KR100960289B1 - Endoscope system - Google Patents

Abstract

The present invention relates to an endoscope system using a capsule endoscope device that is introduced into the human body, and more particularly, a capsule endoscope for the purpose of image diagnosis and the like by remotely operating a capsule endoscope introduced into a human organ using magnetic force from outside the human body. The present invention relates to an endoscope system capable of stopping or moving an organ within a human organ.

According to the present invention, by generating a rotating magnetic field by using two magnets provided in a symmetrical position with respect to the capsule endoscope, a smaller size to induce a magnetic force of the same size than the conventional technology using only one magnet Magnets can be used.

As such, the magnetic force acting on the capsule endoscope cancels each other through two magnets, thereby preventing the possibility of excessive magnetic force acting in the radial direction of the capsule endoscope to pull the organ.

Capsule Endoscope, Magnet, Rotator, Spiral Motion, Variable Helix

Description

Endoscope system

The present invention relates to an endoscope system using a capsule endoscope device that is introduced into the human body, and more particularly, a capsule endoscope for the purpose of image diagnosis and the like by remotely operating a capsule endoscope introduced into a human organ using magnetic force from outside the human body. The present invention relates to an endoscope system capable of stopping or moving an organ within a human organ.

Conventional capsule endoscopes are equipped with a small battery, a photographing means and a communication means, and when injected into the patient through the oral to move through the esophagus, stomach, small intestine, large intestine until it is discharged out of the body to shoot the walls of the organs they passed A device that transmits a video signal to the outside of a body, and is passively moved by a long-term interlocking movement.

Therefore, there is a disadvantage that it is impossible to stop the endoscope arbitrarily at the site to be observed in detail during the movement, or to go back up the organ in order to observe the site that has passed once.

To solve this problem, Olympus Inc. rotates the capsule endoscope with a permanent magnet and a fixed spiral on its shell by an external three-axis stator coil. A patent has been filed for a propulsion method (European Patent EP1652466A1).

The propulsion method using a fixed spiral like the above patent is effective in straight organs having a certain viscosity. However, since the screw angle is fixed, the performance is greatly deteriorated in organs having a high or low viscosity or a long curvature. Can be.

In particular, when the capsule-type endoscope is rotated in a high-viscosity organ, the endoscope may be attached to the organ, and the organ may be twisted. In this situation, as the endoscope is advanced, the organ becomes more twisted, and further spiral propulsion becomes impossible.

Also, when the endoscope bends to the left and to the right when the capsule endoscope passes through a curved organ, the effective spiral angle is different. If the effective spiral angle is too large in an organ with too high viscosity, the organ may be damaged by excessive frictional force. On the contrary, in a curved organ with low viscosity, if the effective helix angle is too large, slippage occurs, and if it is too small, the propulsion speed is greatly reduced.

In addition, the patent requires the use of a large Helmholz coil of a size that can wrap the human body in applying a rotating magnetic field to rotate the capsule endoscope, such a large electromagnet is very expensive like MRI equipment However, there is a disadvantage in that the installation space is limited by the size.

As a method to solve this disadvantage, the patent filed by the Korea Institute of Science and Technology ("Capsule Endoscope Control System", Korean Patent No. 615881) is equipped with a permanent magnet, a magnetic field sensor and an image module, and a series of signals to the outside of the human body. Medical capsule having a wireless transmission circuit for transmitting a yaw, roll or pitch for rotating the external permanent magnet to exert a series of magnetic force with respect to the permanent magnet mounted in the capsule A two-axis rotary joint part, a photoelectric distance sensor attached to a lower end of the two-axis rotary joint part and measuring the distance between the external permanent magnet and the human body surface, and the external permanent magnet and the two-axis rotary joint part moving along the internal fire extinguisher 3-axis Cartesian robot for supporting, the bed to support the person to be diagnosed and / or treated, the tilt angle is adjusted in the roll direction, the two-axis rotation A capsule endoscope steering system has been proposed that includes a remote control controller for controlling the driving of a joint and a bed and a 3-axis Cartesian robot to move, rotate or stop the capsule in an arbitrary position.

The present invention is based on the principle of using the magnetic force of the permanent magnet attached to the bottom of the manipulator more than five degrees of freedom from outside the human body to move the capsule endoscope embedded with the permanent magnet mounted in the capsule, the two axes of the manipulator It is also possible to propel a spiral motion by rotating a capsule endoscope equipped with a spiral shell using a rotating joint, so it has more advantages in terms of economics than a large electromagnet, such as Olympus' patent.

However, since only one external magnet is used, the size of the magnet has to be increased in order to rotate the capsule endoscope even at a sufficiently long distance from the human body. On the other hand, if the external magnet pulls the capsule endoscope in the radial direction too large, it may pull the organ and damage the organ, thus detecting the strength of the magnetic force and preventing the distance between the external magnet and the capsule endoscope from approaching a certain level. A safety function is essential.

The present invention induces a spiral motion through the yaw, pitch direction rotation, and roll direction rotation of the capsule endoscope at a sufficient distance without using a large magnet as in the prior art so that the capsule endoscope can move smoothly in the human intestine It is an object of the present invention to provide an endoscope system capable of providing a rotating magnetic field.

The present invention according to a preferred embodiment for solving the above problems, as an endoscope system using a capsule endoscope propelled by the spiral movement in the human organs, which can advance the endoscope through the right screw rotation or left screw rotation A capsule type endoscope having a variable spiral mechanism for forming a spiral protrusion, the capsule type endoscope being inserted into the human body and capturing an internal organ image of the human body; Roll, yaw or pitch a first external magnet that applies magnetic force to the capsule endoscope outside the human body according to a user's operation, or change the position of the first external magnet. First magnetic force applying means capable of being moved or fixed; On the opposite side of the first magnetic force applying means around the human body, a second external magnet for applying a magnetic force to the capsule endoscope in conjunction with the first external magnet to rotate in the roll, yaw or pitch direction, or a second Second magnetic force applying means capable of moving or fixing the position of the external magnet; And measuring positions of the first external magnet and the second external magnet, varying positions of the second external magnet according to the position of the first external magnet, and changing the first external magnet and the second external magnet. And a steering device for generating a rotating magnetic field to rotate or move the capsule endoscope forward or rotating in a spiral motion, and outputting the organ internal image of the human body photographed by the capsule endoscope so that the user can recognize it.

Furthermore, the present invention according to another preferred embodiment, as an endoscope system using a capsule endoscope that is promoted by the spiral motion in the human organs, to form a spiral projection that can advance the endoscope through the right screw rotation or left screw rotation A capsule endoscope provided with a variable spiral mechanism and inserted into the human body to take an image of the organ of the human body; Roll, yaw, or pitch a first external magnet and a second external magnet for applying a magnetic force to the capsule endoscope on both sides of the human body around the human body, or rotating the first external magnet and the second external magnet. Magnetic force applying means capable of simultaneously moving or fixing the positions of the first external magnet and the second external magnet; And controlling the position of the magnetic force applying means according to the control information received from the user, and rotating or interlocking the first external magnet and the second external magnet to generate a rotating magnetic field to advance or rotate the capsule endoscope in a spiral motion. And a controller for outputting the organ image of the human body photographed by the capsule endoscope to be recognized by the user.

According to the present invention, by generating a rotating magnetic field by using two magnets provided in a symmetrical position with respect to the capsule endoscope, a smaller size to induce a magnetic force of the same size than the conventional technology using only one magnet Magnets can be used.

As such, the magnetic forces acting on the capsule endoscope cancel each other through two magnets, thereby preventing the possibility of excessive magnetic force acting in the radial direction of the capsule endoscope to pull the organ.

At this time, even if the magnetic force acting in both directions of the capsule endoscope is not exactly symmetrical, it is very unlikely that excessive magnetic force acts in the radial direction of the capsule endoscope than the conventional technique using a single magnet is very effective in preventing accidents Big.

In addition, even if a magnet on one side does not operate normally due to a failure, if necessary, it may be driven in the same manner as in the prior art using only one magnet.

Furthermore, in the case of the endoscope according to the second preferred embodiment of the present invention, it is not necessary to embed a separate driving device in the capsule endoscope in order to change the advancing direction of the capsule endoscope, thereby miniaturizing the size of the capsule endoscope. It is advantageous in that the power consumption is reduced, so that it can be operated for a longer time.

In addition, since the endoscope according to the second embodiment of the present invention is driven through a simple mechanical principle, there is an advantage that the probability of occurrence of residual trouble is greatly reduced.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only the most preferred embodiment of the present invention and do not represent all of the technical idea of the present invention, various modifications that can be replaced at the time of the present application It should be understood that there may be equivalents and variations.

Hereinafter, the principle concept of the present invention will be described with reference to FIGS. 1 (a) to 1 (d).

First, as shown in FIG. 1A, when a pair of magnets are arranged in the same polarity direction on the outside in a state where a small magnet having polarity is located at the center, a magnetic balance is achieved.

Here, when rotating the outer magnet as shown in Fig. 1 (b), Fig. 1 (c) and Fig. 1 (d) is a small magnet in the center rotates in the pitch, yaw and roll direction.

The present invention is based on the above phenomenon to prevent the application of excessive magnetic force in one direction by using two magnets dualized from the outside of the capsule endoscope as in the prior art, as well as miniature The magnet allows the capsule endoscope to be driven to a sufficient distance.

Next, an endoscope system according to an exemplary embodiment of the present invention will be described with reference to FIG. 2. As shown in Figure 2, the endoscope system 200 according to a preferred embodiment of the present invention is a capsule endoscope 210, the first magnetic force applying means 220. The second magnetic force applying means 230 and the steering device 240 is included.

Capsule endoscope 210 is to be put into the human body (1) as it is well known to obtain a variety of information, even if the right screw rotation or left screw rotation with the one of Olympus's movement direction is determined according to the rotation direction capsule A variable spiral mechanism is provided to allow the mold endoscope 210 to move (move) in the same direction without changing the traveling direction.

Detailed configuration and principle of this capsule endoscope 210 will be described in more detail later.

The first magnetic force applying means 220 is for driving one of the dual magnets as described above, the first external to apply the magnetic force to the capsule endoscope 210 from the outside of the human body 1 in accordance with the user's operation The magnet 221 is rolled, yawed or pitch rotated, or the position of the first external magnet 221 is moved or fixed.

As shown in FIGS. 2 and 3, the first magnetic force applying unit 220 includes a first motor unit for rotating the first external magnet 221 in a roll, yaw, or pitch direction by including a biaxial rotation joint part. 222, one end is preferably a master manipulator including a horizontal articulated portion 223 for moving the position of the first external magnet 221 in the lateral, longitudinal, and vertical directions connected to the first motor portion 222. Do.

Further, the rotary joint 223a and the vertical slide joint 223b of the horizontal articulated portion 223 may be attached with an electronic, hydraulic, or pneumatic brake to fix the joint at a specific position.

In addition, the braking and releasing of the joint may be performed according to the manual operation of the user through the manipulation handle 225. For example, the user may input a signal for releasing the braking of each joint 223a or 223b. The first external magnet 221 may be manually moved, and when the position of the first external magnet 221 is determined, the brake is applied again to prevent the joints 223a and 223b of the master manipulator 220 from moving any more. After braking, the first external magnet 221 may be rotated in a roll, yaw, or pitch direction through the first motor unit 222 to apply a rotating magnetic field.

Here, the braking and releasing of the joints 223a and 223b of the master manipulator 220 are described as being made through the manipulation handle 225. However, the present invention is not necessarily limited to a separate remote controller (not shown). Braking and releasing are also possible.

On the other hand, the above-described operation handle 225 is provided on one side of the first motor unit 222 so that the user operating the system 200 rotates the first motor unit 222 and the second motor unit 232. In addition, it is for controlling whether the master manipulator 220 is fixed or not, and preferably, the fixing protrusion injection direction of the capsule endoscope 210 may be manipulated, which will be described with reference to FIGS. 6 and 7. I will explain in more detail.

The second magnetic force applying means 230 is a second to apply the magnetic force to the capsule endoscope in conjunction with the first external magnet 231 at a position symmetrical with the first magnetic force applying means 220 about the human body (1) The external magnet 231 is rotated in the roll, yaw or pitch direction, or the position of the second external magnet 231 is moved or fixed.

As shown in FIGS. 2 and 4, the second magnetic force applying means 230 includes a second motor part 232 and a second external magnet for rotating the second external magnet 231 in a roll, yaw or pitch direction. It is preferable that it is a slave manipulator including the linear drive device 233 for moving the position of 231 to an up-down direction.

The aforementioned linear drive unit 233 and the rotary joint unit 223 are both driven by an electric servo motor having a position control function, and a command signal for the rotation angle of each joint is preferably input from the control unit 240. Do.

Further, it is preferable that each joint of the master manipulator 220 and the slave manipulator 240 is provided with a rotation angle sensor A or a displacement sensor B according to the type of joint. Sensor (B) is the first external magnet 221 and the second by receiving the information about the position and rotation state of each joint measured by the steering unit 240 or the rotation sensor (A) or displacement sensor (B) It may be used to measure the position of the external magnet 231.

When the position of the first external magnet 221 and the second external magnet 231 is measured in this way, the second external magnet so that the steering unit 240 corresponds to the position where the first external magnet 221 is moved by manual operation. The position of 231 is automatically moved.

Through such a configuration, the present invention enables the first external magnet 221 and the second external magnet 231 to be interlocked to form a rotating magnetic field even when the user operates only the master manipulator 220. At this time, the position of the first external magnet 221 and the second external magnet 231 is preferably output so that the user can recognize through the control unit 240 so that the user can refer to it.

On the other hand, the endoscope system 200 of the present invention according to a preferred embodiment may further include a swivel chair 250, such a swivel chair 250 as shown in Figures 2 and 4 back 251 The slave manipulator 230 is provided at the rear side of the) so that the human body 1 can be easily exposed to the rotating magnetic field generated through the master manipulator 220 provided at the front and the slave manipulator 230 at the rear.

At this time, the swivel chair 250 is also preferably capable of rotation in the roll direction by the angle adjustment of the backrest 251 and the chair rotation axis 252.

Hereinafter, a detailed configuration of the steering apparatus 240 will be described with reference to FIG. 5.

The steering unit 240 is a magnetic position measuring unit 245 of the first external magnet 221 and the second external magnet 231 from the results measured by the rotation angle sensor (A) and displacement sensor (B) Measure the position.

In addition, the magnet position measuring unit 245 calculates position change data necessary for the second external magnet 231 to move to a position (symmetrical) corresponding to the first external magnet 221, and the slave manipulator control unit 247. ) Controls the slave manipulator 240 according to the position change data.

In this case, it is also possible to change the driving of the slave manipulator 240 according to a manual command input through the user input unit (manual command input unit).

In addition, the magnet rotation command unit 244 controls the first and second motor units 222 and 232 when a signal for whether the first or second external magnets 221 and 231 are rotated is transmitted from the operation handle 225. Thereby rotating or stopping the first and second external magnets 221 and 231.

The wireless transmitter and receiver 241 is for wireless communication with the capsule endoscope 210 in the direction and intensity of the image information transmitted from the capsule endoscope 210 and the magnetic force to operate from the outside of the capsule endoscope 210 Receive information about

The received information is transmitted to the indicating unit 242 so that the user can recognize it, and information about the direction and intensity of the magnetic force is also transmitted to the endoscope position detecting unit 243 and used to detect the position of the endoscope. .

In addition, the position of the endoscope detected by the endoscope position detecting unit 243 may also be output to the user through the indicating unit 242 so as to be recognized.

On the other hand, when the wireless transmission and reception unit 241 receives a fixed command signal for the rotary ring from the operation handle 225, it is transmitted back to the capsule endoscope 210 by the capsule endoscope 210 corresponds to the fixed command signal In this direction, the fixing projections to be described later can be ejected.

Referring to the operation of the endoscope system 200 of the present invention according to a preferred embodiment having such a configuration as follows.

First, by operating the operation handle 225 (preferably the magnet rotation switch included in the operation handle 225), if the first external magnet 221 is selected to rotate in the clockwise direction, the magnet rotation of the control unit 240 The command unit 244 generates a rotating magnetic field in the capsule endoscope 210 while the first external magnet 221 rotates in the clockwise direction and the second external magnet 231 rotates at a constant speed in the counterclockwise direction.

On the contrary, the first external magnet 221 rotates in the counterclockwise direction, and the second external magnet 231 rotates in the clockwise direction.

When the capsule endoscope 210 starts the spiral movement, the user views the position of the first external magnet 231 using the manipulation handle 225 while watching the image transmitted from the capsule endoscope 210 through the indicator 242. Move along the organ.

In this case, the second external magnet 231 is positioned so that the center of the first external magnet 221 is positioned on the center line perpendicular to the axis of rotation of the second external magnet 231 by the slave manipulator controller 247 of the control unit 240. Always move automatically.

If you want to change the direction of the spiral during the movement of the capsule endoscope 210 to change the direction of rotation of the two external magnets (221, 231), if you want to change the direction of movement of the capsule endoscope 210 is to change the position of the fixing projections.

In addition, in the case of using the capsule endoscope 310 according to the second embodiment of the present invention, there is no need to change the position of the fixing protrusion so that the two end magnets are moved to the direction in which the capsule endoscope 310 is to be moved, and then rotated. By doing this, the same effect can be derived.

If you want to stop the movement of the capsule endoscope 210 may stop the rotation of the two external magnets, and can operate the joint brake so that the joint of the master manipulator 220 does not move.

When the diagnosis is completed, the first external magnet is reversed from the human body and the second external magnet is sent to the bottom to release all magnetic force acting on the capsule endoscope, and the capsule endoscope is discharged to the body after a certain time by the digestive exercise. do.

Endoscopic system 200 of the present invention according to a preferred embodiment even if the user rotates the capsule type endoscope 210 orally injected in any direction through the above configuration in any direction the user of the system 100 It can be used without side effects such as twisting of the organ, and furthermore, since it does not require a configuration such as a large Helmholtz coil, there is little space constraint and the organ can be prevented from being damaged by excessive magnetic force.

Hereinafter, the configuration of the capsule endoscope 210a according to the first embodiment of the present invention will be described in more detail with reference to FIG. 6.

As shown in FIG. 6, the capsule endoscope 210 includes a permanent magnet 213 magnetized perpendicular to the rotation axis direction, in addition to the image sensor, the second wireless communication unit 211, and the battery 212.

The image sensor and the second wireless communication unit 211 are used to photograph images of organs in the human body and wirelessly transmit them to the outside.

The battery 212 supplies the power required for each component within the capsule endoscope 210 to operate.

The permanent magnet 213 is used to impart magnetism to the capsule endoscope. The permanent magnet 213 may be divided into two and disposed before and after the battery 212, or one magnet may be disposed before or after the battery 212.

A variable spiral mechanism 214 is attached to the envelope of the capsule endoscope 210 according to the first embodiment of the present invention as shown in FIG. 7.

The variable spiral mechanism 214 includes at least one pair of rotary rings 214a and slidably rotatable about an axis formed in the longitudinal direction of the capsule endoscope 210 and at least one pair of rotary rings 214a. Interposed between the plurality of blades 214b and at least one pair of rotary rings 214a connecting each other to each other, and receiving a fixed command signal from the steering unit 240 according to the fixed command signal. It is configured to include an intermediate jaw (214d) having a fixing projection (214c) for injecting in one direction of the rotating ring (214a) to selectively fix one side of the at least one pair of the rotating ring (214a).

Through the above structure, the capsule endoscope 210 rotates at least one pair according to the direction information included in the fixed command signal when the fixed command signal is received from the control unit 240 through the second wireless communication unit 211. One side of the ring 214a is fixed.

In more detail, as shown in Figs. 7 (a) to 7 (f), in the capsule endoscope of the present invention according to the first preferred embodiment, at least a pair of rotary rings 214a face each other with a triangular or A trapezoidal protrusion end 214e is formed, and the fixing protrusion 214c is in one direction of at least one pair of rotation rings 214a by the fixing protrusion driving unit 215 according to the fixing command signal (FIG. 6 (a)). Is injected to the left) to selectively engage and secure the protrusion end 214e of one side of the at least one pair of rotary rings 214a.

Then, when a magnetic field is applied from the outside, the non-fixed side of the at least one pair of rotating rings 214a is twisted by the frictional force with the organ, and thus the blade 214b forms a spiral. As shown in 7 (e), the capsule endoscope moves while turning the right screw or left screw.

That is, in the capsule endoscope 210 of the present invention according to the first preferred embodiment, the advancing direction of the capsule endoscope 210 is determined according to the direction in which the fixing protrusion 214c is injected, and continues in one direction even if the rotation direction is changed. In order to move forward, the doctor may arbitrarily select the rotational direction of the capsule endoscope 210 according to the curvature or viscosity of the organ.

By using this principle, the present invention, when the capsule endoscope 210 is adhered to the organs and the organs may be twisted, the capsule endoscope 210 is driven without changing the organs by twisting the left screw rotation and the right screw rotation. You can keep moving forward.

Although the above description has been described only in the case where the fixing projection 214c is injected to the left, it can be equally applied to the case in which the fixing protrusion 214c is injected to the right as shown in Figs. 7 (b), 7 (d) and 7 (f). have.

Here, the rotary ring 214a and the middle jaw 214d may be provided with two or more as shown in FIG. 8.

In addition, the capsule endoscope 210 may further include a magnetic sensor 215, the magnetic sensor 215 is to detect the direction and intensity of the magnetic force acting from the outside to the capsule endoscope 210, Information about the direction and intensity of the magnetic force detected by the magnetic field sensor is wirelessly transmitted through the second wireless communication unit 211 together with the image signal.

The information on the direction and intensity of the magnetic force transmitted as described above is used to detect the position of the capsule endoscope 210 introduced into the human body in the control unit 240 as described above.

Hereinafter, the capsule endoscope 310 according to the second embodiment of the present invention will be described with reference to FIGS. 9 (a) to 9 (g).

The capsule endoscope 310 of the present invention according to the second preferred embodiment has the same configuration as the capsule endoscope 210 of the present invention according to the first preferred embodiment, but the configuration of the variable spiral mechanism 314 is the same. This is done differently.

Variable spiral mechanism 314 of the capsule endoscope 310 of the present invention according to the second embodiment, at least one is provided to be slidably and rotatable about an axis formed in the longitudinal direction in the body of the capsule endoscope 310 A plurality of blades 314b connecting the pair of rotary rings 314a, at least one pair of rotary rings 314a with each other, and an intermediate jaw 314c interposed at a fixed position between the at least one pair of rotary rings At least one pair of rotating ring 314a and the intermediate jaw 314c are in contact with each other, the trapezoidal or triangular projection end (314d, 314e) is formed in accordance with the direction of the magnetic force applied from the outside The pushing direction of the capsule endoscope 310 is automatically determined.

In more detail, if the first and second external magnets 221, 231 are in front of the capsule endoscope 310, the two rotating rings 314a and the blades 314b are adhered to the organ wall by the frictional force. In the state only the body of the capsule endoscope 310 is drawn by the magnetic force to move forward, as shown in Figure 9 (b) of the rotating ring of the front side of the two rotary rings 314a through the projection end (314d, 314e) intermediate jaw 314c ) Will be combined.

In this state, when the first and second external magnets 221 and 231 are rotated, the capsule endoscope 310 is rotated while the rotary ring on the rear side is released, so that the blade 314b is twisted by the frictional force of the long-term wall to form a spiral. do. The spiral direction may be a right screw or a left screw as shown in FIG. 9 (d) or 9 (f) according to the rotation direction of the capsule endoscope 310, but the capsule endoscope always moves forward.

On the contrary, when the first and second external magnets 221 and 231 are behind the endoscope 310, the two rotating rings 314a and the blades 314b are moved by the magnetic force only by the body while the two rotary rings 314a and the blades 314b are adhered to the organ wall by the frictional force. At the same time, as shown in FIG. In this state, when the external magnet is rotated, the capsule endoscope 310 rotates while the front rotary ring is released, so that the blade 314b is twisted by the frictional force of the long-term wall to form a spiral.

The direction of the spiral is to rotate the right screw or left screw as shown in Fig. 9 (e) or 9 (g) according to the rotation direction of the capsule endoscope, the capsule endoscope will always move only backward.

That is, the moving direction of the capsule endoscope is automatically determined depending on whether the first and second external magnets 221 and 231 are located in front of or behind the capsule endoscope 310. Therefore, a separate drive device for fixing the rotary ring in the endoscope does not need to be built separately, which has the advantage of simplicity, and the capsule endoscope can be easily moved without considering the direction of the fixing protrusion 214c. As a result, operation is also simplified.

At this time, the capsule endoscope 310 according to the second embodiment of the present invention may also be provided with two or more rotation rings 314a and the middle jaw 314c as shown in FIG. 10.

On the other hand, with reference to Figure 11 will be described in the endoscope system according to another embodiment of the present invention. In the description, the same reference numerals as FIGS. 1 to 10 refer to the same configuration that performs the same function.

As shown in FIG. 11, the endoscope system 400 of the present invention includes a capsule endoscope 210, a magnetic force applying means 420, and a steering device 440.

Endoscope system 400 of the present invention according to another preferred embodiment is a magnetic force capable of simultaneously moving or fixing the position of the first external magnet 421 and the second external magnet 422, as shown in FIG. The means 420 is used.

The magnetic force applying means 420 is a C-type manipulator as shown in FIG. It is largely divided into planar slide joints 429 for translational motion.

The C frame 427 supports the upper driving device 425 and the lower driving device 426 to be positioned at a predetermined distance from each other about the human body 1, and the upper driving device 425 and the lower driving device ( The first motor 423 and the second motor 424 for sliding the first external magnet 421 and the second external magnet 422 in the roll, yaw or pitch directions, respectively, are slidably moved. Is connected as possible.

The two degrees of freedom rotating joint 428 rotates the C-shaped frame 427 in a roll or pitch direction, and the planar slide joint 429 translates the position of the two degrees of freedom rotating joint 428 forward, backward, left and right. Let's do it.

The endoscope system 400 of the present invention according to another preferred embodiment through this configuration is a rotating magnetic field corresponding to the first external magnet 421 and the second external magnet 422 from the upper part to the lower part of the human body 1. Can be applied.

Furthermore, each of the joints 425a, 426a, 428a, and 429a of the C-type manipulator 420 is provided with a rotation angle sensor A or a displacement sensor B according to the type of the joint and thus relates to the position and rotation state of each joint. Information is measured.

Information about the position and rotation state of each of the joints thus measured may be transmitted to the control unit 440 and used to measure the positions of the first external magnet 421 and the second external magnet 431.

The driving of the C-type manipulator 420 is made by the control unit 445 provided on one side of the control unit 440.

Furthermore, the endoscope system 400 according to another embodiment of the present invention allows the human body 1 to be laid on the central portion penetrating the C-type manipulator 420 as shown in FIG. It is possible to further include a bed 450 is adjustable in height by the vertical drive device 451 provided at the bottom.

At this time, the height of the vertical drive device 451 is more preferably controllable by the user through the control unit 440.

Hereinafter, a detailed configuration of the steering device 440 will be described with reference to FIG. 14.

The steering unit 440 is a magnetic position measuring unit 443 of the first external magnet 421 and the second external magnet 422 from the results measured by the rotation angle sensor (A) and displacement sensor (B) Measure the position.

In addition, the magnet position measuring unit 443 may calculate position change data necessary for the second external magnet 422 to move to a position (symmetrical) corresponding to the first external magnet 421, and the lower driving unit controller ( 444 controls the lower drive 426 in accordance with the position change data.

Since the radio transmitter / receiver 241, the indicator 242, and the endoscope position detector 243 have the same configuration as in the endoscope system according to an exemplary embodiment of the present invention, description thereof will be omitted.

The control unit 445 manipulates whether the first motor unit 423 and the second motor unit 424 rotate or the fixing protrusion injection direction of the capsule endoscope 210 in a configuration corresponding to the operation handle 225. In addition, the upper drive unit 425 and the two degrees of freedom rotating joint 428 and the plane slide joint 429 can be manipulated.

The first magnet controller 442 and the signal output unit 441 are driven by the upper drive unit 425, the two degree of freedom rotary joint 428 and the planar slide joint 429 according to a user input through the control unit 445. Do it.

Referring to the operation of the endoscope system 400 of the present invention according to another embodiment having such a configuration as follows.

First, when using the capsule endoscope according to the first embodiment, the user through the control unit 445 to select the moving direction of the capsule endoscope using the variable spiral mechanism forward or backward (more specifically, the control unit ( Directional switch included in the 445) fixing projections protrude forward or backward to fix the corresponding rotary ring.

In addition, the user may adjust the roll rotation axes of the two permanent magnets to be parallel to the direction of the capsule endoscope by using the direction of the magnetic field signal and the attitude information of the capsule displayed on the indicator 242.

Then, when the first external magnet is selected to rotate in the clockwise direction through the control unit 445 (more specifically, the magnet rotation switch included in the control unit 445), the magnet rotation command unit 244 of the control unit 440. The first external magnet is rotated in the clockwise direction and the second external magnet is rotated at a constant speed in the counterclockwise direction to generate a magnetic field in the capsule endoscope.

When the capsule endoscope starts the spiral movement, the doctor controls the C-type manipulator while viewing the image transmitted from the capsule endoscope to manipulate the first and second external magnets to move together with the capsule endoscope. At this time, the second external magnet is automatically moved so that its position is symmetrical with the position of the first external magnet with respect to the bed, and the roll rotation directions of the two external magnets are parallel to each other.

If you want to change the direction of the spiral during the movement of the capsule endoscope 210 is to change the direction of rotation of the two permanent magnets, if you want to change the direction of movement of the capsule endoscope is to change the position of the rotary ring fixing projections. Of course, this operation is not required when using the endoscope 300 according to the second embodiment of the present invention.

In addition, if you want to stop the movement of the capsule endoscope, stop the rotation of the two permanent magnets.

When the diagnosis is completed, the magnetic force acting on the capsule endoscope is released by retracting the first and second external magnets from the human body, and the capsule endoscope is discharged out of the body after a certain time by the digestive movement.

1 is a schematic diagram for explaining the basic concept of the present invention;

2 is a schematic diagram of an endoscope system according to an embodiment of the present invention;

3 is a detailed schematic diagram of the master manipulator shown in FIG. 2;

4 is a detailed schematic diagram of the slave manipulator shown in FIG. 2;

5 is an internal configuration diagram of a control device shown in FIG.

6 is an internal configuration of the capsule endoscope according to the first embodiment of the present invention,

FIG. 7 is a schematic operation diagram of the capsule endoscope shown in FIG. 6;

8 is a schematic diagram showing another modification of the capsule endoscope shown in FIG.

9 is a schematic view of the operation of the capsule endoscope according to the second embodiment of the present invention,

10 is a schematic diagram showing another modified example of the capsule endoscope shown in FIG. 9;

11 is a schematic diagram of an endoscope system according to another preferred embodiment of the present invention;

12 is a detailed schematic diagram of the C-type manipulator shown in FIG.

13 is a detailed schematic view of the bed shown in FIG.

FIG. 14 is a diagram illustrating an internal configuration of a control device shown in FIG. 11.

Claims (13)

In an endoscope system using a capsule endoscope that is promoted by spiral motion in the human organs, A capsule type endoscope having a variable spiral mechanism that forms a spiral protrusion capable of advancing the endoscope through right or left screw rotation, and is inserted into a human body to capture an image of the organ of the human body; Roll, yaw or pitch a first external magnet that applies magnetic force to the capsule endoscope outside the human body according to a user's operation, or change the position of the first external magnet. First magnetic force applying means capable of being moved or fixed; On the opposite side of the first magnetic force applying means around the human body, a second external magnet for applying a magnetic force to the capsule endoscope in conjunction with the first external magnet to rotate in the roll, yaw or pitch direction, or a second Second magnetic force applying means capable of moving or fixing the position of the external magnet; And The position of the first external magnet and the second external magnet is measured, the position of the second external magnet is changed according to the position of the first external magnet, and the first external magnet and the second external magnet are interlocked. A rotating device to generate a rotating magnetic field to move the capsule endoscope forward or backward in a helical motion, and to output the organ image of the human body photographed by the capsule endoscope to be recognized by the user; Endoscope system comprising a. The method of claim 1, wherein the first magnetic force applying means, A first motor part for rotating the first external magnet in a roll, yaw or pitch direction; And A horizontal articulation part having one end connected to the first motor part to move the position of the first external magnet in a horizontal, longitudinal and vertical direction; Endoscope system, characterized in that the master manipulator comprising a. The method of claim 2, wherein the second magnetic force applying means, A second motor part for rotating the second external magnet in a roll, yaw or pitch direction; And A linear driving device for moving the position of the second external magnet in a vertical direction; Endoscope system, characterized in that the slave manipulator comprising a. The method of claim 3, wherein the variable spiral mechanism, At least one pair of rotary rings provided on the body of the capsule endoscope to be slidably and rotatable about an axis formed in a longitudinal direction; A plurality of blades connecting the at least one pair of rotary rings to each other; And Interposed between the at least one pair of rotating rings, and when a fixed command signal is received from the outside, the fixed command signal is injected in one direction of the at least one pair of rotating rings to receive one side of the at least one pair of rotating rings. An intermediate jaw having a fixing protrusion for selectively fixing; Endoscopy system comprising a. The method of claim 3, wherein the variable spiral mechanism, At least one pair of rotary rings provided on the body of the capsule endoscope to be slidably and rotatable about an axis formed in a longitudinal direction; A plurality of blades connecting the at least one pair of rotary rings to each other; And And an intermediate jaw interposed at a fixed position between the at least one pair of rotary rings. The endoscope system, characterized in that the protruding end of the trapezoidal or triangular shape is formed on the surface where the at least one pair of rotating ring and the intermediate jaw abuts, the propulsion direction is automatically determined according to the magnetic field. The method according to any one of claims 3 to 5, In the capsule endoscope, a magnetic field sensor for detecting the direction and intensity of the magnetic force acting from the outside is provided therein, The control unit, An endoscope position detection unit for detecting the position of the capsule endoscope by receiving information on the direction and intensity of the magnetic force detected by the magnetic field sensor; Endoscopic system characterized in that it further comprises. The method according to any one of claims 3 to 5, Each joint of the master manipulator and the slave manipulator is provided with a rotation angle sensor or a displacement sensor, The control unit, Magnetic position measurement for measuring the position of the first external magnet and the second external magnet by receiving the position and rotation state information for each joint of the master manipulator and the slave manipulator measured by the rotation angle sensor or the displacement sensor part; Endoscopic system characterized in that it further comprises. In an endoscope system using a capsule endoscope that is promoted by spiral motion in the human organs, A capsule-type endoscope having a variable spiral mechanism for forming a spiral protrusion capable of advancing the endoscope through right or left screw rotation, which is inserted into the human body and photographs the organ image of the human body; Roll, yaw, or pitch a first external magnet and a second external magnet for applying a magnetic force to the capsule endoscope on both sides of the human body around the human body, or rotating the first external magnet and the second external magnet. Magnetic force applying means capable of simultaneously moving or fixing the positions of the first external magnet and the second external magnet; And Control the position of the magnetic force applying means in accordance with the control information received from the user, and rotates in conjunction with the first external magnet and the second external magnet to generate a rotating magnetic field to advance or reverse the capsule endoscope in a spiral motion And a controller for outputting the internal organ image of the human body photographed by the capsule endoscope so that the user can recognize it. Endoscope system comprising a. 9. The magnetic force applying means of claim 8, A first motor part and a second motor part for rotating the first external magnet and the second external magnet in a roll or yaw direction, respectively; An upper drive unit and a lower drive unit for slidingly moving the first motor unit and the second motor unit, respectively; A C-type frame connected to the upper driving device and the lower driving device on one side to support the upper driving device and the lower driving device so as to be positioned at a predetermined distance from each other about the human body; A two degree of freedom rotating joint part for moving the C frame up and down or rotating in a roll or pitch direction; And A planar slide joint for translating the position of the two degrees of freedom rotating joint forward, backward, left and right; Endoscope system, characterized in that the C-type manipulator comprising a. The variable spiral mechanism of claim 9, At least one pair of rotary rings provided on the body of the capsule endoscope to be slidably and rotatable about an axis formed in a longitudinal direction; A plurality of blades connecting the at least one pair of rotary rings to each other; And Interposed between the at least one pair of rotary rings, and when a fixed command signal is received from the control device, the fixed command signal is injected to one side of the at least one pair of rotary rings, and thus the at least one pair of rotary rings An intermediate jaw having a fixing protrusion for selectively fixing one side; Endoscopy system comprising a. The method of claim 9, wherein the variable spiral mechanism, At least one pair of rotary rings provided on the body of the capsule endoscope to be slidably and rotatable about an axis formed in a longitudinal direction; A plurality of blades connecting the at least one pair of rotary rings to each other; And An intermediate jaw interposed at a fixed position between the at least one pair of rotary rings It is configured to include, The endoscope system, characterized in that the protruding end of the trapezoidal or triangular shape is formed on the surface where the at least one pair of rotating ring and the intermediate jaw abuts, the propulsion direction is automatically determined according to the magnetic field. The method according to any one of claims 9 to 11, A magnetic field sensor is provided inside the capsule endoscope for sensing the direction and intensity of the magnetic force acting from the outside, The control unit, An endoscope position detection unit for detecting the position of the capsule endoscope by receiving information on the direction and intensity of the magnetic force detected by the magnetic field sensor; Endoscopic system characterized in that it further comprises. The method according to any one of claims 9 to 11, Each joint of the C-type manipulator is provided with a rotation angle sensor or a displacement sensor, The control unit, A magnet position measuring unit configured to measure position of the first external magnet and the second external magnet by receiving position and rotation state information of each joint of the C-type manipulator measured by the rotation angle sensor or the displacement sensor; Endoscopic system characterized in that it further comprises.

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