CN110269581A - A kind of magnetic control biopsy capsule endoscope and its application method - Google Patents
A kind of magnetic control biopsy capsule endoscope and its application method Download PDFInfo
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- CN110269581A CN110269581A CN201910660000.7A CN201910660000A CN110269581A CN 110269581 A CN110269581 A CN 110269581A CN 201910660000 A CN201910660000 A CN 201910660000A CN 110269581 A CN110269581 A CN 110269581A
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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
- A61B1/00131—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
- A61B1/00158—Holding or positioning arrangements using magnetic field
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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
- A61B1/04—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
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
- A61B2010/045—Needles
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- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
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Abstract
The invention discloses a kind of magnetic control biopsy capsule endoscopes, including capsule endoscope shell, one end of capsule endoscope shell is equipped with capsule endoscope end cap, the inside of capsule endoscope end cap is embedded with anti-pollution valve, the inside of capsule endoscope shell is equipped with electromagnet, electromagnetic coil is wound on the outside of electromagnet, the end of electromagnetic coil is connected with power supply, bar magnet is installed, bar magnet is equipped with biopsy probe far from a side surface of electromagnet at the position parallel with electromagnet of the inside of capsule endoscope shell；In the present invention, on the basis of Medical biopsy probe, one block of bar magnet to match with probe is increased in its tail portion, to realize the control using magnetic control system to probe, probe can be pierced into living tissue, tissue is taken to carry out biopsy；There is hangnail in biopsy probe, prevent the group obtained to be woven in capsule motion process and lose, the success rate that can also be sampled with augmenting tissue reduces the electricity consumption of capsule.
Description
Technical field
The invention belongs to capsule endoscope technical fields, and in particular to a kind of magnetic control biopsy capsule endoscope and its application method.
Background technique
China is the high-incidence country of disease of digestive tract, brings huge society and financial burden.Wherein peptic ulcer is in people
Illness rate in group is up to 17.2%；It is accounted for respectively according to China's cancer morbidity statistics display gastric cancer, colorectal cancer, the cancer of the esophagus in 2018
The the 3rd, the 4th, the 6th of cancer morbidity, total number of persons is up to 980,000 people.The disease of digestive tract early stage diagnosis and treatment rate in China is low.Alimentary canal
Disease lacks or without specific symptoms.Traditional cannulas formula scope is the inspection most effective diagnostic mode of lesion, but because of its pain
It is bitter big, limitations crowd's acceptance such as need to anaesthetize low, it still cannot be borrowed a wide range of to carry out generaI investigation and screening.Clinical research table
Bright, the prognosis of disease and diagnosis and treatment opportunity are closely related.Clinically, in the life of the different alimentary tract cancer patients for receiving treatment by stages
Depositing rate, there are notable differences.To sum up, the early discovery, early diagnosis of disease of digestive tract, early treatment are the most basic sides for reducing case fatality rate
Method.Therefore a kind of crowd's acceptance height is found out, the method for the fast and effective diagnosis of digestive disease of energy is very urgent.Currently, having
Without anesthesia, comfortable safety, diagnostic accuracy are high, without cross-infection the advantages that capsule endoscope, become inspection alimentary canal
The important means of disease.
Existing capsule endoscope can not carry out biopsy, that is, pathological tissues can not be taken out from patient's body by, which referring to, carries out
Pathological examination, it is most important part in Diagnosis pathology, and the problem of by as clinical final diagnosis, we are mentioned thus
A kind of magnetic control biopsy capsule endoscope and its application method out.
Summary of the invention
The purpose of the present invention is to provide a kind of magnetic control biopsy capsule endoscope and its application methods, to solve above-mentioned background skill
The patient's body pathological tissues that can not take out proposed in art carry out pathological examination problem.
To achieve the above object, the invention provides the following technical scheme: a kind of magnetic control biopsy capsule endoscope, including in capsule
Mirror shell body, one end of the capsule endoscope shell are equipped with capsule endoscope end cap, and the inside of the capsule endoscope end cap is embedded with
Anti-pollution valve, the inside of the capsule endoscope shell are equipped with electromagnet, are wound with electromagnetic coil on the outside of the electromagnet,
The end of the electromagnetic coil is connected with power supply, and the inside of the capsule endoscope shell is equipped at the position parallel with electromagnet
Bar magnet, the bar magnet are equipped with biopsy probe, the outside peace of the biopsy probe far from a side surface of electromagnet
Equipped with adjustable spring, the inside of the biopsy probe is equipped with hangnail in probe.
Preferably, access has slide rheostat and switch between the electromagnetic coil and power supply.
Preferably, the anti-pollution valve and biopsy probe are in parallel position.
Preferably, the anti-pollution valve is a kind of one-way valve.
Preferably, electromagnet and bar magnet one end close to each other are like pole after the electromagnet is powered.
Preferably, the inside of the capsule endoscope shell is equipped with camera.
A kind of application method of magnetic control biopsy capsule endoscope, comprising the following steps:
S1, before use, anti-pollution valve is in closed state, switch is in an off state, and biopsy probe is collapsible into glue
Intracapsular mirror enclosure interior, at this moment patient's swallowable capsule, diagosis person observe the photo that capsule camera is taken, and lesion is found in observation
Position, then so that capsule is moved to diseased region by outside robotic arm, then carrying out the micro-adjustments such as Body Position Change installs biopsy probe
There is one end alignment diseased region of hangnail in probe, after adjusting slide rheostat according to the thickness of pathological tissues to change energization
The size of current of electromagnetic coil adjusts magnetic force size；
S2, to close the switch, be powered inside electromagnetic coil and generate magnetic field, electromagnet can be obtained close to item according to the right-hand rule
The side of shape magnet and bar magnet are peer close to one end of electromagnet, homopolar-repulsion, so that biopsy probe is to separate
Mobile release in the side of electromagnet contacts anti-pollution valve and passes through, until the end of biopsy probe is pierced into pathological tissues and is taken
Sample, pathological tissues can be hung in probe on hangnail, and at this moment adjustable spring is in tensional state；
S3, switch is disconnected, power-off inside electromagnetic coil, so that the magnetic of electromagnet both ends disappears, and bar magnet
Repulsion effect is lost, at this moment adjustable spring can bounce back, to drive biopsy probe mobile to capsule, until carrying out glue completely
Intracapsular portion, at this moment anti-pollution valve is closed；
S4, it takes out capsule from patient's body, then pathological tissues is detected, further determine that the disease of patient
Feelings.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention in, by the probe of setting, on the basis of Medical biopsy probe, its tail portion increase one piece with
Probe can be pierced into living tissue, taken by the bar magnet that probe matches to realize the control using magnetic control system to probe
Tissue carries out biopsy；There is hangnail in biopsy probe, prevents the group obtained to be woven in capsule motion process and lose, group can also be increased
The success rate for knitting sampling reduces the electricity consumption of capsule, probe is withdrawn capsule after the completion of sampling, completes entire inspection
Journey, detection effect are more accurate.
2, different for different check point thickness in the present invention, changed by changing slide rheostat resistance sizes
Size of current to change magnetic force size, and then controls depth of needle, and detection range is wide.
3, in the present invention, it is one-way valve by the anti-pollution valve of setting, can prevents gastrointestinal contents from entering capsule,
Capsule endoscope valve can realize out the unlatching and sealing of needle aperture, maintain the closure of capsule.
Detailed description of the invention
Fig. 1 is capsule endoscope half section structure diagram of the invention；
Fig. 2 closes the switch effective structure schematic diagram for of the invention；
Fig. 3 is that switch of the invention disconnects effective structure schematic diagram；
Fig. 4 is biopsy probe half section structure diagram of the invention；
Fig. 5 is way circuit mounting structure schematic diagram of the invention.
In figure: 1, anti-pollution valve；2, biopsy probe；3, capsule endoscope shell；4, capsule endoscope end cap；5, electromagnet；
6, electromagnetic coil；7, power supply；8, bar magnet；9, adjustable spring；10, hangnail in probe.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 are please referred to, the present invention provides a kind of technical solution: in a kind of magnetic control biopsy capsule
Mirror, including capsule endoscope shell 3, one end of capsule endoscope shell 3 are equipped with capsule endoscope end cap 4, capsule endoscope end cap 4 it is interior
Portion is embedded with anti-pollution valve 1, and the inside of capsule endoscope shell 3 is equipped with electromagnet 5, and the outside of electromagnet 5 is wound with electromagnetism
Coil 6, the end of electromagnetic coil 6 are connected with power supply 7, install at the position parallel with electromagnet 5 of the inside of capsule endoscope shell 3
There is bar magnet 8, bar magnet 8 is equipped with biopsy probe 2, the outside installation of biopsy probe 2 far from a side surface of electromagnet 5
There is adjustable spring 9, the inside of biopsy probe 2 is equipped with hangnail 10 in probe.
Wherein, access has slide rheostat and switch between electromagnetic coil 6 and power supply 7, facilitates control size of current, thus
Magnetic force size is controlled, living body sampling can be carried out to the diseased region of different-thickness.
Wherein, anti-pollution valve 1 is in parallel position with biopsy probe 2, enables biopsy probe 2 from anti-pollution valve
It is passed through at 1 position.
Wherein, anti-pollution valve 1 is a kind of one-way valve, and anti-pollution valve 1 is enabled to have good leakproofness.
Wherein, electromagnet 5 and the one end close to each other of bar magnet 8 are like pole after electromagnet 5 is powered, and can be made
Bar magnet 8, which can be ostracised, is moved to the side far from electromagnet 5.
Wherein, the inside of capsule endoscope shell 3 is equipped with camera, can observe the hoc scenario of lesion locations.
A kind of application method of magnetic control biopsy capsule endoscope, comprising the following steps:
S1, before use, anti-pollution valve 1 is in closed state, switch is in an off state, and biopsy probe 2 is collapsible into
Inside capsule endoscope shell 3, at this moment patient's swallowable capsule, diagosis person observe the photo that capsule camera is taken, and disease is found in observation
Become position, then so that capsule is moved to diseased region by outside robotic arm, then carries out the micro-adjustments such as Body Position Change to make biopsy probe 2
One end alignment diseased region of hangnail 10 in probe is installed, slide rheostat is adjusted to change according to the thickness of pathological tissues
The size of current of electromagnetic coil 6 after energization adjusts magnetic force size；
S2, to close the switch, be powered inside electromagnetic coil 6 and generate magnetic field, it is close that electromagnet 5 can be obtained according to the right-hand rule
The side of bar magnet 8 and bar magnet 8 are at the same level, homopolar-repulsion, so that biopsy probe 2 close to one end of electromagnet 5
Anti-pollution valve 1 is contacted to the mobile release in the side far from electromagnet 5 and is passed through, until the end of biopsy probe 2 is pierced into lesion
Tissue is sampled, and pathological tissues can be hung in probe on hangnail 10, and at this moment adjustable spring 9 is in tensional state；
S3, switch is disconnected, is powered off inside electromagnetic coil 6, so that the magnetic of 5 both ends of electromagnet disappears, and bar shaped magnetic
Iron 8 loses repulsion effect, and at this moment adjustable spring 9 can bounce back, to drive biopsy probe 2 mobile to capsule, until completely
Capsule is carried out, at this moment anti-pollution valve 1 is closed；
S4, it takes out capsule from patient's body, then pathological tissues is detected, further determine that the disease of patient
Feelings.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of magnetic control biopsy capsule endoscope, including capsule endoscope shell (3), it is characterised in that: the capsule endoscope shell (3)
One end be equipped with capsule endoscope end cap (4), the inside of the capsule endoscope end cap (4) is embedded with anti-pollution valve (1), described
The inside of capsule endoscope shell (3) is equipped with electromagnet (5), is wound with electromagnetic coil (6), institute on the outside of the electromagnet (5)
The end for stating electromagnetic coil (6) is connected with power supply (7), the inside of the capsule endoscope shell (3) position parallel with electromagnet (5)
The place of setting is equipped with bar magnet (8), and the bar magnet (8) is equipped with biopsy probe far from a side surface of electromagnet (5)
(2), it is equipped with adjustable spring (9) on the outside of the biopsy probe (2), the inside of the biopsy probe (2) is equipped in probe
Hangnail (10).
2. a kind of magnetic control biopsy capsule endoscope according to claim 1, it is characterised in that: the electromagnetic coil (6) and electricity
Access has slide rheostat and switch between source (7).
3. a kind of magnetic control biopsy capsule endoscope according to claim 1, it is characterised in that: the anti-pollution valve (1) with
Biopsy probe (2) is in parallel position.
4. a kind of magnetic control biopsy capsule endoscope according to claim 1, it is characterised in that: the anti-pollution valve (1) is
A kind of one-way valve.
5. a kind of magnetic control biopsy capsule endoscope according to claim 1, it is characterised in that: after the electromagnet (5) is powered
Electromagnet (5) and bar magnet (8) one end close to each other are like pole.
6. a kind of magnetic control biopsy capsule endoscope according to claim 1, it is characterised in that: the capsule endoscope shell (3)
Inside camera is installed.
7. a kind of application method of magnetic control biopsy capsule endoscope, which comprises the following steps:
S1, before use, anti-pollution valve (1) is in closed state, switch is in an off state, and biopsy probe (2) is collapsible into
Capsule endoscope shell (3) is internal, at this moment patient's swallowable capsule, and diagosis person observes the photo that capsule camera is taken, and observation is found
Diseased region, then so that capsule is moved to diseased region by outside robotic arm, then carrying out the micro-adjustments such as Body Position Change visits biopsy
Needle (2) is equipped with one end alignment diseased region of hangnail in probe (10), adjusts slide rheostat according to the thickness of pathological tissues
To change the size of current of electromagnetic coil (6) after energization, magnetic force size is adjusted；
S2, to close the switch, be powered inside electromagnetic coil (6) and generate magnetic field, it is close that electromagnet (5) can be obtained according to the right-hand rule
The side and bar magnet (8) of bar magnet (8) are peer, homopolar-repulsion, so that biopsy close to the one end of electromagnet (5)
Probe (2) contacts anti-pollution valve (1) to the mobile release in the side far from electromagnet (5) and passes through, until biopsy probe (2)
End is pierced into pathological tissues and is sampled, and pathological tissues can be hung on hangnail in probe (10), and at this moment adjustable spring (9), which is in, draws
Stretch state；
S3, switch is disconnected, power-off inside electromagnetic coil (6), so that the magnetic of electromagnet (5) both ends disappears, and bar shaped magnetic
Iron (8) loses repulsion effect, and at this moment adjustable spring (9) can bounce back, to drive biopsy probe (2) mobile to capsule, directly
Capsule is carried out to complete, at this moment anti-pollution valve (1) is closed；
S4, it takes out capsule from patient's body, then pathological tissues is detected, further determine that the state of an illness of patient.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910660000.7A CN110269581A (en) | 2019-07-24 | 2019-07-24 | A kind of magnetic control biopsy capsule endoscope and its application method |
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| CN201910660000.7A CN110269581A (en) | 2019-07-24 | 2019-07-24 | A kind of magnetic control biopsy capsule endoscope and its application method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110284A (en) * | 2020-02-01 | 2020-05-08 | 上海众仁生物医药科技有限公司 | Capsule endoscope pathological biopsy electromagnetic cabin |
| CN111588335A (en) * | 2020-04-08 | 2020-08-28 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Magnetic drive capsule endoscope robot with radial biopsy sampling function |
| CN112545570A (en) * | 2020-12-21 | 2021-03-26 | 淮北市和济医疗健康产业发展有限公司 | Nucleic acid detection and extraction device and extraction method |
| CN112890743A (en) * | 2021-03-04 | 2021-06-04 | 山东大学齐鲁医院 | Magnetic suction type sampling device of capsule endoscope and working method |
| CN113081076A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | Biopsy sampling mechanism of capsule endoscope and capsule endoscope system |
| TWI735377B (en) * | 2020-11-10 | 2021-08-01 | 張國正 | Micro-clamping device in vivo |
| CN113545812A (en) * | 2021-07-21 | 2021-10-26 | 湖北汽车工业学院 | Cam-type fixed-point operating device for intestinal tract |
| TWI758115B (en) * | 2020-11-10 | 2022-03-11 | 張國正 | In vivo micro gripping device |
| CN114271874A (en) * | 2021-12-23 | 2022-04-05 | 浙江大学 | Magnetic drive capsule robot |
| CN114432895A (en) * | 2022-02-16 | 2022-05-06 | 南京丰威成技术服务有限公司 | Needle head type filter |
| WO2023004814A1 (en) * | 2021-07-30 | 2023-02-02 | 中国人民解放军总医院第一医学中心 | In vivo microrobot for nerve traction |
| KR20230089063A (en) * | 2021-12-13 | 2023-06-20 | 재단법인대구경북과학기술원 | Device for conveying biological material |
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| CN111110284A (en) * | 2020-02-01 | 2020-05-08 | 上海众仁生物医药科技有限公司 | Capsule endoscope pathological biopsy electromagnetic cabin |
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| TWI758115B (en) * | 2020-11-10 | 2022-03-11 | 張國正 | In vivo micro gripping device |
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| CN112545570B (en) * | 2020-12-21 | 2021-07-20 | 淮北市和济医疗健康产业发展有限公司 | Nucleic acid detection and extraction device and extraction method |
| CN112545570A (en) * | 2020-12-21 | 2021-03-26 | 淮北市和济医疗健康产业发展有限公司 | Nucleic acid detection and extraction device and extraction method |
| CN112890743B (en) * | 2021-03-04 | 2021-09-24 | 山东大学齐鲁医院 | Formula sampling device is inhaled to capsule endoscope magnetism |
| CN112890743A (en) * | 2021-03-04 | 2021-06-04 | 山东大学齐鲁医院 | Magnetic suction type sampling device of capsule endoscope and working method |
| CN113081076A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | Biopsy sampling mechanism of capsule endoscope and capsule endoscope system |
| CN113545812A (en) * | 2021-07-21 | 2021-10-26 | 湖北汽车工业学院 | Cam-type fixed-point operating device for intestinal tract |
| CN113545812B (en) * | 2021-07-21 | 2022-10-18 | 湖北汽车工业学院 | Cam-type fixed-point operating device for intestinal tract |
| WO2023004814A1 (en) * | 2021-07-30 | 2023-02-02 | 中国人民解放军总医院第一医学中心 | In vivo microrobot for nerve traction |
| US11980433B2 (en) | 2021-07-30 | 2024-05-14 | The First Medical Center Chinese Pla General Hospital | In-vivo micro-robot for nerve stretching |
| KR20230089063A (en) * | 2021-12-13 | 2023-06-20 | 재단법인대구경북과학기술원 | Device for conveying biological material |
| WO2023113222A1 (en) * | 2021-12-13 | 2023-06-22 | 재단법인대구경북과학기술원 | Biological material conveyor device |
| KR102662692B1 (en) | 2021-12-13 | 2024-04-30 | 재단법인대구경북과학기술원 | Device for conveying biological material |
| CN114271874B (en) * | 2021-12-23 | 2023-12-29 | 浙江大学 | Magnetically-driven capsule robot |
| CN114271874A (en) * | 2021-12-23 | 2022-04-05 | 浙江大学 | Magnetic drive capsule robot |
| CN114432895A (en) * | 2022-02-16 | 2022-05-06 | 南京丰威成技术服务有限公司 | Needle head type filter |
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Application publication date: 20190924 |