CN110537894B - Capsule gastroscope with biopsy function - Google Patents

Capsule gastroscope with biopsy function Download PDF

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CN110537894B
CN110537894B CN201910972447.8A CN201910972447A CN110537894B CN 110537894 B CN110537894 B CN 110537894B CN 201910972447 A CN201910972447 A CN 201910972447A CN 110537894 B CN110537894 B CN 110537894B
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biopsy
brake
capsule
forceps
biopsy forceps
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CN110537894A (en
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庄世虹
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Nanjing First Hospital
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Nanjing First Hospital
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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
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—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 with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • A61B1/0684—Endoscope light sources using light emitting diodes [LED]
    • 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
    • A61B1/2736—Gastroscopes
    • 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
    • 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
    • A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws

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  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
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  • Heart & Thoracic Surgery (AREA)
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Abstract

The invention discloses a capsule gastroscope with a biopsy function, which comprises a capsule shell, an image acquisition PCBA arranged at the front end of the capsule shell, a motion acquisition PCBA arranged in the capsule shell and two biopsy forceps; the capsule shell is a permanent magnet and is formed by radially connecting a left column cylinder, a middle column cylinder and a right column cylinder in parallel; the biopsy forceps comprise forceps heads, sheaths, telescopic link rods, sliding link rods and pressure sensors, wherein the tail wing on one biopsy forceps is contacted with the inner wall of the left column barrel and can slide in the left column barrel, and the tail wing on the other biopsy forceps is contacted with the inner wall of the right column barrel and can slide in the right column barrel; the linear driving mechanism is used for driving the sheaths of the two biopsy forceps to slide up and down in the left column barrel and the right column barrel respectively, and the braking driving mechanism is used for preventing the sheaths of the two biopsy forceps from sliding in the left column barrel and the right column barrel. The invention has biopsy function, can realize the functions of tissue extraction in vivo, foreign body removal, image acquisition and the like, and can effectively relieve the pain of patients.

Description

Capsule gastroscope with biopsy function
Technical Field
The invention relates to the field of medical instruments, is applied to gastroscopy and treatment, and particularly relates to a capsule gastroscope with a biopsy function.
Background
Biopsy is the most important part of the diagnosis of pathology and is of great importance for the diagnosis, treatment and prognosis evaluation of diseases.
In the conventional gastroscope biopsy, a tube with the diameter of about 10mm (the diameter of the nasal ultrafine gastroscope is 6 mm) is inserted into the alimentary canal, tissue image acquisition is carried out by combining a medical endoscope, and a biopsy forceps is used for acquiring a biopsy sample (the size of rice grains is only required) after a diseased part is found.
The traditional gastroscope blocks the esophagus due to the larger diameter of the hose in the examination process, and can cause strong discomfort to patients. During biopsy, the stretching and the shearing of the forceps head are completely controlled manually, the precision is poor, and stomach tissue injury can be injured with high probability.
The current capsule gastroscope only realizes image acquisition of gastrointestinal tissues and has no biopsy function.
Disclosure of Invention
The capsule gastroscope with the biopsy function has the biopsy function, can realize the functions of in vivo tissue extraction, foreign matter removal, image acquisition and the like, and can effectively relieve the pain of a patient.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
a capsule gastroscope with biopsy function comprises a capsule shell, an image acquisition PCBA arranged at the front end of the capsule shell, a motion acquisition PCBA arranged in the capsule shell and two biopsy forceps;
the capsule shell is a permanent magnet and is formed by radially connecting a left column, a middle column and a right column in parallel, the left column, the middle column and the right column are radially communicated, one biopsy forceps are respectively placed in the left column and the right column and are symmetrically placed, and the front ends of the left column, the middle column and the right column are all in an open structure;
the image acquisition PCBA comprises an endoscope module arranged above an open structure at the front end of the middle column casing;
the motion acquisition PCBA comprises an embedded microprocessor, a linear driving mechanism and a brake driving mechanism which are arranged in the middle column casing;
the biopsy forceps comprise forceps heads, a sheath, telescopic link rods, sliding link rods and pressure sensors, wherein the sheath comprises a sheath body, the sheath body is formed by fixedly connecting a front clamping plate and a rear sleeve, the front end of each sliding link rod, the pressure sensors and the rear end of each telescopic link rod are sequentially connected, a hole passage is formed in the rear sleeve to accommodate the sliding link rods, the pressure sensors and the telescopic link rods, the rear end of each sliding link rod extends out of the rear end of the hole passage of the rear sleeve, the front end of each telescopic link rod extends out of the front end of the hole passage of the rear sleeve and is hinged with the rear ends of the two forceps heads through two connecting rods, and the middle parts of the two forceps heads are hinged with the front end of the front clamping plate; the outer surface of the rear end of the rear sleeve is provided with a tail wing; the tail wing on one biopsy forceps is contacted with the inner wall of the left column barrel, the biopsy forceps can slide in the left column barrel, the tail wing on the other biopsy forceps is contacted with the inner wall of the right column barrel, and the biopsy forceps can slide in the right column barrel;
the sliding link rods of the two biopsy forceps are connected with the linear driving mechanism, the linear driving mechanism is used for driving the sheaths of the two biopsy forceps to respectively slide up and down in the left column barrel and the right column barrel, and the braking driving mechanism is used for preventing the sheaths of the two biopsy forceps from sliding in the left column barrel and the right column barrel; the linear driving mechanism is also used for driving the sliding connecting rod, the pressure sensor and the telescopic connecting rod to slide up and down in the rear sleeve when the sheath stops sliding so as to drive the two tong heads to be opened through the telescopic connecting rod;
the endoscope module, the pressure sensor, the linear driving mechanism and the brake driving mechanism are all electrically connected with the embedded microprocessor.
As a further improved technical scheme of the invention, the image acquisition PCBA is positioned outside the front end of the middle cylinder, and the outer surface of the image acquisition PCBA is provided with a transparent light guide cover.
As a further improved technical scheme, the image acquisition PCBA comprises an image acquisition PCB board, and an endoscope module and a white light LED which are arranged on the image acquisition PCB board, wherein a transparent light guide cover is arranged above the image acquisition PCB board, the endoscope module and the white light LED are both positioned in the transparent light guide cover, the image acquisition PCB board is radially connected to an open structure at the front end of the middle cylinder, and the endoscope module and the white light LED are both electrically connected with the embedded microprocessor.
As a further improved technical scheme of the invention, the number of the white light LEDs is 2, and the 2 white light LEDs are respectively positioned at two sides of the endoscope module.
As a further improved technical scheme of the invention, the motion acquisition PCBA comprises a motion acquisition PCB board, and an embedded microprocessor, a linear driving mechanism and a brake driving mechanism which are arranged on the motion acquisition PCB board, wherein the motion acquisition PCB board is vertically and fixedly connected with the image acquisition PCB board, and the motion acquisition PCB board is positioned in the middle column barrel.
As a further improved technical scheme of the invention, the linear driving mechanism comprises a screw rod stepping motor, a bracket, a screw rod, a limiting block and a sliding table cross beam, wherein the bracket is fixedly connected with the front surface of the motion acquisition PCB, the screw rod stepping motor and the limiting block are respectively and fixedly connected with the two ends of the bracket, an output shaft of the screw rod stepping motor is connected with the screw rod, the screw rod is positioned on one side of the bracket and is in threaded connection with the sliding table cross beam, the screw rod stepping motor is used for driving the screw rod to rotate so as to drive the sliding table cross beam to move up and down on the screw rod, one end of the sliding table cross beam is fixedly connected with a sliding link rod of a biopsy forceps in a left column barrel, and the other end of; and the screw rod stepping motor is electrically connected with the embedded microprocessor.
As a further improved technical scheme of the invention, the brake driving mechanism comprises a brake stepping motor, a gear set and a brake piston, the brake stepping motor is fixed on the reverse side of the motion acquisition PCB, an output shaft of the brake stepping motor is connected with the gear set, two guide rods are symmetrically hinged on the gear set, the two guide rods are hinged with the brake piston, the left side and the right side of the middle upper part of the motion acquisition PCB are both provided with a horizontally extending horizontal opening throat, one brake piston is positioned in the horizontal opening throat on the left side, the other brake piston is positioned in the horizontal opening throat on the right side, and the brake stepping motor is used for driving the brake piston to slide in the horizontal opening throat through the gear set; the brake stepping motor is electrically connected with the embedded microprocessor;
the outer surface of the rear end of the rear sleeve of the sheath sleeve is also provided with a brake block which is matched and spliced with the brake piston;
the left side and the right side of the motion acquisition PCB are both provided with vertically extending vertical hole-opening narrow channels, a brake block on a sheath sleeve in the left column casing is positioned in the vertical hole-opening narrow channel on the left side of the motion acquisition PCB, a brake block on a sheath sleeve in the right column casing is positioned in the vertical hole-opening narrow channel on the right side of the motion acquisition PCB, the tops of the two vertical hole-opening narrow channels are both provided with an approaching elastic sheet which is positioned above the horizontal hole-opening narrow channel, and the two approaching elastic sheets are electrically connected with the embedded microprocessor;
and when the brake block is matched and plugged with the brake piston, the brake block is contacted with the approaching elastic sheet.
As a further improved technical scheme of the invention, the rear end of the capsule shell is of a hemispherical closed structure, the embedded microprocessor is electrically connected with a cable, the cable penetrates out of the rear end of the capsule shell, and the cable is used for being connected with a PC monitoring unit.
As a further improved technical scheme, the 1.5-2 mm Teflon packing material of the cable is coaxial, and triple functions of power supply, WIFI interconnection and capsule recovery can be achieved.
In a further improved aspect of the present invention, the sheath body is made of an alloy material.
The invention has the beneficial effects that:
the invention has the biopsy function, automatically controls the stretching and the shearing of the forceps head during biopsy, has high precision and reduces the probability of damaging stomach tissues. Can realize the functions of extracting tissues in vivo, removing foreign matters, acquiring images and the like. The invention can reduce the traditional gastroscope biopsy process, such as preoperative anesthesia. The examination risk is reduced, the treatment accuracy is improved, and the treatment efficiency is improved; the introduction of the small-volume capsule shell and the micro-diameter cable can relieve the pain of patients in treatment.
Drawings
Fig. 1 is a front view of the capsule gastroscope of the present embodiment.
Fig. 2 is a left side view of the capsule gastroscope of the present embodiment.
Fig. 3 is a top view of the capsule gastroscope of the present embodiment.
FIG. 4 is an axial longitudinal section of the capsule shell according to this embodiment.
FIG. 5 is a front view of the capsule of the present embodiment in longitudinal section of the shaft.
Fig. 6 is a top view of fig. 5.
Fig. 7 is a radial cross-sectional view a-a of fig. 5.
Fig. 8 is a rear view of the capsule gastroscope of the present embodiment in longitudinal section from the center axis.
Fig. 9 is a longitudinal sectional view B-B in fig. 8.
Fig. 10 is a front view of the bioptome of the present embodiment.
Fig. 11 is a side view of the bioptome of the present embodiment.
Fig. 12 is a schematic view of the opening of the forceps head of the biopsy forceps of the present embodiment.
Fig. 13 is a schematic structural diagram of the linear driving mechanism of the present embodiment.
Fig. 14 is a brake piston contraction state diagram of the brake drive mechanism of the present embodiment.
Fig. 15 is a brake piston extended state diagram of the brake drive mechanism of the present embodiment.
FIG. 16 (a) is a front view showing a contracted state of a biopsy forceps of the capsule gastroscope according to the present embodiment.
FIG. 16 (b) is a rear view showing a contracted state of a biopsy forceps of the capsule gastroscope according to the present embodiment.
FIG. 17 (a) is a front view showing the extended state of the biopsy forceps of the capsule gastroscope according to the present embodiment.
FIG. 17 (b) is a rear view showing the extended state of the biopsy forceps of the capsule gastroscope according to the present embodiment.
FIG. 18 (a) is a front view showing the opened state of the forceps head of the biopsy forceps of the capsule gastroscope according to the present embodiment.
FIG. 18 (b) is a rear view showing the opened state of the forceps head of the biopsy forceps of the capsule gastroscope according to the present embodiment.
Fig. 19 is a view showing the capsule gastroscope treatment state A of the present embodiment.
Fig. 20 is a view showing a capsule gastroscope treatment state B according to the embodiment.
Fig. 21 is a diagram of the capsule gastroscope treatment state C of the embodiment.
Fig. 22 is a diagram showing the capsule gastroscope treatment state D according to the embodiment.
Fig. 23 is a circuit block diagram of a capsule gastroscope system according to the present embodiment.
Fig. 24 is a schematic deployment view of the treatment system of the embodiment.
Detailed Description
The following further describes embodiments of the present invention with reference to fig. 1 to 24:
the embodiment provides a novel capsule gastroscope with a biopsy function. In particular, a biopsy forceps 9, a motion control unit, an image acquisition unit and the like are arranged in the capsule gastroscope so as to realize the functions of in vivo tissue extraction, foreign matter removal, image acquisition and the like. The method specifically comprises the following steps: a capsule gastroscope with biopsy function (biopsy capsule for short) comprises a capsule shell, an image acquisition PCBA arranged at the front end of the capsule shell, a motion acquisition PCBA arranged in the capsule shell and two biopsy forceps 9.
The capsule shell of the embodiment is a permanent magnet, and the capsule can accurately move in the body by combining a 3D magnetic control technology. As shown in fig. 1, fig. 2, fig. 3 and fig. 4, fig. 4 is a sectional view of a capsule shell, the capsule shell is formed by radially connecting a left column casing 2, a middle column casing 1 and a right column casing 3 in parallel, and the left column casing 2, the middle column casing 1 and the right column casing 3 are radially communicated. As shown in fig. 5, one biopsy forceps 9 are placed in each of the left column casing 2 and the right column casing 3, the two biopsy forceps 9 are symmetrically placed, the biopsy forceps 9 can move in the cylinders according to a limited stroke, and the left column casing 2 and the right column casing 3 provide biopsy channels 4 for the biopsy forceps 9. Referring to fig. 4, the front end of the capsule housing is an open structure, and the rear end of the capsule housing is closed in a hemispherical shape.
Referring to fig. 10 to 12, biopsy forceps 9 of the present embodiment includes a forceps head 9-3, a sheath 9-1, a telescopic link 9-5, a sliding link 9-8 and a pressure sensor 9-6 (using a shim type pressure sensor), the sheath comprises a sheath body formed by two front clamping plates 9-2 and a rear sleeve 9-1 which are fixedly connected, the front end of the sliding link rod 9-8, the pressure sensor 9-6 and the rear end of the telescopic link rod 9-5 are connected in sequence, the sheath body is made of alloy material, wherein, a duct 9-1-1 (the duct 9-1-1 is T-shaped) is arranged in the rear sleeve 9-1 to accommodate the sliding link 9-8, the pressure sensor 9-6 and the telescopic link 9-5 and provide a telescopic channel. The front part of the alloy main body is provided with a front clamping plate 9-2 for fixing a rotating shaft of the tong head 9-3. The rear end of the sliding link rod 9-8 extends out of the rear end of the duct 9-1-1 of the rear sleeve 9-1, the front end of the telescopic link rod 9-5 extends out of the front end of the duct 9-1-1 of the rear sleeve 9-1 and is hinged with the two link rods 9-4 through hinges 9-10, the two link rods 9-4 are respectively hinged with the rear ends of the two tong heads 9-3, the middle parts of the two tong heads 9-3 are hinged with the front ends of the two front clamping plates 9-2 through rotating shafts, and the telescopic link rod 9-5, the link rod 9-4 and the tong heads 9-3 are positioned between the two front clamping plates 9-2. The outer surface of the rear end of the rear sleeve 9-1 is provided with a tail wing 9-9; the empennage 9-9 on one biopsy forceps 9 is contacted with the inner wall of the left column casing 2, the biopsy forceps 9 can slide in the left column casing 2, the empennage 9-9 on the other biopsy forceps 9 is contacted with the inner wall of the right column casing 3, and the biopsy forceps 9 can slide in the right column casing 3. The tail wing 9-9 contacts with the permanent magnetic sleeve in a small area to ensure the stable posture of the biopsy forceps 9.
The image acquisition PCBA of the embodiment comprises an endoscope module 7 arranged above an open structure at the front end of a middle column casing 1; the motion acquisition PCBA comprises an embedded microprocessor, a linear driving mechanism and a brake driving mechanism which are arranged in the middle column casing 1; the endoscope module 7, the pressure sensor, the linear driving mechanism and the brake driving mechanism are all electrically connected with the embedded microprocessor. The sliding link rods 9-8 of the two biopsy forceps 9 of the embodiment are connected with a linear driving mechanism, and the linear driving mechanism is used for driving the sheaths of the two biopsy forceps 9 to slide up and down in the left column 2 and the right column 3 respectively. The braking and driving mechanism is used to prevent the sheaths of the two biopsy forceps 9 from sliding inside the left and right cylinders 2, 3. The linear driving mechanism is also used for driving the sliding link 9-8, the pressure sensor 9-6 and the telescopic link 9-5 to slide up and down in the rear sleeve 9-1 when the sheath stops sliding, so that the two tong heads 9-3 are driven to open through the telescopic link 9-5.
Specifically, referring to fig. 5 and 6, the image capturing PCBA of the present embodiment includes an image capturing PCB board, and an endoscope module 7, two white LEDs 8 and related circuits mounted on the image capturing PCB board, a transparent light guide cover 6 is disposed above the image capturing PCB board, the endoscope module 7 and the two white LEDs 8 are both located inside the transparent light guide cover 6, the image capturing PCB board is radially connected to the open structure at the front end of the middle cylinder 1, and the endoscope module 7 and the white LEDs 8 are both electrically connected to the embedded microprocessor. The 2 white light LEDs 8 are respectively positioned on two sides of the endoscope module 7. The endoscope module 7 of the embodiment is used for realizing object image acquisition with a distance larger than 10mm relative to a lens under the illumination assistance of the white light LED 8.
Specifically, referring to fig. 5, 7 and 8, the motion collection PCB a includes a motion collection PCB 14, and an embedded microprocessor, a linear driving mechanism, a brake driving mechanism, a proximity spring 16 and related circuits mounted on the motion collection PCB 14, the motion collection PCB 14 is vertically and fixedly connected with the bottom of the image collection PCB, and the motion collection PCB 14 is located inside the middle column casing 1.
Referring to fig. 5, 7 and 13, the linear driving mechanism includes a screw rod stepping motor 12, a bracket 21, a screw rod 11, a limit block 22 and a sliding table beam 13 (composed of a sliding table and a beam), the bracket 21 is fixedly connected with the front surface of the motion acquisition PCB 14, the screw rod stepping motor 12 and the limiting block 22 are respectively fixedly connected with the two ends of the bracket 21, an output shaft of the screw rod stepping motor 12 is connected with a screw rod 11, the screw rod 11 is positioned at one side of the bracket 21, the screw rod 11 is in threaded connection with a sliding table cross beam 13, the screw rod stepping motor 12 is used for driving the screw rod 11 to rotate so as to drive the sliding table cross beam 13 to move up and down on the screw rod 11, one end of the sliding table cross beam 13 is fixedly connected with a sliding link rod 9-8 of the biopsy forceps 9 in the left column casing 2, and the other end of the sliding table cross beam is fixedly connected with a sliding link rod 9-8 of the biopsy forceps 9 in the right column casing 3. The screw rod stepping motor 12 realizes the rotation of the screw rod 11 under the control of the embedded microprocessor, and as the sliding table cross beam 13 is in threaded connection with the screw rod 11, the screw rod 11 rotates clockwise and anticlockwise to drive the sliding table cross beam 13 to move longitudinally on the screw rod 11, and the limit block 22 at the tail end of the screw rod 11 realizes the limit of the sliding table cross beam 13.
Referring to fig. 7, 8, 9, 14 and 15, the brake driving mechanism includes a brake stepping motor 18, a gear set 20 (including a driving gear 20-1 and a driven gear 20-2, the driven gear is provided with a limit tooth 20-2-1, the driving gear 20-1 and the driven gear 20-2 are engaged with each other) and a brake piston 17, the brake stepping motor 18 is fixed on the reverse side of the motion acquisition PCB board 14, an output shaft of the brake stepping motor 18 is connected with the driving gear 20-1 of the gear set 20 to connect the driving gear 20-1 and the driven gear 20-2 to be engaged with each other, the driven gear 20-2 is symmetrically hinged with two guide rods 19, and the two guide rods 19 are both hinged with the brake piston 17. The left side and the right side of the middle upper part of the motion acquisition PCB 14 are both provided with horizontal opening narrow channels 10 which extend horizontally, one brake piston 17 is positioned in the horizontal opening narrow channel 10 on the left side, and the other brake piston 17 is positioned in the horizontal opening narrow channel 10 on the right side. A brake stepper motor 18 is used to drive a brake piston 17 through a gear train 20 to slide within the horizontal bore throat 10. The rotation of the brake stepping motor 18 under the control of the embedded microprocessor is transmitted through the gear set 20, and the brake piston 17 is driven to move in the horizontal opening throat 10 of the PCB, so that the brake piston 17 is always in one of two states of extension and contraction. The brake piston 17 is angularly limited by a driven gear 20-2 associated with the guide rod 19 to control the stroke of the brake piston 17.
Referring to fig. 10, the outer surface of the rear end of the rear sleeve 9-1 of the sheath is also provided with a brake block 9-7 which is matched and inserted with the brake piston 17, and the brake block 9-7 and the brake piston 17 cooperate to complete the sheath limiting. Then the telescopic link 9-5 is controlled to extend and retract to realize the shearing action. The flare angle of the biopsy forceps head can be achieved by controlling the extension length of the telescopic link 9-5 when the sheath is limited.
Referring to fig. 5, the left side and the right side of the motion acquisition PCB 14 are both provided with vertically extending vertical opening throat 15, the brake block 9-7 on the sheath in the left column casing 2 is positioned in the vertical opening throat 15 on the left side of the motion acquisition PCB 14, the brake block 9-7 on the sheath in the right column casing 3 is positioned in the vertical opening throat 15 on the right side of the motion acquisition PCB 14, the top of each of the two vertical opening throats 15 is provided with an approaching spring 16, the approaching spring 16 is positioned above the horizontal opening throat 10, and the two approaching springs 16 are electrically connected with the embedded microprocessor; when the brake block 9-7 is matched and inserted with the brake piston 17, the brake block 9-7 is contacted with the approaching spring piece 16 (as shown in figure 17). The initial state of the bioptome 9 of the present embodiment is shown in FIG. 16
When the brake block 9-7 of the biopsy forceps 9 contacts the approaching spring 16, since the sheath conductor is grounded (the sheath is grounded with the connecting conductor of the link rod, the slipway cross beam 13 and the screw rod 11), the approaching spring 16 is grounded, the general input port of the embedded microprocessor processes the grounding event of the approaching spring 16 in an interruption mode, stops the movement of the screw rod stepping motor 12 and controls the brake stepping motor 18 to push the brake piston 17 to the extension state so as to limit the sheath movement.
The system circuit block diagram of this embodiment is shown in fig. 23, the motion acquisition PCB 14 is further provided with a circuit breaker, a voltage converter, a bridge, an amplifying circuit, a stepping motor controller and other related circuits, the embedded microprocessor is connected to the coaxial cable 5 through the circuit breaker and the coaxial cable interface, and the cable 5 penetrates out of the rear end of the capsule shell. And the cable 5 supplies power to the embedded microprocessor and the stepping motor through the branching and combining device and the voltage converter. The cable 5 is used for connection with a PC monitoring unit (as shown in fig. 24). Cable 5 can adopt 1.5mm ~2mm teflon package material coaxial line, realizes the function of power supply, WIFI interconnection, capsule recovery. The Teflon coating is suitable for the medical field due to the advantages of non-toxic components, low friction, corrosion resistance and wear resistance. The pressure sensor of this embodiment is connected to the embedded microprocessor through the bridge and the amplifying circuit, and the embedded microprocessor is connected to the brake stepping motor 18 and the lead screw stepping motor 12 through the stepping motor controller.
When the forceps head 9-3 contacts the tissue, if the sensing value of the pressure sensor 9-6 is within the normal threshold range and the pressure difference between the two forceps bodies is smaller than a fixed threshold value, the shearing can be carried out. If the pressure of the forceps head 9-3 is too low, the effectiveness of the shearing cannot be ensured, if the pressure is too high, the safety of the shearing cannot be ensured, and if the differential pressure of the two forceps bodies exceeds the limit, the two forceps heads 9-3 are not uniformly contacted with the tissue, so that the effectiveness of the shearing is also influenced.
The embedded microprocessor of the embodiment uniformly coordinates and processes image acquisition and motion control. Specifically, video data transmitted from a USB interface of the endoscope module 7 is received and packaged and transmitted to the PC monitoring unit via the coaxial cable 5, and the PC monitoring unit and the embedded microprocessor are interconnected through wired WIFI. The embedded microprocessor can also receive control signals sent by the PC monitoring unit, such as the expansion of the biopsy forceps 9 and the shearing of the forceps head 9-3, and then controls the screw rod stepping motor 12 and the brake stepping motor 18 to coordinate to complete the actions through an internal mechanism.
In combination with sampling of stomach biopsy, the following was done:
the patient fasts for several hours before the operation, and during the operation, the patient swallows the capsule gastroscope firstly, passes through cardia through the esophagus, and the capsule can be monitored by a PC monitoring unit in real time through video after entering the esophagus. The patient then lies flat or on his side on the treatment platform. As shown in fig. 24, the medical staff uses the PC monitoring unit to control the capsule to move in the stomach through the external magnetic field control unit, and carefully examine the stomach tissue synchronously, and at this time, the capsule endoscope head (i.e., the endoscope module 7) should keep looking directly at the tissue, and if the imaging is fuzzy, the PC monitoring unit controls the fine-tuning distance through the external magnetic field. Biopsy forceps 9 are in a contracted state inside the capsule, as shown in fig. 19 and 20.
If diseased tissues are found during the examination process, if further biopsy is needed, a collection command can be sent, the PC monitoring unit controls the capsule to extend out of the biopsy forceps 9, a forceps opening command is sent to the capsule, the embedded microprocessor arranged in the capsule controls the biopsy link rod (namely the telescopic link rod 9-5) to be pushed to the corresponding position, the brake stepping motor 18 is used for driving the brake piston 17 so as to limit the sheath (shown in figure 17), and the telescopic link rod 9-5 is pushed according to the angle in the command, and the state of the biopsy forceps 9 is shown in figures 18 and 21.
The PC monitoring unit controls the forceps head 9-3 in the capsule to contact the tissue through the external magnetic field control unit and the magnetic control probe, the pressure sensor 9-6 arranged in the biopsy forceps 9 is started at the moment and senses the pressure information between the tissue and the forceps head 9-3, and if the pressure of the two channels is in a normal range and the pressure difference is in a threshold value, the shearing action can be realized by contracting the telescopic link rod 9-5. The capsule state is shown in fig. 22. If the pressure is abnormal, the PC monitoring unit can adjust the pressure by finely adjusting the relative displacement through the external magnetic field control unit and the magnetic control probe. If the pressure difference between the two forceps heads 9-3 exceeds the threshold value, the capsule angle needs to be finely adjusted by an external field in order to keep the uniform contact between the planes of the forceps heads 9-3 and tissues. The control actions can be automatically completed by the coordination of the PC monitoring unit and the 3D external magnetic field control unit according to the pressure information reported by the embedded microprocessor.
In the process, medical care personnel only need to discover and identify the biopsy tissue under the assistance of the PC monitoring unit and send a living body collecting instruction.
After the collection is finished, the medical staff can send a recovery instruction through the PC monitoring unit, the embedded microcontroller firstly contracts the brake piston 17 after receiving the instruction, contracts the telescopic link rod 9-5 to the initial position, and then the PC monitoring unit recovers the capsule in a mode of contracting the cable 5.
The biopsy capsule may be placed on a biopsy platform after removal of the body, and upon receiving an open clamp command, release the collected tissue for further analysis.
The scope of the present invention includes, but is not limited to, the above embodiments, and the present invention is defined by the appended claims, and any alterations, modifications, and improvements that may occur to those skilled in the art are all within the scope of the present invention.

Claims (10)

1. A capsule gastroscope with biopsy function is characterized in that: comprises a capsule shell, an image acquisition PCBA arranged at the front end of the capsule shell, a motion acquisition PCBA arranged in the capsule shell and two biopsy forceps;
the capsule shell is a permanent magnet and is formed by radially connecting a left column, a middle column and a right column in parallel, the left column, the middle column and the right column are radially communicated, one biopsy forceps are respectively placed in the left column and the right column and are symmetrically placed, and the front ends of the left column, the middle column and the right column are all in an open structure;
the image acquisition PCBA comprises an endoscope module arranged above an open structure at the front end of the middle column casing;
the motion acquisition PCBA comprises an embedded microprocessor, a linear driving mechanism and a brake driving mechanism which are arranged in the middle column casing;
the biopsy forceps comprise forceps heads, a sheath, telescopic link rods, sliding link rods and pressure sensors, wherein the sheath comprises a sheath body, the sheath body is formed by fixedly connecting a front clamping plate and a rear sleeve, the front end of each sliding link rod, the pressure sensors and the rear end of each telescopic link rod are sequentially connected, a hole passage is formed in the rear sleeve to accommodate the sliding link rods, the pressure sensors and the telescopic link rods, the rear end of each sliding link rod extends out of the rear end of the hole passage of the rear sleeve, the front end of each telescopic link rod extends out of the front end of the hole passage of the rear sleeve and is hinged with the rear ends of the two forceps heads through two connecting rods, and the middle parts of the two forceps heads are hinged with the front end of the front clamping plate; the outer surface of the rear end of the rear sleeve is provided with a tail wing; the tail wing on one biopsy forceps is contacted with the inner wall of the left column barrel, the biopsy forceps can slide in the left column barrel, the tail wing on the other biopsy forceps is contacted with the inner wall of the right column barrel, and the biopsy forceps can slide in the right column barrel;
the sliding link rods of the two biopsy forceps are connected with the linear driving mechanism, the linear driving mechanism is used for driving the sheaths of the two biopsy forceps to respectively slide up and down in the left column barrel and the right column barrel, and the braking driving mechanism is used for preventing the sheaths of the two biopsy forceps from sliding in the left column barrel and the right column barrel; the linear driving mechanism is also used for driving the sliding connecting rod, the pressure sensor and the telescopic connecting rod to slide up and down in the rear sleeve when the sheath stops sliding so as to drive the two tong heads to be opened through the telescopic connecting rod;
the endoscope module, the pressure sensor, the linear driving mechanism and the brake driving mechanism are all electrically connected with the embedded microprocessor.
2. The biopsy-enabled capsule gastroscope of claim 1, wherein: the image acquisition PCBA is located the outside of well cylinder front end and the surface is equipped with transparent leaded light cover.
3. The biopsy-enabled capsule gastroscope of claim 2, wherein: the image acquisition PCBA comprises an image acquisition PCB and an endoscope module and a white light LED which are installed on the image acquisition PCB, a transparent light guide cover is arranged above the image acquisition PCB, the endoscope module and the white light LED are located inside the transparent light guide cover, the image acquisition PCB is radially connected to an open structure at the front end of the middle column barrel, and the endoscope module and the white light LED are electrically connected with the embedded microprocessor.
4. The biopsy-enabled capsule gastroscope of claim 3, wherein: the number of the white light LEDs is 2, and the 2 white light LEDs are respectively positioned on two sides of the endoscope module.
5. The biopsy-enabled capsule gastroscope of claim 3, wherein: motion collection PCBA includes that the motion gathers the PCB board and installs embedded microprocessor, sharp actuating mechanism and the braking actuating mechanism on the motion collection PCB board, the motion is gathered PCB board and is gathered the perpendicular fixed connection of PCB board and motion collection PCB board and be located inside the column casing.
6. The biopsy-enabled capsule gastroscope of claim 5, wherein: the linear driving mechanism comprises a screw rod stepping motor, a support, a screw rod, a limiting block and a sliding table cross beam, the support is fixedly connected with the front surface of the motion acquisition PCB, the screw rod stepping motor and the limiting block are respectively fixedly connected with the two ends of the support, an output shaft of the screw rod stepping motor is connected with the screw rod, the screw rod is positioned on one side of the support, the screw rod is in threaded connection with the sliding table cross beam, the screw rod stepping motor is used for driving the screw rod to rotate so as to drive the sliding table cross beam to move up and down on the screw rod, one end of the sliding table cross beam is fixedly connected with a sliding link rod of the biopsy forceps in the left column barrel, and the other end; and the screw rod stepping motor is electrically connected with the embedded microprocessor.
7. The biopsy-enabled capsule gastroscope of claim 6, wherein: the brake driving mechanism comprises a brake stepping motor, a gear set and a brake piston, the brake stepping motor is fixed on the reverse side of the motion acquisition PCB, an output shaft of the brake stepping motor is connected with the gear set, two guide rods are symmetrically hinged to the gear set, the two guide rods are both hinged to the brake piston, horizontal opening throats extending horizontally are respectively formed in the left side and the right side of the middle upper portion of the motion acquisition PCB, one brake piston is located in the horizontal opening throats on the left side, the other brake piston is located in the horizontal opening throats on the right side, and the brake stepping motor is used for driving the brake piston to slide in the horizontal opening throats through the gear set; the brake stepping motor is electrically connected with the embedded microprocessor;
the outer surface of the rear end of the rear sleeve of the sheath sleeve is also provided with a brake block which is matched and spliced with the brake piston;
the left side and the right side of the motion acquisition PCB are both provided with vertically extending vertical hole-opening narrow channels, a brake block on a sheath sleeve in the left column casing is positioned in the vertical hole-opening narrow channel on the left side of the motion acquisition PCB, a brake block on a sheath sleeve in the right column casing is positioned in the vertical hole-opening narrow channel on the right side of the motion acquisition PCB, the tops of the two vertical hole-opening narrow channels are both provided with an approaching elastic sheet which is positioned above the horizontal hole-opening narrow channel, and the two approaching elastic sheets are electrically connected with the embedded microprocessor;
and when the brake block is matched and plugged with the brake piston, the brake block is contacted with the approaching elastic sheet.
8. The biopsy-enabled capsule gastroscope of claim 1, wherein: the rear end of the capsule shell is of a hemispherical closed structure, the embedded microprocessor is electrically connected with a cable, the cable penetrates out of the rear end of the capsule shell, and the cable is used for being connected with the PC monitoring unit.
9. The biopsy-enabled capsule gastroscope of claim 8, wherein: the cable adopts 1.5mm ~2mm teflon package material coaxial line.
10. The biopsy-enabled capsule gastroscope of claim 1, wherein: the sheath body is made of alloy material.
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