CN116831641A - External magnetic field driven capsule type biopsy robot - Google Patents
External magnetic field driven capsule type biopsy robot Download PDFInfo
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- CN116831641A CN116831641A CN202310984528.6A CN202310984528A CN116831641A CN 116831641 A CN116831641 A CN 116831641A CN 202310984528 A CN202310984528 A CN 202310984528A CN 116831641 A CN116831641 A CN 116831641A
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- 238000001574 biopsy Methods 0.000 title claims abstract description 125
- 239000002775 capsule Substances 0.000 title claims abstract description 68
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 238000001727 in vivo Methods 0.000 claims abstract description 4
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 40
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 9
- 239000000741 silica gel Substances 0.000 claims description 9
- 229910002027 silica gel Inorganic materials 0.000 claims description 9
- 238000010438 heat treatment Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 239000012780 transparent material Substances 0.000 claims description 3
- 210000001035 gastrointestinal tract Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 229920001296 polysiloxane Polymers 0.000 description 3
- 230000008569 process Effects 0.000 description 3
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- 208000018522 Gastrointestinal disease Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
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- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000035790 physiological processes and functions Effects 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
- A61B10/0233—Pointed or sharp biopsy 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00025—Operational features of endoscopes characterised by power management
- A61B1/00027—Operational features of endoscopes characterised by power management characterised by power supply
- A61B1/00032—Operational features of endoscopes characterised by power management characterised by power supply internally powered
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B1/06—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]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B2010/0208—Biopsy devices with actuators, e.g. with triggered spring mechanisms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
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Abstract
An external magnetic field driven capsule type biopsy robot belongs to the technical field of miniature medical robots. The invention aims at the problems that the existing capsule endoscope robot can only collect images and can not sample tissues. The robot comprises a robot body and an external magnetic field module, wherein the robot body comprises a shell, an image acquisition module, a biopsy module and an internal magnetic drive module, the biopsy module and the internal magnetic drive module are arranged in the inner cavity of the shell, and the external magnetic field module is arranged outside the shell; under the mutual interaction of the inner magnetic drive module and the outer magnetic field module, the robot body is driven to realize the axial movement along the shell and the circumferential rotation or swing along the shell, and the biopsy module is used for picking up tissues in a biopsy body; the image acquisition module is arranged in the shell and corresponds to the execution front end of the biopsy module, and is used for acquiring in-vivo tissue images. The invention is used as a capsule robot.
Description
Technical Field
The invention relates to an external magnetic field driven capsule type biopsy robot, and belongs to the technical field of miniature medical robots.
Background
Since the advent of capsule endoscopic robots, they have taken a very important share in the field of gastrointestinal examination and therapy. The capsule robot is used for taking orally and swallowing the capsule, the capsule robot enters the alimentary canal, the capsule robot performs image acquisition through an internal endoscope and transmits image information to a PC end through a wireless transmission module, and a doctor observes the image transmitted back by the capsule robot at the PC end, so that gastrointestinal diseases are checked and assisted.
The capsule endoscope robot has the advantages of easy examination, no wound, no cross infection and simple operation, and can enlarge the visual field range. As an emerging method in the field of gastrointestinal tract examination and treatment, capsule endoscope robots have bright development prospects and become an important research direction in the field of endoscope diagnosis and treatment.
Most of the current commercial capsule robots such as the pilbac SB, the pilbac ESO and the pilbac color capsule endoscopes developed by Given Imaging company of israel, the MiroCam SB capsule endoscopes developed by the korean Intromedic company, etc., cannot actively move in the gastrointestinal tract, and need to change positions by the peristaltic motion of the human digestive tract itself. Because the movement of the capsule endoscope robot cannot be controlled, not only can the condition of missed diagnosis be caused, but also long-term observation of the interested part cannot be realized. In addition, due to the passive nature of the capsule movement, the examination time may take 8-16 hours, eventually exiting the body with faeces. The discharge time is also related to the physiological state of the individual's intestinal tract. A few commercial robots such as the OMOM capsule robot developed by Chongqing Jinshan technology group can realize autonomous movement, but the function is single, and only has an image acquisition function. In many clinical application scenarios, it is difficult for a doctor to confirm a disease condition only by means of the acquired images, and especially some disease condition images have very similar characteristics, which can cause interference to the judgment of the doctor. When a doctor cannot confirm the condition, the biopsy operation is additionally required to take the living tissue for in-vitro detailed test, and the secondary biopsy clearly brings inconvenience and pain to the patient.
Disclosure of Invention
Aiming at the problem that the existing capsule endoscope robot can only collect images and can not sample tissues, the invention provides an external magnetic field driven capsule biopsy robot.
The invention relates to an external magnetic field driven capsule type biopsy robot, which comprises a robot body and an external magnetic field module, wherein the robot body comprises a shell, an image acquisition module, a biopsy module and an internal magnetic drive module,
the biopsy module and the inner magnetic drive module are arranged in the inner cavity of the shell, and the outer magnetic field module is arranged outside the shell; under the mutual interaction of the inner magnetic drive module and the outer magnetic field module, the robot body is driven to realize the axial movement along the shell and the circumferential rotation or swing along the shell, and the biopsy module is used for picking up tissues in a biopsy body;
the image acquisition module is arranged in the shell and corresponds to the execution front end of the biopsy module, and is used for acquiring in-vivo tissue images.
The capsule type biopsy robot driven by the external magnetic field comprises a shell, wherein the shell comprises a cylindrical front end cover and a cylindrical rear end cover, the cylindrical front end cover and the cylindrical rear end cover are connected to form a rear end cover inner cavity, a front end cover through hole is formed in the center of the front end of the cylindrical front end cover, and the wall of the cylindrical front end cover extends inwards along the front end cover through hole to form a biopsy needle front end guide channel; the tail end of the cylindrical front end cover is provided with a cylinder bottom, the center of the cylinder bottom is provided with a cylinder bottom through hole corresponding to the guide channel of the biopsy needle, and the outer surface of the cylinder bottom is provided with an annular boss along the periphery of the cylinder bottom through hole;
the head end of the columnar rear end cover is connected with the side wall of the cylindrical front end cover to form a rear end cover inner cavity, and the center of the bottom of the tail end is provided with a tail end guide channel which is formed by extending outwards; the inner cavity of the rear end cover is used for fixing the biopsy module.
The capsule type biopsy robot driven by the external magnetic field comprises a shell positioning annular permanent magnet and a rotary driving annular permanent magnet,
the rotary driving annular permanent magnet is positioned at the bottom of the tail end of the columnar rear end cover, and the shell positioning annular permanent magnet is positioned at the bottom of the cylindrical front end cover.
The capsule type biopsy robot driven by the external magnetic field according to the invention, the biopsy module comprises a biopsy needle, a shape memory alloy spring, a reset spring and a needle seat,
the tail end of the biopsy needle is fixed with the needle seat in an interference fit manner, and the outer surface of the needle seat is fixed with the inner ring of the rotary driving annular permanent magnet in an interference fit manner;
one end of the shape memory alloy spring is connected with one end of the needle seat, and the other end of the shape memory alloy spring is fixed on the annular boss of the cylindrical front end cover;
the periphery of the shape memory alloy spring is coaxially sleeved with a reset spring, one end of the reset spring acts on the bottom of the cylindrical front end cover, and the other end acts on the corresponding end face of the rotary driving annular permanent magnet;
the head end of the biopsy needle passes through the shape memory alloy spring, the barrel bottom of the cylindrical front end cover and the shell positioning annular permanent magnet and stretches into the guide channel at the front end of the biopsy needle.
The capsule type biopsy robot driven by the external magnetic field according to the invention further comprises a wire and a silica gel hose,
the silica gel hose is arranged in the tail end guide channel, a wire is arranged in the silica gel hose, and two ends of the wire are correspondingly connected with two ends of the shape memory alloy spring and are used for electrically heating the shape memory alloy spring.
According to the capsule type biopsy robot driven by the external magnetic field, a lead is used for heating the shape memory alloy spring, so that the initial state of the shape memory alloy spring is a precompressed state, and the biopsy needle extends out of the cylindrical front end cover; and then the lead is stopped to heat the shape memory alloy spring, and the shape memory alloy spring is recovered to an elongation state through the reset spring, so that the biopsy needle is driven to be retracted into the cylindrical front end cover.
According to the capsule type biopsy robot driven by the external magnetic field, the annular permanent magnet is rotationally driven to be equally divided into two sections along the circumferential direction, one section is magnetized to be an N pole, and the other section is magnetized to be an S pole; the outer magnetic field module swings outside the shell along the circumferential direction of the corresponding rotation driving annular permanent magnet, and the rotation driving annular permanent magnet rotates or swings along the expected direction through the action of the magnetic torque of the outer magnetic field module and the rotation driving annular permanent magnet, and drives the robot body to rotate or swing;
the external magnetic field module moves outside the shell along the axial direction of the robot body, and the external magnetic field module attracts the rotary driving annular permanent magnet to enable the rotary driving annular permanent magnet to be magnetically stressed along the expected direction and drive the robot body to move;
the shell positioning annular permanent magnet is magnetized along the axial direction, and in the precompressed state of the shape memory alloy spring, the shell positioning is realized through the attraction of the annular permanent magnet and an external magnetic field module axially arranged in front of the cylindrical front end cover.
According to the capsule type biopsy robot driven by the external magnetic field, the image acquisition module comprises a circuit board and a miniature camera, wherein the circuit board is fixed on the upper end surface of the shell positioning annular permanent magnet, the miniature camera is arranged on the upper surface of the circuit board, and the circuit board provides a power supply for the miniature camera; the front end cover is made of transparent material.
According to the capsule type biopsy robot driven by the external magnetic field, the image acquisition module further comprises an LED lamp, and the LED lamp is arranged on the upper surface of the circuit board and is provided with a power supply by the circuit board.
The capsule type biopsy robot driven by the external magnetic field comprises a cylindrical permanent magnet, wherein the cylindrical permanent magnet is magnetized along the axial direction;
the external magnetic field module is driven by the moving device to realize the position conversion corresponding to the internal magnetic driving module.
The invention has the beneficial effects that: the invention provides medical equipment, which can diagnose gastrointestinal diseases by means of the capsule type biopsy robot. The device has the active motion capability, and can sample the tissue in the biopsy body at the same time of image acquisition.
The robot has the capability of active movement through the control of an external magnetic field; compared with the existing capsule robot, the capsule robot provided by the invention can not only acquire gastrointestinal tract images in real time, but also directly sample living tissues through matching of the image acquisition module and the biopsy module. The operation flow of human tissue can be simplified, and the integration of medical equipment is realized.
Drawings
FIG. 1 is a schematic view of the overall structure of an external magnetic field driven capsule biopsy robot according to the present invention;
FIG. 2 is an exploded view of a capsule biopsy robot;
FIG. 3 is a schematic view of a motion state of a robot body; the left side of the figure is a linear motion schematic diagram of the robot body when the shape memory alloy spring is in an extension state, and the right side of the figure is a rotation schematic diagram of the robot body;
FIG. 4 is a schematic illustration of a positioning biopsy implemented by a housing positioning ring-shaped permanent magnet cooperating with an external magnetic field module when the shape memory alloy spring is in a pre-compressed state.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
The invention provides a capsule type biopsy robot driven by an external magnetic field, which is shown in the specific embodiment with reference to figures 1 to 4, and comprises a robot body and an external magnetic field module, wherein the robot body comprises a shell, an image acquisition module, a biopsy module and an internal magnetic drive module,
the biopsy module and the inner magnetic drive module are arranged in the inner cavity of the shell, and the outer magnetic field module is arranged outside the shell and is an external driving device; under the mutual interaction of the inner magnetic drive module and the outer magnetic field module, the robot body is driven to realize the axial movement along the shell and the circumferential rotation or swing along the shell, and the biopsy module is used for picking up tissues in a biopsy body;
the image acquisition module is arranged in the shell and corresponds to the execution front end of the biopsy module, and is used for acquiring in-vivo tissue images.
Further, as shown in fig. 1 and 2, the housing includes a cylindrical front end cover 1 and a cylindrical rear end cover 12, where the cylindrical front end cover 1 and the cylindrical rear end cover 12 are connected to form a rear end cover inner cavity, and the front end center of the cylindrical front end cover 1 has a front end cover through hole, and the cylinder wall of the cylindrical front end cover 1 extends inward along the front end cover through hole to form a biopsy needle front end guide channel; the tail end of the cylindrical front end cover 1 is provided with a cylinder bottom, the center of the cylinder bottom is provided with a cylinder bottom through hole corresponding to the guide channel of the biopsy needle, and the outer surface of the cylinder bottom is provided with an annular boss along the periphery of the cylinder bottom through hole; the annular boss can be used for nesting fixation of the shape memory alloy spring 6.
The head end of the columnar rear end cover 12 is connected with the side wall of the columnar front end cover 1 to form a rear end cover inner cavity, and the center of the bottom of the tail end is provided with a tail end guide channel which is formed by extending outwards; the inner cavity of the rear end cover is used for fixing the biopsy module.
In this embodiment, the guide channel at the front end of the biopsy needle can be used for guiding the extension of the biopsy needle on the one hand and for temporary preservation of the tissue sample on the other hand. The end guide channel is used for the passage of the wire 10 and the silicone hose 11.
In the embodiment, the inner magnetic driving module comprises a shell positioning annular permanent magnet 13 and a rotary driving annular permanent magnet 9,
the rotary driving annular permanent magnet 9 is positioned at the bottom of the tail end of the cylindrical rear end cover 12, and the shell positioning annular permanent magnet 13 is positioned at the bottom of the cylindrical front end cover 1.
The shell positioning annular permanent magnet 13 is used for forming magnetic interaction force with the external magnetic field module to counteract the reaction force of the biopsy needle during biopsy when the capsule type biopsy robot performs biopsy tasks; the annular permanent magnet 9 is in clearance fit with the columnar rear end cover 12 to form a linear motion pair, and can drive the linear motion and the circumferential motion of the capsule biopsy robot.
In the embodiment, through holes are formed in the center positions of the two annular permanent magnets and are used for working of the biopsy needle and passing of the guide wire.
In this embodiment, the biopsy module comprises a biopsy needle 2, a shape memory alloy spring 6, a return spring 7 and a needle seat 8,
the tail end of the biopsy needle 2 is fixed with the needle seat 8 in an interference fit manner, and the outer surface of the needle seat 8 is fixed with the inner ring of the rotary driving annular permanent magnet 9 in an interference fit manner;
one end of the shape memory alloy spring 6 is connected with one end of the needle seat 8, and the other end is fixed on an annular boss of the cylindrical front end cover 1;
the periphery of the shape memory alloy spring 6 is coaxially sleeved with a reset spring 7, one end of the reset spring 7 acts on the bottom of the cylindrical front end cover 1, and the other end acts on the corresponding end face of the rotary driving annular permanent magnet 9;
the head end of the biopsy needle 2 passes through the shape memory alloy spring 6, the barrel bottom of the cylindrical front end cover 1 and the shell positioning annular permanent magnet 13 and stretches into the guide channel of the front end of the biopsy needle. The SMA spring and the reset spring which are nested can realize the extension and retraction of the biopsy needle, and the external magnetic field can control the penetration and extraction of the biopsy needle into the biopsy tissue.
Still further, as shown in connection with fig. 1, the present embodiment further includes a wire 10 and a silicone hose 11,
the silica gel hose 11 is arranged in the tail end guide channel, the guide wire 10 is arranged in the silica gel hose 11, and two ends of the guide wire 10 are correspondingly connected with two ends of the shape memory alloy spring 6 and are used for electrically heating the shape memory alloy spring 6. By utilizing the shape memory effect of the shape memory alloy spring 6 and the cooperation of the return spring 7, the extension and retraction of the biopsy needle 2 can be realized, thereby realizing the biopsy function.
Referring to fig. 4, the wire 10 is used to heat the shape memory alloy spring 6, so that the initial state of the shape memory alloy spring 6, i.e. the SMA spring, is a pre-compressed state, and the biopsy needle 2 extends out of the cylindrical front end cover 1; then the wire 10 stops heating the shape memory alloy spring 6, and the shape memory alloy spring 6 is restored to an extension state through the return spring 7, so that the biopsy needle 2 is driven to be retracted into the cylindrical front end cover 1.
The biopsy needle 2 can select a 20G hollow fine needle to extract living tissues; the SMA spring is used as a driver of the biopsy module, and has the advantages of small size, simple control, large driving force and repeated sampling.
As an example, the rotation driving annular permanent magnet 9 is equally divided into two sections in the circumferential direction, one section is magnetized to be an N pole, and the other section is magnetized to be an S pole; the external magnetic field module swings outside the shell along the circumferential direction of the corresponding rotation driving annular permanent magnet 9, and the rotation driving annular permanent magnet 9 rotates or swings along the expected direction under the action of the magnetic torque of the rotation driving annular permanent magnet 9 and drives the robot body to rotate or swing;
the external magnetic field module moves outside the shell along the axial direction of the robot body, and attracts the rotary driving annular permanent magnet 9 to enable the rotary driving annular permanent magnet 9 to be magnetically stressed along the expected direction and drive the robot body to move; the shell positioning annular permanent magnet 13 is magnetized along the axial direction, and in the precompressed state of the shape memory alloy spring 6, the shell positioning is realized by attracting with an external magnetic field module axially arranged in front of the cylindrical front end cover 1.
In combination with FIG. 3, wherein F mag For the attraction of the external magnetic field module to the rotary drive ring permanent magnet 9, T mag Driving moment for driving rotary motion of capsule robot by rotary driving annular permanent magnet 9, T res The resistance moment applied to the capsule robot in the process of rotary motion can be known, so that the capsule robot can realize linear motion and rotary motion under the action of an external magnetic field, and the rotary motion can effectively reduce the friction force between the capsule robot and the outside (the static friction force is converted into the dynamic friction force). The method comprises the following steps:
the linear motion and swing of the robot body are realized through the interaction of the inner magnetic field module and the outer magnetic field module:
1) When the external magnetic field module moves along the axial direction of the robot body, the robot body receives F mag Is used for linear motion;
2) When the external magnetic field module swings circumferentially above the robot body along a shaft parallel to the axis of the robot body, the robot body is subjected to T mag Is subjected to swinging;
3) The linear motion of the biopsy needle is that when the robot body moves to a designated position, the biopsy needle is driven by an SMA spring to move together with the annular permanent magnet and the like which are driven by rotation, so that the extension of the biopsy needle is realized, and the biopsy is completed. At this time, the robot body is stationary.
Still further, as shown in fig. 1, the image acquisition module comprises a circuit board 5 and a miniature camera 3, wherein the circuit board 5 is fixed on the upper end surface of the shell positioning annular permanent magnet 13, the miniature camera 3 is arranged on the upper surface of the circuit board 5, and the circuit board 5 provides a power supply for the miniature camera 3; the cylindrical front end cover 1 is made of transparent material for image acquisition.
The image acquisition module further comprises an LED lamp 4, wherein the LED lamp 4 is arranged on the upper surface of the circuit board 5 and is provided with a power supply by the circuit board 5. The LED lamp 4 may provide illumination for the miniature camera 3. The image acquisition module not only can realize the observation of gastrointestinal tract conditions, but also can monitor the biopsy process in real time so as to guide the doctor to operate in real time.
As an example, the external magnetic field module includes a cylindrical permanent magnet that is magnetized in an axial direction;
the external magnetic field module is driven by a moving device, such as a six-degree-of-freedom mechanical arm, to realize position conversion corresponding to the internal magnetic drive module.
In the use process, the moving device is operated to indirectly control the motion state of the robot.
The following describes the specific operation of the present invention in detail:
1. initializing a system: according to the initial pose of the mechanical arm adjusted by the experimental object, the capsule biopsy robot is prepared for being matched with the driving of the capsule biopsy robot, the power supply of the lead 10 is turned off, and the silica gel hose is connected to the air source.
2. Image acquisition begins: after the capsule robot is orally swallowed by a patient, the image acquisition module starts to collect digestive tract information, and then transmits the digestive tract information to the external PC end for observation and analysis by a doctor, the doctor controls the pose of the mechanical arm through the feedback information control handle of the image acquisition module, and the capsule robot is controlled to actively move by utilizing the acting force of the gradient magnetic field generated by the external magnetic field module carried by the mobile device to the rotating driving annular permanent magnet 9 in the capsule robot.
3. Biopsy procedure preparation: when the biopsy is needed, a doctor controls the external magnetic field module to enable the capsule robot to move to a designated position, and adjusts the pose of the external magnetic field module according to the feedback information of the miniature camera 3 so as to enable the head of the capsule biopsy robot to be aligned to the position needing the biopsy.
4. Starting a biopsy module: the power supply is started, the SMA spring is heated by applying current through the lead 10 to enable the SMA spring to change phase and shrink, one end of the shape memory alloy spring 6 is fixed on the biopsy needle seat 8, the other end of the shape memory alloy spring is fixed on the front end cover of the capsule robot, when the needle seat 8 shrinks, the biopsy needle seat 8 is driven, the annular permanent magnet 9 is driven to slide towards the head of the capsule robot in a rotating mode, and therefore the biopsy needle 2 is pushed to extend out of the capsule.
5. Biopsy sampling begins: after the biopsy needle 2 stretches out, the gesture of the capsule robot is adjusted through the external magnetic field module, so that the needle tip of the biopsy needle 2 is opposite to the biopsy part, then the position and the direction of the external magnetic field are adjusted, and the attractive force F of the external magnetic field module to the rotary driving annular permanent magnet 9 is utilized mag A positive pressure is applied to the biopsy needle to penetrate the tissue to be sampled, as shown in fig. 4.
6. End of biopsy sampling: referring to fig. 4, after the needle of the biopsy needle is completely inserted into the tissue, the orientation of the external magnetic field module is controlled, a reverse external magnetic field is applied to the robot, the power supply of the wire 10 is disconnected to stop heating the SMA spring, cold air is introduced through the silicone hose 11 to accelerate the cooling speed of the SMA spring, and finally the biopsy needle 2 is pulled out of the tissue under the action of the external magnetic field and the reset spring 7.
7. And (3) ending the execution task: after the biopsy needle 2 is fully retracted into the capsule housing, the capsule robot pulls out of the patient. The biopsy needle 2 is removed from the capsule and attached to a syringe from which the sample is expelled and from which the physician can further test the sample collected by the biopsy needle by applying a positive pressure.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (10)
1. An external magnetic field driven capsule type biopsy robot is characterized by comprising a robot body and an external magnetic field module, wherein the robot body comprises a shell, an image acquisition module, a biopsy module and an internal magnetic drive module,
the biopsy module and the inner magnetic drive module are arranged in the inner cavity of the shell, and the outer magnetic field module is arranged outside the shell; under the mutual interaction of the inner magnetic drive module and the outer magnetic field module, the robot body is driven to realize the axial movement along the shell and the circumferential rotation or swing along the shell, and the biopsy module is used for picking up tissues in a biopsy body;
the image acquisition module is arranged in the shell and corresponds to the execution front end of the biopsy module, and is used for acquiring in-vivo tissue images.
2. The external magnetic field driven capsule biopsy robot of claim 1,
the shell comprises a cylindrical front end cover (1) and a cylindrical rear end cover (12), wherein the cylindrical front end cover (1) and the cylindrical rear end cover (12) are connected to form a rear end cover inner cavity, a front end cover through hole is formed in the center of the head end of the cylindrical front end cover (1), and the cylinder wall of the cylindrical front end cover (1) extends inwards along the front end cover through hole to form a biopsy needle front end guide channel; the tail end of the cylindrical front end cover (1) is provided with a cylinder bottom, the center of the cylinder bottom is provided with a cylinder bottom through hole corresponding to the biopsy needle guide channel, and the outer surface of the cylinder bottom is provided with an annular boss along the periphery of the cylinder bottom through hole;
the head end of the columnar rear end cover (12) is connected with the side wall of the columnar front end cover (1) to form a rear end cover inner cavity, and the center of the bottom of the tail end is provided with a tail end guide channel which is formed by extending outwards; the inner cavity of the rear end cover is used for fixing the biopsy module.
3. The external magnetic field driven capsule biopsy robot of claim 2,
the inner magnetic driving module comprises a shell positioning annular permanent magnet (13) and a rotary driving annular permanent magnet (9),
the rotary driving annular permanent magnet (9) is positioned at the bottom of the tail end of the columnar rear end cover (12), and the shell positioning annular permanent magnet (13) is positioned at the bottom of the cylindrical front end cover (1).
4. The capsule biopsy robot driven by an external magnetic field according to claim 3,
the biopsy module comprises a biopsy needle (2), a shape memory alloy spring (6), a return spring (7) and a needle seat (8),
the tail end of the biopsy needle (2) is fixed with the needle seat (8) in an interference fit manner, and the outer surface of the needle seat (8) is fixed with the inner ring of the rotary driving annular permanent magnet (9) in an interference fit manner; one end of the shape memory alloy spring (6) is connected with one end of the needle seat (8), and the other end is fixed on an annular boss of the cylindrical front end cover (1);
the periphery of the shape memory alloy spring (6) is coaxially sleeved with a reset spring (7), one end of the reset spring (7) acts on the bottom of the cylindrical front end cover (1), and the other end acts on the corresponding end face of the rotary driving annular permanent magnet (9);
the head end of the biopsy needle (2) passes through the shape memory alloy spring (6), the barrel bottom of the cylindrical front end cover (1) and the shell positioning annular permanent magnet (13) and stretches into the guide channel at the front end of the biopsy needle.
5. The external magnetic field driven capsule biopsy robot of claim 4,
also comprises a lead (10) and a silica gel hose (11),
the silica gel hose (11) is arranged in the tail end guide channel, a wire (10) is arranged in the silica gel hose (11), and two ends of the wire (10) are correspondingly connected with two ends of the shape memory alloy spring (6) and are used for electrically heating the shape memory alloy spring (6).
6. The external magnetic field driven capsule biopsy robot of claim 5,
heating the shape memory alloy spring (6) by adopting a lead (10) to enable the initial state of the shape memory alloy spring (6) to be a precompressed state, and enabling the biopsy needle (2) to extend out of the cylindrical front end cover (1); and then the lead (10) is stopped to heat the shape memory alloy spring (6), and the shape memory alloy spring (6) is recovered to an extension state through the return spring (7) to drive the biopsy needle (2) to be retracted into the cylindrical front end cover (1).
7. The external magnetic field driven capsule biopsy robot of claim 6,
the rotary driving annular permanent magnet (9) is equally divided into two sections along the circumferential direction, one section is magnetized to be N pole, and the other section is magnetized to be S pole; the external magnetic field module swings outside the shell along the circumferential direction of the corresponding rotation driving annular permanent magnet (9), and the rotation driving annular permanent magnet (9) rotates or swings along the expected direction and drives the robot body to rotate or swing under the action of the magnetic torque of the rotation driving annular permanent magnet (9);
the external magnetic field module moves outside the shell along the axial direction of the robot body, and the external magnetic field module is attracted with the rotary driving annular permanent magnet (9) to enable the rotary driving annular permanent magnet (9) to be magnetically stressed along the expected direction and drive the robot body to move;
the shell positioning annular permanent magnet (13) is magnetized along the axial direction, and in the precompressed state of the shape memory alloy spring (6), the shell positioning is realized by attracting with an external magnetic field module axially arranged in front of the cylindrical front end cover (1).
8. The external magnetic field driven capsule biopsy robot of claim 7,
the image acquisition module comprises a circuit board (5) and a miniature camera (3), wherein the circuit board (5) is fixed on the upper end face of the shell positioning annular permanent magnet (13), the miniature camera (3) is arranged on the upper surface of the circuit board (5), and the circuit board (5) provides a power supply for the miniature camera (3); the cylindrical front end cover (1) is made of transparent materials.
9. The external magnetic field driven capsule biopsy robot of claim 8,
the image acquisition module further comprises an LED lamp (4), wherein the LED lamp (4) is arranged on the upper surface of the circuit board (5) and is powered by the circuit board (5).
10. The external magnetic field driven capsule biopsy robot of claim 9,
the outer magnetic field module comprises a cylindrical permanent magnet which is magnetized along the axial direction;
the external magnetic field module is driven by the moving device to realize the position conversion corresponding to the internal magnetic driving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310984528.6A CN116831641A (en) | 2023-08-07 | 2023-08-07 | External magnetic field driven capsule type biopsy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310984528.6A CN116831641A (en) | 2023-08-07 | 2023-08-07 | External magnetic field driven capsule type biopsy robot |
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| Publication Number | Publication Date |
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| CN116831641A true CN116831641A (en) | 2023-10-03 |
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|---|---|---|---|
| CN202310984528.6A Pending CN116831641A (en) | 2023-08-07 | 2023-08-07 | External magnetic field driven capsule type biopsy robot |
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| Country | Link |
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| CN (1) | CN116831641A (en) |
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- 2023-08-07 CN CN202310984528.6A patent/CN116831641A/en active Pending
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