CN101342067A - medical tool capsule - Google Patents

Abstract

The invention discloses a medical tool capsule, which includes a tool device and an external wireless remote controller. The tool device includes a tool power supply, a tool switch circuit, a tool power supply, a tool, a signal receiver and a microprocessor. The tool switch circuit and the microprocessor The tool switch circuit is connected in series between the tool power supply and the tool power. The tool power drives the tool to spray and collect. The external remote controller sends instructions to the microprocessor through the receiving transmitter to control the tool device to complete the spraying, Collecting, dyeing, and labeling work, the present invention can collect liquid specimens, dye suspicious parts, mark lesions, and directly apply medicine to lesions according to in vitro remote control operation, which can greatly improve the accuracy of disease diagnosis and the effectiveness of disease treatment. The treatment cycle is shortened, the structure is simple, and the manufacturing cost is low.

Description

medical tool capsule

technical field

The invention relates to a medical capsule, in particular to a medical tool capsule.

Background technique

Capsule endoscopy, born in the 1980s, has brought a major breakthrough in the diagnosis of digestive tract diseases. At present, capsule endoscopy is mainly used clinically, which is composed of a miniature camera, digital processing system, wireless transmission system, etc., and is combined with an image analysis and processing system to complete the image examination of the gastrointestinal tract (especially the small intestine). It has the advantages of small size, light weight, convenient inspection, no trauma, no pain, no cross-infection, and does not affect the normal work of the examinee. However, the capsule endoscope of the prior art does not realize the functions of living body sampling, dyeing and marking, and its drug application function is only spraying powder. Doctors only make a diagnosis based on the images taken by the capsule endoscope, and largely rely on the doctor's clinical experience to judge the condition, which may easily lead to misdiagnosis or inability to diagnose. After the doctor draws a conclusion based on the pictures, he can only take conventional treatment methods for the lesion.

Therefore, there is a need for a capsule that can collect liquid samples and dye suspicious parts to improve the accuracy of disease diagnosis; a capsule that can directly apply medicine to the lesion is needed to improve the efficiency of disease treatment. Efficiency: There is a need for a capsule that can mark the lesion site and provide convenience for further diagnosis, treatment or operation.

Contents of the invention

In view of this, the object of the present invention is to provide a medical tool capsule, which can collect liquid specimens, stain suspicious parts, mark lesions and apply medicine to lesions under the action of the tool device according to external remote control.

The medical tool capsule of the present invention includes a tool device and an in vitro wireless remote controller. The tool device is arranged in the capsule and includes a tool power supply, a tool switch circuit, a tool power, a tool, a signal receiver and a microprocessor. The tool switch The circuit is connected to the microprocessor, the tool switch circuit is connected in series between the tool power supply and the tool power, and the tool power drives the tool to perform the work of spraying, collecting, dyeing and marking;

The external remote controller sends instructions to the microprocessor through the signal receiver to control the tool device to complete the work of spraying, collecting, dyeing and marking.

Further, the power of the tool is a tool motor, and the tool includes a cylinder whose outer wall is close to the inner wall of the capsule, a suction pipe connecting the cylinder and the outside of the capsule, a piston, a piston rod and a tool transmission arranged in the cylinder, and the valve is arranged at In the spray pipe, the tool motor drives the piston rod and piston through the tool transmission to complete the work of spraying, collecting, dyeing and marking;

Further, the tool transmission is a clutch friction plate clutch, including a friction plate I connected with the transmission and a friction plate II connected with a screw push rod. The screw push rod is threadedly matched with the piston rod, and is completed by the rotation of the screw push rod. reciprocating motion of the piston rod;

Further, the connecting part between the capsule and the outlet of the suction pipe is set in a concave shape, and the area of the concave shape is larger than the cross-sectional area of the suction pipe;

Further, the end of the piston rod is fixedly provided with a push block threadedly fitted with the screw push rod, the push block is provided with at least one protrusion along the circumferential direction of the capsule, and the inner wall of the capsule is provided with an axial straight groove which slides and fits with the protrusion of the push block;

Further, it also includes a drive device, which includes a drive power supply, a drive switch circuit, a drive motor and a drive device, the drive switch circuit is connected to the microprocessor, and the drive switch circuit is connected in series between the drive power supply and the drive motor , the driving motor drives the driving equipment to complete the forward or backward of the capsule;

The external remote controller sends instructions to the microprocessor through the signal receiver to control the driving device to complete the movement or stop the movement;

Further, the driving device includes a spiral shell with a circular cross section, at least one protruding spiral shell tooth is arranged on the outer circumference of the spiral shell, and the spiral shell tooth is longitudinally and spirally expanded; the drive motor is fixedly arranged in the capsule, and the drive motor shaft extends The capsule is fixedly connected with the rotary shell; the axis of the motor shaft, the rotary shell, and the driving motor part of the capsule are coincident;

Further, the spiral shell is a part of the capsule, and the positioning barrel is fixed longitudinally inside the capsule, and the spiral shell is fitted on the outer circumference of the positioning barrel to rotate with it; the driving power supply, the driving switch circuit and the driving motor are arranged in the positioning barrel;

Further, protruding fixed teeth are arranged on the outer circumference of the driving motor of the capsule, and the fixed teeth are longitudinally helically deployed, and the deployment direction is opposite to the deployment direction of the spiral shell teeth;

Further, the helix angle of the spiral case tooth is 45°.

Further, the positioning barrel and the rotary shell are rotationally matched through rolling bearings;

Further, the tool device and the driving device are arranged in the same capsule;

Further, it also includes an endoscopic device arranged in the capsule, the endoscopic device includes medical imaging equipment, image processing equipment, and a processor, the signal receiver is a receiving transmitter, and one end of the medical imaging equipment is transparent to the capsule.

Further, any two combinations of the endoscopic device, the tool device and the driving device share the same power supply or the endoscopic device, the tool device and the driving device share the same power supply;

Further, the endoscopic device is arranged in the capsule A, the tool device is arranged in the capsule B, the driving device is arranged in the capsule C, and the motion and working state imaging equipment is also arranged in the capsule A, and the motion and working state imaging equipment is in accordance with The image processing equipment is connected, and the medical imaging equipment and the motion and working state imaging equipment are respectively installed at both ends of the capsule A, and the two ends of the capsule A are transparently set; the dragging and signal transmission are completed through the cable D between the capsule A, capsule B, and capsule C;

Further, the endoscopic device is set in the capsule A, the tool device and the driving device are set in the capsule B, and the motion and working state imaging equipment is also set in the capsule A, and the motion and working state imaging equipment is connected with the image processing equipment , the medical imaging equipment and the motion and working state imaging equipment are respectively installed at both ends of the capsule A, and the two ends of the capsule A are transparently set; the dragging and signal transmission are completed through the cable D between the capsule A and the capsule B;

Further, the endoscopic device, the tool device and the driving device are arranged in the same capsule, and motion and working state imaging equipment are also arranged in the capsule, and the motion and working state imaging equipment is connected with the image processing equipment, and the medical imaging equipment is arranged in At the left end of the capsule, the motion and working state camera equipment is set on the left side of the tool device.

The beneficial effects of the present invention are: the medical tool capsule of the present invention can collect liquid specimens, dye suspicious parts, mark lesions, and directly apply medicine to lesions according to in vitro remote control operation, which can greatly improve the accuracy of disease diagnosis and disease The efficiency of the treatment shortens the treatment period, and the structure is simple and the manufacturing cost is low; the structure of the tool device adopts a cylinder body and a piston structure, which is simple and compact in structure, easy to control, and can make full use of the limited space in the cylinder body; the friction plate clutch is adopted, It is conducive to the control of the working state; the connection part between the capsule and the outlet of the spray and suction pipe is set in a concave shape, so that it is not easy to block the mouth of the spray and suction pipe by tissues in the body during the process of dyeing suspicious parts, marking lesions and directly applying medicine to the lesions. The work is carried out smoothly; the internal driving device can complete the control of the running speed and direction of the capsule, and adjust the moving direction of the capsule endoscope in the digestive tract in real time; guide the stagnant or slow-moving capsule endoscope to make it move in the entire digestive tract Smooth passage; repeated observation, real-time video and photography of suspected lesions, simple and compact structure, small size, easy to use, and not limited by the environment; the driving device adopts a structure in which the motor drives the helical spiral shell teeth to make the capsule run at a reasonable speed , does not cause pain to the user; adopts a structure in which the direction of expansion of the fixed teeth is opposite to that of the teeth of the spiral shell, which is conducive to the fixed capsule not rotating with the spiral shell and ensuring the operation of the capsule; the tool device and the driving device are arranged in the same capsule, with a compact structure, Conducive to driving; it also includes endoscopic devices, which have all the functions of general capsule endoscopic systems, and can intuitively observe the situation in the digestive tract, which is conducive to diagnosis and treatment; all devices share the same power supply or any two combinations share the same power supply, further saving Cost, reduced volume, easy to use capsules; endoscopic devices, tool devices and driving devices are respectively set in different capsules, each capsule is small in size, which increases the flexibility of the capsule endoscopic system in the bend, setting movement and The working state camera equipment can monitor the movement and working state of the capsule at any time, which is convenient for manipulation; the endoscopic device, the tool device and the driving device are respectively installed in the same capsule, so that the entire capsule endoscopic system is compact in structure, reduces the volume and saves costs , while increasing the flexibility of the reciprocating operation of the capsule endoscopic system.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the structural representation of tool device of the present invention;

Fig. 2 is a schematic diagram of the cooperative structure of the push block and the capsule of the tool device of the present invention;

FIG. 3 is a schematic structural diagram of Embodiment 1 of the present invention;

4 is a schematic structural diagram of Embodiment 2 of the present invention;

FIG. 5 is a schematic structural diagram of Embodiment 3 of the present invention;

FIG. 6 is a schematic structural view of Embodiment 4 of the present invention;

Fig. 7 is a schematic block diagram of the present invention;

Fig. 8 is a structural schematic diagram of the driving device of the present invention;

Fig. 9 is an outline view of the driving capsule of the present invention.

Detailed ways

Fig. 1 is a schematic diagram of the structure of the tool device of the present invention, and Fig. 2 is a schematic diagram of the cooperation structure of the push block and the capsule of the tool device of the present invention, as shown in the figure: the tool device includes a tool power supply 9, a tool switch circuit 8, a tool motor 7, a tool 6, a signal The receiver 4 and the microprocessor 3, the tool switch circuit 8 is connected with the microprocessor 3, the tool switch circuit 8 is connected in series between the tool power supply 9 and the tool motor 7, and the tool motor 7 drives the tool 6 to apply medicine and For collection work, the tool includes a cylinder 61 whose outer wall is close to the inner wall of the capsule, a spray and suction pipe 65 connecting the cylinder 61 and the outside of the capsule, a piston 62 arranged in the cylinder, a piston rod 69 and a clutch friction plate clutch, clutch friction plate type Clutch comprises friction plate I 67 and the friction plate II 66 that links to each other with screw push rod 70, and the end of piston rod 69 is fixedly provided with the push block 64 that is screwed with screw push rod 79, and the rotation of screw push rod 70 completes piston rod 69. The reciprocating movement; the push block 64 is symmetrically provided with two protrusions 65 along the circumferential direction of the capsule, and the inner wall of the capsule C is provided with an axial straight groove 63 that slides and fits with the push block protrusions 65, which is conducive to maintaining the stable centering of the piston rod 69 without occurrence of Rotate; valve 15 is set in the suction pipe 65, and the cylinder body 61 communicates with the outside of the capsule through the valve 15 and the suction pipe 65; Cross-sectional area, to prevent in vivo tissues from clogging the mouth of the injection and suction pipe during the process of staining suspicious parts, marking lesions and directly applying medicine to lesions.

During spraying, the motor rotates, the friction plate I 67 and the friction plate II 66 are sucked together, the screw push rod rotates, and the push block 64 and the piston rod 69 are pushed along the chute on the inner wall of the capsule, and the piston 62 is pushed into the cylinder body 61. The powder charge is sprayed into the digestive tract through the spray suction pipe 5; marking and dyeing are the same as the application process.

The principle of the process of collecting liquid specimens using the tool device is: the motor rotates opposite to the spraying process, the friction plate I 67 and the friction plate II 66 are sucked together, the piston 62 is twitched, and the liquid is sucked from the digestive tract through the spray and suction tube 5 by using the negative pressure effect Specimen, to complete the collection task.

The above tool devices are not limited to the tools for completing the spraying and collecting work, and other tools can be set according to the needs of the actual situation to complete the required work.

Fig. 3 is a schematic structural diagram of Embodiment 1 of the present invention, as shown in the figure: in conjunction with Fig. 1 and Fig. 8, the medical tool capsule of this embodiment includes capsule A, capsule B and capsule C, and one of capsule A, capsule B and capsule C The towing and signal transmission are completed through the cable D. An endoscopic device is set in the capsule A, and the endoscopic device includes a medical imaging device 1 and an image processing device 2, a signal receiver 4 is a receiving transmitter, a microprocessor 3 and a receiving transmitter 4 are also arranged in the capsule A, and a motion And the working state imaging equipment 101, the medical imaging equipment 1 and the state imaging equipment 101 are connected with the image processing equipment 2, the medical imaging equipment 1 and the motion and working state imaging equipment 101 are respectively arranged at the two ends of the capsule A, and the two ends of the capsule A Transparent setting, the medical imaging device 1 captures medical images, and the motion and working state imaging device 101 is used to capture motion and working state images, which can monitor the motion and working state of the capsule at any time, which is convenient for manipulation;

The tool device is arranged in the capsule B and includes a tool power supply 9, a tool switch circuit 8, a tool motor 7 and a tool 6. The tool switch circuit 8 is connected to the microprocessor 3, and the tool switch circuit 8 is connected in series between the tool power supply 9 and the tool 6. Between the tool motors 7, the tool motor 7 drives the tool 6 to carry out the spraying and collecting work. The tool includes a cylinder 61 whose outer wall is close to the inner wall of the capsule, a spray and suction pipe 65 connecting the cylinder 61 and the outside of the capsule, and a piston arranged in the cylinder. 62, Piston rod 69 and clutch friction plate clutch, clutch friction plate clutch comprises friction plate I 67 and the friction plate II 66 that links to each other with screw push rod 70, and the end of piston rod 69 is fixedly provided with and screw thread fits with screw push rod 70 The push block 64 completes the reciprocating motion of the piston rod 69 through the rotation of the screw push rod 70; the push block 64 is provided with two protrusions 65 symmetrically along the circumferential direction of the capsule, and the inner wall of the capsule B is provided with an axial straight line that slides and fits with the push block protrusion 65. The groove 63 is conducive to keeping the stable centering of the piston rod 69 without rotation; the valve 15 is arranged in the suction pipe 65, and the cylinder body 61 communicates with the outside of the capsule through the valve 15 and the suction pipe 65; the connecting part of the outlet of the capsule and the suction pipe 5 It is set in a concave shape, and the area of the concave shape is greater than the cross-sectional area of the spray and suction pipe 5 .

The external remote controller 16 sends instructions to the microprocessor 3 by receiving the transmitter 4 to control the connection mode of the tool switch circuit 8, thereby controlling the forward and reverse rotation of the drive motor to complete the work of spraying or collecting.

As shown in the figure, the present embodiment also includes a driving device, which is arranged in the capsule C, including a driving power supply 10, a driving switching circuit 11, a driving motor 12 and a driving device 14, and the driving switching circuit 11 and the microprocessor 3 Connected, the drive switch circuit 11 is connected in series between the drive power supply 10 and the drive motor 12, and the drive motor 12 drives the drive device to complete the forward or backward of the capsule B; It is a part of the capsule, and forms a complete capsule shape with the capsule motor part, which keeps the capsule in a smooth shape and facilitates operation; the positioning barrel 17 is fixed longitudinally inside the capsule, and the rotary shell 14 is set on the outer circumference of the positioning barrel 17 and rotates with it through the rolling bearing 20. , to ensure small rotational frictional resistance; the driving motor 12 is fixedly arranged in the positioning barrel 17 of the capsule B, and the driving motor shaft 13 extends out of the capsule and is fixedly connected with the rotary shell 14; the driving power supply 10 and the driving switch circuit 11 are arranged in the positioning barrel 17 Inside; at least 3-6 protruding spiral shell teeth 18 are evenly distributed on the outer circumference of the spiral shell 14, and the spiral shell teeth 18 are longitudinally helically expanded. When driving, the spiral shell teeth 18 rotate with the spiral shell 14. According to the principle of spiral travel, the capsule is driven Operation, the external remote controller 16 sends an instruction to the microprocessor 3 by receiving the transmitter 4, controls the connection mode of the drive switch circuit 11, thereby controls the positive and negative rotation of the drive motor, and completes the forward or backward of the capsule; The helix angle is 45°, of course, it can also be other angles, and the purpose of the invention can be achieved; the outer circumference of the drive motor is provided with the capsule B. The fixed teeth 19 protruding are arranged, and the fixed teeth 19 are longitudinally helically deployed, and the direction of deployment is the same as that of the spiral shell. The development direction of the teeth 18 is opposite. Since the helix angle of the spiral shell teeth 18 is 45°, the angle between the spiral shell teeth 18 and the fixed teeth 19 is 90°, which is conducive to maintaining the stability of the capsule B when driving; The axes of the motor shaft 13, the rotary housing 14, and the capsule drive motor 12 are coincident, which is beneficial to ensure smooth and vibration-free driving and reduce the pain of the user.

Embodiment two

Figure 4 is a schematic structural view of Embodiment 2 of the present invention, as shown in the figure: the difference between the medical tool capsule of this embodiment and Embodiment 1 is that the tool device and driving device of this embodiment are arranged in capsule B, and capsule C is omitted , and the tool device and the driving device share a power source, which not only makes the capsule endoscopic system compact but also saves the cost of use.

Embodiment Three

Fig. 5 is a schematic structural view of Embodiment 3 of the present invention, as shown in the figure: the difference between the above embodiments of the medical tool capsule of this embodiment is that the endoscopic device, tool device and driving device are arranged in the same capsule, eliminating two The capsule, and the endoscopic device, the tool device and the driving device share a power supply, which further makes the capsule endoscopic system compact and saves the cost of use; the medical imaging device 1 is arranged at the left end of the capsule, and the motion and working state imaging device 101 is arranged on the tool device On the left side, the capsule is transparently set corresponding to the medical imaging device 1 and the motion and working state imaging device 101 .

Figure 6 is a schematic structural view of Embodiment 4 of the present invention, as shown in the figure: the difference between this embodiment and Embodiment 1 is that this embodiment does not include an endoscopic device, the tool device and the driving device are arranged in the same capsule, and the signal The receiver 4 and the microprocessor 3 are arranged inside the capsule. This embodiment is mainly used to collect liquid specimens, dye and mark suspicious parts, and administer drugs to the lesions during the driving process.

Of course, the endoscopic device, the tool device and the driving device can also be combined arbitrarily, and are not limited to the methods disclosed in the embodiments. For example, the endoscopic device and the tool device are arranged in the same capsule, and the driving device is arranged in another capsule. Among them, the purpose of the invention can also be achieved.

Fig. 7 is a block diagram of the principle of the present invention, illustrating the working principle of the present invention, as shown in the figure: the medical imaging equipment 1 and the motion and working state imaging equipment 101 transmit the image signal to the image processing equipment 2, and the image processing equipment 2 outputs to the microprocessor The device 3 is output to the outside of the body by the receiving transmitter 4; the operator diagnoses and determines the drug application or collection work according to the medical image taken by the medical imaging device 1; Monitor the motion and working state of the capsule at any time, which is beneficial to control; operate the external wireless remote controller 16, send instructions to the microprocessor 3 through the receiving transmitter 4, and the microprocessor 3 controls the tool switch circuit 8 of the tool device and the control of the drive device according to the instructions. Drive the switch circuit 11 to complete the required work;

The drive switch circuit 11 is turned on, and according to the running direction, the way the drive switch circuit 11 is turned on determines the positive and negative rotation of the drive motor 12; the drive power supply 10 drives the drive motor 12 to drive the drive device 14 to run, and completes the forward or backward of the capsule endoscope system , if it needs to be stopped, the external wireless remote controller 16 sends an instruction to the microprocessor 3 through the receiving transmitter 4, the driving switch circuit 11 is disconnected, and the capsule endoscopic system stops.

The tool switch circuit 8 is connected, and the way the tool switch circuit 8 is connected determines the positive and negative rotation of the tool motor 7; the tool power supply 9 drives the tool motor 7 to rotate forward, and drives the piston 62 to move forward to complete the spraying; the tool power supply 9 drives the tool motor 7 reverse, and drive the piston 62 to move backward to complete the sampling work.

Fig. 8 is a structural schematic diagram of the driving device of the present invention, and Fig. 9 is an outline drawing of the driving capsule of the present invention, as shown in the figure: the driving device includes a driving power supply 10, a driving switching circuit 11, a driving motor 12 and a driving device 14, and the driving switching circuit 11 is connected with the microprocessor 3, and the driving switch circuit 11 is connected in series between the driving power supply 10 and the driving motor 12, and the driving motor 12 drives the driving device 14 to complete the forward or backward of the capsule B; Rotary shell 14, the rotary shell 14 is a part of the capsule, and forms a complete capsule shape with the motor part of the capsule, which keeps the smooth shape of the capsule and facilitates operation; the positioning barrel 17 is fixed longitudinally inside the capsule, and the rotary shell 14 is set on the outer circumference of the positioning barrel 17 And through the rolling bearing 20 and its rotation, it is ensured that less rotational frictional resistance; the driving motor 12 is fixedly arranged in the positioning barrel 17 of the capsule B, and the driving motor shaft 13 extends out of the capsule and is fixedly connected with the rotary shell 14; the driving power supply 10 and the driving switch The circuit 11 is arranged in the positioning barrel 17; at least 3-6 protruding spiral shell teeth 18 are evenly distributed on the outer circumference of the spiral shell 14, and the spiral shell teeth 18 are longitudinally spirally unfolded. When driving, the spiral shell teeth 18 rotate with the spiral shell 14, According to the principle of spiral travel, the capsule is driven to run, and the positive and negative rotation of the driving motor is controlled to complete the advancement or retreat of the capsule; the helix angle of the spiral shell tooth 18 is 45°, of course, it can also be other angles, and the purpose of the invention can be achieved; The capsule B is provided with protruding fixed teeth 19 on the outer circumference of a part of the driving motor, and the fixed teeth 19 are longitudinally and helically deployed, and the direction of deployment is opposite to the direction of deployment of the spiral shell teeth 18, which is conducive to maintaining the stability of the capsule B during driving; the motor The shaft 13, the rotary housing 14, and the axes of the drive motor 12 of the capsule are coincident, which is beneficial to ensure smooth and vibration-free driving and reduce the pain of the user.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (24)

1. medical tool capsule, it is characterized in that: comprise tool device and external Digiplex (16), described tool device is arranged in the capsule, comprise instrument power supply (9), tool switch circuit (8), tool's power (7), instrument (6), signal receiver (4) and microprocessor (3), described tool switch circuit (8) links with microprocessor (3), tool switch circuit (8) is serially connected between instrument power supply (9) and the tool's power (7), and tool's power (7) driven tool (6) is carried out dispenser, collection, dyeing and markers work;

External remote controller (16) is by signal receiver (4) control microprocessor (3), thereby the control tool device is finished dispenser, collection, dyeing and markers work.

2. medical tool capsule according to claim 1, it is characterized in that: described tool's power (7) is the instrument motor, described instrument comprise outer wall be close to the cylinder body of inside capsule wall (61), connect cylinder body (61) and capsule outside spray suction pipe (5), be arranged on the intravital piston of cylinder (62), piston rod (69) and tool transmission, valve (15) is arranged in the spray suction pipe (5), and instrument motor (7) is finished dispenser, collection, dyeing and markers work by tool transmission piston rod (69) and piston (62).

3. medical tool capsule according to claim 2, it is characterized in that: described tool transmission is a clutch friction plate formula clutch, comprise friction plate I (67) that links to each other with variator and the friction plate II (66) that links to each other with spiral handspike (70), described spiral handspike (70) and piston rod (69) threaded engagement are finished the reciprocating motion of piston rod (69) by the rotation of spiral handspike (70).

4. medical tool capsule according to claim 3 is characterized in that: described capsule is arranged to concave shape with spray suction pipe (5) outlet coupling part, and the area of concave shape is greater than spray suction pipe (5) cross-sectional area.

5. medical tool capsule according to claim 4, it is characterized in that: described piston rod (69) end is set with the pushing block (64) with spiral handspike (70) threaded engagement, described pushing block (64) is provided with at least one projection (65) along the capsule circumferencial direction, and inside capsule wall is provided with the axial straight trough (63) that is slidingly matched with pushing block projection (65).

6. according to the described medical tool capsule of claim 1 to 5, it is characterized in that: also comprise driving device, described driving device comprises driving power (10), driving switch circuit (11), drive motors (12) and driving arrangement, described driving switch circuit (11) links with microprocessor (3), driving switch circuit (11) is serially connected between driving power (10) and the drive motors (12), and drive motors (12) drives driving arrangement (14) and finishes and capsularly advance or retreat;

External remote controller (16) sends instruction by signal receiver (4) to microprocessor (3), and accessory drive is finished motion or stopped action.

7. medical tool capsule according to claim 6 is characterized in that: described driving arrangement comprises that cross section is the circular shell (14) that revolves, and what revolve that shell (14) excircle is provided with at least one projection revolves shell tooth (18), revolves shell tooth (18) longitudinal spiral and launches; Described drive motors (12) is fixedly set in the capsule, and drive motors axle (13) stretches out capsule and revolves shell (14) and fixedly connected; Described motor shaft (13), revolve the dead in line that shell (14) and capsule are provided with drive motors (12) part.

8. medical tool capsule according to claim 7 is characterized in that: the described shell (14) that revolves is for a capsular part, and capsule vertically fixedly installs location bucket (17), revolves shell (14) and is enclosed within location bucket (a 17) excircle and is rotatably assorted with it; Driving power (10), driving switch circuit (11) and drive motors (12) are arranged in the location bucket (17).

9. medical tool capsule according to claim 8, it is characterized in that: the fixed teeth (19) that projection is set on the excircle of drive motors (12) is set at described capsule, fixed teeth (19) longitudinal spiral launches, and expansion direction is with to revolve shell tooth (18) expansion direction opposite.

10. medical tool capsule according to claim 9 is characterized in that: described lead angle of revolving shell tooth (18) is 45 °.

11. medical tool capsule according to claim 10 is characterized in that: described location bucket (17) and revolving between the shell (14) is rotatably assorted by rolling bearing (20).

12. according to claim 1 to 5, the described medical tool capsule of 7 to 11 arbitrary claim, it is characterized in that: described tool device and driving device are arranged in the same capsule.

13. medical tool capsule according to claim 6 is characterized in that: described tool device and driving device are arranged in the same capsule.

14. according to claim 1 to 5, the described medical tool capsule of 7 to 11,13 arbitrary claim, it is characterized in that: also comprise the endoscope and image processing device that is arranged in the capsule, described endoscope and image processing device comprises medical picture pick-up device (1), image processing equipment (2) and microprocessor (3), signal receiver (4) is for receiving emitter, and the end that described capsule is provided with medical picture pick-up device (1) is transparent.

15. medical tool capsule according to claim 6, it is characterized in that: also comprise the endoscope and image processing device that is arranged in the capsule, described endoscope and image processing device comprises medical picture pick-up device (1), image processing equipment (2) and microprocessor (3), signal receiver (4) is for receiving emitter, and the end that described capsule is provided with medical picture pick-up device (1) is transparent.

16. medical tool capsule according to claim 12, it is characterized in that: also comprise the endoscope and image processing device that is arranged in the capsule, described endoscope and image processing device comprises medical picture pick-up device (1), image processing equipment (2) and microprocessor (3), signal receiver (4) is for receiving emitter, and the end that described capsule is provided with medical picture pick-up device (1) is transparent.

17. medical tool capsule according to claim 14 is characterized in that: any two shared same power supplys of combination of described endoscope and image processing device, tool device and driving device or the shared same power supply of endoscope and image processing device, tool device and driving device.

18., it is characterized in that: any two shared same power supplys of combination of described endoscope and image processing device, tool device and driving device or the shared same power supply of endoscope and image processing device, tool device and driving device according to claim 15 or 16 described medical tool capsules.

19. medical tool capsule according to claim 17, it is characterized in that: described endoscope and image processing device is arranged in the capsules A, tool device is arranged in the capsule B, driving device is arranged in the capsule C, motion and duty picture pick-up device (101) also are set in the capsules A, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) and motion and duty picture pick-up device (101) are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A, capsule B and the capsule C.

20. medical tool capsule according to claim 18, it is characterized in that: described endoscope and image processing device is arranged in the capsules A, tool device is arranged in the capsule B, driving device is arranged in the capsule C, motion and duty picture pick-up device (101) also are set in the capsules A, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) and motion and duty picture pick-up device (101) are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A, capsule B and the capsule C.

21. medical tool capsule according to claim 17, it is characterized in that: described endoscope and image processing device is arranged in the capsules A, tool device and driving device are arranged in the capsule B, motion and duty picture pick-up device (101) also are set in the capsules A, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) and motion and duty picture pick-up device (101) are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A and the capsule B.

22. medical tool capsule according to claim 18, it is characterized in that: described endoscope and image processing device is arranged in the capsules A, tool device and driving device are arranged in the capsule B, motion and duty picture pick-up device (101) also are set in the capsules A, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) and motion and duty picture pick-up device (101) are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A and the capsule B.

23. medical tool capsule according to claim 17, it is characterized in that: described endoscope and image processing device, tool device and driving device are arranged in the same capsule, motion and duty picture pick-up device (101) also are set in the capsule, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) is arranged at the capsule left end, and motion and duty picture pick-up device (101) are arranged at the tool device left side.

24. medical tool capsule according to claim 18, it is characterized in that: described endoscope and image processing device, tool device and driving device are arranged in the same capsule, motion and duty picture pick-up device (101) also are set in the capsule, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) is arranged at the capsule left end, and motion and duty picture pick-up device (101) are arranged at the tool device left side.

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