CN108451488B

CN108451488B - Intestinal micro-capsule robot with multi-direction in-vivo sampling function

Info

Publication number: CN108451488B
Application number: CN201810421299.6A
Authority: CN
Inventors: 宋霜; 潘小飞; 马滔; 杨兴; 朱兆铭
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2018-05-04
Filing date: 2018-05-04
Publication date: 2020-02-14
Anticipated expiration: 2038-05-04
Also published as: CN108451488A

Abstract

The invention relates to the field of medical instruments, in particular to an intestinal micro-capsule robot with a multi-direction in-vivo sampling function. The capsule sampling device comprises a capsule shell, and a controller, a propeller, a motor, a driving motor shaft and a sampling device which are arranged in the shell, wherein a plurality of sampling ports are arranged on the outer wall of the capsule shell at equal intervals along the circumference; the sampling device comprises a cam, a roller follower and a biopsy module, wherein the cam is arranged on the central line inside the capsule, the biopsy module is arranged towards the sampling port, the cam is connected with a motor through a driving motor shaft, the roller follower is arranged at the tail end of the biopsy module and is uniformly distributed around the cam, the biopsy module comprises a fixed plate, an ejector rod, a movable plate and biopsy forceps arranged on the movable plate, the fixed plate is connected with the roller follower, and the movable plate is connected with the fixed plate through a return spring. The invention has simple structure, accurate sampling and small operation wound.

Description

Intestinal micro-capsule robot with multi-direction in-vivo sampling function

Technical Field

The invention relates to the field of medical instruments, in particular to an intestinal micro-capsule robot with a multi-direction in-vivo sampling function.

Background

Biopsy refers to a technique of taking out a lesion tissue from a patient body by cutting, clamping, or puncturing, and performing pathological examination, as needed for diagnosis and treatment. With the development of scientific technology and medical needs, many researchers are combining the surgical functions of biopsy with robotics.

The living body clamping mechanism of the capsule robot mainly comprises a trigger with a paraffin block, a rotary tissue cutting razor with a torsion spring and a controller; in addition, the capsule endoscope biopsy device realizes cutting and tissue sampling through a spring control biopsy module. The main problems of the above design are that the mechanism is complicated and the stability of the transfer motion is not high. And the capsule robots with biopsy function described above all only have single biopsy function, and cannot realize the functions of biopsy at multiple points and accurate sampling at one time. And the structure is more complicated and is not easy to control.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides an intestinal micro-capsule robot which is simple in structure and easy to control and has a multidirectional biopsy function.

In order to achieve the purpose, the technical scheme adopted by the invention is an intestinal micro-capsule robot with a multi-direction in-vivo sampling function, which comprises a capsule shell, and a controller, a propeller, a motor, a driving motor shaft and a sampling device which are arranged in the shell, wherein a plurality of sampling ports are arranged on the outer wall of the capsule shell at equal intervals along the circumference; the sampling device comprises a cam, a roller follower and a biopsy module, wherein the cam is arranged on the central line inside the capsule, the biopsy module is arranged towards the sampling opening, the cam is connected with a motor through a driving motor shaft, the roller follower is arranged at the tail end of the biopsy module and is uniformly distributed around the cam, the biopsy module comprises a fixed plate, an ejector rod, a movable plate and biopsy forceps arranged on the movable plate, the fixed plate is connected with the roller follower, and the movable plate is connected with the fixed plate through a return spring. The controller is wirelessly connected with an external control system.

Furthermore, the capsule shell consists of a first shell and a second shell, the joint of the first shell and the second shell is connected in a nested manner, and the first shell and the second shell can rotate relatively; the joint of the second shell and the first shell is a sealing plane; the motor comprises a first driving motor and a second driving motor, the shaft of the driving motor comprises a first driving motor shaft and a second driving motor shaft, and the first driving motor is arranged in the first shell and is connected to the middle part of the sealing plane of the second shell through the first driving motor shaft; the second driving motor is arranged in the second shell and is connected to the cam through a second driving motor shaft.

Further, the capsule shell is made of magnetic materials, and the controller, the propeller, the motor, the driving motor shaft and the drug delivery device which are arranged in the shell are made of nonmagnetic materials. The magnetic material refers to a material such as iron or nickel having directionality under the action of a magnetic field. The nonmagnetic material refers to a material having no magnetism, such as stainless steel 304 and aluminum.

Furthermore, the number of the sampling ports is 2-4.

Furthermore, the sampling groove is a trapezoidal groove, and the cross-sectional area of the trapezoidal groove is increased from inside to outside.

Furthermore, a micro barb is arranged on the inner side of a jaw of the biopsy forceps.

Furthermore, the micro barbs are symmetrically distributed on the inner walls of two sides of the biopsy forceps at equal intervals.

The invention has the beneficial effects that:

(1) the living body sampling in multiple directions or different positions can be realized under the condition that the movable capsule is not rotated, the sampling of multiple samples can be tested under the condition that the number of times of the experiment is reduced, and the living body sampling efficiency is improved.

(2) The micro barb mechanism is used for minimally invasive surgery, a certain gap is reserved between the micro barbs in parallel, and therefore small surgical wound is achieved, and no scar is left.

(3) Simple structure and easy control.

(4) The biopsy module is rotated by relative rotation of the capsule shell, so that the sampling accuracy is improved.

Drawings

FIG. 1 is a perspective view of the structure of the present invention;

FIG. 2 is a perspective view of a disassembled structure of the housing of one embodiment of the invention;

FIG. 3 is a detailed view of the sampling device structure according to one embodiment of the present invention;

FIG. 4 is a detailed view of a bioptome of the present invention;

FIG. 5 is a perspective view of a bioptome of the present invention.

Wherein the reference numerals are: 1-shell, 101-first shell, 102-second shell, 201-first motor, 202-second motor, 301-first drive motor shaft, 302-second drive motor shaft, 4-sampling groove, 5-sampling port, 6-cam, 7-roller follower, 8-fixed plate, 9-movable plate, 10-ejector rod, 11-return spring, 12-biopsy forceps, 13-micro barb, 14-controller, 15-propeller.

Detailed Description

The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.

As shown in figure 1, the intestinal canal microcapsule robot with the multi-direction in-vivo sampling function comprises a capsule shell 1, and a controller 14, a propeller 15, a motor 2, a driving motor shaft 3 and a sampling device which are arranged in the shell 1, wherein a plurality of sampling ports 5 are arranged on the outer wall of the capsule shell at equal intervals along the circumference, a sampling groove 4 corresponding to the sampling ports 5 is arranged in the shell, the sampling groove is a trapezoidal groove, and the cross-sectional area of the trapezoidal groove is increased from inside to outside. A sampling device is arranged in the sampling groove 4, and as shown in fig. 3-4, the sampling groove 4 extends from the inside of the capsule shell 1 to a sampling port 5 of the outer wall of the capsule shell; sampling device is including setting up cam 6, roller follower 7 on the inside central line of capsule and the biopsy module of setting towards thief hatch 5, cam 6 is connected with motor 2 through driving motor shaft 3, roller follower 7 is located the end of biopsy module and the equipartition is around cam 6, the biopsy module includes fixed plate 8, ejector pin 10, fly leaf 9 and sets up biopsy forceps 12 on the fly leaf, and biopsy forceps 12 keeps silent the inboard and is equipped with miniature barb 13. The fixed plate 8 is connected with the roller follower 7, and the movable plate 9 is connected with the fixed plate 8 through a return spring 11.

Fig. 2 shows an embodiment of the present invention, that is, the capsule housing 1 is composed of a first housing 101 and a second housing 102, the joint of the first housing 101 and the second housing 102 is a nested connection, and the first housing 101 and the second housing 102 can rotate relatively; the joint of the second shell 102 and the first shell 101 is a sealing plane; the motor 2 comprises a first driving motor 201 and a second driving motor 202, the driving motor shaft 3 comprises a first driving motor shaft 301 and a second driving motor shaft 302, and the first driving motor 301 is arranged in the first shell 101 and is connected to the middle of the sealing plane of the second shell 102 through the first driving motor 301; the second drive motor 202 is disposed inside the second housing 102 and is connected to the cam 6 through a second drive motor shaft 302.

As shown in fig. 3, the number of the sampling ports 5 is 4, and the sampling in 4 directions outside the capsule can be performed. The sampling groove is a trapezoidal groove, and the cross-sectional area of the trapezoidal groove is increased from inside to outside.

After the capsule robot enters the human body, the propeller 15 drives the capsule robot to move. The capsule shell can also be made of magnetic materials such as iron and nickel with directionality under the action of a magnetic field, and the controller 14, the propeller 15, the motor shaft of the driving motor and the drug delivery device which are arranged in the shell are made of nonmagnetic materials such as stainless steel 304 and aluminum without magnetism. In the frequent intestinal activity area, when the propeller 15 cannot accurately control the capsule robot to move, the controller 14 controls the propeller 15 to stop moving, the external magnetic field of the human body is started, and the capsule robot is driven to a specified position according to the power of the magnetic field under the driving of the external magnetic field. When the detected result reaches the designated position needing biopsy, the controller 14 stops the propeller 15, controls the second motor 202 to rotate, drives the second motor shaft 302 to drive the cam 6 to rotate, the protruding part of the cam 6 pushes against the roller follower 7 to drive the biopsy module to move towards the outside of the capsule along the sampling groove 4, under the action of thrust, the return spring 11 drives the movable plate 9 and the biopsy forceps 12 to extend out of the capsule, the biopsy forceps 12 clamps and samples the living tissue, the taken living tissue is clamped inside the biopsy forceps 12 by the micro barbs 13, the return spring 11 retracts, and the movable plate 9 and the biopsy forceps 12 return to the inside of the capsule together. If the sampling position is needed to be special, the controller 10 controls the first motor 201 to rotate, the first driving motor shaft 301 drives the first driving motor shaft 401 to rotate, and further drives the second shell 102 to rotate until the sampling opening is aligned with the position to be taken, the second motor 201 is controlled to rotate, and the biopsy forceps tend to extend out through the cam 6 to complete biopsy sampling. When the biopsy instrument is used for biopsy, the injury to a living body can be reduced, and the operation wound is small. The biopsy module is rotated by relative rotation of the capsule shell, so that the sampling accuracy is improved. Overall structure is simple, and the transmission motion is accurate stable, and the ingenious design that the biopsy module adopted miniature barb mechanism moreover makes the biopsy go on safely effectively.

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

1. An intestinal micro-capsule robot with a multi-direction in-vivo sampling function comprises a capsule shell, and a controller, a propeller, a motor, a driving motor shaft and a sampling device which are arranged in the shell, and is characterized in that a plurality of sampling ports are arranged on the outer wall of the capsule shell at equal intervals along the circumference, a sampling groove corresponding to the sampling ports is arranged in the shell, the sampling groove is internally provided with the sampling device, and the sampling groove extends to the sampling ports on the outer wall of the capsule from the inside of the capsule shell; sampling device includes roller follower, a plurality of biopsy module that set up towards the sample connection and sets up the cam on the inside longitudinal centerline of capsule, the cam passes through the driving motor axle and is connected with the motor, the roller follower is located the end of biopsy module and the equipartition around the cam, biopsy module includes fixed plate, ejector pin, fly leaf and sets up the biopsy forceps on the fly leaf, the fixed plate is connected with the roller follower, the fly leaf passes through return spring and is connected with the fixed plate.

2. The intestinal micro-capsule robot of claim 1, wherein the capsule housing is composed of a first housing and a second housing, the joint of the first housing and the second housing is a nested connection, and the first housing and the second housing can rotate relatively; the joint of the second shell and the first shell is a sealing plane; the motor comprises a first driving motor and a second driving motor, the shaft of the driving motor comprises a first driving motor shaft and a second driving motor shaft, and the first driving motor is arranged in the first shell and is connected to the middle of the sealing plane of the second shell through the first driving motor shaft; the second driving motor is arranged in the second shell and is connected to the cam through a second driving motor shaft.

3. The enteric microcapsule robot of claim 1, wherein the capsule housing is made of a magnetic material, and the controller, the propeller, the motor, the drive motor shaft, and the sampling device disposed within the housing are made of a non-magnetic material.

4. The intestinal micro-capsule robot of claim 1, wherein the number of sampling ports is 2-4.

5. The enteric microcapsule robot of claim 1, wherein the sampling slot is a trapezoidal slot, the trapezoidal slot increasing in cross-sectional area from inside to outside.

6. The enteric microcapsule robot of claim 1, wherein the biopsy forceps are provided with micro barbs on the inside of the jaws.

7. The enteric microcapsule robot of claim 6, wherein the micro-barbs are equally spaced and symmetrically distributed on the inner wall of the biopsy forceps on both sides.