Capsule robot

Abstract

The utility model is suitable for the technical field of medical equipment, and provides a capsule robot which comprises a shell, a first magnetic part and an operating mechanism. The shell comprises a mounting assembly and a first end cover arranged at one end of the mounting assembly, and the first end cover is provided with a through hole communicating with the containing cavity. The first magnetic piece is connected between the installation assembly and the first end cover. And the operating mechanism is arranged in the accommodating cavity and is used for extending out of the through hole to operate the to-be-operated part. When the operating mechanism operates the to-be-operated part, the first end cover is subjected to supporting force of an obstacle, namely, the acting point of the supporting force is on the first end cover. Compared with the situation that the first magnetic part is arranged in the mounting assembly, the action point of the magnetic force is located at the connecting part of the first end cover and the first magnetic part, so that the distance between the action point of the supporting force and the action point of the magnetic force is reduced, and then the overturning torque of the supporting force relative to the action point of the magnetic force is reduced; and the capsule robot is more difficult to turn over under the supporting force of an obstacle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical equipment, and more particularly to a capsule robot. BACKGROUND

[0002] The capsule robot refers to a small micro robot, which is mainly used to enter a narrow and difficult space to detect, sample or apply materials to the operation site. The capsule robot can include a shell and an operating mechanism. The shell generally includes a mounting assembly and an end cover arranged on the mounting assembly. The operating mechanism is arranged in the space enclosed by the mounting assembly and the end cover, and can be exposed outside the end cover, so that the operating mechanism can operate the operation site outside the end cover. For example, the capsule robot can enter the human body to detect, apply medicine or sample the operation site of the gastrointestinal tract.

[0003] However, when the capsule robot operates the operation site, the end cover of the capsule robot is usually supported by the obstacle around the operation site, so that the capsule robot is prone to overturning under the action of the supporting force, thereby reducing the operation effect of the capsule robot on the operation site. CONTENT OF THE UTILITY MODEL

[0004] One of the purposes of the embodiments of the present application is to provide a capsule robot, which aims to solve the technical problem that the capsule robot is prone to overturning when operating the operation site in the related art.

[0005] To solve the above technical problems, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] A capsule robot is provided, which includes:

[0007] A shell includes a mounting assembly and a first end cover arranged at one end of the mounting assembly, and the first end cover is provided with a through hole;

[0008] A first magnetic member is connected between the mounting assembly and the first end cover. The first magnetic member, the first end cover and the mounting assembly enclose a receiving cavity, and the through hole is communicated with the receiving cavity;

[0009] An operating mechanism is arranged in the receiving cavity and used to extend outside the through hole to operate the operation site.

[0010] In some embodiments, the operating mechanism includes a driving device and an operating assembly, and the driving device and the operating assembly are arranged in the receiving cavity. The operating assembly includes a mounting member and a plurality of operating members distributed on the mounting member in a circumferential direction. The driving device is used to drive the mounting member to rotate, and a plurality of operating members are selectively extended outside the through hole.

[0011] In some embodiments, the mounting assembly comprises a housing assembly and a bearing, an outer ring of the bearing is connected between the first magnetic member and the housing assembly, an inner ring of the bearing is fixedly connected to the mounting member, and the bearing, the first magnetic member, the housing assembly and the first end cover enclose the accommodating cavity.

[0012] In some embodiments, the mounting assembly further comprises a second magnetic member, the second magnetic member is connected between the outer ring of the bearing and the housing assembly; the bearing, the first magnetic member, the second magnetic member, the first end cover and the housing assembly enclose the accommodating cavity; and the magnetic poles of the first magnetic member and the second magnetic member are arranged in the same direction.

[0013] In some embodiments, the second magnetic member is provided in plurality; along the distribution direction of the mounting assembly and the first end cover, the plurality of second magnetic members are sequentially abutted and abutted between the outer ring of the bearing and the housing assembly; and the magnetic poles of the plurality of second magnetic members are arranged in the same direction.

[0014] In some embodiments, the first magnetic member is a ring-shaped magnet; and / or, the second magnetic member is a ring-shaped magnet.

[0015] In some embodiments, the driving device comprises:

[0016] a first driving assembly connected to the mounting member and configured to drive the mounting member to rotate;

[0017] a second driving assembly arranged in the accommodating cavity and corresponding to the through hole, the second driving assembly being configured to drive the operating member to extend out of the through hole.

[0018] In some embodiments, the mounting member is provided with a plurality of mounting holes spaced apart along the circumferential direction, each operating member is mounted in each mounting hole, and the second driving assembly is configured to penetrate into the mounting hole to drive the operating member to extend out of the through hole.

[0019] In some embodiments, the second driving assembly comprises:

[0020] a first motor configured to output a rotating driving force;

[0021] a screw rod configured to rotate under the driving of the first motor;

[0022] a pushing structure comprising a fixedly connected pushing member and a nut, the nut being threadedly connected to the screw rod, and the nut being capable of moving linearly along the screw rod when the screw rod rotates, so as to drive the pushing member to penetrate into or move away from the mounting hole.

[0023] In some embodiments, at least one of the operation members is an applicator needle for delivering a material towards the site to be operated;

[0024] And / or, at least one of the operation members is a needle tube for puncture sampling of the site to be operated;

[0025] And / or, at least one of the operation members is a knife for cutting the site to be operated;

[0026] And / or, at least one of the operation members is a biological sensor for detecting information of the site to be operated.

[0027] The capsule robot provided by the embodiments of the present application has the following beneficial effects:

[0028] The capsule robot provided by the embodiments of the present application has the following beneficial effects: When the capsule robot is subjected to an external magnetic field, the point of action of the magnetic force on the first magnetic member is located on the first magnetic member, and the first magnetic member is located at the connecting part of the first end cover and the mounting assembly, i.e. the point of action of the magnetic force is at the connecting part of the first end cover and the mounting assembly. When the operation mechanism operates the site to be operated, the first end cover will be subjected to a support force of an obstacle, i.e. the point of action of the support force is on the first end cover. Compared with the case where the first magnetic member is arranged in the mounting assembly, the point of action of the support force on the first end cover and the point of action of the magnetic force are closer to each other, and thus the overturning torque of the support force relative to the point of action of the magnetic force is reduced. In this way, when subjected to the support force of the obstacle, the capsule robot is less likely to overturn, and the operation effect of the capsule robot on the site to be operated is improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0030] Figure 1 The three-dimensional structure of the capsule robot provided by the embodiments of the present application is shown in Figure 1 ;

[0031] Figure 2 The side view of the capsule robot provided by the embodiments of the present application is shown in Figure 1 ;

[0032] Figure 3 The side view of the capsule robot provided by the embodiments of the present application is shown inFigure 1 An exploded schematic view of the capsule robot provided in the embodiments of the present application;

[0033] Figure 4 A perspective structural schematic view of the capsule robot provided in the embodiments of the present application Figure 2

[0034] Figure 5 An exploded schematic view of the partial structure of the capsule robot provided in the embodiments of the present application. Figure 1 In the drawings:

[0035] 10 - shell; 11 - first end cover; 111 - through hole; 12 - mounting assembly; 121 - shell assembly; 1211 - shell; 1212 - second end cover; 122 - bearing; 123 - second magnetic member; 20 - first magnetic member; 30 - accommodating cavity; 40 - operating mechanism; 41 - driving device; 411 - first driving assembly; 412 - second driving assembly; 4121 - first motor; 4122 - screw rod; 4123 - pushing structure; 41231 - pushing member; 41232 - nut; 42 - operating assembly; 421 - mounting member; 4211 - mounting hole; 422 - operating member; a - first spacing.

[0036] DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.

[0038] If not specifically stated, all the embodiments and optional embodiments of the embodiments of the present application can be combined with each other to form new technical solutions.

[0039] If not specifically stated, all the technical features and optional technical features of the embodiments of the present application can be combined with each other to form new technical solutions.

[0040] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application.

[0041] ​​In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply relative importance or a quantity of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0042] In the description of the present application, the meaning of "a plurality of" is more than two, and "more than two" includes two, unless otherwise explicitly specified and limited. Accordingly, the meaning of "a plurality of groups" is more than two groups, including two groups.

[0043] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] In the present application, the term "and / or" is only to describe the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: there is A, there are A and B, and there is B. In addition, in the present application, the character " / " generally represents that the front and rear associated objects are in an "or" relationship.

[0045] The following will be described in detail in combination with specific drawings and embodiments:

[0046] Please refer to Figures 1 to 3 The capsule robot comprises a shell 10, a first magnetic member 20 and an operating mechanism 40. The shell 10 comprises a mounting assembly 12 and a first end cover 11. The first end cover 11 is arranged at one end of the mounting assembly 12. The first end cover 11 is provided with a through hole 111. The first magnetic member 20 is connected between the mounting assembly 12 and the first end cover 11. The first magnetic member 20, the first end cover 11 and the mounting assembly 12 enclose a containing cavity 30. The through hole 111 is communicated with the containing cavity 30. The operating mechanism 40 is arranged in the containing cavity 30. The operating mechanism 40 is used to extend out of the through hole 111 to operate the part to be operated.

[0047] The first end cover 11 can be designed in a streamline shape to reduce the motion resistance of the capsule robot and improve the motion speed. For example, the first end cover 11 can be arranged as an arc-shaped structure protruding towards the direction away from the mounting assembly 12.

[0048] The mounting assembly 12 can be a box-shaped structure, a cylindrical structure, etc., and can accommodate the components of the operating mechanism 40.

[0049] The number of the through holes 111 can be one or more. When the through holes 111 are more than one, the operating mechanism 40 can selectively extend out of each of the through holes 111.

[0050] The first magnetic member 20 can be, but is not limited to, a magnet or other magnetic material.

[0051] As an example, the operating mechanism 40 can include a micro camera, which, in use, can extend out of the through hole 111 to take a picture of the to-be-operated part to obtain image information of the to-be-operated part. Alternatively, the operating mechanism 40 can also include a sensor, which, in use, can extend out of the through hole 111 to detect information such as vibration, concentration, temperature, etc. of the to-be-operated part. The composition of the operating mechanism 40 is not limited to the above two, and can also be other forms, which are not listed one by one here.

[0052] It should be noted that during the travel of the capsule robot, the operating mechanism 40 is accommodated in the accommodating cavity 30 to reduce the resistance during the travel. When operating the to-be-operated part, the operating mechanism 40 can extend out of the through hole 111 to operate the to-be-operated part.

[0053] It can be understood that the user can control the external magnetic field to exert a magnetic force on the first magnetic member 20, and the point of action of the magnetic force on the first magnetic member 20 is located on the first magnetic member 20. The first magnetic member 20 is located at the connecting part of the first end cover 11 and the mounting assembly 12, i.e. the point of action of the magnetic force is at the connecting part of the first end cover 11 and the mounting assembly 12. When the operating mechanism 40 operates the to-be-operated part, the first end cover 11 will be subjected to a support force of an obstacle, i.e. the point of action of the support force is on the first end cover 11. As shown in Figure 2 When the support force and the magnetic force are simultaneously applied, the first distance a between the point of action of the support force and the point of action of the magnetic force along the distribution direction of the first end cover 11 and the mounting assembly 12 is the overturning moment of the support force relative to the magnetic force. The greater the first distance a, the easier the capsule robot overturns, and the smaller the first distance a, the more difficult the capsule robot overturns.

[0054] The capsule robot provided by the embodiments of the present application has the first magnetic member 20 connected between the first end cover 11 and the mounting assembly 12, and the first magnetic member 20, the first end cover 11 and the mounting assembly 12 enclose to form the accommodating cavity 30. When the capsule robot operates the to-be-operated part, the action point of the magnetic force is at the connecting part of the first end cover 11 and the mounting assembly 12, and the action point of the supporting force is on the first end cover 11. Compared with the case that the first magnetic member 20 is arranged in the mounting assembly 12, the distance between the action point of the supporting force and the action point of the magnetic force is reduced, that is, the first distance a is reduced, and then the overturning torque of the supporting force relative to the action point of the magnetic force is reduced. In this way, when the capsule robot is subjected to the supporting force of the obstacle, the difficulty of overturning of the capsule robot is increased, so that the capsule robot can remain stable when operating the to-be-operated part, and then the operation effect of the capsule robot on the to-be-operated part is improved.

[0055] In some embodiments, referring to Figure 2 and Figure 3 , the operating mechanism 40 includes a driving device 41 and an operating assembly 42. The driving device 41 and the operating assembly 42 are both arranged in the accommodating cavity 30. The operating assembly 42 includes a mounting member 421 and a plurality of operating members 422. The plurality of operating members 422 are distributed on the mounting member 421 in a circumferential direction. The driving device 41 is used to drive the mounting member 421 to rotate. The driving device 41 can drive the plurality of operating members 422 to selectively extend out of the through hole 111.

[0056] The driving device 41 can include a motor, a rotary cylinder or other structure capable of outputting a rotating driving force, so that the operating member 422 can rotate under the driving of the mounting member 421, and then each operating member 422 can selectively extend out of the through hole 111.

[0057] The operating member 422 can perform relevant operations on the to-be-operated part. Specifically, the operating member 422 can be a sensor probe, a biopsy needle, a miniature camera or other structure capable of operating the to-be-operated part.

[0058] As an example, as shown in Figure 3 , the plurality of operating members 422 can be uniformly and evenly distributed around the rotation axis of the mounting member 421.

[0059] The driving device 41 drives the mounting member 421 to rotate, so that the plurality of operating members 422 can selectively extend out of the through hole 111. In this way, the user can drive the mounting member 421 to rotate to switch the operating member 422, so as to perform different operations, improve the functional diversity of the operating mechanism 40, and make the operating mechanism 40 capable of performing different actions in a variety of different application occasions. Alternatively, the user can also drive the mounting member 421 to rotate to switch other operating members 422 for operation when one operating member 422 fails, thereby reducing the failure rate of the operating mechanism 40.

[0060] In some embodiments, referring to Figure 3 , the mounting assembly 12 comprises a housing assembly 121 and a bearing 122. The outer ring of the bearing 122 is connected between the first magnetic member 20 and the housing assembly 121. The inner ring of the bearing 122 is fixedly connected to the mounting member 421. The bearing 122, the first magnetic member 20, the housing assembly 121 and the first end cover 11 enclose the accommodation cavity 30.

[0061] As shown in Figure 3 , in one possible design, the housing assembly 121 comprises a housing 1211 and a second end cover 1212, the housing 1211 is connectable to the outer ring of the bearing 122, and the second end cover 1212 is connected to the housing 1211 away from the bearing 122.

[0062] When the driving device 41 drives the mounting member 421 to rotate, the mounting member 421 drives the inner ring of the bearing 122 to rotate, so that the inner ring of the bearing 122 can rotate relative to the outer ring of the bearing 122. The inner ring of the bearing 122 and the outer ring of the bearing 122 are provided with balls, so that the relative rotation between the inner ring of the bearing 122 and the outer ring of the bearing 122 is smoother and the friction is smaller.

[0063] In this way, the mounting member 421 is mounted in the accommodation cavity 30 through the bearing 122, which improves the mounting stability of the mounting member 421 in the accommodation cavity 30, and the resistance of the mounting member 421 when rotating is smaller, thereby improving the stability and smoothness of the mounting member 421 when rotating.

[0064] In some embodiments, referring to Figure 2 and Figure 3 , the mounting assembly 12 further comprises a second magnetic member 123. The second magnetic member 123 is connected between the outer ring of the bearing 122 and the housing assembly 121. The bearing 122, the first magnetic member 20, the second magnetic member 123, the first end cover 11 and the housing assembly 121 enclose the accommodation cavity 30. The magnetic poles of the first magnetic member 20 and the second magnetic member 123 are arranged in the same direction.

[0065] Because the magnetic poles of the first magnetic member 20 and the second magnetic member 123 are arranged in the same direction, the directions of the magnetic forces received by the first magnetic member 20 and the second magnetic member 123 under the same magnetic field are substantially the same. The magnetic forces in the same direction can be superimposed on each other, and the resultant force of the magnetic forces received by the first magnetic member 20 and the second magnetic member 123 is the magnetic force received by the capsule robot under the magnetic field.

[0066] In this way, the magnetic force received by the first magnetic member 20 and the second magnetic member 123 can be superimposed on each other, increasing the size of the magnetic force received by the capsule robot under the action of the same magnetic field, so that the driving force received by the capsule robot is larger, reducing the difficulty of driving the capsule robot to move, and improving the driving efficiency.

[0067] In some embodiments, referring to Figures 2 to 4 , the second magnetic member 123 is provided in plurality. The plurality of second magnetic members 123 abut in sequence along the distribution direction of the mounting assembly 12 and the first end cover 11. The plurality of second magnetic members 123 abut between the outer ring of the bearing 122 and the housing assembly 121 along the distribution direction of the mounting assembly 12 and the first end cover 11. Among them, the magnetic poles of the plurality of second magnetic members 123 are arranged in the same direction.

[0068] The number of second magnetic members 123 is not limited, and can be selected according to the size of the capsule robot and the required magnetic force during movement. For example, as Figure 4 shown, the second magnetic member 123 can be provided in three.

[0069] The magnetic poles of the plurality of second magnetic members 123 are arranged in the same direction, so that the directions of the magnetic forces received by the plurality of second magnetic members 123 under the action of the same magnetic field are substantially the same. The magnetic forces in the same direction can be superimposed on each other, and the resultant force superimposed between the plurality of second magnetic members 123 and the magnetic force of the first magnetic member 20 after superposition is the magnetic force received by the capsule robot under the action of the magnetic field. It can be understood that the more the number of second magnetic members 123, the greater the magnetic force received by the capsule robot.

[0070] The plurality of second magnetic members 123 abut each other, saving the installation space required by the second magnetic member 123, and thereby reducing the overall size of the capsule robot. At the same time, by adjusting the number of assembled second magnetic members 123, the resultant force of the magnetic force received by the second magnetic member 123 can be changed, and thereby the magnetic force received by the capsule robot is adjusted, so that the capsule robot can adapt to the movement requirements in different occasions.

[0071] In some embodiments, referring to Figure 1 , at least one of the first magnetic member 20 and the second magnetic member 123 is a ring-shaped magnet.

[0072] When the first magnetic member 20 is a ring-shaped magnet, in one possible design, the projections of the first magnetic member 20, the first end cover 11 and the outer ring of the bearing 122 along the distribution direction of the first end cover 11 and the housing assembly 121 can be arranged to substantially overlap, so as to facilitate the butt joint of the first magnetic member 20, the first end cover 11 and the outer ring of the bearing 122.

[0073] In a possible design, when the second magnetic member 123 is a ring-shaped magnet, the projection of the second magnetic member 123, the housing assembly 121 and the outer ring of the bearing 122 along the distribution direction of the first end cover 11 and the housing assembly 121 can be arranged to substantially overlap, so as to butt joint the first magnetic member 20, the first end cover 11 and the outer ring of the bearing 122.

[0074] Compared with the prior art in which the magnetic member is arranged inside the accommodating cavity 30, the first magnetic member 20 and the second magnetic member 123 are designed as part of the shell 10, thereby saving the installation space inside the accommodating cavity 30. Meanwhile, by arranging the first magnetic member 20 and the second magnetic member 123 as part of the shell 10, the first end cover 11 and the housing assembly 121 can be manufactured to be smaller in size, thereby saving the material of the shell 10 and reducing the cost.

[0075] In some embodiments, referring to Figure 3 The driving device 41 comprises a first driving assembly 411 and a second driving assembly 412. The first driving assembly 411 is connected to the mounting member 421 and is configured to drive the mounting member 421 to rotate. The second driving assembly 412 is arranged inside the accommodating cavity 30 and corresponds to the through hole 111. The second driving assembly 412 is configured to drive the operation member 422 to extend out of the through hole 111.

[0076] The first driving assembly 411 can be a rotary motor or a rotary cylinder or any other structure capable of providing rotational driving force.

[0077] The second driving assembly 412 can be an electric push rod, a gas pressure supporting rod, a cam transmission structure or any other structure capable of achieving linear driving.

[0078] When the driving device 41 is in operation, the first driving assembly 411 drives the mounting member 421 to rotate first, so that one of the plurality of operation members 422 rotates to correspond to the through hole 111. Then, the second driving assembly 412 drives the operation member 422 to move so that the operation member 422 extends out of the through hole 111 to operate the to-be-operated part.

[0079] In this way, the driving device 41 can switch the operation member 422 by driving the mounting member 421 to rotate through the first driving assembly 411, so that the plurality of operation members 422 selectively correspond to the through hole 111, and the second driving assembly 412 corresponds to the through hole 111 and can drive the operation member 422 to extend out of the through hole 111. The driving structure is relatively simple, and the control process is convenient and fast.

[0080] In some embodiments, as Figure 5As shown, the output end of the second driving assembly 412 is provided with a magnet, and the side of the operating member 422 close to the output end of the second driving assembly 412 can be magnetically attracted to the magnet. Thus, when the output end of the second driving assembly 412 drives the operating member 422 to move towards the direction close to the through hole 111, the magnet is magnetically attracted to the operating member 422. After the operation is completed, the second driving assembly 412 can also move towards the direction away from the operating member 422, and then drive the operating member 422 to move away from the through hole 111 and enter the accommodating cavity 30. In this way, the operating member 422 extends out of the through hole 111 during operation, and is accommodated in the accommodating cavity 30 after the operation is completed, and is not easy to be stuck in the through hole 111 to hinder the movement of the capsule robot.

[0081] Alternatively, in some other embodiments, the first end cover 11 is provided with an elastic member on the side close to the operating member 422, and the operating member 422 is connected to the elastic member. When the output end of the second driving assembly 412 drives the operating member 422 to move towards the direction close to the through hole 111, the elastic member is compressed, and when the second driving assembly 412 moves away from the operating member 422, the elastic member releases the elastic potential energy and drives the operating member 422 to move towards the direction away from the through hole 111, so that the operating member 422 is accommodated in the accommodating cavity 30.

[0082] In some embodiments, referring to Figures 3 to 5 The mounting member 421 is provided with a plurality of mounting holes 4211 penetrating therethrough, and the plurality of mounting holes 4211 are distributed at intervals around the circumference. Each operating member 422 is mounted in each mounting hole 4211. The second driving assembly 412 is used to penetrate into the mounting hole 4211 to drive the operating member 422 to extend out of the through hole 111.

[0083] The output end of the second driving assembly 412 can be provided in a rod shape to facilitate better penetration into the mounting hole 4211.

[0084] Thus, the operating member 422 can be accommodated in the mounting hole 4211 when not in operation, which improves the mounting stability of the operating member 422 on the mounting member 421. When it is necessary to operate the to-be-operated part, the second driving assembly 412 can drive the operating member 422 to extend out of the mounting hole 4211, and the second driving assembly 412 and the operating member 422 can move along the hole wall of the mounting hole 4211, which has good stability and is not easy to be dislocated, thereby improving the accuracy and driving efficiency when the second driving assembly 412 drives the operating member 422 to move.

[0085] In some embodiments, referring to Figures 3 to 5The second driving assembly 412 comprises a first motor 4121, a screw rod 4122 and a pushing structure 4123. The first motor 4121 is configured to output a rotating driving force. The screw rod 4122 is configured to rotate under the driving of the first motor 4121. The pushing structure 4123 comprises a pushing member 41231 and a nut 41232 fixedly connected. The nut 41232 is threadedly connected to the screw rod 4122. When the screw rod 4122 rotates, the nut 41232 can move linearly along the screw rod 4122 to drive the pushing member 41231 to penetrate into or away from the mounting hole 4211.

[0086] The pushing member 41231 can be in a columnar shape, a conical shape, etc.

[0087] As an example, a structure for limiting the rotation of the nut 41232 can be arranged in the housing 1211, so that the nut 41232 does not rotate with the screw rod 4122 when the screw rod 4122 rotates. With the rotation of the screw rod 4122, the nut 41232 can move linearly along the screw rod 4122. The direction of the rotating driving force output by the first motor 4121 can be controlled to control the reciprocating linear motion of the nut 41232 on the screw rod 4122. In this way, the pushing member 41231 can move linearly in the direction of approaching or moving away from the mounting hole 4211.

[0088] In this way, the transmission precision between the first motor 4121, the screw rod 4122 and the pushing structure 4123 is good, the response rate is high, and the pushing member 41231 can be quickly driven to penetrate into or away from the mounting hole 4211, thereby improving the efficiency of the operation member 422 in and out of the through hole 111, and further improving the operation efficiency of the operation member 422 on the to-be-operated part.

[0089] In some embodiments, referring to Figure 3 The at least one operation member 422 is a dispensing needle. The dispensing needle is configured to deliver a material towards the to-be-operated part.

[0090] The material can be a drug, a chemical material, etc. In use, the dispensing needle can move towards the to-be-operated part and penetrate into the to-be-operated part to place, replace or recycle the material on the to-be-operated part.

[0091] Alternatively, in another implementation, the at least one operation member 422 is a needle tube. The needle tube is configured to puncture and sample the to-be-operated part.

[0092] The needle tube is hollow, so that when the needle tube penetrates into the to-be-operated part, the structure of the to-be-operated part can be retained inside the needle tube to achieve sampling of the to-be-operated part. As an example, the needle tube can be used for biopsy operation of human body, that is, the needle tube is a biopsy needle, and the tissue of the lesion part of the human body can be sampled and detected by puncturing the lesion part of the human body tissue with the needle tube.

[0093] Alternatively, in yet another implementation, the at least one operating member 422 is a knife. The knife is used to cut the site to be operated.

[0094] The knife can cut the site to be operated when the knife extends out of the through hole 111. For example, when applied to the inside of a human body, the knife can directly cut a pathological site of the human body to perform surgery.

[0095] Alternatively, in yet another implementation, the at least one operating member 422 is a biological sensor. The biological sensor is used to detect information of the site to be operated.

[0096] The biological sensor refers to a device that converts biological information of the site to be operated into an electrical signal for measurement and analysis.

[0097] It can be understood that the at least one operating member 422 is at least one of the dispensing needle, the needle tube, the knife, and the biological sensor.

[0098] In this way, the operating member 422 can be designed in various types, which enriches the operating functions of the operating member 422, enables the capsule robot to operate the site to be operated in various different application occasions, and expands the application range of the capsule robot.

[0099] The above merely describes the preferred embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A capsule robot, characterized by, The utility model relates to a kind of operating mechanism, including: Shell, including installation component and the first end cover being arranged at one end of the installation component, the first end cover is equipped with through-hole; First magnetic part, between the installation component and the first end cover is connected;The first magnetic part, the first end cover and the installation component form the containing cavity, and the through-hole is communicated with the containing cavity; Operating mechanism, it is arranged in the containing cavity, and it is used to extend outside the through-hole, to the operating site to be operated is operated.

2. The capsule robot of claim 1, wherein, The operating mechanism includes driving device and operating assembly, and the driving device and the operating assembly are arranged in the containing cavity;The operating assembly includes mounting part and multiple operating members distributed on the mounting part along the circumferential direction, and the driving device is used to drive the mounting part to rotate, and multiple operating members are selectively driven to extend outside the through-hole.

3. The capsule robot of claim 2, wherein, The installation component includes shell assembly and bearing, the outer ring of the bearing is connected between the first magnetic part and the shell assembly, the inner ring of the bearing is fixedly connected to the mounting part, and the bearing, the first magnetic part, the shell assembly and the first end cover form the containing cavity.

4. The capsule robot of claim 3, wherein, The installation component also includes second magnetic part, and the second magnetic part is connected between the outer ring of the bearing and the shell assembly;The bearing, the first magnetic part, the second magnetic part, the first end cover and the shell assembly form the containing cavity;The magnetic poles of the first magnetic part and the second magnetic part are arranged in the same direction.

5. The capsule robot of claim 4, wherein, The second magnetic part is provided as multiple;Along the distribution direction of the installation component and the first end cover, multiple second magnetic parts are sequentially abutted, and are abutted between the outer ring of the bearing and the shell assembly;The magnetic poles of multiple second magnetic parts are arranged in the same direction.

6. The capsule robot of claim 4, wherein, The first magnetic part is annular magnet;And / or, the second magnetic part is annular magnet.

7. The capsule robot of any one of claims 2-6, wherein, The driving device includes: First driving assembly, connected to the mounting part, and used to drive the mounting part to rotate; Second driving assembly, arranged in the containing cavity, and corresponding to the through-hole, the second driving assembly is used to drive the operating member to extend in the through-hole.

8. The capsule robot of claim 7, wherein, The mounting part is provided with multiple mounting holes distributed along the circumferential direction, and each operating member is installed in each mounting hole, and the second driving assembly is used to penetrate into the mounting hole to drive the operating member to extend outside the through-hole.

9. The capsule robot of claim 8, wherein, The second driving assembly includes: First motor, used to output rotary driving force; Screw rod, used to rotate under the driving of the first motor; Push structure, including fixedly connected pusher and nut, the nut is threadedly connected to the screw rod, and when the screw rod rotates, the nut can move linearly along the screw rod to drive the pusher to penetrate or away from the mounting hole.

10. The capsule robot of any one of claims 2-6, wherein, At least one operating member is a material application needle, and the material application needle is used to deliver material towards the operating site to be operated; And / or, at least one operating member is a needle tube, and the needle tube is used to puncture and sample the operating site to be operated; And / or, at least one operating member is a cutter, and the cutter is used to cut the operating site to be operated. And / or, at least one of the operation members is a biosensor for detecting information of the part to be operated.

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