CN218960684U - Capsule robot - Google Patents

Abstract

The application provides a capsule robot, which comprises a shell, a plurality of executing structures, a driving structure and a pushing structure, wherein a containing cavity is arranged in the shell, one end of the shell is provided with an operation hole communicated with the containing cavity, the executing structures are arranged in the containing cavity, the executing structures comprise at least one medicine applying structure and at least one biopsy structure, the driving structure is arranged in the containing cavity, the driving structure is used for driving each executing structure to move so as to enable the designated executing structure to be positioned at the operation hole, the pushing structure is arranged in the accommodating cavity and used for pushing the executing end of the executing structure positioned at the operation hole to extend out of the operation hole to execute the operation, and the executing structures further comprise at least one biological sensing structure and/or at least one scalpel structure. The capsule robot of this application embodiment, simple structure can realize multiple functions, convenient to use.

Description

Capsule robot

Technical Field

The application belongs to the field of medical equipment, and more specifically relates to a capsule robot.

Background

The role of microcapsule robots in the medical field is increasingly pronounced. In the medical field, the microcapsule robot is used for detection and treatment in human body, the volume of the microcapsule robot is small, and the foreign body sensation of a patient is small. In the existing capsule robots, the functions of an endoscope, biopsy and drug delivery are mostly one or two, and the functions are relatively single.

Disclosure of Invention

The embodiment of the application aims to provide a capsule robot, which solves the technical problems that the capsule robot in the prior art has single functions, and the functions of endoscope, biopsy and drug delivery are only one or two.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: the capsule robot comprises a shell and a plurality of executing structures, wherein a containing cavity is arranged in the shell, each executing structure is movably installed in the containing cavity, the executing end of each executing structure extends out of the containing cavity to execute operation, and the executing structures comprise at least one medicine applying structure and at least one biopsy structure;

wherein a plurality of the actuating structures further comprise at least one biosensing structure, and/or at least one scalpel structure.

In one embodiment, one end of the shell is provided with an operation hole communicated with the accommodating cavity;

the capsule robot further comprises a driving structure and a pushing structure, wherein the driving structure is installed in the accommodating cavity, the driving structure is connected with each executing structure, the driving structure is used for driving each executing structure to move so as to enable the assigned executing structure to be located at the operating hole, and the pushing structure is installed in the accommodating cavity and used for pushing the executing end of the executing structure located at the operating hole to extend out of the accommodating cavity to execute operation.

In one embodiment, the capsule robot further comprises a container structure, the container structure is installed in the accommodating cavity, the driving structure is connected with the container structure, a plurality of execution cavities for loading the execution structures are arranged in the container structure, the execution structures are in one-to-one correspondence with the execution cavities, pushing holes and execution holes which are communicated with the corresponding execution cavities are respectively formed in opposite ends of the container structure, the pushing holes are used for enabling one end of the pushing structure to extend in, and the execution holes are used for enabling the execution ends of the execution structures to extend out.

In one embodiment, the driving structure includes a second motor, an output end of the second motor is connected with the container structure, each execution cavity is arranged in an annular array around an axis of the shell, and the second motor is used for driving the container structure to rotate so as to enable the appointed execution structure to be located at the operation hole.

In one embodiment, the dispensing structure comprises:

the medicine dispensing needle comprises a medicine dispensing needle head and a medicine dispensing needle seat, the medicine dispensing needle head is in a hollow tube shape, the medicine dispensing needle head is arranged on the medicine dispensing needle seat, the medicine dispensing needle seat is slidably arranged in the execution cavity, a through hole communicated with the medicine dispensing needle head is formed in the medicine dispensing needle seat, and one end of the medicine dispensing needle head extends out of the execution hole to form an execution end of the medicine dispensing structure;

the medicine application pushing piece is slidably arranged in the execution cavity and is positioned on one side of the medicine application needle seat close to the pushing hole.

In one embodiment, the biopsy structure comprises a biopsy needle and a biopsy needle seat, wherein the biopsy needle is in a hollow tube shape, the biopsy needle is arranged on the biopsy needle seat, the biopsy needle seat is slidably arranged in the execution cavity, and one end of the biopsy needle extends out of the execution hole to form an execution end of the biopsy structure.

In one embodiment, the biosensing structure comprises:

the sensor base is slidably arranged in the execution cavity;

one end of the connecting rod is connected with the sensor base;

the biosensor is connected to the other end of the connecting rod, and extends out of the execution hole to form an execution end of the biosensing structure.

In one embodiment, the biosensor is tapered.

In one embodiment, the scalpel structure comprises:

the tool apron is slidably arranged in the execution cavity;

one end of the knife handle is connected with the knife seat;

and the blade is connected with the other end of the knife handle, and extends out of the execution hole to form the execution end of the surgical knife structure.

In one embodiment, the holding cavity is internally provided with a sliding rail along the axial direction of the shell, and the pushing structure comprises:

the pushing rod is used for pushing the execution end of the execution structure at the operation hole to extend out of the operation hole to execute the operation;

the sliding block is connected to the sliding rail in a sliding way and is connected to one end of the pushing rod, which is far away from the executing structure;

the pushing assembly is arranged in the accommodating cavity and used for pushing the sliding block to move forwards and backwards.

In one embodiment, the actuating structure has magnetism near one end of the pushing structure, and the pushing rod is provided with a magnetic attraction piece near one end of the pushing rod, which is used for being magnetically attracted with the actuating structure.

In one embodiment, the pushing assembly comprises:

the nut is arranged on the sliding block;

the screw is in threaded connection with the nut;

the first motor is connected with the screw rod and used for driving the screw rod to rotate.

In one embodiment, the capsule robot further comprises a power structure, the power structure comprises a driving magnet, a limiting groove for installing the driving magnet is arranged in the accommodating cavity, and the driving magnet is used for controlling the capsule robot to move in cooperation with an external magnetic field.

The beneficial effect of capsule robot that this application embodiment provided lies in: compared with the prior art, the capsule robot of this application embodiment, a plurality of executive structure movable mounting are in the holding intracavity, and executive structure's executive end stretches out the holding chamber and carries out the operation, and executive structure is including being used for the construction of giving birth to medicine to the poor free of charge, be used for biopsy structure, be used for biosensing structure and be used for cutting out the scalpel structure of pathological change, simple structure can realize multiple functions, convenient to use.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a capsule robot according to an embodiment of the present disclosure;

fig. 2 is a cross-sectional view of a capsule robot provided in an embodiment of the present application;

fig. 3 is an exploded structural schematic view of the capsule robot provided in the embodiment of the present application;

fig. 4 is a schematic structural view of a biopsy structure of a capsule robot according to an embodiment of the present application;

fig. 5 is a schematic structural view of an application structure of a capsule robot according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a bio-sensing structure of a capsule robot according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a scalpel structure of a capsule robot according to an embodiment of the present disclosure;

fig. 8 is a schematic structural view of a bottom case of the capsule robot according to the embodiment of the present application.

Wherein, each reference sign in the figure:

1. a housing; 11. a receiving chamber; 12. an operation hole; 13. a front cover; 131. the clamping bulge; 14. a bottom case; 141. inserting the bulge; 142. a slide rail; 1421. a first limiting surface; 143. a fixing groove; 144. a clamping groove; 15. an upper case; 151. a slot; 152. a limit groove; 16. a limiting plate; 161. a limiting hole; 17. a battery; 18. a circuit board; 19. a bearing;

2. executing a structure; 21. a drug delivery structure; 211. an application needle; 2111. a needle for applying the medicine; 2112. a medicine applying needle seat; 2113. a through hole; 212. an application pusher;

22. a biopsy structure; 221. a biopsy needle; 222. a biopsy needle holder;

23. a biosensing structure; 231. a sensor base; 232. a connecting rod; 233. a biosensor;

24. a scalpel structure; 241. a tool apron; 242. a knife handle; 243. a blade;

3. a driving structure; 31. a second motor;

4. a propulsion structure; 41. a propulsion rod; 411. a magnetic attraction piece; 42. a slide block; 43. a pushing assembly; 431. a nut; 432. a screw; 433. a first motor;

5. a container structure; 51. an execution chamber; 52. an execution hole; 53. pushing holes;

6. a power structure; 61. and driving the magnet.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Reference in the specification to "one embodiment," "some embodiments," or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Referring to fig. 1, 2 and 3, a capsule robot according to an embodiment of the present application will be described. The capsule robot comprises a housing 1 and a plurality of actuating structures 2. The shell 1 is internally provided with a containing cavity 11, a plurality of executing structures 2 are movably arranged in the containing cavity 11, and executing ends of the executing structures 2 extend out of the containing cavity 11 to execute operations. The plurality of actuating structures 2 comprises at least one application structure 21, at least one biopsy structure 22 and at least one biosensing structure 23. The plurality of actuating structures 2 may also include at least one application structure 21, at least one biopsy structure 22, and at least one scalpel structure 24. The plurality of actuating structures 2 may also include at least one application structure 21, at least one biopsy structure 22, at least one biosensing and at least one scalpel structure 24. The collocation of the execution structure 2 may be selected according to the requirements.

In one embodiment, the housing 1 is provided at one end with an operation hole 12, the operation hole 12 communicating with the accommodation chamber 11. The capsule robot further comprises a driving structure 3 and a pushing structure 4, wherein the driving structure 3 is arranged in the accommodating cavity 11, the driving structure 3 is connected with each executing structure 2, and the driving structure 3 is used for driving each executing structure 2 to move so that the designated executing structure 2 is positioned at the operating hole 12. The pushing structure 4 is installed in the accommodating cavity 11, and is used for pushing the execution end of the execution structure 2 at the operation hole 12 to extend out of the operation hole 12 to execute the operation.

In the capsule robot of the embodiment of the application, the driving structure 3 is arranged to drive the executing structure 2 to move, when the executing structure 2 moves to the operating hole 12, the pushing structure 4 pushes the executing end of the executing structure 2 at the operating hole 12 to extend out of the operating hole 12 to execute the operation, the execution structure 2 comprises a medicine application structure 21 for medicine application, a biopsy structure 22 for biopsy, a biosensing structure 23 for biosensing and a scalpel structure 24 for cutting lesions, and has the advantages of simple structure, multiple functions and convenient use.

In one embodiment, referring to fig. 1, 2 and 3, the capsule robot further comprises a container structure 5, the container structure 5 is mounted in the receiving chamber 11, and the driving structure 3 is connected to the container structure 5. The container structure 5 is internally provided with a plurality of execution chambers 51, the execution chambers 51 are used for loading the execution structures 2, and the execution structures 2 are in one-to-one correspondence with the execution chambers 51. The opposite ends of the container structure 5 are respectively provided with a push hole 53 and an execution hole 52 which are communicated with the corresponding execution cavity 51, the push hole 53 is used for allowing one end of the pushing structure 4 to extend in, and the execution hole 52 is used for allowing the execution end of the execution structure 2 to extend out. The execution cavity 51 is arranged in the container structure 5, so that each execution structure 2 is conveniently packaged, the container structure 5 is connected with the driving structure 3, and the connection between the driving structure 3 and the execution structure 2 can be realized.

In one embodiment, referring to fig. 1, 2 and 3, the driving structure 3 includes a second motor 31, an output end of the second motor 31 is connected to the container structure 5, each execution cavity 51 is arranged in an annular array around an axis of the housing 1, the second motor 31 is used for driving the container structure 5 to rotate, so that the designated execution structure 2 is located at the operation hole 12, and the second motor 31 is a stepper motor and can rotate at a designated angle. The execution cavities 51 are arranged in an annular array, the second motor 31 drives the container structure 5 to rotate, so that the execution structures 2 are traversed, the space can be saved, the structural compactness is improved, and the miniaturized design of the capsule robot is facilitated.

In one embodiment, referring to fig. 2, 3 and 5, the dispensing structure 21 includes a dispensing needle 211 and a dispensing pusher 212. The dispensing needle 211 comprises a dispensing needle 2111 and a dispensing needle seat 2112, the dispensing needle 2111 is hollow, and the dispensing needle 2111 is arranged on the dispensing needle seat 2112. The dispensing needle seat 2112 is slidably mounted in the actuating chamber 51, a through hole 2113 is provided in the dispensing needle seat 2112, the through hole 2113 communicates with the dispensing needle 2111, and one end of the dispensing needle 2111 extends out of the actuating hole 52 to form the actuating end of the dispensing structure 21. The administration pusher 212 is slidably mounted within the actuation chamber 51 on the side of the administration hub 2112 adjacent the push aperture 53. The medicine can be packaged between the medicine applying pushing member 212 and the medicine applying needle seat 2112, the pushing structure 4 pushes the medicine applying pushing member 212 to move in the executing cavity 51, the medicine pushes the medicine applying needle 211 to extend out of the executing hole 52 and the operating hole 12, the medicine applying needle 2111 is inserted into a lesion, the medicine applying pushing member 212 and the medicine applying needle seat 2112 squeeze the medicine, and the medicine enters the medicine applying needle 2111 along the through hole 2113 and then enters the lesion to realize medicine applying operation.

In one embodiment, referring to fig. 2, 3 and 4, biopsy structure 22 includes a biopsy needle 221 and a biopsy needle holder 222, biopsy needle 221 is hollow tubular, and biopsy needle 221 is mounted on biopsy needle holder 222. The biopsy needle holder 222 is slidably mounted in the actuation cavity 51, and one end of the biopsy needle 221 extends out of the actuation aperture 52 to form the actuation end of the biopsy structure 22. The pushing structure 4 pushes the biopsy needle seat 222 to move in the execution cavity 51, the biopsy needle seat 222 drives the biopsy needle 221 to move, the biopsy needle 221 extends out of the execution hole 52 and the operation hole 12, and the biopsy needle 221 is inserted into a lesion for sampling. Providing a hollow tubular biopsy needle 221 will avoid that the biopsy sample falls off.

In one embodiment, referring to fig. 2, 3 and 6, the biosensing structure 23 includes a sensor mount 231, a connecting rod 232 and a biosensor 233. The sensor seat 231 is slidably installed in the actuating chamber 51, one end of the connection rod 232 is connected to the sensor seat 231, and the biosensor 233 is connected to the other end of the connection rod 232. The biosensor 233 is tapered, and the biosensor 233 extends out of the actuation hole 52 to form an actuation end of the biosensor structure 23. The pushing structure pushes the sensor seat 231 to move in the execution cavity 51, so that the biosensor 233 is driven to extend out of the execution hole 52 and the operation hole 12, and the conical biosensor 233 is inserted into the lesion for biosensing.

The biosensor 233 is an instrument that is sensitive to a biological substance and converts its concentration into an electrical signal for detection. Is an analysis tool or system which is composed of immobilized biological sensitive material as recognition element (including enzyme, antibody, antigen, microorganism, cell, tissue, nucleic acid, etc.), proper physical and chemical transducer (such as oxygen electrode, photosensitive tube, field effect tube, piezoelectric crystal, etc.), and signal amplifying device. The biosensor 233 has the functions of a receptor and a transducer. The molecular recognition part is used for recognizing the detected target and is a main functional element which can cause certain physical change or chemical change. The molecular recognition moiety is the basis for the selective assay of the biosensor 233. Mainly enzymes, antibodies, nucleic acids, DNA, cell receptors, whole cells, etc. Physical or chemical transducers (sensors) for converting signals expressed by biological activity into electrical signals, mainly include electrochemical devices, optical devices, thermosensitive devices, acoustic wave devices, pressure sensitive devices, and the like. The various biosensors 233 have the following common structure: comprises one or a plurality of related bioactive materials and physical or chemical transducers (sensors) capable of converting signals expressed by the bioactivity into electric signals, and the two are combined together to carry out the reprocessing of the biological signals by using modern microelectronic and automatic instrument technology, thus forming various usable analysis devices, instruments and systems of the biosensor 233.

In one embodiment, referring to fig. 2, 3 and 7, the scalpel structure 24 includes a blade holder 241, a handle 242 and a blade 243. Tool holder 241 is slidably mounted within actuating chamber 51, and tool holder 241 is connected to one end of tool holder 242 and blade 243 is connected to the other end of tool holder 242. The extension of the blade 243 out of the actuation aperture 52 forms the actuation end of the scalpel structure 24. The pushing structure pushes the tool holder 241 to slide in the execution cavity 51, so that the blade 243 is driven to extend out of the execution hole 52 and the operation hole 12, and the blade 243 can be used for cutting off lesions and sampling biopsy.

In one embodiment, referring to fig. 2, 3 and 8, a sliding rail 142 is disposed in the accommodating cavity 11 along the axial direction of the housing 1, and the pushing structure 4 includes a pushing rod 41, a sliding block 42 and a pushing component 43. The pushing rod 41 is used for pushing the execution end of the execution structure 2 at the operation hole 12 to extend out of the operation hole 12 to execute the operation. The slider 42 is slidably connected to the slide rail 142, and is connected to the end of the push rod 41 away from the actuating structure 2. A pushing assembly 43 is installed in the accommodating chamber 11 for pushing the slider 42 to move forward and backward. The pushing component 43 pushes the sliding block 42 to move back and forth along the sliding rail 142, drives the pushing rod 41 to move back and forth, and the pushing rod 41 stretches into the pushing hole 53 to push the executing structure 2, and the executing end of the executing structure 2 stretches out of the executing hole 52 and the operating hole 12 to execute work.

In one embodiment, referring to fig. 2, 3, 4, 5, 6, 7 and 8, the end of the actuating structure 2 near the pushing structure 4 has magnetism, and the end of the pushing rod 41 near the actuating structure 2 is provided with a magnetic attraction piece 411, where the magnetic attraction piece 411 is used for magnetically connecting with the actuating structure 2. The administration needle holder 2112, the administration pusher 212, the biopsy needle holder 222, the sensor mount 231, and the blade holder 241 are all magnetic. After the execution operation is finished, the pushing rod 41 is retracted, so that the execution structure 2 can be driven to retract into the accommodating cavity 11, the execution end of the execution structure 2 cannot be clamped at the operation hole 12, and the driving structure 3 cannot drive the container structure 5 to rotate.

The medicine dispensing needle seat 2112 and the medicine dispensing pushing member 212 are both magnetic, after the medicine dispensing operation is finished, the medicine dispensing needle seat 2112 and the medicine dispensing pushing member 212 are adsorbed together, the pushing rod 41 is retracted, the magnetic attraction member 411 adsorbs the medicine dispensing pushing member 212 and the medicine dispensing needle seat 2112, drives the medicine dispensing pushing member 212 and the medicine dispensing needle seat 2112 to retract, further drives the medicine dispensing needle 2111 to retract into the accommodating cavity 11, the medicine dispensing needle 2111 cannot be clamped at the position of the operation hole 12, and the driving structure 3 cannot drive the container structure 5 to rotate.

In one embodiment, referring to fig. 2, 3 and 8, the pushing assembly 43 includes a nut 431, a screw 432 and a first motor 433, and the nut 431 is mounted on the slider 42. The screw 432 is in threaded connection with the nut 431, and the first motor 433 is connected with the screw 432 and used for driving the screw 432 to rotate. The first motor 433 rotates to drive the screw 432 to rotate, and the screw 432 drives the nut 431 on the slider 42 to move back and forth, so as to achieve a pushing effect. The push assembly 43 may also include a push rod motor. A fixing groove 143 is arranged in the accommodating cavity 11, and the first motor 433 is arranged in the fixing groove 143. A fixing groove 143 is provided to secure the installation stability of the first motor 433.

In one embodiment, referring to fig. 2, 3 and 8, a limiting plate 16 is further disposed in the accommodating cavity 11, and a limiting hole 161 is disposed on the limiting plate 16. The limiting plate 16 is located close to the actuating structure 2, and the pushing rod 41 passes through the limiting hole 161. The sliding rail 142 is provided with a first limiting surface 1421, the sliding block 42 is provided with a second limiting surface, and the first limiting surface 1421 is in sliding connection with the second limiting surface. The limiting plate 16 and the first motor 433 are respectively located at two opposite ends of the sliding rail 142. The pushing rod 41 passes through the limiting hole 161, the screw 432 passes through the nut 431, the nut 431 is arranged on the sliding block 42, two ends of the sliding block 42 are limited on the sliding rail 142, and the first limiting surface 1421 is ensured to be in close contact with the second limiting surface. The sliding stability of the slider 42 is ensured.

In one embodiment, referring to fig. 2, 3 and 8, the capsule robot further includes a power structure 6, the power structure 6 includes a driving magnet 61, a limiting groove 152 is disposed in the accommodating cavity 11, the limiting groove 152 is used for installing the driving magnet 61, and the driving magnet 61 is used for controlling the capsule robot to move in cooperation with an external magnetic field. The capsule robot is driven to move or rotate by controlling the change of an external magnetic field.

In one embodiment, referring to fig. 2, 3 and 8, the housing 1 includes an upper shell 15, a bottom shell 14 and a front cover 13, slots 151 are provided on opposite sides of the upper shell 15, inserting protrusions 141 are provided on opposite sides of the bottom shell 14, the inserting protrusions 141 are inserted into the slots 151, and the front cover 13 covers one end of the bottom shell 14. The operation hole 12 is located on the front cover 13, the clamping protrusion 131 is arranged in the front cover 13, the clamping groove 144 is formed in one end of the bottom shell 14, the clamping protrusion 131 is clamped in the clamping groove 144, the front cover 13 can be prevented from rotating, and the position of the operation hole 12 is guaranteed to be fixed.

The bearing 19 is arranged in the accommodating cavity 11, the outer ring of the bearing 19 is connected with the inner wall of the accommodating cavity 11, and the inner ring of the bearing 19 is connected with the container structure 5. The provision of the bearing 19 can improve the rotational stability of the container structure 5.

A battery 17 and a circuit board 18 are arranged in the accommodating cavity 11, the battery 17 is electrically connected with the circuit board 18, and the circuit board 18 is electrically connected with the first motor 433 and the second motor 31.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (10)

1. The capsule robot is characterized by comprising a shell and a plurality of executing structures, wherein a containing cavity is arranged in the shell, each executing structure is movably installed in the containing cavity, the executing end of each executing structure extends out of the containing cavity to execute operation, and the executing structures comprise at least one medicine applying structure and at least one biopsy structure;

wherein a plurality of the actuating structures further comprise at least one biosensing structure, and/or at least one scalpel structure.

2. The capsule robot of claim 1, wherein one end of the housing is provided with an operation hole communicating with the accommodation chamber;

the capsule robot further comprises a driving structure and a pushing structure, wherein the driving structure is installed in the accommodating cavity, the driving structure is connected with each executing structure, the driving structure is used for driving each executing structure to move so as to enable the assigned executing structure to be located at the operating hole, and the pushing structure is installed in the accommodating cavity and used for pushing the executing end of the executing structure located at the operating hole to extend out of the accommodating cavity to execute operation.

3. The capsule robot of claim 2, further comprising a container structure, wherein the container structure is installed in the accommodating cavity, the driving structure is connected with the container structure, a plurality of execution cavities for loading the execution structures are arranged in the container structure, the execution structures are in one-to-one correspondence with the execution cavities, pushing holes and execution holes which are communicated with the corresponding execution cavities are respectively arranged at opposite ends of the container structure, one end of each pushing hole is used for extending in one end of each pushing structure, and the execution holes are used for extending out the execution ends of the execution structures.

4. A capsule robotic as claimed in claim 3, wherein the dispensing structure comprises:

the medicine dispensing needle comprises a medicine dispensing needle head and a medicine dispensing needle seat, the medicine dispensing needle head is in a hollow tube shape, the medicine dispensing needle head is arranged on the medicine dispensing needle seat, the medicine dispensing needle seat is slidably arranged in the execution cavity, a through hole communicated with the medicine dispensing needle head is formed in the medicine dispensing needle seat, and one end of the medicine dispensing needle head extends out of the execution hole to form an execution end of the medicine dispensing structure;

the medicine application pushing piece is slidably arranged in the execution cavity and is positioned on one side of the medicine application needle seat close to the pushing hole.

5. A capsule robotic system as claimed in claim 3, wherein the biopsy structure comprises a biopsy needle and a biopsy needle hub, the biopsy needle being hollow and tubular, the biopsy needle being mounted on the biopsy needle hub, the biopsy needle hub being slidably mounted within the actuation cavity, one end of the biopsy needle extending out of the actuation aperture to form an actuation end of the biopsy structure.

6. A capsule robotic as claimed in claim 3, wherein the scalpel structure comprises:

the tool apron is slidably arranged in the execution cavity;

one end of the knife handle is connected with the knife seat;

and the blade is connected with the other end of the knife handle, and extends out of the execution hole to form the execution end of the surgical knife structure.

7. A capsule robotic machine as claimed in claim 3, wherein the biosensing structure comprises:

the sensor base is slidably arranged in the execution cavity;

one end of the connecting rod is connected with the sensor base;

the biosensor is connected to the other end of the connecting rod, and extends out of the execution hole to form an execution end of the biosensing structure.

8. The capsule robotic system of claim 7, wherein the biosensor is cone-shaped.

9. Capsule robot according to any of the claims 2-8, wherein the receiving chamber is provided with a sliding rail along the housing axial direction, the propulsion structure comprising:

the pushing rod is used for pushing the execution end of the execution structure at the operation hole to extend out of the operation hole to execute the operation;

the sliding block is connected to the sliding rail in a sliding way and is connected to one end of the pushing rod, which is far away from the executing structure;

the pushing assembly is arranged in the accommodating cavity and used for pushing the sliding block to move forwards and backwards.

10. The capsule robotic system of claim 9, wherein the actuating structure has a magnetic property proximate an end of the pushing structure, and wherein the pushing rod has a magnetic attraction member disposed proximate an end of the actuating structure for magnetically coupling to the actuating structure.

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