CN108451488A - A kind of enteron aisle microcapsule robot with multi-direction live body sampling functions - Google Patents
A kind of enteron aisle microcapsule robot with multi-direction live body sampling functions Download PDFInfo
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- CN108451488A CN108451488A CN201810421299.6A CN201810421299A CN108451488A CN 108451488 A CN108451488 A CN 108451488A CN 201810421299 A CN201810421299 A CN 201810421299A CN 108451488 A CN108451488 A CN 108451488A
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- shell
- capsule
- biopsy
- enteron aisle
- cam
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
-
- 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
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- Surgery (AREA)
- Molecular Biology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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- Animal Behavior & Ethology (AREA)
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- Radiology & Medical Imaging (AREA)
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- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
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Abstract
The present invention relates to medical instruments fields, are related to a kind of enteron aisle microcapsule robot with multi-direction live body sampling functions.It includes capsule housing and the controller being set in shell, propeller, motor, drive motor shaft and sampler, capsule housing outer wall is circumferentially equidistantly equipped with several sample taps, enclosure interior is equipped with sampling groove corresponding with sample tap, sampler, sample tap of the sampling groove from capsule housing internal stretch to capsule outer walls are equipped in sampling groove；Sampler includes the cam being set on capsule center line, roller follower and the biopsy module being arranged towards sample tap, cam is connect by drive motor shaft with motor, roller follower is set to the end of biopsy module and is distributed in around cam, biopsy module includes fixed plate, mandril, movable plate and the biopsy forceps being set on movable plate, fixed plate is connect with roller follower, and movable plate is connect by return spring with fixed plate.The configuration of the present invention is simple, sampling is precisely and operation wound is small.
Description
Technical field
The present invention relates to medical instruments field more particularly to a kind of miniature glue of enteron aisle with multi-direction live body sampling functions
Capsule robot.
Background technology
Biopsy refers to the needs that should be diagnosed, treat, and is cut from patient's body, clamps to take or puncture etc. and take out pathological tissues, into
The technology of row pathological examination.With the demand of scientific technological advance and medical treatment, many researchers are by the operation of biopsy
Function is combined with robot.
The live body gripping body for being currently located at capsule robot includes mainly having torsion by the trigger with paraffin mass
The rotational tissue of spring and controller cuts razor composition；In addition there is a kind of capsule endoscope biopsy device, pass through spring control
Biopsy module processed is realized cutting and is sampled to tissue.Above design main problem is that mechanism is complex, transmits fortune
Dynamic stability is not high.And the capsule robot described above with biopsy function only has the function of single biopsy, Wu Fashi
Now primary multiple biopsies and the function of accurately sampling.And structure is complex, is difficult to control.
Invention content
The purpose of the present invention is to solve deficiencies in the prior art, provide a kind of tool simple in structure, easily controllable
There is the enteron aisle microcapsule robot of multi-direction biopsy function.
To achieve the goals above, the technical solution that the present invention takes is a kind of intestines with multi-direction live body sampling functions
Road microcapsule robot, including capsule housing and be set in shell controller, propeller, motor, drive motor shaft and
Sampler, the capsule housing outer wall are circumferentially equidistantly equipped with several sample taps, and enclosure interior is equipped with corresponding with sample tap
Sampling groove, sampler, sample tap of the sampling groove from capsule housing internal stretch to capsule outer walls are equipped in sampling groove；
The sampler includes the cam being set on capsule center line, roller follower and the biopsy being arranged towards sample tap
Module, the cam are connect by drive motor shaft with motor, and the roller follower is set to the end of biopsy module and is evenly distributed with
Around cam, the biopsy module includes fixed plate, mandril, movable plate and the biopsy forceps being set on movable plate, described solid
Fixed board is connect with roller follower, and the movable plate is connect by return spring with fixed plate.Controller and external control system
It is wirelessly connected.
Further, the capsule housing is made of first shell and second shell, the first shell and second shell
Junction connects for nested type, and first shell can relative rotation with second shell；The junction of second shell and first shell is
Sealing plane；The motor includes first and second driving motor, and the drive motor shaft includes first and second driving motor
Axis, the first driving motor are set to inside first shell and are pivotally connected in second shell sealing plane by the first driving motor
Portion；Second driving motor is set to inside second shell and is pivotally connected to cam by the second driving motor.
Further, the capsule housing is made of magnetic material, be set to controller in shell, propeller, motor,
Drive motor shaft and device for administration of drugs are made of non-magnetic material.Magnetic material refers to that iron, nickel etc. have side under magnetic fields
The material of tropism.Non-magnetic material refers to that stainless steel 304, aluminium etc. do not have magnetic material.
Further, the quantity of the sample tap is 2~4.
Further, the sampling groove is dovetail groove, and the cross-sectional area of the dovetail groove increases from inside to outside.
Further, it is equipped with miniature hangnail on the inside of the jaw of the biopsy forceps.
Further, the miniature hangnail is equidistantly symmetrically distributed on the inner wall of biopsy forceps both sides.
The beneficial effects of the invention are as follows：
(1) the live body sampling of multiple directions or different location can be realized in the case where not rotating mobile capsule, it can be with
Taking for multiple samples is tested in the case where reducing the number of experiment, live body is improved and takes to obtain efficiency.
(2) the carry out Minimally Invasive Surgery of miniature barb mechanism, miniature hangnail side by side between there are certain interval, realize operation wound
It is small, preventing from scar.
(3) simple in structure, it is easily controllable.
(4) rotation of biopsy module is realized by capsule shell relative rotation, improves the accuracy of sampling.
Description of the drawings
Fig. 1 is the structural perspective of the present invention；
Fig. 2 is that the shell of an embodiment of the present invention splits structural perspective；
Fig. 3 is the sampler detail of construction of an embodiment of the present invention；
Fig. 4 is the biopsy forceps detail drawing of the present invention；
Fig. 5 is the biopsy forceps stereogram of the present invention.
Wherein reference numeral is：1- shells, 101- first shells, 102- second shells, 201- first motors, 202- second
Motor, the first drive motor shafts of 301-, the second drive motor shafts of 302-, 4- sampling grooves, 5- sample taps, 6- cams, 7- rollers from
Moving part, 8- fixed plates, 9- movable plates, 10- mandrils, 11- return springs, 12- biopsy forceps, the miniature hangnails of 13-, 14- controllers,
15- propellers.
Specific implementation mode
The present invention is further described for explanation and specific implementation mode below in conjunction with the accompanying drawings.
It is as shown in Figure 1 a kind of enteron aisle microcapsule robot with multi-direction live body sampling functions of the present invention, packet
Controller 14, propeller 15, motor 2, drive motor shaft 3 and the sampler for including capsule housing 1 and being set in shell 1, institute
It states capsule housing outer wall and is circumferentially equidistantly equipped with several sample taps 5, enclosure interior is equipped with sampling groove 4 corresponding with sample tap 5,
The sampling groove is dovetail groove, and the cross-sectional area of dovetail groove increases from inside to outside.Sampler is equipped in sampling groove 4, such as Fig. 3-
Shown in Fig. 4, sample tap 5 of the sampling groove 4 from 1 internal stretch of capsule housing to capsule housing outer wall；The sampler includes setting
Cam 6, roller follower 7 and the biopsy module being arranged towards sample tap 5 being placed on capsule center line, the cam 6
It is connect with motor 2 by drive motor shaft 3, the roller follower 7 is set to the end of biopsy module and is distributed in the week of cam 6
It encloses, the biopsy module includes fixed plate 8, mandril 10, movable plate 9 and the biopsy forceps 12 being set on movable plate, biopsy forceps 12
Miniature hangnail 13 is equipped on the inside of jaw.The fixed plate 8 is connect with roller follower 7, and the movable plate 9 passes through return spring 11
It is connect with fixed plate 8.
It is illustrated in figure 2 a kind of embodiment of the present invention, i.e., the described capsule housing 1 is by first shell 101 and second shell
102 compositions, the first shell 101 are that nested type is connect with 102 junction of second shell, first shell 101 and second shell
102 can relative rotation；The junction of second shell 102 and first shell 101 is sealing plane；The motor 2 includes the first drive
201 and second driving motor 202 of dynamic motor, the drive motor shaft 3 include the first drive motor shaft 301 and the second driving motor
Axis 302, the first driving motor 301 are set to 101 inside of first shell and are pivotally connected to second shell by the first driving motor 301
In the middle part of the sealing plane of body 102；Second driving motor 202 is set to 102 inside of second shell and by the second drive motor shaft
302 are connected to cam 6.
As shown in figure 3, the quantity of the sample tap 5 is 4, the sampling in 4 directions outside capsule can be carried out.The sampling
Slot is dovetail groove, and the cross-sectional area of the dovetail groove increases from inside to outside.
After capsule robot enters human body, propeller 15 drives capsule robot movement.The capsule housing of the present invention may be used also
Have directive magnetic material under magnetic fields by iron, nickel etc. to be made, controller 14, the propeller being set in shell
15, motor, drive motor shaft and device for administration of drugs do not have magnetic non-magnetic material by stainless steel 304, aluminium etc. and are made.In intestines
Frequent activity region, when propeller 15 can not be precisely controlled capsule robot activity, controller 14, which controls propeller 15, to be stopped living
Dynamic, human external magnetic field starts, and under the driving of external magnetic field, capsule robot is according to magnetic field power drive to designated position.
When arrival needs the designated position of biopsy after testing, controller 14 makes propeller 15 stop, and controls the rotation of the second motor 202,
The second motor shaft 302 is driven to be rotated with moving cam 6, the lug boss of cam 6, which heads on roller follower 7, drives biopsy module along sampling
Slot 4 is moved to capsule outside direction, and under thrust, return spring 11 drives movable plate 9 and biopsy forceps 12 to stretch out outside capsule,
Biopsy forceps 12 carries out gripping sampling to living tissue, and taken living tissue is stuck in by miniature hangnail 13 inside biopsy forceps 12, return
Spring 11 bounces back, and movable plate 9 and biopsy forceps 12 return to capsule together.More special if you need to sampling location, controller 10 controls
First motor 201 rotates, and the first drive motor shaft 301 drives the rotation of the first drive motor shaft 401, and then drives second shell
102 turn to sample tap alignment when fetch bit is set, and control the second motor 201 rotation becomes to making biopsy forceps to stretch out and completes by cam 6
Biopsy samples.Biopsy is carried out using the present invention, the injury to live body can be reduced, operation wound is small.It is revolved by the way that capsule shell is opposite
Turn to realize the rotation of biopsy module, improves the accuracy of sampling.Overall structure is simple, transmits movement accurate stable, and biopsy
Module makes biopsy safely and effectively be carried out using the ingehious design of miniature barb mechanism.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (7)
1. a kind of enteron aisle microcapsule robot with multi-direction live body sampling functions, including capsule housing and it is set to shell
Interior controller, propeller, motor, drive motor shaft and sampler, which is characterized in that the capsule housing outer wall is circumferentially
Several sample taps are equidistantly equipped with, enclosure interior is equipped with sampling groove corresponding with sample tap, sampler, institute are equipped in sampling groove
State sample tap of the sampling groove from capsule housing internal stretch to capsule outer walls；The sampler includes being set in capsule
Cam, roller follower and the biopsy module towards sample tap setting, the cam on heart line pass through drive motor shaft and electricity
Machine connects, and the roller follower is set to the end of biopsy module and is distributed in around cam, and the biopsy module includes fixing
Plate, mandril, movable plate and the biopsy forceps being set on movable plate, the fixed plate are connect with roller follower, the movable plate
It is connect with fixed plate by return spring.
2. enteron aisle microcapsule robot according to claim 1, which is characterized in that the capsule housing is by first shell
And second shell composition, the first shell are that nested type is connect with second shell junction, first shell can with second shell
Relative rotation；The junction of second shell and first shell is sealing plane；The motor includes first and second driving motor,
The drive motor shaft includes first and second drive motor shaft, and the first driving motor is set to inside first shell and by the
One driving motor is pivotally connected in the middle part of second shell sealing plane；Second driving motor is set to inside second shell and by the
Two driving motors are pivotally connected to cam.
3. enteron aisle microcapsule robot according to claim 1, which is characterized in that the capsule housing is magnetic material
It is made, controller, propeller, motor, drive motor shaft and the device for administration of drugs being set in shell are made of non-magnetic material.
4. enteron aisle microcapsule robot according to claim 1, which is characterized in that the quantity of the sample tap be 2~
4。
5. enteron aisle microcapsule robot according to claim 1, which is characterized in that the sampling groove is dovetail groove, institute
The cross-sectional area for stating dovetail groove increases from inside to outside.
6. enteron aisle microcapsule robot according to claim 1, which is characterized in that set on the inside of the jaw of the biopsy forceps
There is miniature hangnail.
7. enteron aisle microcapsule robot according to claim 6, which is characterized in that the miniature hangnail is equidistantly symmetrical
It is distributed on the inner wall of biopsy forceps both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421299.6A CN108451488B (en) | 2018-05-04 | 2018-05-04 | Intestinal micro-capsule robot with multi-direction in-vivo sampling function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810421299.6A CN108451488B (en) | 2018-05-04 | 2018-05-04 | Intestinal micro-capsule robot with multi-direction in-vivo sampling function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108451488A true CN108451488A (en) | 2018-08-28 |
| CN108451488B CN108451488B (en) | 2020-02-14 |
Family
ID=63214817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810421299.6A Active CN108451488B (en) | 2018-05-04 | 2018-05-04 | Intestinal micro-capsule robot with multi-direction in-vivo sampling function |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009246A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009247A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN110269581A (en) * | 2019-07-24 | 2019-09-24 | 李振豪 | A kind of magnetic control biopsy capsule endoscope and its application method |
| CN110537894A (en) * | 2019-10-14 | 2019-12-06 | 南京市第一医院 | Capsule gastroscope with biopsy function |
| WO2020102997A1 (en) * | 2018-11-20 | 2020-05-28 | 深圳华大智造科技有限公司 | Sampling device and digestive tract sampling capsule |
| CN111588335A (en) * | 2020-04-08 | 2020-08-28 | 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 radial biopsy sampling function |
| CN111671496A (en) * | 2020-05-29 | 2020-09-18 | 北京大学深圳医院 | Device for taking out nucleus pulposus at back of cervical vertebra |
| CN111973237A (en) * | 2020-08-31 | 2020-11-24 | 合肥工业大学 | Cutting robot with tissue sample collecting and recycling functions |
| CN113209460A (en) * | 2021-06-15 | 2021-08-06 | 天津理工大学 | Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot and working method thereof |
| CN113331872A (en) * | 2021-05-25 | 2021-09-03 | 上海交通大学 | Miniature suction type alimentary canal multi-position liquid biopsy sampling device |
| CN113331880A (en) * | 2021-05-25 | 2021-09-03 | 上海交通大学 | Miniature full alimentary canal multi-position clamp type biopsy sampling device |
| CN113545812A (en) * | 2021-07-21 | 2021-10-26 | 湖北汽车工业学院 | Cam-type fixed-point operating device for intestinal tract |
| CN113576551A (en) * | 2021-07-21 | 2021-11-02 | 湖北汽车工业学院 | Spiral fixed-point operating mechanism for intestinal tract |
| CN114366175A (en) * | 2022-01-25 | 2022-04-19 | 上海交通大学 | Capsule robot stomach and intestinal juice sampling mechanism |
| CN115029223A (en) * | 2022-04-28 | 2022-09-09 | 江南大学 | Software sampling robot and operation method |
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| US20080199065A1 (en) * | 2004-05-17 | 2008-08-21 | Christopher Paul Swain | Method, System and Device for In-Vivo Biopsy |
| US20090253999A1 (en) * | 2008-04-07 | 2009-10-08 | Olympus Medical Systems Corp. | Capsule medical apparatus and medical system |
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| WO2014100673A1 (en) * | 2012-12-20 | 2014-06-26 | The General Hospital Corporation | Apparatus, system and method for providing image-guided in-vivo biopsy with at least one capsule |
| CN106137270A (en) * | 2016-07-29 | 2016-11-23 | 上海交通大学 | Capsule endoscope magnetic control biopsy forceps and using method thereof |
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| US20080199065A1 (en) * | 2004-05-17 | 2008-08-21 | Christopher Paul Swain | Method, System and Device for In-Vivo Biopsy |
| US20090253954A1 (en) * | 2008-04-03 | 2009-10-08 | Olympus Medical Systems Corp. | Capsule medical system and method for treating desired region inside subject |
| US20090253999A1 (en) * | 2008-04-07 | 2009-10-08 | Olympus Medical Systems Corp. | Capsule medical apparatus and medical system |
| WO2014100673A1 (en) * | 2012-12-20 | 2014-06-26 | The General Hospital Corporation | Apparatus, system and method for providing image-guided in-vivo biopsy with at least one capsule |
| CN106137270A (en) * | 2016-07-29 | 2016-11-23 | 上海交通大学 | Capsule endoscope magnetic control biopsy forceps and using method thereof |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009247A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009247B (en) * | 2018-10-19 | 2023-09-08 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN109009246A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009246B (en) * | 2018-10-19 | 2023-11-28 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN113194807A (en) * | 2018-11-20 | 2021-07-30 | 深圳华大智造科技股份有限公司 | Sampling device and digestive tract sampling capsule |
| WO2020102997A1 (en) * | 2018-11-20 | 2020-05-28 | 深圳华大智造科技有限公司 | Sampling device and digestive tract sampling capsule |
| CN113194807B (en) * | 2018-11-20 | 2023-09-26 | 深圳华大智造科技股份有限公司 | Sampling device and alimentary canal sampling capsule |
| CN110269581A (en) * | 2019-07-24 | 2019-09-24 | 李振豪 | A kind of magnetic control biopsy capsule endoscope and its application method |
| CN110537894A (en) * | 2019-10-14 | 2019-12-06 | 南京市第一医院 | Capsule gastroscope with biopsy function |
| CN110537894B (en) * | 2019-10-14 | 2021-05-07 | 南京市第一医院 | Capsule gastroscope with biopsy function |
| CN111588335A (en) * | 2020-04-08 | 2020-08-28 | 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 radial biopsy sampling function |
| CN111588335B (en) * | 2020-04-08 | 2022-08-12 | 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 radial biopsy sampling function |
| CN111671496A (en) * | 2020-05-29 | 2020-09-18 | 北京大学深圳医院 | Device for taking out nucleus pulposus at back of cervical vertebra |
| CN111973237A (en) * | 2020-08-31 | 2020-11-24 | 合肥工业大学 | Cutting robot with tissue sample collecting and recycling functions |
| CN111973237B (en) * | 2020-08-31 | 2023-05-02 | 合肥工业大学 | Cutting robot with tissue sample collection and recovery functions |
| CN113331880A (en) * | 2021-05-25 | 2021-09-03 | 上海交通大学 | Miniature full alimentary canal multi-position clamp type biopsy sampling device |
| CN113331872A (en) * | 2021-05-25 | 2021-09-03 | 上海交通大学 | Miniature suction type alimentary canal multi-position liquid biopsy sampling device |
| CN113209460A (en) * | 2021-06-15 | 2021-08-06 | 天津理工大学 | Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot and working method thereof |
| CN113545812B (en) * | 2021-07-21 | 2022-10-18 | 湖北汽车工业学院 | Cam-type fixed-point operating device for intestinal tract |
| CN113576551A (en) * | 2021-07-21 | 2021-11-02 | 湖北汽车工业学院 | Spiral fixed-point operating mechanism for intestinal tract |
| CN113545812A (en) * | 2021-07-21 | 2021-10-26 | 湖北汽车工业学院 | Cam-type fixed-point operating device for intestinal tract |
| CN113576551B (en) * | 2021-07-21 | 2024-05-07 | 湖北汽车工业学院 | Spiral fixed-point operating mechanism for intestinal tract |
| CN114366175A (en) * | 2022-01-25 | 2022-04-19 | 上海交通大学 | Capsule robot stomach and intestinal juice sampling mechanism |
| CN115029223A (en) * | 2022-04-28 | 2022-09-09 | 江南大学 | Software sampling robot and operation method |
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