CN113081076A - Biopsy sampling mechanism of capsule endoscope and capsule endoscope system - Google Patents
Biopsy sampling mechanism of capsule endoscope and capsule endoscope system Download PDFInfo
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- CN113081076A CN113081076A CN202110382696.9A CN202110382696A CN113081076A CN 113081076 A CN113081076 A CN 113081076A CN 202110382696 A CN202110382696 A CN 202110382696A CN 113081076 A CN113081076 A CN 113081076A
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- 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
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Abstract
The invention provides a biopsy sampling mechanism of a capsule endoscope, which comprises a fixed base, a biopsy working head, a spring, a movable base and a permanent magnet, wherein the fixed base is fixed on the outer side surface of the capsule endoscope, a guide hole is formed in the fixed base, one end of the biopsy working head is fixedly connected with the movable base, the other end of the biopsy working head penetrates through the guide hole of the fixed base, the spring is clamped between the fixed base and the movable base, and the movable base is connected with the permanent magnet. The invention has the beneficial effects that: the magnetic biopsy device is externally arranged on the surface of the existing commercial magnetic drive capsule endoscope, the existing internal structure is not required to be changed, the biopsy sampling function is added, and the use of the internal space of the capsule is reduced; the gradient magnetic field is driven by an external magnetic field, the energy of a battery arranged in the capsule is not consumed, the gradient magnetic field is simple to control, the damage to a human body is small, and repeated sampling can be performed.
Description
Technical Field
The invention relates to a capsule endoscope, in particular to a biopsy sampling mechanism of the capsule endoscope and a capsule endoscope system.
Background
The capsule endoscope is an intelligent miniature medical equipment which can enter the gastrointestinal tract of a human body to carry out medical exploration and treatment, and is a new breakthrough of the medical technology of internal interventional examination and treatment. The method completely avoids the pain of the traditional inspection mode and has wide application prospect. The capsule endoscope which is commercially used at present enters the gastrointestinal tract after being swallowed, and can acquire medical images of the esophagus, the stomach, the small intestine, the large intestine and other parts through the camera along with the natural peristalsis of the gastrointestinal tract to obtain pathological change tissue information, so that doctors are helped to diagnose the intestinal health condition of patients. Although doctors can diagnose gastrointestinal diseases by analyzing images transmitted by the capsule endoscope, since tissue biopsy is a basic work of gastrointestinal diagnosis and diagnosis only by transmitting images through a camera has certain limitation, the realization of the capsule endoscope with biopsy function is one of the key technologies for further research of effective application of the capsule endoscope in clinic.
The existing capsule endoscope with biopsy sampling function utilizes a torsion spring, a micro clamp, a magnetic spring, a shape memory alloy and the like to carry out biopsy sampling. However, the torsion spring and the micro-clamp can only carry out one-time biopsy operation, and have the problem of difficult recovery; the magnetic spring mechanism has a complex structure; shape memory alloys are highly energy consuming and respond slowly, and heating the shape memory alloy is likely to cause damage to the tissue.
The biopsy mechanism of the existing magnetic drive capsule endoscope with biopsy sampling function is positioned in the capsule, and occupies a large amount of internal space; the permanent magnet is rotated by an external magnetic field to drive the biopsy working head to extend out from the radial direction, and the sampling range is small.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a biopsy sampling mechanism of a capsule endoscope, which can increase the biopsy function and is convenient to assemble and disassemble without changing the existing capsule.
The invention provides a biopsy sampling mechanism of a capsule endoscope, which comprises a fixed base, a biopsy working head, a spring, a movable base and a permanent magnet, wherein the fixed base is fixed on the outer side surface of the capsule endoscope, a guide hole is formed in the fixed base, one end of the biopsy working head is fixedly connected with the movable base, the other end of the biopsy working head penetrates through the guide hole of the fixed base, the spring is clamped between the fixed base and the movable base, and the movable base is connected with the permanent magnet. The invention is externally arranged on the surface of the capsule, and applies a stronger external magnetic field, the permanent magnet can push the biopsy needle out from the axial direction under the action of the magnetic field, and the elastic restoring force of the spring resets the biopsy needle after the external magnetic field is removed, thereby completing one biopsy sampling movement.
As a further improvement of the invention, the biopsy sampling mechanism further comprises a protective shell, and the fixed base, the biopsy working head, the spring, the movable base and the permanent magnet are all arranged inside the protective shell.
As a further improvement of the invention, the protective shell isolates other elements of the device from the internal environment of the human body, and simultaneously pre-compresses and limits the spring element.
As a further improvement of the capsule endoscope, the permanent magnet is an axially magnetized annular permanent magnet, the fixed base and the movable base are both annular, the fixed base and the capsule endoscope are in interference fit, and the permanent magnet and the movable base are in interference fit.
As a further improvement of the invention, the biopsy working head is a biopsy needle, and at least two biopsy needles are arranged at intervals along the circumferential direction of the fixed base.
As a further improvement of the invention, a boss is arranged on the side surface of the movable base, a mounting hole is arranged on the boss, and the biopsy needle is in interference fit with the mounting hole.
As a further improvement of the invention, the connection mode of the moving base and the permanent magnet is interference fit. The inner diameter of the ring-shaped permanent magnet is slightly smaller than the outer diameter of the movable base, the ring-shaped permanent magnet is acted by a magnetic field force to drive the movable base to move along the axial direction, and the spring is compressed to enable the biopsy working head to extend out
As a further improvement of the invention, the protective shell is a cylindrical hollow structure with thin-wall characteristics, and the overall size of the capsule is reduced. Protective housing and fixed baseplate interference fit, the protective housing internal diameter slightly is less than the fixed baseplate external diameter, left edge and fixed baseplate left edge coincidence, the protective housing right-hand member is located the capsule afterbody, plays spacing and precompression effect. The protective shell has the functions of protecting the sampling device from being interfered by the internal environment of a human body and maintaining the image acquisition function.
As a further improvement of the invention, the tail part of the protective shell is provided with a limiting capsule endoscope positioned in a limiting hole.
As a further improvement of the invention, the spring is used as an energy storage element and is always in a compressed state, the spring is precompressed by the protective shell in an initial state and is acted by an external magnetic field, the spring is continuously compressed, the external magnetic field is removed, and the elastic potential energy of the spring is converted into kinetic energy until the reverse direction reaches the maximum range under the limitation of the protective shell.
The invention also provides a capsule endoscope system which comprises a capsule endoscope, wherein the biopsy sampling mechanism is arranged on the outer side of the capsule endoscope.
As a further improvement of the invention, the external driving mode is magnetic driving, and the external driving mode is specifically electromagnetic driving and permanent magnetic driving according to the mode of applying external magnetic field. The capsule endoscope head material is transparent material, and the camera is equipped with to the head to the collection of carrying out the image, observe the sampling process.
As a further improvement of the invention, the edge of the fixed base coincides with the edge of the head of the capsule endoscope and is in interference fit with the shell of the capsule endoscope, the inner diameter of the fixed base is slightly smaller than the diameter of the shell of the capsule endoscope, and the axis of the biopsy working head coincides with the central line of a reserved hole of the fixed base.
The invention has the beneficial effects that: the magnetic biopsy device is externally arranged on the surface of the existing commercial magnetic drive capsule endoscope, the existing internal structure is not required to be changed, the biopsy sampling function is added, and the use of the internal space of the capsule is reduced; the magnetic field is driven by an external magnetic field, the energy of a battery arranged in the capsule is not consumed, the gradient magnetic field is simple to control, the damage to a human body is small, and repeated sampling can be performed; the biopsy working head axially extends out, the sampling range is enlarged, a camera positioned at the head of the capsule is easy to observe the sampling process better, the biopsy working head is convenient to be matched with an external magnetic field, and the sampling success rate is improved.
Drawings
FIG. 1 is a schematic view of a capsule endoscopic system of the present invention.
FIG. 2 is an exploded view of a biopsy sampling mechanism of a capsule endoscope of the present invention.
FIG. 3 is a front cross-sectional view of a biopsy sampling mechanism of a capsule endoscope of the present invention.
FIG. 4 is a front cross-sectional view of a capsule endoscopic system of the present invention.
FIG. 5 is a view showing an initial state of driving of a capsule endoscope system of the present invention (without a protective case).
FIG. 6 is a view showing a state in which the driving of a capsule endoscope system of the present invention is completed (without a protective case).
FIG. 7 is a schematic view of a sampling procedure of a capsule endoscopic system of the present invention (without a protective shell).
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
As shown in fig. 1 to 7, a biopsy sampling mechanism of a capsule endoscope mainly comprises a fixed base 201, a biopsy working head 203, a spring 202, a movable base 204, a permanent magnet 205 and a protective shell 206. The fixed base 201 is fixed on the surface of the shell through interference fit with the shell of the capsule, and simultaneously serves as a guide device of the biopsy working head 203 to limit the moving direction and range of the biopsy working head 203. The spring 202 acts as an energy storage element and is always in a compressed state. The moving base 204 and the permanent magnet 205 are in interference fit and move synchronously. The protective shell 206 isolates other elements of the device from the internal environment of the human body, while pre-compressing and limiting the spring elements. The invention relates to an external biopsy device, wherein a permanent magnet 205 pushes a biopsy working head 203 out of the axial direction under the action of a magnetic field force by applying a strong external magnetic field, and after the external magnetic field is removed, the elastic force of a spring 202 resets the biopsy working head 203, thereby completing one biopsy sampling movement.
The biopsy working head 203 is preferably a biopsy needle.
As can be seen from FIG. 3, when an external magnetic field exists, the permanent magnet 205 is attracted, the moving base 204 is driven to compress the spring 202, and the biopsy needle axially extends out of the reserved hole of the fixed base 201; when the external magnetic field is removed, the permanent magnet 205 drives the biopsy needle on the movable base 204 to reset under the action of the restoring force of the spring 202, and the sampling process is completed. The external magnetic field is repeatedly applied or removed, and multiple sampling operations can be completed.
As can be seen in FIG. 4, the biopsy sampling mechanism is small in overall size relative to the capsule endoscope and is easy to swallow. The fixed base 201 is in interference fit with the capsule shell, the position of the fixed base 201 is always kept unchanged, and a hole suitable for the biopsy working head 203 to pass through is reserved on the fixed base 201, so that the fixed base has a guiding function. The protective shell 206 at the outermost layer is in interference fit with the fixed base 201 and is equivalently fixed on the surface of the capsule shell, so that the spring 202, the magnet and the like are not easily isolated from the part in direct contact with the human environment, meanwhile, the tail end of the protective shell 206 is slightly extended to a part, so that the spring 202 is in a compressed state at the initial stage, when the spring is subjected to the action of an external magnetic field, the permanent magnet 205 is attracted, the spring 202 is still compressed, when the external magnetic field is removed, the restoring force of the spring 202 enables the permanent magnet 205 and the connected movable base 204 to move towards the tail end of the capsule, and due to the limitation of the protective shell 206, the permanent magnet 205 and the movable base 204 are in proper positions, so that the situations.
The permanent magnet 205 is in a ring shape and is in interference fit with the moving base 204, namely when the magnetic field force is applied, the permanent magnet 205 and the moving base 204 move towards the direction of the magnetic field force at the same time, the spring 202 continues to be compressed, and when the magnetic field force disappears, the permanent magnet 205 and the moving base 204 move towards the tail end of the capsule at the same time. A cylindrical boss is arranged on the movable base 204 and is in interference fit with the biopsy needle, so that the biopsy needle is driven to move synchronously. Compared with the original state, the capsule endoscope integrated with the biopsy device has the advantages that the internal structure is unchanged, the thickness is slightly increased, the front end of the device is flush with the transition position of the head of the capsule endoscope, the rear end of the device is slightly longer than the transition position of the tail of the capsule endoscope, and the whole capsule endoscope is still in a capsule shape and is easy to swallow.
As can be seen in FIG. 5, in the absence of magnetic forces, the permanent magnet 205 and associated moving base 204 precompress the spring 202 under the action of the protective shell 206, and in the initial state, the spring 202 is in a compressed state with the biopsy needle tip inside the protective shell 206, preventing harm to the human body. As can be seen from FIG. 6, under the action of the magnetic force, the permanent magnet 205 and the associated motion base 204 axially compress the spring 202 to the maximum extent, and the biopsy needle extends out of the protective housing 206 to the maximum extent for performing the biopsy procedure.
As shown in fig. 7, the biopsy sampling mechanism of the capsule endoscope is described in the practical scene as follows:
the magnetic control capsule endoscope system consists of a capsule endoscope, a capsule endoscope navigation system, a real-time monitoring system and a data recorder. The sampling device of the capsule endoscope comprises a permanent magnet 205, therefore, in the gastroscopy process, a human body swallows a capsule containing a magnetic material, an external magnetic field generated by a capsule endoscope navigation system generates enough force and moment to control the motion of the capsule, so that the capsule can be inclined, translated and rotated in the stomach, the posture of a detected person is changed for matching examination, the digital signal is transmitted to a data recorder carried outside the body in a wireless and real-time manner, and a doctor can make analysis and diagnosis on the state of an illness through image data received by a real-time monitoring system observation recorder.
As shown in fig. 7 (a), the target sampling point is found, and the examination is started to find out the suspicious lesion. As shown in fig. 7 (b) reaching the target sampling point, the capsule posture is adjusted by changing the magnitude and direction of the external magnetic field through the capsule endoscope navigation system, so that the head of the capsule is vertical to the plane of the sampled tissue, and the magnetic force applied to the biopsy device is insufficient to extend the biopsy needle. If the pathological sampling position is special, the size and the direction of the external magnetic field are changed, so that the biopsy process is completed after the capsule rotates for a certain angle.
As shown in FIG. 7 (c), the sample tissue is collected by applying a large magnetic force sufficient to overcome the elastic force of the spring 202 in the sampling device through the external magnetic field, so that the permanent magnet 205 in the sampling device compresses the spring 202 in the axial direction and the biopsy needle is slowly extended. When the biopsy working head 203 contacts the biopsy tissue, the pressure sensor at the front end is in the normal range and within the threshold value, the external magnetic field is continuously increased, and the biopsy working head 203 is inserted into the target tissue. If the pressure exceeds the normal range, the values of the magnetic field and the pressure sensor are changed by adjusting the position of the probe in the capsule endoscope navigation system so as to avoid the damage to the human body caused by overlarge magnetic field, and the process can be automatically adjusted by the capsule endoscope navigation system.
As shown in fig. 7 (d) when the target sampling point is removed, after the sampling by the biopsy working head 203 is finished, the magnetic field is removed by the capsule endoscope navigation system, so that the permanent magnet 205 rebounds, and the biopsy working head 203 is recovered, so that the sampling is finished. The remaining inspection process is then completed by applying the external magnetic field again.
After the examination is finished, the biopsy working head 203 is extended out of the protective shell 206 by utilizing the permanent magnet or the electromagnetic field to generate an external magnetic field, and the sampled tissue is extracted for lesion analysis.
The biopsy sampling mechanism of the capsule endoscope provided by the invention has the following advantages:
1. on the basis of the existing commercial capsule endoscope, the biopsy sampling mechanism is integrated, the existing device does not need to be changed, the use of the inner space of the capsule is reduced, the mechanism is simple in structure, and the biopsy sampling function is increased by depending on a small number of parts.
2. The magnetic field is driven by an external magnetic field, the energy of a battery arranged in the capsule is not consumed, a rotating magnetic field is not required to be generated, the gradient magnetic field is simple to control, and the damage to a human body is small.
3. The spring is used as a power storage device, so that repeated sampling can be realized, and the sampling accuracy is improved.
4. Compared with radial sampling, the axial-driven biopsy working head enlarges the sampling range, is easy to better observe the sampling process by the camera positioned at the head, is convenient to be matched with an external magnetic field, and improves the sampling success rate.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (9)
1. The utility model provides a biopsy sampling mechanism of capsule endoscope which characterized in that: the capsule endoscope comprises a fixed base, a biopsy working head, a spring, a movable base and a permanent magnet, wherein the fixed base is fixed on the outer side face of the capsule endoscope, a guide hole is formed in the fixed base, one end of the biopsy working head is fixedly connected with the movable base, the other end of the biopsy working head penetrates through the guide hole of the fixed base, the spring is clamped between the fixed base and the movable base, and the movable base is connected with the permanent magnet.
2. The biopsy sampling mechanism of a capsule endoscope of claim 1, wherein: the biopsy sampling mechanism further comprises a protective shell, and the fixed base, the biopsy working head, the spring, the movable base and the permanent magnet are all installed inside the protective shell.
3. The biopsy sampling mechanism of a capsule endoscope of claim 2, wherein: the permanent magnet is an axially magnetized annular permanent magnet, the fixed base and the movable base are both in annular shapes, the fixed base and the capsule endoscope are in interference fit, and the permanent magnet and the movable base are in interference fit.
4. The biopsy sampling mechanism of a capsule endoscope of claim 3, wherein: the biopsy working head is a biopsy needle, and at least two biopsy needles are arranged at intervals along the circumferential direction of the fixed base.
5. The biopsy sampling mechanism of a capsule endoscope of claim 4, wherein: the side of removal base is equipped with the boss, be equipped with the mounting hole on the boss, the biopsy needle with the mounting hole is interference fit.
6. The biopsy sampling mechanism of a capsule endoscope of claim 2, wherein: the protective housing is cylindrical hollow structure, has the thin wall characteristic, the protective housing with fixed baseplate is interference fit.
7. The biopsy sampling mechanism of a capsule endoscope of claim 6, wherein: the tail part of the protective shell is provided with a limiting capsule endoscope which is positioned in a limiting hole.
8. The biopsy sampling mechanism of a capsule endoscope of claim 1, wherein: the spring is always in a compressed state.
9. A capsule endoscope system comprising a capsule endoscope, characterized in that: the biopsy sampling mechanism of any one of claims 1 to 8 mounted on the outside of the capsule endoscope.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116602605A (en) * | 2023-07-18 | 2023-08-18 | 中国人民解放军总医院第一医学中心 | Multifunctional capsule endoscope |
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| CN101622773A (en) * | 2007-02-26 | 2010-01-06 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
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| CN116602605B (en) * | 2023-07-18 | 2023-10-13 | 中国人民解放军总医院第一医学中心 | Multifunctional capsule endoscope |
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