CN117958873A - Magnetic control intragastric biopsy puncture robot based on Kresling paper folding and working method thereof - Google Patents
Magnetic control intragastric biopsy puncture robot based on Kresling paper folding and working method thereof Download PDFInfo
- Publication number
- CN117958873A CN117958873A CN202410151250.9A CN202410151250A CN117958873A CN 117958873 A CN117958873 A CN 117958873A CN 202410151250 A CN202410151250 A CN 202410151250A CN 117958873 A CN117958873 A CN 117958873A
- Authority
- CN
- China
- Prior art keywords
- puncture
- needle
- kresling
- biopsy
- folding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001574 biopsy Methods 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims abstract description 8
- 239000002131 composite material Substances 0.000 claims abstract description 6
- 239000002775 capsule Substances 0.000 claims description 25
- 210000002784 stomach Anatomy 0.000 claims description 14
- 230000003902 lesion Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 230000035515 penetration Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 210000001035 gastrointestinal tract Anatomy 0.000 claims description 7
- 239000011127 biaxially oriented polypropylene Substances 0.000 claims description 5
- 229920006378 biaxially oriented polypropylene Polymers 0.000 claims description 5
- 230000006870 function Effects 0.000 claims description 5
- 230000000670 limiting effect Effects 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- CDBYLPFSWZWCQE-UHFFFAOYSA-L Sodium Carbonate Chemical compound [Na+].[Na+].[O-]C([O-])=O CDBYLPFSWZWCQE-UHFFFAOYSA-L 0.000 claims description 3
- 238000013527 convolutional neural network Methods 0.000 claims description 3
- 238000013135 deep learning Methods 0.000 claims description 3
- 230000035622 drinking Effects 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 2
- 238000004043 dyeing Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 239000011092 plastic-coated paper Substances 0.000 claims 1
- 206010028980 Neoplasm Diseases 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000002985 plastic film Substances 0.000 description 4
- 229920006255 plastic film Polymers 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000004873 anchoring Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002380 cytological effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The invention provides a magnetic control intragastric biopsy puncture robot based on Kresling paper folding and a working method thereof, which comprises a folding and unfolding assembly, a puncture assembly, a driving magnet and an image acquisition assembly, wherein the puncture assembly is positioned in the folding and unfolding assembly, the driving magnet and the image acquisition assembly are both arranged on a tail end plate of the folding and unfolding assembly, the driving magnet is controlled to move through an electromagnet at the tail end of a mechanical arm, the current intensity of the electromagnet is changed to realize the telescopic rotation of the folding and unfolding assembly, the folding and unfolding assembly can radially rotate while the biopsy puncture is axially telescopic through the composite structure arrangement of an inner quadrilateral unit and an outer hexagonal unit, and the puncture needle is retracted by utilizing the elastic restoring force of a Kresling paper folding mechanism after the puncture is finished, and the puncture needle moves linearly under the action of a guide plate and a needle sleeve.
Description
Technical Field
The invention relates to the technical field of puncture robots, in particular to a magnetron intragastric biopsy puncture robot based on Kresling paper folding and a working method thereof.
Background
Medical technology has evolved toward minimally invasive diagnostics and therapy, capsule endoscopic robots represent an important innovation in the medical field that enables endoscopic examination without performing expensive and invasive procedures. Most of the current capsule robots only have an image acquisition function, thereby limiting the clinical application of the capsule robots. Therefore, researchers at home and abroad have carried out related researches on the diagnosis and treatment functions of the capsule robot, such as biopsy, targeted drug delivery, environment detection, hemostasis, anchoring and the like.
Patent CN202210493922.5 discloses a non-same trace capsule-shaped biopsy robot based on a multi-axis linkage mechanism, which comprises a blade, a small motor, a main motor, a pressure spring, an electromagnet, a non-same trace multi-linkage mechanism and the like, wherein the main motor is used for controlling the non-same trace multi-linkage mechanism, so that the telescopic movement and the opening and closing movement of a sampling clamp in the non-same trace multi-linkage mechanism are realized, and a series of actions of movement, parking, sampling and unloading of the sampling clamp are realized. Patent CN202010685920.7 discloses a magnetically controlled active motion biopsy capsule robot and a working method thereof, comprising a magnetic switch, a movable main body part, an immovable main body part, an anchoring mechanism, a biopsy mechanism and a capsule head. The magnetic moment generated by coupling the external magnetic field and the built-in magnet of the capsule robot is converted into biopsy cutting force on the premise of not increasing extra energy consumption of the capsule robot, so that detection is realized.
Most of the existing biopsy puncture robots acquire tissues in a clamping and scraping mode, and the like, and the defect is that only surface biopsy samples can be acquired, submucosal tumors in gastrointestinal tracts are difficult to detect, diagnosis accuracy is reduced, radial rotation cannot be realized in the puncture process, and puncture accuracy is low, so that it is necessary to design a magnetic control intragastric biopsy puncture robot based on Kresling paper folding and a working method of the magnetic control intragastric biopsy puncture robot.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a magnetron intragastric biopsy puncture robot based on Kresling paper folding, which is characterized in that the folding unit can radially rotate while the biopsy puncture is axially stretched through the composite structure arrangement of an inner quadrilateral unit and an outer hexagonal unit, the puncture needle is retracted by utilizing the elastic restoring force of a Kresling paper folding mechanism after the puncture is finished, and the puncture needle moves linearly under the action of a guide plate and a needle sleeve, and the FNC capillary biopsy puncture technology is adopted, so that the puncture needle is driven to reciprocate inside and outside gastric tissues through the sine change of axial magnetic force, the detection of deeper areas of submucosal tumors in gastrointestinal tracts is realized, and the puncture biopsy puncture precision is effectively improved.
The invention provides a magnetic control stomach biopsy puncture robot based on Kresling paper folding, which comprises a folding and unfolding assembly, a puncture assembly, a driving magnet and an image acquisition assembly, wherein the puncture assembly is positioned in the folding and unfolding assembly, the driving magnet is arranged on a base of the folding and unfolding assembly, the image acquisition assembly is arranged on a tail end plate of the folding and unfolding assembly, the driving magnet is controlled to move through an electromagnet at the tail end of a mechanical arm, the current intensity of the electromagnet is changed to realize the telescopic rotation of the folding and unfolding assembly, the folding and unfolding assembly comprises a Kresling paper folding mechanism, a tail end plate, a base and a tether ring, the Kresling paper folding mechanism comprises an inner quadrilateral unit and an outer hexagon unit, the outer hexagon unit is sleeved on the outer layer of the inner quadrilateral unit, two ends of the inner quadrilateral unit are respectively connected with a needle seat and a base of the puncture assembly, two ends of the outer hexagon unit are respectively fixedly connected with the tail end plate and the base, the inner quadrilateral unit and the outer hexagon unit respectively comprise a plurality of triangles which are sequentially connected in a rotary mode, the inner quadrilateral unit is in an initial rectangular panel state, the initial rectangular panel is in a state, the bottom plate is in a third side panel, the initial rectangular panel is in a state, the bottom panel is in a third side panel and a third side panel is in a rotary state, the bottom panel is in a third side panel and a fourth side panel is in a side panel state in a rotary state, the bottom panel is in a third side panel is in a side panel and a side panel is in a side panel state in a side panel and a side panel is in a side panel, and a side panel is in a side panel state in a side panel is in a side panel; the puncture assembly is provided with a puncture needle and a puncture needle, the needle comprises a puncture needle, a needle sleeve, a needle seat and a guide plate, wherein the first end of the puncture needle is arranged in the needle seat in a penetrating way, the puncture needle is in interference fit with the needle seat, the second end of the puncture needle passes through a limiting hole in the middle of the guide plate and is inserted into the needle sleeve, the puncture needle moves linearly under the action of the guide plate and the needle sleeve, and the periphery of the guide plate is connected with the inner wall of the outer hexagon unit in a matching way; through interior quadrangle unit with outer hexagon unit composite construction sets up, makes the exhibition subassembly of rolling over can radial rotation when axial flexible in the biopsy puncture, through the sinusoidal variation drive pjncture needle of axial magnetic force inside and outside the stomach tissue reciprocating motion, after the puncture finishes through Kresling paper folding mechanism self elasticity restoring force makes the rapid withdrawal of pjncture needle.
Preferably, the image acquisition assembly comprises a controller, an LED lamp, a camera and a contact ring, wherein the controller is arranged on the end plate, the LED lamps are circumferentially arrayed around the needle sleeve, and the contact ring is arranged at the middle position of the end plate.
Preferably, the Kresling paper folding mechanism is formed by folding double-layer BOPP plastic film paper.
Preferably, the puncture needle is a hypodermic needle with an outer diameter of 0.55mm and an inner diameter of 0.3 mm.
Preferably, the first revolute pair is Gu Shehen, the second revolute pair is a peak crease, and the third revolute pair is a cutting line. The rotation angle ranges of the first revolute pair and the second revolute pair are 0-90 degrees, and the rotation angles of the first revolute pair and the second revolute pair are opposite.
Preferably, the tip plate, the base and the guide plate are all regular polygon structures.
In a second aspect, the invention also provides a working method for a Kresling paper folding-based magnetic control intragastric biopsy puncture robot, which comprises the following steps:
S1, folding the folding and unfolding assembly and sealing the folding and unfolding assembly into ice capsules, and adjusting the pose of the tail end of the mechanical arm according to the pose of a person to be detected;
S2, biopsy preparation: drinking soda water and taking ice capsules, after the ice capsules are melted, moving the capsules around in the stomach under the guidance of a mechanical arm, imaging and checking the stomach wall, collecting digestive tract information through an image acquisition assembly, driving a tip plate to move to a suspicious lesion through an electromagnet at the tail end of the mechanical arm by driving a magnet through real-time feedback of a positioning camera, and adjusting a puncture needle to be aligned to a part to be detected;
s3, biopsy puncture process: generating a sinusoidal magnetic field by controlling the current intensity of an electromagnet at the tail end of the mechanical arm, driving a puncture needle to be continuously inserted into a part to be tested for 5-10 times by using a driving magnet, and if a plurality of suspected lesions are found, performing biopsy puncture on each position in sequence;
S4, ending the biopsy process: the electromagnet at the tail end of the mechanical arm is powered off, the driving magnet is not driven, the self elasticity of the Kresling paper folding mechanism is recovered to an initial stretching state, the puncture needle is separated from the tissue, and an operator withdraws the capsule through the tether ring on the base;
S5, tissue detection: taking out the biopsy puncture needle and the needle seat, connecting the biopsy puncture needle and the needle seat to a syringe, pressing the syringe to obtain tissue in the puncture needle head, smearing and dyeing the taken tissue, fixing the tissue on a microscope slide, and sending the tissue to a cytology center for detection.
Preferably, in the step S2, the camera captures whether the puncture needle is in contact with the puncture site during the initial descent, and if not, a transverse magnetic field is applied for adjustment.
Preferably, in step S2, the training set of lesion data is trained by combining a camera in the image acquisition assembly with a convolutional neural network in deep learning, and loss judgment is performed by a cross entropy function, so as to assist in detecting lesions.
Compared with the prior art, the invention has the following advantages:
1. The magnetic control intragastric biopsy puncture robot based on Kresling paper folding ensures that the folding and unfolding assembly can radially rotate while the biopsy puncture is axially telescopic through the matching arrangement of the inner quadrilateral unit and the outer hexagonal unit, and the puncture needle moves linearly under the action of the guide plate and the needle sleeve, so that the problems of needle bending and the like caused by the influence of deflection force on the puncture needle are solved.
2. According to the magnetron intragastric biopsy puncture robot based on Kresling paper folding, the Kresling paper folding mechanism is double-layer BOPP plastic film-coated paper, and after the puncture is finished, the puncture needle is retracted by utilizing the elastic restoring force of the Kresling paper folding mechanism, so that the condition that a capsule suddenly leaves a stomach wall and is instantly out of control when the magnetic field is retracted is prevented, and the operation safety is improved.
3. The magnetron intragastric biopsy puncture robot based on Kresling paper folding adopts FNC Mao Xihuo biopsy puncture technology, drives the puncture needle to reciprocate inside and outside stomach tissues through sinusoidal change of axial magnetic force, realizes detection of deeper areas of submucosal tumors in gastrointestinal tracts, and improves biopsy puncture precision.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a magnetron intragastric biopsy penetration robot based on Kresling folds;
FIG. 2 is a schematic cross-sectional view of a Kresling fold paper-based magnetically controlled intragastric biopsy penetration robot of the present invention;
FIG. 3 is a schematic diagram of the internal structure of a Kresling fold paper-based magnetic control intragastric biopsy penetration robot of the present invention;
FIG. 4 is a schematic illustration of the folded state of the magnetron intragastric biopsy penetration robot based on Kresling fold paper of the present invention;
FIG. 5 is a schematic top view of an image acquisition assembly in a Kresling fold paper-based magnetic controlled intragastric biopsy penetration robot of the present invention;
FIG. 6 is a schematic illustration of a magnetic control intragastric biopsy puncture robot of the present invention in a collapsed state based on Kresling fold paper;
FIG. 7 is a schematic diagram of an initial deployment state of a Kresling paper folding mechanism in a Kresling paper folding-based magnetic controlled intragastric biopsy puncture robot according to the present invention;
FIG. 8 is a flow chart of the method of operation of the present invention for a magnetic controlled intragastric biopsy penetration robot based on Kresling fold paper.
The main reference numerals:
The folding and unfolding assembly 1, the kresling paper folding mechanism 11, the inner quadrangular unit 111, the first panel 113, the second panel 114, the third panel 115, the fourth panel 116, the outer hexagonal unit 112, the end plate 12, the base 13, the tether loop 14, the puncture assembly 2, the puncture needle 21, the needle sleeve 22, the needle holder 23, the guide plate 24, the driving magnet 3, the controller 41, the led lamp 42, the camera 43 and the contact loop 44.
Detailed Description
In order to make the technical content, the structural features, the achieved objects and the effects of the present invention more detailed, the following description will be taken in conjunction with the accompanying drawings.
The invention discloses a Kresling paper folding-based magnetic control intragastric biopsy puncture robot, which comprises a folding and unfolding assembly 1, a puncture assembly 2, a driving magnet 3 and an image acquisition assembly 4, wherein the puncture assembly 2 is positioned in the folding and unfolding assembly 1, the driving magnet 3 is arranged on a base 13 of the folding and unfolding assembly 1, the image acquisition assembly 4 is arranged on a tail end plate 12 of the folding and unfolding assembly 1, the driving magnet 3 is controlled to move through an electromagnet at the tail end of a mechanical arm, and the current intensity of the electromagnet is changed to realize telescopic rotation of the folding and unfolding assembly 1.
As shown in fig. 2, the folding assembly 1 comprises Kresling paper folding mechanism 11, end plate 12, base 13 and tether ring 14, the kresling paper folding mechanism 11 is formed by folding double-layer BOPP plastic film paper, kresling paper folding mechanism 11 comprises inner quadrilateral unit 111 and outer hexagonal unit 112, outer hexagonal unit 112 is sleeved on the outer layer of inner quadrilateral unit 111, two ends of inner quadrilateral unit 111 are respectively connected with needle seat 22 and base 13, two ends of outer hexagonal unit 12 are respectively fixedly connected with end plate 12 and base 13, tether ring 14 is arranged at the bottom end of base 13, kresling paper folding mechanism 11 is formed by folding double-layer BOPP plastic film paper, and puncture needle 21 is retracted by utilizing elastic restoring force of Kresling paper folding mechanism 11 after puncture is finished, so that when magnetic field needle retraction is prevented, capsules are suddenly separated from stomach wall and lose control instantly, and operation safety is improved.
As shown in fig. 3 and 4, the puncture assembly 2 comprises a puncture needle 21, a needle sleeve 22, a needle seat 23 and a guide plate 24, wherein a first end of the puncture needle 21 is penetrated in the needle seat 23, the puncture needle 21 is in interference fit with the needle seat 23, a second end of the puncture needle 21 passes through a limiting hole 241 in the middle of the guide plate 24 and is inserted in the needle sleeve 22, the puncture needle 21 moves linearly under the action of the guide plate 24 and the needle sleeve 22, and the circumferential side of the guide plate 24 is connected with the inner wall of the outer hexagon unit 112 in a matched manner; the tip plate 12, the base 13 and the guide plate 24 are all regular polygon structures, the shapes of which correspond to Kresling hexagon paper folding structures, and after the robot is swallowed, or when a tether attached to the robot is recovered, the pressure applied to two sides of the robot by esophageal peristalsis is prevented, so that the radial collapse of the robot is caused, and the adaptability is improved. The biopsy needle 21 is limited by the double layer guide plate 24 and the needle sleeve 22, thereby ensuring that the biopsy needle realizes vertical movement in the process of puncturing and improving the accuracy of puncturing. The initial position of the needle 21 is located within the needle sheath and maintains the limiting effect of the needle sleeve 22 on the needle 21 at all times, thereby ensuring that the needle 21 does not deflect. Through the composite structure arrangement of the inner quadrangular unit 111 and the outer hexagonal unit 112, the folding and unfolding assembly 1 can radially rotate while axially stretching in biopsy puncture, the puncture needle 21 is driven to reciprocate inside and outside stomach tissues through sinusoidal change of axial magnetic force, and after the puncture is finished, the puncture needle 21 is quickly retracted through elastic restoring force of the Kresling paper folding mechanism 11.
As shown in fig. 5, the image acquisition assembly includes a controller 41, LED lamps 42, a camera 43 and a contact ring 44, the controller 41 is disposed on the tip plate 12, the LED lamps 42 are circumferentially arrayed around the needle sleeve 22, and the contact ring 44 is disposed at an intermediate position of the tip plate 12, so that the camera 43 can capture the motion during biopsy puncture.
As shown in fig. 6 and 7, each of the inner quadrilateral unit 111 and the outer hexagonal unit 112 includes a plurality of triangles which are sequentially connected in a rotating manner, the inner quadrilateral unit 111 has a rectangular structure in an initial extended state, the outer hexagonal unit 112 has a parallelogram structure in an initial extended state, the inner quadrilateral unit 111 includes a first panel 113, a second panel 114, a third panel 115 and a fourth panel 116, the first panel 113, the second panel 114, the third panel 115 and the fourth panel 116 are all triangular, a bottom edge of the first panel 113 is connected with a bottom edge of the second panel 114 through a first revolute pair R1, a side edge of the second panel 114 is connected with a side edge of the third panel 115 through a second revolute pair R2, the first revolute pair R1 is Gu Shehen, the second revolute pair R2 is a peak crease, and the third revolute pair R3 is a cutting line. The rotation angle ranges of the first revolute pair R1 and the second revolute pair R2 are 0-90 degrees, the rotation angles of the first revolute pair R1 and the second revolute pair R2 are opposite, and the bottom edge of the third panel 115 is connected with the bottom edge of the fourth panel 116 through the third revolute pair R3.
As shown in fig. 8, the working method for the magnetic control intragastric biopsy puncture robot based on Kresling paper folding comprises the following steps:
s1, folding and unfolding the assembly 1, and sealing the assembly into ice capsules by ice, and adjusting the pose of the tail end of the mechanical arm according to the pose of a person to be detected.
S2, biopsy preparation: drinking soda water and taking ice capsules, after the ice capsules are melted, moving the capsules around in the stomach under the guidance of a mechanical arm, imaging and checking the stomach wall, collecting digestive tract information through an image acquisition assembly, driving a tail end plate 12 to a suspicious lesion by an electromagnet at the tail end of the mechanical arm through a driving magnet 3 by real-time feedback of a positioning camera 43, and adjusting a puncture needle 21 to be aligned to the part to be detected; the camera 43 captures whether the puncture needle 21 is in contact with the puncture site during the initial descent, and if not, a transverse magnetic field is applied for adjustment. The lesion data training set is trained by combining the camera 43 in the image acquisition assembly with a convolutional neural network in deep learning, and loss judgment is performed by a cross entropy function, so that the lesion detection system is used for assisting in detecting lesions.
S3, biopsy puncture process: the current intensity of the electromagnet at the tail end of the mechanical arm is controlled to generate a sinusoidal magnetic field, the driving magnet 3 drives the puncture needle 21 to be continuously inserted into the part to be tested for 5-10 times, and if a plurality of suspected lesions are found, biopsy puncture is sequentially carried out on each position.
S4, ending the biopsy process: the electromagnet at the tail end of the mechanical arm is powered off, the driving magnet 3 is not driven, the self elasticity of the Kresling paper folding mechanism 11 is restored to the initial extension state, the puncture needle 21 is separated from the tissue, and an operator withdraws the capsule through the rope tying ring 14 on the base 13.
S5, tissue detection: the biopsy needle 21 and the needle holder 23 are taken out and connected to a syringe, the syringe is pressed to obtain the tissue in the head of the needle 21, and the taken tissue is smeared and stained, fixed on a microscope slide, and sent to a cytological center for detection.
According to the invention, through the composite structure arrangement of the inner quadrilateral unit 111 and the outer hexagonal unit 112, the folding unit 1 can radially rotate while the biopsy puncture axially stretches, after the puncture is finished, the puncture needle 21 is rapidly retracted by utilizing the elastic restoring force of the Kresling paper folding mechanism 11, the puncture needle 21 moves linearly under the action of the guide plate 24 and the needle sleeve 22, the FNC capillary biopsy puncture technology is adopted, the puncture needle 21 is driven to reciprocate inside and outside stomach tissues through the sine change of axial magnetic force, the detection of a deeper region of submucosal tumor in the gastrointestinal tract is realized, and the biopsy puncture precision is effectively improved.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (9)
1. A magnetic control intragastric biopsy puncture robot based on Kresling paper folding is characterized by comprising a folding component, a puncture component, a driving magnet and an image acquisition component, wherein the puncture component is positioned in the folding component, the driving magnet is arranged on a base of the folding component, the image acquisition component is arranged on a tail end plate of the folding component, the driving magnet is controlled to move by an electromagnet at the tail end of a mechanical arm, the current intensity of the electromagnet is changed to realize the telescopic rotation of the folding component,
The folding and unfolding assembly comprises a Kresling paper folding mechanism, a terminal plate, a base and a tether ring, wherein the Kresling paper folding mechanism comprises an inner quadrilateral unit and an outer hexagon unit, the outer hexagon unit is sleeved on the outer layer of the inner quadrilateral unit, two ends of the inner quadrilateral unit are respectively connected with a needle seat and the base of the puncture assembly, two ends of the outer hexagon unit are respectively fixedly connected with the terminal plate and the base, the inner quadrilateral unit and the outer hexagon unit respectively comprise a plurality of triangles which are sequentially and rotationally connected, the inner quadrilateral unit is of a rectangular structure in an initial stretching state, the outer hexagon unit is of a parallelogram structure in an initial stretching state, the inner quadrilateral unit comprises a first panel, a second panel, a third panel and a fourth panel, the bottom edges of the first panel, the second panel, the third panel and the fourth panel are all triangular, the bottom edges of the third panel are connected with the bottom edges of the third panel through a first rotating pair, the second panel side edges are connected with the third side edges of the third panel through a second rotating pair, and the bottom edge is connected with the tether ring through a third side edge;
The puncture assembly comprises a puncture needle, a needle sleeve, a needle seat and a guide plate, wherein the first end of the puncture needle is arranged in the needle seat in a penetrating way, the puncture needle is in interference fit with the needle seat, the second end of the puncture needle passes through a limiting hole in the middle of the guide plate and is inserted into the needle sleeve, the puncture needle moves linearly under the action of the guide plate and the needle sleeve, and the periphery of the guide plate is connected with the inner wall of the outer hexagon unit in a matching way;
Through interior quadrangle unit with the composite construction setting of outer hexagon unit makes the exhibition subassembly can radially rotate when axial flexible in the biopsy puncture, through the sinusoidal variation drive pjncture needle of axial magnetic force inside and outside the stomach tissue, after the puncture finishes through Kresling paper folding mechanism self elasticity restoring force makes the rapid withdrawal of pjncture needle.
2. The Kresling paper folding-based magnetic control intragastric biopsy penetration robot of claim 1, wherein the image acquisition assembly comprises a controller, LED lights, a camera and a contact ring, the controller is arranged on the tip plate, the LED lights are circumferentially arrayed around the needle sleeve, and the contact ring is arranged in the middle of the tip plate.
3. The Kresling paper folding-based magnetic control intragastric biopsy puncture robot of claim 1, wherein the Kresling paper folding mechanism is formed by folding double-layer BOPP plastic coated paper.
4. The Kresling fold paper-based magnetic control intragastric biopsy penetration robot of claim 1, wherein the penetration needle is a hypodermic needle with an outer diameter of 0.55mm and an inner diameter of 0.3 mm.
5. The Kresling paper folding-based magnetic control intragastric biopsy puncture robot according to claim 1, wherein the first revolute pair is Gu Shehen, the second revolute pair is a peak crease, and the third revolute pair is a cutting line; the rotation angle ranges of the first revolute pair and the second revolute pair are 0-90 degrees, and the rotation angles of the first revolute pair and the second revolute pair are opposite.
6. The Kresling paper folding-based magnetic control intragastric biopsy puncture robot of claim 1, wherein the tip plate, the base and the guide plate are all of a regular polygon structure.
7. A method of operation for a Kresling fold paper based, magnetically controlled intragastric biopsy penetration robot as claimed in any one of claims 1 to 6, comprising the steps of:
S1, folding the folding and unfolding assembly and sealing the folding and unfolding assembly into ice capsules, and adjusting the pose of the tail end of the mechanical arm according to the pose of a person to be detected;
S2, biopsy preparation: drinking soda water and taking ice capsules, after the ice capsules are melted, moving the capsules around in the stomach under the guidance of a mechanical arm, imaging and checking the stomach wall, collecting digestive tract information through an image acquisition assembly, driving a tip plate to move to a suspicious lesion through an electromagnet at the tail end of the mechanical arm by driving a magnet through real-time feedback of a positioning camera, and adjusting a puncture needle to be aligned to a part to be detected;
s3, biopsy puncture process: generating a sinusoidal magnetic field by controlling the current intensity of an electromagnet at the tail end of the mechanical arm, driving a puncture needle to be continuously inserted into a part to be tested for 5-10 times by using a driving magnet, and if a plurality of suspected lesions are found, performing biopsy puncture on each position in sequence;
S4, ending the biopsy process: the electromagnet at the tail end of the mechanical arm is powered off, the driving magnet is not driven, the self elasticity of the Kresling paper folding mechanism is recovered to an initial stretching state, the puncture needle is separated from the tissue, and an operator withdraws the capsule through the tether ring on the base;
S5, tissue detection: taking out the biopsy puncture needle and the needle seat, connecting the biopsy puncture needle and the needle seat to a syringe, pressing the syringe to obtain tissue in the puncture needle head, smearing and dyeing the taken tissue, fixing the tissue on a microscope slide, and sending the tissue to a cytology center for detection.
8. The method for operating a Kresling paper folding-based magnetic control intragastric biopsy puncture robot according to claim 7, wherein in step S2, whether the puncture needle is in contact with a part to be punctured or not in the initial descending process is captured by a camera, and if not, a transverse magnetic field is applied for adjustment.
9. The working method of the Kresling paper folding-based magnetic control intragastric biopsy puncture robot according to claim 7, wherein in the step S2, a lesion data training set is trained by combining a camera in an image acquisition assembly with a convolutional neural network in deep learning, and loss judgment is performed by a cross entropy function for assisting in detecting lesions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410151250.9A CN117958873A (en) | 2024-02-02 | 2024-02-02 | Magnetic control intragastric biopsy puncture robot based on Kresling paper folding and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410151250.9A CN117958873A (en) | 2024-02-02 | 2024-02-02 | Magnetic control intragastric biopsy puncture robot based on Kresling paper folding and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117958873A true CN117958873A (en) | 2024-05-03 |
Family
ID=90849374
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410151250.9A Pending CN117958873A (en) | 2024-02-02 | 2024-02-02 | Magnetic control intragastric biopsy puncture robot based on Kresling paper folding and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117958873A (en) |
-
2024
- 2024-02-02 CN CN202410151250.9A patent/CN117958873A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106388939B (en) | Magnetic resonance compatible pneumatic puncture surgical robot | |
| JP6484180B2 (en) | Automated and selectable biopsy device for soft tissue resection | |
| KR100482275B1 (en) | Micro capsule robot | |
| JP4358821B2 (en) | Intra-subject introduction device | |
| EP2163206B1 (en) | Surgical clip delivering wireless capsule | |
| Hoang et al. | Untethered robotic motion and rotating blade mechanism for actively locomotive biopsy capsule endoscope | |
| JP2017515620A (en) | Biopsy device, system and method of use thereof | |
| JP2016104205A (en) | Endoscopic ultrasound fine needle aspiration device | |
| US20040162505A1 (en) | Biopsy needle instrument | |
| CN110913743A (en) | Magnetically actuated capsule endoscope, magnetic field generating and sensing device and method of actuating magnetically actuated capsule endoscope | |
| CN104287685B (en) | Parked and the pose adjusting device of elastic rod guide type capsule endoscope robot and method | |
| JP2009507617A (en) | Method and apparatus for performing transluminal and other operations | |
| CN104287684B (en) | Parked and the pose adjusting device of ratchet pawl reset formula capsule Inner mirror robot and method | |
| JP2010036024A (en) | Suture instrument for endoscope | |
| CN111588335B (en) | Magnetic drive capsule endoscope robot with radial biopsy sampling function | |
| CN117958873A (en) | Magnetic control intragastric biopsy puncture robot based on Kresling paper folding and working method thereof | |
| CN205094514U (en) | Supersound scope pjncture needle vacuum aspiration ware device of ration control negative pressure | |
| Zhang et al. | Design of a novel biopsy capsule robot with anchoring function for intestinal tract | |
| CN110279439B (en) | Biopsy needle and puncture device for mechanical arm puncture | |
| CN209269748U (en) | The sting device of anti-needle track tumor planting | |
| CN217938333U (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN209032454U (en) | A kind of aspiration biopsy needle | |
| CN114699142A (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN208404690U (en) | A kind of nail kit Servo Control device | |
| CN108186056B (en) | Radio frequency ablation negative pressure biopsy gun |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |