KR101058449B1 - Robot endoscopy device - Google Patents

Abstract

The present invention relates to a robotic endoscopy device, and more particularly, has a monitoring function and a manipulating function for checking the ablation process and precisely targeting the ablation process, and by using a snare ablation method, an ablation process using an existing protruding blade. The present invention relates to a robotic endoscopy device capable of offsetting local displacement and repulsive force occurring in.

To this end, the present invention is a cut-out portion is formed in the lower housing having an inner space; An imaging module installed on an upper portion of the housing to perform a monitoring function for checking the ablation process and precise targeting through the incision; A cutter blade portion formed at one side thereof, the inner rotating body being rotatably installed through a rotating shaft inside the housing; Rotating means is provided inside the housing for rotating the internal rotating body, the cutter blade of the internal rotating body rotates by the rotating means when the projecting lesion tissue is inserted through the incision to intersect the incision and lesion tissue It provides a robot endoscope surgical apparatus characterized in that the ablation.

 Colonoscopy, incision, imaging module, internal rotating body, cutter blade, spring, magnet

Description

Apparatus for robotic colonoscopy

The present invention relates to a robotic endoscopy device, and more particularly, has a monitoring function and a manipulating function for checking the ablation process and precisely targeting the ablation process, and by using a snare ablation method, an ablation process using an existing protruding blade. The present invention relates to a robotic endoscopy device capable of offsetting local displacement and repulsive force occurring in.

The imaging module manufacturing technology and communication technology developed to date have made significant breakthroughs in the gastrointestinal diagnostic technology, which could only be observed by the streamlined method by commercializing the capsule endoscope ([1] ~ [3]).

In recent years, researches have been conducted to specialize the applied organs such as the esophagus and the large intestine ([4], [5]) and to give them autonomous driving functions ([6] ~ [9]) to convert them into real-time diagnostic tools [10]. .

In particular, unlike the small intestine, there is no biological entry condition and the short intestine is a highly diseased organ with various types of diseases and about 30% of the endoscopists have polyps [11].

In the structure of the enema, the enema type has less size constraints than the oral type, and thus, it is possible to manufacture a robot type incorporating various additional functions. Representatively, researches are currently underway to integrate the surgical tools that can handle tissue collection or polypectomy in the streamlined colonoscopy into a robotic colonoscopy.

To date, no instrument for robotic colonoscopy has been presented, only tissue collection modules for oral capsule endoscopy have been presented. The present inventors proposed a method of extracting tissue from the intestinal surface by squeezing the intestinal surface [12], and Professor Dong-il Cho of Seoul National University proposed a mechanism for collecting microspikes by driving the slider-crank mechanism [13], [ 14].

However, although they have demonstrated the performance of the apparatus through in vitro animal testing, there is a limit to applying this form to the large intestine. This is because the image-based lesion targeting or lesion approach process is not considered, and the structure is vulnerable to local displacement and repulsive force generated during tissue collection. That is, because the conventional one is a protruding blade, there is a problem that the instrument is pushed out by the intestinal tissue is pushed or repulsive force.

The present invention has been made in view of the above point, and efficiently integrates the treatment space and the image space by using the 'noose type ablation method' that cuts tissue by intersecting the incision portion of the housing and the cutter blade of the internal rotating body. It is an object of the present invention to provide a robot endoscopic surgical apparatus that can be used for histological examination by excision or excision of protruding lesion tissue such as polyps.

In addition, the present invention is to introduce a snare-type ablation method by a hole type (incision) for robot endoscope to overcome the high load of the biological tissue generated in the ablation process and offset the repulsive force to completely ablate to the side tissue Another purpose is to provide a treatment device.

In addition, the present invention has developed a triggering mechanism of the 'chip resistance melting method' to enable stable operation when cutting the lesion tissue through the cutter blade and the incision of the internal rotating body, using the magnet integrated in the module in all directions in the intestine Another object of the present invention is to provide a robotic endoscopy device capable of targeting.

The above object is a housing having a cutout portion and an inner space at the bottom; An imaging module installed on an upper portion of the housing to perform a monitoring function for checking the ablation process and precise targeting through the incision; A cutter blade portion formed at one side thereof, the inner rotating body rotatably installed through a rotating shaft inside the housing; Rotating means is provided inside the housing for rotating the internal rotating body, the cutter blade of the internal rotating body rotates by the rotating means when the projecting lesion tissue is inserted through the incision to intersect the incision and lesion tissue This is achieved by a robotic endoscope surgical apparatus characterized in that it is excised.

Preferably, the rotating means is a spring spring installed inside the housing so that the center portion is connected to the rotating shaft of the inner rotor.

Rotating guides are installed in parallel on the front and rear surfaces of the inner rotating body, and the inner rotating body is bound and rotated in the housing by the rotating guide.

In particular, the chip resistor includes a PCB mounted with a chip resistor for stopping the rotation of the cutter blade of the inner rotor to maintain the open state, and a protrusion protruding from the front portion of the inner rotor; Contact with the projection to prevent the rotation path of the inner rotor, when the lesion tissue is inserted through the incision overvoltage is applied to the PCB, the chip resistance is melted by the self-heating and pushed by the projection of the inner rotor to the inner rotor Rotate

The imaging module is a camera module installed to face the incision, and secures a view through the incision.

More preferably, it comprises a PC for checking the image by receiving the current signal of the camera module in real time through the receiver.

An inner magnet mounted inside the housing, and an outer magnet disposed outside the housing for manipulating the inner magnet, and with respect to lesion tissue in all directions of the intestine by interaction between the inner magnet and the outer magnet. The incision is steered to allow targeting, and the size of the lesion tissue observed through the incision is adjustable by controlling the distance between the magnets.

In addition, the incision is oval, characterized in that the incision to the lasso function to cancel the repulsive force between the cutter blade and the biological tissue.

Accordingly, according to the apparatus for robotic endoscope according to the present invention, the treatment space and the image space are efficiently integrated by using the 'noose type ablation method' in which the tissue is cut by crossing the incision of the housing and the cutter blade of the internal rotating body. As a result, extruded lesion tissue such as polyps may be excised or partially excised to be used for histology.

In addition, by introducing a snare-type ablation method by a hole-shaped blade (incision), it is possible to overcome the high load of the biological tissue generated in the ablation process and offset the repulsive force to completely ablate to the side tissue.

In addition, by developing a 'chip resistance melting method' triggering mechanism, the cutter blade and the incision of the internal rotating body can be used for stable operation during ablation of the tissue, and the magnets integrated in the module can be used to target all directions in the intestine. Do.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention provides a robot endoscope surgical apparatus having a monitoring function and a maniplating function for polyp ablation process confirmation and precise targeting. The treatment apparatus uses a 'nose cutting method' for cutting tissue by intersecting the incision 12a at the lower part of the housing 12 and the internal rotating body 13, and this operation stops the micro chip resistor 11a. It is triggered by the 'chip resistance 11a melting mechanism' used.

In addition, rotation is possible by the interaction of the inner magnet 16 and the outer magnet embedded in the housing 12 is possible targeting to the lesion tissue 18 in the intestinal direction. The imaging module 14, which can monitor all of these processes, is integrated with the treatment space and forms that do not cause interference.

Figure 1 schematically shows the sequential operation of the endoscope surgical apparatus according to the present invention, other functions (autonomous driving function, image module 14 [15], communication module, wireless power generation unit [16]) to be integrated, etc. Shows.

The present invention describes the principles of ablation, triggering mechanism, and module manifolding of lesion tissue 18 and theoretically analyze and experimentally verify them. Finally, the module's functionality is finally verified by experimenting with the whole process.

Figure 2 is an exploded view showing the configuration of the colonoscopy apparatus according to an embodiment of the present invention.

The colonoscopy apparatus of the present invention is a PCB on which an image module 14, an internal rotating body 13, a spring spring 15, a housing 12 formed with an incision 12a, and a chip resistor 11a are mounted. (11), a two-pole inner magnet 16 for manifolding, and a module connection portion 18 and the like.

As shown, the imaging module 14 is installed on the upper portion of the housing 12 so as to protrude in the form of interference does not occur with the internal space (surgical space) of the housing 12, the lower portion of the housing 12 The part 12a is formed, and the cutting part 12a confirms the ablation process and performs a monitoring function for precise targeting.

The inner rotary body 13 is installed in a structure that is bound and rotated inside the housing 12, the rotating guide is installed on the front and rear portions of the inner rotary body 13, it is easy to rotate inside the housing 12 Done.

In addition, the cutter blade portion 13b is concave in the middle portion connecting the rotary guides formed on both sides of the inner rotary body 13, and the rotary shaft 13c in the axial direction on the rotary guide on the rear surface of the inner rotary body 13. ) Is formed, the spring spring 15 is mounted to the rotary shaft (13c). At this time, the spring spring 15 provides a rotational force to the inner rotary body 13 so that the cutter blade portion 13b of the inner rotary body 13 rotates to intersect the cutout portion 12a to cut polyps.

A projection 13a is formed on the front rotation guide of the internal rotating body 13 to form a structure capable of stopping the rotation of the internal rotating body 13 by the chip resistor 11a of the PCB 11. The PCB 11 in which the chip resistor 11a is mounted in contact with the 13a is mounted in front of the front rotation guide. The cap 10 is mounted to the front of the PCB 11 to prevent the PCB 11 from falling out of the housing 12.

The inner magnet 16 is installed in the housing 12 in a rotatable structure with respect to all directions in the intestine by manipulation of the outer magnet outside the housing 12.

Figure 3 shows the principle of the 'nose type ablation method' to ablate tissue using the internal rotating body 13 and the incision 12a. After loading the internal rotating body 13 by the spring spring 15 before the injection as shown in FIG. 3 (a), the protruding lesion is inserted into the incision 12a as shown in FIG. 3 (b).

When the fixing of the inner rotating body 13 is released by the triggering mechanism, the cutter blade portion 13b and the cutout portion 12a of the inner rotating body 13 cross each other to cut the tissue as shown in FIG. 3 (c). When the ablation is completed, the lesion tissue 18 is stored in the module space as shown in FIG.

4 shows an incision 12a formed in the housing 12. The incision 12a has an elliptical shape (6 mm x 4 mm) geometrically, and blades are formed on all edges. 5 shows a state of the internal rotating body 13, a projection 13a fixed by the rotary shaft 13c, the cutter blade portion 13b, and the chip resistor 11a necessary for connection with the mainspring 15, and the like. Shows the appearance.

'Lasso-type ablation method' is a form of 'Crowsby capsule' method, which was used for snare and small intestine tissue collection, used to remove polyps in streamlined colonoscopy [17]. The greatest advantage of this ablation method is that the targeting and ablation process is stable because the ablation proceeds in a state in which the lesion tissue 18 is inserted and enclosed in the incision 12a.

In addition, the repulsive force between the instrument and the tissue generated during the ablation of the biological tissue can be canceled in the instrument by the snare function of the incision 12a. In addition, the process of overcoming the high load caused by viscoelastic tissue ablation is very stable. When the inner blade with the rotation guide of both ends is mechanically bound and rotated in the housing 12, an appropriate tolerance is maintained, and converts the strong rotational force of the spring spring 15 into a high shear force.

On the other hand, the triggering mechanism for starting the rotation of the internal rotor 13 uses the 'chip resistance melting method' using the micro chip resistor 11a as a stopper. In our previous work, we proposed a trigger method using paraffin blocks and solenoids [12].

However, it could not withstand the strong initial torque of 50mNm, and the loading process was complicated by the manual configuration of the triggering part.

'Chip resistance (11a) melting method' mechanically utilizes the heat generation phenomenon, which is one of the side effects of the PCB (11). The principle of operation is shown in FIG. A projection 13a is formed at the front end of the internal rotor 13, and the rotation path of this portion is blocked by the micro chip resistor 11a (Fig. 6A).

When the operation start signal (overvoltage) is applied, the micro resistor and the connection part Pb of the panel are melted by self-heating of the chip resistor 11a (Fig. 6B). The chip resistor 11a in which the fixed part is melted is pushed by the protrusion 13a of the inner rotor 13, and the inner rotor 13 rotates (Fig. 6C). When the circuit is opened by the pushed resistor, the temperature of the connection drops automatically.

This is a mechanism that effectively triggers an irreversible mechanical system. Most of all, the parts related to triggering are integrated in the form of a board, so that the loading process is simple, and the miniaturization can be made, while maintaining a stable initial state. In addition, it is possible to apply the multi-stage triggering method by using 2-3 chip resistors 11a as a stopper sequentially.

FIG. 7A shows the projection 13a of the inner rotor 13 before coupling, and FIG. 7B shows the PCB 11 on which the chip resistor 11a is mounted, and the treatment device.

On the other hand, the present invention is arranged so that the image (camera) module 14 facing the cutout (12a) to ensure a view through. FIG. 8 shows a prototype of an integrated image module 14, and FIG. 9 receives a current signal of the imaging module 14 in real time from a receiver 19 to a PC 20 on which the base software is installed. Show confirmation.

The imaging module 14 checks the size of the target tissue observed through the incision 12a during the process of approaching the lesion tissue 18 by using a magnetic force, and accesses the magnetic intestine in all directions of the intestine. In order to confirm this, as shown in Fig. 10, a different mark in the center, that is, a triangle, a square, and a cross mark with a cross, was attached to the positions of 0, 90, 180, and 270 degrees of the vinyl pipe, and the outer diameter of the target was increased by 2 mm. Each time it was displayed in a different color.

By inserting the prototype integrated with the imaging module 14 into the pipe and manipulating the magnet inside the module with an external magnetic force, the direction of the image, that is, the direction of the cutout 12a, was adjusted to fit the target. The outer magnet was a neodymium magnet having a diameter of 50 mm and a length of 100 mm.

The rotation direction (θ) was controlled by the rolling operation of the treatment device, and the crimping in the barrier direction (R) was implemented by adjusting the distance between the magnets [20].

Figure 11 shows the appearance of the target photographed through the experiment. For example, column (a) is steered toward a cross target attached to a 270 degree position as shown in FIG. 10, and (a) -1 is a near-field shot (a) -2.

In the case of a long distance, it is observed to the outside of the light blue circle, so that the lesion tissue 18 of about 14 mm or more can be confirmed. have. (b) and (c) show the targets observed at 90 and 180 degrees.

There are several cases of research into inserting the inner magnet 16 into the capsule endoscope and using the external magnetic force for driving or direction control ([4], [21]-[23]). They use continuous feedback control with Hall sensors to increase stability and precise positioning in the body, and also require large external magnetic systems that quickly change magnetic forces and generate sufficient magnetic force.

Despite these drawbacks, it is a great advantage to be able to remotely realize the multiple degrees of freedom of the capsule by inserting a small magnet in the instrument. In particular, unlike the abdominal cavity, the procedure in the large intestine with limited activity space is advantageous for the magnetic force because it can be accessed and compressed using only the magnetic force.

Experimental Example

The final experiment validated the whole process after the insertion (direction, compression, triggering, ablation) in the swine colon. Here, the final experiment is not an in vitro animal experiment but an in vitro animal experiment in which an organ of a pig is extracted and tested on a table.

First, a power supply for inputting a triggering voltage is connected to the triggering PCB 11 and received image information of the image module 14 through the receiver 19. Prototypes were inserted into the undissected colon tissue, and the experiment was performed with the black box covered with the colon tissue.

In the animal experiment, since the barrier is recessed, the incision 12a moves in a state close to the barrier. In the present invention, fat tissue (white) was defined as a virtual lesion.

12A to 12C show a process of approaching the target tissue. After the incision 12a is close to the target tissue, the insertion process by compression is performed. The colon tissue is very flexible and can be inserted into the lesion tissue 18 larger than the incision 12a if it is sufficiently compressed by the magnetic force (Figs. 12D to 12F).

When the triggering signal is input, tissue resection was started after a delay time (FIG. 12G ~ FIG. 12I). The resected tissue was more than 4 mm long by 4 mm long, similar in size to the initial polyp, and FIG. 13 shows the readout of the resected tissue.

The present invention proposes a surgical device that is integrated into the robot colonoscopy and can be used for histology by cutting off or excision of a protrusion-type lesion tissue 18 such as a polyp. The proposed tool integrates the treatment space and the image space efficiently using the 'noose type ablation method'. In addition, the triggering mechanism of 'chip resistance (11a) melting method' for this purpose was developed to enable stable operation.

The magnet integrated in the module was used to target the intestinal omnidirectional and the feasibility was verified as an experiment. Finally, functionality was verified through animal experiments of similar environment.

references

[1] http://www.olympus.co.jp OLYMPUS Corporation

[2] http://www.givenimaging.com/,Given Imaging Co., Israel

[3] http://www.rfnorika.com/,RF system lab., Japan

[4] Intelligent Microsystem Center, 2003, At URL http: //www.micro system.re.kr

[5] Jose L. Gonzalez-Guillaumin., "Ingestible Capsule for Impedance and pH Monitoring in the Esophagus," IEEE Transactions on Biomedical Engineering Vol 54, No. 12, 2007

[6] B. Kim, S. Park and C. Jee, 2005, "An earthworm-Like Locomotive mechanism for Capsule Endoscopes," Proceedings of IEEE / RSJ International Conference on Intelligent Robots and System.

[7] Hyunjun Park, Sungjin Park, Euisung Yoon, Byungkyu Kim, Jongoh Park, and Sukho Park, 2007, "Paddling based Microrobot for Capsule Endoscopes", Proceedings of IEEE International Conference on Robotics and Automation.

[8] Y. Lee, B. Kim, M. Lee. J-O Park. 2004, "Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot using Shape Alloy Memory," Proceedings of IEEE International Conference on Robotics and Automation.

[9] B. Kim, S. Lee, J.H. Park, J-O Park, 2004, "Inchworm-Like Microrobot for Capsule Endoscope," Proceedings of IEEE International Conference on Robotics and Automation.

[10] Andrea Moglia, Arianna Menciassi, Marc Oliver Schurr and Paolo dario, "Wireless Capsule Endoscopy: from Diagnostic Devices to Multipurpose Robotic system", Biomedical Micro device, 2007 April Vol. 9 No. 2

[11] T. Ang, K. Fock, T. Ng, E. Teo, and Y. Tan, "Clinical Utility, Safety and Tolerability of Capsule Endoscopy in Urban Southeast Asian Population," World Journal of Gastroenterology, October 15 2003, Vol. .9, No.10

[12] Kyoung-chul Kong, Jinhoon Cha, Doyoung Jeon and Dong-il Dan Cho, "A Rotational Micro Biopsy Device for the Capsule Endoscope", Proceeding of 2005 Intelligent Robots and Systems, 2005, p1839-1843.

[13] Sunkil Park, Kyo-In Koo, Gil-Sub Kim, Seoung Min Bang, Si Young Song, Jung-Won Byun Chong-Nam Chu, and Dongil Cho, 2006, "A LiGA-Based Micro-Biopsy Actuator for Capsular Endoscope ", International Solid-State Sensor, Actuators and Microsystems conference, 2007

[14] S. Byun et al, "Novel Micro-spiked Needles with Buried Micro-channels for Micro-scale Biopsy," Asia-Pacific Conference of Transducers and Micro-Nano Technology, pp. 1095-1099, 2004.

[15] J Lee, HJ Park, YK Moon, BS Song, CH Won and HC Choi, "Design and implementation of the CPLD controller for bi-directional wireless capsule endoscopy", Proceeding of The 2004 International Technical Conference on Circuits / Systems

[16] S Lee, J Kim, J Son, M Ryu and J Kim, "Design of Two-Dimensional Coils for Wireless Power Transmission to In-vivo Robotic Capsule", Proceeding of The 2005 IEEE Engineering in Medicine and Biology 27th Annual Conference Sep 2005,

[17] J. Ricker Polsdorfer, "Gale Encyclopedia of medicine", December, 2002 Available: http://www.healthatoz.com/healthatoz/atoz.

[18] Y. C. Fung, 1993, "Biomechanics-mechanical Properties of Living Tissue"

[19] http://www.i3system.com

[20] I. Choi, "Magnetic field Analysis and Experimental study on bowels characteristics for a capsule endoscope towed by Magnetic Force" M.S thesis, Korea aerospace university, December 2005,

[21] Federico Carpi, Stefano Galbiati, and Angelo Carpi, "Controlled Navigation of Endoscopic Capsule: Concept and Preliminary Experimental Investigations", IEEE Transactions on Biomedical Engineering, Vol. 54, No. 11, Nov 2007,

[22] M. Sendoh, K. Ishiyama, and K.-I Arai, Fabrication of magnetic actuatir for use in a capsule endoscope, IEEE Transactions on Magnetics Vol 39, No. 5, pp3232-3234, 2003

[23] A. Chiba et al "Moving of a Magnetic Actuator for a Capsule Endoscope in the Intestine of a Pig", 2005, Journal of Magnetics, 29, pp 343-346

In addition, the robot endoscope treatment apparatus according to the present invention is applicable to not only the large intestine but also the small intestine and the stomach.

While the invention has been shown and described with respect to certain preferred embodiments thereof, the invention is not limited to these embodiments, and has been claimed by those of ordinary skill in the art to which the invention pertains. It includes all the various forms of embodiments that can be carried out without departing from the spirit.

1 is a block diagram showing the procedure of the procedure according to an embodiment of the present invention;

Figure 2 is an exploded view showing a robot endoscope treatment apparatus according to an embodiment of the present invention,

3 is a state diagram showing a snare-type ablation mechanism according to the present invention,

4 is an image showing a housing formed with a cutout according to the present invention;

5 is an image showing an internal rotating body according to the present invention,

6 is a state diagram showing the operating principle of the chip resistance melting method according to the present invention,

Figure 7 is an image showing the state before and after the PCB coupling according to the present invention,

8 is a photograph showing a prototype incorporating an imaging module according to the present invention;

9 is an image showing a state of receiving a current signal from the camera module in accordance with the present invention in real time to check the image,

10 is a view for explaining a maniplating experiment environment of the module according to the present invention;

11 is a target photograph observed through the incision according to the invention,

12 is a photograph showing a tissue ablation process observed in the dedicated image module according to the present invention;

13 is a photograph showing a reading result of the collecting tissue according to the present invention.

<Description of the symbols for the main parts of the drawings>

10: Cap 11: PCB

11a: chip resistance 12: housing

12a: incision 13: internal rotating body

13a: projection 13b: cutter blade

13c: axis of rotation 14: image module

15: Manual spring 16: Internal magnet

17: module connection 18: lesion tissue

19: receiver 20: PC

Claims (7)

A housing having an incision formed therein and having an inner space; An imaging module installed on an upper portion of the housing to perform a monitoring function for checking the ablation process and precise targeting through the incision; A cutter blade portion formed at one side thereof, the inner rotating body being rotatably installed through a rotating shaft inside the housing; Rotating means installed inside the housing to rotate the inner rotating body; When the protruding lesion tissue is inserted through the incision, the cutter blade of the internal rotating body is rotated by the rotating means so that the lesion tissue is excised while crossing the incision, And a chip mounted with a chip resistor for stopping the rotation of the cutter blade of the internal rotating body so as to keep the cutout open, and a protrusion protruding from the front surface of the internal rotating body, wherein the chip resistance is internally rotated. Contact with the projection to prevent the entire rotation path, when the lesion tissue is inserted through the incision overvoltage is applied to the PCB, the chip resistance is melted by self-heating is pushed by the projection of the inner rotor to rotate the inner rotor Robotic endoscope treatment apparatus, characterized in that. The method according to claim 1, The rotating means is a robot endoscope apparatus, characterized in that the spring is installed in the interior of the housing so that the center is connected to the rotating shaft of the inner rotor. The method according to claim 2, Rotating guides are installed in parallel on the front and rear of the inner rotor, the inner end of the robot is bound by the rotation guide within the housing, characterized in that the robot endoscope apparatus. delete The method according to claim 1, The imaging module is a camera module installed to face the incision, the robot endoscope surgical apparatus, characterized in that to secure a view through the incision. The method according to any one of claims 1, 2, 3, and 5, An inner magnet mounted inside the housing, and an outer magnet disposed outside the housing for manipulating the inner magnet, and toward the lesion tissue in the intestinal direction by interaction between the inner magnet and the outer magnet. An incision is steered to allow targeting of the robot endoscope, and the size of the lesion tissue observed through the incision by adjusting the distance between the inner magnet and the outer magnet is adjustable for the robot endoscope. The method according to claim 6, The incision is elliptical, the robot endoscope surgical apparatus, characterized in that the lasso acts to offset the repulsive force between the cutter blade and the biological tissue.

Images