WO2021007715A1

WO2021007715A1 - Endoscope and endoscope system

Info

Publication number: WO2021007715A1
Application number: PCT/CN2019/095815
Authority: WO
Inventors: 邱维宝; 黄耀才; 牟培田; 张志强; 郑海荣
Original assignee: 深圳先进技术研究院
Priority date: 2019-07-12
Filing date: 2019-07-12
Publication date: 2021-01-21

Abstract

Disclosed are an endoscope (100) and an endoscope system. A capsule-shaped endoscope main body (101) is mechanically guided and delivered by means of a flexible catheter (102) with an outer diameter smaller than that of the endoscope main body (101), such that the motion of the endoscope main body (101) in a human body is controllable, collision and friction of the flexible catheter (102) against the human digestive tract are effectively reduced, the comfort of examination and diagnosis and the degree to which examination and diagnosis can be tolerated are improved, and the operation is convenient. Optical image data of the human digestive tract are obtained by means of a camera module (2), ultrasonic scanning data of the human digestive tract are obtained by means of an ultrasonic imaging module (3), the optical image data and the ultrasonic scanning data are sent to an imaging system (200) by means of a signal line (103) for real-time image processing, and an optical image and an ultrasonic image are obtained and displayed, such that multi-dimensional tissue imaging pictures in the human digestive tract can be presented in real time to facilitate observing tissue lesions and obtaining lesion information of deep tissue so as to provide a more intuitive and more accurate diagnosis basis to improve the integrity and accuracy of diagnosis.

Description

Endoscope and endoscope system

Technical field

This application belongs to the technical field of endoscopes, and in particular relates to an endoscope and an endoscope system.

Background technique

Endoscopes play an important role in the diagnosis of human digestive tract diseases. Doctors can use endoscopes to observe the pathological changes in the digestive tract such as the human esophagus, stomach and duodenum, and to spy on the health of the human digestive tract and esophagus.

technical problem

Existing optical endoscopes can only observe the surface of the digestive tract, and cannot obtain information on deep tissue lesions, which greatly limits the completeness and accuracy of diagnosis. Moreover, the doctor transports the endoscope to the human digestive tract by manipulating the tube of the endoscope, which is likely to cause collision and friction on the human digestive tract, which will bring discomfort to the patient.

Technical solutions

In view of this, the embodiments of the present application provide an endoscope and an endoscope system to solve the problem that the existing optical endoscope cannot obtain the deep tissue pathological information, which limits the completeness and accuracy of the diagnosis, and is easy Collision and friction on the human digestive tract will cause discomfort to the patient.

A first aspect of the embodiments of the present application provides an endoscope, including an endoscope main body, a flexible catheter, and a signal line, the endoscope main body including a housing, a camera module, and an ultrasonic imaging module;

The endoscope main body is in a capsule shape and the outer diameter of the endoscope main body is larger than the outer diameter of the flexible catheter;

The camera module and the ultrasonic imaging module are arranged inside the housing, the flexible tube is sleeved outside the signal line and connected to the housing, and one end of the signal line is connected to the camera module The group is connected to the ultrasound imaging module, and the other end is used to connect to the imaging system;

The camera module is used to obtain optical image data of the human digestive tract when the endoscope main body moves into the human digestive tract and send it to the imaging system through the signal line;

The ultrasound imaging module is used to obtain ultrasound scan data of the human digestive tract when the endoscope main body moves into the human digestive tract and send it to the imaging system through the signal line;

The imaging system is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain and display optical images and ultrasound images.

In one embodiment, the camera module includes a camera and a controller, and the controller is electrically connected to the signal line;

The end of the housing away from the flexible conduit includes a light-transmitting area, the camera is arranged toward the light-transmitting area, and the camera is used to obtain an optical image of the human digestive tract through the light-transmitting area;

The controller is used to control the camera to take an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data and send it to the imaging system through the signal line.

In one embodiment, the ultrasonic imaging module includes an ultrasonic transducer, a signal transmitter and a motor;

The ultrasonic transducer is electrically connected with the signal transmitter, the ultrasonic transducer is mechanically connected with the motor, and the signal transmitter and the motor are electrically connected with the signal line;

The side wall of the housing is provided with a sound-transmitting window, the ultrasonic transducer is arranged toward the sound-transmitting window, and the ultrasonic transducer is used to transmit high-frequency ultrasonic waves through the sound-transmitting window to a predetermined scanning angle. The human digestive tract undergoes ultrasonic rotation scanning to obtain the ultrasonic scanning data of the human digestive tract;

The motor is arranged inside the housing, and the motor is used to drive the ultrasonic transducer to rotate by a preset scanning angle;

The signal transmitter is a rotatable electrical coupling device for coupling the ultrasonic scanning data to the signal line, and sending the ultrasonic scanning data to the imaging system through the signal line.

In one embodiment, the preset scanning angle is 360°, and the center frequency of the ultrasonic transducer ranges from 10 MHz to 100 MHz.

In an embodiment, the diameter of the focal point of the ultrasonic transducer ranges from 3 mm to 10 mm.

In one embodiment, the rotatable electrical coupling device includes a pair of resolvers.

In an embodiment, the pair of rotary transformers have a dual coupled inductor structure.

In an embodiment, the outer diameter of the flexible catheter ranges from 0.1 mm to 3 mm;

The outer diameter of the endoscope main body ranges from 3 mm to 15 mm, and the length ranges from 5 mm to 50 mm.

In one embodiment, the imaging system is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain and display two-dimensional optical images and two-dimensional ultrasound images, and is also used to compare the optical images The data and the ultrasound scan data are subjected to a three-dimensional image reconstruction process to obtain and display a three-dimensional optical image and a three-dimensional ultrasound image of the human digestive tract.

In an embodiment, the endoscope further includes a magnetic positioning component, and the magnetic positioning component is disposed on the housing;

The magnetic positioning component is used to drive the main body of the endoscope to move into the digestive tract of the human body under the magnetic attraction of the magnetic attraction component when the flexible catheter and the signal line are connected to the imaging system.

In an embodiment, the camera module is also used to obtain optical image data of multiple cross-sections of the human digestive tract when the endoscope main body is removed from the human digestive tract at a constant speed and send the optical image data to the human digestive tract through the signal line. The imaging system;

The ultrasonic imaging module is also used to obtain ultrasonic scan data of multiple sections of the human digestive tract when the endoscope main body moves out of the human digestive tract at a constant speed and send it to the imaging system through the signal line;

The imaging system is also used to perform a three-dimensional image reconstruction process on the optical image data and the ultrasound scan data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.

A second aspect of the embodiments of the present application provides an endoscope system, including an imaging system and the endoscope as described above, the imaging system including an imaging module and a display;

The imaging module is used to detachably connect with the signal line and connect with the display;

The imaging module is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain two-dimensional optical images and two-dimensional ultrasound images and send them to the display, and is also used to perform real-time image processing on the optical image data Performing three-dimensional image reconstruction processing with the ultrasound scan data to obtain a three-dimensional optical image and a three-dimensional ultrasound image of the human digestive tract and send them to the display;

The display is used to display the two-dimensional optical image, the two-dimensional ultrasound image, the three-dimensional optical image, and the three-dimensional ultrasound image.

In one embodiment, the imaging module includes an image processor, a power supply module, a moving component, and a pulling wire;

The image processor is connected to the display, the power supply module, the moving component, and the pulling line, the power supply module is connected to the moving component and the pulling line, and the moving component is connected to the pulling line. Wire connection, the pulling wire is used for detachable connection with the signal wire;

The image processor is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain a two-dimensional optical image and a two-dimensional ultrasound image and send them to the display, and is also used to compare the optical image data and Performing three-dimensional image reconstruction processing on the ultrasound scan data to obtain a three-dimensional optical image and a three-dimensional ultrasound image of the human digestive tract and send them to the display;

The power supply module is used to supply power to the devices connected to it;

The moving component is used to make a uniform motion or a variable speed motion under the control of the image processor, and the signal line and the flexible catheter are driven to move through the pulling wire to digest the endoscope main body from the human body Road moved out.

In one embodiment, the moving component is an electric winder.

Beneficial effect

The embodiments of the present application provide an endoscope including a capsule-shaped endoscope main body, a flexible catheter, and a signal line. A camera module and an ultrasonic imaging module are arranged inside the housing of the endoscope main body. The flexible catheter with the outer diameter of the endoscope main body mechanically guides and transports the endoscope main body, so that the movement of the endoscope main body in the human body can be controlled, and it can also effectively reduce the collision and friction caused by the catheter on the human digestive tract, and improve The comfort, tolerance and easy operation of inspection and diagnosis effectively reduce blind spots and greatly reduce the missed detection rate; obtain optical image data of the human digestive tract through the camera module, and obtain ultrasound scan data of the human digestive tract through the ultrasonic imaging module , And send the optical image data and ultrasound scan data to the imaging system through the signal line for real-time image processing, obtain and display optical images and ultrasound images, which can realize optical imaging and ultrasound imaging, and present multi-dimensional tissue imaging images in the human digestive tract in real time , It is convenient to observe the tissue lesions, can obtain the deep tissue lesion information, provide more intuitive and accurate diagnosis basis, and improve the completeness and accuracy of diagnosis.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only of the present application. For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of a perspective structure of an endoscope provided in Embodiment 1 of the present application;

Fig. 2 is a two-dimensional ultrasound image of a pig small intestine provided in Example 1 of the present application;

Fig. 3 is a three-dimensional ultrasound image of a pig small intestine provided in Example 1 of the present application;

4 is a schematic structural diagram of an endoscope provided in the second embodiment of the present application;

5 is a schematic diagram of the relative positional relationship between the magnetic positioning component and the magnetic attraction component provided in the second embodiment of the present application;

6 is a schematic diagram of the perspective structure of the endoscope provided in the third embodiment of the present application;

FIG. 7 is a schematic structural diagram of an endoscope system provided by Embodiment 4 of the present application;

FIG. 8 is a schematic structural diagram of an imaging system provided in Embodiment 4 of the present application.

Embodiments of the invention

In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are of the present application. Part of the embodiment, but not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of this application.

The term "comprising" in the specification and claims of the application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally includes Other steps or units inherent in these processes, methods, products or equipment.

Example one

As shown in FIG. 1, this embodiment provides an endoscope 100, which includes an endoscope main body 101, a flexible catheter 102, and a signal line 103. The endoscope main body 101 includes a housing 1, a camera module 2, and an ultrasonic imaging module. Group 3;

The endoscope main body 101 is capsule-shaped, and the outer diameter of the endoscope main body 101 is larger than the outer diameter of the flexible catheter 102;

The camera module 2 and the ultrasonic imaging module 3 are arranged inside the housing 1, the flexible tube 102 is sleeved outside the signal line 103 and connected to the housing 1, and one end of the signal line 103 is connected to the camera module 2 and the ultrasonic imaging module 3 , The other end is used to connect with the imaging system.

In application, the main body of the endoscope can also be set to any other shape that is easy to swallow, such as spherical, ellipsoidal, etc., according to actual needs. The size of the endoscope body is smaller than the minimum size that the human digestive tract can accommodate. The outer diameter of the endoscope body can range from 3mm to 15mm, and the length can range from 5mm to 50mm, for example, the outer diameter is 5mm and the length is 15mm.

In application, flexible catheters can be selected according to actual needs, which are harmless to the human digestive tract, flexible and easy to swallow smooth catheters, for example, silicone rubber catheters, polyvinyl chloride (Polyvinyl chloride) chloride, PVC) conduit, thermoplastic elastomer (Thermoplastic Elastomer, TPE) catheters, etc. The outer diameter of the flexible catheter is smaller than the minimum inner diameter of the human digestive tract, and the outer diameter of the flexible catheter may range from 0.1 mm to 3 mm, for example, the outer diameter is 2 mm. Due to the use of a thinner flexible catheter, it can greatly reduce the discomfort caused by endoscopy to various parts of the human digestive tract (for example, the throat), and the use of anesthetics can also be avoided. The flexible catheter can be fixedly connected to the housing or detachably connected. The detachable connection allows the user to replace the endoscope body and the flexible catheter according to actual needs, so that the same endoscope body can be fitted with different flexible catheters. The same flexibility The catheter can also be adapted to different endoscope bodies, which facilitates the replacement of the two. The flexible catheter can be a disposable catheter, which can be replaced after one use, which is convenient and hygienic and can effectively prevent cross-infection.

In the application, the signal line can be selected according to actual needs with a diameter smaller than the flexible conduit and capable of simultaneously transmitting data signals and power signals, such as coaxial cables or data lines. The signal line can be connected to the imaging system in any fixed connection or detachable connection mode according to actual needs, for example, plug-in mode, buckle or fastener fixing mode, threaded connection mode, etc.

In one embodiment, a plug interface is provided at one end of the signal line and the flexible conduit detachably connected to the imaging system, and the signal line and the flexible conduit are connected to the plug interface through the plug interface. The imaging system is detachably connected.

In application, the shell can be made of any material that is harmless to the human digestive tract and has flexibility, for example, silicone rubber, polyvinyl chloride or thermoplastic elastomer. The housing can be partially or entirely transparent.

In application, the camera module and the ultrasonic imaging module are arranged inside the casing without blocking each other.

FIG. 1 exemplarily shows that the camera module 2 is disposed inside the housing 1 at an end away from the flexible tube 102, and the ultrasonic imaging module 3 is disposed inside the housing 1 and does not block the camera module 2 from each other.

In this embodiment, the camera module 2 is used to obtain optical image data of the human digestive tract when the endoscope main body 101 moves into the human digestive tract and send it to the imaging system through a signal line.

In application, the camera module can select any device with optical image shooting function according to actual needs, for example, a combination of a camera and an image sensor. The camera module can take two-dimensional optical image data within a 360° field of view in the human digestive tract and send it to the imaging system.

In this embodiment, the ultrasound imaging module 3 is used to obtain the ultrasound scan data of the human digestive tract when the endoscope main body 101 moves into the human digestive tract and send it to the imaging system through a signal line.

In application, the ultrasonic imaging module can select any device with ultrasonic scanning function according to actual needs, for example, a combination of ultrasonic transducer, motor and signal transmitter. The ultrasound imaging module can perform ultrasound rotation scan imaging of the human digestive tract with a 360° scan range, obtain ultrasound scan data and send it to the imaging system.

In this embodiment, the imaging system is used to perform real-time image processing on optical image data and ultrasound scan data to obtain and display optical images and ultrasound images.

In one embodiment, the imaging system is specifically used to perform real-time image processing on optical image data and ultrasound scan data to obtain and display two-dimensional optical images and two-dimensional ultrasound images, and is also used to perform three-dimensional operations on optical image data and ultrasound scan data. The image reconstruction process obtains and displays three-dimensional optical images and three-dimensional ultrasound images of the human digestive tract. The two-dimensional ultrasound image is specifically a tissue cross-sectional image of the human digestive tract.

In application, the endoscope provided in this embodiment can be used to inspect the digestive tract of a human body or the digestive tract of an animal.

As shown in FIG. 2, a two-dimensional ultrasound image of the pig small intestine is exemplarily shown.

As shown in FIG. 3, a three-dimensional ultrasound image of the pig small intestine is exemplarily shown.

In the application, the imaging system can choose any device with image data processing and display functions according to actual needs, for example, the combination of image processor and display, the combination of computer host and display, laptop, desktop computer, mobile phone, tablet Computer etc. The imaging system can perform real-time image processing on the optical image data sent by the camera module and the ultrasound scan data sent by the ultrasound imaging module to obtain and display two-dimensional optical images and two-dimensional ultrasound images, so that users can observe the inner surface of the human digestive tract in real time According to the tissue lesions observed in real time, the movement position of the endoscope in the human digestive tract can be controlled by the magnetic attraction component, and the two-dimensional optical image and two-dimensional ultrasound image of the target location can be obtained through the endoscope; The imaging system can also perform three-dimensional image reconstruction processing on optical image data and ultrasound scan data to obtain and display three-dimensional optical images and three-dimensional ultrasound images of the human digestive tract, so as to obtain deep tissue lesions at the target location.

This embodiment provides an endoscope including a capsule-shaped endoscope main body, a flexible catheter, and a signal line. A camera module and an ultrasonic imaging module are arranged inside the housing of the endoscope main body. The flexible catheter with the outer diameter of the endoscope main body mechanically guides and transports the endoscope main body, so that the movement of the endoscope main body in the human body can be controlled, and it can also effectively reduce the collision and friction caused by the catheter to the human digestive tract, and improve inspection Diagnosis is comfortable, tolerable and easy to operate, effectively reducing blind spots in inspection and greatly reducing the missed detection rate; obtaining optical image data of the human digestive tract through the camera module, and ultrasound scanning data of the human digestive tract through the ultrasound imaging module. The optical image data and ultrasound scan data are sent to the imaging system through the signal line for real-time image processing, and the optical image and ultrasound image are obtained and displayed, and the two-dimensional optical image and the two-dimensional ultrasound image can also be obtained and displayed. The imaging picture in the tract is convenient to observe the tissue lesions. The optical image data and ultrasonic scan data are also processed by the imaging system to perform three-dimensional image reconstruction processing to obtain and display the three-dimensional optical image and three-dimensional ultrasound image of the human digestive tract. Lesion information can present multi-dimensional tissue imaging images in the human digestive tract in real time, provide a more intuitive and accurate diagnosis basis, and improve the completeness and accuracy of diagnosis.

Example two

As shown in FIG. 4, in this embodiment, the endoscope 100 further includes a magnetic positioning component 4, and the magnetic positioning component 4 is disposed on the housing 1.

In application, the magnetic positioning component can be set inside or outside the housing, and the shape and size of the magnetic positioning part can be set according to actual needs. For example, the magnetic positioning part is the same shape and size as the end of the housing close to the flexible conduit. Semi-ellipse.

As shown in FIG. 4, it is exemplarily shown that the magnetic positioning component 4 is arranged at one end of the housing 1 close to the flexible pipe 102, and is a semi-ellipse with the same shape and size as the end of the housing close to the flexible pipe.

In this embodiment, the magnetic positioning component 4 is used to drive the main body 101 of the endoscope to move into the human digestive tract under the magnetic attraction of the magnetic attraction component when the flexible catheter 102 and the signal line 103 are connected to the imaging system.

In application, the magnetic positioning component can be any magnetic component that is harmless to the human body according to actual needs, for example, realized by swallowable magnetic nanoparticles. The magnetic attraction member can be any magnetic member with the magnetic polarity opposite to the magnetic positioning member, for example, a magnet. The user can manually manipulate the magnetic attraction component to move at a constant cloud or variable speed at a position corresponding to the magnetic positioning component outside the human body according to actual needs, and move the main body of the endoscope to a target position in the human digestive tract. The movement speed and movement position of the endoscope in the human digestive tract can be controlled according to actual needs. The target location can be any location in the human digestive tract where the user wants to check whether tissue disease occurs, for example, the small intestine, stomach, duodenum, pharynx, etc.

As shown in FIG. 5, it exemplarily shows a schematic diagram of the relative positional relationship between the magnetic positioning component 4 and the magnetic attraction component 300 when the endoscope main body 101 moves into the human digestive tract.

In this embodiment, the endoscope is provided with a magnetic positioning component, so that the user can manually manipulate the magnetic attraction component to perform a uniform cloud or variable speed movement outside the human body at a position corresponding to the magnetic positioning component according to actual needs, and move the endoscope main body to the human body for digestion The target position in the tract, so as to realize real-time imaging of any target position in the human digestive tract.

Example three

As shown in FIG. 6, in this embodiment, the camera module 2 in the first or second embodiment includes a camera 21 and a controller 22, and the controller 22 is electrically connected to the signal line 103;

The end of the housing 1 away from the flexible tube 102 includes a light-transmitting area 11, and the camera 21 is disposed facing the light-transmitting area 11;

The camera 21 is used to obtain an optical image of the human digestive tract through the light-transmitting area 11;

The controller 22 is used to control the camera 21 to capture an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data, and send it to the imaging system through the signal line 103.

In application, the light-transmitting area completely covers the optical lens area of the camera, so that the light reflected by the human digestive tract can enter the optical lens area to be collected. The camera performs imaging along the advancing or retreating direction of the endoscope in the human digestive tract. The optical lens area includes an optical lens and a light source. The optical lens can choose any type of lens according to actual needs, for example, an ultra-wide-angle lens. The camera can be arranged at one end or side of the housing away from the flexible conduit. The light source is used to emit light to the human digestive tract, playing the role of illumination and supplement light.

As shown in FIG. 6, it is exemplarily shown that the camera 21 is arranged at one end of the housing 1 away from the flexible conduit 102.

In the application, the controller can select any type of camera controllers and image sensors according to actual needs to control the camera to obtain the light signal reflected by the human digestive tract at any angle within the preset field of view and convert it into electricity Signal to obtain optical image data at any angle within the preset field of view. The image sensor may be a CCD (Charge Coupled Device, charge coupled device) sensor or a CMOS (Complementary Metal-Oxide Semiconductor, metal oxide semiconductor) sensor. The preset field of view can be set according to actual needs, for example, 0°~360°.

As shown in FIG. 6, in this embodiment, the ultrasonic imaging module 3 in the first embodiment includes an ultrasonic transducer 31, a signal transmitter 32, and a motor 33;

The ultrasonic transducer 31 is electrically connected to the signal transmitter 32, the ultrasonic transducer 31 is mechanically connected to the motor 33, and the signal transmitter 32 and the motor 33 are electrically connected to the signal line 103.

In application, the center frequency range of the ultrasonic transducer and the diameter range of the focus focus can be set according to actual needs. For example, the center frequency range is 10MHz~100MHz, and the diameter range of the focus focus is 3mm~10mm. The center frequency may specifically be 40MHz. The motor can choose any type of DC motor according to actual needs, for example, a micro DC servo motor. The endoscope may also include a battery arranged in the housing, and the motor is powered by the battery. The battery may be a rechargeable button battery.

In this embodiment, the side wall of the housing 1 is provided with an acoustic window (not shown in the figure), the ultrasonic transducer is arranged toward the acoustic window 31, and the ultrasonic transducer 31 is used to emit high frequency through the acoustic window. Ultrasonic scans the human digestive tract within a preset scanning angle to obtain ultrasonic scanning data of the human digestive tract;

The motor 33 is arranged inside the housing 1, and the motor 33 is used to drive the ultrasonic transducer 31 to rotate;

The signal transmitter 32 is a rotatable electrical coupling device for coupling the ultrasound scan data to the signal line 103, and sends the ultrasound scan data to the imaging system through the signal line 103;

The imaging system is also used to power the motor 33.

In application, the sound-transmitting window can be a through-hole or a through-hole array opened on the side wall of the housing. The sound-transmitting window completely covers the ultrasonic emission surface of the ultrasonic transducer, so that high-frequency ultrasonic waves can be transmitted through the sound-transmitting window to the human body for digestion Do an ultrasound scan. The motor can be arranged at any position inside the housing that does not block the camera and the ultrasonic transducer, for example, the inside of the housing is close to one end of the flexible conduit. The motor is used to drive the ultrasonic transducer to rotate a preset scan angle, and the preset scan angle can be set according to actual needs, for example, 360°. The rotatable electrical coupling device is realized by a pair of rotary transformers, and can be specifically a dual-coupling inductance structure, which can effectively prevent the rotation of the motor and the ultrasonic transducer from causing the signal line to wind up. The ultrasonic imaging module is arranged on one side inside the housing and adjacent to the camera module to avoid mutual shielding with the camera module.

As shown in FIG. 6, it is exemplarily shown that the ultrasonic transducer 31 is arranged on one side inside the housing 1 and adjacent to the camera module 2, and the motor 33 is arranged inside the housing 1 near one end of the flexible tube 102.

In this embodiment, by arranging the camera in the light-transmitting area at the end of the housing away from the flexible catheter, the camera module can obtain the light reflected by the human digestive tract through the light-transmitting area, and move along the endoscope in the human digestive tract or Imaging is performed in the retreat direction; by arranging the ultrasonic transducer in the acoustic window area on the inner side of the housing and adjacent to the camera module, the camera module and the ultrasonic transducer can be effectively prevented from blocking each other through the acoustic window Transmit high-frequency ultrasound to perform ultrasonic rotation scanning of the human digestive tract within a preset scanning angle, which can obtain ultrasound scan data of the human digestive tract, and obtain information about the deep layer of human tissue.

Example four

As shown in FIG. 7, this embodiment provides an endoscope system, which includes the endoscope 100 and the imaging system 200 in any one of Embodiment 1 to Embodiment 3. The imaging system 200 includes an imaging module 210 and a display 220 ；

The imaging module 210 is detachably connected to the signal line 103 and connected to the display 220.

In application, the imaging module and the display can be set separately or integrated. When the imaging module and the display are arranged separately, the imaging module can be an image processor or a computer host; when the imaging module and the display are integrated and arranged, the imaging system can be a notebook computer, a desktop computer, a mobile phone, a tablet computer, etc.

As shown in FIG. 7, the imaging module 210 and the display 220 are separately arranged.

In applications, the image processor can be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processors) Signal Processor, DSP), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The display may be a touch display. The user can input instructions through the display to control the working status of the imaging module and the display.

In this embodiment, the imaging module 210 is used to supply power to the camera module 2 and the ultrasonic imaging module 3, to perform real-time image processing on the optical image data and the ultrasonic scan data, to obtain two-dimensional optical images and two-dimensional ultrasound images and send them To the display 220, it is also used to perform three-dimensional image reconstruction processing on the optical image data and the ultrasound scan data to obtain the three-dimensional optical image and the three-dimensional ultrasound image of the human digestive tract and send them to the display 220;

The display 220 is used to display two-dimensional optical images, two-dimensional ultrasound images, three-dimensional optical images, and three-dimensional ultrasound images.

In application, when a battery is provided in the endoscope, the camera module and the ultrasound imaging module can also be powered by the battery provided in the endoscope.

As shown in FIG. 8, the imaging module 210 includes an image processor 211, a power supply module 212, a moving component 213, and a pulling wire 214 (only the electrical connection relationship between the devices is shown by way of example, and the devices are not shown) The mechanical connection relationship between);

The image processor 211 is connected to the display 220, the power supply module 212, the moving component 213, and the pulling line 214. The power supply module 212 is connected to the moving component 213 and the pulling line 214. The moving component 213 is connected to the pulling line 214. The line 103 is detachably connected.

In this embodiment, the image processor 211 is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain two-dimensional optical images and two-dimensional ultrasound images and send them to the display 210. 3D image reconstruction processing is performed on the scanned data to obtain a 3D optical image and a 3D ultrasonic image of the human digestive tract and send them to the display 210;

The power supply module 212 is used to supply power to the devices connected to it;

The moving component 213 is used to perform a uniform motion or a variable-speed motion under the control of the image processor 211, and the signal line 103 and the flexible catheter 102 are driven to move through the pull line 214 to move the endoscope main body 101 from the human digestive tract.

In application, the power supply module can be any circuit or device that converts DC or AC power into a working voltage suitable for imaging modules, displays, and endoscopes. For example, the power supply module can be a power interface, an AC/DC conversion chip Or a combination of DC to DC conversion chip, voltage regulator chip, power management chip, etc.

In application, the moving component can be any device with a function of uniform motion or variable speed motion, which can remove the endoscope from the human digestive tract at a uniform speed or variable speed through a pull wire, for example, an electric wire reel. The speed of the moving component during uniform or variable speed motion can be set according to actual needs. The user can also manually hold the signal wire and the end of the flexible catheter away from the endoscope main body, and pull the endoscope main body out of the digestive tract of the human body at a uniform speed or variable speed.

In application, the pulling wire can be the same structure as the signal wire or the signal wire sheathed with a flexible conduit, or it can be another structure that can transmit data signals and power signals at the same time. The diameter of the pulling wire can be the same as that of the flexible conduit or signal wire. Similarly, it can also be larger or smaller than the diameter of the flexible conduit or signal wire.

In applications, the imaging module may also include a housing, and the image processor, power supply module, and moving components may be integrated and arranged inside the housing. When the imaging module and the display are integrated into one body, the display is embedded in the housing, or is connected to the housing through a rotating shaft, and is rotatable relative to the housing. The imaging system may also include a human-computer interaction device or be connected to a human-computer interaction device. The user can input control instructions through the human-computer interaction device to control the image data processing function, display function, and uniform motion or variable speed motion function of the imaging system. The human-computer interaction device may include a mouse, a keyboard, a microphone, a speaker, a camera, etc.

In applications, the imaging system may also include a memory for storing data such as optical image data, ultrasound scan data, two-dimensional optical images, two-dimensional ultrasound images, three-dimensional optical images, and three-dimensional ultrasound images. The memory may be an internal storage unit of the imaging system, such as a hard disk or memory of the imaging system. It can also be an external storage device of the imaging system, such as plug-in hard disks, smart memory cards (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, flash memory card (Flash Card) etc. Further, the memory may also include both an internal storage unit and an external storage device. The memory is used to store image data processing programs, mobile component control programs, and other programs and data required by the imaging system. The memory can also be used to temporarily store data that has been output or will be output.

It should be understood that the structural features shown in all the drawings of the present application are only exemplary, and do not constitute a limitation on the specific shape, structure or size of the device.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still implement the foregoing The technical solutions recorded in the examples are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in Within the scope of protection of this application.

Claims

An endoscope, characterized in that it comprises an endoscope main body, a flexible catheter and a signal line, the endoscope main body including a housing, a camera module and an ultrasonic imaging module;

The endoscope main body is in a capsule shape and the outer diameter of the endoscope main body is larger than the outer diameter of the flexible catheter;

The camera module and the ultrasonic imaging module are arranged inside the housing, the flexible tube is sleeved outside the signal line and connected to the housing, and one end of the signal line is connected to the camera module The group is connected to the ultrasound imaging module, and the other end is used to connect to the imaging system;

The camera module is used to obtain optical image data of the human digestive tract when the endoscope main body moves into the human digestive tract and send it to the imaging system through the signal line;

The ultrasound imaging module is used to obtain ultrasound scan data of the human digestive tract when the endoscope main body moves into the human digestive tract and send it to the imaging system through the signal line;

The imaging system is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain and display optical images and ultrasound images.
The endoscope according to claim 1, wherein the camera module includes a camera and a controller, and the controller is electrically connected with the signal line;

The end of the housing away from the flexible conduit includes a light-transmitting area, the camera is arranged toward the light-transmitting area, and the camera is used to obtain an optical image of the human digestive tract through the light-transmitting area;

The controller is used to control the camera to take an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data and send it to the imaging system through the signal line.
The endoscope according to claim 1, wherein the ultrasonic imaging module includes an ultrasonic transducer, a signal transmitter and a motor;

The ultrasonic transducer is electrically connected with the signal transmitter, the ultrasonic transducer is mechanically connected with the motor, and the signal transmitter and the motor are electrically connected with the signal line;

The side wall of the housing is provided with a sound-transmitting window, the ultrasonic transducer is arranged toward the sound-transmitting window, and the ultrasonic transducer is used to transmit high-frequency ultrasonic waves through the sound-transmitting window to a predetermined scanning angle. The human digestive tract undergoes ultrasonic rotation scanning to obtain the ultrasonic scanning data of the human digestive tract;

The motor is arranged inside the housing, and the motor is used to drive the ultrasonic transducer to rotate by a preset scanning angle;

The signal transmitter is a rotatable electrical coupling device for coupling the ultrasonic scanning data to the signal line, and sending the ultrasonic scanning data to the imaging system through the signal line.
The endoscope according to claim 3, wherein the preset scanning angle is 360°, and the center frequency of the ultrasonic transducer ranges from 10 MHz to 100 MHz.
8. The endoscope according to claim 3, wherein the diameter of the focal point of the ultrasonic transducer ranges from 3 mm to 10 mm.
The endoscope according to claim 3, wherein the rotatable electrical coupling device includes a pair of resolvers.
7. The endoscope according to claim 6, wherein the pair of resolvers is a dual-coupled inductor structure.
The endoscope according to any one of claims 1 to 7, wherein the outer diameter of the flexible catheter ranges from 0.1 mm to 3 mm;

The outer diameter of the endoscope main body ranges from 3 mm to 15 mm, and the length ranges from 5 mm to 50 mm.
The endoscope according to any one of claims 1 to 7, wherein the imaging system is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain a two-dimensional optical image and two The three-dimensional ultrasound image and display are also used to perform three-dimensional image reconstruction processing on the optical image data and the ultrasound scan data to obtain and display three-dimensional optical images and three-dimensional ultrasound images of the human digestive tract.
7. The endoscope according to any one of claims 1 to 7, further comprising a magnetic positioning component, and the magnetic positioning component is disposed on the housing;

The magnetic positioning component is used to drive the main body of the endoscope to move into the digestive tract of the human body under the magnetic attraction of the magnetic attraction component when the flexible catheter and the signal line are connected to the imaging system.
The endoscope according to any one of claims 1 to 7, wherein the camera module is further used to obtain multiple parts of the human digestive tract when the main body of the endoscope is removed from the human digestive tract at a uniform speed. The optical image data of the cross-section is sent to the imaging system through the signal line;

The ultrasonic imaging module is also used to obtain ultrasonic scan data of multiple sections of the human digestive tract when the endoscope main body moves out of the human digestive tract at a constant speed and send it to the imaging system through the signal line;

The imaging system is also used to perform a three-dimensional image reconstruction process on the optical image data and the ultrasound scan data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.
An endoscope system, characterized by comprising an imaging system and the endoscope according to any one of claims 1 to 11, the imaging system comprising an imaging module and a display;

The imaging module is used to detachably connect with the signal line and connect with the display;

The imaging module is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain two-dimensional optical images and two-dimensional ultrasound images and send them to the display, and is also used to perform real-time image processing on the optical image data Performing three-dimensional image reconstruction processing with the ultrasound scan data to obtain a three-dimensional optical image and a three-dimensional ultrasound image of the human digestive tract and send them to the display;

The display is used to display the two-dimensional optical image, the two-dimensional ultrasound image, the three-dimensional optical image, and the three-dimensional ultrasound image.
The endoscope system of claim 12, wherein the imaging module includes an image processor, a power supply module, a moving component, and a pulling wire;

The image processor is connected to the display, the power supply module, the moving component, and the pulling line, the power supply module is connected to the moving component and the pulling line, and the moving component is connected to the pulling line. Wire connection, the pulling wire is used for detachable connection with the signal wire;

The image processor is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain a two-dimensional optical image and a two-dimensional ultrasound image and send them to the display, and is also used to compare the optical image data and Performing three-dimensional image reconstruction processing on the ultrasound scan data to obtain a three-dimensional optical image and a three-dimensional ultrasound image of the human digestive tract and send them to the display;

The power supply module is used to supply power to the devices connected to it;

The moving component is used to make a uniform motion or a variable speed motion under the control of the image processor, and the signal line and the flexible catheter are driven to move through the pulling wire to digest the endoscope main body from the human body Road moved out.
The endoscope system according to claim 13, wherein the moving component is an electric wire winder.