Peanut type living tissue sampling capsule robot based on magnetorheological fluid

• Main Authors: HAO JINGBIN, HUA DEZHENG, SHEN YURUI, BANG JONG-MIN, WANG BAIYI, LIU XINHUA
• Format: Patent
• Language: Chinese; English
• Published: 20.06.2023
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

The utility model relates to the technical field of medical instruments, in particular to a peanut-type living tissue sampling capsule robot based on magnetorheological fluid, which comprises a soft capsule shell, a camera module, a wireless transmitting module, a battery, a permanent magnet ring, a ferromagnetic fluid and a living tissue sampling module, and the permanent magnet ring and the ferromagnetic fluid are arranged on the inner wall of the soft capsule shell. The living tissue sampling module comprises a supporting piece, a connecting plate, a telescopic sampling needle head and a fixing plate, the supporting piece and the fixing plate are fixed in the soft capsule shell, the connecting plate is hinged to the supporting piece, the telescopic sampling needle head is fixedly connected to the connecting plate, the soft capsule shell and the fixing plate are provided with sampling holes allowing the telescopic sampling needle head to penetrate through, and the sampling holes are communicated with the so