CN105395160A - Capsule endoscopy having accurate positioning function - Google Patents
Capsule endoscopy having accurate positioning function Download PDFInfo
- Publication number
- CN105395160A CN105395160A CN201510944262.8A CN201510944262A CN105395160A CN 105395160 A CN105395160 A CN 105395160A CN 201510944262 A CN201510944262 A CN 201510944262A CN 105395160 A CN105395160 A CN 105395160A
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- Prior art keywords
- accurate positioning
- capsule
- positioning function
- capsule endoscope
- lower limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Gastroenterology & Hepatology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a capsule endoscopy having an accurate positioning function. The capsule endoscopy comprises a capsule shell, a pH sensor, a photographic device, a control device and a positioning device; the positioning device comprises micro legs, rubber wheels, pressure sensors, springs and a motor, wherein the micro legs are arranged on the outer sides of the capsule shell; one end of each of the micro legs is connected to the corresponding rubber wheel; revolution measuring devices are arranged on the rubber wheels; the springs and the motors are connected to the other ends of the micro legs; under the control of the springs, the micro legs are expanded; the micro legs, driven by the motor, contract; and the pressure sensors are additionally arranged on the springs. According to the capsule endoscopy having the accurate positioning function provided by the invention, through the rotation of the rubber wheels and by converting the revolution into a distance, accurate positioning inside the digestive tract of a human body is achieved; and meanwhile, by virtue of the micro legs and the rubber wheels connected to the micro legs, any instable and non-forward movement is minimized, so that the photographic device in the capsule can record stable images or videos.
Description
Technical field
What the present invention relates to is the technical field of medical apparatus and instruments, in particular a kind of capsule endoscope with accurate positioning function.
Background technology
Capsule endoscope is used in human body alimentary canal, take human body alimentary canal inwall while movement image or video, and wirelessly reach outside signal receiving device, doctor carries out Screening Diagnosis according to these images or video again, and this just needs correctly to identify these images or video are in which position gastral.
Mainly contain two kinds of methods at present to obtain the positional information of capsule endoscope: (1) is based on the method for magnetic field intensity; (2) based on electromagnetic method.Method based on magnetic field intensity is generally install permanent magnet in capsule endoscope, at examiner's external abdominal part configuration array of magnetic sensors, when capsule endoscope moves in human body alimentary canal, magnetic flux changes, these magnetic signals are measured by outside Magnetic Sensor, and according to Related Mathematical Models, position and the direction of capsule endoscope just can be obtained.But the method needs complicated sensor device and data model, and cost compare is large.Mainly received the electromagnetic wave of capsule endoscope transmitting by the outer multiple antenna of body cavity based on electromagnetic method, and the position of capsule endoscope is estimated according to the intensity gauss-newton method of the wireless signal received, relative magnetic field strength method, use simple, but degree of accuracy is lower.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of capsule endoscope with accurate positioning function, to solve existing capsule endoscope complex structure or the technical problem such as degree of accuracy is low.
The present invention is achieved by the following technical solutions:
The invention provides a kind of capsule endoscope with accurate positioning function, comprise capsule housing, and the pH sensor be located in capsule housing, camera head and control device, one end of described capsule housing is transparence, the transparent end of capsule housing is located at by described camera head, described control device comprises microprocessor and connected signal transceiver, described microprocessor is electrically connected with camera head, and by signal transceiver, the picture signal of camera head collection is sent to outside signal receiving device, described capsule endoscope also comprises positioner, described positioner comprises miniature lower limb, rubber wheel, pressure transducer, spring and motor, wherein:
Described miniature lower limb is located at outside capsule housing, its one end is connected with rubber wheel, described rubber wheel is provided with revolution speed measuring device, described revolution speed measuring device is electrically connected with microprocessor, the revolution signal that microprocessor is gathered by revolution speed measuring device calculates positional information, for the particular location of uncalibrated image or video capture, and finally send to outside signal receiving device by signal transceiver together with image or video;
Described spring and motor are located in capsule housing, and are connected with the other end of miniature lower limb, and described spring controls miniature lower limb and opens, and described motor drives miniature lower limb to shrink; Described spring is also provided with pressure transducer, and described pressure transducer is electrically connected with microprocessor, for the pressure of measuring spring, after the pressure signal that microprocessor is recorded by computing, for controlling motor and the final opening and closing angle changing miniature lower limb.
The end that described miniature lower limb is connected with motor is also provided with to locate and fastens with a bolt or latch, and when motor drives miniature lower limb to when shrinking completely, miniature lower limb is fixed by location door bolt, now can disable motor, to reduce energy consumption, after capsule endoscope arrives appointed part, location door bolt is opened, and miniature lower limb opens under the action of the spring.
Described revolution speed measuring device is the ring counting dish or Hall element that are surrounded by multiple infrared grooved enumerator.
Described miniature lower limb is at least provided with 3, and be evenly distributed on the same warp outside capsule housing, the miniature lower limb correspondence of every bar connects a rubber wheel, uses many miniature lower limbs and rubber wheel, can obtain multiple result simultaneously measured, to reduce overall distance error, meanwhile, many miniature lower limbs and rubber wheel are uniformly distributed, and can reduce capsule rolling to greatest extent, thus contribute to the stable of capsule endoscope, ensure that camera head can record stable image or video.
Described rubber wheel is provided with groove, can maintain the adhesive force of rubber wheel and intestinal wall or other digestive tract inwall while allowing digestive tract mucus pass through.
The entirety of described capsule housing is cylindrical, and its cylindrical two ends are hemispherical.
Described signal transceiver is a kind of RF transceiver.
Described spring is a kind of torque spring or compression spring.
Described motor is a kind of brushless electric machine.
The present invention has the following advantages compared to existing technology: the invention provides a kind of capsule endoscope with accurate positioning function, this capsule endoscope is by the rotation of rubber wheel, change rotation revolution into distance, thus realize the accurate location in human body alimentary canal, simultaneously, by miniature lower limb and connected rubber wheel, the movement of any instability and non-forward is minimized, and makes the camera head in capsule can record stable image or video.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the capsule endoscope with accurate positioning function;
Fig. 2 is the structural representation of ring counting dish.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
Present embodiments provide a kind of capsule endoscope with accurate positioning function, have structure as illustrated in fig. 1 and 2, comprise capsule housing 1, be located at the pH sensor 2 in capsule housing 1, camera head 3 and control device, also comprise positioner.
The entirety of described capsule housing 1 is cylindrical, and its cylindrical two ends are hemispherical, and wherein one end is transparence, and the transparent end of capsule housing 1 is located at by described camera head 3.
Described control device comprises microprocessor 41, and connected RF transceiver 42, and described microprocessor 41 is electrically connected with camera head 3, and the image gathered by camera head 3 by RF transceiver 42 or video signal send to outside signal receiving device.
Described positioner comprises miniature lower limb 51, rubber wheel 52, pressure transducer 53, torque spring 54, brushless electric machine 55 and location door bolt 56, and described torque spring 54 also can replace with compression spring, wherein:
Described miniature lower limb 51 is provided with 3, and with 120 ° for being spaced on the same warp outside capsule housing 1, one end of the miniature lower limb 51 of every bar is connected with a rubber wheel 52; Described torque spring 54, brushless electric machine 55 and location door bolt 56 are located in capsule housing 1, and be connected with the other end of miniature lower limb 51, described torque spring 54 controls miniature lower limb 51 and opens, described brushless electric machine 55 drives miniature lower limb 51 to shrink, when brushless electric machine 55 drives miniature lower limb 51 to when shrinking completely, miniature lower limb 51 is fixed by location door bolt 56;
Described rubber wheel 52 is provided with a ring counting dish 57 surrounded by multiple infrared grooved enumerator, this ring counting dish 57 also can replace with other devices with revolution speed measuring function such as Hall elements, described ring counting dish 57 is electrically connected with microprocessor 41, revolution signal is sent to microprocessor 41, and tach signal is sent to outside signal receiving device by RF transceiver 42 by microprocessor 41; Described rubber wheel 52 is also provided with groove, the adhesive force of rubber wheel 52 and intestinal wall or other digestive tract inwall can be maintained while allowing digestive tract mucus pass through;
Described torque spring 54 is also provided with pressure transducer 53, for measuring the pressure of torque spring 54, and pressure signal is sent to outside signal receiving device by control device, outside signal receiving device controls brushless electric machine 55 according to pressure signal, under the combined effect of brushless electric machine 55 and torque spring 54, realize the control of the opening angle of miniature lower limb 51.
When capsule endoscope is not by use, because spring 54 unclamps naturally, three miniature lower limbs 51 are stretched out.Before swallowing, brushless electric machine 55 is activated, and shrinks, three miniature lower limbs 51 so that capsule endoscope can be swallowed completely.Then, these three miniature lower limbs 51 are fixed by the location door bolt 56 in capsule endoscope, close brushless electric machine 55 to reduce energy consumption simultaneously.By the pH value that pH sensor 2 feeds back, judge whether capsule endoscope reaches position to be detected.When capsule endoscope enters position to be detected, brushless electric machine 55 is activated again, locate door bolt 56 to open simultaneously, under the effect of spring 54, article three, miniature lower limb 51 opens, now, the pressure of the real-time detection springs 54 of pressure transducer 53, when the pressure of spring 54 exceedes certain threshold value, activate brushless electric machine 55, under the driving of brushless electric machine 55 and the effect of spring 54, the degree that adjustment spring 54 compresses or stretchs out, according to the contraction of the miniature lower limb 51 of Environmental adjustments three at position to be detected or degree can be stretched out, rubber wheel 52 is contacted enough well with human body alimentary canal wall energy.While the motion of human body alimentary canal peristalsis propels capsule endoscope, friction between rubber wheel 52 and human consumption's mucous membrane makes rubber wheel 52 rotate, spin data is converted to range data by ring counting dish 57, these data are fed back to microprocessor by control device, thus realize accurately location.Finally, according to the pH value change that pH sensor 2 feeds back, when detecting that capsule endoscope leaves position to be detected, brushless electric machine 55 is activated, and shunk completely by three miniature lower limbs 51, capsule endoscope reverts to normal size, to excrete smoothly.
Claims (9)
1. one kind has the capsule endoscope of accurate positioning function, comprise capsule housing, and the pH sensor be located in capsule housing, camera head and control device, one end of described capsule housing is transparence, the transparent end of capsule housing is located at by described camera head, described control device comprises microprocessor and connected signal transceiver, described microprocessor is electrically connected with camera head, and by signal transceiver, the image of camera head collection or video signal are sent to outside signal receiving device, it is characterized in that, described capsule endoscope also comprises positioner, described positioner comprises miniature lower limb, rubber wheel, pressure transducer, spring and motor, wherein:
Described miniature lower limb is located at outside capsule housing, its one end is connected with rubber wheel, described rubber wheel is provided with revolution speed measuring device, described revolution speed measuring device is electrically connected with microprocessor, and the revolution signal of revolution speed measuring device is sent to outside signal receiving device by signal transceiver by microprocessor;
Described spring and motor are located in capsule housing, and are connected with the other end of miniature lower limb, and described spring controls miniature lower limb and opens, and described motor drives miniature lower limb to shrink; Described spring is also provided with pressure transducer, and described pressure transducer is electrically connected with microprocessor, and the pressure signal recorded is sent to outside signal receiving device by microprocessor and signal transceiver.
2. a kind of capsule endoscope with accurate positioning function according to claim 1, is characterized in that, the end that described miniature lower limb is connected with motor is also provided with to locate and fastens with a bolt or latch.
3. a kind of capsule endoscope with accurate positioning function according to claim 1, is characterized in that, described revolution speed measuring device is the ring counting dish or Hall element that are surrounded by multiple infrared grooved enumerator.
4. a kind of capsule endoscope with accurate positioning function according to claim 1, is characterized in that, described miniature lower limb is at least provided with 3, and is evenly distributed on the same warp outside capsule housing, and the miniature lower limb correspondence of every bar connects a rubber wheel.
5. a kind of capsule endoscope with accurate positioning function according to claim 1, it is characterized in that, described rubber wheel is provided with groove.
6. a kind of capsule endoscope with accurate positioning function according to claim 1, it is characterized in that, the entirety of described capsule housing is cylindrical, and its cylindrical two ends are hemispherical.
7. a kind of capsule endoscope with accurate positioning function according to claim 1, is characterized in that, described signal transceiver is a kind of RF transceiver.
8. a kind of capsule endoscope with accurate positioning function according to claim 1, is characterized in that, described spring is a kind of torque spring or compression spring.
9. a kind of capsule endoscope with accurate positioning function according to claim 1, is characterized in that, described motor is a kind of brushless electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510944262.8A CN105395160B (en) | 2015-12-15 | 2015-12-15 | A kind of capsule endoscope with accurate positioning function |
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| CN201510944262.8A CN105395160B (en) | 2015-12-15 | 2015-12-15 | A kind of capsule endoscope with accurate positioning function |
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| CN105395160A true CN105395160A (en) | 2016-03-16 |
| CN105395160B CN105395160B (en) | 2019-02-26 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108451489A (en) * | 2018-05-04 | 2018-08-28 | 哈尔滨工业大学深圳研究生院 | The endoscope robot of active leg extension and constriction device based on leading screw |
| CN109171882A (en) * | 2018-07-27 | 2019-01-11 | 谷桂芳 | A kind of medical treatment division of respiratory disease phlegm scab remover |
| CN110236473A (en) * | 2019-05-23 | 2019-09-17 | 昌乐县人民医院 | A kind of automatically cleaning capsule laparoscope of energy automatic position adjusting function |
| CN110325096A (en) * | 2017-04-19 | 2019-10-11 | Hoya株式会社 | Mounting device at the top of endoscope |
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| CN205322294U (en) * | 2015-12-15 | 2016-06-22 | 中科院合肥技术创新工程院 | Capsule endoscopy with accurate positioning function |
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2015
- 2015-12-15 CN CN201510944262.8A patent/CN105395160B/en active Active
Patent Citations (7)
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| US20040030454A1 (en) * | 2002-08-09 | 2004-02-12 | Korea Institute Of Science And Technology | Micro capsule robot |
| US20040204630A1 (en) * | 2002-12-30 | 2004-10-14 | Zvika Gilad | Device, system and method for in vivo motion detection |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110325096A (en) * | 2017-04-19 | 2019-10-11 | Hoya株式会社 | Mounting device at the top of endoscope |
| CN108451489A (en) * | 2018-05-04 | 2018-08-28 | 哈尔滨工业大学深圳研究生院 | The endoscope robot of active leg extension and constriction device based on leading screw |
| CN109171882A (en) * | 2018-07-27 | 2019-01-11 | 谷桂芳 | A kind of medical treatment division of respiratory disease phlegm scab remover |
| CN110236473A (en) * | 2019-05-23 | 2019-09-17 | 昌乐县人民医院 | A kind of automatically cleaning capsule laparoscope of energy automatic position adjusting function |
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| Publication number | Publication date |
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| CN105395160B (en) | 2019-02-26 |
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