CN116725464A - Bee needle type interventional robot of magnetic control capsule endoscope - Google Patents
Bee needle type interventional robot of magnetic control capsule endoscope Download PDFInfo
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- CN116725464A CN116725464A CN202210204527.0A CN202210204527A CN116725464A CN 116725464 A CN116725464 A CN 116725464A CN 202210204527 A CN202210204527 A CN 202210204527A CN 116725464 A CN116725464 A CN 116725464A
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- 239000002775 capsule Substances 0.000 title claims abstract description 14
- 238000011282 treatment Methods 0.000 claims abstract description 13
- 230000006386 memory function Effects 0.000 claims abstract description 3
- 239000011229 interlayer Substances 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 8
- 229910052751 metal Inorganic materials 0.000 claims description 8
- 238000002560 therapeutic procedure Methods 0.000 claims description 5
- 239000003814 drug Substances 0.000 claims description 3
- 230000003902 lesion Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 2
- 230000001575 pathological effect Effects 0.000 abstract description 20
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 210000000813 small intestine Anatomy 0.000 description 5
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 231100000915 pathological change Toxicity 0.000 description 4
- 230000036285 pathological change Effects 0.000 description 4
- 210000002784 stomach Anatomy 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 210000000936 intestine Anatomy 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000002496 gastric effect Effects 0.000 description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000037062 Polyps Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000012277 endoscopic treatment Methods 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000007849 functional defect Effects 0.000 description 1
- 210000002429 large intestine Anatomy 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003094 microcapsule Substances 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
Classifications
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/015—Control of fluid supply or evacuation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00212—Electrical control of surgical instruments using remote controls
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Endoscopes (AREA)
Abstract
The invention relates to a bee-needle type intervention robot (bee-needle type intervention robot) of a magnetic control capsule endoscope, which comprises a bee-needle type intervention injector, a magnet, magnetic lips, a magnetic control negative pressure pump, a camera device, 2 magnetic positioners, a circuit board, a battery pack, a coil, a microprocessor module and the like, wherein the two magnetic positioners are respectively arranged at the positions of a lens end, a treatment end, a diode end and the like, the position of the bee-needle type intervention injector in the direction of a shell area is a magnetic lip which can be opened and closed in the examination state, the magnetic positioners at the lens end are opened in the working state to play a role of magnetic control positioning and guiding, the magnetic positioners at the lens end are closed in the working state after suspicious pathological tissues are found through monitoring, the magnetic control system enables the treatment end of the bee-needle type intervention robot to be adjusted to the same position of the previous lens end through the memory function of the microprocessor, the bee-needle type intervention robot is opened after the bee-needle type intervention robot is close to the pathological tissues, the negative pressure pump is started, the magnetic lip is fixed on the pathological tissues in a closing manner, and the microprocessor starts the bee-needle type intervention injector in the precise pathological tissue treatment area.
Description
Technical Field
A bee-needle type interventional robot (bee-needle type interventional robot) of a magnetic control capsule endoscope belongs to a bee-needle type interventional robot function added to a micro capsule endoscope for intestines and stomach used in clinical and medical research, and is a minimally invasive interventional intelligent instrument. Is a substitute and an upgrade product of the current biopsy system of the pathological tissues of the electron and the fiberscope.
Background
In conventional endoscopic systems, the power supply to the image capture device, and the communication between the image capture device and the system, is accomplished through cables. The use of cables not only limits the scope of the endoscope, but also brings pain to the patient. With the development of microelectronics, wireless endoscope systems are currently available. The company Given Imaging, 5 th 2001, first introduced an M2A wireless capsule-type endoscope system and was used clinically, and was approved by the FDA in the united states in 8 th year. Research is also being conducted in japan, the united states, korea, and the like. From this point, people can obtain clear images of the whole small intestine section in a painless, noninvasive, unfettered and basically uncomfortable manner, and the diagnosis rate of the small intestine pathological changes is remarkably improved. When (when)
The front fiber and the electronic gastrointestinal mirror can not only carry out imaging examination on the large intestine (excluding the small intestine) of the stomach, but also realize the bee-needle type interventional therapy robot for pathological changes of a lesion area, but the examination during the pushing has the defects of great pain, incapability of entering the small intestine and the like.
However, the existing capsule endoscopy instrument realizes the imaging examination of the whole digestive tract (including small intestine), but has the defects that bee needle type interventional therapy can not be realized on pathological changes of pathological areas, pathological attributes can not be judged by using the photographed image picture, and the like. The appearance of the capsule endoscope brings convenience to patients with digestive tract diseases, but the capsule endoscope at the present stage intelligently collects images for clinicians, has no minimally invasive endoscopic treatment function of a push type gastrointestinal endoscope on pathological tissues of the diseases, and can make up for the functional defects of the capsule endoscope, thereby being convenient for better popularization and application.
The scholars summarize one of the drawbacks and deficiencies of capsule endoscopes: the capsule endoscope is only visible at present, so that the endoscope cannot treat the disease, and clinical examination is for better minimally invasive treatment. One major problem that needs to be addressed at present is: treatment, and diagnosis and treatment of a clinical class of diseases, is the ultimate mission of doctors.
Disclosure of Invention
The invention relates to a bee-needle type intervention robot, which consists of a bee-needle type intervention injector, an inner and outer interlayer of a lip, a magnetic lip, a negative pressure pump, a magnetic control valve, a camera device, 2 magnetic positioners, a circuit board, a battery pack, a coil, a microprocessor module and the like, wherein the two magnetic positioners are respectively arranged at a lens end, a treatment end, a diode end and the like at equal distance, the area of a shell of the bee-needle type intervention injector in the needle head direction is the magnetic lip which can be opened and closed, the inner and outer interlayer of the lip is the magnetic metal which can be absorbed, the lip is in a closed state in an inspection state, the lens end magnetic positioners are opened to be in a working state, the magnetic control positioning guide function is realized, after suspicious pathological tissues are found through monitoring, the lens end magnetic positioners are closed to be in a working state, the treatment end magnetic positioners are opened to be in a working state, and the magnetic control system enables the bee-needle type to be in a memory function of the microprocessor
The treatment end of the intervention robot is adjusted to the position of the previous lens end, the bee-needle intervention robot is close to pathological tissues and then opens the magnetic lips, the negative pressure pump is started, the magnetic lips are anastomosed and fixed on the pathological tissues, the remote controller starts the bee-needle intervention injector, and accurate intervention treatment is performed on pathological tissue areas.
Some features of the invention: the bee needle type needle head can be retracted, the inner and outer interlayers of the lips are magnetic metal which can be absorbed, and the magnetic injector medicine container can be retracted; the magnetic pressurizer, the negative pressure pump and the magnetic control valve of the injector are controlled by a microprocessor.
The technical conditions are as follows:
the electric energy is supplied with 6-8V direct current 0.5-0.8A
The battery type is external, nickel metal 6V7000Mah
8-piece 40mm diameter flexible PCB of array sensor
Application software:
data output JPEJ, AVI, HTML
Data display image, time and other diagnostic data
The beneficial effects are as follows: when the bee-needle type interventional robot is used for examination, the precise interventional therapy on the pathological tissue area can be performed besides the pathological image acquired by the current capsule endoscope.
Drawings
Fig. 1 is a schematic diagram of a bee-needle interventional robot
In fig. 1:1. bee needle type needle head. 2. The inner and outer interlayers of the lip (being attractable magnetic metals). 3. A retractable magnetic syringe drug container. 4. Magnetic pressurizer of the syringe. 5. Negative pressure pump and magnetic control valve. 6. And a microprocessor. 7. A battery pack. 8. A magnetic control capsule endoscope body. 9. An image pickup device. 10. Magnetic lips. 11. A magnetic positioner.
The microprocessor controls a program (6) to instruct the magnetic lips (10) to be opened, the negative pressure pump is started (5) at the same time, the bee needle type needle head (1) is penetrated into the lesion part, and the contractile magnetic injector Cheng Yaoqi (3) and the magnetic pressurizer (4) of the injector are instructed to synchronously work, so that interventional therapy is injected.
The specific embodiment is as follows:
the bee-needle type interventional robot enters the stomach and intestine through the esophagus. The method comprises the steps of alarming or monitoring and checking the pathological states in stomach and intestine through a monitor when a pathological region is detected, controlling a capsule endoscope through external magnetic force if the pathological changes such as polyp tumor and the like are detected, stopping and approaching to pathological tissue positions, opening magnetic lips after a bee-needle type interventional robot approaches to the pathological tissue, starting a negative pressure pump, enabling the magnetic lips to be anastomosed and fixed on the pathological tissue, and starting a bee-needle type interventional injector by a remote controller to accurately intervene and treat the pathological tissue region.
Claims (9)
1. A bee-needle type intervention robot (bee-needle type intervention robot) of a magnetic control capsule endoscope comprises a bee-needle type intervention injector, an inner interlayer and an outer interlayer of a lip, a magnetic lip, a negative pressure pump, a magnetic control valve, a camera device, two magnetic positioners, a circuit board, a battery pack, a coil, a microprocessor module and the like, and is characterized in that: the bee needle type needle head can be retracted, the inner and outer interlayers of the lips are magnetic metal which can be absorbed, and the magnetic injector medicine container can be retracted; the magnetic pressurizer, the negative pressure pump and the magnetic control valve of the syringe are controlled by a microprocessor, the two magnetic positioners are respectively arranged at the lens end and the treatment end and equidistant from the two electrode ends, wherein the bee needle type intervention syringe needle head direction shell area is a magnetic lip capable of being opened and closed, an inner interlayer and an outer interlayer of the lip are magnetic metal capable of being absorbed, the lip is in a closed state in an inspection state, and meanwhile the lens end magnetic positioners are opened to be in a working state.
2. The bee-needle interventional robot according to claim 1, characterized in that: the bee-needle type intervention injector and the inner and outer interlayers of the lips are (magnetic metal capable of being absorbed), magnetic lips, a negative pressure pump, a magnetic control valve, a camera device, two magnetic positioners, a circuit board, a battery pack, a coil and a microprocessor module which are electrically linked and controlled by radio.
3. The bee-needle interventional robot according to claim 1, characterized in that: the inner and outer interlayers of the bee-needle type interventional syringe and the lips are made of absorbable magnetic metal.
4. The bee-needle interventional robot according to claim 1, characterized in that: the two magnetic positioners are respectively arranged at the lens end and the treatment end and are equidistantly arranged at equal positions with the two pole ends.
5. The bee-needle interventional robot according to claim 1, characterized in that: wherein the bee-needle type interventional syringe needle head direction shell area is a magnetic lip which can be opened and closed.
6. The bee-needle interventional robot according to claim 1, characterized in that: the lens end magnetic positioner is opened to be in a working state, and plays a role in magnetic control positioning and guiding.
7. The bee-needle interventional robot according to claim 1, characterized in that: the magnetic syringe Cheng Yao can be collapsible in volume.
8. The bee-needle interventional robot according to claim 1, characterized in that: the magnetic control system enables the treatment end of the bee-needle type interventional robot to be adjusted to the same position of the previous lens end through the memory function of the microprocessor.
9. The bee-needle interventional robot according to claim 1, characterized in that: the microprocessor controls a program (6) to instruct the magnetic lips (10) to be opened, the negative pressure pump is started (5) at the same time, the bee needle type needle head (1) is penetrated into the lesion part, and the contractile magnetic injector Cheng Yaoqi (3) and the magnetic pressurizer (4) of the injector are instructed to synchronously work, so that interventional therapy is injected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210204527.0A CN116725464A (en) | 2022-03-04 | 2022-03-04 | Bee needle type interventional robot of magnetic control capsule endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210204527.0A CN116725464A (en) | 2022-03-04 | 2022-03-04 | Bee needle type interventional robot of magnetic control capsule endoscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116725464A true CN116725464A (en) | 2023-09-12 |
Family
ID=87904910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210204527.0A Pending CN116725464A (en) | 2022-03-04 | 2022-03-04 | Bee needle type interventional robot of magnetic control capsule endoscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116725464A (en) |
-
2022
- 2022-03-04 CN CN202210204527.0A patent/CN116725464A/en active Pending
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