CN101011234A - Regulating and controlling technique of capsule endoscope - Google Patents
Regulating and controlling technique of capsule endoscope Download PDFInfo
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- CN101011234A CN101011234A CN 200710078136 CN200710078136A CN101011234A CN 101011234 A CN101011234 A CN 101011234A CN 200710078136 CN200710078136 CN 200710078136 CN 200710078136 A CN200710078136 A CN 200710078136A CN 101011234 A CN101011234 A CN 101011234A
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Abstract
The invention relates to a method for adjusting and controlling the capsule endoscope moving in the digestive tract, which comprises an endoscope capsule A, a tool capsule B, a driving capsule C, a cable D connecting the capsules A, B, C, and a special wireless remote controller E. The invention is characterized in that the capsule A has camera, image conversation and real-time information transmission functions; the capsule B has sample collection and drug feeding functions; the capsule C has energy accumulation and driving functions; the cable D has information transmission, energy transmission, serial connection and drawing functions; the remote controller E has image transmission and command emission functions. the A, B, C, D, E and the medical computer image station can form a system for completing the functions of general capsule endoscope, as well as real-time adjusting the direction of capsule endoscope in the digestive tract, leading the stopped or slow capsule endoscope, repeatedly watching the ill part and shooting, collecting liquid or active sample, and treating the ill part.
Description
Technical field
The present invention relates to medical detection system, specifically is a kind ofly can enter that digestive tract is observed, made a video recording, peep Capsules group in the self-driving type of sampling, dispenser.
Background technology
The capsule endoscope that last century, the eighties was born is that gastral medical diagnosis on disease has brought important breakthrough.Be used for clinical capsule endoscope at present, form, combine, finish the image check of gastrointestinal tract (particularly small intestinal) with the image analysing computer processing system by a miniature camera, digital processing system, wireless transmission system etc.It is big to have overcome the conventional endoscope volume, and the checking process misery is not suitable for defectives such as old man, slim and frahile and critical patient; 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 also exist not enough: image that capsule endoscope is clapped is random uptake, makes the visual field limited and have certain rate of missed diagnosis; Capsule can only outwards send image information, and its duty can not can not realize the inspection of purpose emphasis in external control; Can't accurately locate etc.
Chinese patent ZL200410021933.5 proposes a kind of medical radio capsule formula endoscope system, claims that this system both can wireless outside transmission digital image information, again can the wireless receiving control instruction realizes the control to capsule duty and working method.But still peep capsular mobile speed and direction in can not controlling, and can not realize the inspection of purpose emphasis, peeping capsule in can not guaranteeing can excrete smoothly.
Summary of the invention
The present invention relates to the control technique that a kind of capsule endoscope moves at digestive tract.Decapacitation is finished outside the task of general capsule endoscope, can also finish: the 1. direction that moves in digestive tract of real-time monitoring capsule endoscope; 2. to being detained or moving capsule endoscope channeling conduct slowly, make it current smoothly in all-digestive tract; 3. suspected abnormality is observed repeatedly, photographed; 4. collection liquid or living tissue specimen; 5. to tasks such as focus dispenser treatments.
For achieving the above object, technical scheme of the present invention is: adopt and peep the system that Capsules group, private radio remote controller and computer medical image work station constitute in the self-driving type.Peep in the self-driving type in the system that Capsules group is peeped capsules A, tool capsule B in comprising, driven capsule C, cable D and the private radio remote controller E of contact capsules A, B, C.Its uniqueness is that capsules A has functions such as photography, image information conversion, real-time tranception information; Capsule B has functions such as collect specimen, dispenser; Capsule C has functions such as energy storage, driving; Cable D has effects such as transmission information, transmission of electric energy, series connection, towing; Remote controller E has reception, transmits image information, sends functions such as operational order.
In peep capsules A and comprise housing, the intravital illumination camera unit of shell, image sensing and microprocessor, radio-frequency (RF) receiving and transmission module and antenna, battery.It is characterized in that: have cable D that A and Capsules group are connect, the instruction that receives through antenna, transceiver module can be delivered to by cable D and drive capsule C, the direction of motion of control C, towing A or advance or move back or stop.
Tool capsule B comprises housing, the intravital tool model of shell (instrument, on-off circuit, micro machine), battery etc.It is characterized in that: have cable D and Capsules group to connect, can accept instruction, the instrument that starts is carried out work such as sampling, dispenser in appointed part.
Drive band tooth spiral shell, the intravital message processing module of shell, micro machine, bearing, set of cells that capsule C comprises housing, is connected with housing.It is characterized in that: have cable D and Capsules group to connect, can accept instruction, start the rotation of motor rotating band tooth spiral shell, drive capsule, pull Capsules group or advance or move back or stop by the counteracting force that revolves mucous frictional force in shell tooth and the digestive tract.
Digiplex E comprises antenna, radio-frequency (RF) receiving and transmission module, battery, instruction operation keyboard.It is characterized in that: responsive antenna probes can roughly be judged the position and the movement velocity of capsules A according to the power of receiving signal, send the instruction of control Capsules group, the kinestate of regulation and control Capsules group, can in real time the information of receiving be amplified, be forwarded to special medical image work station, according to the frame rate that the image real-time monitoring is taken pictures, can observe repeatedly suspected abnormality, take; The regulation and control tool model is sampled or targetedly at the focus dispenser.
The technique effect that the present invention produces owing to said structure is very tangible, and the capsule endoscope volume is little, and is in light weight; When swallowing, the person under inspection do not have fear, no pain in the checking process; Simple to operate, need not be in hospital; Safety does not have the complication that operation causes; In the process that particularly described Capsules group is implemented to check in digestive tract, the doctor can be on the display screen of computer medical image work station, see the image that capsule endoscope sends in real time outwards, speed and the direction that can in digestive tract, move from external control Capsules group; The control capsule endoscope is observed repeatedly to suspected abnormality, takes pictures; And can be able to descend according to circumstances, at external control tool capsule at specific part collection liquid or living tissue specimen; External control with can descend according to circumstances, to the focus dispenser.
Description of drawings
Said structure of the present invention can further specify by accompanying drawing
Fig. 1 peeps the Capsules group structural representation in the self-driving type
Fig. 2 is for driving the capsule schematic appearance
Fig. 3 is for driving capsule structural representation one
Fig. 4 is for driving capsule structural representation two
Fig. 5 is for peeping a pair of grain formula structural representation of Capsules group structural change in the self-driving type
Fig. 6 is for peeping two simple grain formula structural representations of Capsules group structural change in the self-driving type
Peep the cable of capsule, B-tool capsule, C-driving capsule, D-contact capsules A, B, C among the figure in the A-; 1-camera module, 2-battery, 3-tool model, 4-revolve shell tooth, 5-cable, 6-fine jade shell, 7-rotating shaft, 8-micro machine, 9-bearing.
The specific embodiment
Peep Capsules group, Digiplex and computer medical image work station construction system in the self-driving type of the present invention.Structure of drive-type Capsules group is referring to Fig. 1 in it.
The operation principle of native system is: in peep the graphical information that the illumination camera unit in the capsules A will obtain in person under inspection's digestive tract, through image sensing and microprocessor arrangement compression, send to external by radio-frequency (RF) receiving and transmission module and antenna, the Digiplex E that is pressed close to abdominal part by antenna probes receives, and be transmitted to computer medical image work station and handle, store, on its display screen, mirror.Check that the operator according to real time imaging, sends instruction with the unlimited remote controller E that hands is held to the Capsules group in the digestive tract, the duty of regulation and control Capsules group.Can descend according to circumstances, the operate capsule group is finished tasks such as inspection, sampling, dispenser.
Fig. 2 is the schematic appearance that drives capsule C among the present invention, and some is rotatable for capsule housing, is called and revolves shell.Revolve on the shell tooth of arranging with as crawler belt---revolve the shell tooth.
Fig. 3, Fig. 4 drive capsular cut-away view among the present invention, its operation principle is: check the command information that the operator assigns, radio-frequency (RF) receiving and transmission module through capsules A receives, be communicated to driving capsule C by cable D, open the intravital micro machine of shell, shell rotation is revolved in drive, revolves the mucus friction in shell tooth and the digestive tract of revolving on the shell, and the counteracting force promotion capsule of generation forward or retreat.
Fig. 5, Fig. 6 peep Capsules group in the self-driving type of the present invention, according to the difference of task, and transformable two kinds of frame modes.
Claims (6)
1. control technique that the medical capsule scope moves at digestive tract.Comprise and peep Capsules group in the self-driving type, peep capsules A, tool capsule B in promptly, drive capsule C, the cable D of contact capsules A, B, C; The private radio remote controller E.。
2. the control technique that medical capsule scope according to claim 1 moves at digestive tract, in peep capsules A feature be: illumination, camera module are installed, imageing sensor, image information microprocessor, radio-frequency (RF) receiving and transmission module, battery in the capsule housing.Bear photography, image processing, task such as send and receive information.
3. the control technique that medical capsule scope according to claim 1 moves at digestive tract, the feature of tool capsule B is: battery is installed, on-off circuit, tool model in the capsule housing.Have functions such as collect specimen, dispenser.
4. the control technique that medical capsule scope according to claim 1 moves at digestive tract, the feature of capsule C is: driver module is installed, set of cells, message processing module in the capsule housing.Have functions such as energy storage, driving.
5. the control technique that medical capsule scope according to claim 1 moves at digestive tract, the feature of the cable of contact capsules A, B, C is: medical material, pliable and tough solid, with capsules A, B, C positive connection, be the passage of electric power and information between A, B, C.
6. the control technique that medical capsule scope according to claim 1 moves at digestive tract, the feature of radio remote controller E is: have the higher antenna probes of sensitivity, can press close to person under inspection's abdominal part and receive and send messages.Accept the information that capsule endoscope A sends, send to computer medical image work station in real time; The instruction of assigning is accepted through the transceiver module of capsules A, through image, message handler, realizes the control to the illumination camera unit; Be passed to the message processing module of capsule B through cable, realize control tool model; Be passed to the message processing module of capsule C through cable, realize control driving device.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710078136 CN101011234A (en) | 2007-01-24 | 2007-01-24 | Regulating and controlling technique of capsule endoscope |
| CN200810000148XA CN101224102B (en) | 2007-01-24 | 2008-01-04 | Inner-driving encapsulated endoscopic system |
| PCT/CN2008/000176 WO2008092376A1 (en) | 2007-01-24 | 2008-01-24 | Inner-driven capsule endoscope system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200710078136 CN101011234A (en) | 2007-01-24 | 2007-01-24 | Regulating and controlling technique of capsule endoscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101011234A true CN101011234A (en) | 2007-08-08 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710078136 Pending CN101011234A (en) | 2007-01-24 | 2007-01-24 | Regulating and controlling technique of capsule endoscope |
| CN200810000148XA Active CN101224102B (en) | 2007-01-24 | 2008-01-04 | Inner-driving encapsulated endoscopic system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810000148XA Active CN101224102B (en) | 2007-01-24 | 2008-01-04 | Inner-driving encapsulated endoscopic system |
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| Country | Link |
|---|---|
| CN (2) | CN101011234A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008092376A1 (en) * | 2007-01-24 | 2008-08-07 | Yunlong Chen | Inner-driven capsule endoscope system |
| CN101342067B (en) * | 2007-07-11 | 2010-08-25 | 重庆特奥科技有限公司 | Medical tool capsule |
| CN102397052A (en) * | 2011-11-30 | 2012-04-04 | 西交利物浦大学 | Image-recognition-technology-based shooting-speed-adjustable wireless capsule endoscope system and method |
| CN102551643A (en) * | 2012-02-16 | 2012-07-11 | 金纯� | Self-assembling type medical serpentiform endoscopic capsule |
| CN102949168A (en) * | 2011-08-23 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Multi-chamber wireless capsule robot |
| CN105852778A (en) * | 2016-04-05 | 2016-08-17 | 苏州佳像视讯科技有限公司 | Multi-shell capsule endoscopy |
| CN109009246A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009247A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103393389B (en) * | 2013-08-16 | 2015-02-18 | 哈尔滨工业大学深圳研究生院 | Endoscope microcapsule robot |
| CN108742483B (en) * | 2018-06-29 | 2022-05-17 | 重庆金山医疗技术研究院有限公司 | Controllable capsule endoscope system |
| CN109730622A (en) * | 2019-01-25 | 2019-05-10 | 陈嘉浩 | A kind of spiral gastroscope |
-
2007
- 2007-01-24 CN CN 200710078136 patent/CN101011234A/en active Pending
-
2008
- 2008-01-04 CN CN200810000148XA patent/CN101224102B/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008092376A1 (en) * | 2007-01-24 | 2008-08-07 | Yunlong Chen | Inner-driven capsule endoscope system |
| CN101342067B (en) * | 2007-07-11 | 2010-08-25 | 重庆特奥科技有限公司 | Medical tool capsule |
| CN102949168A (en) * | 2011-08-23 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Multi-chamber wireless capsule robot |
| CN102949168B (en) * | 2011-08-23 | 2014-09-10 | 中国科学院沈阳自动化研究所 | Multi-chamber wireless capsule robot |
| CN102397052A (en) * | 2011-11-30 | 2012-04-04 | 西交利物浦大学 | Image-recognition-technology-based shooting-speed-adjustable wireless capsule endoscope system and method |
| CN102397052B (en) * | 2011-11-30 | 2014-01-15 | 西交利物浦大学 | Image-recognition-technology-based shooting-speed-adjustable wireless capsule endoscope system and method |
| CN102551643A (en) * | 2012-02-16 | 2012-07-11 | 金纯� | Self-assembling type medical serpentiform endoscopic capsule |
| CN105852778A (en) * | 2016-04-05 | 2016-08-17 | 苏州佳像视讯科技有限公司 | Multi-shell capsule endoscopy |
| CN109009246A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009247A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009247B (en) * | 2018-10-19 | 2023-09-08 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN109009246B (en) * | 2018-10-19 | 2023-11-28 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101224102A (en) | 2008-07-23 |
| CN101224102B (en) | 2011-02-09 |
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