TWI606808B - Egg-shaped colonoscopy and the marching control method thereof - Google Patents

Description

Egg colonoscopy and travel control method

The present invention relates to a colonoscopy, and more particularly to an egg-shaped colonoscopy and travel control method.

In Taiwan, cancer has been ranked among the top ten causes of death for the first time in 33 years. Among them, colorectal cancer continues to rank in the top three. In 2014, 15,000 patients with colorectal cancer were diagnosed, and the death toll was about 5,000. . In Japan, the annual number of colorectal cancer is about 45,000, and the death toll is about 18,000. In the United States, the annual incidence of colorectal cancer is about 150,000, and the death toll is about 50,000. Among them, the relationship between large intestine and carcinogenesis is extremely high. In Taiwan, about 710,000 people between the ages of 20 and 49 have large intestines. Large intestines may turn into colorectal cancer in 5-10 years. Therefore, if you can confirm the presence of large intestines and dispose of them, you can prevent most of the colorectal cancer.

At present, medical equipment that can be used for examining large intestines and fats is a colonoscopy. The mainstream of the existing colonoscopy equipment, Olympus Medical Systems Crop. (Olympus Medical Systems Crop.) occupied the main market. The colonoscopy equipment provided by Olympus, which consists of a fiber optic system, makes the lens less flexible. Since the colonoscopy is a thick 180 cm, general anesthesia is necessary if the large intestine is to be completely examined. Because anesthesia itself is risky, most patients are reluctant to perform general anesthesia. The examination process must be inflated to cause bloating, and the thick colonoscope is inserted into the intestine to cause the lens of the colonoscopy to compress the intestinal wall, which will cause most patients to be extremely uncomfortable, even resulting in inability to perform a large bowel examination. . What's more, the domestic research data shows that the colonoscopy examination, about 2.5 to 5 thousandths, will be used during the colonoscopy examination because of the improper use of colonoscopy. Or because of the special condition of the patient, Or the case of intestinal perforation due to the burning process of the meat. This situation often ends in the form of medical litigation. Therefore, the examination of the colonoscopy is also full of risks, and there is a risk of perforation of the large intestine for the patient. For the physician, the medical procedure after the perforation of the intestine is not desired by the physician. For all of the above reasons, the examination of colonoscopy is not widespread, and it is impossible to further prevent colorectal cancer by examining the large intestines.

In order to solve the problem of the inability of the colonoscopy to turn, some auxiliary devices designed to assist the direction of bowel curvature, such as European Patent No. EP0792130B1, External Linearener for Colonoscopy, which exposes the bump-like aids and tries to compress through the aids. The large intestine makes it straight from the bend, allowing the colonoscope to be deep. The same concept is also found in U.S. Patent No. US2014/0350341. However, these ancillary devices still fail to solve the problem of a large turn from the descending colon into the transverse colon and from the transverse colon into the ascending colon.

In addition to using aids to solve the problem of turning, some people have tried to develop a curable colonoscopy technique (changing the colonoscope itself) to solve the problem that the traditional colonoscopy is not easy to turn. For example, the patent of the Republic of China No. I468140 "Largeoscopy Magnetron System" developed by Gi Shih (LIEN) and others uses a magnetic follower device on the strip support of the colonoscope through the outside. The magnetic active member on the control device guides the rotation of the magnetic follower to control the colonoscopy to make a smooth turn at the turn. Furthermore, the problem that the colonoscope is difficult to turn in the past is solved.

However, this technology is still based on the traditional concept of thick and long pipe diameter. Although it can be turned, but a little careless (such as poor technology or negligence), it is still easy to press the intestinal wall during the process of colonoscopy in the intestine, causing the lens of the colonoscope to touch the intestinal wall. In other words, the problem that patients are prone to extreme discomfort during the examination remains to be overcome.

In addition, the traditional colonoscopy, or the colonoscopy developed by Lian Ji Shi and others, still can not solve the problem of invisible dead angle in the large intestine folds. In other words, the traditional colonoscopy cannot see the other side of the large intestine fold due to its one-way viewing angle, causing a dead angle of inspection.

Therefore, painless colonoscopy equipment is bound to become a weapon to prevent colorectal cancer. Therefore, how to develop painless, no dead ends, simple operation, and meet the needs of all aspects of physician examination The demand for colonoscopy equipment has become a highly focused research and development direction for medical device manufacturers.

In order to achieve the above object, the present invention provides an egg-shaped colonoscopy which can solve the problems of turning, painlessness, and simple operation which cannot be solved by the prior art.

The present invention provides an egg-shaped colonoscope comprising: an egg-shaped housing having an axial direction and forming a first end and a second end in the axial direction, the first end being made of a transparent material; a first photographic module is disposed at the first end for illumination and photography; a vibration motor is disposed in the egg-shaped housing for vibrating the egg-shaped housing; a control module, The device is electrically connected to the first camera module and the vibration motor, and receives a control command to control the first camera module to perform film shooting and image transmission, and controls vibration of the vibration motor; a wire set comprising an air passage opening, the wire set is fixed on the second end side of the egg-shaped housing, and is formed by a wire sheath covering a hose air passage; and a power supply component disposed on the wire group or the wire set In the egg-shaped housing, the power supply component is electrically connected to the control module to transmit power to the control module, wherein the egg-shaped housing or the wire set has an air passage opening, and the air passage opening communicates with the softness of the wire set Airway for external use A gas sequentially through the airway tube and airway opening to the large intestine.

The invention further provides an operation control method for an egg-type colonoscope, the egg-shaped colonoscope comprising a vibration module, a wire group, a first end, a second end and a first photographic module, the vibration module The egg-shaped colonoscope can be vibrated, the wire set is used for power transmission, and the first end and the second end are opposite ends of the egg-shaped colonoscope in one axial direction, and the first photography module is located at the opposite end The first end, the travel control method includes: vibrating the egg-shaped colonoscope; and when the egg-type colonoscope vibrates, the first end is lower in the direction of gravity than the second end.

The invention further provides an operation control method for an egg-shaped colonoscope, the egg-shaped colonoscope comprising a vibration module for vibrating the egg-shaped colonoscope, the egg-type colonoscope further comprising a wire group for transmitting electric power, the egg The colonoscopy further comprises a magnetic passive kit, the travel control method comprising: vibrating the egg-shaped colonoscope; and providing an external active magnetic force when the egg-type colonoscope vibrates The sexual device pulls the magnetic passive kit to assist the egg-shaped colonoscope in advancing as it vibrates.

The invention further provides an operation control method for an egg-type colonoscope, the egg-shaped colonoscope comprising a wire set, a first end, a second end, a first photographic module and a telescopic actuation component, the wire set For transmitting power, the first end and the second end are opposite ends of the egg-shaped colonoscope in one axial direction, the first photography module is located at the first end, and the telescopic actuation component is used for the egg shape The colonoscope is expandable and contractable along the axial direction, and the travel control method comprises: stretching the egg-shaped colonoscope; and allowing the first end to be lower in the direction of gravity than the second end when the egg-type colonoscope is stretched.

The above and other objects, features, and advantages of the present invention will become more apparent and understood.

10‧‧‧ egg shell

10a‧‧‧ egg shell

10b‧‧‧ egg shell

10c‧‧‧ egg shell

11a‧‧‧ first end

11b‧‧‧second end

12a‧‧‧first image capture module

12b‧‧‧second image capture module

13a‧‧‧First lighting module

13b‧‧‧second lighting module

14a‧‧‧First board

14b‧‧‧second board

15‧‧‧Vibration motor

16‧‧‧ gastropod

16a‧‧‧gastropod

16b‧‧‧gastropod

17a‧‧‧Magnetic element N pole

17b‧‧‧Magnetic element S pole

18‧‧‧ center circuit board

19‧‧‧ housing side wall

19’‧‧‧Shell side wall

20‧‧‧Wire set

20a‧‧‧Wire set

20b‧‧‧Wire set

21‧‧‧Wire

22‧‧‧Hose airway

23‧‧‧Wire sheath

24‧‧‧Hose airway opening

25‧‧‧ airway opening

26‧‧‧Device channel

27‧‧‧In-tube filling

30‧‧‧ Large intestine

31‧‧ ‧ ascending colon

32‧‧‧cross colon

33‧‧‧ descending colon

34‧‧‧Sigmoid colon

35‧‧‧ rectum

40‧‧‧大肠瘜肉

50‧‧‧Wireless Transmission Module

60‧‧‧Control Module

70‧‧‧ Angle detection unit

80‧‧‧ Telescopic Actuating Components

81‧‧‧Activity motor

82‧‧‧Flexible drive parts

83‧‧‧Flexible follower

90‧‧‧ meat removal equipment

91‧‧‧ meat removal knife

L1‧‧‧ length

W1‧‧‧Width

Fig. 1A is a schematic cross-sectional view showing one embodiment of the egg-shaped colonoscopy of the present invention.

Fig. 1B is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention.

Fig. 2 is a schematic cross-sectional view showing still another embodiment of the egg-shaped colonoscopy of the present invention.

Fig. 3A is a schematic cross-sectional view showing still another embodiment of the egg-shaped sun mirror of the present invention.

Figure 3B is an embodiment of a perspective view of an embodiment of the egg-shaped colonoscopy of the present invention in Figure 3A.

3C is a still further example of a perspective view of an embodiment of the egg-shaped colonoscope of the present invention.

Fig. 4A is a vertical sectional view showing still another embodiment of the egg type colonoscopy of the present invention.

Figure 4B is a horizontal cross-sectional view of one embodiment of the egg-shaped colonoscopy of the present invention.

Fig. 5 is a schematic cross-sectional view showing still another embodiment of the egg-shaped colonoscopy of the present invention.

Fig. 6 is a view showing the state of use of the egg-shaped colonoscopy of the present invention.

7A and 7B are schematic views showing another state of use of the egg-type colonoscope of the present invention, and the dead angle of the intestinal wall wrinkles can be observed by the second photographic module.

Fig. 8A is a first flow chart of the egglet colonoscopy travel control method of the present invention.

Fig. 8B is a second flow chart of the egg type colonoscopy travel control method of the present invention.

Fig. 9A is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscopy of the present invention.

Fig. 9B is a schematic cross-sectional view showing a wire group (exposed portion) in the embodiment of Fig. 9A of the egg-shaped colonoscope of the present invention.

Figure 9C is a cross-sectional view showing the first end of the egg-shaped housing in the embodiment of Figure 9A of the egg-shaped colonoscope of the present invention.

Fig. 10 is a view showing the operation of the operation using the meat removal apparatus in the embodiment of Fig. 9A of the egg type colonoscopy of the present invention.

Figure 11A is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention.

Fig. 11B is a schematic cross-sectional view showing a wire group (exposed portion) in the embodiment of Fig. 11A of the egg-shaped colonoscope of the present invention.

Figure 11C is a cross-sectional view showing the first end of the egg-shaped housing in the embodiment of Figure 11A of the egg-shaped colonoscope of the present invention.

Fig. 12 is a view showing the operation of the operation using the meat removal apparatus in the 11A embodiment of the egg type colonoscopy of the present invention.

Fig. 13a is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention when the egg-shaped housing is extended.

Fig. 13b is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscopy of the present invention when the egg-shaped shell is contracted.

Fig. 13c is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention when the egg-shaped shell portion is stretched and partially contracted.

According to an embodiment of the invention, the invention provides an egg-shaped colonoscope, And a method of controlling the travel of the egg-shaped colonoscopy. The colonoscopy has an egg-shaped functional shape, which is sufficient to be placed in the large intestine, and the vicinous manner allows the colonoscopy to cooperate with the intestinal wall to advance along the intestinal tract. Even at the curved bowel wall, the colonoscopy progresses smoothly without causing discomfort in the intestinal or intestinal wall.

In addition, the egg-shaped colonoscopy of the present invention is also connected to a soft wire set to provide the required power to the colonoscope for convenient instant photography. Moreover, according to the needs or control of the physician, the wire set can also supply gas in a timely manner, so that the intestinal fistula is moderately expanded, which is beneficial for the physician to perform the inspection work. The specific structure and function of the egg-shaped colonoscopy of the present invention will be described in detail below.

Referring to FIG. 1A, the specific structure of the first embodiment of the egg-shaped colonoscopy comprises an egg-shaped housing 10 and a wire set 20. The egg shell 10 includes a first camera module, a second camera module, a vibration module and a control module 60.

Structurally, the egg-shaped housing 10 has a first end 11a, a second end 11b, and a central cylindrical portion extending axially along the egg-shaped housing 10. The first end 11a and the second end 11b refer to the axial ends of the egg-shaped housing 10, respectively, and the first end 11a and the second end 11b are each made of a transparent material.

The first photographic module is disposed at the first end 11a of the egg-shaped housing 10, and includes a first image capturing module 12a, a first lighting module 13a and a first circuit board 14a. The second camera module is disposed at the second end 11b of the egg-shaped housing 10, and includes a second image capturing module 12b, a second lighting module 13b and a second circuit board 14b.

The first and second image capturing modules 12a, 12b are one of a high pixel CMOS sensor and a CCD sensor. The first and second light-emitting modules 13a and 13b can adopt a light-emitting module composed of a light-emitting diode (abbreviated as LED). Therefore, the first camera module and the second camera module can perform illumination and photography, and the second camera module is mainly used for photographing wrinkles or dead corners of the intestinal wall, and the captured image and the first camera module are captured. The opposite direction.

The control module 60 is disposed in the egg-shaped housing 10. In this embodiment, the control module 60 is mounted on the center circuit board 18. The central circuit board 18 is connected to a first circuit board 14a and A second circuit board 14b electrically connects the entire circuit. In fact, the overall circuit is not limited thereto. For example, the control module 60 is electrically connected to the first photographic module, the second photographic module, and the vibration module. The control module 60 can receive a control command from the outside, thereby operating any of the camera modules to perform image capture and transmission, and can also determine vibration or non-vibration of the vibration module.

The wire set 20 is on the side of the second end 11b of the egg-shaped housing 10, preferably both of which are fixed. In the present embodiment, the wire set 20 has a wire sheath 23 that includes a plurality of hose airway openings 24. The wire sheath 23 covers a three-conductor (electric) wire (such as a signal line, a positive line, and a negative line) and a hose air passage 22. In some embodiments, the wire sheath 23 encases at least two conductive (electric) wires 21. The conductive (electric) wires 21 serve as a power supply component, and can be electrically connected to the foregoing control module 60 for outputting power to various electronic components disposed in the egg-shaped housing 10, such as the first camera module and the second component. Components such as a photographic module, a control module 60, and a vibration module. The hose air passage 22 directs the external gas and is delivered to the large intestine via the hose airway opening 24.

In the present embodiment, the vibration module may be a vibration motor 15 that is disposed in the egg-shaped housing 10 to cause the egg-shaped housing 10 to vibrate. In Fig. 1A, the vibration motor 15 is mounted to the side wall 19 of the egg-shaped housing 10, that is, the side wall of the center cylinder. In Fig. 1B, the vibration motor 15 is biased toward the second end 11b at the side wall 19. In some embodiments, the vibration motor 15 is preferably biased toward the first end 11a of the side wall 19. In still other embodiments, the vibration motor 15 is disposed at the center of the center cylinder of the egg-shaped housing 10, that is, on the center circuit board 18.

As shown in Figure 1A, the size of the egg-shaped colonoscopy is between 2.5 and 5.2 cm and the width W1 is between 1.5 and 2.5 cm.

Although the infusion of gas into the intestine belongs to the category of external control, it is the main function that the egg-type colonoscopy must provide. In addition to forming the hose air passage opening 24 at the second end 11b of the egg-shaped housing 10 as in FIG. 1A, the wire group 20 may form an air passage opening 25 directly in the egg-shaped housing 10 as shown in FIG. The air passage opening 25 can supply some water or syrup as needed in addition to the supply of gas.

In Fig. 3A, the eggshell 10 has a plurality of gastropes 16 on the outside of the eggshell 10, and these webs 16 It can assist the egg-shaped colonoscopy to advance more stably in the large intestine. Of course, there are other options for assisting the adventitious endoscopic advancement of the gastropod structure: one or more of the gastrope 16a that resembles the single-ring structure of Figure 3B; or the gastrope 16B of the helical configuration as shown in Figure 3C; or similar The gastropod of the snake scale structure; or a combination of these structures.

In addition to the abdomen, the device for assisting the egg-shaped colonoscopy to advance in the large intestine further includes a magnetic passive set mounted to the egg-shaped housing 10. In Figures 4A, 4B, three sets of magnetic passive kits are mounted to the central column of the egg-shaped housing 10 near the first end 11a, each set of magnetic passive kits comprising: a magnetic element N pole 17a and a magnetic element S The pole 17b, the magnetic element N pole and the S pole 17a, 17b are located at the two ends of the diameter, and can assist the advancement and positioning of the egg shell 10 by an external active magnetic device.

In an application scenario, the external active magnetic device acts to pull the magnetic passive kit to partially rotate the egg-shaped housing 10 entering the large intestine until the second camera module can see the blind spot obscured by the wire set 20. In other applications, the external active magnetic device pulls the magnetic passive kit to cause the eggshell 10 to generate auxiliary power along the intestine.

In addition, the magnetic field of the magnetic passive kit can be sensed by some inductive detection devices, and the correct orientation of the egg-shaped housing 10 inside the large intestine is known through a display. When the doctor diagnoses the patient, the precise location of the affected part in the large intestine can be clearly indicated.

In terms of transmission of video signals, due to the design of the wire group 20, as long as sufficient power is supplied, the transmission operation can be performed in one of wired or wireless manners. Specifically, in the wired transmission mode, the egg-type colonoscope adopts one of a signal transmission line or a power line transmission. Therefore, the wire set 20 includes a signal transmission line (not shown), or an additional set of power line signal transmission modules (not shown) are installed in the egg-shaped housing 10, so that the control module 60 can instantly display the image. The signal is transmitted.

As shown in FIG. 5, in the wireless transmission mode, the egg-shaped colonoscopy adds a wireless transmission module 50. The wireless transmission module 50 is electrically connected to the control module 60, and can also transmit images captured by the first and second imaging modules.

Secondly, the lead (electro) line 21 of the egg-shaped colonoscopy is replaced by a battery (not shown). In the wireless transmission mode, the battery is disposed in the egg-shaped housing 10 and serves as a power supply unit for the egg-shaped colonoscope to supply electric power required for each electronic component. Therefore, an external control command is received by the wireless transmission module 50 and transmitted to the control module 60. Thus, the lead set 20 has only the air passage 22 of the hose, but has no conductive (electrical) line, and does not prevent the egg-type colonoscopy from performing the examination of the intestinal tract.

As shown in Fig. 5, the egg-shaped colonoscopy also has an angle detecting unit 70, which assists the egg-type colonoscopy in grasping the current horizontal tilt angle of the egg-shaped colonoscope during the intestinal navigation of the large intestine. The angle detecting unit 70 is electrically connected to the control module 60, and can detect the change value of the horizontal angle of the egg-shaped housing 10 and transmit it.

Briefly, the first end 11a of the egg-shaped housing 10 is lower in the direction of gravity than the second end 11b, that is, the horizontal inclination angle of the first end 11a is downward. At this moment, it is possible to vibrate and let the egg-shaped colonoscopy continue in the intestine of the large intestine.

If it is not the downward state of the first end 11a (ie, the first end 11a is higher in the direction of gravity than the second end 11b, or is equivalent to the second end 11b), the physician can use the aforementioned external active magnetic device (detailed See the description of Figures 4A, 4B for assistance in advancing the advancement of the egg-shaped colonoscopy; or, by adjusting the patient's posture to adjust the angle of the intestine, the egg-shaped colonoscopy can be formed with the first end 11a facing downward. Therefore, with the configuration of the angle detecting unit 70, the egg-shaped colonoscopy of the present invention is more likely to achieve the purpose of the forward control desired by the present invention.

The angle detecting unit 70 can be selected from the group consisting of: a micro-electromechanical angle detecting chip, a microelectromechanical gyro chip, a micro-electromechanical biaxial acceleration sensing chip, a micro-electromechanical three-axis acceleration sensing chip, a rolling switch, and a magnetic sensor. one of them. Many of the above components are selected as much as possible for components that are as small as possible and have shock-resistant conditions.

Next, please refer to Figure 6 to illustrate the state of use of the egg-shaped colonoscopy. As is clear from the figure, since the present invention utilizes the structure of the egg type, that is, the design of the egg-shaped casing 10, the egg shape is designed to conform to the structural characteristics of the digest which the intestines can accommodate. In addition, because the wire set 20 uses a soft hose airway design. Its flexible characteristics plus diameter control of 0.5 cm Hereinafter, when the doctor operates the egg-shaped colonoscopy of the present invention, the egg-shaped colonoscopy can be easily and painlessly entered into the intestine of the large intestine 30, from the rectum 35 to the sigmoid 34 to the descending colon 33. The transverse colon 32 to the ascending colon 31, a complete 160 cm intestine, does not cause a sense of oppression of the intestine, and naturally does not cause the patient's uncomfortable feeling.

More importantly, the egg-shaped colonoscopy of the present invention allows the egg-shaped colonoscopy to see the other side of the large intestine fold without dead angles by the design of the front and rear double mirrors.

Referring to Figures 7A and 7B, another state of use of the egg-shaped colonoscopy is illustrated. In Fig. 7A, when the egg-shaped colonoscope travels, the large intestines 40 on the reverse side of the large intestine 30 fold cannot be seen. However, when proceeding to the position of Fig. 7B, the large intestines 40 of the dead angle of the intestinal wall of the large intestine 30 can be observed by the second photographic module.

Basically, the egg-shaped colonoscope of the present invention assists advancement by vibration, and its main purpose is to reduce the discomfort of the patient during examination. The appropriate travel control method plays an important role in the present invention. The invention can make the egg-type colonoscopy smoothly assisted by some methods: the first method is gravity plus vibration method, the second method is magnetic force plus vibration method, and the third method is gravity plus vibration plus magnetic method .

Next, please refer to FIG. 8A, which is a first flowchart of the egg-shaped colonoscopy travel control method of the present invention, which comprises the following steps:

Step 101: Detecting the horizontal tilt angle of the egg-shaped colonoscope.

Step 103: The egg-shaped colonoscopy is subjected to a vibration action.

Step 105: when the egg-shaped colonoscope vibrates, let the first end 11a of the egg-shaped colonoscope be lower than the second end 11b in the direction of gravity (for example, the intestine of the egg-shaped colonoscope is inclined to the horizon, and Make the egg-shaped colonoscopy face forward).

Since the horizontal tilt angle of the egg-shaped colonoscope has been mastered, the condition of the intestine is also seen through the first photography module, so when the first end (11a) of the egg-shaped colonoscope is not facing downward, There are many ways to adjust the condition of the intestines. Try to make the first end of the egg-shaped colonoscopy (11a) face down so that the egg-shaped colonoscopy can move in a vibrating manner. For example, you can change the position of the patient to lie down. Change, or, with the aid of the bed, the purpose of changing the relative position of the intestine can be achieved. For example, after the egg-shaped colonoscopy enters the descending colon, the bed can be controlled so that the patient's head is facing downward and the foot is facing upward, so that the direction of travel is downward (the first end 11a faces downward), and then the egg-shaped colonoscopy is combined. The horizontal angle change information can locally adjust the position of the intestine, so that the first end (11a) of the egg-shaped colonoscopy faces downward, which is easy to travel on the descending colon. For another example, at the turn of the descending colon to the transverse colon, the patient's body can be placed to the right. It forms a state in which the egg-shaped colonoscopy easily travels to the transverse colon. Or, partially push the intestines, and so on.

In addition to the above steps 101, 103 and 105, the first flow chart of the egglet colonoscopy travel control method of the present invention may further comprise a step 107: providing a pulling force to control the speed of the egg-shaped colonoscopy or fine-tuning the egg type The direction of travel of the colonoscope.

This step 107 is for slowing down the speed of the egg-shaped colonoscope when it is too fast, or for slightly adjusting the direction of travel when the egg-shaped colonoscope is stuck in the intestine because the direction of travel is slightly skewed. . Among them, the manner of providing this pulling force is generated by pulling the guide wire group 20.

Next, please refer to FIG. 8B, which is a second flow chart of the flow control method of the egg-shaped colonoscope of the present invention, that is, a method using magnetic force, that is, the description of the travel control method of FIG. 4A includes The following steps:

Step 111: Providing an egg-shaped colonoscopy-magnetic passive kit.

Step 113: Detecting the horizontal tilt angle of the egg-shaped colonoscope.

Step 115: The egg-shaped colonoscope is vibrated.

Step 117: When the egg-type colonoscope vibrates, an external active magnetic device is provided to pull the magnetic passive kit to assist the egg-shaped colonoscope to advance when vibrating. Since the horizontal tilt angle of the egg-shaped colonoscope has been mastered, the egg-shaped colonoscopy can be attracted to the egg-shaped colonoscope by the external active magnetic device when advancing, which we can directly pass through. An image from a camera module is seen. Therefore, we can easily use the active magnetic device to provide a slight auxiliary traction force when vibrating, and let the egg-shaped colonoscope travel.

Similarly, in addition to the above step 111, step 113, step 115 and step 117, the present invention The second flow chart of the egg-type colonoscopy travel control method may further comprise a step 119 of providing a pulling force to control the speed of travel of the egg-shaped colonoscope or to fine-tune the direction of travel of the egg-shaped colonoscope. The embodiment and the purpose of the step 119 are the same as the step 107 of the first embodiment of the foregoing travel control method, and therefore will not be described again.

Next, please refer to FIG. 9A, which is a schematic cross-sectional view of another embodiment of the egg-shaped colonoscope of the present invention; and FIG. 9B is a schematic cross-sectional view of the wire group (exposed portion) of the embodiment of FIG. 9A; 9A is a schematic cross-sectional view of the first end 11a of the egg-shaped housing 10.

In this embodiment, the wire set 20a has an instrument channel 26 in addition to the original hose airway 22, and the hose airway 22 and the instrument channel 26 are at the first end 11a of the egg-shaped colonoscope. Opening. In this embodiment, the opening of the air passage 22 of the hose and the passage of the instrument channel 26 are disposed beside the first image capturing module 12a, so that the physician can penetrate the meat removal device 90 through the instrument channel 26 (refer to FIG. 10), and stop bleeding. After the needle, the slicer, the foreign body forceps, etc., perform the necessary surgery. In addition, the egg-shaped colonoscopy of the present embodiment may also have a magnetic passive kit as shown in FIGS. 4A and 4B, thereby utilizing an external active magnetic device to magnetically move the passive kit during all or part of the operation. The position and orientation of the fixed egg-shaped housing 10 in the large intestine.

In addition, it can be observed in Fig. 9B that the wire group 20a is located in the cross-sectional structure outside the egg-shaped colonoscope, except for the original hose air passage 22 and the wire 21 (consisting of three wires, namely a positive electrode, a negative electrode, and a signal line, In addition to the covering body, an instrument channel 26 is included, as well as a tube filler 27 which stabilizes the structure of the entire wire group 20a. In Fig. 9A, the opening of the first end 11a does not include a portion of the wire 21 which is pierced by the position of the second end 11b and is soldered to the second circuit board 14b. Here, the structure of the special wire group 20a is formed. Of course, in another embodiment, the wire 21 can also be threaded out of the first end 11a and soldered to the first circuit board 14a (not shown).

It can be observed in Fig. 9C that the instrument channel 26 and the hose channel 22 are placed beside the first image capturing module 12a, allowing the physician to clearly see the shape of the instrument when the instrument is passed out of the instrument channel 26. State, and then perform an accurate surgery, as shown in Figure 10.

Please refer to Fig. 10 to illustrate the operation of the egg-shaped colonoscopy with the addition of the pterygium removal instrument 90 in Figure 9A. Among them, the hose passage 22 can spray the required gas and water to expand and lubricate the intestinal tract. The first light-emitting module 13a can be controlled to generate light sources of different colors, and then the first image capturing module 12a performs image capturing under different light source irradiation results. Alternatively, when the first image capturing module 12a is replaced with a camera with adjustable magnification, the image can be imaged at a low magnification and a high magnification, and the cells can be directly observed with a high magnification effect, so that the doctor can perform a more detailed diagnosis.

In addition, the egg-shaped colonoscope of Figure 9A adds an instrument channel 26 through which different instruments can enter the first end 11a. Taking Fig. 10 as an example, the meat removal device 90 is used to penetrate the instrument channel 26, and the meat removal knife 91 can also be extended to assist the physician to further perform the large intestine and sputum incision operation.

Next, please refer to FIGS. 11A to 11C and FIG. 12 to explain another specific embodiment of the egg type colonoscopy. 11A is a schematic cross-sectional view of the egg-shaped colonoscope of this embodiment, and FIG. 11B is a schematic cross-sectional view of the wire group (exposed portion) of the egg-shaped colonoscope of this embodiment, and FIG. 11C is a view of this embodiment. A schematic cross-sectional view of the first end 11a of the egg-shaped colonoscope, and Fig. 12 is a schematic view of the operation when the egg-shaped colonoscopy of this embodiment is used for surgery. Compared with the previous embodiment, the wire group 20b of this embodiment omits the instrument channel 26, and the hose air channel 22 is used as an instrument channel, thereby realizing the three-in-one gas, water and instrument channel. Effect.

Referring to Figures 13a to 13c, there is shown a cross-sectional view of still another embodiment of the egg-shaped colonoscope of the present invention. The structure of this embodiment is similar to that of the first embodiment described above, except that the casing side wall 19' of the egg-shaped casing 10c of the present embodiment is composed of an elastic material. In addition, the egg-shaped housing 10c does not have the center circuit board 18, so the vibration motor 15, the control module 60, and the angle detecting unit 70 of the present embodiment are disposed on the first circuit board 14a or the second circuit board 14b, and A circuit board 14a and a second circuit board 14b are connected by flexible wires.

In this embodiment, the main feature of the egg-shaped colonoscope is that a telescopic actuation assembly 80 is further disposed in the egg-shaped housing 10c to be coupled to the first end 11a and the second end 11b of the egg-shaped housing 10c. The outer surface of the egg-shaped housing 10c has a gastrope 16.

In detail, the telescopic actuator assembly 80 is configured to repeatedly extend and contract the distance between the first end 11a and the second end 11b of the egg-shaped housing 10c, and includes an actuating motor 81 and a telescopic drive member 82. And a telescopic follower 83, wherein the actuating motor 81 is controllable by the control module 60 and preferably fixed to the inner surface of the side wall 19' of the housing, and the telescopic drive member 82 is rotatably coupled to the actuating motor 81 for expansion and contraction The movable member 83 is disposed on the first circuit board 14a of the first end 11a and the second circuit board 14b of the second end 11b. Alternatively, the actuation motor 81 may be fixed to one of the first circuit board 14a and the second circuit board 14b, and the expansion/contraction follower 83 may be provided to the other of the first circuit board 14a and the second circuit board 14b.

With the above-described telescopic actuation assembly 80, when the actuation motor 81 is operated to rotate the telescopic drive member 82, the telescopic follower 83 will be remote from the telescopic drive member 82 (as shown in FIG. 13A) or adjacent to the telescopic drive member. 82 (as shown in Fig. 13B), the housing side wall 19' is telescoped, thereby assisting the egg-shaped colonoscopy to pass more smoothly through the narrow narrows or turns in the intestine, or even entirely by the side wall of the housing 19' Telescopic provides the power to travel with an egg-shaped colonoscope.

The aforementioned telescopic actuator assembly 80 can be composed of any structure capable of reciprocating the distance between the first end 11a and the second end 11b of the egg-shaped housing 10c. As shown in Figures 13A and 13B, the telescopic drive member 82 is a crankshaft, and the telescopic follower 83 is a two-link, wherein one of the links is pivotally connected to the crankshaft and the first circuit board 14a, and the other link is pivotally connected. The crankshaft and the second circuit board 14b. Alternatively, as shown in Fig. 13C, the telescopic drive member 82 is a rotor having an outer peripheral surface having alternately disposed polar pole faces, and the telescopic follower 83 is a magnet having a magnetic pole face facing the telescopic drive member 82. The suction or repelling between the magnetic pole faces of the driving member 82 and the magnetic pole faces of the telescopic follower 83 can also cause the housing side wall 19' to expand and contract.

According to the structure of the above embodiment, the egglet colonoscopy travel control method of the present invention can also make the egg-shaped colonoscopy expand and contract after the horizontal tilt angle of the egg-type colonoscopy is detected, and let the egg-shaped large intestine The first end 11a of the mirror is lower in the direction of gravity than the second end 11b, so that the egg-shaped colonoscope can be advanced in a repetitive manner. Alternatively, the above-described expansion and contraction operation may be carried out in accordance with the vibration travel or the magnetic travel of the other embodiments. In addition, due to the outside of the egg-shaped housing 10c The circumference can be provided with the gastropod 16, so that during the extension of the egg-type colonoscopy, the gastrope 16 can be supported on the wall of the intestine, effectively improving the traveling effect of the telescopic movement.

By using the invention, special technical effects such as painlessness, no dead angle, and difficulty in causing intestinal perforation can be achieved, and a great progress in the history of human medicine has been achieved.

Although the technical content of the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and any modifications and refinements made by those skilled in the art without departing from the spirit of the present invention should be Within the scope of the invention, therefore, the scope of the invention is defined by the scope of the appended claims.

10‧‧‧ egg shell

11a‧‧‧ first end

11b‧‧‧second end

12a‧‧‧first image capture module

12b‧‧‧second image capture module

13a‧‧‧First lighting module

13b‧‧‧second lighting module

14a‧‧‧First board

14b‧‧‧second board

15‧‧‧Vibration motor

17a‧‧‧Magnetic element N pole

17b‧‧‧Magnetic element S pole

18‧‧‧ center circuit board

19‧‧‧ housing side wall

20‧‧‧Wire set

21‧‧‧Wire

22‧‧‧Hose airway

23‧‧‧Wire sheath

24‧‧‧Hose airway opening

60‧‧‧Control Module

70‧‧‧ Angle detection unit

L1‧‧‧ length

W1‧‧‧Width

Claims (15)

An egg-shaped colonoscopy comprising: an egg-shaped housing having an axial direction and forming a first end and a second end in the axial direction, the first end being made of a transparent material; a photographic module, disposed at the first end for illumination and photography; a vibration motor disposed in the egg-shaped housing for vibrating the egg-shaped housing; a control module, the device The egg-shaped housing is electrically connected to the first camera module and the vibration motor, receives a control command to control the first camera module to perform film shooting and image transmission, and controls vibration of the vibration motor; An air passage opening is disposed on the second end side of the egg-shaped housing, and is formed by a wire sheath covering a hose air passage; a power supply component is disposed in the wire group or the egg-shaped housing The power supply component is electrically connected to the control module to transmit power to the control module; wherein the egg-shaped housing or the wire set has an air passage opening, and the air passage opening communicates with the air passage of the wire of the wire set, To sequentially sequence a gas generated externally The airway and airway opening are sent to the large intestine; a telescopic actuation assembly includes: an actuating motor fixed to an inner surface of the side wall of the egg-shaped housing; and a telescopic drive member coupled to the actuation motor And rotatable; and a telescopic follower disposed on one of the first end and the second end of the egg-shaped housing. The egg-shaped colonoscope according to claim 1, further comprising: a second photographic module disposed at the second end for capturing an image opposite to a photographing direction of the first photographic module. The egg-shaped colonoscope according to claim 1, further comprising: an angle detecting unit connected to the control module for detecting a horizontal angle change value of the egg shell, and by using the The control module transmits the horizontal angle change value. The egg-shaped colonoscope according to claim 3, wherein the angle detecting unit is selected From: MEMS angle detection chip, MEMS gyroscope chip, MEMS biaxial acceleration sensing chip, MEMS triaxial acceleration sensing chip, rolling switch, magnetic sensor. The egg-shaped colonoscopy according to claim 1, further comprising: at least one gastropod, disposed on the outer periphery of the egg-shaped shell to assist the egg-shaped colonoscopy. The egg-shaped colonoscopy according to claim 1, further comprising: at least one set of magnetic passive kits disposed on an inner circumference of the egg-shaped housing for assisting the egg-shaped large intestine by an external active magnetic device The mirror is advanced and positioned. The egg-shaped colonoscope according to claim 1, wherein the power supply element is disposed in the wire group, and the power supply element is a plurality of wires. The egg-shaped colonoscope according to claim 1, further comprising: a wireless transmission module connected to the control module for transmitting the image captured by the first camera module. The egg-shaped colonoscope according to claim 8, wherein the power supply component is a battery disposed in the egg-shaped housing, and the wireless transmission module is further configured to receive the control command and transmit the control command. To the control module. The egg-shaped colonoscope according to claim 1, wherein the power line signal transmission module is connected to the control module, or the wire group further comprises a signal transmission line, the power line signal transmission module and The signal transmission line is used to transmit the image captured by the first camera module. The egg-shaped colonoscopy according to claim 1, wherein the egg-shaped colonoscopy has a length of 2.5-5.2 cm and a width of 1.5-2.5 cm. The egg-shaped colonoscope according to claim 1, wherein the wire set further comprises an instrument channel, or the air channel of the hose is further provided as the instrument channel, and the opening of the instrument channel is disposed at the first end, The device is adapted to receive a medical device to be worn at the first end for medical operation. The egg-shaped colonoscope according to claim 1, wherein the telescopic actuation component is connected And between the first end and the second end of the egg-shaped housing, and the side wall of the egg-shaped housing is made of an elastic material. The egg-shaped colonoscopy of claim 13, wherein the outer periphery of the egg-shaped shell further has at least one gastropod. An egg-shaped colonoscopy control method, the egg-shaped colonoscopy comprising a wire set, a first end, a second end, a first photographic module and a telescopic actuation assembly for transmitting electricity The first end and the second end are opposite ends of the egg-shaped colonoscope in an axial direction, the first photographic module is located at the first end, and the telescopic actuation component is configured to enable the egg-shaped colonoscopy The axial expansion and contraction; the outer periphery of the shell of the egg-shaped colonoscope further has at least one gastropod; the travel control method comprises: stretching the egg-shaped colonoscopy; and allowing the first end when the egg-type colonoscopy is stretched Lower than the second end in the direction of gravity; the gastropod can resist the wall of the intestine during the extension of the egg-shaped colonoscope.