the action of an external field. The memory alloy torsion spring 41 is arranged close to the heatable metal, one end of the memory alloy torsion spring 41 is arranged on the connecting column 142, and the other end of the memory alloy torsion spring 41 is fixedly connected with the side of the unfolding arm 2 close to the capsule shell. The memory alloy torsion spring 41 can be heated and released by heat exchange with the heatable metal to drive the unfolding arm 2 to flip and reset to be attached to the connecting column 142. Specifically, in this embodiment, the external field is a radio frequency (RF) field outside the body, the memory alloy torsion spring 41 is a nickel-titanium alloy, and the deformation temperature is 50°C. At a lower temperature, the nickel-titanium alloy in the martensite phase is soft and easy to deform, so that the V-shaped elastic member 3 can overcome the elastic force of the memory alloy torsion spring 41 to make the unfolding arm 2 extend out of the robot body 1. When the gastric retention capsule robot 100 needs to be discharged out of the body, the heatable metal is heated by the externally applied RF field using the principle of Joule heating, the memory alloy torsion spring 41 is heated by the heatable metal, and the martensite phase is converted into the austenite phase. At this time, the elastic modulus of the memory alloy torsion spring 41 increases, showing high elasticity and restoring force, so that the memory alloy torsion spring 41 overcomes the elastic force of the V-shaped elastic member 3 to flip and reset the unfolding arm 2 to be attached to the connecting column 142, realizing the unfolding and closing of the gastric retention capsule robot 100 inside the stomach, and thereby the gastric retention capsule robot 100 can be discharged in time after the functional module fully plays its role inside the stomach, avoiding the risk of gastrointestinal obstruction and mechanical damage caused by the gastric retention capsule robot 100 not being discharged in time.

[0040] In some embodiments, with reference to Figs. 2-3, the heated metal is aluminum sheet 42. The aluminum sheet 42 has high thermal conductivity, can quickly conduct heat after being heated in the radio frequency field, and can transfer heat to the memory alloy torsion spring 41. The thickness of the aluminum sheet 42 is small, and the optional range is 10 μm to 100 μm. The heating efficiency is high, and the martensite phase of the memory alloy torsion spring 41 can be converted into the austenite phase in a short time of heating, so as to flip the unfolded arm 2 to be in close contact with the connecting column 142. In actual use, in order to avoid the reaction of the surface oxide film of the aluminum sheet 42 with gastric acid, the aluminum sheet 42 needs to be anodized to thicken the oxide film.

[0041] In some embodiments, with reference to Figs. 1-3 , the carrying module includes a drug loading body 12, and the functional module is a drug. The surface of the drug loading body 12 is provided with a plurality of grooves capable of loading the drug. In this embodiment, the grooves are V-shaped grooves uniformly provided around the surface of the drug loading body 12. In other embodiments, the grooves can be square grooves or arc grooves or other shapes. Specifically, the drug is mixed with a high molecular material such as PEG (polyethylene glycol)-10kDa / 35kDa / 100kDa and polyadipic anhydride at a certain ratio, heated to 140°C to melt, and then filled into the V-shaped grooves. In addition to controlling the release rate by controlling the molecular weight of PEG (polyethylene glycol), the drug release rate can also be controlled by coating the drug release surface with PCL (polycaprolactone)-40kDa acetone solution (12% w / w).

[0042] Specifically, in use, with reference to Figs. 7-9 , after the drug is loaded, the patient swallows the gastric retention capsule robot 100, the external capsule shell melts, the V-shaped elastic member 3 expands the unfolded arm 2, so that the gastric retention capsule robot 100 is unfolded to realize long-term stable release of the drug. When the drug is released or needs to be taken out due to special reasons, the aluminum sheet 42 is heated by using an external radio frequency (RF) field. At this time, the memory alloy torsion spring 41 is converted from the martensite phase to the austenite phase, the elastic modulus of the memory alloy torsion spring 41 increases, and the memory alloy torsion spring 41 exhibits high elasticity and recovery force, generating a large elastic force. The memory alloy torsion spring 41 overcomes the elastic force of the V-shaped elastic member 3 to flip the unfolded arm 2 to be in close contact with the connecting column 142, so that the gastric retention capsule robot 100 is closed and can be discharged through the pylorus.

[0043] In other embodiments, the carrying module can also include a permanent magnet to control the position of the gastric retention capsule robot 100 from the outside of the patient by another permanent magnet or other devices.

[0044] Embodiment Two

[0045] The difference between this embodiment and embodiment one is that, with reference to Figs. 4-6, the carrying module is a carrying support, the functional module is a detection module 13, the detection module 13 comprises a sensing device 131 and a battery 132 electrically connected with the sensing device 131, and the detection module 13 is fixed on the carrying support. Specifically, the sensing device 131 can be a pH sensor based on the principle of potential measurement, which can detect the metabolic product (such as ammonia produced by urea hydrolysis) or the density of the bacterium of Helicobacter pylori by measuring the pH value of the stomach to evaluate the active degree of infection. In other embodiments, the sensing device 131 can also be a MEMS piezoresistive sensor for detecting gastric contraction pressure to evaluate gastric peristalsis and emptying function, or a miniature thermistor for detecting the internal temperature of the stomach, and other sensing devices 131 set according to actual detection needs.

[0046] In specific use, referring to Figs. 10-12 , according to the parameters to be detected by the patient, the sensing device 131 is selected, after loading is completed, the patient swallows the gastric retention capsule robot 100, the external capsule shell is melted, the V-shaped elastic member 3 is expanded, the expanded arm 2 is expanded, the gastric retention capsule robot 100 is expanded to realize long-term index sensing, when data collection is completed or needs to be taken out due to special reasons, the aluminum sheet 42 is heated by using an external radio frequency (RF) field, at this time, the elastic modulus of the memory alloy torsion spring 41 increases, showing high elasticity and restoring force, generating a large elastic force, so that the memory alloy torsion spring 41 overcomes the elastic force of the V-shaped elastic member 3 to turn over the expanded arm 2 to reset to be attached to the connecting column 142, so that the gastric retention capsule robot 100 is closed and can be discharged through the pylorus.

[0047] Embodiment three

[0048] The embodiment provides the gastric retention capsule robot 100 and the functional module in the embodiment one or the embodiment two, specifically, the functional module is a drug or a sensing device 131 and a battery 132, when the carrying device carries the drug, long-term stable release of the drug is realized; when the carrying device carries the sensing device 131 and the battery 132, the gastric retention capsule robot 100 is suitable for detecting parameters in the stomach of the patient to assist in the treatment of gastric diseases and help the patient recover soon.

[0049] The principle and the implementation mode of the present application are described by using specific examples in the present application, the above embodiment is only used for helping to understand the method and the core idea of the present application; meanwhile, for the general skilled in the art, according to the idea of the present application, the specific implementation mode and the application range will be changed. In conclusion, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A gastric retention capsule robot, characterized in that: include: The capsule shell is soluble in the stomach; The robot body is disposed inside the capsule shell, and the robot body is provided with a mounting module for carrying functional modules; The extended arm is movably mounted on the robot body. A drive mechanism is disposed on the robot body. After the capsule shell dissolves, the drive mechanism can drive the unfolding arm to unfold outward of the robot body to restrict the robot body from being discharged. as well as A recovery mechanism is provided on the robot body, which can fold the unfolding arm to fit the robot body so that the robot body can be discharged.

2. The gastric retention capsule robot according to claim 1, characterized in that: The drive mechanism includes an elastomer, one end of which is fixedly connected to the end of the deploying arm, and the other end of which is fixedly connected to the robot body. After the capsule shell dissolves, the elastomer can spring open the deploying arm so that the deploying arm can extend outward from the robot body.

3. The gastric retention capsule robot according to claim 2, characterized in that: The robot body also includes a head and a deployable body, wherein the head, the mounting module, and the deployable body are connected in sequence. The side of the head furthest from the mounting module is an arc surface, while the side of the head connected to the mounting module is a flat surface. The unfolding main body includes a platform, a connecting column, and a base connected in sequence; one side of the platform is fixedly connected to the mounting module, and the other side of the platform is fixedly connected to the connecting column; the side of the base that is fixedly connected to the connecting column is a flat surface, and the side of the base away from the connecting column is an arc surface.

4. The gastric retention capsule robot according to claim 3, characterized in that: The deployable arms are provided in multiple ways, and the multiple deployable arms are evenly distributed around the circumference of the connecting column; The number of elastic bodies is not less than the number of deployable arms. The multiple elastic bodies are evenly distributed around the circumference of the connecting column, each elastic body is fixed on the connecting column, and each elastic body is fixedly connected to the corresponding deployable arm.

5. The gastric retention capsule robot according to claim 4, characterized in that: The elastic body is a V-shaped elastic element. The tip of the V-shaped elastic element is fixedly connected to the connecting post. The two elastic arms of the V-shaped elastic element are respectively fixedly connected to the ends of two adjacent unfolding arms. Each unfolding arm is simultaneously fixedly connected to two adjacent elastic arms of the two V-shaped elastic elements that are close to each other. Each of the elastic arms can twist and store energy when the unfolding arm is attached to the connecting post, and can release energy when the unfolding arm unfolds to the outside of the connecting post.

6. The gastric retention capsule robot according to claim 3, characterized in that: The restoration mechanism includes: Heated metal, which is disposed on the side of the base near the connecting column, and the heated metal is capable of generating heat under the action of an external field; A shape memory alloy torsion spring is disposed close to the heated metal, with one end of the shape memory alloy torsion spring passing through the connecting post and the other end of the shape memory alloy torsion spring being fixedly connected to the side of the unfolding arm near the capsule shell. The shape memory alloy torsion spring can generate heat and release energy after exchanging heat with the heated metal to drive the unfolding arm to flip and reset to fit against the connecting post.

7. The gastric retention capsule robot according to claim 6, characterized in that: The heated metal is an aluminum sheet.

8. The gastric retention capsule robot according to any one of claims 1 to 7, characterized in that: The loading module includes a drug-carrying body, the functional module is a drug, and the surface of the drug-carrying body has several grooves that can be filled with drugs.

9. The gastric retention capsule robot according to any one of claims 1 to 7, characterized in that: The mounting module is a mounting bracket, and the functional module is a detection module. The detection module includes a sensing device and a battery electrically connected to the sensing device, and the detection module is fixed on the mounting bracket.

10. A gastric retention capsule device, characterized in that: It includes functional modules and the gastric retention capsule robot as described in any one of claims 1 to 9.

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