CN107569204A - The big colonoscopy of egg shape and traveling control method - Google Patents
The big colonoscopy of egg shape and traveling control method Download PDFInfo
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- CN107569204A CN107569204A CN201610525330.1A CN201610525330A CN107569204A CN 107569204 A CN107569204 A CN 107569204A CN 201610525330 A CN201610525330 A CN 201610525330A CN 107569204 A CN107569204 A CN 107569204A
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Abstract
The invention discloses a kind of big colonoscopy of egg shape and traveling control method, wherein, the big colonoscopy of egg shape includes：One egg shape housing, have one axially, and be upwardly formed a first end in the axle and one second end, first end are made by a transparent material；First camera module is installed on first end, to be illuminated and photograph；Vibrating motor is installed in the egg shape housing, to make egg shape housing produce vibration；Control module receives control instruction to control the first camera module to carry out film shooting and transmission, and controls the vibration of vibrating motor；Wire group includes an airway open, wire group is fixed on the second side of egg shape housing, at least two wires are coated by a wire sheath to form with a flexible pipe air flue, at least two wires are to transmit electric power to control module, and flexible pipe air flue is a gas caused by outside is delivered in large intestine via airway open.
Description
Technical field
The present invention relates to a kind of big colonoscopy, especially in regard to a kind of big colonoscopy of egg shape and traveling control method.
Background technology
In " global cancer report " text, it is believed that " if cancer general knowledge be able to popularization implement " early stage screening, early diagnosis,
It is controllable that early treatment ", which there are about half cancer, ".
The Chinese annual number for dying from colorectal cancer is about 120,000.Average age (is concentrated for 48.3 years oldYear), and it is beautiful
Compatriots then average out to 69.8 years old.Chinese are diagnosed as the time of colorectal cancer, haveIt has been late period.Pernicious probability is high,
High recurrence rate is up to 50%.Half patient has hepatic metastases in the later stage.Into latter stage, every 100,000 people just has 13 people to die from large intestine
Cancer, just there is a people to die from colorectal cancer within every 5 minutes.
In TaiWan, China, cancer continuously occupied first of the ten big causes of the death up to 33 years.Wherein, before colorectal cancer continues ranking
Three；The patient for being diagnosed as colorectal cancer in 2014 is up to 10,000 5 thousand people, the people of death toll about 5,000.In Japan, the annual hair of colorectal cancer
The people of stranger's number about 40,000 5 thousand, the people of death toll about 10,000 eight thousand.In the U.S., the people of annual generation number about 150,000 of colorectal cancer is dead
The people of number about 50,000.
Wherein, colorectal polyp and the correlation of cancer are high.In 20-49 year adult of TaiWan, China, there are about 710,000 people has greatly
Intestinal polyp.Colorectal polyp may be changed into colorectal cancer between 5-10.Therefore, if can first confirm to have colorectal polyp and be located
Put, so that it may prevent most colorectal cancer.
At present, the medical equipment available for inspection colorectal polyp is big colonoscopy.Existing large intestine mirror device main flow is by Austria
Woods Paasche medical treatment (stock) company (Olympus Medical Systems Crop.) occupies main market.Olympus is carried
The total colonoscopy equipment of confession, its system being made up of optical fiber make it that camera lens is not flexible.Because big colonoscopy is 180 lis of slightly length
Rice, if wanting end-to-end large intestine, it is necessary to anaesthetize sb. generally.It is therefore, most of to suffer from because anesthesia has risk in itself
Person is reluctant to anaesthetize sb. generally.Checking process must be inflated and cause abdominal distension again, and enteron aisle is filled in plus slightly long big colonoscopy
Middle advance makes the shank of big colonoscopy oppress intestinal wall, and most of patient can be caused extremely uncomfortable, and it is complete big even to lead to not progress
The inspection of enteron aisle.What is more, domestic multiple datas show, the inspection of big colonoscopy, there are about 2/1000ths. fiveThousand points
Five ratio, can be in the checking process of big colonoscopy, because the improper use of big colonoscopy, or the because specific disease of sufferer
Feelings, or burn off process because of polyp etc., cause the situation of enterobrosis.This situation, is often wound up in a manner of Malpractice lawsuit.
So the inspection of big colonoscopy has been also filled with risk, there is the risk of big enterobrosis for patient, for doctor, after enterobrosis
Malpractice lawsuit be then reluctant by doctor.Above various reasons, cause the inspection of big colonoscopy can not popularize, and also can not further lead to
Cross and check colorectal polyp to reach the purpose of prevention colorectal cancer.
In order to solve big colonoscopy can not turn problems, some for auxiliary enteron aisle bending direction designed by accessory,
Such as Europe EP0792130B1 Patent Case External straightener for colonoscopy, it discloses convex
Block accessory, try to make it be straightened by curved by accessory compressing large intestine, big colonoscopy can be goed deep into.Same concept also sees U.S.
State discloses US2014/0350341 Patent Cases.But, these auxiliary appliances can not still solve to enter transverse colon by colon descendens,
And by transverse colon enter the colon ascendens significantly turning the problem of.
In addition to trying to solve the problems, such as to turn with accessory, the big colonoscopy technology that also having tried to exploitation can turn (changes
Become big colonoscopy in itself), to solve the problems, such as that traditional big colonoscopy is not easy to turn.For example, Lian Jishi (Gi Shih, LIEN) et al. institutes
TaiWan, China I 468140 " big colonoscopy magnetic control system " Patent Case of research and development, has used magnetic follower device in big colonoscopy
Strip supporter on, magnetic driven member is guided by magnetic driving link in external control device and rotated, you can control large intestine
Mirror is smoothly turned in turning.And then solve the problems, such as that big colonoscopy is not easy to turn in the past.
However, this technology is still based on traditional thick long formula caliber concept.Though it can turn, careless slightly (such as technology
Bad or carelessness), intestinal wall easily still is oppressed during being advanced in enteron aisle in big colonoscopy, causes the shank of big colonoscopy to intestines
The hard of wall touches.In other words, it is to be overcome to be easy to feel in checking process that extremely uncomfortable problem still has for sufferer.
In addition, traditional big colonoscopy, or the big colonoscopy that Lian Jishi et al. is developed, still can not solve large intestine fold place
Not visible Dead Core Problems.In other words, traditional big colonoscopy can not see the another side of large intestine gauffer due to its unidirectional visual angle,
Cause the dead angle checked.
Therefore, painless large intestine mirror device certainly will turn into the sharp weapon of prevention colorectal cancer.So how to develop painless, nothing
It is dead angle, simple to operate, the large intestine mirror device of each side demand of doctor's inspection can be met, turn into medical equipment manufacturer extremely
Absorbed R＆D direction.
The content of the invention
In order to achieve the above object, the invention provides a kind of big colonoscopy of egg shape, can solve existing big colonoscopy can not solve
Turning, it is painless, simple to operate the problems such as.
The invention provides a kind of big colonoscopy of egg shape, comprising：One egg shape housing, have one axially, and the shape on the axial direction
It is made into a first end and one second end, the first end by a transparent material；One first camera module, be installed on this first
End, to be illuminated and photograph；One vibrating motor, it is installed in the egg shape housing, to make the egg shape housing produce vibration；
One control module, it is installed in the egg shape housing, is electrically connected with first camera module and the vibrating motor, receives a control and refer to
Order controls the vibration of the vibrating motor to control first camera module to carry out film shooting and image transmission；One wire group,
Comprising an airway open, the wire group is fixed on second side of the egg shape housing, and a flexible pipe gas is coated by a wire sheath
Road is formed；And a Power Supply Assembly, it is arranged in the wire group or the egg shape housing, the Power Supply Assembly electrically connects with the control module
Connect, there is an airway open to transmit electric power to the control module, wherein egg shape housing or the wire group, the airway open connects
Lead to the flexible pipe air flue of the wire group, a gas caused by outside sequentially to be delivered to greatly via the flexible pipe air flue and airway open
In intestines.
In one embodiment of this invention, the big colonoscopy of egg shape also includes：
One second camera module, second end is installed on, to shoot the shooting direction in contrast to first camera module
Image.
In one embodiment of this invention, the big colonoscopy of egg shape also includes：
One angle detection unit, connects the control module, to detect a level angle changing value of the egg shape housing, and
The level angle changing value is sent out by the control module.
In one embodiment of this invention, the angle detection unit is micro electronmechanical angle detection chip, micro-electro-mechanical gyroscope
Chip, micro electronmechanical two-axis acceleration sensor chip, micro electronmechanical 3-axis acceleration sensor chip, rolling switch and Magnetic Sensor are wherein
One of.
In one embodiment of this invention, the big colonoscopy of egg shape also includes：
An at least abdominal foot, the periphery of the egg shape housing is installed on, to aid in the big colonoscopy of the egg shape to advance.
In one embodiment of this invention, the big colonoscopy of egg shape also includes：
At least one set of passive external member of magnetic, the inner circumferential of the egg shape housing is installed on, to be filled by an outside active magnetic
Put and aid in the big colonoscopy of the egg shape to advance and position.
In one embodiment of this invention, the Power Supply Assembly is arranged in wire group, and the Power Supply Assembly is a plurality of wire.
In one embodiment of this invention, the big colonoscopy of egg shape also includes：
One wireless transport module, the control module is connected, the image transmission captured by first camera module to be gone out
Go.
In one embodiment of this invention, the Power Supply Assembly is the battery being arranged in the egg shape housing, and this is wireless
Transport module is additionally operable to receive the control instruction and transmits the control instruction to the control module.
In one embodiment of this invention, the big colonoscopy of egg shape is also comprising a power line signal transmission for connecting the control module
Module, or the wire group also include a signal transmssion line, the power line signal transport module and the signal transmssion line to incite somebody to action
Image transmission captured by first camera module is gone out.
In one embodiment of this invention, the length of the big colonoscopy of the egg shape is between 2.5-5.2 centimetres, width between
Between 1.5-2.5 centimetres.
In one embodiment of this invention, the wire group also includes an instrument channel, or the flexible pipe air flue is also used as and is somebody's turn to do
Apparatus channel, the opening of the apparatus channel are configured at the first end, are through to an accommodating medicine equipment at the first end, with
Carry out medical operating.
In one embodiment of this invention, the big colonoscopy of egg shape is also comprising a first end and second for being connected to the egg shape housing
Flexible actuating assembly between end, and the side wall of the egg shape housing is made up of elastomeric material.
In one embodiment of this invention, the periphery of the egg shape housing also has an at least abdominal foot.
In one embodiment of this invention, the flexible actuating assembly is stretched with a driven motor, a telescopic drive part and one
Contracting driven member, the driven motor are fixed on the inner surface of the side wall, and the telescopic drive part is rotatably coupled the driven motor, should
Flexible driven member is arranged at least one the first end and the second end.
The present invention separately provides the traveling control method of the big colonoscopy of egg shape a kind of, the big colonoscopy of the egg shape include a vibration module,
One wire group, a first end, one second end and one first camera module, the vibration module are used to make the big colonoscopy vibration of the egg shape,
The wire group is to the defeated electric power of Fu, and the first end and the second end are opposite end of the big colonoscopy of the egg shape on an axial direction, and this
One camera module is located at the first end, and the traveling control method comprises the steps of：Make the big colonoscopy vibration of the egg shape；And in the egg
When the big colonoscopy of type vibrates, the first end is allowed to be less than second end on gravity direction.
In one embodiment of this invention, the traveling control method of the big colonoscopy of egg shape also comprises the steps of：
A pulling force is provided to control the gait of march of the big colonoscopy of the egg shape or finely tune the big colonoscopy direct of travel of the egg shape.
In one embodiment of this invention, there is provided the method for the pulling force is the pull wire group.
In one embodiment of this invention, the traveling control method of the big colonoscopy of egg shape also comprises the steps of：
The level angle for detecting the big colonoscopy of the egg shape changes and sends out a level angle changing value.
The present invention separately provides the traveling control method of the big colonoscopy of egg shape a kind of, the big colonoscopy of the egg shape include a vibration module with
The big colonoscopy of the egg shape is set to vibrate, also comprising a wire group to transmit electric power, the big colonoscopy of the egg shape also includes the big colonoscopy of the egg shape
The passive external member of one magnetic, the traveling control method comprise the steps of：Make the big colonoscopy vibration of the egg shape；And in the big colonoscopy of the egg shape
During vibration, there is provided an outside active magnetic device draws the passive external member of the magnetic, before aiding in the big colonoscopy of the egg shape when vibration
Enter.
In one embodiment of this invention, the traveling control method of the big colonoscopy of egg shape also comprises the steps of：
The direct of travel for providing a pulling force to control the gait of march of the big colonoscopy of the egg shape or finely tune the big colonoscopy of the egg shape.
In one embodiment of this invention, there is provided the method for the pulling force is the pull wire group.
In one embodiment of this invention, the traveling control method of the big colonoscopy of egg shape also comprises the steps of：
The level angle for detecting the big colonoscopy of the egg shape changes and sends out a level angle changing value.
The present invention separately provides a kind of traveling control method of the big colonoscopy of egg shape, and the big colonoscopy of the egg shape includes a wire group, one
The flexible actuating assembly of first end, one second end, one first camera module and one, the wire group is to transmit electric power, the first end
And second end be opposite end of the big colonoscopy of the egg shape on an axial direction, first camera module is located at the first end, and this is flexible
Actuating assembly is used to make the big colonoscopy of the egg shape can be along the axial stretching, and the traveling control method comprises the steps of：Make the egg shape
Big colonoscopy stretches；And when the big colonoscopy of the egg shape is flexible, the first end is allowed to be less than second end on gravity direction.
In one embodiment of this invention, the periphery of the housing of the big colonoscopy of the egg shape also has an at least abdominal foot；The traveling
Control method also comprises the steps of：
When the big colonoscopy of egg shape is flexible, the abdominal foot can support the wall of enteron aisle in the big colonoscopy stretching process of egg shape.
It is cited below particularly multiple preferably real for above and other purpose, feature and the advantage of the present invention can also be become apparent
Example is applied, and coordinates institute's accompanying drawings, is described in detail below (embodiment).
Brief description of the drawings
Figure 1A is the diagrammatic cross-section of the big specific embodiment of colonoscopy one of egg shape provided by the invention；
Figure 1B is the diagrammatic cross-section of the big colonoscopy another specific embodiment of egg shape provided by the invention；
Fig. 2 is the diagrammatic cross-section of the big colonoscopy still another embodiment of egg shape provided by the invention；
Fig. 3 A are the diagrammatic cross-section of the big colonoscopy still another embodiment of egg shape provided by the invention；
Fig. 3 B are an embodiment of the schematic perspective view of the big colonoscopy embodiment of egg shape provided by the invention in Fig. 3 A；
Fig. 3 C are the yet another embodiment of the schematic perspective view of the big colonoscopy embodiment of egg shape provided by the invention in Fig. 3 A；
Fig. 4 A are the vertical cut-away schematic view of the big colonoscopy still another embodiment of egg shape provided by the invention；
Fig. 4 B are the horizontal profile schematic diagram of the big specific embodiment of colonoscopy one of egg shape provided by the invention；
Fig. 5 is the diagrammatic cross-section of the big colonoscopy still another embodiment of egg shape provided by the invention；
Fig. 6 is the use state diagram of the big colonoscopy of egg shape provided by the invention；
Fig. 7 A, Fig. 7 B are the schematic diagram of another use state of the big colonoscopy of egg shape provided by the invention, pass through the second photography mould
The dead angle of intestinal wall gauffer can be observed in block；
Fig. 8 A are the first pass figure of the big colonoscopy traveling control method of egg shape provided by the invention；
Fig. 8 B are the second flow chart of the big colonoscopy traveling control method of egg shape provided by the invention；
Fig. 9 A are the diagrammatic cross-section of the big colonoscopy another specific embodiment of egg shape provided by the invention；
Fig. 9 B are the section signal of wire group (exposed parts) in the big colonoscopy Fig. 9 A embodiments of egg shape provided by the invention
Figure；
Fig. 9 C are the cross section signal of egg shape housing first end in the big colonoscopy Fig. 9 A embodiments of egg shape provided by the invention
Figure；
Figure 10 is the behaviour that is performed the operation with polypectomy apparatus in the big colonoscopy Fig. 9 A embodiments of egg shape provided by the invention
Make schematic diagram；
Figure 11 A are the diagrammatic cross-section of the big colonoscopy another specific embodiment of egg shape provided by the invention；
Figure 11 B are the section signal of wire group (exposed parts) in the big colonoscopy Figure 11 A embodiments of egg shape provided by the invention
Figure；
Figure 11 C are the cross section signal of egg shape housing first end in the big colonoscopy Figure 11 A embodiments of egg shape provided by the invention
Figure；
Figure 12 is in the big colonoscopy Figure 11 A embodiments of egg shape provided by the invention, is performed the operation with polypectomy apparatus
Operation chart；
Figure 13 a are section signal of the big colonoscopy still another embodiment of egg shape provided by the invention when egg shape housing stretches
Figure；
Figure 13 b are section signal of the big colonoscopy still another embodiment of egg shape provided by the invention in egg shape housing shrinkage
Figure；
Figure 13 c are that the big colonoscopy still another embodiment of egg shape provided by the invention stretches in egg shape housing parts and partly received
Diagrammatic cross-section during contracting.
Description of reference numerals：10- egg shape housings；10c- egg shape housings；11a- first ends；The ends of 11b- second；12a- first
Image extraction module；The image extraction modules of 12b- second；The light emitting modules of 13a- first；The light emitting modules of 13b- second；14a- first circuit boards；
14b- second circuit boards；15- vibrating motors；16- abdominal foots；16a- abdominal foots；16b- abdominal foots；17a- magnet assembly N poles；17b- magnetic
Component S poles；18- central circuit plates；19- housing sidewalls；19 '-housing sidewall；20- wire groups；20a- wire groups；20b- wires
Group；21- wires；22- flexible pipe air flues；23- wire sheaths；24- flexible pipe airway opens；25- airway opens；26- instrument channels；
27- pipe inner stuffings；30- large intestines；The 31- colon ascendens；32- transverse colons；33- colon descendens；34- sigmoid colons；35- rectum；40- is big
Intestinal polyp；50- wireless transport modules；60- control modules；70- angle detection units；80- stretches actuating assembly；81- activates horse
Reach；82- telescopic drive parts；83- stretches driven member；90- polypectomy apparatuses；91- polypotomes；L 1- length；W1- is wide
Degree.
Embodiment
According to one embodiment of present invention, the invention provides a big colonoscopy of egg shape, and the row of the big colonoscopy of egg shape
Enter control method.The big colonoscopy possesses the shape of egg, it is sufficient to inserts in large intestine, then by way of vibration, allows big colonoscopy to match somebody with somebody
Close intestinal wall and can advance along enteron aisle.At the intestinal wall of turning, big colonoscopy also can smoothly advance, and will not cause enteron aisle or intestines
Wall it is uncomfortable.
In addition, the big colonoscopy of egg shape provided by the invention has been also connected with soft wire group, required electricity is provided big colonoscopy
Power, it is convenient to be photographed in real time.Moreover, according to the demand of doctor or control, the supply gas that the wire group can also be in good time, with
Make the expansion of intestines wall appropriateness, be advantageous to doctor and perform Inspection.It will be detailed below the big colonoscopy of egg shape provided by the invention
Specific structure and function.
It is the big colonoscopy first embodiment of egg shape as shown in Figure 1A, the big colonoscopy of egg shape includes：One egg shape housing 10 and a wire
Group 20.Wherein, one first camera module, one second camera module, a vibration module and one are included among the egg shape housing 10
Control module 60.
In structure, the egg shape housing 10 has a first end 11a, one second end 11b and one along the axial direction of egg shape housing 10
The centered cylinder part of extension.Wherein, the first end 11a and the second end 11b refers respectively to the axial both ends of egg shape housing 10,
And each personal transparent material of first end 11a, the second end 11b is made.
Secondly, first camera module configures the first end 11a in egg shape housing 10, and it includes：One first image extraction module
12a, one first light emitting module 13a and a first circuit board 14a.Second camera module is configured at the second end of egg shape housing 10
11b, it includes：One second image extraction module 12b, one second light emitting module 13b and a second circuit board 14b.
First, second image extraction module 12a, 12b are using one of the cmos sensor of high pixel and ccd sensor.This
First, second light emitting module 13a, 13b can use the light emitting module that light emitting diode (english abbreviation is by LED) is formed.Therefore, should
First camera module can be illuminated and photograph with the second camera module, and the second camera module is primarily used to shoot intestinal wall
Gauffer or dead angle, its filmed image it is opposite with the shooting direction of the first camera module.
The control module 60 is installed in egg shape housing 10.In the present embodiment, the control module 60 is installed on middle electrocardio
On road plate 18.The central circuit plate 18 connects an a first circuit board 14a and second circuit board 14b, makes the electrical phase of overall circuit
Even.In fact, overall circuit not limited to this, for example the control module 60 is electrically connected with the first camera module, the second camera module
And vibration module.The control module 60 can receive a control instruction for coming from outside, be held so as to operate any camera module
The shooting and transmission of row image, it can also determine the vibration of vibration module or not vibrate.
For the wire group 20 in the second end 11b sides of egg shape housing 10, the two is fixed is preferred., should in the present embodiment
Wire group 20 has a wire sheath 23, and it includes multiple flexible pipe airway opens 24.The wire sheath 23 coats three and leads (electricity) line
(such as signal wire, electrode line, negative line) and flexible pipe air flue 22.In some embodiments, the wire sheath 23 coats at least two
Lead (electricity) line 21.These are led (electricity) line 21 and serve as a Power Supply Assembly, foregoing control module 60 can be electrically connected with, to output power
Set each electronic building brick in egg shape housing 10, such as the first camera module, the second camera module, control module 60 and vibration mould
The components such as block.The flexible pipe air flue 22 guides the gas of outside, is delivered to via flexible pipe airway open 24 in large intestine.
In the present embodiment, the vibration module can be vibrating motor 15, and it is installed in egg shape housing 10, makes egg shape housing
10 produce vibration.In Fig. 1 figures, the vibrating motor 15 is installed on the side wall 19 of egg shape housing 10, that is, center column
In side wall.In fig. ib, the vibrating motor 15 is installed on side wall 19 and is inclined at the second end 11b.Some embodiments, the vibrating motor
15, which are installed on side wall 19, is inclined to be preferred at first end 11a.There are some embodiments again, the vibrating motor 15 is installed on egg shape housing 10
Center column centre, that is, on central circuit plate 18.
As shown in Figure 1A, in the planning of size, the length L1 of the big colonoscopy of the egg shape is wide between 2.5-5.2 centimetres
W1 is spent between 1.5-2.5 centimetres
Although gas is poured into the category that enteron aisle belongs to outside control, be the big colonoscopy of egg shape must provide it is main
Function.The wire group 20 except formed such as Figure 1A at the second end 11b close to egg shape housing 10 flexible pipe airway open 24 with
Outside, an airway open 25 directly can also be formed in egg shape housing 10 as Fig. 2.Confession of the airway open 25 except carrying out gas
Beyond answering, some water or liquid medicine also can be optionally supplied.
In figure 3 a, there are multiple abdominal foots 16 outside the egg shape housing 10, these abdominal foots 16 can aid in the big colonoscopy of egg shape to exist
More stably advance in large intestine.Certainly, the abdominal foot construction that the big colonoscopy of egg shape advances, also other options are aided in：More than one
Just like the abdominal foot 16a of the monocyclic constructions of Fig. 3 B；Or the abdominal foot 16b of spiral structure as shown in Figure 3 C；Or constructed similar to snake scale
Abdominal foot；And the or combination of these constructions.
In addition to abdominal foot, the auxiliary big colonoscopy of egg shape is also installed on egg shape housing 10 in the equipment that large intestine advances including one
The passive external member of magnetic-type.In Fig. 4 A, Fig. 4 B, three groups of passive external members of magnetic are installed on the center column of egg shape housing 10 close to first
11a part is held, every group of passive external member of magnetic includes：An one magnet assembly N pole 17a and magnet assembly S pole 17b, the magnetic group
Part N poles are located at the both ends of diameter with S poles 17a, 17b, can be by an outside active magnetic device come auxiliary traction egg shape housing 10
Advance and positioning.
In an application scenarios, the outside active magnetic device produces draw to the passive external member of magnetic, allows into big
The local rotation of egg shape housing 10 of intestines, until the second camera module it can be seen that the dead angle covered by wire group 20.In others
In application scenarios, the outside active magnetic device traction passive external member of magnetic, egg shape housing 10 is set to produce what is moved ahead along enteron aisle
Complementary power.
In addition, the magnetic field of the passive external member of the magnetic, can be detected equipment sensing, and obtain by a display by some induction types
Know the correct orientation inside large intestine of egg shape housing 10.When doctor makes a definite diagnosis for sufferer, sign affected part can be understood in large intestine
Elaborate position.
,, just can be with wired as long as well-off electric power due to the design of wire group 20 in terms of the transmission of signal of video signal
Or one of wireless mode is transmitted operation.Specifically, in wire transmission pattern, the big colonoscopy of the egg shape is transmitted using signal
One of line or power supply signal transmission (Power line transmission) mode.Therefore, the wire group 20 includes a bars
Transmission line (is not painted) in figure, or extra one group of power line signal transport module (not painted in figure) is installed in egg shape housing 10, side
Just control module 60 in real time sends out signal of video signal.
As shown in figure 5, in wireless communication mode, the big colonoscopy of the egg shape adds a wireless transport module 50.This is wirelessly passed
Defeated module 50 is electrically connected with control module 60, and equally the image transmission that first, second camera module is shot can be gone out.
Secondly, (electricity) line 21 of leading of the big colonoscopy of the egg shape is substituted by a battery (not painted in figure)., should in wireless communication mode
Battery is located in egg shape housing 10, serves as the power supply unit of the big colonoscopy of egg shape, supplies the electric power needed for each electronic building brick.Therefore,
One control instruction from outside is transferred wirelessly module 50 and received, so as to be transferred to control module 60.In this way, the wire group 20
Only flexible pipe air flue 22, but without (electricity) line is led, the big colonoscopy of egg shape will not be also hindered to perform the inspection of enteron aisle.
As shown in figure 5, the more angle detection unit 70 of the big colonoscopy of the egg shape, intestines of the auxiliary egg shape big colonoscopy in large intestine
When road navigates by water, the current horizontal tilt angle of the big colonoscopy of egg shape is grasped.The angle detection unit 70 is electrically connected with control module
60, the changing value of the level angle of egg shape housing 10 can be detected and sent out.
Briefly, the first end 11a of the egg shape housing 10 is less than the second end 11b in gravity direction, that is, calls first end 11a
Horizontal tilt angle it is downward.This moment, the big colonoscopy of egg shape can be allowed to be moved in the enteron aisle of large intestine with mode of vibration.
If not downward first end 11a situation (i.e. first end 11a is higher than the second end 11b on gravity direction, or with
Second end 11b equipotentials), doctor can by foregoing outside active magnetic device (referring to the related explanation of Fig. 4 A, Fig. 4 B) come
The advance of the big colonoscopy of auxiliary traction egg shape；Or the angle of enteron aisle is adjusted to allow the big colonoscopy of egg shape by adjusting patient's posture
First end 11a states directed downwardly can be formed.Therefore, the configuration of angle detection unit 70, egg shape large intestine provided by the invention are passed through
Mirror is more easily achieved the present invention and wants the purpose that the advance reached controls.
Wherein, angle detection unit 70 may be selected from：One micro electronmechanical angle detection chip, microelectromechanicgyroscope gyroscope instrument chip, microcomputer
One of electric two-axis acceleration sensor chip, micro electronmechanical 3-axis acceleration sensor chip, rolling switch, Magnetic Sensor.More than
Numerous components, as far as possible using microminiaturization and possess the component of shatter-proof condition and consider as selection.
As shown in fig. 6, illustrate the use state of the big colonoscopy of egg shape.It can clearly be seen from figure, because the present invention uses
The structure of egg shape, that is, the design of egg shape housing 10, the design of its egg shape, meet enteron aisle open ended digest knot originally
Structure characteristic.Exist further, since wire group 20 employs the design of soft flexible pipe air flue its flexible characteristic plus diameter control
Less than 0.5 centimetre, so, when doctor operates the big colonoscopy of egg shape of the present invention, it can smoothly allow egg easily in a manner of painless
The big colonoscopy of type enters the enteron aisle of large intestine 30, by rectum 35 to sigmoid colon 34 to colon descendens 33 to transverse colon 32 to the colon ascendens 31,
Complete 160 centimetres of enteron aisles, the constriction of enteron aisle will not be caused, the uncomfortable sensation of sufferer will not be caused naturally.
Prior, the big colonoscopy of egg shape provided by the invention allows the big colonoscopy of egg shape without dead angle by the design of forward and backward bimirror
See the another side of large intestine gauffer in ground.
As shown in Figure 7 A, 7 B, another use state of the big colonoscopy of egg shape is illustrated.In fig. 7, when the big colonoscopy of egg shape is advanced
Process, the colorectal polyp 40 of the fold place reverse side of large intestine 30 can not be seen.But when advancing to Fig. 7 B position, you can pass through second
Camera module observes the colorectal polyp 40 at the dead angle of the intestinal wall gauffer of large intestine 30.
Substantially, the big colonoscopy of egg shape provided by the invention aids in advancing by way of vibration, and its main purpose is uncommon
Hope the discomfort that can lower sufferer when checking.And appropriate traveling control method, the present invention is just served critically important.This
Invention by certain methods can the big colonoscopy of egg shape can successfully be aided in advancing：First method is that gravity adds vibratory drilling method, the
Two kinds of methods are that magnetic force adds vibratory drilling method, and the third method is that gravity adds vibration plus magnetic method.
It is as shown in Figure 8 A the big colonoscopy traveling control method first pass figure of egg shape provided by the invention, contains following step
Suddenly：
Step 101：Detect the horizontal tilt angle of the big colonoscopy of egg shape.
Step 103：Vibrated the big colonoscopy of egg shape.
Step 105：When the vibration of egg shape big colonoscopy, allow the big colonoscopy of egg shape first end 11a on gravity direction less than the
Two end 11b (such as：Allow the enteron aisle residing for the big colonoscopy of egg shape to be in be tilted with horizon, and make the direction of advance court of the big colonoscopy of egg shape
Under).
Due to having grasped the horizontal tilt angle of the big colonoscopy of egg shape, enteron aisle is seen also by the first camera module
Situation, therefore, when the big colonoscopy of egg shape first end (11a) not down when, the situation of enteron aisle can be adjusted in many ways, if
Method allow the big colonoscopy of egg shape first end (11a) down, the mode that the big colonoscopy of egg shape can be vibrated is advanced.For example, disease can allow
The position that people lies changes, or, pass through the auxiliary of sick bed, you can reach the purpose for allowing enteron aisle relative position to change.For example, egg shape
After big colonoscopy enters colon descendens, controllable sick bed make the head of patient down and pin upward, you can form direct of travel down (the
One end 11a is down) state, then the level angle change information of the big colonoscopy of egg shape of arranging in pairs or groups, you can local directed complete set enteron aisle position, allow
The first end (11a) of the big colonoscopy of egg shape down, is easily advanced in colon descendens.In another example turn the turning of transverse colon in colon descendens,
Patient body can be made to turn right to lie on one's side, form the state that the big colonoscopy of egg shape is easily advanced toward transverse colon.Or local pushing enteron aisle,
By that analogy.
Except above-mentioned steps 101, step 103 and step 105, the traveling control method of the big colonoscopy of egg shape provided by the invention
First pass figure can further include a step 107：A pulling force is provided to control the gait of march of the big colonoscopy of egg shape or fine setting
The direct of travel of the big colonoscopy of egg shape.
This step 107 is used to slow down its speed when the gait of march of the big colonoscopy of egg shape is too fast, or for big in egg shape
Colonoscopy somewhat adjusts its direct of travel when being stuck in because of direct of travel slightly deflection in enteron aisle.Wherein, there is provided the side of this pulling force
Formula can be pull wire group 20.
Then, it is as shown in Figure 8 B the traveling control method flow second flow chart of the big colonoscopy of egg shape provided by the invention,
Namely by way of magnetic force, this is the explanation of Fig. 4 A traveling control method, contains following step：
Step 111：The big passive external member of the magnetic of colonoscopy one of egg shape is provided.
Step 113：Detect the horizontal tilt angle of the big colonoscopy of egg shape.
Step 115：Make the big colonoscopy vibration of the egg shape.
Step 117：When the egg shape big colonoscopy vibration, there is provided an outside active magnetic device traction passive external member of magnetic,
To aid in the big colonoscopy of egg shape to advance when vibration.Due to having grasped the horizontal tilt angle of the big colonoscopy of egg shape, so egg shape
Big colonoscopy, by the active magnetic device of outside, can be attracted to the big colonoscopy of egg shape and make its advance when advancing, this point, we
The image that directly can be transmitted by the first camera module is seen.Therefore, we can be easily installed on by active magnetic and shaken
A slight auxiliary traction strength is provided when dynamic, so as to allow the big colonoscopy of egg shape to advance.
Similarly, except above-mentioned steps 111, step 113 step 115 and step 117, the big colonoscopy row of egg shape provided by the invention
The second flow chart for entering control method can further include a step 119：A pulling force is provided to control the row of the big colonoscopy of the egg shape
Enter speed or finely tune the direct of travel of the big colonoscopy of egg shape.The embodiment and purpose of this step 119 and foregoing traveling control method
The step 107 of first embodiment is identical, therefore repeats no more.
It is the diagrammatic cross-section of the big colonoscopy another specific embodiment of egg shape provided by the invention as shown in Figure 9 A；Fig. 9 B are figure
The diagrammatic cross-section of 9A embodiment wires group (exposed part)；Fig. 9 C are the first end 11a's of Fig. 9 A embodiment egg shapes housing 10
Cross-sectional.
In this embodiment, wire group 20a adds an instrument channel 26 in addition to original flexible pipe air flue 22
(Instrument Channel), and flexible pipe air flue 22 is open with instrument channel 26 all at the first end 11a of the big colonoscopy of egg shape
(outlet).The opening of flexible pipe air flue 22 and instrument channel 26 is configured at by the first image extraction module 12a, to allow by the present embodiment
Doctor can penetrate polypectomy apparatus 90 (as shown in Figure 10), hemostatic needle, section pincers, foreign body forcepses etc. by instrument channel 26
Afterwards, necessary operation is implemented.In addition, the big colonoscopy of the egg shape of this specific embodiment can also have the magnetic quilt as shown in Fig. 4 A, Fig. 4 B
Dynamic external member, with perform a surgical operation all or in part during, using the passive external member of outside active magnetic device magnetic magnetic, enter
And fix position and orientation of the egg shape housing 10 in large intestine enteron aisle.
In addition, in figures 9 b and 9 it is observed that wire group 20a is located in the cross-section structure outside the big colonoscopy of egg shape, except original
First flexible pipe air flue 22, wire 21 (being made up of three wires, respectively positive pole, negative pole, signal wire, and cladding) outside, also
Include instrument channel 26, and pipe inner stuffing 27, pipe inner stuffing 27 can allow whole wire group 20a stabilized structure.And
In figure 9 a, first end 11a opening and the part not comprising wire 21, it is passed by the second end 11b position, and is welded in
On second circuit board 14b.It is here formed as special wire group 20a structure.Certainly, for another embodiment, wire 21
It can be passed from first end 11a position, and be welded on first circuit board 14a and (do not draw).
It is observed that apparatus channel 26 is placed in by the first image extraction module 12a with flexible pipe channel 22 in Fig. 9 C, work as apparatus
When being passed by instrument channel 26, doctor can be allowed to be clearly seen the state of apparatus, and then accurately be performed the operation, as shown in Figure 10.
As shown in Figure 10, the mode of operation that the big colonoscopy addition polypectomy apparatus 90 of Fig. 9 A egg shapes is performed the operation is illustrated.Its
In, flexible pipe air flue 22 can spray gas and water of needs etc., allow enteron aisle expansion with lubricating.And the first light emitting module 13a can be controlled
The light source of different colours is produced, then the capture under different light source irradiation results is carried out by the first image extraction module 12a.Or when
One image extraction module 12a is also changed to the adjustable camera of multiplying power, you can low range, powerful capture is carried out, with the amplification of high power
Effect directly observes cell, and doctor can be diagnosed in more detail.
In addition, the big colonoscopy of egg shape in Fig. 9 A adds instrument channel 26, different apparatuses can be allowed to enter through thus passage
First end 11a.By taking Figure 10 as an example, it has used polypectomy apparatus 90 to penetrate instrument channel 26, and polypotome 91 can also be stretched
Go out, assist doctor further to carry out colorectal polyp incision operation.
Then, as shown in Figure 11 A, Figure 11 C and Figure 12, the big colonoscopy another specific embodiment of egg shape is illustrated.Wherein, Figure 11 A
For the diagrammatic cross-section of the big colonoscopy of egg shape of this embodiment, Figure 11 B are that the wire group of the big colonoscopy of egg shape of this embodiment is (exposed
Part) diagrammatic cross-section, Figure 11 C are the first end 11a of the big colonoscopy of egg shape of this embodiment cross-sectional, and Figure 12
Operation chart during to be performed the operation with the big colonoscopy of the egg shape of this embodiment.Compared to previous embodiment, this embodiment
Wire group 20b omits instrument channel 26, and is used with flexible pipe air flue 22 as instrument channel mouth (Instrument Channel), enters
And realize gas, water and the three-in-one effect of instrument channel.
As Figure 13 a to Figure 13 c show the section signal of the still another embodiment of the big colonoscopy of egg type provided by the invention
Figure.The structure of this embodiment is close with foregoing first specific embodiment, but the egg shape housing 10c of the present embodiment housing sidewall
19 ' are made up of elastomeric material.In addition, egg shape housing 10c does not have a central circuit plate 18, therefore the vibrating motor 15 of the present embodiment, control
Molding block 60 and angle detection unit 70 are arranged at first circuit board 14a or second circuit board 14b, and first circuit board 14a and
It is connected between second circuit board 14b with the wire of deflection.
In the present embodiment, the big colonoscopy of egg type is mainly characterized by：A flexible actuating assembly is additionally provided with egg shape housing 10c
80 are connected between egg shape housing 10c first end 11a and the second end 11b, and egg shape housing 10c outer surface has abdominal foot
16。
In detail, this flexible actuating assembly 80 is that can make between egg shape housing 10c first end 11a and the second end 11b
The structure that distance is stretched repeatedly, it includes a driven motor 81, a telescopic drive part 82 and a flexible driven member 83, wherein activating
Motor 81 can controlled module 60 control and be preferably fixed on the inner surface of housing sidewall 19 ', telescopic drive part 82 is rotationally
Driven motor 81 is connected, flexible driven member 83 is arranged at first end 11a first circuit board 14a and the second end 11b the second electricity
Road plate 14b.Or driven motor 81 can be also fixed on to one of first circuit board 14a and second circuit board 14b, and will be flexible
Driven member 83 is arranged at first circuit board 14a and second circuit board 14b another one.
By above-mentioned flexible actuating assembly 80, when driven motor 81 is operated and when rotating telescopic drive part 82, stretch
Contracting driven member 83 i.e. can away from telescopic drive part 82 (as shown in FIG. 13A) or neighbouring telescopic drive part 82 (as shown in Figure 13 B),
Housing sidewall 19 ' is stretched, and then aid in the big colonoscopy of this egg type to be also smoothly through thin narrow place or turning in enteron aisle,
Even the power advanced completely by the big colonoscopy of flexible offer egg type of housing sidewall 19 '.
Foregoing flexible actuating assembly 80, can be by any first end 11a and the second end 11b that can make egg shape housing 10c
The distance between flexible structure composition repeatedly.As shown in Figure 13 A and Figure 13 B, telescopic drive part 82 is a bent axle, and it is flexible from
Moving part 83 is two connecting rods, and one of connecting rod is articulated in bent axle and first circuit board 14a, another connecting rod be then articulated in bent axle and
Second circuit board 14b.Or as shown in fig. 13 c, telescopic drive part 82 is that an outer peripheral face has the heteropolarity magnetic pole being arranged alternately
The rotor in face, and flexible driven member 83 is two magnet of the magnetic pole strength towards telescopic drive part 82, then passes through telescopic drive part 82
Magnetic pole strength and flexible driven member 83 magnetic pole strength between be attracted or repelled, can also housing sidewall 19 ' is stretched.
By the structure of above-described embodiment, the traveling control method of the big colonoscopy of egg shape provided by the invention also can be in detecting
After the horizontal tilt angle of the big colonoscopy of egg shape, the big colonoscopy of egg shape is stretched, and allow the first end 11a of the big colonoscopy of egg shape to exist
It is less than the second end 11b on gravity direction, you can the big colonoscopy of egg type is advanced in a manner of stretching repeatedly.It is or above-mentioned flexible dynamic
The modes such as vibration traveling or the magnetic traveling for making also coordinate foregoing other embodiment are implemented.Further, since egg shape housing 10c
Periphery can be provided with abdominal foot 16, therefore during the big colonoscopy stretching, extension of egg shape, abdominal foot 16 can be supported in enteron aisle wall, effectively carried
Rise the traveling effect of expanding-contracting action.
With the present invention, can reach it is painless, without dead angle, do not easily cause the special technique effect of enterobrosis etc., reached people
A much progress in class medical history.
Although technology contents of the invention are disclosed above with preferred embodiment, so it is not limited to the present invention,
It is any to be familiar with this those skilled in the art, make a little also dynamic and retouching in the spirit for not departing from the present invention, should all be covered by the present invention's
In category, therefore protection scope of the present invention ought be defined depending on this case right and is defined.
Claims (25)
1. a kind of big colonoscopy of egg shape, it is characterised in that include：
One egg shape housing, have one axially, and be upwardly formed a first end in the axle and one second end, the first end are transparent by one
Material is made；
One first camera module, is installed on the first end, to be illuminated and photograph；
One vibrating motor, it is installed in the egg shape housing, to make the egg shape housing produce vibration；
One control module, it is installed in the egg shape housing, is electrically connected with first camera module and the vibrating motor, receives a control
System instruction controls the vibration of the vibrating motor to control first camera module to carry out film shooting and image transmission；
One wire group, comprising an airway open, the wire group is fixed on second side of the egg shape housing, by a wire sheath
Coat flexible pipe air flue composition；And
One Power Supply Assembly, it is arranged in the wire group or the egg shape housing, the Power Supply Assembly is electrically connected with the control module, with
Electric power is transmitted to the control module,
Wherein the egg shape housing or the wire group have an airway open, and the airway open connects the flexible pipe air flue of the wire group,
A gas caused by outside is sequentially delivered in large intestine via the flexible pipe air flue and airway open.
2. the big colonoscopy of egg shape according to claim 1, it is characterised in that also include：
One second camera module, second end is installed on, to shoot the shadow of the shooting direction in contrast to first camera module
Picture.
3. the big colonoscopy of egg shape according to claim 1, it is characterised in that also include：
One angle detection unit, connects the control module, to detect a level angle changing value of the egg shape housing, and passes through
The control module sends out the level angle changing value.
4. the big colonoscopy of egg shape according to claim 3, it is characterised in that the angle detection unit is micro electronmechanical angle detection
Chip, microelectromechanicgyroscope gyroscope instrument chip, micro electronmechanical two-axis acceleration sensor chip, micro electronmechanical 3-axis acceleration sensor chip, rolling
One of switch and Magnetic Sensor.
5. the big colonoscopy of egg shape according to claim 1, it is characterised in that also include：
An at least abdominal foot, the periphery of the egg shape housing is installed on, to aid in the big colonoscopy of the egg shape to advance.
6. the big colonoscopy of egg shape according to claim 1, it is characterised in that also include：
At least one set of passive external member of magnetic, the inner circumferential of the egg shape housing is installed on, to auxiliary by an outside active magnetic device
The big colonoscopy of the egg shape is helped to advance and position.
7. the big colonoscopy of egg shape according to claim 1, it is characterised in that the Power Supply Assembly is arranged in wire group, and should
Power Supply Assembly is a plurality of wire.
8. the big colonoscopy of egg shape according to claim 1, it is characterised in that also include：
One wireless transport module, the control module is connected, the image transmission captured by first camera module to be gone out.
9. the big colonoscopy of egg shape according to claim 8, it is characterised in that the Power Supply Assembly is to be arranged in the egg shape housing
A battery, and the wireless transport module is additionally operable to receive the control instruction and transmits the control instruction to the control module.
10. the big colonoscopy of egg shape according to claim 1, it is characterised in that also comprising a power supply for connecting the control module
Line signal transmission module, or the wire group also include a signal transmssion line, and the power line signal transport module and the signal pass
Defeated line is the image transmission captured by first camera module to be gone out.
11. the big colonoscopy of egg shape according to claim 1, it is characterised in that the length of the big colonoscopy of the egg shape is between 2.5-5.2
Between centimetre, width is between 1.5-2.5 centimetres.
12. the big colonoscopy of egg shape according to claim 1, it is characterised in that the wire group also includes an instrument channel, or
The flexible pipe air flue is also used as the apparatus channel, and the opening of the apparatus channel is configured at the first end, to house a medicine equipment
It is through at the first end, to carry out medical operating.
13. the big colonoscopy of egg shape according to claim 1, it is characterised in that be also connected to the of the egg shape housing comprising one
Flexible actuating assembly between one end and the second end, and the side wall of the egg shape housing is made up of elastomeric material.
14. the big colonoscopy of egg shape according to claim 13, it is characterised in that the periphery of the egg shape housing also has at least one
Abdominal foot.
15. the big colonoscopy of egg shape according to claim 13, it is characterised in that the flexible actuating assembly has an actuating horse
Reach, a telescopic drive part and a flexible driven member, the driven motor are fixed on the inner surface of the side wall, the telescopic drive part can turn
The driven motor is connected dynamicly, and the flexible driven member is arranged at least one the first end and the second end.
16. a kind of traveling control method of the big colonoscopy of egg shape, the big colonoscopy of the egg shape includes a vibration module, a wire group, one the
One end, one second end and one first camera module, the vibration module are used to making the vibration of the egg shape big colonoscopy, and the wire group is passing
Transmission of electricity power, the first end and the second end are opposite end of the big colonoscopy of the egg shape on an axial direction, and first camera module is located at
The first end；Characterized in that, the traveling control method comprises the steps of：
Make the big colonoscopy vibration of the egg shape；And
When the egg shape big colonoscopy vibration, the first end is allowed to be less than second end on gravity direction.
17. the traveling control method of the big colonoscopy of egg shape according to claim 16, it is characterised in that also comprising following step
Suddenly：
A pulling force is provided to control the gait of march of the big colonoscopy of the egg shape or finely tune the big colonoscopy direct of travel of the egg shape.
18. the traveling control method of the big colonoscopy of egg shape according to claim 17, it is characterised in that the side of the pulling force is provided
Method is the pull wire group.
19. the traveling control method of the big colonoscopy of egg shape according to claim 16, it is characterised in that also comprising following step
Suddenly：
The level angle for detecting the big colonoscopy of the egg shape changes and sends out a level angle changing value.
20. a kind of traveling control method of the big colonoscopy of egg shape, the big colonoscopy of the egg shape includes a vibration module so that the egg shape large intestine
Mirror can vibrate, and also comprising a wire group to transmit electric power, the big colonoscopy of the egg shape also passively covers the big colonoscopy of the egg shape comprising a magnetic
Part；Characterized in that, the traveling control method comprises the steps of：
Make the big colonoscopy vibration of the egg shape；And
When the egg shape big colonoscopy vibration, there is provided an outside active magnetic device draws the passive external member of the magnetic, to aid in the egg
The big colonoscopy of type advances when vibration.
21. the traveling control method of the big colonoscopy of egg shape according to claim 20, it is characterised in that also comprising following step
Suddenly：
The direct of travel for providing a pulling force to control the gait of march of the big colonoscopy of the egg shape or finely tune the big colonoscopy of the egg shape.
22. the traveling control method of the big colonoscopy of egg shape according to claim 21, it is characterised in that the side of the pulling force is provided
Method is the pull wire group.
23. the traveling control method of the big colonoscopy of egg shape according to claim 20, it is characterised in that also comprising following step
Suddenly：
The level angle for detecting the big colonoscopy of the egg shape changes and sends out a level angle changing value.
24. a kind of traveling control method of the big colonoscopy of egg shape, the big colonoscopy of the egg shape includes a wire group, a first end, one second
The flexible actuating assembly of end, one first camera module and one, for the wire group to transmit electric power, the first end and the second end are the egg
Opposite end of the big colonoscopy of type on an axial direction, first camera module are located at the first end, and the flexible actuating assembly is used to make
The big colonoscopy of the egg shape can be along the axial stretching；Characterized in that, the traveling control method comprises the steps of：
The big colonoscopy of the egg shape is set to stretch；And
When the big colonoscopy of the egg shape is flexible, the first end is allowed to be less than second end on gravity direction.
25. the traveling control method of the big colonoscopy of egg shape according to claim 24, it is characterised in that the big colonoscopy of the egg shape
The periphery of housing also has an at least abdominal foot；The traveling control method also comprises the steps of：
When the big colonoscopy of egg shape is flexible, the abdominal foot can support the wall of enteron aisle in the big colonoscopy stretching process of egg shape.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610525330.1A CN107569204A (en) | 2016-07-05 | 2016-07-05 | The big colonoscopy of egg shape and traveling control method |
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| CN201610525330.1A CN107569204A (en) | 2016-07-05 | 2016-07-05 | The big colonoscopy of egg shape and traveling control method |
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Application publication date: 20180112 |