CN111772688A - Magnetic control active movement biopsy capsule robot and working method thereof - Google Patents
Magnetic control active movement biopsy capsule robot and working method thereof Download PDFInfo
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- CN111772688A CN111772688A CN202010685920.7A CN202010685920A CN111772688A CN 111772688 A CN111772688 A CN 111772688A CN 202010685920 A CN202010685920 A CN 202010685920A CN 111772688 A CN111772688 A CN 111772688A
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- 239000002775 capsule Substances 0.000 title claims abstract description 114
- 238000001574 biopsy Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims description 16
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000004913 activation Effects 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 74
- 238000004873 anchoring Methods 0.000 claims description 26
- 230000001681 protective effect Effects 0.000 claims description 18
- 230000003993 interaction Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- VQAPWLAUGBBGJI-UHFFFAOYSA-N [B].[Fe].[Rb] Chemical compound [B].[Fe].[Rb] VQAPWLAUGBBGJI-UHFFFAOYSA-N 0.000 claims description 3
- 230000003213 activating effect Effects 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 3
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- 238000005070 sampling Methods 0.000 description 3
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- 235000006694 eating habits Nutrition 0.000 description 1
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- 238000012333 histopathological diagnosis Methods 0.000 description 1
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- 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
- 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
- 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
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- 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
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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
Abstract
A magnetic control active movement biopsy capsule robot is characterized by comprising a three-axis Helmholtz coil and a capsule robot part, wherein the capsule robot is placed in the geometric center of the three-axis Helmholtz coil; the three-axis Helmholtz coil sends out driving and control signals to control the action of the capsule robot part; when a direct current signal is input into the three-axis Helmholtz coil, the three-axis Helmholtz coil generates a directional magnetic field, and the magnetic switch is activated; when the three-axis Helmholtz coil receives an alternating current signal, the three-axis Helmholtz coil generates a space universal rotating magnetic field; the capsule robot moves forward or backward. According to the invention, on the premise of not increasing extra energy consumption of the capsule robot, magnetic torque generated by coupling of an external magnetic field and a built-in magnet of the capsule robot is converted into biopsy cutting force, activation and closing of a motion mode and a function mode of the magnetic control active motion biopsy capsule robot can be simultaneously controlled through the external magnetic field, the operation is convenient, and detection and treatment means are more flexible.
Description
Technical Field
The invention relates to the technical field of industrial and medical equipment, is mainly suitable for biopsy technology due to gastrointestinal tract diseases, and particularly relates to a magnetic control active motion biopsy capsule robot and a working method thereof.
Background
With the acceleration of the pace of life and the change of human eating habits in the modern time, digestive tract diseases increasingly become a main factor seriously threatening the health of people. The traditional endoscope is used as an important method for clinical examination of the digestive tract, but has poor accessibility, pain and discomfort which cause fear of patients to medical treatment, and single function, and the movement depends on the peristaltic motion of the digestive tract. Biopsy as the final clinical diagnosis makes clear histopathological diagnosis for the vast majority of the cases examined. The whole biopsy process needs to be ensured to be accurate and stable, and the correctness of a sampling part is ensured while the injury to a patient is avoided. How to accomplish tissue sampling and effectively stop without increasing energy consumption remains a challenging task for existing biopsy mechanisms.
Disclosure of Invention
The invention aims to provide a magnetic control active movement biopsy capsule robot and a working method thereof, which can solve the defects of the prior art, an anchoring mechanism and a biopsy mechanism can rotate and sample for many times through the control of a magnetic switch, and the magnetic switch is controlled through an external magnetic field, so that the limitation on energy is eliminated, the operation is simple, and the magnetic control active movement biopsy capsule robot has a wide application prospect.
The technical scheme of the invention is as follows: a magnetic control active movement biopsy capsule robot comprises a three-axis Helmholtz coil and a capsule robot part, wherein the capsule robot is placed in the geometric center of the three-axis Helmholtz coil; the three-axis Helmholtz coil sends out driving and control signals to control the action of the capsule robot part;
the triaxial Helmholtz coil generates a directional magnetic field or a space universal rotating magnetic field; when the three-axis Helmholtz coil receives a direct current signal, the three-axis Helmholtz coil generates a directional magnetic field; when the three-axis Helmholtz coil receives an alternating current signal, the three-axis Helmholtz coil generates a space universal rotating magnetic field;
the capsule robot part comprises a magnetic switch, a movable body part, an immovable body part, an anchoring mechanism, a biopsy mechanism and a capsule type head; the magnetic switch is arranged in a robot main body formed by connecting a movable main body part and an immovable main body part, is a radial magnetized annular rubidium iron boron permanent magnet coaxial with the robot main body and comprises a magnet capable of axially moving but not radially rotating and a magnet capable of radially rotating but not axially moving; the magnet capable of axially moving but not radially rotating is mounted in the movable body part and connected with the anchoring mechanism; the radially rotatable but axially immovable magnet is mounted in the immovable body part and is connected to the biopsy mechanism; the anchoring mechanism is connected with the movable main body part and the capsule type head; the bottom of the capsule-type head is a shaft passing through the movable body part and an inner hole of the magnet capable of moving axially but not rotating radially, and the other end of the shaft is fixed to the top of the biopsy mechanism.
The radial rotation is that the magnet rotates around the central axis of the robot body, and the axial movement is that the magnet moves along the central axis of the robot body.
The outer surfaces of the movable body part and the immovable body part are provided with spiral grooves, and the direction of a rotating magnetic field generated by the triaxial Helmholtz coil and the spiral direction of the spiral grooves jointly determine the movement direction of the capsule robot.
The radially rotatable but axially immovable magnet is mounted on a stationary shaft of the immovable body portion having a diameter smaller than the diameter of the inner ring of the magnet, and the magnet is rotatable about the stationary shaft.
The anchoring mechanism is formed by coaxially and circumferentially arranging a plurality of umbrella-shaped anchoring structures and the robot main body; the anchoring structure comprises a protective shell and a connecting rod, wherein the protective shell is respectively connected with the movable main body part and the capsule type head through the connecting rod; the protective housing and the robot main body are coaxially and circumferentially arranged, and the outer diameter of the protective housing in a closed state is equal to that of the capsule robot main body.
The inner layer of the protective shell is provided with a fixed support, the hole of the fixed support is connected with one end of two connecting rods through a shaft, the other end of one connecting rod is connected with the fixed support shaft of the capsule type head, and the other end of the other connecting rod is connected with the fixed support shaft of the movable main body part.
The biopsy mechanism consists of a sealed cabin, an eccentric crank slider mechanism, a rack, a gear and two biopsy forceps; the eccentric crank slider mechanism is connected with a magnet which can rotate in the radial direction but can not move in the axial direction; the sealed cabin, the rack, the gear, the biopsy forceps and the eccentric crank sliding block mechanism are arranged in the immovable main body part; the gear is arranged on the immovable main body part through a shaft, the biopsy forceps are arranged on the gear, the gear is meshed with the rack, and the rack is arranged on the eccentric crank slider mechanism; the sealed cabin is a closed space formed by closed biopsy forceps.
The eccentric crank slider mechanism is connected with a magnet which can rotate in the radial direction but can not move in the axial direction through a magnet cover; the magnet cover is fixed on the upper surface of the magnet which can rotate in the radial direction but can not move in the axial direction, and the eccentric crank sliding block mechanism is arranged on the magnet cover.
The eccentric crank-slider mechanism consists of a crank, a connecting rod and a slider; the crank is connected with the magnet cover shaft, the crank is connected with the connecting rod shaft, and the sliding block is connected with the connecting rod; the rack is fixed on the sliding block; the slider is constrained to move linearly within the guide path of the immovable body portion.
The top of the biopsy mechanism is provided with a biopsy mechanism cover, and the shaft of the capsule type head is fixed in the groove of the biopsy mechanism cover.
The head end of the capsule type head, namely the head end of the capsule robot, is a capsule type with an arc surface; the tail of the immovable body part, i.e., the tail of the capsule robot, is a flat type.
The triaxial Helmholtz coil is composed of three groups of mutually orthogonal circular coils in space, wherein the radius of each group of circular coils is equal to the distance between the centers of the coils.
The working method of the magnetic control active movement biopsy capsule robot comprises the following steps:
(1) when a direct current signal is input into the three-axis Helmholtz coil, the three-axis Helmholtz coil generates a directional magnetic field; the magnetic moment acted on the magnet by the directional magnetic field is larger than the interaction force between the internal magnets of the magnetic switch, and the magnet which can rotate in the radial direction but can not move in the axial direction is rotated relative to the external magnetic field in the same polarity; the relative polarity between the internal magnets of the magnetic switch is changed, the interaction force is changed from attraction force to repulsion force, the magnet which can axially move but can not radially rotate axially moves, the internal magnets of the magnetic switch are separated due to the action of magnetic poles, and the magnetic switch is activated;
(2) when the direct current signal is stopped being input into the three-axis Helmholtz coil, no directional magnetic field exists at the moment, the interaction force between the internal magnets of the magnetic switch is converted from repulsive force to attractive force, and the magnetic switch is closed;
(3) in the activation or closing process of the magnetic switch, the magnet which can axially move and cannot radially rotate shows axial movement to drive the movable main part of the magnetic control active movement multifunctional capsule robot to move; further driving an anchoring mechanism which is connected with a movable main body part of the magnetic control active movement biopsy robot through a shaft to move; further bringing the capsule type head into motion;
(4) in the process of activating or closing the magnetic switch, the magnet which can rotate radially but can not move axially rotates to drive the eccentric crank sliding block mechanism to rotate; further the eccentric crank sliding block mechanism converts the rotary motion of the magnet into the linear motion of the sliding block of the eccentric crank sliding block mechanism; further driving the rack to do linear motion; further driving one gear to rotate clockwise or anticlockwise, and the other gear to rotate anticlockwise or clockwise; further driving the biopsy forceps to open or close;
(5) when the three-axis Helmholtz coil receives an alternating current signal, the three-axis Helmholtz coil generates a space universal rotating magnetic field; the capsule robot continues to move forwards or backwards according to the direction of the input rotating magnetic field and the directions of the spiral grooves of the movable body part and the immovable body part of the active movement biopsy robot.
The invention has the beneficial effects that: the invention can actively control the motion direction of the capsule robot through an external magnetic field; 2. the activation and the closure of the biopsy function of the capsule robot can be actively controlled through an external magnetic field; the magnetic switch can simultaneously control the movement direction of the capsule robot and the activation and the closing of the anchoring biopsy function module; 4. the invention utilizes an eccentric crank slider mechanism to convert magnetic torque generated by coupling an external magnetic field and a built-in magnet of the magnetic control active motion biopsy capsule robot into biopsy cutting force; 5. all the control of the invention is controlled by magnetism, and the extra energy consumption of the capsule robot is not increased; 6. the invention has convenient operation and can make the detection and treatment means more flexible.
Drawings
Fig. 1 is a schematic diagram of an overall control method according to the present invention.
FIG. 2 is a schematic view of a three-axis Helmholtz coil in accordance with the present invention.
Fig. 3 is a structural schematic diagram of an inactivated state of the magnetic control active motion biopsy capsule robot related to the present invention.
Fig. 4 is a schematic diagram of the movable part of the magnetic active motion biopsy capsule robot according to the present invention.
FIG. 5 is a schematic view of a head portion of a magnetically controlled active motion biopsy capsule robot according to the present invention.
FIG. 6 is a schematic diagram of a cover of a magnetically controlled active motion biopsy capsule robotic biopsy mechanism according to the present invention.
Fig. 7 is a schematic diagram of an immovable main body part of the magnetic control active motion biopsy capsule robot related to the invention.
Fig. 8 is a structural diagram illustrating an activated state of the magnetic active motion biopsy capsule robot according to the present invention.
Fig. 9-1 and 9-2 are schematic diagrams illustrating the deformation of the anchoring structure according to the present invention.
Fig. 10-1, 10-2, 10-3, 10-4 and 10-5 are schematic diagrams of the biopsy mechanism according to the present invention.
Fig. 11 is a schematic view of a slider-crank mechanism according to the present invention.
Detailed Description
Example (b): for further understanding of the contents, features and effects of the present invention, the following embodiments are exemplified and described in detail with reference to the accompanying drawings:
a magnetic control active movement biopsy capsule robot comprises a three-axis Helmholtz coil and a capsule robot part, wherein the capsule robot is placed in the geometric center of the three-axis Helmholtz coil; the three-axis Helmholtz coil sends out driving and control signals to control the action of the capsule robot part; according to different received control signals, the three-axis Helmholtz coil (shown in figure 2) can generate a directional magnetic field and a space universal rotating magnetic field, and the magnetic control active motion biopsy capsule robot (shown in figure 3) completes the conversion of a motion mode and a biopsy mode under different control signals.
The triaxial Helmholtz coils involved (see FIG. 2) consist of three orthogonal sets of circular coils in space with radii equal to the distance between the centers of the sets of coils.
The capsule robot part (shown in fig. 3) includes a magnetic switch 1, a capsule type head 3, an anchor mechanism 4, a biopsy mechanism 5, a movable body part (shown in fig. 4), an immovable body part (shown in fig. 7), and a biopsy mechanism cover (shown in fig. 6). The capsule-shaped head 3 is designed as a capsule, and the tail 2 is designed as a flat surface. The capsule robot (see fig. 3) is placed in the geometric center of the three-axis helmholtz coil (see fig. 2).
The movable body part (see fig. 4) and the immovable body part (see fig. 7) constitute a capsule robot body part, the exterior of which is designed as a spiral groove 6 in a counterclockwise direction as viewed from the head thereof.
The magnetic switch 1 is coaxial with and built in the capsule robot body part (see fig. 3).
As shown in fig. 3 and 8, the magnetic switch 1 is composed of two annular radial magnetized annular rubidium iron boron permanent magnets; wherein the magnet
16 capable of radial rotation but incapable of axial movement, magnets
17 is axially movable but not radially rotatable, the magnetic switch 1 is coaxial with the magnetically controlled active motion biopsy capsule robot, and the magnetic switch 1 can simultaneously control the motion direction of the active motion biopsy capsule robot and the activation and closing of the biopsy function module.
The immovable body part fixing axis 14 of the capsule robot (see fig. 3) is smaller than the magnet
16 inner ring diameter of said magnet
16 are fixed to the immovable body part of the capsule robot (see fig. 7) and rotate around the immovable body part fixing shaft 14, and the magnets
17 are built into the movable body part of the capsule robot (see fig. 4).
The capsule robot anchoring mechanism is shown in a deformation schematic view (shown in figures 9-1 and 9-2) and the biopsy mechanism is shown in a deformation schematic view (shown in figures 10-1, 10-2, 10-3, 10-4 and 10-5).
The umbrella-shaped anchoring structure (shown in figures 9-1 and 9-2) comprises a protective shell 18 and a connecting rod
19. Connecting rod
20。
The anchoring mechanism 4 is composed of four umbrella-shaped anchoring structures (shown in figures 9-1 and 9-2) which are coaxially and circumferentially arranged with the main body part of the capsule robot, the outer diameter of the protective shell 18 in the unactivated state of the four umbrella-shaped anchoring structures which are circumferentially arranged is coaxial with the main body part of the capsule robot, and the outer diameter of the protective shell 18 in the unactivated state of the anchoring structures is equal to the outer diameter of the main body part of the capsule robot (shown in figure 3). Under four umbelliform anchoring structure protective housings closed state with capsule robot main part external diameter keeps unanimous, and the effect is that the intestinal environment is complicated, the protection to the intestinal in the capsule robot motion process.
As shown in fig. 9-1 and 9-2, a fixing bracket 21 is designed inside the protective shell 18, a hole is designed on the fixing bracket 21, and the protective shell 18 and the connecting rod are connected through a shaft
19, connecting rod
20 are connected at one end by a connecting rod
19 the unfixed end is connected with the fixed bracket 10 designed for the capsule type head of the magnetic control active movement biopsy capsule robot, and the connecting rod
20 are connected to said movable body part stationary support 7, all connections being shaft connections.
As shown in fig. 4, the number of the movable main body part fixing supports 7 is 4, and the outer diameters of the inner holes 8 are uniformly and circumferentially distributed and correspond to the fixing supports 21 of the protective shell 18; as shown in fig. 5, the capsule-type head of the capsule robot has a total of 4 fixed supports 10, which are uniformly circumferentially distributed on the inner surface thereof so as to correspond to the fixed supports 21 of the protective case 18.
The shaft 9 of the capsule type head is fixed to a recess 11 of a cover (see fig. 6) of a biopsy mechanism through an inner hole 8 of the movable body part.
The biopsy mechanism cover snap 12 is secured to the inner wall of the non-movable body portion (see fig. 7).
The magnetic switch 1 has the magnet without the interference of the magnetic field in the direction of the three-axis Helmholtz coil (shown in figure 2)
16 and a magnet
17 are attracted together due to the interaction of the poles, in the closed state, the magnetic switch 1 is equivalent to a larger magnet.
The capsule robot (shown in fig. 3) rotates under the coupling effect of a space-universal rotating magnetic field generated by a built-in magnetic switch 1 and a triaxial helmholtz coil (shown in fig. 2), the capsule robot (shown in fig. 3) is sealed in a pipeline filled with liquid, water flow generates pressure on a spiral groove 6 of the capsule robot (shown in fig. 3) so as to convert the pressure into axial pressure, the capsule robot (shown in fig. 3) is further driven to move forwards or backwards in the pipeline, and the direction of the rotating magnetic field generated by the triaxial helmholtz coil (shown in fig. 2) and the spiral direction of the spiral groove 6 jointly determine the moving direction of the capsule robot.
When the capsule robot (shown in fig. 3) rotates clockwise, the axial pressure generated by the fluid on the spiral groove 6 moves backwards, and then the capsule robot (shown in fig. 3) moves forwards, and similarly, when the capsule robot (shown in fig. 3) rotates counterclockwise, the axial pressure generated by the fluid on the spiral groove 6 moves forwards, and then the capsule robot (shown in fig. 3) moves backwards.
The biopsy mechanism 5 (shown in figures 10-1, 10-2, 10-3, 10-4 and 10-5) is composed of a sealed cabin 22 and a rack
23. Rack bar
24. Gear wheel
25. Gear wheel
26. Biopsy forceps
27. Biopsy forceps
28 and an eccentric crank-slider mechanism (shown in figure 11); magnet cover 29 is fixed on the magnet
16, said capsule 22, rack
23. Rack bar
24. Gear wheel
25. Gear wheel
26. Biopsy forceps
27. Biopsy forceps
28. The eccentric crank slider mechanism and the magnet cover 29 are arranged in the immovable main body part, and the sealed cabin 22 is formed by biopsy forceps
27. Activity deviceInspection clamp
28 in a closed state.
The eccentric crank-slider mechanism (shown in figure 11) is composed of a crank 31, a connecting rod 32 and a slider 33. The crank 31 is connected with the cylindrical boss 30 of the magnet cover 29, the crank 31 is connected with the connecting rod 32, and the slider 33 is mounted on the connecting rod 32. The rack 23
Rack bar
The tooth root of the gear 24 is coincidently fixed and is coincidently arranged with the central line of a slide block 33 of the eccentric crank slide block mechanism (shown in figure 11), and the gear rack 23
Rack bar
24 are fixed to the slide 33. The guide path 34 of the immovable body portion restricts the slider 33 from moving only in a straight line.
The immovable body part (see fig. 7) is designed with a small hole 13 and a small hole
15, small hole
13 and a small hole
15 are symmetrically distributed on two sides of the central line of a sliding block 33 of the eccentric crank sliding block mechanism, and the distance between the two small holes is equal to that of the gear
25. Gear wheel
26 reference circle diameter, said gear
25. Gear wheel
26 and, an aperture in the immovable body portion
13 and a small hole
15 shaft connection.
The rack
23. Rack bar
24 and gears
25. Gear wheel
26 the teeth are equal and the pressure angle is equal. The rack
23. Rack bar
24 are respectively connected with the gears
25. Gear wheel
26 are engaged. The biopsy forceps
27. Biopsy forceps
28 are respectively connected with the gears
25. Gear wheel
26 shaft connection.
The working method of the magnetic control active movement biopsy capsule robot (shown in figure 1) is as follows:
the triaxial Helmholtz coil (see fig. 2) receives a direct current signal, the external magnetic field is a directional magnetic field, and the magnetic moment acting on the magnet by the directional magnetic field is larger than that of the magnet of the magnetic switch 1
16 and a magnet
17 internal interaction force, magnet
16 are rotated with respect to the external magnetic field with the same polarity. The magnet
16 and a magnet
17, the relative polarity between them is switched, and the interaction force is switched from an attractive force to a repulsive force. The magnet
16 and a magnet
17 the magnetic switch 1 is activated due to the magnetic pole action separation; activation of the anchor biopsy function.
Magnet of the magnetic switch 1
16 radial rotation, magnet
17 are moved axially.
Magnet of the magnetic switch 1
Rotation 16 causes the magnet cover 29 to rotate, thereby causing the eccentric crank-slider mechanism to rotate clockwise. Further eccentric slider-crank mechanisms (see 11) move the magnets
The rotational motion of 16 is converted into a linear motion of the eccentric crank-slider mechanism slider 33. Further drive the rack
23. Rack bar
24 move linearly. The rack
23. Rack bar
24 moving direction is far away from the shaft center of the biopsy capsule robot, and the gear
25 clockwise rotation, gear wheel
26 counterclockwise rotation, further biopsy forceps
27. Biopsy forceps
28 are opened (see fig. 10-2, 10-3).
The magnet
17 can only move axially, so that the switch 1 activates the magnet
17 will exhibit linear motion in the axial direction. Further driving the movable part of the capsule robot main body (shown in figure 4) to move axially. Further causing link 20 to rotate counterclockwise. Further causing the link 19 to rotate clockwise. Further the active motion biopsy capsule robotic biopsy mechanism 5 is activated by the anchor mechanism 4 (see fig. 8).
Further, if the controller no longer inputs a DC signal to the three-axis Helmholtz coil (see FIG. 2), no external magnetic field exists, and the magnet
16 and a magnet
17 the force between the poles is changed from repulsive to attractive, the magnets
16 are rotated radially by the magnetic poles, the magnets
17 are axially moved. The magnetic switch 1 is further closed (see fig. 3).
As shown in fig. 10-4 and 10-5, the magnet of the magnetic switch 1
Rotation 16 causes the magnet cover 29 to rotate and thereby the eccentric crank-slider mechanism to rotate counterclockwise. Step rack
23. Rack bar
24 move towards the direction close to the axis of the robot and are geared
25 counterclockwise, gear wheel
26 rotate clockwise. Further biopsy forceps
27. Biopsy forceps
28 closed, active motion capsule robotic biopsy forceps
27. Biopsy forceps
28 the tissue sampling is completed during the closure.
Magnet in the closing process of the magnetic switch 1
17 exhibit a linear movement in the axial direction, further bringing the movable part of the capsule robot body (see fig. 4) into an axial movement. Further causing the link 20 to rotate clockwise. Further causing the link 19 to rotate counterclockwise. Further the capsule robot anchoring mechanism is closed.
When the anchoring mechanism 4 and the biopsy mechanism 5 are closed, the capsule robot returns to the state of the inactivated biopsy function (shown in figure 3), and continues to input a three-phase alternating current signal to the three-axis Helmholtz coil (shown in figure 2), and the capsule robot continues to move forwards or backwards according to the direction of the input rotating magnetic field and the directions of the spiral grooves 6 of the movable body part and the immovable body part of the active movement biopsy robot.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.
Claims (10)
1. A magnetic control active movement biopsy capsule robot is characterized by comprising a three-axis Helmholtz coil and a capsule robot part, wherein the capsule robot is placed in the geometric center of the three-axis Helmholtz coil; the three-axis Helmholtz coil sends out driving and control signals to control the action of the capsule robot part;
the triaxial Helmholtz coil generates a directional magnetic field or a space universal rotating magnetic field; when the three-axis Helmholtz coil receives a direct current signal, the three-axis Helmholtz coil generates a directional magnetic field; when the three-axis Helmholtz coil receives an alternating current signal, the three-axis Helmholtz coil generates a space universal rotating magnetic field;
the capsule robot part comprises a magnetic switch, a movable body part, an immovable body part, an anchoring mechanism, a biopsy mechanism and a capsule type head; the magnetic switch is arranged in a robot main body formed by connecting a movable main body part and an immovable main body part, is a radial magnetized annular rubidium iron boron permanent magnet coaxial with the robot main body and comprises a magnet capable of axially moving but not radially rotating and a magnet capable of radially rotating but not axially moving; the magnet capable of axially moving but not radially rotating is mounted in the movable body part and connected with the anchoring mechanism; the radially rotatable but axially immovable magnet is mounted in the immovable body part and is connected to the biopsy mechanism; the anchoring mechanism is connected with the movable main body part and the capsule type head; the bottom of the capsule-type head is a shaft passing through the movable body part and an inner hole of the magnet capable of moving axially but not rotating radially, and the other end of the shaft is fixed to the top of the biopsy mechanism.
2. The magnetically controlled active motion biopsy capsule robot of claim 1, wherein the outer surfaces of the movable body part and the immovable body part are provided with spiral grooves, and the direction of the rotating magnetic field generated by the triaxial Helmholtz coil and the spiral direction of the spiral grooves jointly determine the motion direction of the capsule robot.
3. The magnetically controlled active motion biopsy capsule robot of claim 1, wherein the radially rotatable but axially non-movable magnet is mounted on a stationary shaft of the non-movable body portion having a diameter smaller than the diameter of the inner ring of the magnet, the magnet being rotatable about the stationary shaft.
4. The magnetically controlled active motion biopsy capsule robot of claim 1, wherein the anchoring mechanism comprises a plurality of umbrella-shaped anchoring structures coaxially and circumferentially arranged with the robot body; the anchoring structure comprises a protective shell and a connecting rod, wherein the protective shell is respectively connected with the movable main body part and the capsule type head through the connecting rod; the protective housing and the robot main body are coaxially and circumferentially arranged, and the outer diameter of the protective housing in a closed state is equal to that of the capsule robot main body.
5. The magnetically controlled active motion biopsy capsule robot of claim 4, wherein the inner layer of the protective shell is designed with a fixed support, the hole of the fixed support is connected with one end of two connecting rods through a shaft, wherein the other end of one connecting rod is connected with the fixed support shaft of the capsule type head, and the other end of the other connecting rod is connected with the fixed support shaft of the movable body part.
6. The magnetically controlled active motion biopsy capsule robot of claim 1, wherein the biopsy mechanism is comprised of a sealed chamber, an eccentric crank-slider mechanism, a rack, a gear, and two biopsy forceps; the eccentric crank slider mechanism is connected with a magnet which can rotate in the radial direction but can not move in the axial direction; the sealed cabin, the rack, the gear, the biopsy forceps and the eccentric crank sliding block mechanism are arranged in the immovable main body part; the gear is arranged on the immovable main body part through a shaft, the biopsy forceps are arranged on the gear, the gear is meshed with the rack, and the rack is arranged on the eccentric crank slider mechanism; the sealed cabin is a closed space formed by the closed state of the biopsy forceps; the top of the biopsy mechanism is provided with a biopsy mechanism cover, and the shaft of the capsule type head is fixed in the groove of the biopsy mechanism cover.
7. The magnetically controlled active motion biopsy capsule robot of claim 6, wherein the eccentric crank-slider mechanism is coupled to a radially rotatable but axially immovable magnet via a magnet cover; the magnet cover is fixed on the upper surface of the magnet which can rotate in the radial direction but can not move in the axial direction, and the eccentric crank slider mechanism is arranged on the magnet cover;
the eccentric crank-slider mechanism consists of a crank, a connecting rod and a slider; the crank is connected with the magnet cover shaft, the crank is connected with the connecting rod shaft, and the sliding block is connected with the connecting rod; the rack is fixed on the sliding block; the slider is constrained to move linearly within the guide path of the immovable body portion.
8. The magnetically controlled active motion biopsy capsule robot of claim 1, wherein the head of the capsule-shaped head, i.e. the head of the capsule-shaped robot, is a cambered capsule-shaped head; the tail of the immovable body part, i.e., the tail of the capsule robot, is a flat type.
9. The magnetically controlled active motion biopsy capsule robot of claim 1, wherein the three axis Helmholtz coils are comprised of three orthogonal sets of circular coils in space with radii equal to the distance between the centers of the sets of coils.
10. A working method of a magnetic control active movement biopsy capsule robot is characterized by comprising the following steps:
(1) when a direct current signal is input into the three-axis Helmholtz coil, the three-axis Helmholtz coil generates a directional magnetic field; the magnetic moment acted on the magnet by the directional magnetic field is larger than the interaction force between the internal magnets of the magnetic switch, and the magnet which can rotate in the radial direction but can not move in the axial direction is rotated relative to the external magnetic field in the same polarity; the relative polarity between the internal magnets of the magnetic switch is changed, the interaction force is changed from attraction force to repulsion force, the magnet which can axially move but can not radially rotate axially moves, the internal magnets of the magnetic switch are separated due to the action of magnetic poles, and the magnetic switch is activated;
(2) when the direct current signal is stopped being input into the three-axis Helmholtz coil, no directional magnetic field exists at the moment, the interaction force between the internal magnets of the magnetic switch is converted from repulsive force to attractive force, and the magnetic switch is closed;
(3) in the activation or closing process of the magnetic switch, the magnet which can axially move and cannot radially rotate shows axial movement to drive the movable main part of the magnetic control active movement multifunctional capsule robot to move; further driving an anchoring mechanism which is connected with a movable main body part of the magnetic control active movement biopsy robot through a shaft to move; further bringing the capsule type head into motion;
(4) in the process of activating or closing the magnetic switch, the magnet which can rotate radially but can not move axially rotates to drive the eccentric crank sliding block mechanism to rotate; further the eccentric crank sliding block mechanism converts the rotary motion of the magnet into the linear motion of the sliding block of the eccentric crank sliding block mechanism; further driving the rack to do linear motion; further driving one gear to rotate clockwise or anticlockwise, and the other gear to rotate anticlockwise or clockwise; further driving the biopsy forceps to open or close;
(5) when the three-axis Helmholtz coil receives an alternating current signal, the three-axis Helmholtz coil generates a space universal rotating magnetic field; the capsule robot continues to move forwards or backwards according to the direction of the input rotating magnetic field and the directions of the spiral grooves of the movable body part and the immovable body part of the active movement biopsy robot.
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