CN101342067B - Medical tool capsule - Google Patents
Medical tool capsule Download PDFInfo
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- CN101342067B CN101342067B CN2008100001494A CN200810000149A CN101342067B CN 101342067 B CN101342067 B CN 101342067B CN 2008100001494 A CN2008100001494 A CN 2008100001494A CN 200810000149 A CN200810000149 A CN 200810000149A CN 101342067 B CN101342067 B CN 101342067B
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Abstract
The invention discloses a medical tool capsule, which comprises a tool device and an in vitro wireless remote controller. The tool device comprises a tool power source, a tool switch circuit, a tool power, a tool, a signal receiver and a microprocessor, the tool switch circuit is connected with the microprocessor, the tool switch circuit is connected between the tool power source and the tool power in series, the tool power drives the tool to carry out the drug application and the acquisition operations; the in vitro remote controller sends command to the microprocessor through a receiver-transmitter, to control the tool device to carry out drug application, collection, staining, and labeling. According to the in vitro remote operation, the medical tool capsule can carry out the collection of the liquid specimen, the staining for the dubious region, the labeling of the focus and the direct drug application and treatment to the focus, thereby the diagnostic accuracy rate of the disease and the therapeutic effective rate can be greatly enhanced, the treatment cycle is shortened, the structure is simple, and the manufacture cost is low.
Description
Technical field
The present invention relates to a kind of medical capsule, particularly a kind of medical tool capsule.
Background technology
The capsule endoscope that last century, the eighties was born is that gastral medical diagnosis on disease has brought important breakthrough.Being used for clinical at present mainly is capsule endoscope, is made up of a miniature camera, digital processing system, wireless transmission system etc., combines with the image analysing computer processing system, finishes the image check of gastrointestinal tract (particularly small intestinal).Have volume little, in light weight, check convenience, no wound, no pain, no cross infection, do not influence advantage such as person under inspection's operate as normal.But the capsule endoscope of prior art is not realized the function of live body sampling, dyeing and labelling, and the function of its dispenser is also just sprayed medicated powder.The doctor only diagnoses according to the image that capsule endoscope is clapped, and the clinical experience that still relies on the doctor is to a great extent judged the state of an illness, causes mistaken diagnosis maybe can't make a definite diagnosis easily.After the doctor reaches a conclusion according to picture, also can only take conventional Therapeutic Method to focus.
Therefore, need a kind of capsule, can implement to gather liquid specimen, can dye, disease be carried out accurate rate of diagnosis to improve to the Suspected Area; Need a kind of capsule, can implement to the direct dispenser treatment of focus, to improve the effective percentage that disease is treated; Need a kind of capsule, can the marked lesion position, for further diagnosis, treatment or operation are provided convenience.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of medical tool capsule, can be according to external remote manipulation, under the effect of tool device, implement to gather liquid specimen, treat to Suspected Area dyeing, marked lesion with to the focus dispenser.
Medical tool capsule of the present invention, comprise tool device and external Digiplex, described tool device is arranged in the capsule, comprise instrument power supply, tool switch circuit, tool's power, instrument, signal receiver and microprocessor, described tool switch circuit and microprocessor link, the tool switch circuit is serially connected between instrument power supply and the tool's power, and the tool's power driven tool is carried out dispenser, collection, dyeing and markers work;
External remote controller sends instruction by signal receiver to microprocessor, and the control tool device is finished dispenser, collection, dyeing and markers work.
Further, described tool's power is the instrument motor, described instrument comprise outer wall be close to the cylinder body of inside capsule wall, connect cylinder body and capsule outside the spray suction pipe, be arranged on the intravital piston of cylinder, piston rod and tool transmission, valve is arranged in the spray suction pipe, and the instrument motor is finished dispenser, collection, dyeing and markers work by tool transmission piston rod and piston;
Further, described tool transmission is a clutch friction plate formula clutch, comprise friction plate I that links to each other with variator and the friction plate II that links to each other with spiral handspike, described spiral handspike cooperates with piston rod thread, finishes the reciprocating motion of piston rod by the rotation of spiral handspike;
Further, described capsule is arranged to concave shape with spray suction pipe outlet coupling part, and the area of concave shape is greater than spray suction pipe cross-sectional area;
Further, described piston rod end is set with the pushing block with the spiral handspike threaded engagement, and described pushing block is provided with at least one projection along the capsule circumferencial direction, and inside capsule wall is provided with the axial straight trough that is slidingly matched with the pushing block projection;
Further, also comprise driving device, described driving device comprises driving power, driving switch circuit, drive motors and driving arrangement, described driving switch circuit and microprocessor link, the driving switch circuit is serially connected between driving power and the drive motors, and drive motors drives driving arrangement and finishes and capsularly advance or retreat;
External remote controller sends instruction by signal receiver to microprocessor, and accessory drive is finished motion or stopped action;
Further, described driving arrangement comprises that cross section is the circular shell that revolves, and what revolve that the shell excircle is provided with at least one projection revolves the shell tooth, revolves shell tooth longitudinal spiral and launches; Described drive motors is fixedly set in the capsule, and the drive motors shaft extension goes out capsule and revolves shell and fixedly connected; Described motor shaft, revolve the dead in line that shell and capsule are provided with the drive motors part;
Further, the described shell that revolves is a capsular part, and capsule vertically fixedly installs the location bucket, revolves valve jacket and is rotatably assorted with it at location bucket excircle; Driving power, driving switch circuit and drive motors are arranged in the bucket of location;
Further, the fixed teeth that projection is set on the excircle of drive motors is set at described capsule, the fixed teeth longitudinal spiral launches, and expansion direction is with to revolve shell tooth expansion direction opposite;
Further, described lead angle of revolving the shell tooth is 45 °.
Further, described location bucket and revolving between the shell is rotatably assorted by rolling bearing;
Further, described tool device and driving device are arranged in the same capsule;
Further, also comprise the endoscope and image processing device that is arranged in the capsule, described endoscope and image processing device comprise medical picture pick-up device, image processing equipment and, processor, signal receiver is for receiving emitter, the end that described capsule is provided with medical picture pick-up device is transparent.
Further, 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;
Further, 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 also are set in the capsules A, described motion and duty picture pick-up device and image processing equipment link, and medical picture pick-up device and motion and duty picture pick-up device 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;
Further, 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 also are set in the capsules A, described motion and duty picture pick-up device and image processing equipment link, medical picture pick-up device and motion and duty picture pick-up device 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;
Further, described endoscope and image processing device, tool device and driving device are arranged in the same capsule, motion and duty picture pick-up device also are set in the capsule, described motion and duty picture pick-up device and image processing equipment link, medical picture pick-up device is arranged at the capsule left end, and motion and duty picture pick-up device are arranged at the tool device left side.
The invention has the beneficial effects as follows: medical tool capsule of the present invention, according to external remote manipulation, can implement to gather liquid specimen, to Suspected Area dyeing, marked lesion with to the direct dispenser treatment of focus, can improve the accuracy rate of medical diagnosis on disease and the effective percentage of disease treatment greatly, shorten treatment cycle, and simple in structure, low cost of manufacture; The tool device structure adopts cylinder body and piston structure, and is simple in structure, compact, is easy to control, can make full use of space in the limited cylinder body; Adopt friction disk clutch, help the control of duty; Capsule is arranged to concave shape with spray suction pipe outlet coupling part, is not prone to the situation that in-vivo tissue stops up spray suction pipe mouth in the process to Suspected Area dyeing, marked lesion and the direct dispenser treatment to focus, makes that everything goes well with your work carries out; Inner driving device is set, can finishes control, the moving direction of real-time monitoring capsule endoscope in digestive tract the capsule speed of service and direction; To being detained or moving capsule endoscope channeling conduct slowly, make it current smoothly in all-digestive tract; To suspected abnormality observe repeatedly, real-time photography, photography, simple and compact for structure, volume is little, and is simple and easy to use, is not subjected to environmental limitations; Driving device adopts the driven by motor helix to revolve the structure that the shell tooth rotates, and makes the capsule speed of service reasonable, user is not caused suffering; Adopt the fixed teeth expansion direction and revolve shell tooth expansion direction opposite configuration, helping fixedly, capsule guarantees the capsule operation with revolving the shell rotation; Tool device and driving device are arranged in the same capsule, and compact conformation is beneficial to driving; Also comprise endoscope and image processing device, have the repertoire of general encapsulated endoscopic system, can observe situation in the digestive tract intuitively, help making a definite diagnosis and treating; All the shared same power supply of device or any two shared same power supplys of combination are further saved cost, reduce volume, are convenient to capsule and use; Endoscope and image processing device, tool device and driving device are arranged at respectively in the different capsules, each capsule volume is little, has increased the motility of encapsulated endoscopic system in the crook operation, and motion and duty picture pick-up device are set, can monitor capsular motion and duty at any time, be beneficial to and control; Endoscope and image processing device, tool device and driving device are arranged at respectively in the same capsule, make whole encapsulated endoscopic system compact conformation, reduce volume, save cost, have increased the back and forth motility of operation of encapsulated endoscopic system simultaneously.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 is a tool device structural representation of the present invention;
Fig. 2 is tool device pushing block of the present invention and capsule fit structure sketch map;
Fig. 3 is the structural representation of the embodiment of the invention one;
Fig. 4 is the structural representation of the embodiment of the invention two;
Fig. 5 is the structural representation of the embodiment of the invention three;
Fig. 6 is the structural representation of the embodiment of the invention four;
Fig. 7 is a principle of the invention block diagram;
Fig. 8 is a driving device structure sketch map of the present invention;
Fig. 9 drives capsule appearance figure for the present invention.
The specific embodiment
Fig. 1 is a tool device structural representation of the present invention, Fig. 2 is tool device pushing block of the present invention and capsule fit structure sketch map, as shown in the figure: tool device comprises instrument power supply 9, tool switch circuit 8, instrument motor 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 instrument motor 7, instrument motor 7 driven tool 6 are carried out dispenser and collecting work, instrument comprises that outer wall is close to the cylinder body 61 of inside capsule wall, the spray suction pipe 65 that connects cylinder body 61 and capsule outside, be arranged on the intravital piston 62 of cylinder, piston rod 69 and clutch friction plate formula clutch, clutch friction plate formula clutch comprises friction plate I 67 and the friction plate II 66 that links to each other with spiral handspike 70, piston rod 69 ends are set with the pushing block 64 with spiral handspike 79 threaded engagement, finish the reciprocating motion of piston rod 69 by the rotation of spiral handspike 70; Pushing block 64 is symmetrical arranged two projections 65 along the capsule circumferencial direction, and capsule C inwall is provided with the axial straight trough 63 that is slidingly matched with pushing block projection 65, helps keeping the stable centering of piston rod 69 and does not rotate; In spray suction pipe 65 valve 15 is set, cylinder body 61 is by valve 15 and spray suction pipe 65 and capsule external communications; Capsule is arranged to concave shape with spray suction pipe 5 outlet coupling parts, the area of concave shape prevents from the situation that in-vivo tissue stops up spray suction pipe mouth can not occur in the process to Suspected Area dyeing, marked lesion and the direct dispenser treatment to focus greater than spray suction pipe 5 cross-sectional areas.
During dispenser, motor rotates, friction plate I 67 and friction plate II 66 adhesives, and the spiral handspike rotation promotes pushing block 64 and piston rod 69 and advances along the chute on the inside capsule wall, promotes piston 62 powder charge in the cylinder body 61 is sprayed into digestive tract through spray suction pipe 5; Labelling is identical with the dispenser process with dyeing.
Utilize the principle of the process of tool device collection liquid specimen to be: motor rotates opposite with the dispenser process, friction plate I 67 and friction plate II 66 adhesives twitch piston 62, utilize underbalance effect, in digestive tract, suck liquid sample by spray suction pipe 5, finish acquisition tasks.
Above tool device is not limited to finish the instrument of dispenser and collecting work, can other instruments be set according to the practical situation needs, finishes required work.
Fig. 3 is the structural representation of the embodiment of the invention one, and as shown in the figure: in conjunction with Fig. 1 and Fig. 8, the medical tool capsule of present embodiment comprises capsules A, capsule B and capsule C, finishes towing and signal transmission by cable D between capsules A, capsule B and the capsule C.Endoscope and image processing device is set in the capsules A, endoscope and image processing device comprises medical picture pick-up device 1 and image processing equipment 2, signal receiver 4 is for receiving emitter, microprocessor 3 and reception emitter 4 also are arranged in the capsules A, also comprise motion and duty picture pick-up device 101, described medical picture pick-up device 1 and state 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, medical picture pick-up device 1 picked-up medical imaging, motion and duty picture pick-up device 101 are used for picked-up motion and duty image, can monitor capsular motion and duty at any time, be beneficial to and control;
Tool device is arranged in the capsule B, comprise instrument power supply 9, tool switch circuit 8, instrument motor 7 and instrument 6, described tool switch circuit 8 links with microprocessor 3, tool switch circuit 8 is serially connected between instrument power supply 9 and the instrument motor 7, instrument motor 7 driven tool 6 are carried out dispenser and collecting work, instrument comprises that outer wall is close to the cylinder body 61 of inside capsule wall, the spray suction pipe 65 that connects cylinder body 61 and capsule outside, be arranged on the intravital piston 62 of cylinder, piston rod 69 and clutch friction plate formula clutch, clutch friction plate formula clutch comprises friction plate I 67 and the friction plate II 66 that links to each other with spiral handspike 70, piston rod 69 ends are set with the pushing block 64 with spiral handspike 70 threaded engagement, finish the reciprocating motion of piston rod 69 by the rotation of spiral handspike 70; Pushing block 64 is symmetrical arranged two projections 65 along the capsule circumferencial direction, and capsule B inwall is provided with the axial straight trough 63 that is slidingly matched with pushing block projection 65, helps keeping the stable centering of piston rod 69 and does not rotate; In spray suction pipe 65 valve 15 is set, cylinder body 61 is by valve 15 and spray suction pipe 65 and capsule external communications; Capsule is arranged to concave shape with spray suction pipe 5 outlet coupling parts, and the area of concave shape is greater than spray suction pipe 5 cross-sectional areas.
External remote controller 16 sends instruction by receiving emitter 4 to microprocessor 3, the getting type of control tool on-off circuit 8, thus dispenser or collecting work are finished in the rotating of control drive motors.
As shown in the figure, present embodiment also comprises driving device, driving device is arranged in the capsule C, comprise driving power 10, driving switch circuit 11, drive motors 12 and driving arrangement 14, 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 drive driving arrangements are finished advancing of capsule B or retreated; Driving arrangement comprises that cross section is the circular shell 14 that revolves, and revolves shell 14 and is a capsular part, attacks with glue and motor section is installed is grouped into complete capsule appearance, keeps the capsule rounded profile, is beneficial to operation; Capsule vertically fixedly installs location bucket 17, revolves shell 14 and is enclosed within location bucket 17 excircles and is rotatably assorted with it by rolling bearing 20, guarantees less pivoting friction resistance; Drive motors 12 is fixedly set in the location bucket 17 of capsule B, and drive motors axle 13 stretches out capsule and revolves shell 14 and fixedly connected; Driving power 10 and driving switch circuit 11 are arranged in the location bucket 17; Revolve the uniform setting of shell 14 excircles at least 3-6 projection revolve shell tooth 18, revolving shell tooth 18 longitudinal spirals launches, during driving, revolve shell tooth 18 and rotate,, drive the capsule operation according to the spiral principle of advancing with revolving shell 14, external remote controller 16 sends instruction by receiving emitter 4 to microprocessor 3, the getting type of control driving switch circuit 11, thereby the rotating of control drive motors are finished and are capsularly advanced or retreat; The lead angle of revolving shell tooth 18 is 45 °, certainly, also can be other angles, can realize goal of the invention; The excircle that described capsule B is provided with drive motors is provided with the fixed teeth 19 of projection, fixed teeth 19 longitudinal spirals launch, expansion direction is with to revolve shell tooth 18 expansion directions opposite, because revolving the lead angle of shell tooth 18 is 45 °, the angle that then revolves between shell tooth 18 and the fixed teeth 19 is 90 °, helps keeping stablizing of capsule B when driving; Described motor shaft 13, revolve the dead in line that shell 14 and capsule are provided with drive motors 12 parts, help guaranteeing in the driving process steadily shockproof, reduce the misery of user.
Embodiment two
Fig. 4 is the structural representation of the embodiment of the invention two, as shown in the figure: the difference of the medical tool capsule of present embodiment and embodiment one is that the tool device and the driving device of present embodiment is arranged in the capsule B, save capsule C, and the shared power supply of tool device and driving device not only makes the encapsulated endoscopic system compact conformation also save use cost.
Embodiment three
Fig. 5 is the structural representation of the embodiment of the invention three, as shown in the figure: the difference of the above embodiment of medical tool capsule of present embodiment is that endoscope and image processing device, tool device and driving device are arranged in the same capsule, save two capsules, and the shared power supply of endoscope and image processing device, tool device and driving device, further make the encapsulated endoscopic system compact conformation, save use cost; 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 tool device left side, capsule and medical picture pick-up device 1 and motion and the transparent setting in duty picture pick-up device 101 corresponding positions.
Fig. 6 is the structural representation of the embodiment of the invention four, as shown in the figure: the difference of present embodiment and embodiment one is, present embodiment does not comprise endoscope and image processing device, and tool device and driving device are arranged in the same capsule, and signal receiver 4 and microprocessor 3 are arranged in the capsule.Present embodiment mainly is that the enforcement that is used for finishing the driving process is gathered liquid specimen, Suspected Area dye marker focus and the focus dispenser is treated.
Certainly, all right random two combinations of endoscope and image processing device, tool device and driving device are not limited to disclosed mode among the embodiment, such as, endoscope and image processing device and tool device are arranged at same capsule, and driving device is arranged in another capsule, can reach goal of the invention equally.
Fig. 7 is a principle of the invention block diagram, operation principle of the present invention is described, as shown in the figure: medical picture pick-up device 1 and motion and duty picture pick-up device 101 reach image processing equipment 2 with picture signal, and image processing equipment 2 exports microprocessor 3 to and exports to external by receiving emitter 4; The medical imaging that the operator takes according to medical picture pick-up device 1, diagnosis is to determine dispenser or collecting work; According to the motion and the duty image of medical motion and 101 shootings of duty picture pick-up device, can monitor capsular motion and duty at any time, be beneficial to and control; The outer Digiplex 16 of operating body sends instruction by receiving emitter 4 to microprocessor 3, and microprocessor 3 is finished required work according to the tool switch circuit 8 of instruction control tool device and the driving switch circuit 11 of driving device;
Fig. 8 is a driving device structure sketch map of the present invention, Fig. 9 drives capsule appearance figure for the present invention, as shown in the figure: driving device comprises driving power 10, driving switch circuit 11, drive motors 12 and driving arrangement 14, 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 drive driving arrangements 14 are finished advancing of capsule B or retreated; Driving arrangement comprises that cross section is the circular shell 14 that revolves, and revolves shell 14 and is a capsular part, with capsule motor section is installed and is grouped into complete capsule appearance, keeps the capsule rounded profile, is beneficial to operation; Capsule vertically fixedly installs location bucket 17, revolves shell 14 and is enclosed within location bucket 17 excircles and is rotatably assorted with it by rolling bearing 20, guarantees less pivoting friction resistance; Drive motors 12 is fixedly set in the location bucket 17 of capsule B, and drive motors axle 13 stretches out capsule and revolves shell 14 and fixedly connected; Driving power 10 and driving switch circuit 11 are arranged in the location bucket 17; Revolve the uniform setting of shell 14 excircles at least 3-6 projection revolve shell tooth 18, revolve shell tooth 18 longitudinal spirals and launch, during driving, revolve shell tooth 18 and rotate,, drive the capsule operation according to the spiral principle of advancing with revolving shell 14, the rotating of control drive motors is finished and is capsularly advanced or retreat; The lead angle of revolving shell tooth 18 is 45 °, certainly, also can be other angles, can realize goal of the invention; The part excircle that described capsule B is provided with drive motors is provided with the fixed teeth 19 of projection, and fixed teeth 19 longitudinal spirals launch, and expansion direction helps keeping stablizing of capsule B with to revolve shell tooth 18 expansion directions opposite when driving; Described motor shaft 13, revolve the dead in line that shell 14 and capsule are provided with drive motors 12 parts, help guaranteeing in the driving process steadily shockproof, reduce the misery of user.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (23)
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;
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).
2. medical tool capsule according to claim 1, 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).
3. medical tool capsule according to claim 2 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.
4. medical tool capsule according to claim 3, 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).
5. according to the described medical tool capsule of the arbitrary claim of claim 1 to 4, 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.
6. medical tool capsule according to claim 5 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.
7. medical tool capsule according to claim 6 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).
8. medical tool capsule according to claim 7, 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.
9. medical tool capsule according to claim 8 is characterized in that: described lead angle of revolving shell tooth (18) is 45 °.
10. medical tool capsule according to claim 9 is characterized in that: described location bucket (17) and revolving between the shell (14) is rotatably assorted by rolling bearing (20).
11. according to claim 1 to 4, the described medical tool capsule of 6 to 10 arbitrary claim, it is characterized in that: described tool device and driving device are arranged in the same capsule.
12. medical tool capsule according to claim 5 is characterized in that: described tool device and driving device are arranged in the same capsule.
13. according to claim 1 to 4, the described medical tool capsule of 6 to 10,12 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.
14. medical tool capsule according to claim 5, 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 11, 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 13 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.
17., 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 14 or 15 described medical tool capsules.
18. medical tool capsule according to claim 16, 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.
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 16, 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.
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 16, 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.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100001494A CN101342067B (en) | 2007-07-11 | 2008-01-04 | Medical tool capsule |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710092406 | 2007-07-11 | ||
| CN200710092406.7 | 2007-07-11 | ||
| CN2008100001494A CN101342067B (en) | 2007-07-11 | 2008-01-04 | Medical tool capsule |
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| CN101342067B true CN101342067B (en) | 2010-08-25 |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101669809B (en) * | 2009-09-24 | 2010-12-01 | 上海交通大学 | Active controllable type capsule endoscope robot system |
| WO2011093791A1 (en) * | 2010-01-26 | 2011-08-04 | Agency For Science, Technology And Research | Medical diagnostic apparatus and method of marking and/or treating an area of interest in the body of a human or an animal |
| CN104510437A (en) * | 2014-12-26 | 2015-04-15 | 陆培华 | Intra-cavity lesion positioner in capsule endoscopy |
| GB2554444B (en) * | 2016-09-28 | 2021-10-13 | Biome Oxford Ltd | A device for sampling gastro-intestinal material |
| CN106859581B (en) * | 2017-04-01 | 2018-12-07 | 中国科学院电工研究所 | A kind of capsule gastroscope |
| CN110269580A (en) * | 2018-03-15 | 2019-09-24 | 清华大学深圳研究生院 | Robot system is peeped in a kind of micro radio |
| CN109330627B (en) * | 2018-10-09 | 2021-02-09 | 安翰科技(武汉)股份有限公司 | Capsule system capable of synchronously or asynchronously completing sampling and medicine release |
| CN109222874B (en) * | 2018-11-09 | 2024-04-09 | 安翰科技(武汉)股份有限公司 | Digestive tract sampling capsule |
| CN109497917A (en) * | 2019-01-11 | 2019-03-22 | 安翰科技(武汉)股份有限公司 | Alimentary canal sampling capsule |
| CN110089991B (en) * | 2019-04-23 | 2021-07-23 | 南通市传染病防治院(南通市第三人民医院) | Digestive tract lesion treatment operation endoscope positioning device and positioning method thereof |
| CN110169750A (en) * | 2019-05-21 | 2019-08-27 | 安徽协同创新设计研究院有限公司 | A kind of medical inspection device |
| CN110354372B (en) * | 2019-07-15 | 2021-12-03 | 重庆市合川区人民医院 | Intelligent drug administration and sampling integrated device for gynecological examination |
| CN111568347B (en) * | 2020-04-08 | 2022-08-16 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic drive capsule endoscope robot with medicine application function |
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