CN113081075B - Magnetic control capsule with active biopsy and drug delivery functions - Google Patents
Magnetic control capsule with active biopsy and drug delivery functions Download PDFInfo
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- CN113081075B CN113081075B CN202110257922.0A CN202110257922A CN113081075B CN 113081075 B CN113081075 B CN 113081075B CN 202110257922 A CN202110257922 A CN 202110257922A CN 113081075 B CN113081075 B CN 113081075B
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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
- A61B1/06—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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0676—Endoscope light sources at distal tip of an 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
- A61B1/06—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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
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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
- A61B10/0233—Pointed or sharp biopsy instruments
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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
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- 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
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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
- A61B2010/045—Needles
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Abstract
The invention discloses a magnetic control capsule with active biopsy and drug delivery functions, which comprises a magnetic capsule shell, a drug delivery device, a biopsy device, a power distribution mechanism, a micro motor and two rotating bodies, wherein the drug delivery device, the biopsy device, the power distribution mechanism, the micro motor and the two rotating bodies are arranged in the capsule shell; the first rotating body is provided with a medicine applying cam for providing power for the medicine applying device, and the second rotating body is provided with a biopsy cam for providing power for the biopsy device; the micro motor is switched back and forth between the driving of the first rotating body and the second rotating body by the power distribution mechanism. The magnetic control capsule provided by the invention not only has the function of an image camera, but also has the functions of fixed-point medicine application and biopsy; the doctor can pull out the patient body through the control line after the magnetic control capsule executes the task, and the next detection treatment work is timely developed according to the sample collected by the magnetic control capsule.
Description
Technical Field
The invention belongs to the field of medical robots, relates to an active biopsy and drug delivery technology of a miniature medical robot, and particularly relates to a magnetic control capsule with active biopsy and drug delivery functions.
Background
The related technology of the micro-robot is continuously developed, the application field of the micro-robot is continuously expanded and deepened, and particularly in the medical field, the micro-robot plays more and more important roles. Particularly in the medical field, because the prior manual endoscope detection is easy to cause discomfort of the body of a patient, has the defects of risk of injury to the body of the patient, low efficiency, repeated labor loss of doctors and the like, the medical institution gradually adopts a magnetic control capsule robot to replace the manual work for detection. In the detection process, the angle of the endoscope and the moving amplitude in the intestines and stomach are controlled and limited, so that the endoscope is particularly suitable for the body of a patient. If the angle control is insufficient, a low-quality image may result; if the amplitude of the motion is too great, the patient may be uncomfortable and potentially injured. Therefore, the micro medical robot which is small in size and does not cause too much burden to the patient is developed, the research and development mechanism carries out in-vivo detection through the micro capsule robot, the micro capsule robot is small in size, and the foreign body sensation of the patient is small. In the field of micro-robots, medical technology is dedicated to diagnosis and treatment of minor injuries. At present, the endoscope capsule robot in the business can complete the routine gastrointestinal endoscopy, but can not meet the requirement that the biopsy has the fixed-point treatment function, and then the endoscope capsule robot with the biopsy and drug delivery functions is further developed in the field of medical robots.
Disclosure of Invention
In view of the above-mentioned shortcomings in the prior art, the present invention is directed to a magnetic capsule with active biopsy and drug delivery functions, which has the functions of collecting tissue at a target location, detecting and releasing drug, so that the capsule robot can not only complete in vivo image collection, but also complete further diagnosis and treatment tasks.
In order to solve the technical problems, the invention adopts the technical scheme that:
a magnetic control capsule with active biopsy and drug delivery functions is characterized in that: the device comprises a magnetic capsule shell, and a drug applying device, a biopsy device, a power distribution mechanism, a micro motor and two rotating bodies which are arranged in the capsule shell, wherein the two rotating bodies are coaxially arranged in the capsule shell through rotating pairs respectively; the first rotating body is provided with a medicine applying cam for providing power for the medicine applying device, and the second rotating body is provided with a biopsy cam for providing power for the biopsy device;
the power distribution mechanism comprises a transmission shaft, a displacement mechanism and meshing holes respectively formed in a first rotating body and a second rotating body, the transmission shaft is fixed on an output shaft of the micro motor, a meshing key which is located between the two rotating bodies and can be meshed with the meshing holes is arranged on the transmission shaft, a through hole for the transmission shaft to freely penetrate through is formed in the rotating body close to one side of the micro motor, the micro motor is installed on the displacement mechanism, the micro motor and the transmission shaft on the micro motor are driven to move back and forth between the two rotating bodies through the displacement mechanism, and therefore the transmission shaft is meshed with the meshing holes of the first rotating body or meshed with the meshing holes of the second rotating body through the meshing key.
Furthermore, the second rotating body is positioned between the first rotating body and the micro motor, a plurality of uniformly distributed helical teeth are axially arranged in the meshing hole, the inclination directions of the helical teeth are consistent along the circumferential direction of the meshing hole, a plurality of meshing keys are arranged on the periphery of the transmission shaft, the end parts of the meshing keys are arranged into first inclined planes which are the same as the corresponding helical teeth, and the inclination directions of the helical teeth in the meshing holes on the first rotating body and the second rotating body are opposite.
Further, the displacement mechanism is a magnetic control displacement mechanism and specifically comprises a limiting ring, a magnet ring and an electromagnet, the limiting ring is fixedly installed in the capsule shell, the magnet ring is fixedly sleeved on the micro motor, the micro motor or the magnet ring is installed in the limiting ring through an axial sliding pair, the electromagnet is fixed at one end of the limiting ring, and the positions of the micro motor and the magnet ring in the limiting ring are controlled by controlling the current direction of the electromagnet, so that the transmission shaft is adjusted to be meshed with the first rotating body or the second rotating body.
Furthermore, the electromagnet and the micro motor are controlled by flexible wires, the two flexible wires are integrated together, and the flexible wires are also used as traction wires of the magnetic control capsule.
Furthermore, the medicine applying device is an extrudable medicine storage bin, the medicine storage bin is provided with a medicine applying hole communicated with the outside of the capsule shell, the medicine applying cam periodically extrudes the medicine storage bin along with the rotation of the first rotating body, and the medicine storage bin periodically releases stored medicines through the medicine applying hole.
Further, the biopsy device comprises a biopsy needle, a return spring and a biopsy hole radially arranged on the capsule shell, the biopsy needle can be freely and slidably arranged in the biopsy hole, the return spring is arranged between the biopsy hole and the biopsy needle tail portion, the biopsy needle tail portion is opposite to the biopsy cam, the biopsy cam periodically presses the biopsy needle along with the rotation process of the second rotating body, and the biopsy needle periodically extends out of the capsule shell through the biopsy hole to perform biopsy sampling.
Further, the front end in the capsule shell is provided with an image acquisition module, the image acquisition module comprises a miniature circuit board, a miniature camera and an LED group, the miniature circuit board is fixed at the front end in the capsule shell, the miniature camera is installed on the miniature circuit board, and the LED group is a plurality of LED lamps installed around the miniature camera.
Further, the image acquisition module communicates with the outside through wireless.
Furthermore, the first rotating body and the second rotating body are both a disc, an annular chute for mounting the disc is arranged at the corresponding position on the capsule shell, and the disc is provided with a ball contacted with the inner wall of the annular chute.
Furthermore, the whole capsule shell is of a cylindrical structure, and the axial section is elliptical.
The invention has the beneficial effects that:
1. the capsule system is driven by a micro motor, so that the occupied space is small, the structure is more compact, and the stability of the capsule system is strong;
2. the power distribution mechanism has high power transmission efficiency, simple and quick distribution mode, can adjust the current direction of the electromagnet, does not introduce a complicated mechanical structure, does not need to consider the postures of the transmission shaft and the meshing hole during meshing in the power distribution process by designing the helical teeth and the meshing key, and can be adaptively adjusted.
2. The tail line control of the capsule robot can provide sufficient energy, and can execute tasks in vivo for a plurality of times for a long time;
3. can additionally meet the requirement of capsule robot on the biopsy function of drug application.
Drawings
FIG. 1 is a schematic view of the overall structure of the magnetically controlled capsule of the present invention (with half of the capsule shell removed).
Fig. 2 is a partially enlarged schematic view a of fig. 1.
FIG. 3 is a schematic diagram of the biopsy function performed by the present invention.
Fig. 4 is a partial schematic view of the power split mechanism of the present invention.
Fig. 5 is a schematic view of a second rotor and biopsy cam of the present invention.
Fig. 6 is a schematic view of the first rotor and biopsy cam of the present invention turned upside down.
Wherein, 1-capsule shell, 2-image acquisition module, 21-miniature circuit board, 22-miniature camera, 23-LED lamp, 3-first rotating body, 31-drug delivery cam, 32-ball, 33-first engaging hole, 4-drug storage bin, 41-drug delivery hole, 5-biopsy device, 51-biopsy needle, 52-reset spring, 53-barb, 6-second rotating body, 61-biopsy cam, 62-second engaging hole, 7-transmission shaft, 71-engaging key, 72-first inclined plane, 8-magnet ring, 9-spacing ring, 10-miniature motor, 101-motor rotating shaft, 102-motor body, 11-electromagnet, 12-first control line, 13-second control line, 14-helical teeth, 141-vertical surfaces, 142-second inclined surfaces, 15-sliding grooves, 16-sliding blocks and 17-annular sliding grooves.
Detailed Description
The present invention provides an active biopsy and drug delivery function magnetron capsule, which is described below in detail with reference to the accompanying drawings and examples, which are for explanation and not for limitation.
As shown in fig. 1 to 6, a magnetic controlled capsule with active biopsy and drug delivery functions comprises a magnetic capsule shell 1, and a drug delivery device, a biopsy device 5, a power distribution mechanism, an image acquisition module 2, a micro motor 10 and two rotating bodies which are arranged in the capsule shell 1, wherein the two rotating bodies are coaxially arranged in the capsule shell 1 through rotating pairs respectively; wherein, the first rotor 3 is provided with a drug delivery cam 31 for providing power for the drug delivery device, and the second rotor 6 is provided with a biopsy cam 61 for providing power for the biopsy device 5;
the power distribution mechanism comprises a transmission shaft 7, a displacement mechanism, a first meshing hole 33 arranged on the first rotating body 3 and a second meshing hole 62 arranged on the second rotating body 6, the transmission shaft 7 is fixed on an output shaft of the micro motor 10, a meshing key 71 which is positioned between the two rotating bodies and can be meshed with the meshing hole is arranged on the transmission shaft 7, a through hole for the transmission shaft 7 to freely pass through is arranged on the rotating body close to one side of the micro motor 10, the micro motor 10 is arranged on the displacement mechanism, and the micro motor 10 and the transmission shaft 7 on the micro motor 10 are driven by the displacement mechanism to move back and forth between the two rotating bodies, so that the transmission shaft 7 is meshed with the meshing hole of the first rotating body 3 or meshed with the meshing hole of the second rotating body 6 through the meshing key 71.
As shown in fig. 3, the second rotating body 6 is located between the first rotating body 3 and the micro motor 10, a plurality of uniformly distributed helical teeth 14 are axially arranged in the meshing hole, the inclination direction of the helical teeth 14 is consistent along the circumferential direction of the meshing hole, a plurality of meshing keys 71 are arranged on the periphery of the transmission shaft 7, the end parts of the meshing keys 71 are arranged into first inclined planes 72 which are identical to the corresponding helical teeth 14, the meshing holes of the transmission shaft 7 and the two rotating bodies do not need to be specially aligned through the arrangement of the helical teeth 14 and the first inclined planes 72 on the meshing keys 71, the transmission shaft 7 and the rotating body to be linked keep a final meshing state through the inclined plane guide effect no matter what direction, the transmission shaft 7 of the invention is completely meshed for ensuring the power transmission efficiency only in one direction due to the meshing mode of the helical teeth 14 and the first inclined planes 72, so that the inclination directions of the helical teeth 14 in the meshing holes on the first rotating body 3 and the second rotating body 6 are oppositely arranged (fig. 5 and fig. 6) Fig. 6 shows the helical teeth in the same direction, but fig. 6 is a schematic view of the first rotor 3 being turned upside down, so that it is actually opposite). As a specific example, the helical teeth 14 of the present invention are specifically shaped as shown in fig. 5 and 6, and assuming that the axial direction of the transmission shaft 7 is defined as a vertical direction and the cross-sectional direction of the transmission shaft 7 is defined as a horizontal direction, the helical teeth 14 are triangular teeth consisting of a vertical surface 141 and a second inclined surface 142, the engaging keys 71 are uniformly distributed on the transmission shaft 7 at intervals, and the end portions of the engaging keys 71 are provided with the first inclined surfaces 72, so that the first inclined surfaces 72 and the side portions of the engaging keys 71 form a triangle matching the triangular teeth, and when the side portions of the engaging keys 71 and the vertical surface 141 of the helical teeth 14 form a contact surface, the transmission efficiency of the two is highest in this state.
As shown in fig. 3 and 4, the displacement mechanism is a magnetic control displacement mechanism, and specifically includes a limiting ring 9, a magnet ring 8 and an electromagnet 11, the limiting ring 9 is fixedly installed in the capsule housing 1, the magnet ring 8 is fixedly sleeved on the micro motor 10, the micro motor 10 or the magnet ring 8 is installed in the limiting ring 9 through an axial sliding pair, the invention provides a specific form of the sliding pair, which includes a sliding slot 15 provided on the limiting ring 9 and a sliding block 16 provided on the magnet ring 8, the sliding block 16 is installed in the sliding slot 15, so that the micro motor 10 and the magnet ring 8 can slide in the limiting ring 9 together, and can prevent the micro motor 10 from rotating, the electromagnet 11 is fixed at one end of the limiting ring 9, the positions of the micro motor 10 and the magnet ring 8 in the limiting ring 9 are controlled by controlling the current direction of the electromagnet 11, thereby adjusting the transmission shaft 7 to be engaged with the first rotating body 3 or engaged with the second rotating body 6, for example, when the electromagnet 11 is energized in the forward direction, a repulsive force is generated between the electromagnet 11 and the magnet ring 8, the magnet ring 8 is driven to move away from the electromagnet 11, the magnet ring 8 carries the micro motor 10 to move forward, the transmission shaft 7 is engaged with the first rotating body 3, at this time, the micro motor 10 is started, and the micro motor 10 drives the first rotating body 3 to rotate through the transmission shaft 7, so as to be on the first rotating body 3. The micro motor 10 can realize positive and negative rotation.
As shown in fig. 4, the micro-motor 10 of the present invention includes a motor main body 102 and a motor shaft 101, wherein the motor shaft 101 is fixedly connected to the transmission shaft 7.
The electromagnet 11 and the micro motor 10 are controlled by flexible wires, the two flexible wires are integrated together, specifically, two positive wires of the electromagnet 11 and the micro motor 10 are integrated together to form a first control wire 12, two negative wires are integrated together to form a second control wire 13, and the first control wire 12 and the second control wire 13 are also used as a traction wire of the magnetic control capsule together. The flexibility can not cause the consistency of the movement of the magnetic control capsule, and the magnetic control capsule can leave the body under the traction of a doctor for the doctor to carry out the next detection and treatment work after the task is finished.
As shown in fig. 1, the drug delivery device is a squeezable drug storage bin 4, which may be made of a capsule, the drug storage bin 4 is provided with a drug delivery hole 41 communicated with the outside of the capsule housing 1, the drug delivery cam 31 periodically squeezes the drug storage bin 4 during rotation of the first rotating body 3, and the drug storage bin 4 periodically releases the stored drug through the drug delivery hole 41.
As shown in fig. 2, the biopsy device 5 comprises a biopsy needle 51, a return spring 52 and a biopsy hole radially arranged on the capsule housing 1, wherein the biopsy needle 51 is freely and slidably mounted in the biopsy hole, the return spring 52 is mounted between the biopsy hole and the tail part of the biopsy needle 51, and when the biopsy cam 61 does not press the tail part of the biopsy needle 51, the biopsy needle 51 is retracted into the capsule housing 1 under the action of the return spring 52; the tail part of the biopsy needle 51 is opposite to the biopsy cam 61, the biopsy cam 61 periodically presses the biopsy needle 51 along with the rotation of the second rotator 6, the biopsy needle 51 periodically extends out of the capsule shell 1 through a biopsy hole to carry out biopsy sampling, a barb 53 is arranged in the biopsy needle 51, and the barb 53 in the biopsy needle 51 can take the living tissue into the needle tube during the extending and retracting processes of the biopsy needle 51.
As shown in fig. 1, an image acquisition module 2 is arranged at the front end in the capsule shell 1, the image acquisition module 2 includes a miniature circuit board 21, a miniature camera 22 and an LED group, the miniature circuit board 21 is fixed at the front end in the capsule shell 1, the miniature camera 22 is installed on the miniature circuit board 21, and the LED group is a plurality of LED lamps 23 installed around the miniature camera 22.
The image acquisition module 2 communicates with the outside through wireless. The information transmission mode includes WIFI but is not limited to WIFI.
The first rotating body 3 and the second rotating body 6 are both a disc in the same structure, an annular sliding groove 17 for mounting the disc is arranged at a corresponding position on the capsule shell 1, and the disc is provided with a ball 32 which is in contact with the inner wall of the annular sliding groove 17.
The capsule shell 1 is of a cylindrical structure as a whole, and the axial section is elliptical.
It should be noted that the image acquisition module 2, the biopsy device 5, the drug delivery device and the magnetic capsule of the present invention are not critical to the present invention, and the parts of the present invention not disclosed in detail adopt common knowledge, for example, in order to cooperate with the image acquisition device, the front end of the capsule shell 1 is provided with a shooting hole or the capsule shell 1 is provided with a transparent cover.
The working principle of the invention is as follows:
the capsule shell 1 is made of a magnetic mixed material, can move and adjust the angle in a human body under the drive of an external magnetic field, and particularly refers to the magnetic control capsule technology in the prior art; the image acquisition module 2 can complete the image acquisition function, and the medicine storage bin 4 and the biopsy needle 51 in the magnetic control capsule can complete the medicine application and biopsy functions under the matching drive of the micro motor 10 and the power distribution mechanism.
The electrifying direction of the electromagnet 11 can generate two magnetic fields with opposite directions so as to control the micro motor 10 to reach two corresponding working positions;
the micro motor 10 and the transmission shaft 7 can independently control the drug administration cam 31 or the biopsy cam 61; when the transmission shaft 7 is connected with the drug delivery cam 31, the drug delivery function can be realized, and when the transmission shaft 7 is connected with the biopsy cam 61, the biopsy function can be realized;
the motor control line can independently control the rotation direction of the motor, and the control line of the electromagnet 11 independently controls the magnetic field direction of the electromagnet 11;
the image acquisition module 2 can record the video of the recorded images in the whole process through the miniature camera 22, and after the magnetic control capsule executes the task, a doctor pulls the capsule out of the body of a patient through a control line so as to carry out subsequent detection and treatment work.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (7)
1. A magnetic control capsule with active biopsy and drug delivery functions is characterized in that: the device comprises a magnetic capsule shell, and a drug applying device, a biopsy device, a power distribution mechanism, a micro motor and two rotating bodies which are arranged in the capsule shell, wherein the two rotating bodies are coaxially arranged in the capsule shell through rotating pairs respectively; the first rotating body is provided with a medicine applying cam for providing power for the medicine applying device, and the second rotating body is provided with a biopsy cam for providing power for the biopsy device;
the power distribution mechanism comprises a transmission shaft, a displacement mechanism and meshing holes respectively arranged on a first rotating body and a second rotating body, the transmission shaft is fixed on an output shaft of the micro motor, a meshing key which is positioned between the two rotating bodies and can be meshed with the meshing holes is arranged on the transmission shaft, a through hole for the transmission shaft to freely pass through is arranged on the rotating body close to one side of the micro motor, the micro motor is arranged on the displacement mechanism, the micro motor and the transmission shaft on the micro motor are driven by the displacement mechanism to move back and forth between the two rotating bodies, and therefore the transmission shaft is meshed with the meshing holes of the first rotating body or meshed with the meshing holes of the second rotating body through the meshing key;
the second rotating body is positioned between the first rotating body and the micro motor, a plurality of uniformly distributed helical teeth are axially arranged in the meshing hole, the inclination directions of the helical teeth are consistent along the circumferential direction of the meshing hole, a plurality of meshing keys are arranged on the periphery of the transmission shaft, the end parts of the meshing keys are arranged into first inclined planes which are the same as the corresponding helical teeth, and the inclination directions of the helical teeth in the meshing holes on the first rotating body and the second rotating body are opposite;
the displacement mechanism is a magnetic control displacement mechanism and specifically comprises a limiting ring, a magnet ring and an electromagnet, the limiting ring is fixedly arranged in the capsule shell, the magnet ring is fixedly sleeved on the micro motor, the micro motor or the magnet ring is arranged in the limiting ring through an axial sliding pair, the electromagnet is fixed at one end of the limiting ring, and the positions of the micro motor and the magnet ring in the limiting ring are controlled by controlling the current direction of the electromagnet, so that the transmission shaft is adjusted to be meshed with the first rotating body or the second rotating body;
the electromagnet and the micro motor are both controlled by flexible wires, the two flexible wires are integrated together, and the flexible wires are also used as traction wires of the magnetic control capsule.
2. The magnetically controlled capsule with active biopsy and drug delivery functions of claim 1, wherein: the medicine applying device is an extrudable medicine storage bin, the medicine storage bin is provided with a medicine applying hole communicated with the outside of the capsule shell, the medicine applying cam periodically extrudes the medicine storage bin in the rotating process of the first rotating body, and the medicine storage bin periodically releases stored medicines through the medicine applying hole.
3. The magnetically controlled capsule with active biopsy and drug delivery functions of claim 2, wherein: biopsy device includes biopsy needle, reset spring and the radial biopsy hole that sets up on the capsule casing, biopsy needle can be free gliding installs in biopsy hole, and reset spring installs between biopsy hole and biopsy needle afterbody, biopsy needle afterbody is just to the biopsy cam, the biopsy cam is along with the second rotor rotates the in-process periodic extrusion biopsy needle, the biopsy needle stretches out the capsule casing through biopsy hole cycle and carries out the biopsy sampling.
4. The magnetically controlled capsule with active biopsy and drug delivery functions of claim 3, wherein: the front end in the capsule shell is provided with an image acquisition module, the image acquisition module comprises a miniature circuit board, a miniature camera and an LED group, the miniature circuit board is fixed at the front end in the capsule shell, the miniature camera is installed on the miniature circuit board, and the LED group is a plurality of LED lamps installed around the miniature camera.
5. The magnetically controlled capsule with active biopsy and drug delivery functions of claim 4, wherein: the image acquisition module is in wireless communication with the outside.
6. The magnetically controlled capsule with active biopsy and drug delivery functions of claim 2, wherein: the first rotating body and the second rotating body are both a disc, an annular chute for mounting the disc is arranged at the corresponding position on the capsule shell, and balls in contact with the inner wall of the annular chute are arranged on the disc.
7. The magnetically controlled capsule with active biopsy and drug delivery functions of claim 2, wherein: the whole capsule shell is of a cylindrical structure, and the axial section is elliptical.
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| CN202110257922.0A CN113081075B (en) | 2021-03-09 | 2021-03-09 | Magnetic control capsule with active biopsy and drug delivery functions |
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| CN202110257922.0A CN113081075B (en) | 2021-03-09 | 2021-03-09 | Magnetic control capsule with active biopsy and drug delivery functions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN114271874B (en) * | 2021-12-23 | 2023-12-29 | 浙江大学 | Magnetically-driven capsule robot |
| CN115054187B (en) * | 2022-06-14 | 2023-01-03 | 北京大学深圳医院 | Sealed magnetic control capsule with power-shortage standby power supply starting function and method |
| CN115737004B (en) * | 2022-09-16 | 2023-07-04 | 中国人民解放军总医院第一医学中心 | Clinical skin biopsy ring cutter |
| CN116602605B (en) * | 2023-07-18 | 2023-10-13 | 中国人民解放军总医院第一医学中心 | Multifunctional capsule endoscope |
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| CN111035413A (en) * | 2019-12-17 | 2020-04-21 | 华中科技大学鄂州工业技术研究院 | Digestive tract sampling capsule and sampling system |
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