CN105395160B - A kind of capsule endoscope with accurate positioning function - Google Patents
A kind of capsule endoscope with accurate positioning function Download PDFInfo
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- CN105395160B CN105395160B CN201510944262.8A CN201510944262A CN105395160B CN 105395160 B CN105395160 B CN 105395160B CN 201510944262 A CN201510944262 A CN 201510944262A CN 105395160 B CN105395160 B CN 105395160B
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- spring
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- rubber wheel
- capsule endoscope
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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
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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
- A61B1/00002—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
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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
- A61B1/00147—Holding or positioning arrangements
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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
- A61B1/012—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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- 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 kind of capsule endoscopes with accurate positioning function, including capsule housing, pH sensor, photographic device, control device and positioning device, the positioning device includes miniature leg, rubber wheel, pressure sensor, spring and motor, wherein: miniature leg is set on the outside of capsule housing, one end is connect with rubber wheel, rubber wheel is equipped with revolution speed measuring device, spring and motor and connect with the other end of miniature leg, and the spring controls miniature leg and opens, the miniature leg of motor driven is shunk, and is additionally provided with pressure sensor on the spring.The rotation that capsule endoscope provided by the invention with accurate positioning function passes through rubber wheel, rotation revolution is changed into distance, to realize the accurate positionin in human body alimentary canal, simultaneously, pass through miniature leg and rubber wheel connected to it, any unstable and non-forward movement is minimized, so that the photographic device in capsule is able to record stable image or video.
Description
Technical field
The present invention relates to the technical field of medical instrument more particularly to a kind of glue with accurate positioning function
Intracapsular mirror.
Background technique
The image or video of human body alimentary canal inner wall are shot while capsule endoscope is used to move in human body alimentary canal, and
External signal receiving device is wirelessly reached, doctor carries out Screening Diagnosis further according to these images or video, this is just
Need to correctly identify these images or video in which gastral position.
The location information of capsule endoscope is obtained there are mainly two types of method at present: (1) based on the method for magnetic field strength；(2)
Method based on electromagnetic wave.Method based on magnetic field strength is usually that permanent magnet is installed in capsule endoscope, external in examiner
Abdomen configures array of magnetic sensors, and when capsule endoscope moves in human body alimentary canal, magnetic flux changes, and passes through external magnetic
These magnetic signals of sensor measurement, and according to Related Mathematical Models, the position and direction of capsule endoscope can be obtained.But the method
Complicated sensor device and data model are needed, and cost is bigger.Method based on electromagnetic wave mainly passes through outside body cavity
Mutiple antennas receives the electromagnetic wave of capsule endoscope transmitting, and is estimated according to the intensity gauss-newton method of the wireless signal received
The position of capsule endoscope, relative magnetic field strength method, using simple, but accuracy is lower.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide in a kind of capsule with accurate positioning function
Mirror, the technical problems such as structure is complicated or accuracy is low to solve existing capsule endoscope.
The present invention is achieved by the following technical solutions:
The present invention provides a kind of capsule endoscopes with accurate positioning function, including capsule housing, and are set to capsule shells
One end of intracorporal pH sensor, photographic device and control device, the capsule housing is transparence, and the photographic device is set to
The transparent end of capsule housing, the control device include microprocessor and signal transceiver connected to it, the microprocessor
It is electrically connected with photographic device, and the picture signal that photographic device acquires is sent to by external signal by signal transceiver and is received
Device, the capsule endoscope further include positioning device, and the positioning device includes miniature leg, rubber wheel, pressure sensor, spring
And motor, in which:
The miniature leg is set on the outside of capsule housing, and one end is connect with rubber wheel, and the rubber wheel is surveyed equipped with revolution
Device is measured, the revolution speed measuring device is electrically connected with microprocessor, and microprocessor is believed by the revolution that revolution speed measuring device acquires
Number location information is calculated, passed through together for uncalibrated image or the specific location of video capture, and finally with image or video
Signal transceiver is sent to external signal receiving device；
The spring and motor are set in capsule housing, and are connect with the other end of miniature leg, and the spring control is miniature
Leg opens, and the miniature leg of motor driven is shunk；Pressure sensor, the pressure sensor and Wei Chu are additionally provided on the spring
Device electrical connection is managed, for measuring the pressure of spring, after the pressure signal that microprocessor is measured by calculation processing, for controlling electricity
Machine and the opening and closing angle for finally changing miniature leg.
The end that the miniature leg is connected to motor is additionally provided with positioning door bolt, when the miniature leg of motor driven to complete shrink,
Positioning door bolt fixes miniature leg, can close motor at this time, to reduce energy consumption, after capsule endoscope reaches appointed part, and positioning
Door bolt is opened, and miniature leg opens under the action of the spring.
The revolution speed measuring device is the ring counting disk or Hall sensor surrounded by multiple infrared groove profile counters.
The miniature leg is evenly distributed on the same warp on the outside of capsule housing at least provided with 3, every miniature leg
It is correspondingly connected with a rubber wheel, it is available multiple while measurement as a result, whole to reduce using a plurality of miniature leg and rubber wheel
Body range error, meanwhile, a plurality of miniature leg and rubber wheel are uniformly distributed, and capsule rolling can be reduced to the maximum extent, to help
In the stabilization of capsule endoscope, guarantee that photographic device is able to record stable image or video.
The rubber wheel is equipped with groove, so as to allow alimentary canal mucus be able to maintain that while passing through rubber wheel and intestinal wall or
The adhesive force of other alimentary canal inner walls.
The entirety of the capsule housing is cylindrical, and cylindrical both ends are hemispherical.
The signal transceiver is a kind of RF transceiver.
The spring is a kind of torque spring or compression spring.
The motor is a kind of brushless motor.
The present invention has the advantage that the present invention provides a kind of capsules with accurate positioning function compared with prior art
Rotation revolution is changed into distance, to realize in human body alimentary canal by the rotation of rubber wheel by scope, the capsule endoscope
It is accurately positioned, meanwhile, by miniature leg and rubber wheel connected to it, any unstable and non-forward movement is minimized,
So that the photographic device in capsule is able to record stable image or video.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the capsule endoscope with accurate positioning function；
Fig. 2 is the structural schematic diagram of ring counting disk.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment 1
A kind of capsule endoscope with accurate positioning function is present embodiments provided, there is structure as illustrated in fig. 1 and 2,
Including capsule housing 1, pH sensor 2 in capsule housing 1, photographic device 3 and control device further include positioning device.
The entirety of the capsule housing 1 is cylindrical, and cylindrical both ends are hemispherical, and wherein one end is transparence, institute
State the transparent end that photographic device 3 is set to capsule housing 1.
The control device includes microprocessor 41 and RF transceiver 42 connected to it, the microprocessor 41 with take the photograph
Image or vision signal that photographic device 3 acquires are sent to external signal as the electrical connection of device 3, and by RF transceiver 42
Reception device.
The positioning device includes miniature leg 51, rubber wheel 52, pressure sensor 53, torque spring 54, brushless motor 55
With positioning door bolt 56, the torque spring 54 can also be replaced with compression spring, in which:
The miniature leg 51 is equipped with 3, and is to be arranged on the same warp in 1 outside of capsule housing with 120 °, often
One end of the miniature leg 51 of item is connect with a rubber wheel 52；The torque spring 54, brushless motor 55 and positioning door bolt 56 are set to glue
It in softgel shell body 1, and is connect with the other end of miniature leg 51, the torque spring 54 controls miniature leg 51 and opens, the brushless electricity
Machine 55 drives miniature leg 51 to shrink, and when brushless motor 55 drives miniature leg 51 to complete shrink, positioning fastens 56 with a bolt or latch for miniature leg 51
It is fixed；
The rubber wheel 52 is equipped with a ring counting disk 57 surrounded by multiple infrared groove profile counters, annular meter
Number disks 57 can also be replaced with other devices with revolution speed measuring function such as Hall sensor, the ring counting disk 57 with it is micro-
Processor 41 is electrically connected, and revolution signal is sent to microprocessor 41, microprocessor 41 passes through RF transceiver 42 for tach signal
It is sent to external signal receiving device；It is additionally provided with groove on the rubber wheel 52, while to allow alimentary canal mucus to pass through
It is able to maintain that the adhesive force of rubber wheel 52 and intestinal wall or other alimentary canal inner walls；
It is additionally provided with pressure sensor 53 on the torque spring 54, for measuring the pressure of torque spring 54, and by pressure
Signal is sent to external signal receiving device by control device, and external signal receiving device controls nothing according to pressure signal
Brush motor 55 realizes the control of the opening angle of miniature leg 51 under the collective effect of brushless motor 55 and torque spring 54.
When capsule endoscope is not used by, stretch out three miniature legs 51 because spring 54 unclamps naturally.Before swallowing, brushless electricity
Machine 55 is activated, and three miniature legs 51 is shunk completely, so that capsule endoscope can be swallowed.Then, the positioning in capsule endoscope
Door bolt 56 is fixed by this three miniature legs 51, simultaneously closes off brushless motor 55 to reduce energy consumption.The pH fed back by pH sensor 2
Value, judges whether capsule endoscope reaches position to be detected.When capsule endoscope enter position to be detected when, brushless motor 55 again by
Activation, while positioning door bolt 56 and opening, under the action of spring 54, three miniature legs 51 open, at this point, pressure sensor 53 is real-time
The pressure of detection spring 54 activates brushless motor 55, in the drive of brushless motor 55 when the pressure of spring 54 is more than certain threshold value
Under the action of dynamic and spring 54, the degree that adjustment spring 54 is compressed or stretched out, so as to according to the environment tune at position to be detected
Degree is stretched out in the contraction of whole three miniature legs 51, and rubber wheel 52 and human body alimentary canal wall is enable to contact well.In human body
While peristalsis of the digest tract pushes capsule endoscope movement, the friction between rubber wheel 52 and human consumption's mucous membrane makes rubber wheel 52
Spin data is converted to range data by rotation, ring counting disk 57, these data are fed back to micro process by control device
Device, to realize accurate positionin.Finally, the pH value variation of 2 feedbacks according to the ph sensor, when detecting that it is to be checked that capsule endoscope leaves
When surveying position, brushless motor 55 is activated, and three miniature legs 51 are shunk completely, and capsule endoscope reverts to normal size, so as to
It is smoothly discharged external.
Claims (6)
1. a kind of capsule endoscope with accurate positioning function, including capsule housing, and it is set to the intracorporal pH sensor of capsule shells,
Photographic device and control device, one end of the capsule housing are transparence, and the photographic device is set to the transparent of capsule housing
End, the control device includes microprocessor and signal transceiver connected to it, and the microprocessor is electrically connected with photographic device
It connects, and image or vision signal that photographic device acquires is sent to by signal transceiver by external signal receiving device,
Be characterized in that, the capsule endoscope further includes positioning device, the positioning device include miniature leg, rubber wheel, pressure sensor,
Spring and motor, in which:
The miniature leg is set on the outside of capsule housing, and one end is connect with rubber wheel, and the rubber wheel is filled equipped with revolution speed measuring
It sets, the revolution speed measuring device is electrically connected with microprocessor, and microprocessor is turned revolution speed measuring device by signal transceiver
Number signal is sent to external signal receiving device, is additionally provided with groove on the rubber wheel；
The spring and motor are set in capsule housing, and are connect with the other end of miniature leg, and the spring controls miniature leg
It opens, the miniature leg of motor driven is shunk；Pressure sensor, the pressure sensor and microprocessor are additionally provided on the spring
Electrical connection, and the pressure signal measured is sent to external signal receiving device by microprocessor and signal transceiver；
The end that the miniature leg is connected to motor is additionally provided with positioning door bolt；
The motor is a kind of brushless motor；
The groove is arranged along the side of rubber wheel, is provided with the gear teeth between adjacent grooves；
By the pH value of pH sensor feedback, judge whether capsule endoscope reaches position to be detected；When capsule endoscope enter it is to be checked
When surveying position, brushless motor is activated, while positioning door bolt and opening, and under the action of the spring, three miniature legs open, at this time pressure
The pressure of sensor real-time detection spring activates brushless motor, in brushless motor when the pressure of spring is more than certain threshold value
Under the action of driving and spring, the degree for adjusting spring-compressed or stretching out, so as to be adjusted according to the environment at position to be detected
Degree is stretched out in the contraction of three miniature legs, and rubber wheel and human body alimentary canal wall is enable to contact well.
2. a kind of capsule endoscope with accurate positioning function according to claim 1, which is characterized in that the revolution is surveyed
Measuring device is the ring counting disk or Hall sensor surrounded by multiple infrared groove profile counters.
3. a kind of capsule endoscope with accurate positioning function according to claim 1, which is characterized in that the miniature leg
It at least provided with 3, and is evenly distributed on the same warp on the outside of capsule housing, every miniature leg is correspondingly connected with a rubber
Wheel.
4. a kind of capsule endoscope with accurate positioning function according to claim 1, which is characterized in that the capsule shells
The entirety of body is cylindrical, and cylindrical both ends are hemispherical.
5. a kind of capsule endoscope with accurate positioning function according to claim 1, which is characterized in that the signal is received
Hair device is a kind of RF transceiver.
6. a kind of capsule endoscope with accurate positioning function according to claim 1, which is characterized in that the spring is
A kind of torque spring or compression spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| 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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| CN105395160A CN105395160A (en) | 2016-03-16 |
| CN105395160B true CN105395160B (en) | 2019-02-26 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2738782C1 (en) * | 2017-04-19 | 2020-12-16 | Хойа Корпорейшн | Device for fixing endoscope tip |
| CN108451489B (en) * | 2018-05-04 | 2020-08-14 | 哈尔滨工业大学深圳研究生院 | Active leg stretching and contracting device endoscope robot based on lead screw |
| CN109171882A (en) * | 2018-07-27 | 2019-01-11 | 谷桂芳 | A kind of medical treatment division of respiratory disease phlegm scab remover |
| CN110236473B (en) * | 2019-05-23 | 2021-10-08 | 高怀秀 | Self-cleaning capsule laparoscope capable of automatically adjusting position |
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| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| CN103251369A (en) * | 2013-04-17 | 2013-08-21 | 华中科技大学 | Capsule robot for gastrointestinal endoscopy, and control system thereof |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100482275B1 (en) * | 2002-08-09 | 2005-04-13 | 한국과학기술연구원 | Micro capsule robot |
| US20040204630A1 (en) * | 2002-12-30 | 2004-10-14 | Zvika Gilad | Device, system and method for in vivo motion detection |
| KR20100001230A (en) * | 2008-06-26 | 2010-01-06 | 주식회사 인트로메딕 | Capsule endoscope and diagnosis system for using the same |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101188964A (en) * | 2005-05-12 | 2008-05-28 | 韩国科学技术研究院 | Capsule type micro-robot moving system |
| CN103251369A (en) * | 2013-04-17 | 2013-08-21 | 华中科技大学 | Capsule robot for gastrointestinal endoscopy, and control system thereof |
| CN103211564A (en) * | 2013-04-22 | 2013-07-24 | 上海交通大学 | Microrobot for gastrointestinal tract |
| 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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