Magnetic drive intestinal tract medicine applying capsule robot with anchoring function
阅读说明:本技术 一种具有锚定功能的磁驱动肠道施药胶囊机器人 (Magnetic drive intestinal tract medicine applying capsule robot with anchoring function ) 是由 宋霜 张帆 叶东旭 孟庆虎 于 2020-04-08 设计创作,主要内容包括:本发明提供了一种具有锚定功能的磁驱动肠道施药胶囊机器人,包括摄像机模块、锚定腿模块、磁驱动解耦模块、施药模块,所述磁驱动解耦模块能够将动力传输至所述锚定腿模块和所述施药模块,从而使所述施药模块进行药物释放、以及使锚定腿组件伸出或收回。本发明的有益效果是:该磁驱动肠道施药胶囊机器人能够在人体肠道内特定位置进行锚定从而抵抗肠道的自然蠕动带来的干扰,能够实现在肠道内部不同患病处定点定速定量的施药操作,能够有效提高肠道施药的效率和准确性。(The invention provides a magnetic drive intestinal tract medicine application capsule robot with an anchoring function, which comprises a camera module, an anchoring leg module, a magnetic drive decoupling module and a medicine application module, wherein the magnetic drive decoupling module can transmit power to the anchoring leg module and the medicine application module, so that the medicine application module can release medicines and extend or retract an anchoring leg component. The invention has the beneficial effects that: the magnetically-driven intestinal drug delivery capsule robot can be anchored at a specific position in the intestinal tract of a human body to resist interference caused by natural peristalsis of the intestinal tract, can realize fixed-point, constant-speed and quantitative drug delivery operation at different diseased positions in the intestinal tract, and can effectively improve the efficiency and accuracy of intestinal drug delivery.)
1. A magnetic drive intestinal tract drug delivery capsule robot with an anchoring function is characterized in that: the device comprises a camera module (1), an anchoring leg module (2), a magnetic drive decoupling module (3) and a pesticide application module (4), wherein the anchoring leg module (2) is fixedly connected with the camera module (1), the magnetic drive decoupling module (3) is positioned between the anchoring leg module (2) and the pesticide application module (4), the magnetic drive decoupling module (3) is respectively and fixedly connected with the anchoring leg module (2) and the pesticide application module (4), and the anchoring leg module (2) comprises at least 2 anchoring leg components; the magnetically driven decoupling module (3) is capable of transmitting power to the anchor leg module (2) and the drug delivery module (4) to cause drug release from the drug delivery module (4) and extension or retraction of the anchor leg assembly.
2. The magnetically-driven enteric capsule robot of claim 1, wherein: the magnetic drive decoupling module (3) comprises a shell, a radial magnetizing cylindrical permanent magnet (303), a main transmission shaft (304), a first elastic pawl wheel assembly (307), a second elastic pawl wheel assembly (309), a first transmission ratchet wheel (308), a second transmission ratchet wheel (310), a first coupler (317) and a second coupler (318), wherein the radial magnetizing cylindrical permanent magnet (303) has N, S poles, the main transmission shaft (304) is arranged at two ends of the radial magnetizing cylindrical permanent magnet (303), and the radial magnetizing cylindrical permanent magnet (303) and the main transmission shaft (304) can rotate in the shell; the first elastic ratchet wheel assembly (307) is fixedly connected to the right shaft end of the main transmission shaft (304), the first elastic ratchet wheel assembly (307) is composed of a first elastic ratchet (3071) and a first ratchet wheel (3072), the first elastic ratchet (3071) is processed by elastic materials, and the first elastic ratchet (3071) is fixedly connected with the first ratchet wheel (3072);
the second elastic ratchet wheel assembly (309) and the first elastic ratchet wheel assembly (307) are identical in structure and material, the second elastic ratchet wheel assembly (309) is fixedly connected to the left shaft end of the main transmission shaft (304), the second elastic ratchet wheel assembly (309) is composed of a second elastic ratchet and a second ratchet wheel, the second elastic ratchet is made of elastic materials, and the second elastic ratchet is fixedly connected with the second ratchet wheel;
the orientation of the second resilient detent is opposite to the orientation of the first resilient detent (3071);
the first transmission ratchet wheel (308) consists of a first ratchet wheel (3081) and a first transmission shaft (3082), the first elastic pawl (3071) is meshed with the ratchet teeth of the first ratchet wheel (3081), when the first elastic pawl (3071) rotates clockwise, the first ratchet wheel (3081) and the first elastic pawl (3071) rotate synchronously, and when the first elastic pawl (3071) rotates anticlockwise, the first ratchet wheel (3081) does not rotate;
the second transmission ratchet wheel (310) consists of a second ratchet wheel and a second transmission shaft, the second elastic pawl is meshed with the ratchet teeth of the second ratchet wheel, when the second elastic pawl rotates anticlockwise, the second ratchet wheel and the second elastic pawl rotate synchronously, and when the second elastic pawl rotates clockwise, the second ratchet wheel does not rotate;
one end of the first coupler (317) is fixedly connected with the first transmission shaft (3082), and the other end of the first coupler (317) is connected with an input shaft of the anchoring leg module (2); one end of the second coupling (318) is connected with a second transmission shaft of the second transmission ratchet wheel (310), and the other end of the second coupling (318) is connected with an input shaft of the pesticide application module (4).
3. The magnetically-driven enteric capsule robot of claim 2, wherein: the shell consists of a shell body (301) and a shell body cover (302), the shell body (301) and the shell body cover (302) are fixedly connected to form a cavity, and the radial magnetizing cylindrical permanent magnet (303) is positioned in the cavity; the magnetic drive decoupling module (3) further comprises a first main transmission shaft bearing (305) and a second main transmission shaft bearing (306), the first main transmission shaft bearing (305) is fixedly nested in a central round hole of the shell (301), the second main transmission shaft bearing (306) is fixedly nested in a central round hole of the shell cover (302), two ends of the main transmission shaft (304) are nested in the first main transmission shaft bearing (305) and the second main transmission shaft bearing (306), and the main transmission shaft (304) is nested in the shell (301) under the supporting action of the first main transmission shaft bearing (305) and the second main transmission shaft bearing (306);
the magnetic drive decoupling module (3) further comprises a first transmission ratchet wheel base (311), a first transmission ratchet wheel bearing (313) is installed on the first transmission ratchet wheel base (311), and a first transmission shaft (3082) of the first transmission ratchet wheel (308) is nested in the first transmission ratchet wheel bearing (313), so that the first transmission ratchet wheel (308) is nested in a hollow space (3111) of the first transmission ratchet wheel base (311) and rotates around a central shaft of the first transmission ratchet wheel base; the first transmission ratchet wheel base (311) is fixedly connected with the shell (301);
the magnetic drive decoupling module (3) further comprises a second drive ratchet base (312), a second drive ratchet bearing (314) is mounted on the second drive ratchet base (312), and a second drive shaft of the second drive ratchet (310) is nested in the second drive ratchet bearing (314), so that the second drive ratchet (310) is nested in the hollow space of the second drive ratchet base (312) and rotates around the central axis of the second drive ratchet base; the second transmission ratchet wheel base (312) is fixedly connected with the shell (301).
4. The magnetically-driven enteric capsule robot of claim 3, wherein: the shell cover (302) is provided with a first groove (3021), the shell (301) is provided with a first boss (3011), and the first boss (3011) is embedded into the first groove (3021), so that the shell cover (302) is fixedly connected with the shell (301);
the radial magnetizing cylindrical permanent magnet (303) is provided with an opening, the main transmission shaft (304) is embedded and fixed in the opening of the radial magnetizing cylindrical permanent magnet (303), and two ends of the main transmission shaft (304) extend out of the opening of the radial magnetizing cylindrical permanent magnet (303);
the groove of the first transmission ratchet wheel base (311) is in nested fit with the first boss (3011) on the shell (301), so that the first transmission ratchet wheel base (311) is fixedly connected with the shell (301);
the groove of the second transmission ratchet base (312) is nested and matched with the boss of the shell cover (302), so that the second transmission ratchet base (312) is fixedly connected with the shell cover (302).
5. The magnetically-driven enteric capsule robot of claim 2, wherein: the magnetic drive decoupling module (3) further comprises a third elastic pawl wheel assembly (315) and a limiting ratchet wheel shell (316), the third elastic pawl wheel assembly (315) is fixedly connected with the first transmission shaft (3082), the third elastic pawl wheel assembly (315) consists of a third elastic pawl and a third pawl wheel, the third elastic pawl is made of elastic materials, and the third elastic pawl is fixedly connected with the third pawl wheel; the direction of the third elastic pawl is opposite to the direction of the first elastic pawl (3071), the first transmission ratchet wheel (308) drives the third elastic pawl wheel assembly (315) to rotate together when rotating, the third elastic pawl wheel assembly (315) cannot rotate anticlockwise and can only rotate clockwise, and when the third elastic pawl wheel assembly (315) rotates clockwise, the third elastic pawl is elastically deformed and slides over the ratchet teeth on the limiting ratchet wheel shell (316), so that the output of the first transmission ratchet wheel (308) only rotates clockwise.
6. The magnetically-driven enteric capsule robot of claim 2, wherein: the pesticide application module (4) comprises a pesticide storage container (401), a container sealing cover (402), a screw rod shaft (404) and a sealing slide sheet (405), the input shaft of the pesticide application module (4) is the screw rod shaft (404), the medicine storage container (401) is provided with a container inner space (4011), the bottom surface of the medicine storage container (401) is provided with a through hole (4012), a container sealing cover (402) is sealed at the opening position of the medicine storage container (401), the sealing slide (405) is connected to the screw shaft (404) by a screw thread fit, the screw shaft (404) can rotate in the medicine storage container (401), the screw shaft (404) rotates to drive the sealing slide sheet (405) in threaded fit with the screw shaft to horizontally slide towards one side of the through hole (4012), the horizontal sliding of the sealing slide sheet (405) enables the left side volume of the medicine storage container (401) to be reduced and the pressure to be increased, thereby pressing the therapeutic drug out of the through hole (4012) at the bottom of the drug storage container (401).
7. The magnetically-driven enteric capsule robot of claim 6, wherein: the drug delivery module (4) further comprises a screw rod bearing (403), the container cover (402) is in nested fit with a boss on the drug storage container (401) through a groove on the container cover, so that the container cover (402) is fixedly connected with the drug storage container (401), and the screw rod bearing (403) is in nested fit with a hole of the container cover (402) through a shaft hole; one end of the screw shaft (404) is nested in the screw bearing (403) in a matched mode through a shaft hole, and the other end of the screw shaft (404) is nested in the hole of the medicine storage container (401) in a matched mode through the shaft hole.
8. The magnetically-driven enteric capsule robot of claim 2, wherein: the anchor leg module (2) further comprises a base (201), a moving member (202), and an eccentric cam (203), the anchor leg assembly comprises a first anchor leg assembly (205) and a second anchor leg assembly (206), and an input shaft of the anchor leg module (2) is the eccentric cam shaft (203);
the base (201) is provided with a sliding groove (2013), the moving piece (202) is embedded in the sliding groove (2013), and a moving pair is formed between the moving piece and the sliding groove; the moving piece (202) is provided with a moving piece inner space (2022), the eccentric cam (203) is embedded in the moving piece inner space (2022), and a contact linear pair is formed between the eccentric cam (203) and the moving piece inner space (2022); the eccentric cam (203) is provided with an eccentric camshaft (2031), the eccentric camshaft (2031) extends out of the hole of the base (201) and then is connected with the other end of the first coupling (317), and the eccentric cam (203) can rotate in the moving part inner space (2022); when the eccentric camshaft (2031) receives the rotating power provided by the first coupling (317), the moving part (202) will do reciprocating linear motion in the sliding groove (2013) of the base (201);
the first anchoring leg assembly (205) comprises a first anchoring leg (2051), a first connecting rod (2053), wherein the first connecting rod (2053) is movably connected with the first anchoring leg (2051); the second anchoring leg assembly (206) comprises a second anchoring leg and a second connecting stick, and the second connecting stick is movably connected with the second anchoring leg;
the first connecting roller (2053) is connected with the moving part (202), and the second connecting roller is connected with the moving part (202).
9. The magnetically-driven enteric capsule robot of claim 8, wherein: the anchor leg module (2) further comprising a support pad (207), a trace pad (208) and a capping pad (209), the support pad (207) being mounted above the base (201), the trace pad (208) being mounted above the support pad (207), the first anchor leg assembly (205) being located between the trace pad (208) and the support pad (207); the cover pad (209) is mounted over the trace pad (208), the second anchor leg assembly (206) being located between the cover pad (209) and the trace pad (208);
a first track limiting groove (2081) is formed in the bottom surface of the track gasket (208), a first connecting boss (2054) is arranged on the first anchoring leg assembly (205), and the first connecting boss (2054) is nested in the first track limiting groove (2081), so that track limiting of the first anchoring leg (2051) is achieved;
the top surface of the track gasket (208) is provided with a second track limiting groove, the second track limiting groove and the first track limiting groove (2081) are arranged in a mirror symmetry mode, the second anchoring leg assembly (206) is provided with a second connecting boss, and the second connecting boss is nested in the second track limiting groove, so that track limiting of the second anchoring leg is achieved.
10. The magnetically-driven enteric capsule robot of claim 9, wherein: the anchoring leg module (2) further comprises an eccentric cam bearing (204), the eccentric cam bearing (204) is fixedly installed in the hole of the base (201), the eccentric cam shaft (2031) is nested in the eccentric cam bearing (204), and a rotating pair is formed between the eccentric cam shaft and the eccentric cam bearing (204);
the first anchor leg assembly (205) and the second anchor leg assembly (206) are arranged in a staggered manner from top to bottom;
the supporting gasket (207) is provided with a supporting gasket groove (2073), a base boss (2012) is arranged on a step of the base (201), and the base boss (2012) is embedded into the supporting gasket groove (2073), so that the supporting gasket (207) and the base (201) are fixedly installed together;
the first anchoring leg assembly (205) further comprises a first connecting rod bearing (2052), the outer surface of one end of the first anchoring leg (2051) is arc-shaped, the first connecting rod bearing (2052) is fixedly nested in the hole of the first anchoring leg (2051), the first connecting rod (2053) is fixedly nested in the hole of the first connecting rod bearing (2052), and the first anchoring leg (2051) can rotate around the first connecting rod (2053);
the second anchoring leg assembly (206) further comprises a second connecting rod bearing, the outer surface of one end of the second anchoring leg is arc-shaped, the second connecting rod bearing is fixedly nested in the hole of the second anchoring leg, the second connecting rod is fixedly nested in the hole of the second connecting rod bearing, and the second anchoring leg can rotate around the second connecting rod;
a first track gasket groove (2083) and a second track gasket groove (2084) are formed in the bottom surface of the track gasket (208), a third track gasket groove and a fourth track gasket groove are formed in the top surface of the track gasket (208), the first track gasket groove (2083) and the third track gasket groove are arranged in a mirror symmetry mode, the second track gasket groove (2084) and the fourth track gasket groove are arranged in a mirror symmetry mode, and track gasket through holes (2082) are further formed in the track gasket (208);
the support gasket (207) is provided with two support gasket through holes (2071), a first support gasket boss (2072) and a second support gasket boss (2074), the first support gasket boss (2072) is embedded into the first track gasket groove (2083), and the second support gasket boss (2074) is embedded into the second track gasket groove (2084), so that the support gasket (207) is fixedly connected with the track gasket (208); the moving piece (202) is provided with two moving piece holes (2021), and the first connecting rod (2053) passes through one of the supporting gasket through holes (2071) and is inserted into one of the moving piece holes (2021), so that the motion transmission between the moving piece (202) and the first anchoring leg assembly (205) is realized;
the second connecting stick sequentially penetrates through the track gasket through hole (2082) and the other support gasket through hole (2071) and is inserted into the other moving piece hole (2021), so that the motion transmission between the moving piece (202) and the second anchoring leg assembly (206) is realized;
the sealing cover gasket (209) is provided with a first sealing cover gasket boss (2091) and a second sealing cover gasket boss (2092), the first sealing cover gasket boss (2091) is embedded into the third track gasket groove, and the second sealing cover gasket boss (2092) is embedded into the fourth track gasket groove, so that the sealing cover gasket (209) is fixedly connected with the track gasket (208).
Technical Field
The invention relates to the technical field of medical instruments, in particular to a magnetic drive intestinal tract drug delivery capsule robot with an anchoring function.
Background
Most capsule robots currently on the market are passive devices, and usually require surgical intervention after the intestine is diagnosed with a disease. The capsule robot will not only diagnose diseases but also accurately treat diseases, and clinically treat pathological diseases such as gastrointestinal hemorrhage, Crohn's disease and small intestine tumor. The concept of remote controlled capsules, which were mainly used for the study of the absorption of various drugs into the human body, appeared in about 1980. The success of capsule robots in diagnosis of intestinal diseases has motivated researchers to develop drug delivery capsule robots that target and treat specific intestinal diseases. Accurate administration is an effective means in treating intestinal diseases, but due to the special complex physiological environment and peristalsis of the intestinal tract, the current administration mode is difficult to realize accurate administration at the affected part. Many researchers are developing capsule robots with a drug delivery function.
Most of the existing intestinal drug delivery capsule robots use motors as driving sources of functional module mechanisms, but the use of the motors not only consumes a large amount of energy of capsule robot load batteries, but also occupies a large amount of space in the capsule robot; and most capsule robots do not have the anchoring function at specific positions of the intestinal tract, so that the medicine released at diseased parts of the intestinal tract is refluxed and deviated, and the medicine application effect is not ideal.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a magnetic drive intestinal tract drug delivery capsule robot with an anchoring function.
The invention provides a magnetic drive intestinal tract medicine applying capsule robot with an anchoring function, which comprises a camera module, an anchoring leg module, a magnetic drive decoupling module and a medicine applying module, wherein the anchoring leg module is fixedly connected with the camera module, the magnetic drive decoupling module is positioned between the anchoring leg module and the medicine applying module, the magnetic drive decoupling module is respectively and fixedly connected with the anchoring leg module and the medicine applying module, and the anchoring leg module comprises at least 2 anchoring leg assemblies; the magnetically actuated decoupling module is capable of transmitting power to the anchor leg module and the administration module to cause drug release from the administration module and extension or retraction of the anchor leg assembly.
As a further improvement of the present invention, the magnetically driven decoupling module includes a housing, a radially magnetized cylindrical permanent magnet, a main transmission shaft, a first elastic ratchet wheel assembly, a second elastic ratchet wheel assembly, a first transmission ratchet wheel, a second transmission ratchet wheel, a first coupler, and a second coupler, the radially magnetized cylindrical permanent magnet has N, S poles, the main transmission shaft is disposed at both ends of the radially magnetized cylindrical permanent magnet, and the radially magnetized cylindrical permanent magnet and the main transmission shaft can rotate in the housing;
the first elastic pawl wheel assembly is fixedly connected to the right shaft end of the main transmission shaft and consists of a first elastic pawl and a first pawl wheel, the first elastic pawl is made of elastic materials, and the first elastic pawl is fixedly connected with the first pawl wheel;
the second elastic ratchet wheel assembly and the first elastic ratchet wheel assembly are the same in structure and material, the second elastic ratchet wheel assembly is fixedly connected to the left shaft end of the main transmission shaft, the second elastic ratchet wheel assembly is composed of a second elastic ratchet and a second ratchet wheel, the second elastic ratchet is processed by elastic materials, and the second elastic ratchet is fixedly connected with the second ratchet wheel;
the orientation of the second elastic pawl is opposite to that of the first elastic pawl;
the first transmission ratchet wheel consists of a first ratchet wheel and a first transmission shaft, the first elastic pawl is meshed with the ratchet teeth of the first ratchet wheel, when the first elastic pawl rotates clockwise, the first ratchet wheel and the first elastic pawl rotate synchronously, and when the first elastic pawl rotates anticlockwise, the first ratchet wheel does not rotate;
the second transmission ratchet wheel consists of a second ratchet wheel and a second transmission shaft, the second elastic pawl is meshed with the ratchet teeth of the second ratchet wheel, when the second elastic pawl rotates anticlockwise, the second ratchet wheel and the second elastic pawl rotate synchronously, and when the second elastic pawl rotates clockwise, the second ratchet wheel does not rotate;
one end of the first coupler is fixedly connected with the first transmission shaft, and the other end of the first coupler is connected with the input shaft of the anchoring leg module; one end of the second coupler is connected with a second transmission shaft of the second transmission ratchet wheel, and the other end of the second coupler is connected with an input shaft of the pesticide application module.
As a further improvement of the present invention, the magnetically driven decoupling module further includes a third elastic pawl wheel assembly and a limiting ratchet casing, the third elastic pawl wheel assembly is fixedly connected to the first transmission shaft, the third elastic pawl wheel assembly is composed of a third elastic pawl and a third pawl wheel, the third elastic pawl is processed from an elastic material, and the third elastic pawl is fixedly connected to the third pawl wheel; the orientation of the third elastic pawl is opposite to that of the first elastic pawl, the third elastic pawl wheel assembly is driven to rotate together when the first transmission ratchet wheel rotates, the third elastic pawl wheel assembly cannot rotate anticlockwise and can only rotate clockwise, and when the third elastic pawl wheel assembly rotates clockwise, the third elastic pawl is elastically deformed and slides over the ratchet on the limiting ratchet wheel shell, so that the output of the first transmission ratchet wheel only rotates clockwise.
As a further improvement of the present invention, the drug delivery module includes a drug storage container, a container cover, a screw shaft, and a sealing slide sheet, the input shaft of the drug delivery module is the screw shaft, the drug storage container is provided with a container hollow space, the bottom surface of the drug storage container is provided with a through hole, the container cover is closed at the opening position of the drug storage container, the sealing slide sheet is connected to the screw shaft through a screw thread fit, the screw shaft can rotate in the drug storage container, the screw shaft rotates to drive the sealing slide sheet in screw thread fit with the screw shaft to horizontally slide to one side of the through hole, and the horizontal sliding of the sealing slide sheet reduces the volume of the left side of the drug storage container, increases the pressure, and further extrudes the therapeutic drug from the through hole at the bottom of the drug storage container.
As a further improvement of the present invention, the anchor leg module further comprises a base, a moving member, an eccentric cam, the anchor leg assembly comprises a first anchor leg assembly and a second anchor leg assembly, and an input shaft of the anchor leg module is an eccentric cam shaft;
the base is provided with a sliding groove, the moving piece is nested in the sliding groove, and a moving pair is formed between the moving piece and the sliding groove; the moving part is provided with a moving part inner space, the eccentric cam is nested in the moving part inner space, and a contact linear pair is formed between the eccentric cam and the moving part inner space; the eccentric cam is provided with an eccentric cam shaft, the eccentric cam shaft extends out of the hole of the base and then is connected with the other end of the first coupler, and the eccentric cam can rotate in the moving piece in the air; when the eccentric cam shaft receives the rotating power provided by the first coupling, the moving piece can do reciprocating linear motion in the sliding groove of the base;
the first anchoring leg assembly comprises a first anchoring leg and a first connecting rod, and the first connecting rod is movably connected with the first anchoring leg; the second anchoring leg assembly comprises a second anchoring leg and a second connecting stick, and the second connecting stick is movably connected with the second anchoring leg;
the first connecting rod is connected with the moving part, and the second connecting rod is connected with the moving part.
The invention has the beneficial effects that: the magnetically-driven intestinal drug delivery capsule robot can be anchored at a specific position in the intestinal tract of a human body to resist interference caused by natural peristalsis of the intestinal tract, can realize fixed-point, constant-speed and quantitative drug delivery operation at different diseased positions in the intestinal tract, and can effectively improve the efficiency and accuracy of intestinal drug delivery.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a perspective view of the disassembled structure of the present invention;
FIG. 3 is a cross-sectional view of the overall construction of the present invention;
FIG. 4a is a schematic structural view of the anchor leg module in a retracted state;
FIG. 4b is a schematic view of the anchor leg module in an extended condition;
fig. 5 is a three-dimensional exploded view of the anchor leg module of the present invention;
fig. 6a-e are views of the mechanism movement of the anchor leg module of the present invention;
FIG. 7 is a three-dimensional exploded view of a magnetically actuated decoupling module;
FIG. 8 is an assembly cross-sectional view of a magnetically driven decoupling module;
FIG. 9a is a schematic view of the engagement of the first resilient ratchet wheel assembly and the first drive ratchet wheel, rotating clockwise;
FIG. 9b is a schematic view of the engagement of the first resilient ratchet wheel assembly and the first drive ratchet wheel, rotated counterclockwise;
FIG. 10 is a three-dimensional exploded view of a dosing module;
figure 11 is a cross-sectional view of an assembly of the dosing module.
Detailed Description
As shown in fig. 1 and 2, the invention discloses a magnetic drive intestinal tract drug delivery capsule robot with an anchoring function, which comprises a camera module 1, an anchoring leg module 2, a magnetic
As shown in fig. 3, the anchor leg module 2 is fixedly connected to the camera module 1, the magnetically driven
The anchoring leg assembly is T-shaped, and the arc-shaped anchoring leg assembly is extended out and retracted under the condition of inputting rotary power to assist the capsule robot to be anchored at a specific position of the intestinal tract, so that the medicine dispensing operation is better carried out.
The drug delivery module 4 is capable of driving the
The magnetically driven
As shown in fig. 7 and 8, the magnetically driven
The first elastic
The second elastic
The orientation of the second resilient detent is opposite to the orientation of the first resilient detent 3071; when a uniform rotating magnetic field is applied around the radial magnetizing cylindrical
The
The
One end of the
The shell is composed of a
The magnetic
The magnetic
The magnetic
The
The radial magnetizing cylindrical
The groove of the first
The groove of the second
The magnetically driven
The circle 1 in fig. 7 and 8 indicates the transmission fit of the first resilient
Assuming that the first
As shown in fig. 4a, 4b and 5, the anchor leg module 2 further includes a
The
the
the first connecting
The anchor leg module 2 further comprises a
The bottom surface of the
The top surface of the
The anchor leg module 2 further includes an
The first
The supporting
The
The
The
The second connecting rod is inserted into the other moving
The
The
The mechanism movement principle of the anchor leg module 2 will be described with reference to fig. 6a-e, in which some parts are hidden and transparentized for convenience of description. The left side of fig. 6a-e is a process diagram of the
As shown in fig. 10 and 11, the drug delivery module 4 includes a
The drug delivery module 4 further comprises a
The
After entering the intestinal tract of a human body, the capsule robot moves forward under the peristalsis of the intestinal tract. The capsule robot acquires images of the inside of the intestinal tract by the camera module 1. When the capsule robot finds the affected tissue in the intestinal tract, a clockwise uniform rotating magnetic field is applied around the capsule robot, and the magnetically-driven
The invention has the beneficial effects that:
1. the capsule robot is simple and compact in structure, and can realize wireless remote energy supply and realize the movement of an internal mechanism of the capsule robot by taking a radial magnetizing ring-shaped
2. The outer surfaces of one ends of the
3. The medicine applying module 4 of the capsule robot can realize multiple times of medicine application, the medicine applying speed and the medicine applying dosage can be controlled quantitatively every time, and the multi-point medicine applying treatment task in the intestinal tract can be well completed.
4. The capsule robot utilizes the ratchet mechanism to realize decoupling between the anchoring leg module 2 and the pesticide application module 4, so that one magnetic
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
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