KR20040102927A - A capsule and capsule type endoscope provided with a movement fuction - Google Patents

Abstract

PURPOSE: A capsule and a capsule type endoscope are provided to allow the capsule type endoscope embedded with an image pickup camera to quickly move forward and rearward directions along the inside of the organ of a patient. CONSTITUTION: A capsule(30) comprises a main body(32), a forward movement unit(40), and a rearward movement unit(50). The main body has a capsule type outer appearance and an inner space. The forward movement unit is arranged in the main body, and provides moving force to a front portion of the main body so as to move the main body in a forward direction. The rearward movement unit provides moving force to a rear portion of the main body so as to move the main body in a rearward direction.

Description

CAPSULE AND CAPSULE TYPE ENDOSCOPE PROVIDED WITH A MOVEMENT FUCTION}

The present invention relates to a capsule and a capsule endoscope having a moving function, and more particularly, a type of endoscope used by a doctor for diagnosing a disease in an organ such as the stomach, small intestine, and large intestine of a human being. By adding a mobile function to the capsule endoscope provided so that doctors can more easily photograph the human organs to diagnose the disease.

Conventional capsule endoscopes have been disclosed in the Republic of Korea Patent Application Publication No. 2003-0025222 (name: body imaging device and system).

The patent is a swallowable electronic capsule that moves along the digestive tract through digestion, collecting data and transmitting the data to a receiver system.

Another example is described in US Pat. No. 5,604,531, which capsules are used to measure pH, temperature and pressure in the intestine.

As shown in Fig. 1, the apparatus 10 of the patent application disclosed in the Republic of Korea above is usually made of an imaging system which acquires an image from the lumen of an internal body such as an optical window 21 and a GI tube. The imaging system includes an illumination source 23 such as a white LED, a CMOS imaging camera 24 for detecting an image, and an optical system 22 for focusing the image on the CMOS imaging camera 24. The illumination source 23 illuminates the interior of the body lumen through the optical window 21. The device 10 further includes a transmitter 26 for transmitting the image signal of the CMOS imaging camera 24 and a power source 25 such as an antenna and a silver oxide battery for powering the electrical elements of the device 10.

The device 10 is in the form of a capsule, is easy to swallow and passively moves through the GI tract and is pushed along a natural linkage.

However, the capsule endoscope as described above is easy to swallow, but because it is passively moved according to the peristalsis of the internal organs, it usually takes about 8 hours to swallow out through the anus after swallowing by mouth. There is a hassle to do.

In addition, since the capsule endoscope moves the image according to the peristalsis movement inside the organ, the image is transmitted by 2 cuts per second for 8 hours, so much information is transmitted so that the doctor takes a long time to diagnose the disease in the organ. have.

In addition, the capsule endoscope is to transmit the image while moving in accordance with the peristalsis movement inside the organ, because it is not possible to re-transmit the image of the part that passed by backward, even if the doctor tries to see the place once passed again There was a problem that can not be.

Furthermore, the patent application invention does not rotate in a certain degree, and because the outer peripheral surface is a flat plane, there is a problem in passing through the folded portion such as the small intestine.

Furthermore, the patent application has no means for cleaning the optical window, so the problem that the photographed image is not clear could be exposed.

The present invention is to solve the above problems, an object of the present invention is to incorporate a magnet means inside the capsule endoscope built-in conventional imaging camera, by adding a moving means and a magnet means to another capsule The capsule with the moving means and the magnet means pushes or pulls the endoscope in the form of a capsule in which the magnet means and the existing imaging camera are embedded, thereby moving the organ more quickly, photographing the inside of the organ, and transmitting an image. .

Another object of the present invention is to add a moving means in the capsule endoscope inside the conventional imaging camera to move the inside of the organ faster and to shoot the inside of the organ to transmit the image.

Still another object of the present invention is to enable the doctor to focus forward or backward on a capsule endoscope in which a conventional imaging camera is built in, quickly or slowly.

Another object of the present invention is to form a spiral on the outside of the capsule endoscope built-in conventional imaging cameras, and to arrange the moving means that can be rotated by a predetermined angle therein to facilitate long-term difficult to pass the capsule endoscope It is to be able to move.

Another object of the present invention is to provide a clearer image transmission by providing a wiper means for wiping the optical window in the capsule endoscope built-in conventional imaging camera.

1 is a schematic longitudinal cross-sectional view of an in-body imaging device and system without a conventional capsule-type moving function.

Figure 2 is a schematic cross-sectional view of a capsule with a moving function in accordance with the present invention.

Figure 3 is a perspective view of the power motor of Figure 1 and a rotating mass mounted to the power motor.

4 is a power supply circuit diagram of a power motor.

Fig. 5 is a principle diagram showing the principle of the longitudinal force acting on the rotating mass.

Figure 6 is a schematic cross-sectional view of a capsule endoscope with a moving function according to the present invention.

7 is a front view of FIG. 6;

8 is a layout view of the support leg installed in the body in accordance with the present invention.

Fig. 9 is a partial cross sectional view showing the wiper means of the present invention.

** Description of the symbols for the main parts of the drawings **

30: capsule 32,62: body 34,36: support leg

38: solenoid 40: forward movement means 42,52: power motor

44,54: rotating mass 46,56: magnet 48,58: non-magnetic coil

50: rear movement means 60: capsule endoscope 64: optical window

66: optical system 68: light source 70: camera

72 transmitter 74 power supply 76 control circuit

78: connecting portion 80: protrusion 82: spiral

90: wiper means

The capsule having a moving function of the present invention has an outer shape in a capsule form, and has a space formed therein; A front movement means built in the body and moving the body forward by giving a moving force to the front of the body; It includes a rear movement means for moving the body to the rear by giving a moving force to the rear of the body.

The front movement means is a power motor fixed to the space inside the body; The lower end is coupled to the shaft of the power motor, extends in the axial direction to form a connecting portion in the radial direction from the free end, and consists of a rotating mass formed a projection in the axial direction at the free end of the connecting portion.

The rear movement means is a power motor fixed to the space inside the body; The lower end is coupled to the shaft of the power motor, extends in the axial direction to form a connecting portion in the radial direction from the free end, and consists of a rotating mass formed a projection in the axial direction at the free end of the connecting portion.

It is installed on the circumferential surface of the body, and is drawn out and drawn in by the solenoid operation, and further comprising a support leg protruding to be inclined in a direction opposite to the traveling direction of the body.

Preferably, the inner end of the body of the capsule further comprises a magnetic means.

The magnet means is preferably installed in both the front and rear inner body of the capsule.

The magnet means includes a magnet fixed inside the body; And a non-magnetizing coil wound on an outer circumferential surface of the magnet.

A cylindrical outer circumferential surface of the body is characterized in that the spiral is formed.

The body further includes a power source such as a lithium ion battery.

Winding the vertical coil while rotating the outer side of the body in a spiral shape, placing a plurality of horizontal coils on the inner circumferential surface of the body, and stores the electromotive force generated by connecting the coils in parallel to use as a power source do.

Capsule endoscope with a moving function of the present invention is provided with an optical window for the imaging of the inside of the organ, the body having an appearance of the capsule form; At least one camera; At least one illumination source for illuminating a predetermined point inside the organ; An optical system for photographing a predetermined point inside an organ with the camera; In the capsule endoscope including a transmitter for transmitting a video signal of the camera,

A front moving unit built in the longitudinal direction of the inner space of the body and moving the body forward by applying a moving force to the front of the body; It includes a rear movement means for moving the body to the rear by giving a moving force to the rear of the body.

The front movement means is a power motor fixed to the space inside the body; The lower end is coupled to the shaft of the power motor, extends in the axial direction to form a connecting portion in the radial direction from the free end, and consists of a rotating mass formed a projection in the axial direction at the free end of the connecting portion.

The rear movement means is a power motor fixed to the space inside the body; The lower end is coupled to the shaft of the power motor, extends in the axial direction to form a connecting portion in the radial direction from the free end, and consists of a rotating mass formed a projection in the axial direction at the free end of the connecting portion.

Preferably, the inner end of the body of the capsule further comprises a magnetic means.

The magnet means is preferably installed in both the front and rear inner body of the capsule.

The magnet means includes a magnet fixed inside the body; And a non-magnetizing coil wound on an outer circumferential surface of the magnet.

A cylindrical outer circumferential surface of the body is characterized in that the spiral is formed.

Is disposed on the front of the optical window further comprises a wiper means for wiping the front of the optical window.

The wiper means includes a fixed wiper disposed vertically to the center of the optical window; A camera disposed below the inner center of the optical window; A cover coupled to the rear side of the optical window; It consists of a wiper motor coupled to the cover shaft.

It is installed on the circumferential surface of the body, and is drawn out and drawn in by the solenoid operation, and further comprising a support leg protruding to be inclined in a direction opposite to the traveling direction of the body.

Hereinafter, with reference to the drawings illustrating an embodiment of the present invention will be described.

Figure 2 is a schematic cross-sectional view of a capsule having a moving function according to the invention, Figure 3 is a perspective view of the power motor of Figure 1 and a rotating mass mounted to the power motor, Figure 4 is a power circuit diagram of the power motor, Figure 5 is a principle diagram showing the principle of the longitudinal force acting on the rotating mass, Figure 6 is a schematic cross-sectional view of a capsule endoscope with a moving function according to the present invention, Figure 7 is a front view of Figure 6, Figure 8 9 is a layout view of the support legs installed on the body according to the present invention, and FIG. 9 is a partial cross-sectional view showing the wiper means of the present invention.

Referring to Figures 2 and 3, according to the present invention, the capsule 30 having a moving function has an outer shape of a capsule 32, which is easy to swallow by a human body, such as a medicine, and a space portion is formed therein. It is.

The inner space portion of the body 32 has a front moving means 40 for moving the body 32 to the front by giving a moving force to the front of the body 32, the front moving means 40 and The rear movement means 50 is provided to move the body 32 backward by giving a moving force to the rear of the body 32 at a symmetrical position.

The front movement means 40 and the rear movement means 50 have the same structure, and as shown in FIG. 3, power motors 42 and 52 are fixed inside the body 32, and the power motor The rotating masses 44 and 54 are coupled to the axes 42 and 52 to rotate at a constant angular velocity.

On the circumferential surface of the body 32, four support legs 34 and 36 are installed to protrude out or enter into by the solenoid 38 so as to be supported by the internal wall when the capsule 30 is moved forward and backward. Also, the protruding position of the support leg 34 is preferably inclined in a direction opposite to the moving direction of the capsule 30.

The inside of the front and rear of the body 32 is a magnet means is built, the magnet means is wound around the magnet 46, 56 and the magnet 46, 56 and the magnet 46 ( It consists of the non-magnetizing coils 48 and 58 which remove the magnetic force of 56.

The control circuit 100 is provided at one side of the capsule 30, and the power supply to the capsule 30 is a power source such as a lithium ion battery provided in the body 32 of the capsule 30. (102) may be used, the vertical coil 104 is wound spirally outside the body 32 of the capsule 30, and then the horizontal coil 106 on the inner circumferential surface of the body 32 of the capsule 30. It is also possible to store and use the electromotive force generated by winding the capacitor 108.

Referring to FIG. 4, a circuit for supplying power to the power motors 42 and 52 using the power source 102 or the condenser 108, etc. will be described. The vertical coil 104 and the horizontal coil 106 are described. ) Is connected in parallel to the chopper circuit 110, and then stores the power in the condenser 108 to be used as the power of the power motors 42, 52, or to charge the power supply 102 from the outside to power motor It is used as the electric power of (42) (52).

The external signal for operating the control circuit 100 of the capsule 30 can be used a variety of RF signals, ultrasonic signals.

The capsule 30 having a moving function according to the present invention is used as an endoscope in the form of a capsule without a conventional moving function as shown in FIG. 1.

That is, if the built-in magnet in the capsule endoscope without the existing movement function, first swallow the endoscope in the capsule form without the existing movement function first, or swallowed together with the capsule 30 of the present invention, Since the magnets 46 and 56 of the capsule 30 can be combined with the magnet of the endoscope in the form of a capsule without a conventional moving function, the endoscope in the capsule form without a moving function can be moved by moving the capsule 30 of the present invention. You can move by pushing or pulling.

By doing this, it is possible to overcome the limitations of space because it is not necessary to put the moving device in the capsule type endoscope without the existing moving function of the narrow space inside, and furthermore, the capsule without the existing moving function can be used as it is. There is an advantage.

Referring to Figure 5 will be described the principle of the front movement means 40 and the rear movement means 50 of the present invention.

The equation of motion of the core mass in the general spatial coordinate system can be expressed as follows (see IEEE PRESS, CRC PRESS, RICHARD C. DORF "The Engineering Handbook", 1995, pp. 111-115).

If,

ego,

to be.

in The components cancel out because there is no parallax in the inertial and non-inertial systems, With ingredients The component causes a parallax between the inertial and non-inertial systems.

The present invention To adjust the size and direction of the components It is a device to adjust the value. remind According to the value With ingredients The ingredients change Back side Only ingredients appear. As you change the value step by step, ) Size and direction are determined. if If not Ingredients also exist.

if, When I say

Chilled

It can be expressed as a closed motion such as

(In the above formula Is an instantaneous time difference),

A mass distance quantity such as In other words

c = ml

This results in a shift in the center of mass.

By using the above equation of motion, the inventor has disclosed a method of generating longitudinal force in the interior of a closed system and a propulsion system of the closed system using the longitudinal force in Korean Patent Application No. 02-66877.

The method of generating the longitudinal force in the closed system disclosed in the patent application is a certain distance from the center of rotation mass on the spatial coordinate ( ) Positioning the core mass away; The core mass is a constant angle (based on the Z axis) Tilting; The core mass is a constant angular velocity (based on the vertical axis (Z axis) It will include; rotating to).

When the core mass is rotated at a constant angular velocity in the same way as above, a longitudinal force is generated in the core mass, and as a result, the closed system can be substantially moved by a force (vertical force) acting inside the closed system.

When the above principle is used in the apparatus shown in Figs. 2 and 3, the rotating masses 44 and 54 are located at the line segments extending from the center of gravity of the front moving means 40 and the rear moving means 50 of the present invention. Movement force in the direction perpendicular to the vertical force (vertical force; ) Acts as a result of which the body 32 of the capsule 30 of the present invention moves.

6 is used as a capsule endoscope 60 having a moving function by installing the front moving means 40 and the rear moving means 50 of the present invention inside the capsule endoscope 10 without the existing moving function. It is.

6 and 7, the capsule endoscope 60 to which the movement function of the present invention is added has a body 62 having a capsule shape, and the front surface of the body 62 has an internal organ. An optical window 64 for photographing is provided.

At a position adjacent to the inside of the optical window 64, at least one optical system 66, such as a lens, is built in, and the optical window 64 illuminates a predetermined point inside the organ as shown in FIG. Four illumination sources 68 such as LEDs protrude.

Of course, the illumination source 68 may be disposed inside the body 62, and the number arranged as needed may be added or subtracted.

Inside the optical system 66, a camera 70 for capturing an image of a predetermined point inside the organ is disposed, and on one side of the camera 70, a transmitter for transmitting an image signal of the camera 70 ( 72 is arranged.

A power source 74 for supplying power to the capsule endoscope 60 of the present invention is disposed at the central portion of the body 62, and a control circuit 76 is built in the rear side of the body 62.

The inner space portion of the body 62 has a front moving means 40 for moving the body 62 forward by giving a moving force to the front of the body 62, the front movement means 40 and The rear movement means 50 for moving the body 62 to the rear by giving a moving force to the rear of the body 62 in a symmetrical position is built.

The front moving means 40 and the rear moving means 50 have the same structure, and as shown in FIG. 3, power motors 42 and 52 are fixed inside the body 62, and the power motor The rotating masses 44 and 54 are coupled to the axes 42 and 52 to rotate at a constant angular velocity.

The rotating masses 44 and 54 have a lower end coupled to the axes of the power motors 42 and 52 and extend in the axial direction to form a connecting portion 78 in a radial direction at a free end thereof. At the end, the protrusions 80 are formed in the axial direction.

When the rotating masses 44 and 54 are rotated by the power motors 42 and 52, a moving force (vertical force) is perpendicular to the rotating masses 44 and 54. As a result, the body 62 of the capsule endoscope 60 of the present invention is moved.

A magnet means is embedded inside the rear surface of the body 62, and the magnet means is wound around the magnet 56 and the magnet 56 to remove the magnetic force of the magnet 56. It is composed of).

A spiral 82 is formed on the cylindrical outer circumferential surface of the body 62 to more smoothly move the capsule endoscope 60 of the present invention.

Referring to FIG. 8, four support legs 34 and 36 are installed on the circumferential surface of the body 62 so as to protrude out or enter the solenoid 38 so that the capsule endoscope 60 is moved forward and backward. It may be possible to be supported on the wall of the true visceral wall, the protruding position of the support legs (34, 36) is preferably inclined in the direction opposite to the moving direction of the capsule endoscope (60).

9, the wiper means 90 is disposed on the front surface of the optical window 64 to wipe the front surface of the optical window 64.

The wiper means 90 includes a fixed wiper 92 disposed vertically to the center of the optical system 66 such as the lens, a camera 70 disposed below the inner center of the optical system 66, and The cover 94 is coupled to the rear surface of the optical system 66 and the wiper motor 96 is coupled to the shaft of the cover 94.

As described above, since the optical system 66 is rotated by the wiper motor 96 and the fixed wiper 92 is fixed, the surface of the optical system 66 is wiped by the fixed wiper 92.

Also in the capsule endoscope 60, the power source 74 may be used like the capsule 30, and although not shown in FIG. 6, the body 62 of the capsule endoscope 60 as shown in FIG. ) Winding the vertical coil in a spiral shape on the outside and then winding the horizontal coil on the inner circumferential surface of the body 62 may store the electromotive force generated in the condenser.

Although the embodiments of the present invention have been described in detail as described above, the scope of the present invention is not limited thereto, and general knowledge in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Those having a variety of modifications can be made, of course, such modifications are within the scope of the claims described as the core elements of the present invention, to those that are substantially equivalent to one embodiment of the present invention The scope of the invention extends.

According to the capsule with a moving function of the present invention, by inserting a moving device in a separate capsule without inserting the moving device in the narrow space of the conventional capsule endoscope can move while pushing or pulling the capsule endoscope with the capsule Therefore, the effect of being able to overcome the space constraints and provide a capsule endoscope.

According to the capsule and the capsule endoscope equipped with a moving function of the present invention, doctors can move the inside and outside the organ of the capsule-type endoscope equipped with a conventional imaging camera faster and to shoot the inside of the organ to transmit an image There is.

According to the capsule and the capsule endoscope provided with the moving function of the present invention, since the spiral is formed on the circumferential surface of the body, the effect of moving the inside of the organ even with a smaller force is obtained.

According to the capsule and the endoscope equipped with a movement function of the present invention, the wiper means is adopted in the optical window, so that even if foreign matters on the inside of the organ can be easily wiped off, the effect can be taken more clearly. According to the capsule and the capsule endoscope equipped with a moving function of the present invention, since the support leg protrudes in a direction in which the direction of movement of the body is inclined to the circumferential surface of the body, it can support the body than when moving the body. Even small forces can move inside the organs.

Claims (20)

It has an outer shape in the form of a capsule, the body formed inside the space; A front movement means built in the body and moving the body forward by giving a moving force to the front of the body; Capsule having a moving function including a rear movement means for moving the body to the rear by giving a moving force to the rear of the body. The method of claim 1, The front movement means is a power motor fixed to the space inside the body; A lower end is coupled to the shaft of the power motor, and extends in the axial direction to form a connecting portion in the radial direction from the free end, and a moving function comprising a rotating mass formed a projection in the axial direction at the free end of the connecting portion Capsule with. The method of claim 1, The rear movement means is a power motor fixed to the space inside the body; A lower end is coupled to the shaft of the power motor, and extends in the axial direction to form a connecting portion in the radial direction from the free end, and a moving function comprising a rotating mass formed a projection in the axial direction at the free end of the connecting portion Capsule with. The method of claim 1, It is installed on the circumferential surface of the body, the capsule having a moving function further comprises a support leg which is drawn out and drawn in by the solenoid operation, protruding to be inclined in a direction opposite to the traveling direction of the body. The method of claim 1, Capsule with a moving function further comprises a magnetic means in the front end of the body of the capsule. The method of claim 5, The magnet means is a capsule having a moving function, characterized in that installed in both the front and rear inner body of the capsule. The method according to claim 5 or 6, The magnet means includes a magnet fixed inside the body; Capsule with a moving function, characterized in that consisting of a non-magnetizing coil wound on the outer circumferential surface of the magnet. The method of claim 1, Capsule with a moving function, characterized in that the spiral is formed on the outer peripheral surface of the body. The method of claim 1, Capsule with a moving function further comprising a power provided inside the body. The method of claim 1, Winding the vertical coil while rotating the outer side of the body in a spiral shape, placing a plurality of horizontal coils on the inner circumferential surface of the body, and stores the electromotive force generated by connecting the coils in parallel to use as a power source Capsule with a moving function to. A body having an optical window for photographing the inside of the organ and having an external shape of a capsule; At least one camera; At least one illumination source for illuminating a predetermined point inside the organ; An optical system for photographing a predetermined point inside an organ with the camera; In the capsule endoscope including a transmitter for transmitting a video signal of the camera, A front moving unit built in the longitudinal direction of the inner space of the body and moving the body forward by applying a moving force to the front of the body; Capsule type endoscope having a movement function including a rear movement means for moving the body to the rear by giving a moving force to the rear of the body. The method of claim 11, The front movement means is a power motor fixed to the space inside the body; A lower end is coupled to the shaft of the power motor, and extends in the axial direction to form a connecting portion in the radial direction from the free end, and a moving function comprising a rotating mass formed a projection in the axial direction at the free end of the connecting portion Capsule endoscope provided with. The method of claim 11, The rear movement means is a power motor fixed to the space inside the body; A lower end is coupled to the shaft of the power motor, and extends in the axial direction to form a connecting portion in the radial direction from the free end, and a moving function comprising a rotating mass formed a projection in the axial direction at the free end of the connecting portion Capsule endoscope provided with. The method of claim 11, An inner end of the body capsule endoscope having a moving function further comprising a magnet means. The method of claim 14, The magnet means includes a magnet fixed inside the body; Capsule endoscope with a moving function, characterized in that consisting of a non-magnetizing coil wound on the outer circumferential surface of the magnet. The method of claim 11, A cylindrical endoscope with a moving function, characterized in that the spiral is formed on the outer peripheral surface of the body. The method of claim 11, The capsule endoscope having a moving function is disposed on the front of the optical window further comprises a wiper means for wiping the front of the optical window. The method of claim 17, The wiper means includes a fixed wiper disposed vertically to the center of the optical window; A camera disposed below the inner center of the optical window; A cover coupled to the rear side of the optical window; Capsule type endoscope with a moving function, characterized in that consisting of a wiper motor coupled to the cover shaft. The method of claim 11, It is installed on the circumferential surface of the body, the capsule endoscope with a moving function further comprises a support leg which is drawn out and drawn in by the solenoid operation, protruding to be inclined in a direction opposite to the traveling direction of the body. The method of claim 11, Winding the vertical coil while rotating the outer side of the body in a spiral shape, placing a plurality of horizontal coils on the inner circumferential surface of the body, and stores the electromotive force generated by connecting the coils in parallel to use as a power source Capsule type endoscope with a moving function.