CN113080811B - A magnetic control shell of giving medicine to poor free of charge for capsule endoscope robot - Google Patents
A magnetic control shell of giving medicine to poor free of charge for capsule endoscope robot Download PDFInfo
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- CN113080811B CN113080811B CN202110382615.5A CN202110382615A CN113080811B CN 113080811 B CN113080811 B CN 113080811B CN 202110382615 A CN202110382615 A CN 202110382615A CN 113080811 B CN113080811 B CN 113080811B
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- permanent magnet
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- capsule endoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/10—Trunk
- A61M2210/1042—Alimentary tract
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Gastroenterology & Hepatology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
- Endoscopes (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention provides a magnetic control pesticide application shell for a capsule endoscope robot, which comprises a shell with a pesticide storage cavity, a middle limiting ring, an end limiting ring, a pesticide application one-way valve, a pesticide inlet one-way valve, a first permanent magnet and a second permanent magnet, wherein the first permanent magnet and the second permanent magnet are respectively arranged in the pesticide storage cavity of the shell, and the middle limiting ring is arranged between the first permanent magnet and the second permanent magnet. The invention has the beneficial effects that: the capsule endoscope robot is additionally provided with the magnetic control pesticide applying shell to enable the capsule endoscope robot to have a pesticide applying function, the magnetic control pesticide applying shell is firstly added outside the capsule endoscope robot to enable the capsule endoscope robot to have the pesticide applying function, and the capsule endoscope robot has universality for various capsule robots; the magnetic control pesticide application shell is simple and effective; the driving force of the magnetic control pesticide application shell comes from an external magnetic field, and the energy of the capsule endoscope robot is not consumed.
Description
Technical Field
The invention relates to a capsule endoscope robot, in particular to a magnetic control pesticide application shell for the capsule endoscope robot.
Background
Gastrointestinal diseases are frequently encountered clinically, the physical health of people is seriously affected, in order to check and treat the diseases, gastroscopy and enteroscopy are generally required, and the gastroscopy and the enteroscopy are mechanically inserted into human bodies, so that great pain is brought to patients. Therefore, the capsule endoscope robot which is painless, safe and simple to operate is produced, and at present, all countries have great achievements in breaking through the practical application of the capsule endoscope robot, but some defects still exist. Firstly, the functions of the existing capsule endoscope robot are limited to image acquisition, and the medicine application treatment can not be carried out simultaneously after the focus is found. Secondly, the dispensing device of the capsule endoscope robot which can dispense medicine is arranged in the capsule endoscope robot, the structural design problem of the capsule endoscope robot needs to be considered, the structural complexity of the capsule endoscope robot is increased, and the capsule endoscope robot is overlarge in volume and difficult to produce. In addition, the mode of driving the drug application process adopts devices such as a motor or a spring, and the design is complex.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a magnetic control pesticide application shell for a capsule endoscope robot.
The invention provides a magnetic control pesticide application shell for a capsule endoscope robot, which comprises a shell with a pesticide storage cavity, a middle limiting ring, an end limiting ring, a pesticide application one-way valve, a pesticide inlet one-way valve, a first permanent magnet and a second permanent magnet, wherein the first permanent magnet and the second permanent magnet are respectively arranged in the pesticide storage cavity of the shell, the middle limiting ring is arranged between the first permanent magnet and the second permanent magnet and used for limiting the axial movement range of the first permanent magnet and separating the first permanent magnet from the second permanent magnet, the first permanent magnet is arranged in front of the second permanent magnet, the end limiting ring is arranged behind the second permanent magnet and used for axially positioning the second permanent magnet, the shell is provided with a pesticide inlet and a pesticide outlet which are communicated with the pesticide storage cavity, and the pesticide application one-way valve is arranged on the pesticide outlet, the capsule endoscope robot is additionally provided with a magnetic control pesticide application shell to enable the capsule endoscope robot to have a pesticide application function, the magnetic control pesticide application shell is firstly proposed to be additionally arranged outside the capsule endoscope robot to enable the capsule endoscope robot to have the pesticide application function, and the capsule endoscope robot has universality for various capsule robots; the magnetic control pesticide application shell is simple and effective; the driving force of the magnetic control pesticide application shell comes from an external magnetic field, and the energy of the capsule endoscope robot is not consumed.
As a further improvement of the invention, the shell, the middle limiting ring, the end limiting ring, the first permanent magnet and the second permanent magnet are coaxially arranged, the shell is annular, and the medicine storage cavity is annular.
As a further improvement of the present invention, the housing is mounted on the outside of the capsule endoscope robot.
As a further improvement of the invention, the shell and the capsule endoscope robot are fixed by interference fit or adhesive dispensing.
As a further improvement of the invention, the first permanent magnet is in translational and rotational fit with the shell, and the second permanent magnet is in fixed fit with the shell, namely the first permanent magnet is a moving permanent magnet and the second permanent magnet is a fixed permanent magnet, the moving permanent magnet is rotated by applying an external uniform magnetic field, and simultaneously moves along the axial direction under the generated magnetic field repulsive force, so that the liquid medicine is pushed out of the medicine storage cavity of the shell, and the medicine application is completed.
As a further improvement of the invention, the first permanent magnet is in translational fit with the shell, the second permanent magnet is in rotational fit with the shell, namely the first permanent magnet is a translational permanent magnet, the second permanent magnet is a rotary permanent magnet, the rotary permanent magnet and the translational permanent magnet generate relative rotation by applying an external uniform magnetic field, and then a magnetic field repulsive force is generated to push the translational permanent magnet to move along the axial direction, so that the liquid medicine is pushed out of the medicine storage cavity of the shell, and the medicine application is completed.
As a further improvement of the invention, the first permanent magnet and the second permanent magnet are both radially magnetized annular permanent magnets.
As a further improvement of the invention, the medicine inlet is positioned at the front end of the shell.
As a further improvement of the present invention, the middle position-limiting ring and the housing are fixed by a cylindrical pin or fixed by dispensing, and the end position-limiting ring and the housing are fixed by a cylindrical pin or fixed by dispensing.
As a further improvement of the invention, the shell is made of a biocompatible non-magnetic smooth material harmless to the human body.
The invention has the beneficial effects that:
(1) according to the scheme, the magnetic control medicine application shell is added to the existing capsule endoscope robot to enable the capsule endoscope robot to have the medicine application function, and the modularized magnetic control medicine application shell can be applied to various existing capsule endoscope robots.
(2) The magnetic control pesticide application shell is arranged outside the existing capsule endoscope robot, so that the structural complexity of the capsule endoscope robot is not increased.
(3) The magnetic control pesticide application shell has a simple structure and a small volume, can be directly installed on the capsule endoscope on the premise of not changing the structure of the existing capsule endoscope, and can be independently produced, so that the production efficiency is improved, the cost is reduced, and the production is easy.
(4) The driving force of the magnetic control pesticide application shell comes from an external magnetic field, the energy of the capsule endoscope robot is not required to be consumed, and the problems of insufficient energy supply of a motor and the like are not required to be considered.
Drawings
FIG. 1 is an exploded view of a capsule endoscope robot equipped with a magnetically controlled dispensing housing for a capsule endoscope robot according to the present invention.
FIG. 2 is an exploded view of a magnetically controlled dispensing housing for a capsule endoscopic robot according to the present invention.
FIG. 3 is a cross-sectional view of a magnetically controlled dispensing housing for a capsule endoscopic robot of the present invention.
FIG. 4 is a state diagram before drug delivery when the magnetically controlled drug delivery housing for a capsule endoscope robot of the present invention adopts the first magnetic driving method.
FIG. 5 is a diagram showing a state after drug application when a first magnetic driving method is adopted in a magnetic control drug application casing for a capsule endoscope robot according to the present invention.
FIG. 6 is a state diagram before drug delivery when the second magnetic driving mode is adopted by the magnetic control drug delivery casing for the capsule endoscope robot of the present invention.
FIG. 7 is a diagram showing a state after drug application when a second magnetic driving method is adopted in a magnetic control drug application casing for a capsule endoscope robot according to the present invention. .
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
As shown in fig. 1, the magnetically controlled capsule endoscope robot with the magnetically controlled drug delivery housing is composed of a capsule endoscope module 1 and a magnetically controlled drug delivery housing 2, wherein the magnetically controlled drug delivery housing 2 is in a modular design and is also called a drug delivery module.
The capsule endoscope module 1 is a magnetic control capsule endoscope robot which is applied to clinic.
As shown in fig. 2 and 3, the magnetically controlled dispensing housing 2 includes a housing module and a magnetic drive module. The housing module includes a cavity 201, a stop collar 203, a stop collar 205, a one-way valve 207, and a one-way valve 208. The cavity 201 is in a circular shape to match the shape of the capsule endoscope 1, and liquid medicine for treatment can be stored therein. The stop collar 203 serves to limit the axial range of motion of the permanent magnet 202 while separating the permanent magnet 202 from the permanent magnet 204. The stop collar 205 serves for axial positioning of the permanent magnet 204. The fixing manner between the limiting ring 203 and the limiting ring 205 and the cavity 201 may be, but is not limited to, cylindrical pin fixing and dispensing fixing, in fig. 3, the limiting ring 203 and the cavity 201 are fixed by using cylindrical pins, so the cylindrical pins 206 are also needed, and the limiting ring 205 and the cavity 201 are fixed by dispensing. The magnetic driving module comprises a first permanent magnet 202 and a second permanent magnet 204, the first permanent magnet 202 rotates relative to the second permanent magnet 204 by applying an external magnetic field, and then magnetic field repulsive force is generated to push the first permanent magnet 202 to move along the axial direction, so that the medicine is pushed out of the cavity 201, and the medicine application is completed.
Two driving methods of the magnetic driving module are described below with reference to fig. 4 to 7.
The first driving manner is shown in fig. 4 to 5. The first permanent magnet 202 is a moving permanent magnet, and is in clearance fit with the cavity 201, and can rotate and translate. The second permanent magnet 204 is a fixed permanent magnet, and is in interference fit with the cavity 201, and does not move relative to the cavity 201. Before drug administration, magnetic field force between the first permanent magnet 202 and the second permanent magnet 204 is attractive force, the first permanent magnet 202 is located at a position close to the first permanent magnet 204, the first permanent magnet 202 rotates by applying an external uniform magnetic field, the magnetic field force between the first permanent magnet 202 and the second permanent magnet 204 is changed into repulsive force, and then the first permanent magnet 202 is pushed to move away from the second permanent magnet 204 along the axial direction, so that the drug is pushed out of the cavity 201, and drug administration is completed.
The second driving method is shown in fig. 6 to 7. The first permanent magnet 202 is a translational permanent magnet, is connected with the cavity 201 by a spline, and can translate. The second permanent magnet 204 is a rotating permanent magnet, and is in clearance fit with the cavity 201 and can rotate. Before drug administration, magnetic field force between the first permanent magnet 202 and the second permanent magnet 204 is attractive force, the first permanent magnet 202 is located at a position close to the first permanent magnet 204, the second permanent magnet 204 rotates by applying an external uniform magnetic field, the magnetic field force between the first permanent magnet 202 and the second permanent magnet 204 is changed into repulsive force, and then the first permanent magnet 202 is pushed to move away from the second permanent magnet 204 along the axial direction, so that the drug is pushed out of the cavity 201, and the drug administration is completed.
The invention provides a magnetic control pesticide application shell for a capsule endoscope robot, which has the following advantages:
(1) according to the scheme, the magnetic control medicine application shell is added to the existing capsule endoscope robot, so that the capsule endoscope robot has a medicine application function, and the modularized medicine application device can be applied to various existing capsule endoscope robots.
(2) The magnetic control pesticide application shell is arranged outside the existing capsule endoscope robot, so that the structural complexity of the capsule endoscope robot is not increased.
(3) The magnetic control pesticide application shell has a simple structure and a small volume, can be directly installed on the capsule endoscope on the premise of not changing the structure of the existing capsule endoscope, and can be independently produced, so that the production efficiency is improved, the cost is reduced, and the production is easy.
(4) The driving force of the magnetic control pesticide application shell comes from an external magnetic field, and the energy of the capsule endoscope robot is not consumed.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (8)
1. A magnetic control pesticide application shell for a capsule endoscope robot is characterized in that: the drug delivery device comprises a shell with a drug storage cavity, a middle limiting ring, an end limiting ring, a drug delivery one-way valve, a drug inlet one-way valve, a first permanent magnet and a second permanent magnet, wherein the first permanent magnet and the second permanent magnet are respectively arranged in the drug storage cavity of the shell, the middle limiting ring is arranged between the first permanent magnet and the second permanent magnet and used for limiting the axial movement range of the first permanent magnet and separating the first permanent magnet and the second permanent magnet simultaneously, the first permanent magnet is arranged in front of the second permanent magnet, the end limiting ring is arranged behind the second permanent magnet and used for axially positioning the second permanent magnet, a drug inlet and a drug outlet which are communicated with the drug storage cavity are arranged on the shell, the drug delivery one-way valve is arranged on the drug outlet, and the drug inlet one-way valve is arranged on the drug inlet, make first permanent magnet rotate for the second permanent magnet through applying external magnetic field, and then produce the magnetic field repulsion force and promote first permanent magnet along axial motion to release the medicine from the check valve that gives medicine to poor free of charge and store up the medicine cavity, accomplish the medicine application, shell, middle spacing ring, tip spacing ring, first permanent magnet and second permanent magnet coaxial arrangement, the shell is the ring form, the medicine storage cavity is the ring form, the outside at capsule endoscope robot is installed to the shell.
2. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the shell and the capsule endoscope robot are fixed in an interference fit mode or in a dispensing mode.
3. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the first permanent magnet and the shell are in translational and rotational fit, and the second permanent magnet and the shell are in fixed fit.
4. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the first permanent magnet is in translational fit with the shell, and the second permanent magnet is in rotational fit with the shell.
5. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the first permanent magnet and the second permanent magnet are both radial magnetized circular permanent magnets.
6. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the medicine inlet is positioned at the front end of the shell.
7. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the middle limiting ring and the shell are fixed through a cylindrical pin or fixed through dispensing, and the end limiting ring and the shell are fixed through a cylindrical pin or fixed through dispensing.
8. The magnetically controlled drug delivery housing for a capsule endoscopic robot of claim 1, wherein: the shell is made of a non-magnetic smooth material which is harmless to human bodies and has biocompatibility.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110382615.5A CN113080811B (en) | 2021-04-09 | 2021-04-09 | A magnetic control shell of giving medicine to poor free of charge for capsule endoscope robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110382615.5A CN113080811B (en) | 2021-04-09 | 2021-04-09 | A magnetic control shell of giving medicine to poor free of charge for capsule endoscope robot |
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| CN113080811A CN113080811A (en) | 2021-07-09 |
| CN113080811B true CN113080811B (en) | 2022-04-26 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618455A (en) * | 2016-11-28 | 2017-05-10 | 电子科技大学 | Capsule endoscope system with fixed-point medicine applying function |
| CN107158552A (en) * | 2016-03-07 | 2017-09-15 | 上海理工大学 | Drug delivery capsule and medicament delivery method |
| CN109171618A (en) * | 2018-10-31 | 2019-01-11 | 自贡德西玛医疗设备有限公司 | A kind of capsule endoscopic of releasable medicaments |
| CN111568347A (en) * | 2020-04-08 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic drive capsule endoscope robot with medicine application function |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101622773B (en) * | 2007-02-26 | 2012-05-23 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
| WO2017125036A1 (en) * | 2016-01-19 | 2017-07-27 | The Chinese University Of Hong Kong | Wireless magnetically steerable endoscope |
| CN110403565B (en) * | 2018-04-27 | 2022-02-11 | 西安交通大学医学院第一附属医院 | Magnetic and wheat-mango bionic dual-drive device of capsule endoscope |
| CN110537894B (en) * | 2019-10-14 | 2021-05-07 | 南京市第一医院 | Capsule gastroscope with biopsy function |
| CN111956169B (en) * | 2020-07-28 | 2022-09-27 | 哈尔滨工业大学（深圳） | Active movement capsule endoscope robot based on magnetic drive |
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- 2021-04-09 CN CN202110382615.5A patent/CN113080811B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107158552A (en) * | 2016-03-07 | 2017-09-15 | 上海理工大学 | Drug delivery capsule and medicament delivery method |
| CN106618455A (en) * | 2016-11-28 | 2017-05-10 | 电子科技大学 | Capsule endoscope system with fixed-point medicine applying function |
| CN109171618A (en) * | 2018-10-31 | 2019-01-11 | 自贡德西玛医疗设备有限公司 | A kind of capsule endoscopic of releasable medicaments |
| CN111568347A (en) * | 2020-04-08 | 2020-08-25 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic drive capsule endoscope robot with medicine application function |
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