Capsule endoscopy robot

Abstract

The invention discloses a capsule endoscopy robot which comprises a body, a driving module and a driving assembly. The body comprises a shell, and a camera module, a communication module and a power supply module which are arranged in the shell, and the shell is provided with a perspective window; the driving module is connected with the shell, and the driving module is configured to drive the body to advance or retreat; and the driving assembly is configured to realize relative rotation of the camera module and the shell. According to the technical scheme, the capsule endoscopy robot can reduce the lesion omission ratio and improve the overall diagnosis quality.

Description

Technical Field

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

[0002] With the continuous development of medical technology, capsule endoscopy has become a non-invasive diagnostic tool that can be used to examine internal organs such as the gastrointestinal tract and digestive system. Currently, when capsule endoscopy robots move within the human gastrointestinal tract, they suffer from limited field of view (only able to capture images directly in front), leading to low examination efficiency, potential blind spots, and impacting accuracy and diagnostic rates. Summary of the Invention

[0003] The main objective of this invention is to propose a capsule endoscopy robot designed to avoid the occurrence of blind spots in detection.

[0004] To achieve the above objectives, the capsule endoscopy robot proposed in this invention comprises:

[0005] The main body includes an outer shell and a camera module, a communication module, and a power module disposed inside the outer shell. The outer shell has a viewing window.

[0006] A drive module, connected to the housing, is configured to drive the body forward or backward; and

[0007] A drive component is configured to enable relative rotation between the camera module and the housing.

[0008] Optionally, the driving assembly includes a driving element and a transmission mechanism. The driving element is connected to the camera module through the transmission mechanism and drives the camera module to rotate relative to the housing through the transmission structure.

[0009] Optionally, the capsule endoscopy robot further includes a first robotic arm and an electrocautery hook. The first robotic arm is mounted on the outside of the housing, and the electrocautery hook is mounted on the end of the first robotic arm away from the housing and is electrically connected to the power module.

[0010] Optionally, the capsule endoscopy robot further includes a second robotic arm and an electrocautery snare. The second robotic arm is mounted on the outside of the housing, and the electrocautery snare is mounted on the end of the second robotic arm away from the housing and is electrically connected to the power module.

[0011] Optionally, the outer side of the housing is recessed with a clearance groove, and the first robotic arm and the second robotic arm are both installed in the clearance groove and have a working state extending from the opening of the clearance groove and a storage state retracted into the clearance groove. In the storage state, the surfaces of the first robotic arm and the second robotic arm are not higher than the outer side of the housing.

[0012] Optionally, the capsule endoscopy robot also includes an edible capsule shell, which is wrapped around the outside of the outer shell.

[0013] Optionally, the capsule endoscopy robot includes a wireless charging coil, which is installed inside the housing and electrically connected to the power module.

[0014] Optionally, the wireless charging includes at least two wireless charging coils, including at least two wireless charging coils arranged on different spatial planes, the two wireless charging coils being orthogonally arranged to each other, and the two wireless charging coils respectively corresponding to the axial and radial directions of the shell body.

[0015] Optionally, the wireless charging coil is arranged in an arc shape and is attached to the inner wall of the housing.

[0016] Optionally, the drive module includes a first motor and a tail. The first motor is disposed inside the housing, and the tail is disposed outside the housing. The tail includes a spine and a track. One end of the spine is connected to the output end of the first motor, and the other end extends spirally away from the housing. One end of the track is rotatably connected to the housing, and the other end extends away from the housing. The track includes a plurality of rotatably connected frames that surround the outer periphery of the spine.

[0017] When the tail rotates under the drive of the first motor, the spine drives the track to swing in a sinusoidal wave shape to drive the body forward or backward.

[0018] This invention's technical solution involves incorporating a camera module, communication module, and power module within a housing, and providing a viewing window on the housing. A drive module is connected to the housing and configured to propel the robot forward or backward. The drive assembly is configured to achieve relative rotation between the camera module and the housing. This adjustment of the camera module's viewing angle via the drive assembly allows for panoramic scanning regardless of the robot's position, solving the fundamental problems of random field of view in traditional capsule endoscopy and the limited field of view of fixed cameras. This combination of active motion and independent panoramic observation systematically covers the digestive tract wall, reducing examination time and significantly lowering the rate of missed lesions, thus improving overall diagnostic quality. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a structure of an embodiment of the capsule endoscopy robot of the present invention;

[0021] Figure 2 for Figure 1 Cross-sectional view of the capsule endoscopy robot;

[0022] Figure 3 for Figure 1 Another cross-sectional view of the capsule endoscopy robot;

[0023] Figure 4 for Figure 1 Another cross-sectional view of the capsule endoscopy robot;

[0024] Figure 5 for Figure 1 Another cross-sectional view of the capsule endoscopy robot;

[0025] Figure 6 for Figure 1 Schematic diagram of the track structure;

[0026] Figure 7 for Figure 6 A partial structural diagram of the track.

[0027] Explanation of icon numbers:

[0028] 10. Body; 11. Shell; 11a. Opening; 11b. Recessed slot; 11c. Viewing window; 12. Camera module; 13. Communication module; 14. Power module; 20. Drive module; 30. First motor; 31. Stator; 311. Magnet; 312. Wire; 32. Rotor; 33. Electrical connection wire; 40. Tail; 41. Spine; 42. Track; 43. Frame; 431. Crossbar; 4 32. Vertical rod; 433. Connecting rod; 434. Rotating shaft; 50. Scraper module; 51. Blade holder; 52. Blade; 60. Lifting mechanism; 61. Second motor; 62. Cam; 63. First elastic element; 70. Seal; 80. Drive assembly; 81. Drive element; 82. Transmission mechanism; 90. First robotic arm; 91. Electrocautery hook; 92. Second robotic arm; 93. Electrocautery ring; 100. Edible capsule shell

[0029] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0032] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0033] This invention proposes a capsule endoscopy robot.

[0034] In embodiments of the present invention, such as Figures 1 to 7 As shown, the capsule endoscopy robot includes a body 10, a drive module 20, and a drive assembly 80.

[0035] Specifically, the outer shell 11 is the external protective layer of the entire robot, typically made of polymer materials, to protect internal components from damage and the effects of the external environment. The outer shell 11 has a smooth surface to facilitate smooth movement within internal organs such as the digestive tract, and is small enough to ensure it can pass through the human digestive tract.

[0036] The front of the outer casing 11 is provided with a transparent viewing window 11c, through which the camera module 12 can capture images of the inside of the human gastrointestinal tract. It is worth noting that the design of this application is not limited to this; in other embodiments, the outer casing 11 is entirely made of transparent material.

[0037] The camera module 12 is used to acquire images of the inside of organs. This module typically includes a high-resolution camera, an image processing chip, and related optical systems, such as a flash. The camera module 12 can acquire images of the inside of organs in real time through the fluoroscopy lens and transmit the image data to the communication module 13 for processing and transmission.

[0038] The communication module 13 is responsible for receiving, processing, and transmitting image data acquired by the camera module 12. The communication module 13 typically includes components such as a processor, a wireless communication chip, and an antenna. The processor is used for encoding, decoding, and processing the image data; the wireless communication chip supports wireless data transmission; and the antenna is responsible for establishing communication connections with external devices, such as external receivers or monitoring equipment.

[0039] The power module 14 provides power to the entire capsule endoscopy robot, ensuring its continuous operation. The power module 14 is typically powered by disposable or soluble batteries for use during robot operation. These batteries are generally designed to provide sufficient power to support the capsule endoscopy for the required operating time throughout the examination.

[0040] The drive component 80 can drive the camera component to rotate 360 ​​degrees or swing at a specific angle. This allows for comprehensive, all-around observation of the human gastrointestinal tract, greatly avoiding blind spots.

[0041] In practical applications, the outer shell 11, camera module 12, communication module 13, and power module 14 are tightly integrated to form a complete capsule endoscopy robot. The camera module 12 acquires images of the inside of organs, and the communication module 13 transmits the image data to external devices for real-time monitoring and analysis. The power module 14 provides the necessary energy to the capsule endoscopy robot, ensuring stable operation during the examination.

[0042] During operation, the doctor first instructs the drive module 20 via the external control system to move the capsule to the vicinity of the target intestinal segment. Subsequently, the drive component 80 is activated, causing the camera module 12 to slowly rotate one revolution, capturing images of the surrounding intestinal wall. The image data is transmitted in real time via the communication module 13. If a suspicious area is detected, the capsule body 10 can be controlled to move closer, and the camera angle can be finely adjusted for multi-angle imaging. The capsule can even be controlled to slightly retract for further observation.

[0043] Through the drive module 20, doctors can actively control the capsule's movement, pauses, and retraction within the digestive tract, enabling repeated and detailed observation of suspicious lesions. This enhances the doctor's control over the examination and improves diagnostic accuracy. Meanwhile, the drive component 80 allows for adjustment of the camera module 12's viewing angle. Regardless of the capsule's position, the camera can perform a panoramic scan, solving the fundamental problems of random field of view in traditional capsule endoscopy and the limited field of view of fixed cameras. This combination of active movement and independent panoramic observation systematically covers the digestive tract wall, reducing examination time and significantly lowering the rate of missed lesions, thus improving overall diagnostic quality.

[0044] The technical solution of this invention involves arranging a camera module 12, a communication module 13, and a power module 14 within a housing 11, and providing a viewing window 11c on the housing 11. A drive module 20 is connected to the housing 11, configured to drive the main body 10 forward or backward. A drive assembly 80 is configured to achieve relative rotation between the camera module 12 and the housing 11. By adjusting the viewing angle of the camera module 12 through the drive assembly 80, the camera can perform panoramic scanning regardless of the robot's position, solving the fundamental problems of random field of view in traditional capsule endoscopy and limited field of view in fixed cameras. This combination of active motion and independent panoramic observation systematically covers the digestive tract wall, reducing examination time and significantly lowering the rate of missed lesions, thus improving overall diagnostic quality.

[0045] In some embodiments, the drive assembly 80 includes a drive member 81 and a transmission mechanism 82. The drive member 81 is connected to the camera module 12 through the transmission mechanism 82 and drives the camera module 12 to rotate relative to the housing 11 through the transmission structure.

[0046] Specifically, the drive assembly 80 includes an ultra-miniature stepper motor and a planetary gear reducer. The motor stator 31 is fixed to the inner wall of the outer casing 11, and its output shaft is connected to a rotating platform carrying the camera module 12 via the reducer. When the motor receives a command from the external control terminal, it drives the rotating platform and the entire camera module 12 fixed thereon to rotate precisely around the longitudinal axis of the capsule, with both the rotation angle and speed being controllable.

[0047] In some embodiments, the capsule endoscopy robot further includes a first robotic arm 90 and an electrocautery hook 91. The first robotic arm 90 is mounted on the outside of the housing 11, and the electrocautery hook 91 is mounted on the end of the first robotic arm 90 away from the housing 11 and is electrically connected to the power module 14.

[0048] Specifically, the electrocautery hook 91 is a classic minimally invasive surgical instrument, typically made of conductive metal (such as stainless steel) with a hook-shaped end. Its core function is to utilize the thermal effect generated when a high-frequency current passes through tissue to cut or coagulate the tissue. Doctors can issue commands through an external control system to activate the high-frequency current generating circuit inside the capsule. Controllable electrical energy, in the form of a high-frequency current, is applied to the target tissue through the electrocautery hook 91 to perform procedures such as polyp removal or hemostasis. This achieves the ideal minimally invasive diagnostic and treatment model of "detection equals treatment," integrating diagnostic (camera), positioning (drive), and surgical (robotic arm + electrocautery) functions into a single capsule, avoiding the lengthy process of endoscopic discovery of lesions requiring subsequent surgery.

[0049] It is worth noting that when the machine moves, the first robotic arm 90 is in the working state and is in the retracted state (to reduce swallowing and travel resistance).

[0050] In some embodiments, the capsule endoscopy robot further includes a second robotic arm 92 and an electrocautery ring. The second robotic arm 92 is mounted on the outside of the housing 11 and is spaced apart from the first robotic arm 90. The electrocautery ring is mounted on the end of the second robotic arm 92 away from the housing 11 and is electrically connected to the power module 14.

[0051] Specifically, the electrocautery snare is a classic polyp removal instrument, typically consisting of an insulated sheath and an internal retractable metal ring (composed of one or more metal wires). The ring can extend and unfold into a loop, which is then tightened around the polyp stalk or base, and a high-frequency current is applied to simultaneously achieve mechanical constriction and electrothermal cutting / coagulation.

[0052] During the surgery, the capsule, guided by the drive module 20 and an independent camera, locates the polyp. The camera observes from multiple angles to determine the polyp's size and shape (whether it has a stalk). Then, the first robotic arm 90 extends, gently lifting or moving the polyp with the hook of the electrocautery hook 91, or gently pulling back the surrounding mucosa to expose the optimal ligation position for the polyp's stalk. At this time, the second robotic arm 92 (holding the electrocautery snare) simultaneously moves, aligning the insulating sheath with the stalk and extending the snare. With the assistance of the electrocautery hook 91, the snare precisely fits onto the polyp's stalk and tightens securely. The electrocautery hook 91 of the first robotic arm 90 can be removed or switched to prepare for electrocoagulation mode. A high-frequency current is activated, and the snare completes the electrocautery and electrocoagulation of the stalk, resulting in the complete removal of the polyp.

[0053] This approach, using the first robotic arm 90 and the second robotic arm 92, simulates the surgeon's hands working together, enabling complex endoscopic surgeries (such as polyp exposure and ligation) to be performed within a free capsule without external mechanical support. The combination of the electrocautery hook 91 and the electrocautery snare covers the mainstream endoscopic treatment needs from hemostasis and incision to complete polyp removal, significantly expanding the product's clinical applicability.

[0054] In some embodiments, the outer side of the housing 11 is recessed with a relief groove 11b, and a first robotic arm 90 and a second robotic arm 92 are installed in the relief groove 11b. The first robotic arm 90 and the second robotic arm 92 are both installed in the relief groove 11b and have a working state of extending out of the relief groove 11b opening and a storage state of being stored in the relief groove 11b. In the storage state, the surfaces of the first robotic arm 90 and the second robotic arm 92 are not higher than the outer side of the housing 11.

[0055] Specifically, the shape and size of the recess 11b are precisely matched to the storage configuration of the first robotic arm 90 and the second robotic arm. The first robotic arm 90 and the second robotic arm are completely housed within the recess 11b, and their outer surfaces are not higher than the outer surfaces of the outer shell 11. This means that in the stored state, the outer contour of the capsule robot is restored to (or infinitely close to) a smooth, complete, and continuous streamlined shell without any protrusions. This minimizes resistance when the capsule moves in liquid or along the intestinal wall, ensuring that the drive module 20 can efficiently and accurately control the movement of the capsule body 10.

[0056] In some embodiments, the capsule endoscopy robot also includes an edible capsule shell 100, which is wrapped around the outer side of the outer shell 11.

[0057] Specifically, the edible capsule 100 is made from safe, non-toxic materials that can be broken down, digested, or absorbed in the digestive tract (such as gelatin, hydroxypropyl methylcellulose, starch-based materials, etc.). The edible capsule 100 makes the object actually swallowed by the patient feel, look, and perceive no different from swallowing a regular medication capsule or vitamin tablet. This greatly lowers the psychological barrier, improves patient compliance, and also makes it easier for patients to swallow.

[0058] Moreover, before the capsule is swallowed, sensitive parts of the edible capsule shell 100, such as the optical window on the outer shell 11, the friction surface of the drive module 20, the gap of the clearance groove 11b, and the joint of the robotic arm, may be damaged by dust, moisture, fingerprints or physical scratches during production, transportation, storage or when the doctor is preparing to hold it.

[0059] Meanwhile, the edible capsule 100 acts as a "disposable sterile protective shield" before being delivered to the patient. It isolates the core body 10 from all contamination and potential damage from the external environment, ensuring that the robot is in perfect working condition when it "exits the cabin". After the capsule dissolves, the clean and fully functional outer shell 11 is directly underneath.

[0060] In some embodiments, the capsule endoscopy robot includes a wireless charging coil installed inside the housing 11 and electrically connected to the power module 14.

[0061] Specifically, the power module 14 is a rechargeable battery, and the electrical energy received by the wireless charging coil can directly charge the power module 14. In this way, when the capsule endoscopy robot runs out of power, the power module 14 can be charged through the wireless charging device to prevent the capsule endoscopy robot from remaining in the human gastrointestinal tract.

[0062] In some embodiments, wireless charging includes at least two wireless charging coils, including at least two wireless charging coils arranged on different spatial planes, the two wireless charging coils being orthogonally arranged to each other, and the two wireless charging coils respectively corresponding to the axial and radial directions of the shell body 10.

[0063] Specifically, at least two independent wireless charging coils are arranged on different spatial planes and orthogonally to each other. This means that the plane of one wireless charging coil is perpendicular to the plane of the other wireless charging coil (at a 90-degree angle).

[0064] Because the two wireless charging coils are arranged orthogonally, no matter how the capsule endoscopy robot rolls, in three-dimensional space, the direction of its external magnetic field will always form a small angle with the normal direction of at least one of the coils (thus ensuring high reception efficiency), and it is almost impossible for it to be perpendicular to the normal directions of both coils simultaneously. This fundamentally solves the "posture dead zone" problem of charging, thereby improving charging stability.

[0065] In some embodiments, the wireless charging coil is arranged in an arc shape and is attached to the inner wall of the housing. Specifically, the wireless charging coil is attached to minimize the distance between the coil and the housing 11 (i.e., the external environment). According to electromagnetic principles, this shortens the "air gap" through which energy penetrates the body wall to reach the receiving coil, significantly improving coupling efficiency and charging power.

[0066] In some embodiments, the drive module 20 includes a first motor 30 and a tail 40. The first motor 30 is disposed inside the housing 11, and the tail 40 is disposed outside the housing 11. The tail 40 includes a spine 41 and a track 42. One end of the spine 41 is connected to the output end of the first motor 30, and the other end extends spirally away from the housing 11. One end of the track 42 is rotatably connected to the housing 11, and the other end extends away from the housing 11. The track 42 includes a plurality of rotatably connected frames 43, and the frames 43 surround the periphery of the spine 41.

[0067] Specifically, the drive module 20 is responsible for driving the movement of the entire robot inside the organ. The drive module 20 includes a first motor 30 and a tail 40. The first motor 30 is located inside the housing 11, and the tail 40 is located on the outer rear end of the housing 11. The tail 40 includes a spine 41 and a track 42. One end of the spine 41 is connected to the output end of the first motor 30, and the other end extends spirally away from the housing 11. One end of the track 42 is rotatably connected to the housing 11, and the other end extends away from the housing 11. The track 42 includes multiple rotatably connected frames 43, which surround the outer periphery of the spine 41. When the tail 40 rotates under the drive of the first motor 30, the spine 41 drives the track 42 to swing in a sinusoidal wave shape to drive the body 10 forward or backward.

[0068] Specifically, the spine 41 has a certain rigidity. When the spine 41 rotates clockwise or counterclockwise under the drive of the first motor 30, the spine 41 will gradually come into contact with the track 42 from front to back (from the front end to the rear end of the outer shell 11) or from back to front (from the rear end to the front end of the outer shell 11). The track 42, which drives the spine 41 to make a sine wave-shaped swing, will cause the entire tail 40 to make a sine wave-shaped swing. This swing will generate sufficient propulsion to drive the body 10 of the capsule endoscopy robot to move forward or backward.

[0069] It is worth noting that this propulsion force can be generated based on the counter-thrust force of the organ's inner wall when the tail swings at 40 degrees, or it can be generated based on the counter-thrust force generated by the body fluid in the organ when the tail swings at 40 degrees.

[0070] Based on the above principles, by controlling the speed and direction of the first motor 30, the movement of the tail 40 can be controlled, thereby controlling the overall direction and speed of the robot's movement. This control of the first motor 30 is achieved by sending specific control commands to the communication module 13 through an external monitoring device.

[0071] In some embodiments, multiple frames 43 are spaced apart along the extension direction of the track 42. This design helps improve the robot's flexibility and adaptability, enabling it to better adapt to different organ environments and visceral structures.

[0072] It is understandable that the spacing between the multiple frames 43 allows the track 42 to move with greater flexibility, better adapting to the curved and irregular shapes of organ surfaces, thereby achieving a wider range of organ examinations. Furthermore, the spacing between the frames 43 helps to appropriately reduce the frictional resistance between the track 42 and the organ's inner wall, thus reducing the robot's energy consumption and extending its service life. Moreover, the spacing reduces the overall load on the track 42, making the robot lighter and facilitating its manipulation and movement within organs.

[0073] Furthermore, the track 42 also includes connecting rods 433, which connect two adjacent frames 43 to form a continuous track 42 structure. The two ends of the connecting rods 433 are rotatably connected to the two adjacent frames 43 respectively, so that the entire track 42 can maintain a stable structure during movement and can rotate freely in different directions.

[0074] It is understandable that by connecting two adjacent frames 43 through linkage 433, the entire track 42 forms a continuous structure. This design can maintain the overall stability of the track 42 during robot movement, preventing it from becoming loose or falling off.

[0075] Of course, the design of this application is not limited to this. In other embodiments, adjacent frames 43 can also be rotatably connected by a pivot 434.

[0076] In some embodiments, the frame 43 includes two horizontal bars 431 and two vertical bars 432. The two vertical bars 432 are respectively disposed on both sides of the spine 41 in the left-right direction of the body 10. The vertical bars 432 are rotatably connected to the connecting rods 433, and the two sides of the vertical bars 432 in the left-right direction of the body 10 are respectively rotatably connected to a connecting rod 433. The two horizontal bars 431 are respectively disposed on both sides of the spine 41 in the up-down direction of the body 10, and the two ends of the horizontal bars 431 are respectively connected to the two vertical bars 432.

[0077] Specifically, two vertical rods 432 and two horizontal rods 431 are interconnected to form a frame structure 43. The vertical rods 432 are used to connect to the connecting rods 433, and the same vertical rod 432 is connected to two connecting rods 433 on both the left and right sides. This connection method can reduce the probability of the side of the track 42 (i.e., in the left-right direction of the body 10) contacting the inner wall of the organ while ensuring the stability of the connection between adjacent frames 43, thereby reducing the foreign body sensation and discomfort of the capsule endoscopy robot inside the human body. In addition, the connecting rods 433 connected to both sides of the vertical rods 432 allow the robot to apply force in a balanced manner during movement, and the center of gravity of the movement is more stable. This helps the robot to control its movement more accurately, thereby achieving more precise positioning and inspection.

[0078] Of course, the design of this application is not limited to this. In other embodiments, two connecting rods 433 can be connected on the same side of the vertical rod 432 at the same time.

[0079] In some embodiments, the vertical rod 432 is provided with a rotating shaft 434, the two ends of which extend from the vertical rod 432 on both sides in the left and right directions of the body 10, and the two ends of the rotating shaft 434 are rotatably connected to a connecting rod 433.

[0080] It is understandable that connecting two connecting rods 433 simultaneously via the same pivot 434 can effectively connect the vertical rod 432 and the connecting rod 433, making the entire frame 43 structure more stable and continuous. The pivot 434 simplifies the connection method of the frame 43 and improves the assembly efficiency of the track 42.

[0081] Furthermore, the pivot 434 helps enhance the continuity between links 433, thereby improving the continuity of the track 42's oscillation. When adjacent frames 43 are connected via the pivot 434, the track 42 can rotate and oscillate more smoothly during movement, making the peristaltic motion more continuous and stable. This design enables the robot to control its movement more precisely, improving the quality and reliability of medical imaging.

[0082] In some embodiments, the crossbar 431 is arranged in a cylindrical or near-cylindrical shape. Specifically, cylindrical and near-cylindrical are descriptions of two geometric shapes that differ in form. A cylindrical shape refers to a geometric shape with a circular cross-section parallel to the axis. A near-cylindrical shape refers to an object whose form approximates a cylinder. In practical applications, sometimes objects are encountered that do not perfectly conform to a strict cylindrical shape, but whose cross-section is similar to a cylinder. Such objects can be called near-cylindrical because, within certain specific ranges, their shape is similar to a cylinder, but may be slightly deformed or deviated in some directions.

[0083] It is understandable that designing the crossbar 431 as cylindrical or near-cylindrical would result in a relatively small contact area with the surrounding environment during robot movement, thereby appropriately reducing frictional resistance with the organ's inner wall. This helps reduce the robot's energy consumption, making its peristaltic movement within the organ more efficient, and also helps reduce the feeling of foreign body sensation and discomfort for the user. Furthermore, a cylindrical or near-cylindrical crossbar 431 is likely lighter than other complex shapes. Such a design helps reduce the overall weight of the robot, making it easier to manipulate and move within the organ.

[0084] In some embodiments, the first motor 30 includes a stator 31 and a rotor 32. The stator 31 includes a magnetic conductor 311 and a wire 312. The magnetic conductor 311 protrudes from the inner wall of the housing 11, and the wire 312 is wound around the magnetic conductor 311 to form a winding. The rotor 32 is rotatably connected to the housing 11. The magnetic conductor 311 is typically made of silicon steel sheet, while the wire 312 is typically made of enameled wire. The rotor 32 is connected to the housing 11 via bearings.

[0085] The above design utilizes the outer shell 11 of the capsule endoscopy robot body 10 to form the motor housing. This design tightly integrates the stator 31 and rotor 32 of the first motor 30 within the outer shell 11, reducing the overall structural complexity of the capsule endoscopy robot and achieving the advantages of miniaturization and lightweight design. Simultaneously, the simplified structure and reduced component count lower manufacturing costs, making the capsule endoscopy robot more competitive in the market.

[0086] Of course, the design of this application is not limited to this. In other embodiments, the stator 31 and the rotor 32 can also be fixed by a separate motor housing.

[0087] In some embodiments, the power module 14 and the first motor 30 are arranged along the length of the housing 11. The housing 11 has a wiring groove (not shown) on its wall. The body 10 also includes an electrical connection wire 33, which is arranged along the wiring groove to connect the power module 14 and the first motor 30.

[0088] Specifically, the power module 14 and the first motor 30 are arranged along the length of the housing 11. This arrangement helps optimize space utilization and wiring, making the overall structure of the robot more compact and efficient. The electrical connection wires 33 are arranged along the wiring channels, making the power transmission from the power module 14 to the first motor 30 more orderly and organized. This design helps avoid tangled or messy wires, maintaining the cleanliness and reliability of the robot's internal structure, and saving internal space in the housing 11 to achieve miniaturization and weight reduction of the capsule endoscopy robot.

[0089] Of course, the design of this application is not limited to this. In other embodiments, the electrical connection between the power module 14 and the first motor 30 can also be achieved by flying wires.

[0090] In some embodiments, the surface of the outer shell 11 is provided with an opening 11a. The capsule endoscopy robot also includes a scraper module 50, which includes a scraper holder 51 and a blade 52. At least two blades 52 are arranged in parallel on the scraper holder 51, and a tissue receiving space is formed between adjacent blades 52. The tissue receiving space is filled with mucus. The scraper holder 51 is vertically mounted inside the outer shell 11. When the scraper holder 51 is raised or lowered, it can drive the blades 52 to extend or retract from the opening 11a.

[0091] Specifically, the scraper module 50 is used to obtain tissue samples from the surface of human organs for in vitro observation and analysis. This in vitro observation can provide doctors with more information to help determine the nature of the lesion, the degree of the disease, and make a more accurate diagnosis.

[0092] Specifically, the scraper module 50 includes a blade holder 51 and blades 52, wherein at least two blades 52 are arranged in parallel on the blade holder 51, and these blades 52 can be arranged side by side. The design of multiple blades 52 increases the coverage area and processing efficiency of the scraper module 50, making the capsule endoscopy robot more efficient in collecting tissue.

[0093] The space between adjacent blades 52 forms a tissue-accommodating space that can hold and preserve the scraped tissue sample, facilitating the removal of the collected tissue sample from the body. Simultaneously, the mucus helps to fix the scraped tissue, preventing it from scattering or adhering to other components during the movement of the capsule endoscopy robot.

[0094] Furthermore, the blade holder 51 is height-adjustable within the housing 11, meaning that the blade holder 51 can move up and down inside the housing 11. When the blade holder 51 is raised or lowered, the blade 52 can be driven to extend or retract from the opening 11a. This design allows the scraper module 50 to control the extension and retraction of the blade 52 as needed, enabling it to collect tissue samples when needed and retract the blade 52 when not needed to avoid unnecessary contact.

[0095] Specifically, since the drive module 20 can drive the body 10 to move forward and backward, when it is necessary to collect tissue samples from the surface of an organ, the drive module 20 can be used to drive the body 10 to move forward or backward in the body to complete the scraping of tissue samples.

[0096] Through the above design, the capsule endoscopy robot can activate the scraper module 50 to scrape or collect tissue samples when it encounters suspicious tissue lesions or other important tissue samples. These samples will be collected and stored in the tissue receiving space within the scraper module 50. A filling fluid will securely fix the tissue samples, preventing damage or loss during movement. Once the capsule endoscopy robot completes its task or reaches a specific location, it can bring the collected tissue samples back outside the body for doctors to observe and analyze. These tissue samples may be used for pathological examination, cytological examination, biochemical analysis, etc., to help doctors make more accurate judgments and diagnoses of the patient's condition.

[0097] In some embodiments, the capsule endoscopy robot further includes a lifting mechanism 60, which drives the scraper module 50 to lift. The lifting mechanism 60 includes a second motor 61, a cam 62, and a first elastic member 63. One end of the first elastic member 63 is fixed to the housing 11, and the other end is connected to the blade holder 51. The first elastic member 63 provides an elastic force to keep the blade 52 of the scraper module 50 inside the housing 11. The cam 62 is located at the output end of the second motor 61, and the distal end of the cam 62 abuts against the blade holder 51. The cam 62 rotates under the drive of the second motor 61 to push the blade 52 of the scraper module 50 out of the housing 11.

[0098] Specifically, the far end of cam 62 refers to the end of cam 62 that is far from the output shaft of the second motor 61, while the opposite end that is close to the output shaft of the second motor 61 is called the near end of cam 62.

[0099] Specifically, when the second motor 61 starts, the cam 62 begins to rotate. The rotation of the cam 62 causes the blade holder 51 and the first elastic element 63 to be subjected to force, causing the blade 52 of the scraper module 50 to extend out of the housing 11. At this time, the scraper module 50 can collect tissue samples. The second motor 61 then controls the cam 62 to remain stationary, keeping the blade 52 extended out of the housing 11. When the second motor 61 rotates again, the proximal end of the cam 62 contacts the blade holder 51, and the elastic force of the first elastic element 63 retracts the blade 52 back into the housing 11, preventing the blade 52 from accidentally contacting organs or tissues.

[0100] It is understandable that using the second motor 61 in conjunction with the cam 62 to drive the lifting and lowering of the scraper module 50 has the following advantages:

[0101] 1. Simple and reliable: Cam 62 is a relatively simple mechanical component, typically a rotating protrusion that can be easily driven by a transmission device such as a motor. Due to its simple structure, cam 62's motion is reliable and easy to maintain and control.

[0102] 2. Precise Control: The shape and size of the cam 62 can be precisely designed and controlled, thereby achieving precise control over the lifting and lowering movement of the scraper module 50. This helps ensure the accurate extension and retraction of the blade 52, making the tissue sample collection process more accurate and reliable.

[0103] 3. High efficiency and stability: The motion characteristics of cam 62 can be designed to be highly stable, ensuring smooth movement of the capsule endoscopy robot during the lifting and lowering of the scraper module 50, reducing the likelihood of vibration or loss of control. This helps maintain the stability and accuracy of the scraper module 50, improving the efficiency of medical examinations and diagnoses.

[0104] 4. Low energy consumption: As a simple mechanical transmission component, cam 62 typically has low energy consumption. Compared to other complex drive mechanisms, cam 62 has high motion efficiency, which helps extend the robot's battery life and usage time.

[0105] Optionally, the first elastic element 63 can be configured as a spring, a sheet, a rope, or the like.

[0106] Of course, the design of this application is not limited to this. In other embodiments, other mechanisms may be selected to drive the lifting and lowering of the scraper module 50, such as a motor-driven lead screw slider mechanism, gear rack mechanism, worm gear mechanism, etc.

[0107] In some embodiments, the capsule endoscopy robot further includes a seal 70 and a second elastic member. The seal 70 is movably disposed in the opening 11a to seal the opening 11a. When the scraper module 50 is raised, the seal 70 can be pushed open by the scraper module 50. One end of the second elastic member is fixed inside the housing 11, and the other end is connected to the seal 70. The second elastic member is used to provide an elastic force to keep the seal 70 in a state of sealing the opening 11a.

[0108] Specifically, the seal 70 is retractably disposed on the housing 11. In some other embodiments of this application, the seal 70 is configured to be flip-mounted on the housing 11. It is worth noting that the form of the second elastic member changes accordingly depending on the movable configuration of the seal 70. For example, when the seal 70 is configured to flip, the second elastic member can be configured as a tension spring, torsion spring, or similar form; while when the seal 70 is configured to retract, the second elastic member can be configured as a compression spring, pull rope, or similar form.

[0109] Specifically, the seal 70 is typically made of a soft, durable material, such as rubber, silicone, or elastic plastic. These materials provide sufficient elasticity to allow the seal 70 to flexibly adapt to the shape and size of the opening 11a, ensuring an effective seal. The design of the seal 70 allows the opening 11a of the capsule endoscopy robot to remain effectively sealed. This helps prevent leakage of fluid or tissue samples from the organ, keeps the robot's interior clean, and prevents additional interference from the robot's internal structures to the organ and tissue.

[0110] The second elastic element is a component used to provide elastic force. One end of it is fixed inside the outer shell 11 of the capsule endoscopy robot, and the other end is connected to the seal 70. The function of the second elastic element is to keep the seal 70 in a sealed state of opening 11a. That is, when the scraper module 50 is raised, the second elastic element will apply elastic force to keep the seal 70 in a sealed position, ensuring that opening 11a is closed.

[0111] Specifically, when the scraper module 50 is raised, the seal 70 can be pushed open by the scraper module 50, thereby opening the opening 11a, allowing the scraper module 50 to extend out of the outer shell 11 for tissue sample collection. When the scraper module 50 is retracted, the seal 70 can reseal the opening 11a under the action of the second elastic member to prevent leakage of tissue or other substances from inside the robot.

[0112] Through the combined design of the sealing element 70 and the second elastic element, the capsule endoscopy robot can better control the state of the opening 11a, keeping it open when needed and sealed when not needed. This design achieves the sealing of the opening 11a through a simple mechanism, simplifying the robot's structural design and improving its flexibility and intelligence.

[0113] In some embodiments, the blade holder 51 is designed to fit the shape and size of the opening 11a to ensure that the opening 11a is completely sealed when the blade 52 extends out of the opening 11a.

[0114] Specifically, the blade holder 51 is specially designed to perfectly match the opening 11a and seal it when needed. When the blade 52 is fully extended from the opening 11a, a specific portion of the blade holder 51 fits tightly against the edge or edge component of the opening 11a, forming an effective seal. This design ensures that the opening 11a remains sealed when the scraper module 50 is raised, preventing other tissues or substances from entering the body 10. Simultaneously, when the scraper module 50 is retracted, the opening 11a can be closed by the sealing element 70.

[0115] This design ensures effective control and sealing of the opening 11a during operation of the capsule endoscopy robot, thereby ensuring safe and reliable collection of fluid and tissue samples from inside organs, while avoiding additional interference and damage to the organs.

[0116] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A capsule endoscopy robot, characterized in that, include: The main body includes an outer shell and a camera module, a communication module, and a power module disposed inside the outer shell. The outer shell has a viewing window. A drive module, connected to the housing, is configured to drive the body forward or backward; as well as A drive component is configured to enable relative rotation between the camera module and the housing.

2. The capsule endoscopy robot as described in claim 1, characterized in that, The drive assembly includes a drive component and a transmission mechanism. The drive component is connected to the camera module through the transmission mechanism and drives the camera module to rotate relative to the housing through the transmission structure.

3. The capsule endoscopy robot as described in claim 1, characterized in that, The capsule endoscopy robot also includes a first robotic arm and an electrocautery hook. The first robotic arm is mounted on the outside of the housing, and the electrocautery hook is mounted on the end of the first robotic arm away from the housing and is electrically connected to the power module.

4. The capsule endoscopy robot as described in claim 3, characterized in that, The capsule endoscopy robot also includes a second robotic arm and an electrocautery snare. The second robotic arm is mounted on the outside of the outer shell, and the electrocautery snare is mounted on the end of the second robotic arm away from the outer shell and is electrically connected to the power module.

5. The capsule endoscopy robot as described in claim 4, characterized in that, The outer surface of the housing is recessed with a clearance groove. The first robotic arm and the second robotic arm are both installed in the clearance groove and have a working state extending from the opening of the clearance groove and a storage state retracted into the clearance groove. In the storage state, the surfaces of the first robotic arm and the second robotic arm are not higher than the outer surface of the housing.

6. The capsule endoscopy robot as described in claim 1, characterized in that, The capsule endoscopy robot also includes an edible capsule shell, which is wrapped around the outside of the outer shell.

7. The capsule endoscopy robot as described in claim 1, characterized in that, The capsule endoscopy robot includes a wireless charging coil, which is installed inside the housing and electrically connected to the power module.

8. The capsule endoscopy robot as described in claim 7, characterized in that, The wireless charging system uses at least two wireless charging coils. It includes at least two wireless charging coils arranged on different spatial planes, the two wireless charging coils are orthogonally arranged to each other, and the two wireless charging coils correspond to the axial and radial directions of the shell body, respectively.

9. The capsule endoscopy robot as described in claim 8, characterized in that, The wireless charging coil is arranged in an arc shape and is attached to the inner wall of the housing.

10. The capsule endoscopy robot as described in claim 1, characterized in that, The drive module includes a first motor and a tail. The first motor is disposed inside the housing, and the tail is disposed outside the housing. The tail includes a spine and tracks. One end of the spine is connected to the output end of the first motor, and the other end extends spirally away from the housing. One end of the tracks is rotatably connected to the housing, and the other end extends away from the housing. The tracks include multiple rotatably connected frames that surround the outer periphery of the spine. When the tail rotates under the drive of the first motor, the spine drives the track to swing in a sinusoidal wave shape to drive the body forward or backward.

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