Multifunctional capsule robot integrating double-channel biopsy, drug administration and anchoring functions

Abstract

The invention relates to a multifunctional capsule robot integrating dual-channel biopsy, drug administration and anchoring functions, which comprises a shell, a capsule, a capsule, a capsule and an anchoring device, wherein a bracket is arranged in the shell; the three-degree-of-freedom magnetic driving assembly is arranged on the bracket, and the three-degree-of-freedom magnetic driving assembly is arranged on the bracket; the tool switching mechanism is used for switching different tool cabins, and the tool switching mechanism is installed on the support; the four tool cabins respectively have the functions of 30G biopsy, 25G biopsy, drug A administration and drug B administration, are used for supporting the realization of double-channel biopsy and double-channel administration, and are mounted on a four-phase tool wheel disc of the tool switching mechanism; and the deformation anchoring mechanism is used for being fixed near a focus, and the deformation anchoring mechanism is connected with the support. The device is used for diagnosis and treatment of human body lumen organs such as digestive tracts, is suitable for multi-part tissue sampling, multi-drug precise administration and stable anchoring operation under the non-invasive or minimally invasive condition, realizes function cooperation through the four-phase tool wheel disc, and flexibly switches the working state between two-channel biopsy and drug administration; and an integrated solution is provided for diagnosis and treatment of intracavity diseases.

Description

Technical Field

[0001] This invention relates to the field of capsule robot technology, and in particular to a multifunctional capsule robot that integrates dual-channel biopsy, drug delivery and anchoring functions. Background Technology

[0002] Gastrointestinal diseases are a type of disease with a gradually increasing incidence in recent years. They not only cause physical pain to patients, but also have obvious limitations in existing diagnostic and treatment methods. Traditional invasive endoscopy requires external instruments to be inserted into the digestive tract, which can easily cause discomfort to patients. Although wireless capsule endoscopy has advantages such as small size and no secondary trauma, and can collect images as the patient swallows it and moves with the gastrointestinal tract, there are still bottlenecks in its functional expansion.

[0003] Currently, most commercially available wireless capsule endoscopes only have image acquisition capabilities and cannot perform tissue biopsies or targeted drug delivery. The few capsule robots with single treatment functions also face problems such as low reliability of tool switching, poor anchoring stability, and insufficient functional synergy: some biopsy capsules are only compatible with a single needle size, which cannot meet the needs of different tissue sampling; some drug delivery capsules can only carry a single drug, which is difficult to deal with combined drug use for complex lesions; at the same time, the drive and transmission structures of existing devices often rely on complex motors or cables, which not only increases the size of the robot, but also easily leads to motion jamming and excessive energy consumption, making it difficult to adapt to the narrow space and complex environment of the human body's cavities.

[0004] To address the need for integrated and coordinated multi-diagnostic functions, existing technologies have not yet overcome the challenge of collaborative operation of "multi-channel biopsy - multi-channel drug delivery - anchoring": either multiple capsule robots are required for phased operation, increasing patient treatment costs and process complexity; or the integration mechanism is poorly designed, leading to mutual interference between functions, such as the anchoring mechanism easily colliding with biopsy tools when deployed, and the tools easily deviating from the lesion position when switching, making it impossible to achieve continuous collaborative operation of multiple functions at the same lesion. Summary of the Invention

[0005] This invention provides a multifunctional capsule robot that integrates dual-channel biopsy, drug delivery, and anchoring functions, aiming to solve at least one of the technical problems existing in the prior art.

[0006] The technical solution of this invention is a multifunctional capsule robot and control method integrating dual-channel biopsy, drug delivery, and anchoring functions. The capsule robot includes: A housing, the interior of which is provided with a support; A three-degree-of-freedom magnetic drive assembly is mounted on the support. A tool switching mechanism for switching between different tool compartments is mounted on the bracket. A tool actuator for performing biopsy or drug administration operations, the tool actuator being mounted on the four-phase tool wheel of the tool switching mechanism; A deformable anchoring mechanism is used to fix the device near the lesion, and the deformable anchoring mechanism is connected to the support.

[0007] Furthermore, the three-degree-of-freedom magnetic drive assembly includes a first drive assembly, a second drive assembly, and a third drive assembly. The first drive assembly and the third drive assembly are respectively disposed along the extension direction of the housing and have opposite directions of action. The second drive assembly has a vertical direction of action. The first driving assembly includes a first stator and a first mover that performs linear reciprocating motion along the extension direction of the housing; the second driving assembly includes a second stator and a second mover that performs linear reciprocating motion along the vertical direction; the third driving assembly includes a third stator and a third mover that performs linear reciprocating motion along the extension direction of the housing.

[0008] Furthermore, the first stator, the second stator, and the third stator are all magnetic columns, and the first mover, the second mover, and the third mover are all magnetic balls, achieving linear reciprocating motion through an external electromagnetic drive EPM.

[0009] Furthermore, the tool switching mechanism includes an eight-tooth ratchet, a four-phase tool wheel, and a double-slope guide vane housing; The eight-tooth ratchet is located at the bottom of the rotating shaft of the four-phase tool wheel. The four-phase tool wheel is provided with a first soft paddle, a second soft paddle, a third soft paddle and a fourth soft paddle in sequence along the central axis circumferential direction. It also includes a first sharp corner above the first soft paddle, a second sharp corner above the second soft paddle, a third sharp corner above the third soft paddle and a fourth sharp corner above the fourth soft paddle. The double-slope guide moving part housing is connected to the first moving part of the first drive assembly, and the double-slope guide moving part housing is provided with a double-slope guide structure.

[0010] Furthermore, when the first mover is extended, the double-slope guide mover housing is extended along with the first mover, applying pressure to the first, second, third, or fourth sharp corner and generating a driving torque T, which drives the rotating body to rotate clockwise, wherein the driving torque T is: , Where F{out} is the driving force for the first moving magnetic ball to push out, and r is the position vector of the contact point relative to the center of the rotating body; When the first, second, third, or fourth soft paddle is pressed against the teeth of the eight-tooth ratchet and the deformation exceeds the preset value, the first, second, third, or fourth soft paddle passes over the teeth of the eight-tooth ratchet. When the first mover is reset, the double-slope guide mover housing is reset along with the first mover. The double-slope guide structure generates a rightward component force F_1 and a leftward component force F_2 respectively, guiding the first mover to reset to the initial position. After each "motor ejection-reset" cycle is completed, the four-phase tool wheel rotates 90 degrees, realizing the precise switching of the four-phase tool wheel.

[0011] Furthermore, the rightward component force F_1 is: , Where F{in} is the driving force for the first mover to reset, and θ is the angle between the left ramp of the double ramp guide structure and the vertical direction; The leftward component force F_2 is: , Where F{in} is the resetting driving force of the first mover. The angle between the right slope of the double-slope guide structure and the vertical direction.

[0012] Furthermore, the tool actuator is mounted on the four-phase tool wheel of the tool switching mechanism, and the tool actuator includes a needle, a first biopsy tool compartment, a second biopsy tool compartment, a first drug delivery tool compartment, and a second drug delivery tool compartment; The ejector pin is connected to the second mover of the second drive assembly. When the ejector pin is pushed out with the second mover of the second drive assembly, it contacts the base of the tool in the tool compartment of the four-phase tool wheel and pushes the corresponding tool out. The first biopsy tool compartment, the second biopsy tool compartment, the first drug delivery tool compartment, and the second drug delivery tool compartment are each provided with a needle hub and a compression spring; the first biopsy tool compartment and the second biopsy tool compartment are also provided with a biopsy needle, and the first drug delivery tool compartment and the second drug delivery tool compartment are also provided with a drug delivery needle, the bottom of the biopsy needle and the drug delivery needle being connected to their respective needle hubs; The first biopsy tool chamber has a 30G biopsy needle suitable for soft tissue sampling, and the second biopsy tool chamber has a 25G biopsy needle suitable for sampling tougher tissues. The first and second drug delivery tool compartments each carry different drugs, which can be administered individually or in combination. The compression spring is located between the top of each tool compartment and the base of the tool compartment. When the second mover resets, the compression spring releases its elastic potential energy, pushing the corresponding tool to reset synchronously into the tool compartment, thus preventing the tool from remaining inside the user's body. Through the continuous switching of the four-phase tool wheel, the coordinated operation of "30G biopsy - 25G biopsy - drug A administration - drug B administration" can be performed sequentially at the same lesion location, or the corresponding function can be switched at different lesion locations.

[0013] Furthermore, the deformation anchoring mechanism is a rocker-slider mechanism, which includes a slider, a frame, a rocker arm, a connecting rod, and an anchoring arm. The slider is fixed to the third moving part, and the two ends of the connecting rod are respectively hinged to the slider and the rocker. When the third mover retracts, the slider pulls the connecting rod to reset the rocker arm, and the anchoring arm is pressed tightly against the housing; when the third mover extends, the slider pushes the connecting rod to rotate the rocker arm clockwise, and the anchoring arm unfolds, achieving stable anchoring through friction with the cavity wall.

[0014] Furthermore, this invention also proposes a capsule robot control method, applied to the aforementioned multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions. The method includes the following steps: S100. The capsule robot is delivered into the patient's digestive tract orally. The external electromagnetic drive EPM system is activated, and the magnetic field direction is adjusted to control the mover to move along the peristaltic direction of the digestive tract. At this time, the deformation anchoring mechanism is in a contracted state. When the capsule robot moves to the vicinity of the lesion area, the external electromagnetic drive EPM system is adjusted to a weak magnetic state, and the first stator, second stator and third stator stop moving, completing the initial positioning. S200: The magnetic field control module of the external electromagnetic drive EPM system outputs a positive strong magnetic field, and the third stator generates a magnetic repulsion force on the third mover, pushing the third mover to extend; the slider fixed with the third mover moves synchronously, and the rocker arm rotates clockwise through the connecting rod, the anchoring arm unfolds and contacts the digestive tract wall, and the deformable anchoring mechanism remains in an expanded state to ensure that the robot has no displacement; S300: The external electromagnetic drive EPM system outputs a positive magnetic field, the first mover is extended, and the double-slope guide mover housing contacts the first sharp corner, generating a driving torque T, which drives the four-phase tool wheel to rotate 90 degrees clockwise. The soft paddle deforms past the teeth of the two eight-tooth ratchet wheels. Then, the external electromagnetic drive EPM system outputs a reverse magnetic field, the first mover is reset, the left slope of the double-slope guide mover housing contacts the first sharp corner, and is deflected to the right by the right component force F_1 to avoid it. The right slope contacts the track sharp corner and is guided back to position by the left component force F_2. At this time, the first biopsy tool compartment is aligned with the top needle, and the top needle pushes the 30G biopsy needle to extend to the lesion to collect soft tissue samples. After the collection is completed, the first mover is reset, and the compression spring drives the 30G biopsy needle to retract into the first biopsy tool compartment. The S400 external electromagnetic drive EPM system outputs a positive magnetic field, extending the first mover. The double-slope guide mover housing contacts the second pointed corner, applying pressure and causing the four-phase tool wheel to rotate 90 degrees clockwise. The second biopsy tool compartment aligns with the top needle. Subsequently, the first mover resets, and the double-slope guide returns to its original position, ensuring precise docking between the top needle and the second biopsy tool compartment. The second mover then extends, and the top needle pushes the 25G biopsy needle out to collect a sample of tough tissue from the lesion. The second mover resets, and the compression spring retracts the 25G biopsy needle back into the second biopsy tool compartment. S500, adjust the external electromagnetic drive EPM to a positive magnetic field, the first mover is extended, the double ramp guide mover housing continues to rotate 90 degrees clockwise, the first drug delivery tool chamber is aligned with the top needle, then the first mover is reset, the double ramp guide returns to its position to avoid deviation, drive the second mover to extend, the top needle pushes the first drug delivery needle to extend, the first drug is applied, the second mover is reset, the compression spring drives the drug delivery needle to retract into the first drug delivery tool chamber; S600: Adjust the external electromagnetic drive EPM to a positive magnetic field. The first mover extends the double-slope guide mover housing and continues to rotate 90 degrees clockwise. The second drug delivery tool chamber aligns with the top needle. Then, the first mover resets, and the double-slope guide returns to its original position to ensure accurate docking. The second mover is then driven to extend, and the top needle pushes the second drug delivery needle out to apply the second drug. The second mover resets, and the compression spring drives the drug delivery needle to retract into the second drug delivery tool chamber, completing the combined drug delivery. S700: Adjust the direction of the magnetic field of the external electromagnetic drive EPM to eliminate the bistable characteristic. The third mover resets and drives the slider back. The slider pulls the connecting rod to rotate the rocker counterclockwise. The anchoring arm retracts to fit tightly against the shell. Control the capsule robot to move with the peristalsis of the digestive tract and be expelled from the body. After collecting biopsy samples, pathological tests are performed.

[0015] Furthermore, the present invention also proposes a computer-readable storage medium storing program instructions thereon, which, when executed by a processor, implement the capsule robot control method described above.

[0016] The beneficial effects of this invention are: The multifunctional capsule robot, which integrates dual-channel biopsy, drug delivery, and anchoring functions, is used for the diagnosis and treatment of human luminal organs such as the digestive tract. It is suitable for multi-site tissue sampling, precise drug delivery, and stable anchoring under non-invasive or minimally invasive conditions. Through a four-phase tool wheel, it can flexibly switch between dual-channel biopsy and drug delivery modes, providing an integrated solution for the diagnosis and treatment of endoluminal diseases. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions after the shell has been removed, according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the rear structure of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions after the shell has been removed, according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the exploded structure of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention after the shell has been removed.

[0021] Figure 5 This is a cross-sectional view of the tool switching mechanism and tool execution mechanism of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery and anchoring functions after the shell has been removed, according to an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the bottom structure of the four-phase tool wheel of a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the tool switching mechanism in the process of the mover pushing out and driving the wheel to rotate in the multifunctional capsule robot that integrates dual-channel biopsy, drug delivery and anchoring functions in an embodiment of the present invention.

[0024] Figure 8 This is a total displacement diagram (maximum displacement 0.23mm) of the soft paddle under a force of 1N in the ANSYS simulation heat map of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery and anchoring functions in an embodiment of the present invention.

[0025] Figure 9 This is an equivalent force diagram in the ANSYS simulation heatmap of a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention.

[0026] Figure 10 The ANSYS simulation heatmap of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions in this embodiment of the invention shows the soft deformation diagram of the rotating body when subjected to counterclockwise force (minor deformation, unable to drive the ratchet to reverse).

[0027] Figure 11 This is a schematic diagram of the first mover reset double-slope guidance principle in a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention. The diagram is labeled with the left slope (angle θ with the vertical direction) and the right slope (angle θ with the vertical direction). ), and the directions of motion in the four stages a, b, c and d.

[0028] Figure 12 This is a diagram showing the contraction state of the deformation anchoring mechanism in a multifunctional capsule robot that integrates dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention.

[0029] Figure 13 This is a diagram showing the expansion state of the deformation anchoring mechanism in a multifunctional capsule robot that integrates dual-channel biopsy, drug delivery, and anchoring functions in an embodiment of the present invention.

[0030] Figure 14 This is a schematic diagram of the state of the first mover driving the four-phase tool wheel disk in the tool switching mechanism of the multifunctional capsule robot integrating dual-channel biopsy, drug delivery and anchoring functions in an embodiment of the present invention, which has a double-slope guide mover shell.

[0031] Reference numerals in the attached figures: 100, housing; 101, support; 200, three-degree-of-freedom magnetic drive assembly; 210, first stator; 211, first mover; 220, second stator; 221, second mover; 230, third stator; 231. Third mover; 300. Tool switching mechanism; 310. Eight-tooth ratchet; 320. Four-phase tool wheel; 321. First soft paddle; 322. Second soft paddle; 323. Third soft paddle; 324. Fourth soft paddle; 325. First sharp corner; 326. Second sharp corner; 327. Third sharp corner; 328. Fourth sharp corner; 330. Double-slope guide mover housing; 400. Tool actuator; 410. First biopsy tool compartment; 420. Second biopsy tool compartment; 430. First drug delivery tool compartment; 440. Second drug delivery tool compartment; 450. Ejector pin; 460. Compression spring; 470. Needle seat; 480. Biopsy needle; 490. Drug delivery needle; 500. Deformable anchoring mechanism; 510. Slider; 520. Frame; 530. Rocker arm; 540. Connecting rod; 550. Anchoring arm. Detailed Implementation

[0032] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0033] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0034] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0035] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0036] Reference Figures 1 to 14 In some embodiments, the technical solution of the present invention is a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions, as described above. Figures 1 to 2 , Figure 12 and Figure 13 The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions includes: The housing 100 has a support 101 disposed inside it; A three-degree-of-freedom magnetic drive assembly 200 is disposed on the bracket 101; A tool switching mechanism 300 is used to switch between different tool compartments, and the tool switching mechanism 300 is mounted on the bracket 101; A tool actuator 400 is used to perform biopsy or drug administration operations. The tool actuator 400 is mounted on the four-phase tool wheel 320 of the tool switching mechanism 300. The deformable anchoring mechanism 500 is used to fix it near the lesion, and the deformable anchoring mechanism 500 is connected to the bracket 101.

[0037] The beneficial effects of this invention are: The multifunctional capsule robot, which integrates dual-channel biopsy, drug delivery, and anchoring functions, is used for the diagnosis and treatment of human cavities such as the digestive tract. It is suitable for multi-site tissue sampling, precise drug delivery, and stable anchoring under non-invasive or minimally invasive conditions. Through the four-phase tool wheel 320, it can flexibly switch between dual-channel biopsy and drug delivery modes, providing an integrated solution for the diagnosis and treatment of cavitary diseases.

[0038] First, it integrates multiple functions, forming a dual-channel biopsy and dual-channel drug delivery system through two biopsy chambers (30G / 25G needles) and two drug delivery chambers (for different drugs), meeting the needs of different tissue sampling and combined drug use. Second, it features reliable tool switching and coordination. Based on a micro ratchet mechanism and dual-slope guidance, the four-phase tool wheel 320 rotates precisely 90 degrees per cycle, enabling multi-functional continuous coordinated operation on the same lesion. In addition, it has strong anchoring stability. The rocker arm 530 and slider 510 mechanism achieves over 200% size expansion, ensuring no robot displacement during functional coordination. Finally, it excels in safety and practicality. The compression spring 460 reset prevents tool retention, the low-energy design is suitable for long-term treatment, and the overall size meets the needs of human lumen, making it highly valuable for clinical application.

[0039] To address the technical shortcomings of existing capsule robots, such as limited functionality, insufficient biopsy / drug administration channels, unreliable tool switching, poor anchoring stability, and weak multi-functional synergy, this invention provides a four-phase multi-functional capsule robot integrating dual-channel biopsy, drug administration, and anchoring functions. By optimizing the drive mechanism, transmission structure, and functional layout, it achieves integrated operation of "precise switching of multi-channel tools - coordinated execution of biopsy / drug administration - stable anchoring," meeting the high efficiency, safety, and synergy requirements of minimally invasive endovascular diagnosis and treatment.

[0040] Specifically, the housing 100 is a cylindrical housing 100, and the three-degree-of-freedom magnetic drive assembly 200 includes three sets of stators and movers. The stator is a magnetic column with a diameter of 5mm, and the mover is a magnetic ball with a diameter of 5mm. The maximum stroke of the mover is 4mm. It achieves linear reciprocating motion through an external electromagnetic drive EPM, thereby driving the tool switching mechanism 300, the tool execution mechanism 400, and the deformation anchoring mechanism 500 to move. The three correspond to the degrees of freedom formed by the three sets of stators and movers.

[0041] Furthermore, refer to Figures 1 to 4 The three-degree-of-freedom magnetic drive assembly 200 includes a first drive assembly, a second drive assembly, and a third drive assembly. The first drive assembly and the third drive assembly are respectively disposed along the extension direction of the housing 100 and have opposite directions of action. The second drive assembly has a vertical direction of action. The first drive assembly includes a first stator 210 and a first mover 211 that moves linearly reciprocally along the extension direction of the housing 100; the second drive assembly includes a second stator 220 and a second mover 221 that moves linearly reciprocally along the vertical direction; the third drive assembly includes a third stator 230 and a third mover 231 that moves linearly reciprocally along the extension direction of the housing 100.

[0042] Furthermore, refer to Figures 1 to 4The first stator 210, the second stator 220 and the third stator 230 are all magnetic columns, and the first mover 211, the second mover 221 and the third mover 231 are all magnetic balls. The linear reciprocating motion is achieved by external electromagnetic drive EPM.

[0043] Furthermore, refer to Figures 5 to 6 , Figures 7 to 11 The tool switching mechanism 300 includes an eight-tooth ratchet 310, a four-phase tool wheel 320, and a double-slope guide moving part housing 330; The eight-tooth ratchet 310 is located at the bottom of the rotating shaft of the four-phase tool wheel 320. The four-phase tool wheel 320 is provided with a first soft paddle 321, a second soft paddle 322, a third soft paddle 323 and a fourth soft paddle 324 in sequence along the central axis. It also includes a first sharp corner 325 above the first soft paddle 321, a second sharp corner 326 above the second soft paddle 322, a third sharp corner 327 above the third soft paddle 323 and a fourth sharp corner 328 above the fourth soft paddle 324. The double-slope guide sub-shell 330 is connected to the first mover 211 of the first drive assembly, and the double-slope guide sub-shell 330 is provided with a double-slope guide structure.

[0044] Specifically, the soft lever of the tool switching mechanism 300 was verified by ANSYS finite element simulation: when a force of 1N perpendicular to the rotation direction is applied to the soft lever, its maximum displacement is 0.23mm, which meets the deformation requirement of greater than or equal to 0.17mm, ensuring that the rotating body smoothly passes over the ratchet teeth; the rotation angle error of the rotating body per cycle is less than or equal to 0.5 degrees, and the alignment accuracy between the tool compartment and the ejector pin 450 is less than or equal to 0.2mm, ensuring the accuracy of the switching of the four-phase tool wheel disk 320.

[0045] Furthermore, refer to Figures 1 to 6 When the first mover 211 is extended, the double-slope guide mover housing 330 is extended along with the first mover 211, applying pressure to the first sharp angle 325, the second sharp angle 326, the third sharp angle 327, or the fourth sharp angle 328 and generating a driving torque T, which drives the rotating body to rotate clockwise, wherein the driving torque T is: , Where F{out} is the driving force for the first moving part 211 magnetic ball to push out, and r is the position vector of the contact point relative to the center of the rotating body; When the first soft paddle 321, the second soft paddle 322, the third soft paddle 323, or the fourth soft paddle 324 is pressed against the teeth of the eight-tooth ratchet 310 and the deformation is greater than the preset value, the first soft paddle 321, the second soft paddle 322, the third soft paddle 323, or the fourth soft paddle 324 passes over the teeth of the eight-tooth ratchet 310. When the first mover 211 is reset, the double-slope guide mover housing 330 is reset along with the first mover 211. The double-slope guide structure generates a rightward component force F_1 and a leftward component force F_2 respectively, guiding the first mover 211 to reset to the initial position. After each "motor ejection-reset" cycle is completed, the four-phase tool wheel 320 rotates 90 degrees, realizing the precise switching of the four-phase tool wheel 320.

[0046] Specifically, refer to Figure 7 This demonstrates the working principle of the mechanism that converts the linear reciprocating motion of unidirectional extension to continuous circular motion during the extension process, allowing for tool switching freedom. The rotatable magnet initially contacts the sharp corner of the rotating body through the encasing shell mechanism. During the outward protrusion, pressure is applied to the sharp corner, causing it to rotate. The driving torque exerted by the magnet on the rotating body is calculated as follows: , Where F_out is the driving force generated when the moving magnetic ball is pushed out, and r is the position vector of the contact point relative to the center of the circle.

[0047] The rotatable magnet is pushed outward to its limit position under the action of EPM, and the pointed corner completes a 90-degree rotation. It is worth noting that during this clockwise rotation, the edges of the orange and green ratchet corners will come into contact, press, and slightly deform, allowing the rotatable magnet to smoothly push the pointed corner to rotate and complete the extension. Ratchet mechanism design description and working principle. The core element of converting linear reciprocating motion (back-and-forth periodic motion) into unidirectional continuous unit circular motion (unidirectional irreversible motion) lies in how to achieve the irreversibility of the motion conversion process.

[0048] To address this requirement, a miniature ratchet mechanism was designed for this system. It includes an eight-tooth ratchet 310 and four flexible paddles. When the rotating body rotates clockwise under torque, the flexible paddles deform slightly by pressing against the ratchet. The maximum deformation required for the flexible paddles to pass over the ratchet is defined as 0.17 mm. That is, when the driving torque causes the flexible paddles to deform by 0.17 mm, the rotating body can rotate clockwise relative to the ratchet.

[0049] Reference Figures 8 to 10 To ensure the success of the actual physical experiment and the rigor of the theoretical analysis, finite element simulation analysis of the soft paddle of the rotating body under stress was performed using ANSYS software. Figure 8 A force of 1N perpendicular to the direction of rotation was applied to the point where the soft object was subjected to force. Figure 9 and Figure 10 Simulated thermograms of total displacement and equivalent stress are displayed respectively. Figure 9 It can be seen that the maximum displacement at the deformation point is 0.23mm, thus achieving the deformation requirement of 0.17mm, allowing the rotating body to rotate clockwise relative to the ratchet.

[0050] Conversely, when the rotating body is disturbed or subjected to other counterclockwise torques (such as the possible contact during the reset of the magnetic ball), the soft body will experience resistance tangential to the direction of rotation due to the ratchet action. It can be observed that under this force, the soft body will only produce relatively small deformations, and therefore cannot rotate counterclockwise due to the ratchet action, thus achieving the irreversibility of the motion transformation process.

[0051] Reference Figure 11 This demonstrates the working principle of the mechanism that converts unidirectional linear reciprocating motion to continuous circular motion during the reset process, achieving the degree of freedom in tool switching.

[0052] like Figure 11 As shown in sub-figure b, when the first mover 211 returns to its original position downwards, the left ramp (highlighted in red) of the double-ramp guide mover housing 330 will contact the sharp corner of the rotating body. At this time, the rotating body remains fixed under the irreversible action of the ratchet's rotation, while the first mover 211 will deflect to the right due to the component force generated by the ramp.

[0053] The calculation of the rightward component force is as follows: , Where F_in is the driving force generated when the moving magnetic ball is reset, and θ is the angle between the left slope and the vertical direction.

[0054] After the first mover 211 deflects to the right and avoids the sharp corner of the rotating body, a second ramp is designed to ensure that it can still contact the rotatable sharp corner through the enclosing shell mechanism to generate a driving torque to rotate the rotating body (T = r × F_out) during its next push-out: like Figure 11 In the C-sub-diagram, the right ramp (highlighted in red) of the double-slope guide moving part housing 330 will contact the sharp corner on the moving part track, causing the moving part to deflect to the left due to the component force generated by the ramp.

[0055] The calculation of the leftward component force is as follows: , Wherein, F_in is the driving force generated when the first mover 211 magnetic ball is reset. It is the angle between the right-side slope and the vertical direction.

[0056] After the second ramp guidance, as Figure 11 In sub-diagram d, the first mover 211 successfully resets and can still generate driving torque to rotate the rotating body (T = r × F_out) when it is pushed outward in the next motion cycle, so that the rotating body enters the next rotation cycle, that is, the intermittent motion is transformed into continuous rotation.

[0057] The rotating body in the ratchet mechanism is expanded into a four-phase wheel structure capable of carrying four different actuating tools, allowing for free selection of the four tools through the directional rotation of the wheel. To achieve precise selection of the actuating tool, that is, to stably control the angle change of the drive wheel to 90 degrees with each 4mm reciprocation of the mover, the geometry of the rotating body and its sharp corners was specifically designed.

[0058] Reference Figure 14 , refer to Figure 14 Sub-figure A shows the posture of the rotating body when the mover reaches its limit position (stroke of 4mm). At this point, due to the torque applied by the mover housing to the sharp corner, the soft part of the rotating body just passes over one unidirectional tooth of the ratchet, and the next sharp corner of the rotating body will contact the mover housing. At this time, when the first mover 211 resets, under the irreversibility of the ratchet's rotation and the two ramp guidance actions during the reset process, referring to... Figure 14 In sub-diagram B, the next push of the first mover 211 can precisely contact the sharp corner again, generating a driving torque (as described above), thus entering the next motion cycle and realizing a continuous closed loop of unidirectional circular motion transformation. Based on this, the four sharp corners are evenly distributed on the rotating body, and the number of ratchet teeth is set to 8. Therefore, each motion cycle ensures that the rotating body rotates stably by 90 degrees, and the ratchet crosses twice. After achieving stable control of the single angle change of the wheel at 90 degrees, refer to... Figure 14 Sub-diagram C shows four tool compartments evenly distributed on the wheel, and when the wheel is at the beginning and end of the motion cycle, the tool compartments are exactly at the pin 450 of the tool actuator 400.

[0059] In one specific embodiment, the soft paddle is pressed against the ratchet teeth to produce a deformation of ≥0.17 mm to pass over the ratchet teeth.

[0060] Furthermore, refer to Figures 1 to 6 The rightward component force F_1 is: , Wherein, F{in} is the resetting driving force of the first mover 211, and θ is the angle between the left slope of the double-slope guide structure and the vertical direction; The leftward component force F_2 is: , Where F{in} is the reset driving force of the first mover 211, The angle between the right slope of the double-slope guide structure and the vertical direction.

[0061] Furthermore, refer to Figure 6 The tool actuator 400 is mounted on the four-phase tool wheel 320 of the tool switching mechanism 300. The tool actuator 400 includes a needle 450, a first biopsy tool chamber 410, a second biopsy tool chamber 420, a first drug delivery tool chamber 430, and a second drug delivery tool chamber 440. The ejector pin 450 is connected to the second mover 221 of the second drive assembly. When the ejector pin 450 is pushed out with the second mover 221 of the second drive assembly, it contacts the base of the tool in the tool compartment of the four-phase tool wheel 320, pushing the corresponding tool to extend. The first biopsy tool compartment 410, the second biopsy tool compartment 420, the first drug delivery tool compartment 430, and the second drug delivery tool compartment 440 are respectively provided with needle holders 470 and compression springs 460; the first biopsy tool compartment 410 and the second biopsy tool compartment 420 are also provided with biopsy needles 480, and the first drug delivery tool compartment 430 and the second drug delivery tool compartment 440 are also provided with drug delivery needles 490, the bottoms of the biopsy needles 480 and the drug delivery needles 490 are respectively connected to the corresponding needle holders 470; The biopsy needle 480 of the first biopsy tool compartment 410 is a 30G biopsy needle 480 suitable for soft tissue sampling, and the biopsy needle 480 of the second biopsy tool compartment 420 is a 25G biopsy needle 480 suitable for sampling tougher tissues. The first drug delivery tool compartment 430 and the second drug delivery tool compartment 440 are each equipped with different drugs, which can be administered alone or in combination. The compression spring 460 is located between the top of each tool compartment and the base of the tool compartment. When the second mover 221 is reset, the compression spring 460 releases its elastic potential energy, pushing the corresponding tool to be reset synchronously inside the tool compartment, thus preventing the tool from remaining inside the user's body. Through the continuous switching of the four-phase tool wheel 320, the coordinated operation of "30G biopsy - 25G biopsy - drug A administration - drug B administration" can be performed sequentially at the same lesion location, or the corresponding function can be switched at different lesion locations.

[0062] Specifically, when the ejector needle 450 is pushed out by the second actuator 221, it contacts the base of the tool in the tool compartment and pushes the corresponding tool to extend. The 30G biopsy needle 480 is suitable for soft tissue sampling, the 25G biopsy needle 480 is suitable for sampling tougher tissues, and the two drug delivery tool compartments carry different drugs, which can be administered alone or in combination.

[0063] The compression spring 460 is located between the top of each tool compartment and the tool base, with a wire diameter of 0.15mm, an outer diameter of 3mm, and a length of 4mm. When the mover resets, the compression spring 460 releases its elastic potential energy, pushing the tool to reset synchronously to the tool compartment, preventing the tool from remaining inside the body. Through continuous switching of the four-phase tool wheel 320, a coordinated operation of "30G biopsy - 25G biopsy - drug A administration - drug B administration" can be performed sequentially at the same lesion location, or the corresponding function can be switched at different lesion locations. The four tool compartments have the functions of 30G biopsy, 25G biopsy, drug A administration, and drug B administration, respectively, to support the realization of dual-channel biopsy and dual-channel drug administration. The four tool compartments are mounted on the four-phase tool wheel of the tool switching mechanism.

[0064] When the four-phase tool wheel 320 moves to the corresponding position, the ejector pin 450 on the double-slope guide mover housing 330 contacts the tool base as the first mover 211 extends outward, thereby pushing the tool out of the tool compartment and performing its function. After the tool is activated, it needs to return to the tool compartment; therefore, a small compression spring 460 (0.15mm wire diameter, 3mm outer diameter, 4mm length) is designed in the tool compartment and placed between the top of the tool compartment and the tool base. Under the action of this compression spring 460, the tool can automatically reset as the double-slope guide mover housing 330 resets. Based on the above working principle, a biopsy needle 480 was designed using 30G and 25G needles in a practical experiment for tissue sampling via FNA (Fine Needle Aspiration Biopsy), achieving a dual-channel biopsy function. Two drug delivery tubes capable of carrying different drugs were also designed to achieve a dual-channel drug delivery function. By integrating the dual-channel sampling and dual-channel drug delivery mechanisms onto the aforementioned four-phase toolwheel 320, four different operating modes can be switched as needed. Based on this integrated design of four-phase multi-functionality, specific functions can be achieved by switching to a specific phase at different positions, and multiple phases can also be used and switched at the same position to achieve coordinated operation of different functions.

[0065] Furthermore, refer to Figures 1 to 4 , Figure 12 and Figure 13 The deformation anchoring mechanism 500 is a rocker arm 530 and slider 510 mechanism, which includes a slider 510, a frame 520, a rocker arm 530, a connecting rod 540, and an anchoring arm 550. The slider 510 is fixed to the third moving part 231, and the two ends of the connecting rod 540 are respectively hinged to the slider 510 and the rocker arm 530; When the third mover 231 retracts, the slider 510 pulls the connecting rod 540 to reset the rocker arm 530, and the anchoring arm 550 is in close contact with the housing 100; when the third mover 231 extends, the slider 510 pushes the connecting rod 540 to rotate the rocker arm 530 clockwise, and the anchoring arm 550 unfolds, achieving stable anchoring through friction with the cavity wall.

[0066] Specifically, the slider 510 is fixed to the third mover 231, the frame 520 is fixed to the cylindrical housing 100, the rocker arm 530 and the anchoring arm 550 are integrated, and the two ends of the connecting rod 540 are hinged to the slider 510 and the rocker arm 530 respectively. When the third mover 231 retracts, the slider 510 pulls the connecting rod 540 to reset the rocker arm 530, and the anchoring arm 550 is close to the housing 100 to facilitate movement within the cavity. When the third mover 231 extends 4mm, the slider 510 pushes the connecting rod 540 to rotate the rocker arm 530 clockwise, with a dimensional change rate of over 200%, achieving stable anchoring through friction with the cavity wall.

[0067] The deformation anchoring mechanism 500 has a maximum static friction force of 5N or more in the anchored state, which can resist the interference of lumen peristalsis and provide a stable foundation for multi-functional collaborative operation in the same position; the three-degree-of-freedom magnetic drive component 200 has a single working energy consumption of less than or equal to 10mWh, which meets the needs of long-term diagnosis and treatment; the cylindrical shell 100 is made of biocompatible material, has no sharp edges, and is adapted to the lumen of the human digestive tract, reducing the risk of intraluminal damage.

[0068] The maximum diameter of the deformable anchoring mechanism 500 after unfolding can reach 39.72 mm. In order to improve its anchoring effect, that is, to increase the rate of dimensional change, a rocker arm 530 and slider 510 mechanism is designed as its working principle.

[0069] Figure 12 This demonstrates the state of the rocker arm 530 and slider 510 mechanism components when the anchoring mechanism is in the retracted state. At this time, the third mover 231 and slider 510 are in the reset state, and the anchoring arm 550 and rocker arm 530 are retracted. When the third mover 231 and its housing are extended, refer to... Figure 13 The joystick 530 can rotate clockwise, causing the anchoring arm 550 to extend outward, thereby expanding the overall outer diameter of the capsule robot to achieve deformation anchoring. Based on this design of the joystick 530 slider 510 mechanism, the 4mm linear motion is converted into a 200% deformation expansion, thus achieving a stable anchoring function.

[0070] Furthermore, this invention also proposes a capsule robot control method, applied to the aforementioned multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions. The method includes the following steps: S100. The capsule robot is delivered into the patient's digestive tract orally. The external electromagnetic drive EPM system is activated, and the magnetic field direction is adjusted to control the mover to move along the peristaltic direction of the digestive tract. At this time, the deformation anchoring mechanism 500 is in a contracted state. When the capsule robot moves to the vicinity of the lesion area, the external electromagnetic drive EPM system is adjusted to a weak magnetic state, and the first stator 210, the second stator 220 and the third stator 230 stop moving, completing the initial positioning. S200: The magnetic field control module of the external electromagnetic drive EPM system outputs a positive strong magnetic field, and the third stator 230 generates a magnetic repulsive force on the third mover 231, pushing the third mover 231 to extend; the slider 510 fixed with the third mover 231 moves synchronously, and the rocker arm 530 rotates clockwise through the connecting rod 540, the anchoring arm 550 unfolds and contacts the digestive tract wall, and the deformable anchoring mechanism 500 remains in an expanded state to ensure that the robot has no displacement; S300, the external electromagnetic drive EPM system outputs a positive magnetic field, the first mover 211 is extended, the double-slope guide mover housing 330 contacts the first sharp corner 325, generating a driving torque T, which drives the four-phase tool wheel disk 320 to rotate 90 degrees clockwise, the soft paddle deforms past the teeth of the two eight-tooth ratchet 310, and then the external electromagnetic drive EPM system outputs a reverse magnetic field, the first mover 211 is reset, the left slope of the double-slope guide mover housing 330 contacts the first sharp corner 325, and is deflected to the right by the right component force F_1 to avoid it, the right slope contacts the track sharp corner and is guided back to position by the left component force F_2, at this time the first biopsy tool compartment 410 is aligned with the ejector needle 450, the ejector needle 450 pushes the 30G biopsy needle 480 to extend to the lesion to collect soft tissue samples, after the collection is completed, the first mover 211 is reset, the compression spring 460 drives the 30G biopsy needle 480 to retract into the first biopsy tool compartment 410; S400: The external electromagnetic drive EPM system outputs a positive magnetic field, extending the first mover 211. The double-slope guide mover housing 330 contacts the second sharp corner 326, applying pressure and causing the four-phase tool wheel 320 to rotate 90 degrees clockwise. The second biopsy tool compartment 420 aligns with the ejector needle 450. Subsequently, the first mover 211 resets, and the double-slope guide returns to its original position, ensuring precise docking between the ejector needle 450 and the second biopsy tool compartment 420. The second mover 221 extends, and the ejector needle 450 pushes the 25G biopsy needle 480 to extend, collecting a sample of tough tissue from the lesion. The second mover 221 resets, and the compression spring 460 drives the 25G biopsy needle 480 to retract into the second biopsy tool compartment 420. S500, Adjust the external electromagnetic drive EPM to a positive magnetic field, the first mover 211 is extended, the double-slope guide mover housing 330 continues to rotate 90 degrees clockwise, the first drug delivery tool chamber 430 is aligned with the ejector needle 450, then the first mover 211 is reset, the double-slope guide returns to its original position to avoid deviation, drive the second mover 221 to extend, the ejector needle 450 pushes the first drug delivery needle 490 to extend, apply the first drug, the second mover 221 is reset, the compression spring 460 drives the drug delivery needle 490 to retract into the first drug delivery tool chamber 430; S600, adjust the external electromagnetic drive EPM to a positive magnetic field, the first mover 211 extends the double-slope guide mover housing 330 and continues to rotate 90 degrees clockwise, the second drug delivery tool chamber 440 is aligned with the ejector needle 450, then the first mover 211 resets, the double-slope guide returns to its position to ensure accurate docking, drive the second mover 221 to extend, the ejector needle 450 pushes the second drug delivery needle 490 to extend, apply the second drug, the second mover 221 resets, the compression spring 460 drives the drug delivery needle 490 to retract into the second drug delivery tool chamber 440, completing the combined drug delivery; S700: Adjust the direction of the magnetic field of the external electromagnetic drive EPM to release the bistable characteristic. The third mover 231 resets and drives the slider 510 back. The slider 510 pulls the connecting rod 540 to make the rocker arm 530 rotate counterclockwise. The anchoring arm 550 retracts to fit tightly against the shell 100. Control the capsule robot to move with the peristalsis of the digestive tract and be expelled from the body. After collecting biopsy samples, pathological tests are performed.

[0071] This invention also proposes an assembly method for a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions, including core component processing and assembly and external equipment configuration, wherein: The core components are manufactured and assembled according to the design parameters in the document. The key requirements are as follows: 1. Three-degree-of-freedom magnetic drive assembly 200: The stator is a magnetic column with a diameter of 5mm, and the mover is a magnetic ball with a diameter of 5mm. Both are installed inside a cylindrical housing 100. The mover slides against the inner wall of the housing 100, with a maximum stroke of 4mm and an assembly clearance error of ≤0.1mm. This ensures that the external electromagnetic drive EPM can accurately control the linear motion of the mover "pull-reset" through magnetic repulsion / attraction, providing power for tool switching.

[0072] 2. Tool switching mechanism 300: An eight-tooth ratchet 310 (tooth height 2.2mm) is fixed to the rotating body shaft. The rotating body with a soft paddle integrates a four-phase tool wheel disk 320. Four tool compartments (diameter 6mm, depth 8mm) are evenly arranged on the four-phase tool wheel disk 320. The soft paddle is 0.5mm thick and needs to meet the requirement of "maximum displacement of 0.23mm when a force of 1N perpendicular to the rotation direction is applied", ensuring that it can overcome the 0.17mm deformation required by the ratchet teeth. The soft paddle is provided with four sharp corners that mesh with the eight-tooth ratchet 310. Through the action of "moving element push-out to drive rotation and reset guide return to position", a stable 90-degree rotation is achieved per cycle.

[0073] 3. Tool actuator 400: The ejector pin 450 is fixed to the end of the double-sloping guide mover housing 330. The first biopsy tool compartment 410 is equipped with a 30G biopsy needle 480, the second biopsy tool compartment 420 is equipped with a 25G biopsy needle 480, the first drug delivery tool compartment 430 is equipped with a drug A drug delivery needle 490, and the second drug delivery tool compartment 440 is equipped with a drug B drug delivery needle 490. A compression spring 460 (0.15mm wire diameter, 3mm outer diameter, and 4mm length) is installed between the top of each tool compartment and the tool base. The compression spring 460 is pre-compressed by 0.5mm to ensure that the tool can be synchronously retracted into the compartment when the mover is reset.

[0074] 4. Deformation Anchoring Mechanism 500: Slider 510 is fixed to the mover, frame 520 is fixed to housing 100, rocker arm 530 (15mm long) is integrated with anchoring arm 550, and connecting rod 540 (10mm long) is hinged at both ends to slider 510 and rocker arm 530; after assembly, it must be ensured that anchoring arm 550 is tightly against housing 100 when third mover 231 retracts, and anchoring arm 550 extends to 39.72mm when third mover 231 extends 4mm (refer to Figure 12 and...). Figure 13 The joystick rotates 530 degrees without jamming.

[0075] External system configuration and "motor driver - tool switching" logic adaptation: 5. EPM drive system: Magnetic field strength adjustable from 0-2T, mover drive speed 5-10mm / s, the magnetic repulsion / attraction between the stator and mover can be switched by changing the direction of the magnetic field, and the mover "pull-reset" action can be precisely controlled.

[0076] 6. Magnetic field control module: Preset "positioning-anchoring-tool switching-biopsy / drug administration-recovery" coordinated program, control frequency 1kHz, to ensure that the corresponding mover "extraction-reset" is matched with the timing of tool switching and execution actions, without functional conflicts.

[0077] The verification plan involves using ANSYS finite element simulation and physical experiments to verify the following key performance characteristics: Tool switching reliability: During each cycle of the mover "exit-reset", the rotation angle error of the rotating body is ≤0.3 degrees, the alignment accuracy between the tool compartment and the ejector pin 450 is ≤0.2mm, and there is no jamming after 100 consecutive switching cycles; the soft paddle has a maximum displacement of 0.23mm when subjected to a force of 1N, which meets the deformation requirements.

[0078] Furthermore, the present invention also proposes a computer-readable storage medium storing program instructions thereon, which, when executed by a processor, implement the capsule robot control method described above.

[0079] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of this disclosure. Within the scope of protection of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions, characterized in that, include: The housing (100) has a bracket (101) inside. A three-degree-of-freedom magnetic drive assembly (200) is mounted on the bracket (101); A tool switching mechanism (300) is used to switch between different tool compartments, and the tool switching mechanism (300) is mounted on the bracket (101); A tool actuator (400) is used to perform biopsy or drug administration operations, and the tool actuator (400) is mounted on the four-phase tool wheel (320) of the tool switching mechanism (300); A deformable anchoring mechanism (500) is used to fix it near the lesion, and the deformable anchoring mechanism (500) is connected to the bracket (101).

2. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 1, characterized in that, The three-degree-of-freedom magnetic drive assembly (200) includes a first drive assembly, a second drive assembly and a third drive assembly. The first drive assembly and the third drive assembly are respectively arranged along the extension direction of the housing (100) and have opposite directions of action. The second drive assembly has a vertical direction of action. The first drive assembly includes a first stator (210) and a first mover (211) that moves linearly reciprocally along the extension direction of the housing (100); the second drive assembly includes a second stator (220) and a second mover (221) that moves linearly reciprocally along the vertical direction; the third drive assembly includes a third stator (230) and a third mover (231) that moves linearly reciprocally along the extension direction of the housing (100).

3. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 2, characterized in that, The first stator (210), the second stator (220) and the third stator (230) are all magnetic columns, and the first mover (211), the second mover (221) and the third mover (231) are all magnetic balls. They achieve linear reciprocating motion through external electromagnetic drive EPM.

4. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 1, characterized in that, The tool switching mechanism (300) includes an eight-tooth ratchet (310), a four-phase tool wheel (320), and a double-slope guide moving part housing (330). The eight-tooth ratchet (310) is located at the bottom of the rotating shaft of the four-phase tool wheel (320). The four-phase tool wheel (320) is provided with a first soft paddle (321), a second soft paddle (322), a third soft paddle (323) and a fourth soft paddle (324) in sequence along the central axis. It also includes a first sharp corner (325) above the first soft paddle (321), a second sharp corner (326) above the second soft paddle (322), a third sharp corner (327) above the third soft paddle (323) and a fourth sharp corner (328) above the fourth soft paddle (324). The double-slope guide sub-shell (330) is connected to the first mover (211) of the first drive assembly, and the double-slope guide sub-shell (330) is provided with a double-slope guide structure.

5. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 4, characterized in that, When the first mover (211) is extended, the double-slope guide mover housing (330) is extended along with the first mover (211), applying pressure to the first sharp corner (325), the second sharp corner (326), the third sharp corner (327), or the fourth sharp corner (328) and generating a driving torque T, which drives the rotating body to rotate clockwise, wherein the driving torque T is: ， Where F{out} is the driving force for the first mover (211) to push out the magnetic ball, and r is the position vector of the contact point relative to the center of the rotating body; When the first soft paddle (321), the second soft paddle (322), the third soft paddle (323), or the fourth soft paddle (324) compresses the teeth of the eight-tooth ratchet (310) and the deformation is greater than the preset value, the first soft paddle (321), the second soft paddle (322), the third soft paddle (323), or the fourth soft paddle (324) passes over the teeth of the eight-tooth ratchet (310); When the first mover (211) is reset, the double-slope guide mover housing (330) is reset along with the first mover (211). The double-slope guide structure generates a rightward component force F_1 and a leftward component force F_2, respectively, guiding the first mover (211) to reset to the initial position.

6. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 5, characterized in that, The rightward component force F_1 is: ， Wherein, F{in} is the resetting driving force of the first mover (211), and θ is the angle between the left slope of the double-slope guide structure and the vertical direction; The leftward component force F_2 is: ， Where F{in} is the resetting driving force of the first mover (211), The angle between the right slope of the double-slope guide structure and the vertical direction.

7. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 1, characterized in that, The tool actuator (400) is mounted on the four-phase tool wheel (320) of the tool switching mechanism (300). The tool actuator (400) includes a needle (450), a first biopsy tool compartment (410), a second biopsy tool compartment (420), a first drug delivery tool compartment (430), and a second drug delivery tool compartment (440). The ejector pin (450) is connected to the second mover (221) of the second drive assembly. When the ejector pin (450) is pushed out with the second mover (221) of the second drive assembly, it contacts the base of the tool in the tool compartment of the four-phase tool wheel (320) and pushes the corresponding tool out. The first biopsy tool compartment (410), the second biopsy tool compartment (420), the first drug delivery tool compartment (430), and the second drug delivery tool compartment (440) are respectively provided with needle holders (470) and compression springs (460); the first biopsy tool compartment (410) and the second biopsy tool compartment (420) are also provided with biopsy needles (480), and the first drug delivery tool compartment (430) and the second drug delivery tool compartment (440) are also provided with drug delivery needles (490), and the bottoms of the biopsy needles (480) and the drug delivery needles (490) are respectively connected to the corresponding needle holders (470); The biopsy needle (480) of the first biopsy tool compartment (410) is a 30G biopsy needle (480) suitable for soft tissue sampling, and the biopsy needle (480) of the second biopsy tool compartment (420) is a 25G biopsy needle (480) suitable for sampling tougher tissues. The first drug delivery tool compartment (430) and the second drug delivery tool compartment (440) are each equipped with different drugs, which can be administered alone or in combination; The compression spring (460) is located between the top of each tool compartment and the base of the tool compartment. When the second mover (221) is reset, the compression spring (460) releases elastic potential energy and pushes the corresponding tool to be reset synchronously inside the tool compartment, so as to avoid the tool being stuck in the user's body.

8. The multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions according to claim 1, characterized in that, The deformation anchoring mechanism (500) is a rocker (530) slider (510) mechanism, which includes a slider (510), a frame (520), a rocker (530), a connecting rod (540), and an anchoring arm (550). The slider (510) is fixed to the third mover (231), and the two ends of the connecting rod (540) are hinged to the slider (510) and the rocker (530) respectively; When the third mover (231) retracts, the slider (510) pulls the connecting rod (540) to reset the rocker arm (530), and the anchoring arm (550) is in close contact with the housing (100); when the third mover (231) extends, the slider (510) pushes the connecting rod (540) to rotate the rocker arm (530) clockwise, and the anchoring arm (550) unfolds, achieving stable anchoring through friction with the cavity wall.

9. A capsule robot control method, applied to a multifunctional capsule robot integrating dual-channel biopsy, drug delivery, and anchoring functions as described in any one of claims 1 to 8, characterized in that, The method includes the following steps: S100. The capsule robot is delivered into the patient's digestive tract orally. The external electromagnetic drive EPM system is activated and the magnetic field direction is adjusted to control the mover to move along the peristaltic direction of the digestive tract. At this time, the deformation anchoring mechanism (500) is in a contracted state. When the capsule robot moves to the vicinity of the lesion area, the external electromagnetic drive EPM system is adjusted to a weak magnetic state. The first stator (210), the second stator (220) and the third stator (230) stop moving, and the initial positioning is completed. S200: The magnetic field control module of the external electromagnetic drive EPM system outputs a positive strong magnetic field. The third stator (230) generates a magnetic repulsion force on the third mover (231), pushing the third mover (231) to extend. The slider (510) fixed with the third mover (231) moves synchronously and drives the rocker arm (530) to rotate clockwise through the connecting rod (540). The anchoring arm (550) unfolds and contacts the digestive tract wall. The deformable anchoring mechanism (500) remains in an expanded state to ensure that the robot has no displacement. S300, the external electromagnetic drive EPM system outputs a positive magnetic field, the first mover (211) is pushed out, the double-slope guide mover housing (330) contacts the first sharp corner (325), generating a driving torque T, which drives the four-phase tool wheel disk (320) to rotate 90 degrees clockwise. The soft paddle deforms past the teeth of the two eight-tooth ratchet (310), and then the external electromagnetic drive EPM system outputs a reverse magnetic field. The first mover (211) resets, and the left ramp of the double-slope guide mover housing (330) contacts the first sharp corner (325). It is deflected to the right by the right component force F_1 to avoid it. The right ramp contacts the track sharp corner and is guided back to position by the left component force F_2. At this time, the first biopsy tool compartment (410) is aligned with the ejector pin (450). The ejector pin (450) pushes the 30G biopsy needle (480) to extend to the lesion to collect soft tissue samples. After the collection is completed, the first mover (211) resets, and the compression spring (460) drives the 30G biopsy needle (480) to retract into the first biopsy tool compartment (410). S400, the external electromagnetic drive EPM system outputs a positive magnetic field, the first mover (211) is extended, the double-slope guide mover housing (330) contacts the second sharp corner (326), applying pressure, driving the four-phase tool wheel disk (320) to rotate 90 degrees clockwise, the second biopsy tool compartment (420) is aligned with the ejector needle (450), then the first mover (211) is reset, the double-slope guide returns to its original position, ensuring precise docking of the ejector needle (450) and the second biopsy tool compartment (420), the second mover (221) is extended, the ejector needle (450) pushes the 25G biopsy needle (480) to extend, and collect a tough tissue sample from the lesion; the second mover (221) is reset, the compression spring (460) drives the 25G biopsy needle (480) to retract into the second biopsy tool compartment (420). S500, Adjust the external electromagnetic drive EPM to a positive magnetic field, the first mover (211) is extended, the double ramp guide mover housing (330) continues to rotate 90 degrees clockwise, the first drug delivery tool compartment (430) is aligned with the ejector needle (450), then the first mover (211) is reset, the double ramp guide returns to its original position to avoid deviation, drive the second mover (221) to extend, the ejector needle (450) pushes the first drug delivery needle (490) to extend, apply the first drug, the second mover (221) is reset, the compression spring (460) drives the drug delivery needle (490) to retract into the first drug delivery tool compartment (430); S600, Adjust the external electromagnetic drive EPM to a positive magnetic field, the first mover (211) pushes out the double-slope guide mover housing (330) and continues to rotate 90 degrees clockwise, the second drug delivery tool chamber (440) is aligned with the ejector needle (450), then the first mover (211) resets, the double-slope guide returns to its position to ensure accurate docking, drive the second mover (221) to push out, the ejector needle (450) pushes the second drug delivery needle (490) to extend, apply the second drug, the second mover (221) resets, the compression spring (460) drives the drug delivery needle (490) to retract into the second drug delivery tool chamber (440), and the combined drug delivery is completed; S700, adjust the direction of the magnetic field of the external electromagnetic drive EPM to release the bistable characteristic, the third mover (231) resets and drives the slider (510) to return, the slider (510) pulls the connecting rod (540) to make the rocker arm (530) rotate counterclockwise, the anchor arm (550) retracts to be close to the shell (100), and controls the capsule robot to move with the peristalsis of the digestive tract and be expelled from the body. After collecting biopsy samples, pathological tests are performed.

10. A computer-readable storage medium, characterized in that, It stores program instructions, which, when executed by a processor, implement the capsule robot control method as described in claim 9.

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