CN113331880B - Miniature full alimentary canal multi-position clamp type biopsy sampling device - Google Patents
Miniature full alimentary canal multi-position clamp type biopsy sampling device Download PDFInfo
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- CN113331880B CN113331880B CN202110571415.4A CN202110571415A CN113331880B CN 113331880 B CN113331880 B CN 113331880B CN 202110571415 A CN202110571415 A CN 202110571415A CN 113331880 B CN113331880 B CN 113331880B
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- push pipe
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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
- 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
- A61B1/273—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
-
- 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
Abstract
A miniature full alimentary canal multi-position forceps-type biopsy sampling device, comprising: the shell and a driving mechanism, a transmission mechanism and an operating mechanism which are arranged in the shell in sequence; the drive mechanism includes: miniature step motor, reduction gear, piston that link to each other in proper order and set up in transmission lead screw wherein: the transmission screw rod and the piston are matched through threads to convert the rotation of the micro stepping motor into the linear motion of the piston; the device can realize high-reliability multi-position biopsy sampling of the whole digestive tract, and can realize the actions of the sequential action mechanism and pull the elastic clamp to realize the clamping operation of gastrointestinal tract tissues at the specified position under the driving of the micro motor.
Description
Technical Field
The invention relates to the technology in the field of medical equipment, in particular to a miniature full-digestive tract multi-position clamp type biopsy sampling device.
Background
The existing endoscopic biopsy sampling usually realizes sampling operation through a slender catheter with a guide needle, is limited by factors such as a towline and the like, so that the detection range is usually limited to the digestive tract part which is easy to enter from the outside of the body, such as the stomach or the large intestine, and the acquisition operation of pathological tissues, such as the small intestine and the like, is more complicated, and unnecessary psychological pressure and pain are brought to a patient when open biopsy sampling or percutaneous puncture biopsy sampling is performed during sampling or by adopting an operation. The capsule endoscopy technology avoids the problems, has the characteristics of no towline, small volume, no wound and the like, but the prior related research usually focuses on image acquisition and transmission or single-position biopsy sample acquisition in the alimentary tract, and is limited by the volume of the capsule endoscopy, so an effective multi-position tissue biopsy sampling device module is not available.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the miniature full-alimentary-tract multi-position clamp type biopsy sampling device, which can prevent a sampling sample from being polluted by driving the biopsy sampling device to act through an in-vitro control instruction so as to ensure the effectiveness of the alimentary-tract biopsy sampling sample.
The invention is realized by the following technical scheme:
the invention relates to a miniature whole digestive tract multi-position clamp type biopsy sampling device which is arranged in a capsule endoscope robot and comprises: the shell, and a driving mechanism, a transmission mechanism and an operating mechanism which are arranged in the shell in sequence.
The drive mechanism includes: the miniature step motor, reduction gear, the piston that link to each other in proper order and set up the drive screw wherein: the transmission lead screw and the piston are matched through threads to convert the rotation of the micro stepping motor into the linear motion of the piston.
The transmission mechanism comprises: go up the ejector sleeve, push down pipe, spring holder, push rod disk seat and main spring, wherein: the spring seat sets up in the device front end position and links to each other with the device shell, and the push rod disk seat sets up in the device intermediate position and contacts with the device shell, and main spring sets up between push tube and the spring seat down and links to each other with the two, and push tube constitute cockscomb structure and inlay the combination down, and the piston promotes cockscomb structure and inlays the combination and move down, because on the push tube protruding and push tube cover card slot restraint relation make the push tube can only follow the draw-in groove downstream.
The operating mechanism comprises: consecutive push rod valve, elasticity core bar and elasticity clamp, wherein: the outside of the elastic core rod is provided with a push rod spring which pushes a push rod valve together with a push rod of the lower push pipe to act on the elastic core rod to push the elastic clamp out, so that the elastic clamp is opened and is close to the part to be sampled in the alimentary canal.
The rear end of the device is provided with a push pipe sleeve, the push pipe sleeve, an upper push pipe and a lower push pipe form a sequential rotating structure, and the upper push pipe rotates for an angle and is opposite to a next push rod valve every time the micro stepping motor rotates forwards and backwards to prepare for the next sequential action.
Technical effects
The invention integrally solves the defect that the existing capsule endoscope robot technology can not realize multi-position tissue biopsy sampling; compared with the prior art, the capsule endoscope robot has the advantages that the capsule endoscope robot is supported to realize the full digestive tract multi-position biopsy sampling function, and the function of preventing the sample collected by the capsule endoscope robot from being polluted can be realized.
Description of the drawings:
FIG. 1 is a schematic view of a capsule endoscopic robotic system with a full alimentary canal multi-position clamp-on biopsy sampling device;
in the figure: the system comprises a capsule endoscope robot shell, a capsule endoscope robot transmitting and receiving antenna 2, a radio frequency transceiver 3, a wireless energy receiving module 4, a rectifying and controlling circuit 5, a miniature supplementary lighting lamp 6, an image sensor 7, a multi-position clamp type biopsy sampling device 8, a transparent cover 9, a silica gel protective cover 10 and a wireless energy transmitting module 11, wherein the capsule endoscope robot shell is connected with the wireless energy receiving module through a wireless energy transmission module;
FIG. 2 is a cross-sectional view of the apparatus of the present invention;
FIG. 3 is an external view of the apparatus of the present invention;
in the figure: 12 device shells, 13 micro stepping motors, 14 reducers, 15 pistons, 16 pushing pipes, 17 pushing pipe sleeves, 18 pushing rod valves, 19 pushing rod springs, 20 spring seats, 21 elastic core rods, 22 elastic clamps, 23 device front ends, 24 pushing rod valve seats, 25 main springs, 26 pushing pipes and 27 transmission lead screws;
fig. 4 is a structural diagram of a sequential action mechanism of a capsule endoscope robot.
The specific implementation mode is as follows:
as shown in fig. 1, the present embodiment relates to a capsule endoscopic robotic system with a full digestive tract multi-position clamp-on biopsy sampling device, comprising: the multi-position clamp type biopsy sampling device 8 is arranged on a capsule endoscope robot shell 1 and used for realizing sequential sampling and bringing the sampling to the outside of a body for pathological analysis, a wireless energy transmitting module 11 used for generating an alternating magnetic field is arranged outside the capsule endoscope robot shell 1, and a wireless energy receiving module 4 used for generating induced potential is arranged inside the capsule endoscope robot shell.
The capsule endoscopy robot shell 1 in further be equipped with rectification and control circuit 5 and the transmitting and receiving antenna 2, the radio frequency transceiver 3, miniature light filling lamp 6 and the image sensor 7 that link to each other with it, wherein: the rectification and control circuit 5 is used for rectifying and filtering the induced potential and then supplying the induced potential to each functional module embedded in the capsule endoscope robot for use, and the transmitting and receiving antenna 3 is used for receiving external signals or transmitting acquired sensor data such as vision and the like to the outside of a body. The radio frequency transceiver 3 realizes the synthesis of the transmitted signal, and receives, demodulates and modulates the received signal; the miniature light supplement lamp 6 provides illumination for the image sensor when moving in the alimentary canal.
The capsule endoscope robot shell 1 comprises a transparent cover 9 and a silica gel protection cover 10, and has the functions of protecting and fixing all modules in the capsule endoscope robot.
As shown in fig. 2, the multi-position clamp biopsy sampling device 8 includes: a housing 12 and a drive mechanism, a transmission mechanism and an operating mechanism arranged in sequence inside the housing.
The drive mechanism includes: the miniature step motor 13, reduction gear 14, piston 15 that link to each other in proper order and set up drive screw 27 wherein: the drive screw 27 and the piston 15 are in threaded engagement to convert the rotation of the micro stepper motor 13 into linear motion of the piston 15.
The transmission mechanism comprises: push-up tube 26, push-down tube 16, spring seat 20, push-rod valve seat 24, and main spring 25, wherein: the spring seat 20 is arranged at the front end of the device and connected with the device shell 12, the push rod valve seat 24 is arranged at the middle position of the biopsy sampling device and contacted with the device shell 12, the main spring is arranged between the lower push tube 16 and the spring seat 20 and connected with the lower push tube and the spring seat, the upper push tube 26 and the lower push tube 16 form a zigzag insertion combination, the piston 15 pushes the zigzag insertion combination to move downwards, and the lower push tube 16 can only move downwards along the clamping groove due to the constraint relation between the upper protrusion of the upper push tube 26 and the clamping groove of the push tube sleeve 17.
As shown in fig. 4, the back end of the biopsy sampling device is provided with a push pipe sleeve 17, the push pipe sleeve 17, an upper push pipe 26 and a lower push pipe 16 form a sequential rotation structure, and the upper push pipe 26 rotates for an angle and faces the next push rod valve 18 every time the micro stepping motor 13 rotates forwards and backwards to prepare for the next sequential action.
The operating mechanism comprises: the push rod valve 18, the elastic core rod 21 and the elastic clamp 22 are connected in sequence, wherein: the outside of the elastic core rod 21 is provided with a push rod spring 19, the push rod part fixed with the lower push pipe 16 pushes the push rod valve 18, and the push rod spring acts on the elastic core rod 21 to push the elastic clamp 22 out, so that the elastic clamp 22 is opened and is close to the part to be sampled in the alimentary canal.
When the piston 15 runs to the top end of the clamping groove of the push pipe sleeve 17, the micro stepping motor 13 rotates reversely, under the combined action of the slide block structure on the surface of the upper push pipe 26, the sawtooth-shaped groove at the end part and the main spring 25, the lower push pipe 16 rotates for a certain angle and is pushed into the next sliding groove of the push pipe sleeve 17, the push rod part fixed by the lower push pipe 16 is opposite to the next push rod valve 18, wherein the push rod valves 18 are uniformly distributed along the circumferential direction and keep the same with the sampling number, and each push rod valve 18 drives one elastic core rod 21. When the micro stepping motor 13 reaches the top end of the clamping groove of the push pipe sleeve 17 and rotates reversely, under the action of the elastic core rod, the push rod valve 18 resets and drives the elastic core rod 21 to rebound, and the elastic clamp 22 is pulled to clamp and take the gastrointestinal tract tissues.
Through specific practical experiments, under the condition of simulating the environment of the whole digestive tract, the capsule endoscope robot biopsy sampling device is operated, so that the tissue sample on the inner wall of the digestive tract can be smoothly clamped, the biopsy sampling is effectively prevented from being polluted, and the multi-position biopsy sampling is realized. Compared with the prior art, the device provides driving force through the micro stepping motor 13, the upper push tube 26, the lower push tube 16, the push tube sleeve 17 and the main spring 25 are matched with each other, and can sequentially drive the elastic core rods 21 and the elastic clamp 22 to finish clamping action, so that the multi-position tissue biopsy sampling of the capsule endoscope robot in a narrow environment in the alimentary canal is realized; after the clamping action is finished, under the action of the push rod spring 19, the elastic core rod 21 resets, the elastic clamp 22 is pulled, the front end 23 of the device retracts, the silica gel protective cover 10 is closed, the device is isolated from the outside, and the sampling is prevented from being polluted.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. The utility model provides a miniature full alimentary canal multiposition pincers formula biopsy sampling device, places in capsule scope robot inside which characterized in that includes: the shell, and a driving mechanism, a transmission mechanism and an operating mechanism which are arranged in the shell in sequence;
the driving mechanism comprises: miniature step motor, reduction gear, piston that link to each other in proper order and set up in transmission lead screw wherein: the transmission screw rod and the piston are matched through threads to convert the rotation of the micro stepping motor into the linear motion of the piston;
the transmission mechanism comprises: go up the ejector sleeve, push down pipe, spring holder, push rod disk seat and main spring, wherein: the spring seat is arranged at the front end of the device and connected with the shell of the device, the push rod valve seat is arranged at the middle position of the device and contacted with the shell of the device, the main spring is arranged between the lower push pipe and the spring seat and connected with the lower push pipe and the spring seat, the upper push pipe and the lower push pipe form a zigzag insertion combination, the piston pushes the zigzag insertion combination to move downwards, and the lower push pipe can only move downwards along the clamping groove due to the constraint relation between the upper protrusion of the upper push pipe and the clamping groove of the push pipe sleeve;
the rear end of the device is provided with a push pipe sleeve, the push pipe sleeve, an upper push pipe and a lower push pipe form a sequential rotating structure, and the upper push pipe rotates for an angle and is opposite to the next push rod valve every time the micro stepping motor rotates forwards and backwards to prepare for the next sequential action;
the operating mechanism comprises: consecutive push rod valve, elasticity core bar and elasticity clamp, wherein: the outside of the elastic core rod is provided with a push rod spring which pushes a push rod valve together with a push rod of the lower push pipe to act on the elastic core rod to push the elastic clamp out, so that the elastic clamp is opened and is close to the part to be sampled in the alimentary canal.
2. The micro whole digestive tract multi-position clamp type biopsy sampling device according to claim 1, wherein the capsule endoscopic robot comprises: the multi-position clamp type biopsy sampling device is arranged on a capsule endoscope robot shell and used for realizing sequential sampling and bringing the sampling to the outside of a body for pathological analysis, a wireless energy transmitting module used for generating an alternating magnetic field is arranged outside the capsule endoscope robot shell, and a wireless energy receiving module used for generating induced potential is arranged inside the capsule endoscope robot shell.
3. The micro full alimentary canal multi-position clamp-on biopsy sampling device according to claim 2, wherein said capsule endoscopic robot housing further comprises a rectifying and control circuit and a transmitting and receiving antenna, a radio frequency transceiver, a micro fill-in light and an image sensor connected thereto, wherein: the rectification and control circuit rectifies and filters the induced potential and then supplies the rectified and filtered induced potential to each functional module embedded in the capsule endoscope robot for use, the transmitting and receiving antenna receives external signals or transmits acquired image sensor data to the outside of the body, and the radio frequency transceiver realizes synthesis of transmitted signals, reception, demodulation and modulation of received signals; when the capsule endoscope robot moves in the alimentary canal, the micro light supplement lamp provides illumination for the image sensor.
4. The micro full alimentary canal multi-position clamp-on biopsy sampling device according to claim 2, wherein said capsule-endoscopic robot housing includes a transparent cover and a silicone protective cover, functioning to protect and secure the modules within the capsule-endoscopic robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110571415.4A CN113331880B (en) | 2021-05-25 | 2021-05-25 | Miniature full alimentary canal multi-position clamp type biopsy sampling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110571415.4A CN113331880B (en) | 2021-05-25 | 2021-05-25 | Miniature full alimentary canal multi-position clamp type biopsy sampling device |
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| CN113331880A CN113331880A (en) | 2021-09-03 |
| CN113331880B true CN113331880B (en) | 2023-01-20 |
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