WO2008092376A1

WO2008092376A1 - Inner-driven capsule endoscope system

Info

Publication number: WO2008092376A1
Application number: PCT/CN2008/000176
Authority: WO
Inventors: Yunlong Chen; Qingqiang Chen; Yunkai Chen; Haitao Li; Qian Zhang; Mingqiang Chen; Yunlang Chen
Original assignee: Yunlong Chen; Qingqiang Chen; Yunkai Chen; Haitao Li; Qian Zhang; Mingqiang Chen; Yunlang Chen
Priority date: 2007-01-24
Filing date: 2008-01-24
Publication date: 2008-08-07

Abstract

An inner-driven capsule endoscope system, includes a capsule and an endoscope apparatus. The endoscope apparatus includes a medical photographic device (1), an image processing device (2), a microprocessor (3), a transceiver (4), a driving means and an exterior remote device (16). The driving means includes a driving power supply (10), a driving switch circuit (11), a driving motor (12) and a driving device (14). The driving switch circuit (11) is connected to the microprocessor (3), and connected in series between the driving power supply (10) and the driving motor (12). The driving motor (12) drives the driving device (14) to cause the capsule moving forwards or backwards. The exterior remote device (16) transmits the instructions to the microprocessor (3) via the transceiver (4), so as to control the driving means to finish the movement or stop the motion.

Description

Internal drive capsule endoscope system

The present invention relates to a capsule endoscope system, and more particularly to an inner drive capsule endoscope system. Background technique

The capsule endoscope that was born in the 1980s brought a major breakthrough in the diagnosis of diseases in the digestive tract. The capsule endoscope currently used in the clinic is composed of a miniature camera, a digital processing system, a wireless transmission system, and the like, and is combined with an image analysis processing system to perform image examination of the gastrointestinal tract (especially the small intestine). Overcoming the traditional large endoscope, painful examination process, not suitable for defects such as the elderly, delicate and critically ill patients; small size, light weight, easy to check, no trauma, no pain, no cross infection, no impact on the examination The advantages of normal work. However, there are also some shortcomings: the images taken by the capsule endoscope are randomly taken, so that the field of view is limited and there is a certain rate of missed diagnosis; the capsule can only send image information to the outside, and its working state cannot be controlled in vitro, and it is impossible to achieve a targeted inspection; Unable to locate accurately, etc.

Chinese Patent ZL 200410021933.5 discloses a medical radio capsule endoscope system, which is said to be capable of transmitting digital image information wirelessly and receiving control commands wirelessly to control the working state and working mode of the capsule. However, it is still impossible to control the speed and direction of movement of the endoscopic capsule, and it is impossible to check the original purpose, and it is not guaranteed that the endoscopic capsule can be smoothly discharged from the body.

Patent ZL200580027391.5 discloses a capsule endoscope system for controlling speed and direction in vitro, which controls the speed and direction of travel of the capsule in vitro by setting the permanent magnets in vitro and in the capsule. Such a device is complicated in structure, large in size, and limited in use by the surrounding environment, which is extremely inconvenient.

The capsule endoscope system described above has no sampling and application functions, and cannot perform the sampling, dyeing, and application during the inspection. Therefore, there is a need for a capsule endoscope system that can perform the control of the speed and direction of the capsule under the action of the internal drive while performing the imaging, and performs sampling, dyeing and drug treatment according to the examination. . Summary of the invention

In view of the above, an object of the present invention is to provide an inner drive capsule endoscope system having all the functions of a general capsule endoscope system, and at the same time, according to the external remote control operation, the capsule running speed is completed under the action of the inner driving device. And direction control, real-time regulation of the direction in which the capsule endoscope moves within the digestive tract; The capsule endoscope that stays or moves slowly guides it to pass smoothly in the whole digestive tract; repeatedly observes, records, and photographs the suspected lesions; It is easy to use, free from environmental constraints, simple and compact in structure, and small in size.

The inner drive capsule endoscope system of the present invention comprises at least one end transparent capsule and an endoscope device disposed in the capsule, the endoscope apparatus comprising a medical imaging apparatus, an image processing apparatus, a microprocessor and a receiving transmitter, The driving device and the external wireless remote controller include a driving power source, a driving switch circuit, a driving motor and a driving device, wherein the driving switch circuit is connected to the microprocessor, and the driving switch circuit is serially connected to the driving power source and the driving motor Between the driving motor drives the driving device to complete the advance or retreat of the capsule;

The extracorporeal remote control issues an instruction to the microprocessor via the receiving transmitter to control the drive to complete the motion or stop the action.

Further, the driving device includes a rotating shell having a circular cross section, and at least one protruding rotating shell tooth is disposed on an outer circumference of the rotating shell, and the rotating shell teeth are longitudinally spirally expanded; the driving motor is fixedly disposed in the capsule, and the driving motor shaft extends The outlet capsule is fixedly connected with the rotating shell; the motor shaft, the rotating shell and the axis of the capsule setting motor portion are coincident;

Further, the rotating shell is a part of the capsule, and the positioning barrel is fixedly disposed in the longitudinal direction of the capsule, and the rotating shell is arranged to rotate with the outer circumference of the positioning barrel; the driving power source, the driving circuit and the driving motor are disposed in the positioning barrel;

Further, a fixed tooth of the protrusion is disposed on an outer circumference of the capsule-equipped driving motor, and the fixed tooth is spirally expanded in a longitudinal direction, and the unfolding direction is opposite to the direction in which the rotating tooth is unfolded;

Further, the spiral angle of the spinner teeth is 45°;

Further, the positioning barrel and the rotating shell are rotated and matched by a rolling bearing;

Further, a tool device is further disposed, the tool device is disposed in the capsule, and includes a tool power source, a tool switch circuit, a tool power and a tool, the tool switch circuit is connected to the microprocessor, and the tool switch circuit is serially connected to the tool power supply and Between the tool power, the tool power driving tool performs the application and collection work; the external remote controller sends a command to the microprocessor through the receiving transmitter to control the tool device to complete the application and collection work;

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

Further, the endoscope device is disposed in the capsule A, and the tool device is disposed in the capsule B, and the driving device is installed The device is disposed in the capsule C, and a movement and working state imaging device is further disposed in the capsule A. The motion and working state imaging device is associated with the image processing device, and the medical imaging device and the motion and working state imaging device are respectively disposed in the capsule A. At the end, the two ends of the capsule A are transparently disposed; the dragging and signal transmission are completed between the capsule A, the capsule B and the capsule C through the cable D;

Further, the endoscope device is disposed in the capsule A, the tool device and the driving device are disposed in the capsule B, and the movement and working state imaging device is further disposed in the capsule A, and the motion and working state imaging device is associated with the image processing device. The medical imaging device and the motion and working state imaging device are respectively disposed at two ends of the capsule A, and the two ends of the capsule A are transparently disposed; the towing and signal transmission are completed between the capsule A and the capsule B through the cable D;

Further, the endoscopic device, the tool device and the driving device are disposed in the same capsule, and the moving and working state imaging device is further disposed in the capsule, the motion and working state imaging device is associated with the image processing device, and the medical imaging device is disposed in The left end of the capsule, the moving and working state imaging device is disposed on the left side of the tool device. The beneficial effects of the present invention are: The inner driving capsule endoscope system of the present invention adopts a combination of an endoscope device and a driving device, and has a general capsule endoscope The full function of the system, at the same time, according to the external remote control operation, under the action of the internal driving device, the control of the speed and direction of the capsule is completed, and the moving direction of the capsule endoscope in the digestive tract is controlled in real time; the capsule endoscope is retained or moved slowly. Guided to make it pass smoothly in the whole digestive tract; Repeat observation, suspected real-time camera, photography for suspected lesions, simple and compact structure, small size, easy to use, and free from environmental constraints; The drive device uses a motor to drive the spiral shell teeth Rotating structure to make the capsule run faster Rationally, it does not cause pain to the user; the structure in which the direction of the fixed tooth is unfolded opposite to the direction in which the shell teeth are unfolded is advantageous for the fixed capsule not to rotate with the rotating shell, thereby ensuring the operation of the capsule; the invention can drive various tools to complete the treatment, detection and the like. All devices share the same power supply or any two combinations share the same power supply, further saving cost, reducing volume and facilitating the use of capsules; endoscopic devices, tool devices and driving devices are respectively arranged in different capsules, each capsule is small in size and increased The flexibility of the capsule endoscope system running in the bend, the movement and working state imaging equipment can be set, the movement and working state of the capsule can be monitored at any time, and the operation is facilitated; the endoscope, the tool device and the driving device are respectively arranged in the same capsule. The compact capsule endoscope system is compact, reduces volume, saves cost, and increases the flexibility of the capsule endoscope system to reciprocate. DRAWINGS The invention is further described below in conjunction with the drawings and embodiments.

1 is a schematic structural view of Embodiment 1 of the present invention;

2 is a schematic structural view of Embodiment 2 of the present invention;

3 is a schematic structural view of Embodiment 3 of the present invention;

Figure 4 is a schematic block diagram of the present invention;

Figure 5 is a schematic structural view of a driving device of the present invention;

Figure 6 is a perspective view of the drive capsule of the present invention. detailed description

1 is a schematic structural view of a first embodiment of the present invention, as shown in FIG. 5. The inner drive capsule endoscope system of the present embodiment includes a capsule A, a capsule B and a capsule C, a capsule A, a capsule B and a capsule C. Drag and signal transfer is done between cables D. An endoscopic device is provided in the capsule A, and the endoscope device includes a medical imaging device 1, an image processing device 2, a microprocessor 3, and a receiving transmitter 4, and further includes a moving and working state imaging device 101, and the medical imaging device 1 and state The imaging apparatus 101 is associated with the image processing apparatus 2, the medical imaging apparatus 1 and the motion and working state imaging apparatus 101 are respectively disposed at both ends of the capsule A, the two ends of the capsule A are transparently disposed, and the medical imaging apparatus 1 ingests medical images, motion and working states. The camera device 101 is used for taking in motion and working state images, and can monitor the movement and working state of the capsule at any time to facilitate manipulation. As shown in the figure, the driving device and the external wireless remote controller 16 are also provided, and the driving device is disposed in the capsule C, including the driving power source. 10. The driving switch circuit 11, the driving motor 12 and the driving device 14, the driving switch circuit 11 is connected to the microprocessor 3, and the driving switch circuit 11 is connected in series between the driving power source 10 and the driving motor 12, and the driving motor 12 drives The driving device completes the advancement or retreat of the capsule B; the driving device comprises a rotating shell 14 having a circular cross section, and the rotating shell 14 is glued A part of the motor is assembled with the capsule to form a complete capsule shape, which keeps the capsule in a rounded shape, which facilitates the operation; the inside of the capsule is fixedly disposed in the longitudinal direction of the positioning barrel 17, and the rotating shell 14 is sleeved on the outer circumference of the positioning barrel 17 and is rotated and matched by the rolling bearing 20 to ensure The driving motor 12 is fixedly disposed in the positioning barrel 17 of the capsule B, and the driving motor shaft 13 extends out of the capsule and is fixedly connected to the rotating shell 14; the driving power source 10 and the driving switch circuit 11 are disposed in the positioning barrel 17; The outer circumference of the outer casing 14 is evenly arranged with four protruding rotating shell teeth 18, and the rotating shell teeth 18 are longitudinally spirally unfolded. When driving, the rotating shell teeth 18 rotate with the rotating shell 14, and the capsule is driven according to the spiral traveling principle, the external remote controller 16 sends an instruction to the microprocessor 3 through the receiving transmitter 4 to control the manner of turning on the driving switch circuit 11, thereby controlling the forward and reverse rotation of the driving motor to complete the advance or retreat of the capsule; the spiral angle of the rotating shell tooth 18 is 45. °, of course, it can be other angles, The object of the invention can be achieved; the capsule B is provided with fixed teeth 19 on the outer circumference of the driving motor, and the fixed teeth 19 are longitudinally spirally unfolded, and the unfolding direction is opposite to the direction in which the rotating teeth 18 are unfolded, due to the spiral angle of the rotating teeth 18 45°, the angle between the rotating tooth 18 and the fixed tooth 19 is 90°, which is advantageous for maintaining the stability of the capsule B when driving; the motor shaft 13, the rotating shell 14 and the capsule are provided with the driving motor 12 The coincidence of the axes helps to ensure smooth and vibration-free operation during the driving process and reduces the pain of the user.

The inner drive capsule endoscope system of the present embodiment further includes a tool device disposed in the capsule B, including a tool power source 9, a tool switch circuit 8, a tool power 7 and a tool 6, the tool switch circuit 8 and The microprocessor 3 is associated, the tool switch circuit 8 is connected in series between the tool power source 9 and the tool power 7, and the tool power 7 drives the tool 6 to perform the application and collection work.

Embodiment 2

2 is a schematic structural view of a second embodiment of the present invention, as shown in the following figure: The inner driving capsule endoscope system of the present embodiment is different from the first embodiment. The tool device and the driving device of the present embodiment are disposed in the capsule B. The capsule C is omitted, and the tool device and the driving device share a power source, which not only makes the capsule endoscope system compact, but also saves the use cost.

Embodiment 3

3 is a schematic structural view of a third embodiment of the present invention, as shown in the following figure: The inner drive capsule endoscope system of the present embodiment is different in that the endoscope device, the tool device and the driving device are disposed in the same capsule. Two capsules are omitted, and the endoscopic device, the tool device and the driving device share a power source, further making the capsule endoscope system compact and saving the use cost; the medical imaging device 1 is disposed at the left end of the capsule, and the moving and working state imaging device 101 It is disposed on the left side of the tool device, and the capsule is transparently disposed corresponding to the medical imaging device 1 and the motion and working state imaging device 101.

Of course, the endoscopic device, the tool device and the driving device can also be combined in two, and are not limited to the manner disclosed in the embodiment. For example, the endoscopic device and the tool device are disposed in the same capsule, and the driving device is disposed in another capsule. In the same way, the purpose of the invention can be achieved.

4 is a schematic block diagram showing the working principle of the present invention, as shown in the figure: The medical imaging apparatus 1 and the motion and working state imaging apparatus 101 transmit image signals to the image processing apparatus 2, and the image processing apparatus 2 outputs to the micro processing. The device 3 is outputted to the outside of the body by the receiving transmitter 4; the operator diagnoses according to the medical image taken by the medical imaging device 1 to determine the application or collection work; according to the motion and working state images taken by the imaging device 101 according to the medical motion and working state, The movement and working state of the capsule are monitored at any time to facilitate manipulation; the external wireless remote controller 16 is operated, and the instruction is sent to the microprocessor 3 through the receiving transmitter 4, and the processing is performed. The device 3 controls the tool switch circuit 8 of the tool device and the drive switch circuit 11 of the drive device to perform the required work according to the instruction;

The driving switch circuit 11 is turned on. According to the running direction, the driving switch circuit 11 is turned on to determine the forward and reverse rotation of the driving motor 12; the driving power source 10 drives the driving motor 12 to drive the driving device 14 to complete the advance or retreat of the capsule endoscope system. If it is necessary to stop, the external wireless remote controller 16 sends an instruction to the microprocessor 3 through the receiving transmitter 4, the driving switch circuit 11 is turned off, and the capsule endoscope system stops moving.

5 is a schematic structural view of a driving device of the present invention, and FIG. 6 is an external view of a driving capsule of the present invention. As shown in the drawing, the driving device includes a driving power source 10, a driving switch circuit 11, a driving motor 12, and a driving device 14, and the driving switch circuit 11 is connected with the microprocessor 3, the driving switch circuit 11 is connected in series between the driving power source 10 and the driving motor 12, and the driving motor 12 drives the driving device 14 to complete the advance or retreat of the capsule B; the driving device comprises a circular cross section. The shell 14 is a part of the capsule, and the part of the capsule is mounted to form a complete capsule shape, which maintains a rounded shape of the capsule, which facilitates operation; the inside of the capsule is longitudinally fixedly disposed with a positioning barrel 17, and the shell 14 is sleeved on the outer circumference of the positioning barrel 17. And the rolling bearing 20 is rotated and cooperated to ensure a small rotational frictional resistance; the driving motor 12 is fixedly disposed 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 rotating shell 14; the driving power source 10 and the driving switch The circuit 11 is disposed in the positioning barrel 17; the outer circumference of the rotating shell 14 is uniformly provided with four protruding rotating shell teeth 18, and the rotating shell teeth 18 are longitudinally spirally expanded. ^{When f is} driven, the rotating shell teeth 18 rotate with the rotating shell 14, according to the spiral traveling principle, the capsule is driven to operate, and the forward and reverse rotation of the driving motor is controlled to complete the advance or retreat of the capsule; the spiral angle of the rotating shell teeth 18 is 45°. Of course, the object can be achieved at other angles. The capsule B is provided with a fixed tooth 19 on the outer circumference of the driving motor, and the fixed tooth 19 is longitudinally spirally expanded, and the unfolding direction is opposite to the direction in which the rotating tooth 18 is unfolded. It is advantageous to keep the stability of the capsule B during driving; the axis of the motor shaft 13, the rotating shell 14 and the portion of the capsule setting drive motor 12 are coincident, which is beneficial to ensure smooth and vibration-free operation during driving, and to reduce the pain of the user.

The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments. Modifications or equivalents are intended to be included within the scope of the appended claims.

Claims

Claim

An inner drive capsule endoscope system comprising at least one end transparent capsule and an endoscope device disposed in the capsule, the endoscope apparatus comprising a medical imaging apparatus (1), an image processing apparatus (2), and a microprocessing And a receiving transmitter (4), characterized by: further comprising a driving device and an external wireless remote controller (16), the driving device comprising a driving power source (10), a driving switch circuit (11), a driving motor ( 12) and a driving device, the driving switch circuit (11) is connected to the microprocessor (3), and the driving switch circuit (11) is serially connected between the driving power source (10) and the driving motor (12), and the driving motor ( 12) Drive the drive device (14) to complete the advance or retreat of the capsule;

The extracorporeal remote control (16) issues an instruction to the microprocessor (3) via the receiving transmitter (4) to control the drive to complete or stop the action.

2. The inner drive capsule endoscope system according to claim 1, wherein: said driving device comprises a rotating shell (14) having a circular cross section, and at least one protrusion is provided on an outer circumference of the rotating shell (14) a rotating shell tooth (18), the rotating shell tooth (18) is longitudinally spirally wound; the driving motor (12) is fixedly disposed in the capsule, and the driving motor shaft (13) extends out of the capsule and is fixedly connected with the rotating shell (14); The axes of the motor shaft (13), the rotating shell (14), and the portion of the capsule-set drive motor (12) coincide.

3. The inner drive capsule endoscope system according to claim 2, wherein the rotary shell (14) is a part of the capsule, and the positioning barrel (17) and the rotary shell (14) sleeve are fixedly disposed inside the capsule. The outer circumference of the positioning barrel (17) is rotatably coupled thereto; the driving power source (10), the driving switch circuit (11) and the driving motor (12) are disposed in the positioning barrel (17).

4. The inner drive capsule endoscope system according to claim 3, wherein: a fixed tooth (19) is provided on an outer circumference of the capsule setting drive motor (12), and the fixed tooth (19) is longitudinally The spiral is unfolded, and the unfolding direction is opposite to the direction in which the rotating shell teeth (18) are unfolded.

5. The inner drive capsule endoscope system according to claim 4, wherein: the spiral housing angle (18) has a helix angle of 45[deg.].

6. The inner drive capsule endoscope system according to claim 3, 4 or 5, characterized in that: the positioning barrel (17) and the rotating shell (14) are rotationally fitted by a rolling bearing (20).

7. The inner drive capsule endoscope system according to any one of claims 1 to 5, further comprising: a tool device, the tool device being disposed in the capsule, comprising a tool power source (9), a tool switch circuit (8), a tool power (7) and a tool (6), the tool switch circuit (8) and the microprocessor ( 3) Associative, the tool switch circuit (8) is connected in series between the tool power supply (9) and the tool power (7), and the tool power (7) drive tool (6) is applied and collected;

The extracorporeal remote control (16) issues a command to the microprocessor (3) via the receiving transmitter (4) to control the tooling device for dispensing and collection.

8. The inner drive capsule endoscope system according to claim 6, further comprising: a tool device disposed in the capsule, comprising a tool power source (9), a tool switch circuit (8), a tool Power (7) and 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 source (9) and the tool power (7) , tool power (7) drive tool (6) for application and collection work;

The extracorporeal remote control (16) issues commands to the microprocessor (3) via the receiving transmitter (4) to control the tooling device for dispensing and collection.

9. The inner drive capsule endoscope system according to claim 7, wherein: the endoscope device, the tool device and the drive device share the same power source or the endoscope device, the tool device and the drive device in any combination. The same power source.

10. The inner drive capsule endoscope system according to claim 8, wherein: the endoscope device, the tool device and the drive device share the same power source or the endoscope device, the tool device and the drive device in any combination. The same power source.

The inner driving capsule endoscope system according to claim 9 or 10, wherein: the endoscope device is disposed in the capsule A, the tool device is disposed in the capsule B, and the driving device is disposed in the capsule C, A motion and working state imaging device (101) is also disposed in the capsule A, and the motion and working state imaging device

(101) associated with the image processing device (2), the medical imaging device (1) and the motion and working state imaging device (101) are respectively disposed at both ends of the capsule A, and the capsule A is transparently disposed at both ends; the capsule A, the capsule B and Towing and signal transmission are completed by the cable D between the capsules C.

12. The inner drive capsule endoscope system according to claim 9 or 10, wherein: the endoscope device is disposed in the capsule A, the tool device and the driving device are disposed in the capsule B, and the capsule A is further disposed. Motion and working state imaging device (101), said motion and working state imaging device (101) and image The processing device (2) is associated, the medical imaging device (1) and the motion and working state imaging device (101) are respectively disposed at the two ends of the capsule A, and the capsule A is transparently disposed at both ends; the capsule A and the capsule B are completed by the cable D. Drag and signal.

The internal driving capsule endoscope system according to claim 9 or 10, wherein: the endoscopic device, the tool device and the driving device are disposed in the same capsule, and the moving and working state imaging device is further disposed in the capsule (101), the motion and working state imaging device (101) is associated with the image processing device (2), the medical imaging device (1) is disposed at the left end of the capsule, and the motion and working state imaging device (101) is disposed at the left of the tool device side.