CN114869354B - A single-drive capsule biopsy device with multi-point self-unlocking - Google Patents
A single-drive capsule biopsy device with multi-point self-unlocking Download PDFInfo
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- CN114869354B CN114869354B CN202210493947.5A CN202210493947A CN114869354B CN 114869354 B CN114869354 B CN 114869354B CN 202210493947 A CN202210493947 A CN 202210493947A CN 114869354 B CN114869354 B CN 114869354B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments, e.g. catheter-type 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
- A61B1/00064—Constructional details of the endoscope body
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B2010/0225—Instruments for taking cell samples or for biopsy for taking multiple samples
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Abstract
本发明涉及一种具有多点位自解锁的单驱型胶囊式活检装置，包括胶囊状且设有透明罩(2203)的外壳(22)，以及设于外壳(22)内的单向驱动机构、异位自解锁机构、摄像系统(15)和接样盒(16)，所述单向驱动机构与所述异位自解锁机构连接，所述摄像系统(15)设于所述异位自解锁机构旁，并置于透明罩(2203)中，所述接样盒(16)设于所述异位自解锁机构下方与现有技术相比，本发明具有一次吞服多次采样，机构控制难度低，小巧高效等优点。
The present invention relates to a single-drive capsule biopsy device with multi-point self-unlocking, comprising a capsule-shaped shell (22) provided with a transparent cover (2203), and a one-way driving mechanism, an ectopic self-unlocking mechanism, a camera system (15) and a sample receiving box (16) arranged in the shell (22), wherein the one-way driving mechanism is connected to the ectopic self-unlocking mechanism, the camera system (15) is arranged beside the ectopic self-unlocking mechanism and placed in the transparent cover (2203), and the sample receiving box (16) is arranged below the ectopic self-unlocking mechanism. Compared with the prior art, the present invention has the advantages of one-time swallowing and multiple sampling, low difficulty in mechanism control, compactness and high efficiency, etc.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a single-drive capsule type biopsy device with multi-point self-unlocking function.
Background
The gastrointestinal tract diseases are clinically common diseases, have long incubation period and unobvious early symptoms, seriously affect the physical health and mental health of people, and have the prevalence rate as high as 74%. Because the gastrointestinal tract of a human body is 8-10 meters long, and because diseases in the gastrointestinal tract are hidden and difficult to discover, the gastrointestinal tract is discovered as early as possible, and the early treatment is the key of successfully treating the gastrointestinal tract diseases. Currently, the main clinical equipment for diagnosing gastrointestinal diseases is a traditional intubation endoscope. As a way of invasive diagnostic examination, conventional endoscopes can cause pain to the patient during the diagnostic procedure and can cause a series of complications. At present, corresponding diagnosis alternatives such as barium enema and fecal occult blood have been presented in the traditional intubated endoscope, but the false detection rate of the two alternatives is higher, and the diagnosis effectiveness is low. The successful development of the active movement type capsule robot enables a patient to enter a human body to carry out biopsy by swallowing the capsule robot, and the accurate clamping of required tissues is possible, so that relevant pathological tissues are acquired for doctors, accurate diagnosis is carried out on the focus type, diseases are diagnosed, early discovery and early treatment of digestive tract diseases are realized, so that symptomatic treatment is facilitated, the treatment effect is improved, the operation is simple and convenient, the minimally invasive diagnosis and treatment method is adopted, and discomfort of the patient in gastrointestinal tract disease diagnosis is greatly relieved. Therefore, the capsule robot with the biopsy function is one of key technologies needed to be solved clinically. However, the capsule robot with the existing biopsy function is mostly a disposable biopsy function, and when a plurality of parts of a human body or a plurality of parts of the same part need to be sampled, the capsule robot needs to be swallowed again, so that the efficiency is low, the cost is high, the time is long, and inconvenience is caused. Therefore, there is an urgent need to propose a capsule biopsy robot having a multiple sampling function with one swallowing, so as to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a single-drive capsule type biopsy device with multi-point self-unlocking function.
The aim of the invention can be achieved by the following technical scheme:
The utility model provides a single formula capsule biopsy device with multiple spot is from unblock, the device includes capsule and is equipped with the shell of transparent cover to and locate unidirectional drive mechanism, ectopic from release mechanism, camera system and the appearance box that connects in the shell, unidirectional drive mechanism with ectopic is from release mechanism connection, camera system locates ectopic is by release mechanism side, and place in the transparent cover, connect the appearance box to locate ectopic is from release mechanism below.
Further, the unidirectional driving mechanism comprises a motor arranged in the shell, a paddle wheel device connected with one end of the motor, a coupler connected with the other end of the motor, a screw rod connected with the coupler, and a screw rod nut movably connected with the screw rod, and the screw rod nut is connected with the ectopic self-unlocking mechanism.
Further, the ectopic self-unlocking mechanism comprises a lock seat, a guide rod arranged on the lock seat, a lock bar, a clamp seat connected with the guide rod, a movable lock tooth fixed below the clamp seat, a sampling clamp movably connected with the clamp seat, and a multifunctional unlocking plate fixed on a screw-nut and connected with the sampling clamp through a connecting rod, wherein the lock bar is meshed with the movable lock tooth, and the movable lock tooth is correspondingly arranged with the multifunctional unlocking plate.
Further, the movable locking tooth comprises a tooth seat and a torsion spring, a spring groove, a rotation hole and a tooth head are arranged on the tooth seat, the tooth head of the movable locking tooth in a free state is meshed with teeth on the locking strip and locked, and the tooth seat and the torsion spring are connected with the pliers seat through the rotation hole.
Further, the lateral surface of pincers seat is equipped with the guide block that is used for forming the vice swing joint of shifting with the guide arm, the inboard of pincers seat is equipped with the installation axle that is used for installing movable lock tooth, the top central authorities of pincers seat are equipped with the pincers hole, and the tooth seat and the torsional spring of movable lock tooth pass through the swivelling joint hole and be in on the installation axle to hide in the spring inslot.
Further, the multifunctional unlocking plate comprises a positioning plate, a mounting hole, a connecting plate and a wing plate, wherein the mounting hole is connected with the connecting rod, the connecting plate is connected with the screw nut, a step corresponding to the movable locking tooth is arranged on the wing plate, and the step comprises a front pulling step, a front unlocking step, a front guiding surface, a middle neutral position, a rear guiding surface, a rear unlocking step and a rear pushing step which are sequentially arranged.
Further, one end of the sampling forceps is provided with a forceps head, the other end of the sampling forceps is provided with a driving hole which is used for being rotationally connected with the connecting rod, and the middle part of the sampling forceps is provided with a cheek hole which is used for being movably connected with the forceps hole.
Further, a diaphragm plate for realizing sealing is arranged on the inner side of the shell, the motor is fixed on one side of the diaphragm plate, and a coil is arranged on the other side of the diaphragm plate.
Further, the paddle wheel device comprises a driving screw, a paddle wheel, a transmission gear set and a paddle wheel, wherein the driving screw is fixedly connected with the paddle wheel, one end of the transmission gear set is meshed with the paddle wheel gear, the other end of the transmission gear set is meshed with the paddle wheel gear, and the paddle wheel is fixed on a rotating shaft of the motor.
Further, the camera system comprises a seat board arranged in the shell, a camera and an illuminating lamp arranged on the seat board, wherein the seat board is arranged in the transparent cover and forms a closed space with the transparent cover for accommodating the camera and the illuminating lamp.
Compared with the prior art, the single-drive capsule biopsy device with the multi-point self-unlocking function provided by the invention has the following beneficial effects:
1) According to the invention, a single motor drive is arranged, unlocking and locking are completed at different positions by utilizing an unlocking plate carried by the ectopic self-unlocking mechanism, so that the biopsy functions of stretching out, sampling, retracting in, reserving and opening out the sample of the capsule biopsy mechanism are realized by self-intermittent control, the sampling operation functions of multiple parts and multiple times of human body under one-time swallowing of a patient are met, the control difficulty and the mechanism complexity are reduced, the reliability of the operation of the mechanism is ensured by utilizing the position unlocking of the mechanical structure, and the accumulated error cannot be generated due to multiple times of circulation.
2) The mechanisms are integrated in the containing space formed by the upper half shell and the lower half shell, and can finish the operation of one-time swallowing and multiple sampling by only utilizing single motor drive, and extra motor drive and other auxiliary equipment are not needed, so that the volume and weight of the capsule are reduced, and the mechanism is smaller and more efficient.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a single-drive capsule biopsy device with multi-point self-unlocking according to an embodiment of the present invention;
FIG. 2 is a schematic view of an exploded structure of the present invention provided in an embodiment;
fig. 3 is a schematic structural diagram of an ectopic self-unlocking mechanism in the present invention provided in an embodiment;
FIG. 4 is a schematic view of a structure in which part of the components of the out-of-position self-unlocking mechanism are mounted on the lower half shell according to the present invention;
FIG. 5 is a schematic view of a transmission structure of a driving propeller according to the present invention according to an embodiment;
FIG. 6 is a schematic structural diagram of a multifunctional unlocking plate according to the present invention;
FIG. 7 is a schematic view showing an exploded structure of a movable lock tooth according to the present invention according to an embodiment;
fig. 8 is a schematic structural view of a jaw seat according to an embodiment of the present invention;
FIG. 9 is a schematic view showing a structure of the movable lock tooth engaged and locked with the lock bar in a free state according to the present invention;
fig. 10 is a schematic diagram of the positions of a multifunctional unlocking plate and a movable locking tooth in the ectopic self-unlocking mechanism according to the embodiment of the invention;
FIG. 11 is a schematic view showing an initial state of the invention, i.e. a state where the sampling forceps are retracted and closed;
FIG. 12 is a schematic view of an in-situ deployment of a sampling forceps according to an embodiment of the present invention;
FIG. 13 is a schematic view showing a state where the sampling forceps of the present invention start to be extended in the embodiment;
FIG. 14 is a schematic view showing the state of the sampling forceps according to the invention when the sampling forceps are fully extended and closed for sampling in an embodiment;
FIG. 15 is a schematic view showing a state where the sampling forceps of the invention starts to retract after the sampling is finished in the embodiment;
fig. 16 is a schematic structural view of an image pickup system in the present invention in the embodiment;
FIG. 17 is a schematic view showing the structure of a guide groove in the present invention in the embodiment;
FIG. 18 is a schematic view showing the structure of a brush according to the present invention in the embodiment;
FIG. 19 is a schematic view showing the structure of a single lid in the present invention in the embodiment;
the reference numerals in the figures indicate:
1 is a driving propeller, 2 is a propeller connecting wheel, 3 is a coil, 4 is a diaphragm plate, 5 is a transmission gear set, 6 is a motor, 7 is a propeller driving wheel, and 8 is an electric control seat;
9 is a multifunctional unlocking plate, 901 is a mounting hole, 902 is a connecting plate, 903 is a positioning plate, 904 is a wing plate, 9041 is a back pushing step, 9042 is a back unlocking gear, 9043 is a back guiding surface, 9044 is a neutral position, 9045 is a front guiding surface, 9046 is a front unlocking gear, and 9047 is a front pulling step;
10 is a movable lock tooth, 1001 is a tooth seat, 10011 is a spring groove, 10012 is a rotary hole, 10013 is a tooth head, 1002 is a torsion spring;
11 is a clamp seat, 1101 is a clamp hole, 1102 is a mounting shaft, 1103 is a guide block;
12 is a guide rod, 13 is a locking strip, and 14 is a lock seat;
15 is an imaging system, 1501 is a camera, 1502 is a seat board, and 1503 is a lighting lamp;
16 is a sample receiving box, 1601 is a single cover;
17 is a sampling forceps, 1701 is a driving hole, 1702 is a cheek hole, and 1703 is a forceps head;
18 is a connecting rod, 19 is a screw rod nut, 20 is a screw rod, and 21 is a coupler;
22 is a shell, 2201 is a grid, 2202 is a gear seat, 2203 is a transparent cover, 2204 is a flexible cover, 2205 is a guide groove, and 23 is a brush.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Examples
As shown in fig. 1,3 and 16, referring to fig. 2, 4 and 5, the invention relates to a single-drive capsule biopsy device with multi-point self-unlocking, which comprises a shell 22, a coil 3, a diaphragm plate 4, a driving propeller 1, a paddle wheel 2, a transmission gear set 5, an electric control seat 8, a paddle wheel 7, a motor 6, a coupler 21, a screw nut 19, a screw rod 20, an imaging system 15, a sample receiving box 16 and an out-of-position self-unlocking mechanism.
The whole shell 22 is capsule-shaped and comprises an upper half shell and a lower half shell which are mutually spliced and have the same shape and volume, the longitudinal section of each half shell is elliptical, and the transverse section is semicircular. The rear of the housing 22 is provided with a grating 2201, i.e. the grating 2201 is provided at the rear of the upper and lower half shells. The head of the upper half shell is provided with a flexible cover 2204, the flexible cover 2204 can be formed by sequentially connecting a plurality of thin plastic sheets with certain hardness, and the flexible cover covers the head of the upper half shell and is used for preventing soft tissues of a human body from entering the capsule type biopsy device. The lower half shell is provided with a transparent cover 2203 at the head to prevent the pollution of the camera from affecting the imaging effect when the imaging system 15 is used for imaging the affected part of the human body, the lower half shell is internally provided with a gear seat 2202 and an electric control seat 8, the electric control seat 8 is used for installing an electric control element or a circuit board, the electric control element or the circuit board is used for controlling the motor 6 and the imaging system 15 to collect and transmit images, and the upper half shell and the lower half shell are provided with mutually matched rabbets for connection. The driving screw propeller 1, the connecting screw propeller wheel 2, the transmission gear set 5, the driving screw propeller wheel 7, the coupling 21, the screw nut 19, the screw rod 20, the camera system 15 and the ectopic self-unlocking mechanism are arranged in the accommodating space formed by the upper half shell and the lower half shell.
Referring to fig. 4, there are two diaphragms 4, the diaphragms 4 are fixed on the inner side of the housing 22, specifically disposed on the inner side of the lower half shell, one of the diaphragms 4 is close to the tail of the lower half shell, a motor 6 is fixed on one surface of the diaphragm 4, and a coil 3 is fixed on the other surface of the diaphragm, and the coil 3 is used for receiving external energy to supply power to the motor 6. When the upper half shell and the lower half shell are matched through the spigot, the two diaphragm plates 4 are combined with the upper half shell and the lower half shell to play a role of cabin sealing for sealing the motor 6 from the external environment, the other diaphragm plate 4 is positioned at the front part of the motor 6, and the two diaphragm plates 4 form a sealed cabin for protecting the motor 6 from the humid environment in a human body.
The driving propeller 1 of the invention is fixedly connected with a propeller connecting wheel 2, and the propeller connecting wheel 2 is connected with a propeller driving wheel 7 through a transmission gear set 5. Specifically, the transmission gear set 5 is mounted on the gear seat 2202, one end of the transmission gear set 5 is in meshed connection with the gear of the propeller connecting wheel 2, the other end of the transmission gear set is in meshed connection with the gear of the propeller driving wheel 7, and the propeller driving wheel 7 is fixed on the rotating shaft of the motor 6, so that the rotating shaft of the motor 6 can rotate to drive the propeller 1 to do rotary motion. The other end of the rotating shaft of the motor 6 is connected with a coupler 21.
One end of a coupler 21 is fixedly connected with a motor 6, the other end of the coupler is fixedly connected with a screw rod 20, and a screw rod nut 19 is movably connected with the screw rod 20 through a thread pair.
The camera system 15 of the invention comprises a seat board 1502, a camera 1501 and a lighting lamp 1503 which are arranged on the seat board 1502, wherein the camera system 15 is fixed at a position close to the head in the lower half shell and is positioned in the transparent cover 2203 and protected by the transparent cover 2203, and the seat board 1502 and the transparent cover 2203 form a closed space (not shown) so as to protect the camera 1501 and the lighting lamp 1503 from environmental pollution in human bodies. The camera system 15 is used for intra-gastrointestinal image monitoring uptake.
Referring to fig. 3, 6, 7 and 8, and in combination, reference is made to fig. 2, 9-15. The ectopic self-unlocking mechanism comprises a multifunctional unlocking plate 9, a movable lock tooth 10, a lock bar 13, a lock seat 14, a guide rod 12, a clamp seat 11, a sampling clamp 17 and a connecting rod 18. The out-of-position self-unlocking mechanism is mounted inside the lower half-shell through a lock seat 14. The components are sequentially connected to form the capsule type biopsy device. In this embodiment, the locking bar 13, the guide bar 12 and the lock seat 14 are provided with two groups which are symmetric left and right, namely, the two lock seats 14 are symmetrically arranged, the locking bar 13 and the guide bar 12 in the ectopic self-unlocking mechanism are fixed on the lock seats 14, the guide bar 12 is connected with the pliers seat 11, and the movable locking teeth 10 are fixedly connected below the pliers seat 11.
The movable lock tooth 10 in the ectopic self-unlocking mechanism comprises a tooth seat 1001 and a torsion spring 1002, and a spring groove 10011, a rotation hole 10012 and a tooth head 10013 are arranged on the tooth seat 1001. The movable locking tooth 10 is in a free state, the tooth head 10013 of the movable locking tooth is meshed with teeth on the locking strip 13 and is locked, so that the movable locking tooth 10 is also locked on the jaw 11 connected with the movable locking tooth in the free state on the guide rod 12. The clamp seat 11 is bilaterally symmetrical, and two sides are respectively connected with two guide rods 12. The outer side surface of the clamp seat 11 is provided with a guide block 1103 which is bilaterally symmetrical, the inner side surface is provided with an installation shaft 1102, the center of the top of the clamp seat 11 is provided with a clamp hole 1101, the outer side of the clamp seat 11 is movably connected with a guide rod 12 through the guide block 1103 to form a moving pair, the installation shaft 1102 on the inner side of the clamp seat 11 is provided with a movable lock tooth 10, a tooth seat 1001 of the movable lock tooth 10 is movably connected with a torsion spring 1002 on the installation shaft 1102 of the clamp seat 11 through a rotation hole 10012, and the movable lock tooth is hidden in a spring groove 10011.
Referring to fig. 6, a multifunctional unlocking plate 9 in an ectopic self-unlocking mechanism comprises a positioning plate 903, a mounting hole 901, a connecting plate 902 and left-right symmetrical wing plates 904, wherein the positioning plate 903 is positioned at the rear end of the unlocking plate 9 and is perpendicular to the connecting plate 902, the positioning plate 903 is tightly attached to the end head of a screw nut 19 and is used for precisely positioning the multifunctional unlocking plate 9 and the screw nut 19, further precisely determining the front-rear position of the multifunctional unlocking plate 9 on a shell 22, the connecting plate 902 is positioned at the upper end of the unlocking plate 9 and is horizontally placed, the connecting plate 902 is mounted on the upper end surface of the screw nut 19, the wing plates 904 are positioned at two sides of the unlocking plate 9, are particularly arranged on the connecting section of the connecting plate 902 and are fixedly connected with the connecting plate 902 and extend forwards, and each wing plate 904 is provided with outwards stepped steps, wherein each stepped step comprises a front pulling step 9047, a rear pushing step 9041, a front guide surface 9045, a rear guide surface 9043, a hollow block 9044 and a front unlocking block 9046, a rear unlocking block 9042, a front pulling step 9047, a front step 9046, a front unlocking step 9046, a front step 9046, and a step 9042 are sequentially provided with the steps at different angles, and the steps are sequentially arranged at the front step steps. Preferably, the front pull step 9047, the front unlocking step 9046, the front guide surface 9045, the rear guide surface 9043, the rear unlocking step 9042 and the rear pushing step 9041 are symmetrically arranged. The multifunctional unlocking plate 9 is fixed on the screw nut 19, and the step steps on the wing plates 904 are arranged corresponding to the movable locking teeth 10.
The sampling forceps 17 in the ectopic self-unlocking mechanism are provided with two symmetrical sampling forceps 17, the head of the sampling forceps 17 is provided with a forceps head 1703, the middle is provided with a cheek hole 1702, the rear end is provided with a driving hole 1701, and the sampling forceps 17 are hinged on the forceps hole 1101 of the forceps holder 11 through the cheek hole 1702.
The connecting rods 18 in the ectopic self-unlocking mechanism are also provided with two bilaterally symmetrical connecting rods, one ends of the two connecting rods 18 correspond to the sampling forceps 17, are respectively connected with the two sampling forceps 17 in a rotating way through the matching action of the driving holes 1701, and the other ends of the two connecting rods are respectively connected with the multifunctional unlocking plate 9 in a rotating way through the matching action of the mounting holes 901. Because the multifunctional unlocking plate 9 is fixed on the screw-nut 19, the two connecting rods 18 can rotate relative to the screw-nut 19, so that when the motor 6 drives the screw-nut 19 to move forwards and backwards, the multifunctional unlocking plate 9 in the ectopic self-unlocking mechanism sequentially presses the tooth seat 1001 of the movable lock tooth 10 to intermittently contact through the step steps on the wing plate 904 so as to control the movable lock tooth 10 to lock and unlock the lock bar 13 and push the lock tooth 10, thereby controlling the front and back positions of the movable lock tooth 10 on the lock bar 13 and controlling the front and back positions of the clamp seat 11 on the guide rod 12, further changing the self-configuration of the ectopic self-unlocking mechanism to generate displacement or configuration change, and finally realizing the movement or opening and closing movements of the sampling clamp 17 in the ectopic self-unlocking mechanism on different positions.
The cartridge 16 of the present invention is fixed in the lower housing half and is located below the sampling clamp 17 in the ectopic self-unlocking mechanism. Referring to fig. 19, the sample receiving box 16 is further provided with a single cover 1601, and the single cover 1601 can be opened only in one direction, so that the collected human tissue sample can fall into the sample receiving box conveniently and the sample receiving box can prevent the human tissue from overflowing. The single cover 1601 may be implemented with a flexible plastic sheet having a certain unidirectional compliance and elasticity.
Further, referring to fig. 17, the present invention further includes a guide slot 2205, wherein the guide slot 2205 is slidably engaged with the screw nut 19 to limit the linear movement of the screw nut 19 only in the front-rear direction along the housing 22, and not to rotate about the axis of the screw nut 19 itself. The guide block 1103 of the present invention is mounted on the guide rod 12 so that the jaw 11 cannot rotate, and thus the connecting rod 18 and the lead screw nut 19 connected thereto cannot rotate. However, in order to further restrict self-transmission of the lead screw nut 19, the ectopic self-unlocking mechanism of the present invention is prevented from generating asymmetric configuration change due to uneven stress, and therefore, a guide groove 2205 is added.
Referring to fig. 18, the invention further comprises a brush 23, the brush 23 has a certain elasticity, the brush 23 is arranged on the upper half shell right above the sampling box 16, the head of the brush 23 is directed to the lower half shell, and the head of the brush is located at the position where the forceps head of the sampling forceps 17 must pass, so as to prevent the human tissue taken by the sampling forceps 17 from falling into the sampling box 16 due to adhesion.
Further, as a preferable scheme, the coupling 21 in the invention can also be a miniature magnetic powder clutch, when the magnetic powder clutch is in a release state, the motor 6 can not drive the screw rod 20 to rotate and only drive the driving screw propeller 1 to rotate so as to drive the capsule to move and shift without sampling operation, when the magnetic powder clutch is in a switch-on state, the screw rod 20 and the driving screw propeller 1 can be simultaneously driven to move, at the moment, the movement can provide pushing assistance for sampling of the sampling forceps 17, so that the sampling forceps 17 are prevented from slipping and the capsule is retracted, and the sampling forceps 17 are easier to grasp human tissues.
The ectopic self-unlocking mechanism in the invention is self-unlocked at different positions, and the process of controlling the multifunctional unlocking plate 9 to lock and unlock the movable locking teeth 10 is as follows:
Step one, as shown in fig. 11, the ectopic self-unlocking mechanism of the present invention is in an initial state where the jaw 1703 of the sampling jaw 17 is closed and within the capsule (the space formed by the upper and lower half shells).
As shown in fig. 12, referring to fig. 6 and 7, the ectopic self-unlocking mechanism of the invention is deformed, the sampling forceps 17 is fixed in place, and the forceps head is opened, namely, when the motor 6 rotates forward, the spindle 20 is driven to rotate through the coupler 21, so that the spindle nut 19 moves forward, at this time, the tooth seat 1001 of the movable locking tooth 10 is separated from the front unlocking gear 9046 to enter the hollow gear 9044 due to the tiny friction force between the multifunctional unlocking plate 9 and the tooth seat 1001, so that the movable locking tooth 10 is locked on the locking strip 13, the forceps seat 11 is locked on the guide rod 12, the spindle nut 19 pushes the ectopic self-unlocking mechanism to deform, and the forceps head 1703 of the sampling forceps 17 is pushed to open, and at this time, if the last taken human tissue sample is in the forceps head, the sample is unloaded into the sample receiving box 16.
As shown in fig. 13, the ectopic self-unlocking mechanism in the invention stops deforming to be ready to push out the capsule, namely, the motor 6 continues to rotate forward, the multifunctional unlocking plate 9 continues to move forward, the movable locking teeth 10 are locked on the locking strips 13, so that the rear guide surface 9043 of the multifunctional unlocking plate 9 contacts with the tooth seats 1001 of the movable locking teeth 10, the tooth heads 10013 on the tooth seats 1001 are driven to be separated from the locking strips 13, the tooth heads 10013 on the tooth seats 1001 stay on the rear unlocking gear 9042 and completely separate from the locking strips 13, when the backward pushing step 9041 touches the tooth seats 1001, the multifunctional unlocking plate 9 pushes the clamp seat 11 connected with the tooth seats 1001 to move forward, at the moment, the ectopic self-unlocking mechanism stops deforming, and the multifunctional unlocking plate 9 starts pushing the whole ectopic self-unlocking mechanism (except the guide rods 12) to extend outwards out of the capsule.
As shown in fig. 14, referring to fig. 6 and 7, the sampling forceps 17 in the ectopic self-unlocking mechanism of the invention extends out of the capsule, the ectopic self-unlocking mechanism starts to deform again to close the sampling forceps 17 for sampling human tissues, namely, after the sampling forceps 17 extend out of the capsule and aim at the affected part in the stomach and intestine of a patient, the motor 6 starts to rotate reversely, the multifunctional unlocking plate 9 moves backwards, the tooth seat 1001 of the movable locking tooth 10 enters the hollow gear 9044 after the unlocking gear 9042 is separated due to tiny friction force between the multifunctional unlocking plate 9 and the tooth seat 1001, so that the movable locking tooth 10 is locked on the locking bar 13 again, thereby locking the forceps seat 11 connected with the movable locking tooth 10, the screw nut 19 pulls the ectopic self-unlocking mechanism to deform, and pulls the forceps head 1703 of the sampling forceps 17 to close for sampling, and the camera 1501 in the process photographing system 15 monitors the image of the affected part in real time under the illumination of the illuminating lamp 1503.
Step five, as shown in fig. 15, the sampling end of the sampling forceps 17 in the ectopic self-unlocking mechanism of the invention is to retract into the capsule, namely, the motor 6 is continuously reversed, the multifunctional unlocking plate 9 is continuously moved backwards, the movable locking teeth 10 are locked on the locking strips 13, so that the front guide surface 9045 is contacted with the tooth seats 1001 of the movable locking teeth 10, the tooth heads 10013 on the tooth seats 1001 are driven to be separated from the locking strips 13, the tooth seats 1001 are stopped on the front unlocking gear 9046, the tooth heads 10013 are thoroughly separated from the locking strips 13, and when the front pulling step 9047 touches the tooth seats 1001, the multifunctional unlocking plate 9 pulls the forceps seat 11 connected with the multifunctional unlocking plate 9 to move backwards together, and at the moment, the ectopic self-unlocking mechanism stops deforming again, and the multifunctional unlocking plate 9 finally pulls the whole ectopic self-unlocking mechanism to retract into the capsule together. Eventually reverting to the position and state of fig. 11.
Repeating steps one through five will again sample the human tissue.
Obviously, the position of the ectopic self-unlocking mechanism in the back and forth path, where the movable lock tooth 10 is locked and unlocked, does not coincide.
The invention utilizes the multifunctional unlocking plate 9 carried by the ectopic self-unlocking mechanism to self-control the movement or the parking of the forceps seat 11, thereby realizing the opening and the closing of the sampling forceps 17 at different positions, and utilizes the driving screw 1 to drive the capsule to move, thereby realizing the functions of single motor driving ectopic self-unlocking mechanism to self-intermittently control and completing the biopsy functions of the capsule biopsy mechanism such as stretching out, sampling, retracting in, sample reserving and opening sample unloading, and further realizing the functions of one-time swallowing and completing the sampling operation of multiple parts and times of human body.
According to the invention, the single motor is used for driving the ectopic self-unlocking mechanism to unlock and lock at different position points, so that the biopsy functions of the capsule biopsy mechanism, such as extension sampling, shrinkage sample reserving and opening sample unloading, are sequentially completed, the functions of one-time swallowing to complete sampling operation on multiple parts and times of human body can be realized, the control difficulty and the complexity of the device are reduced, the volume and the weight of the capsule are reduced, and the device is smaller and more efficient.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (4)
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| CA2634776A1 (en) * | 2007-02-06 | 2008-08-06 | Abb K.K. | Paint coating system |
| CN101686828A (en) * | 2007-02-19 | 2010-03-31 | 多种活检标本有限责任公司 | Biopsy forceps for taking one or more samples |
| US20090209854A1 (en) * | 2008-02-19 | 2009-08-20 | Parihar Shailendra K | Biopsy method |
| CN101413837A (en) * | 2008-12-02 | 2009-04-22 | 上海理工大学 | Test piece torque - corner measuring apparatus |
| US20100324445A1 (en) * | 2009-06-17 | 2010-12-23 | Mollere Rebecca J | MRI Biopsy Cylindraceous Targeting Guide |
| CN110537894B (en) * | 2019-10-14 | 2021-05-07 | 南京市第一医院 | Capsule gastroscope with biopsy function |
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