CN102160773B - In-vitro magnetic control sampling capsule system based on digital image guidance - Google Patents
In-vitro magnetic control sampling capsule system based on digital image guidance Download PDFInfo
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- CN102160773B CN102160773B CN 201110051498 CN201110051498A CN102160773B CN 102160773 B CN102160773 B CN 102160773B CN 201110051498 CN201110051498 CN 201110051498 CN 201110051498 A CN201110051498 A CN 201110051498A CN 102160773 B CN102160773 B CN 102160773B
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Abstract
The invention discloses an in-vitro magnetic control sampling capsule system based on digital image guidance, relating to the technical field of medical instruments. The system comprises a sampling capsule, an in-vitro magnetic drive device, an in-vitro sampling control device and an in-vitro image real-time processing device, wherein the sampling capsule is positioned a digestive tract and used for acquiring environmental information of the digestive tract, the in-vitro image real-time processing device is connected with the sampling capsule in a wireless manner and used for transmitting the video information of the capsule and outputting the video information in a graphic mode, the in-vitro magnetic drive device changes the gesture and position of the capsule by means of magnetic force, and the in-vitro sampling control device is connected with the sampling capsule in a wireless manner and carries out sampling operation control. According to the invention, under the digital image guidance, an in-vitro operation controller can operate and control the sampling capsule to sample the tissues of the digestive tract.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically is that a kind of external magnetic control based on the digital picture navigation is produced the sample capsule system.
Background technology
The modern is owing to work rhythm quickening, diet inequality, cause the sickness rate of digestive tract disease to raise day by day, digestive tract disease becomes the common a kind of disease that influences modern's health, analyze according to statistics and find, digestive tract disease develops with hiddenization direction to becoming younger.The visual detection of digestive tract disease has important effect for the detection of digestive tract disease, and human body all-digestive tract length overall is above 9 meters, because the digestive tract shape belongs to slender pipeline, be distributed between each organ of trunk, the irregular closure of all-digestive tract structure is to detection and the sampling of digestive tract disease bring very big challenge clinically.
The visual detection of the digestive tract disease of Shi Shiing mainly contains two kinds clinically: gastrointestinal, intestinal mirror and capsule endoscope two big classes.Gastroscope, intestinal microscopy are surveyed and are belonged to active detecting, can realize all-digestive tract disease " fixed point " diagnosis, but may have the risk that causes stomach wound, intestinal wound in the gastroscope, intestinal microscopy survey process, understand in the testing process and bring huge misery to patient.Capsule endoscope detects and belongs to the noinvasive detection method, can implement the detection of digestive tract disease after patient's oral capsule endoscope, can not bring discomfort or painful sensation to the patient, but capsule endoscope can only be followed gastral wriggling and be carried out diagnosis in patient's digestive tract, the motion of capsule endoscope belongs to passive movement mode fully, capsule endoscope also belongs to " locality " and " randomness " diagnosis for the diagnosis of digestive tract disease, can not implement initiatively " fixed point " diagnosis to digestive tract disease, there is very big blind area in the capsule endoscopy diagnosis overall process, has greatly limited the clinical practice of capsule endoscope in the visual diagnosis of all-digestive tract disease.
On the other hand, find to have the disease focus by the capsule image, when further determining disease type, need determine disease type by the biological tissue's sample analysis around the digestive tract disease, realize the sampling requirement of digestive tract disease tissue, can finish sampling work with lower digestive tract with upper digestive tract and colon for stomach under the video image navigation of gastroscope and intestinal mirror, but still have the risk that causes stomach wound, intestinal wound in sampling process, needs of patients bears huge misery in the sampling process.For the pathological tissue sampling that the digestive tract at small intestinal place exists, can't adopt traditional gastroscope and intestinal mirror, need realize the pathological tissue sampling by operation method, this misery that causes for the patient is well imagined.Existing capsule endoscope only possesses the shoot function of digestive tract image, does not possess the sampled functions of digestive tract pathology tissue.
Though prior art retrieval gastroscope and intestinal mirror possess the function that diagnoses the illness with lower digestive tract and carry out the pathology sampling at upper digestive tract and colon, but there is wound and brings very big misery to the patient in diagnosis and sampling process, the function that does not possess simultaneously small bowel disease and take a sample at small intestinal pathology, so prior art can't satisfy the actual demand of clinical non-invasive diagnosis and pathological tissue sampling.
Find through the retrieval to prior art, be published in " Gastrointestinal Endoscopy " Vol.72, No.5, paper on 2010 " Remote magnetic control of a wireless capsule endoscope in the esophagus is safe andfeasible:results of a randomized; clinical trial in healthy volunteers " discloses the imaged capsule technique of a kind of external magnetic control, this paper is by the magnetic control image capsule of external magnetic field control volunteer service, finish the image diagnostic imaging at volunteer's disease of stomach, by with the image capsule contrast experiment who does not have external magnetic control system, prove that utilizing the external magnetic field control figure is safe and feasible as attitude and the position of capsule in digestive tract.Though the achievement in research of this paper proves safety and the feasibility of the imaged capsule of external magnetic control, but the imaged capsule of this magnetic control does not have the sample of tissue function, after namely finding digestive tract disease by the capsule image, can't carry out sampling to the pathological tissue of digestive tract disease.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of external magnetic control based on the digital picture navigation to produce the sample capsule system, by the sampling capsule system in the external magnetic field control digestive tract, can realize gi system any direction and position are carried out image taking, transfer to external by radio transmitting device, the doctor can carry out detailed diagnosis to digestive tract disease according to the image that photographs, when finding the disease focus is arranged, pass through external magnetic field, the operator controls sampling capsule system " location " in lesions position, the sampling capsule system can be sent to the image of lesions position external in real time, under the guiding of image, the operator controls the sampling capsule system pathological tissue of lesions position is carried out sampling, in sampling process, the sampling capsule system can be sent to picture system external, and controlling with sampling for operator's external magnetic control system provides image-guidance, preserves overall process until the sampling of finishing pathological tissue.
The present invention is achieved by the following technical solutions, the present invention includes: the sampling capsule, external magnetic drive unit, external sampling control equipment and the real-time blood processor of external image, wherein: the sampling capsule system is positioned at digestive tract and gathers digestive tract environment information, the real-time blood processor of external image is connected with wireless mode with the sampling capsule system and transmits the capsule digital image information and export with graphics mode, external magnetic drive unit is by the control of magnetic force realization to sampling capsule attitude and position, and external sampling control equipment is connected with wireless mode with the sampling capsule and carries out sampling operation and control.
Described sampling capsule comprises: sampler, illuminator, optical system, shell and be arranged at its inner master control system, digital image sensor, radio receiving transmitting module, power management module, storage silo, battery and permanent magnetic device, wherein: the magnetic force between the permanent-magnetic field that the permanent-magnetic field that permanent magnetic device produces and external magnetic drive unit produce is realized the adjusting of sampling capsule attitude and position, power management module links to each other with battery and exports DC voltage to digital image sensor respectively, illuminator, master control system, radio receiving transmitting module, optical system, illuminator and digital image sensor are connected successively and are arranged at the end of shell, digital image sensor links to each other with master control system and output digital image, radio receiving transmitting module links to each other with master control system and the video information that digital image sensor collects is converted into electromagnetic wave and is sent to externally, and sampler is arranged at the outside of shell and links to each other with the preservation sampling tissue with master control system with storage silo respectively and receive control instruction.
Described shell is the capsule body shape, and both ends are chondritic.
Described external magnetic drive unit comprises: frame is adjusted in field generator for magnetic and position, and wherein: field generator for magnetic is fixedly set on the position adjustment frame and to the sampling capsule magnetic field is provided.
Described external sampling control equipment comprises: radio communication unit and sampling control equipment, send the sampling operation signal by sampling control equipment, and this signal is sent to the sampling capsule by radio communication unit by wireless communication mode.
The real-time blood processor of described external image comprises: the real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image receives in real time by the sampling capsule and sends to external photographic images and be sent to computer workstation, computer operation is presented at image on the computer screen, for operation effector realize taking a sample capsule attitude, Position Control and sampling operation provides the image-guidance function.
The present invention integrates image acquisition and pathological tissue sampled functions, use this sampling capsule system, can use the quantitative Diagnosis of diagnostic imaging and histopathologic analysis to digestive tract disease, noinvasive, no pain in the diagnostic procedure have important and practical meanings clinically.
Description of drawings
Fig. 1 is operation principle sketch map of the present invention.
Fig. 2 is sampling capsule structure sketch map.
Fig. 3 is external magnetic drives structure sketch map.
Fig. 4 is external sampling control equipment structural representation.
Fig. 5 is the real-time blood processor sketch map of external image.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, this enforcement comprises: sampling capsule 1, external magnetic drive unit 2, the real-time blood processor 4 of external sampling control equipment 3 and external image, wherein: sampling capsule 1 is positioned at digestive tract and gathers digestive tract environment information, the real-time blood processor 4 of external image is connected with wireless mode with sampling capsule 1 and transmits the capsule video information and export with graphics mode, external sampling control equipment 3 is connected with wireless mode with sampling capsule 1 and carries out sampling operation and control, external magnetic drive unit 2 is carried out the work according to the permanent-magnetic field interaction principle to sampling capsule 1, be that the same polarity permanent-magnetic field repels each other, the heteropolarity permanent-magnetic field is inhaled mutually, and permanent-magnetic field interphase interaction power and its distance dependent, distance and polarity between the permanent-magnetic field of the permanent-magnetic field by changing external magnetic drive unit and sampling capsule, thus guarantee that external magnetic drive unit is to the control of sampling capsule attitude and position.
As shown in Figure 2, described sampling capsule 1 comprises: sampler 5, illuminator 6, optical system 7, shell 8 and be arranged at its inner master control system 9, digital image sensor 10, radio receiving transmitting module 11, power management module 12, storage silo 13, battery 14, switch 16 and permanent magnetic device 15, wherein: attitude and the position of the magnetic force control sampling capsule 1 that produces between the permanent-magnetic field that the permanent-magnetic field that permanent magnetic device 15 produces and external magnetic drive unit 2 produce, power management module 12 links to each other with switch 16, when switch 16 cuts out, power management module 12 is appropriate DC voltages with battery 14 voltage transition, and export digital image sensor 10 respectively to, illuminator 6, master control system 9, radio receiving transmitting module 11, optical system 7, illuminator 6 and digital image sensor 10 are connected successively and are arranged at the end of shell 8, digital image sensor 10 links to each other with master control system 9 and output digital image, radio receiving transmitting module 11 links to each other with master control system 9 and the video information that digital image sensor 10 collects is converted into electromagnetic wave and is sent to externally, and sampler is arranged at the outside of shell 8 and links to each other with master control system 9 with the preservation sampling tissue with storage silo 13 respectively and receive control instruction.
Described shell 8 is the capsule body shape, and both ends are chondritic.
As shown in Figure 3, described external magnetic drive unit 2 comprises: frame 18 is adjusted in field generator for magnetic 17 and position, and wherein: field generator for magnetic 17 is fixedly set on the position adjustment frame 18 and to sampling capsule 1 permanent-magnetic field is provided.
As shown in Figure 4, described external sampling control equipment 3 comprises: radio communication unit 19 and sampling control equipment 20, send the sampling operation signal by sampling control equipment 20, this signal is sent to sampling capsule 1 by radio communication unit 19 by wireless communication mode.
As shown in Figure 5, the real-time blood processor 4 of described external image comprises: the real-time receiver module 21 of external image and computer workstation 22, wherein: the real-time receiver module 21 of external image is to be made of the universal electric device that possesses the digital radio communication function, can with sampling capsule 1 in radio receiving transmitting module 11 carry out wireless telecommunications.The real-time receiver module 21 of external image receives in real time by sampling capsule 1 and sends to external photographic images and be sent to computer workstation 22, computer operation is presented at image on the computer screen, for operation effector realize taking a sample capsule 1 attitude, Position Control and sampling operation provides the image-guidance function.
This device carries out work in the following manner: the cell switch 16 of opening sampling capsule 1, the patient is by the sampling capsule of swallowing, power module 12 is converted into suitable voltage with battery 14 voltages, this voltage is sent to radio receiving transmitting module 11, master control system 9, digital image sensor 10, sampler 5, illuminator 6, sampling capsule 1 is started working, digital image sensor 10 is gathered the digestive tract image, digital image sensor 10 sends the view data that collects to master control system 9, master control system 9 sends view data radio receiving transmitting module 11 to and is sent to external with the electromagnetic wave form, receive and be sent to computer workstation 22 by the real-time receiver module 21 of external image, computer workstation 22 is presented at image on the screen, under image-guidance helps, the external control permanent magnetic device 2 of operator changes position and the direction of permanent magnetic device 17, position and attitude that the permanent magnetic device 15 of the interior sampling of body capsule 1 is followed external permanent magnetic device 17 change, change sampling capsule attitude and position in 1 digestive tract, digital image sensor 10 can detect the image of different attitudes and situation lower digestive tract wall and be sent to external, thereby guarantee that the operator carries out the image taking of " fixed point " and " orientation " to digestive tract under image-guidance.In diagnostic procedure, when finding digestive tract disease is arranged, under the capsule image-guidance helps, the operator controls sampling capsule 1 and focus pathological tissue relative attitude and position, make the sampler 5 of sampling capsule 1 be close to pathological tissue, the operator utilizes the sampling operation device 20 of external sampling control equipment 3 to send sampling control signal, this control signal is sent to by radio communication unit 19 and transmits sampling capsule 1, receive and be sent to master control system 9 by wireless transmitter 11, master control system 9 starts sampler 5 work, 5 pairs of pathological tissue samplings of sampler, and the pathological tissue sample that obtains of will taking a sample is sent into storage silo 13 preservations.In sampling process, the operator can move attitude and the position that device 2 changes sampling capsules 1 by the operating body external magnetic region, by means of the image-guidance on the work station 21, to realize the sampling operation to pathological tissue.
Claims (3)
1. the external magnetic control based on the digital picture navigation is produced the sample capsule system, it is characterized in that, comprise: the sampling capsule, external magnetic drive unit, external sampling control equipment and the real-time blood processor of external image, wherein: the sampling capsule is positioned at digestive tract and gathers digestive tract environment information, the real-time blood processor of external image is connected with wireless mode with the sampling capsule and transmits the capsule video information and export with graphics mode, external magnetic drive unit is by attitude and the position of the change of the magnetic force between permanent-magnetic field sampling capsule, and external sampling control equipment is connected with wireless mode with the sampling capsule system and carries out sampling operation and control;
Described sampling capsule comprises: sampler, illuminator, optical system, shell and be arranged at its inner master control system, digital image sensor, radio receiving transmitting module, power management module, storage silo, battery, switch and permanent magnetic device, wherein: the permanent-magnetic field that the permanent-magnetic field that permanent magnetic device produces and external magnetic drive unit produce repels mutually or attracts each other, thereby change attitude and the position of sampling capsule, power management module links to each other with battery and exports DC voltage to digital image sensor respectively, illuminator, master control system, radio receiving transmitting module, optical system, illuminator and digital image sensor are connected successively and are arranged at the end of shell, digital image sensor links to each other with master control system and output digital image, radio receiving transmitting module links to each other with master control system and the video information that digital image sensor collects is converted into electromagnetic wave and is sent to externally, and sampler is arranged at the outside of shell and links to each other with the preservation sampling tissue with master control system with storage silo respectively and receive control instruction;
Described external magnetic drive unit comprises: frame is adjusted in field generator for magnetic and position, and wherein: field generator for magnetic is fixedly set on the position adjustment frame and to the sampling capsule magnetic field is provided;
The real-time blood processor of described external image comprises: the real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image receives in real time by the sampling capsule and sends to external photographic images and be sent to computer workstation, computer workstation is presented at image on the computer screen, for operation effector realize taking a sample capsule attitude, Position Control and sampling operation provides the image-guidance function.
2. the external magnetic control based on the digital picture navigation according to claim 1 is produced the sample capsule system, it is characterized in that described shell is the capsule body shape, and both ends are chondritic.
3. the external magnetic control based on the digital picture navigation according to claim 1 is produced the sample capsule system, it is characterized in that, described external sampling control equipment comprises: radio communication unit and sampling control equipment, send the sampling operation signal by sampling control equipment, this signal is sent to the sampling capsule by radio communication unit by wireless communication mode.
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| CN 201110051498 CN102160773B (en) | 2011-03-04 | 2011-03-04 | In-vitro magnetic control sampling capsule system based on digital image guidance |
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| CN 201110051498 CN102160773B (en) | 2011-03-04 | 2011-03-04 | In-vitro magnetic control sampling capsule system based on digital image guidance |
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| CN102160773B true CN102160773B (en) | 2013-07-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20190223846A1 (en) * | 2016-09-15 | 2019-07-25 | Progenity, Inc. | Fluid Sampling Device |
| CN109330634B (en) * | 2018-11-12 | 2020-08-21 | 中南大学 | Sampling device in alimentary canal |
| WO2020102997A1 (en) * | 2018-11-20 | 2020-05-28 | 深圳华大智造科技有限公司 | Sampling device and digestive tract sampling capsule |
| CN112022423B (en) * | 2020-09-03 | 2024-03-08 | 温州医科大学附属第一医院 | Urinary incontinence sling evaluation system and image evaluation method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1620985A (en) * | 2004-12-16 | 2005-06-01 | 上海交通大学 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
| CN1843284A (en) * | 2005-04-07 | 2006-10-11 | 中国科学院合肥智能机械研究所 | External magnetic field driving system of in vivo microrobot |
| CN101513340A (en) * | 2009-03-19 | 2009-08-26 | 上海交通大学 | Capsule endoscope system of energy supply in vitro |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102005032371A1 (en) * | 2005-07-08 | 2007-01-11 | Siemens Ag | endoscopy capsule |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1620985A (en) * | 2004-12-16 | 2005-06-01 | 上海交通大学 | In vitro electro-magnetism excitation positioning system for remotely monitoring capsule swallowed in digestive tract |
| CN1843284A (en) * | 2005-04-07 | 2006-10-11 | 中国科学院合肥智能机械研究所 | External magnetic field driving system of in vivo microrobot |
| CN101513340A (en) * | 2009-03-19 | 2009-08-26 | 上海交通大学 | Capsule endoscope system of energy supply in vitro |
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