TWI606808B - Egg-shaped colonoscopy and the marching control method thereof - Google Patents
Egg-shaped colonoscopy and the marching control method thereof Download PDFInfo
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Description
本發明係關於一種大腸鏡,特別關於一種蛋型大腸鏡及行進控制方法。 The present invention relates to a colonoscopy, and more particularly to an egg-shaped colonoscopy and travel control method.
在台灣,癌症已連續位居十大死因之首達33年,其中,結腸直腸癌持續排名前三名,2014年,確診為大腸癌的患者達1萬5千人,死亡人數約5千人。在日本,大腸癌的每年發人數約4萬5千人,死亡人數約1萬八千人。在美國,大腸癌的每年發生人數約15萬人,死亡人數約5萬人。其中,大腸瘜肉與癌症的相關性極高,在台灣,20-49歲成人中,約有71萬人有大腸瘜肉。大腸瘜肉在5-10年間可能會轉變為大腸癌,因此,若能先確認有大腸瘜肉並加以處置,就可預防大部分的大腸癌。 In Taiwan, cancer has been ranked among the top ten causes of death for the first time in 33 years. Among them, colorectal cancer continues to rank in the top three. In 2014, 15,000 patients with colorectal cancer were diagnosed, and the death toll was about 5,000. . In Japan, the annual number of colorectal cancer is about 45,000, and the death toll is about 18,000. In the United States, the annual incidence of colorectal cancer is about 150,000, and the death toll is about 50,000. Among them, the relationship between large intestine and carcinogenesis is extremely high. In Taiwan, about 710,000 people between the ages of 20 and 49 have large intestines. Large intestines may turn into colorectal cancer in 5-10 years. Therefore, if you can confirm the presence of large intestines and dispose of them, you can prevent most of the colorectal cancer.
目前,可用於檢查大腸瘜肉的醫療器材,即為大腸鏡。現有的大腸鏡設備主流,由奧林帕斯醫療(股)公司(Olympus Medical Systems Crop.)佔據了主要的市場。Olympus所提供的大腸鏡檢查設備,其由光纖構成的系統使得鏡頭不易彎曲。由於大腸鏡為粗長的180公分,如果要完整檢查大腸,必須要進行全身麻醉。由於麻醉本身具有風險性,因此,大部分患者多不願進行全身麻醉。檢查過程又必須進行充氣而導致腹脹,加上粗長的大腸鏡塞入腸道中行進使大腸鏡之鏡身壓迫腸壁,會造成大部分患者極度不舒服,甚而導致無法進行全大腸道的檢查。更甚者,國內的多個研究數據表明,大腸鏡的檢查,約有千分之二點五~千分之五的比率,會於大腸鏡的檢杳過程中,因為大腸鏡的使用不當,或者因為病患的特殊病情, 或因瘜肉的燒除過程等等,導致腸穿孔的情形。此一情形,往往以醫療訴訟的方式收場。所以,大腸鏡的檢查也充滿了風險,對病人來說有大腸穿孔的風險,對醫師來說,腸穿孔後的醫療訴訟則為醫師所不願。以上種種原因,導致大腸鏡的檢查無法普及,也無法進一步藉由檢查出大腸瘜肉來達到預防大腸癌的目的。 At present, medical equipment that can be used for examining large intestines and fats is a colonoscopy. The mainstream of the existing colonoscopy equipment, Olympus Medical Systems Crop. (Olympus Medical Systems Crop.) occupied the main market. The colonoscopy equipment provided by Olympus, which consists of a fiber optic system, makes the lens less flexible. Since the colonoscopy is a thick 180 cm, general anesthesia is necessary if the large intestine is to be completely examined. Because anesthesia itself is risky, most patients are reluctant to perform general anesthesia. The examination process must be inflated to cause bloating, and the thick colonoscope is inserted into the intestine to cause the lens of the colonoscopy to compress the intestinal wall, which will cause most patients to be extremely uncomfortable, even resulting in inability to perform a large bowel examination. . What's more, the domestic research data shows that the colonoscopy examination, about 2.5 to 5 thousandths, will be used during the colonoscopy examination because of the improper use of colonoscopy. Or because of the special condition of the patient, Or the case of intestinal perforation due to the burning process of the meat. This situation often ends in the form of medical litigation. Therefore, the examination of the colonoscopy is also full of risks, and there is a risk of perforation of the large intestine for the patient. For the physician, the medical procedure after the perforation of the intestine is not desired by the physician. For all of the above reasons, the examination of colonoscopy is not widespread, and it is impossible to further prevent colorectal cancer by examining the large intestines.
為了解決大腸鏡的無法轉彎問題,有些針對輔助腸道彎曲的方向所設計的輔具,例如歐洲第EP0792130B1號專利案External straightener for colonoscopy,其揭露了凸塊狀的輔具,設法透過輔具壓迫大腸使其由彎變直,讓大腸鏡可深人。同樣的概念亦見於美國公開第US2014/0350341號專利案。不過,這些輔助器材仍無法解決由降結腸進入橫結腸,以及由橫結腸進入升結腸的大幅度轉彎處的問題。 In order to solve the problem of the inability of the colonoscopy to turn, some auxiliary devices designed to assist the direction of bowel curvature, such as European Patent No. EP0792130B1, External Linearener for Colonoscopy, which exposes the bump-like aids and tries to compress through the aids. The large intestine makes it straight from the bend, allowing the colonoscope to be deep. The same concept is also found in U.S. Patent No. US2014/0350341. However, these ancillary devices still fail to solve the problem of a large turn from the descending colon into the transverse colon and from the transverse colon into the ascending colon.
除了用輔具來設法解決轉彎的問題外,也有人嘗試開發可轉彎的大腸鏡技術(改變大腸鏡本身),以解決傳統大腸鏡不易轉彎的問題。例如,連吉時(Gi Shih,LIEN)等人所研發的中華民國第I468140號「大腸鏡磁控系統」專利案,運用了磁性從動件裝置於大腸鏡的條狀支持件上,透過外部控制裝置上的磁性主動件導引磁性從動件轉動,即可控制大腸鏡於轉彎處順利轉彎。進而解決了以往大腸鏡不易轉彎的問題。 In addition to using aids to solve the problem of turning, some people have tried to develop a curable colonoscopy technique (changing the colonoscope itself) to solve the problem that the traditional colonoscopy is not easy to turn. For example, the patent of the Republic of China No. I468140 "Largeoscopy Magnetron System" developed by Gi Shih (LIEN) and others uses a magnetic follower device on the strip support of the colonoscope through the outside. The magnetic active member on the control device guides the rotation of the magnetic follower to control the colonoscopy to make a smooth turn at the turn. Furthermore, the problem that the colonoscope is difficult to turn in the past is solved.
然而,這種技術仍是基於傳統的粗長式管徑概念。雖可轉彎,但稍有不慎(如技術不佳或疏忽),仍然容易在大腸鏡於腸道內行進的過程中壓迫腸壁,造成大腸鏡之鏡身對腸壁的硬碰觸。換言之,病患易於在檢查過程中感到極度不舒服的問題仍然有待克服。 However, this technology is still based on the traditional concept of thick and long pipe diameter. Although it can be turned, but a little careless (such as poor technology or negligence), it is still easy to press the intestinal wall during the process of colonoscopy in the intestine, causing the lens of the colonoscope to touch the intestinal wall. In other words, the problem that patients are prone to extreme discomfort during the examination remains to be overcome.
此外,傳統的大腸鏡,或者連吉時等人所開發的大腸鏡,仍然無法解決大腸皺褶處的不可視死角問題。換言之,傳統的大腸鏡由於其單向視角,無法看到大腸皺褶的另一面,造成檢查的死角。 In addition, the traditional colonoscopy, or the colonoscopy developed by Lian Ji Shi and others, still can not solve the problem of invisible dead angle in the large intestine folds. In other words, the traditional colonoscopy cannot see the other side of the large intestine fold due to its one-way viewing angle, causing a dead angle of inspection.
因此,無痛的大腸鏡設備勢必成為預防大腸癌的利器。所以,如何開發出無痛、無死角、操作簡單,而符合醫師檢查用的各方面需 求的大腸鏡設備,成為醫療器材廠商極為專注的研發方向。 Therefore, painless colonoscopy equipment is bound to become a weapon to prevent colorectal cancer. Therefore, how to develop painless, no dead ends, simple operation, and meet the needs of all aspects of physician examination The demand for colonoscopy equipment has become a highly focused research and development direction for medical device manufacturers.
為達上述目的,本發明提供一種蛋型大腸鏡,可解決先前技術無法解決的轉彎、無痛、操作簡單等問題。 In order to achieve the above object, the present invention provides an egg-shaped colonoscopy which can solve the problems of turning, painlessness, and simple operation which cannot be solved by the prior art.
本發明提供一種蛋型大腸鏡,包含:一蛋型殼體,具有一軸向,並在該軸向上形成一第一端及一第二端,該第一端由一透明材料製作而成;一第一攝影模組,裝置於該第一端,用以進行照明與攝影;一振動馬達,裝置於該蛋型殼體中,用以使該蛋型殼體產生振動;一控制模組,裝置於該蛋型殼體中,電性連接該第一攝影模組及該振動馬達,接收一控制指令以控制該第一攝影模組進行影片拍攝與影像傳輸,並控制該振動馬達之振動;一導線組,包含一氣道開口,該導線組固定於該蛋型殼體之該第二端側,由一導線外皮包覆一軟管氣道構成;及一供電元件,設置於該導線組或該蛋型殼體內,該供電元件與該控制模組電性連接,以傳輸電力至該控制模組,其中該蛋型殼體或該導線組具有一氣道開口,該氣道開口連通該導線組之軟管氣道,用以將外部產生的一氣體依序經由該軟管氣道及氣道開口送至大腸中。 The present invention provides an egg-shaped colonoscope comprising: an egg-shaped housing having an axial direction and forming a first end and a second end in the axial direction, the first end being made of a transparent material; a first photographic module is disposed at the first end for illumination and photography; a vibration motor is disposed in the egg-shaped housing for vibrating the egg-shaped housing; a control module, The device is electrically connected to the first camera module and the vibration motor, and receives a control command to control the first camera module to perform film shooting and image transmission, and controls vibration of the vibration motor; a wire set comprising an air passage opening, the wire set is fixed on the second end side of the egg-shaped housing, and is formed by a wire sheath covering a hose air passage; and a power supply component disposed on the wire group or the wire set In the egg-shaped housing, the power supply component is electrically connected to the control module to transmit power to the control module, wherein the egg-shaped housing or the wire set has an air passage opening, and the air passage opening communicates with the softness of the wire set Airway for external use A gas sequentially through the airway tube and airway opening to the large intestine.
本發明另提供一種蛋型大腸鏡之行進控制方法,該蛋型大腸鏡包含一振動模組、一導線組、一第一端、一第二端及一第一攝影模組,該振動模組用於使該蛋型大腸鏡可振動,該導線組用以傅輸電力,該第一端及第二端為該蛋型大腸鏡在一軸向上的相對二端,該第一攝影模組位於該第一端,該行進控制方法包含:使該蛋型大腸鏡振動;及於該蛋型大腸鏡振動時,讓該第一端在重力方向上低於該第二端。 The invention further provides an operation control method for an egg-type colonoscope, the egg-shaped colonoscope comprising a vibration module, a wire group, a first end, a second end and a first photographic module, the vibration module The egg-shaped colonoscope can be vibrated, the wire set is used for power transmission, and the first end and the second end are opposite ends of the egg-shaped colonoscope in one axial direction, and the first photography module is located at the opposite end The first end, the travel control method includes: vibrating the egg-shaped colonoscope; and when the egg-type colonoscope vibrates, the first end is lower in the direction of gravity than the second end.
本發明另提供一種蛋型大腸鏡之行進控制方法,該蛋型大腸鏡包含一振動模組以使該蛋型大腸鏡可振動,該蛋型大腸鏡另包含一導線組以傳輸電力,該蛋型大腸鏡更包含一磁性被動套件,該行進控制方法包含:使該蛋型大腸鏡振動;及於該蛋型大腸鏡振動時,提供一外部主動磁 性裝置牽引該磁性被動套件,以輔助該蛋型大腸鏡於振動時前進。 The invention further provides an operation control method for an egg-shaped colonoscope, the egg-shaped colonoscope comprising a vibration module for vibrating the egg-shaped colonoscope, the egg-type colonoscope further comprising a wire group for transmitting electric power, the egg The colonoscopy further comprises a magnetic passive kit, the travel control method comprising: vibrating the egg-shaped colonoscope; and providing an external active magnetic force when the egg-type colonoscope vibrates The sexual device pulls the magnetic passive kit to assist the egg-shaped colonoscope in advancing as it vibrates.
本發明另提供一種蛋型大腸鏡之行進控制方法,該蛋型大腸鏡包含一導線組、一第一端、一第二端、一第一攝影模組及一伸縮致動組件,該導線組用以傳輸電力,該第一端及第二端為該蛋型大腸鏡在一軸向上的相對二端,該第一攝影模組位於該第一端,該伸縮致動組件用於使該蛋型大腸鏡可沿該軸向伸縮,該行進控制方法包含:使該蛋型大腸鏡伸縮;及於該蛋型大腸鏡伸縮時,讓該第一端在重力方向上低於該第二端。 The invention further provides an operation control method for an egg-type colonoscope, the egg-shaped colonoscope comprising a wire set, a first end, a second end, a first photographic module and a telescopic actuation component, the wire set For transmitting power, the first end and the second end are opposite ends of the egg-shaped colonoscope in one axial direction, the first photography module is located at the first end, and the telescopic actuation component is used for the egg shape The colonoscope is expandable and contractable along the axial direction, and the travel control method comprises: stretching the egg-shaped colonoscope; and allowing the first end to be lower in the direction of gravity than the second end when the egg-type colonoscope is stretched.
為讓本發明之上述和其他目的、特徵、和優點能更明顯易懂,下文特舉數個較佳實施例,並配合所附圖式,作詳細說明如下(實施方式)。 The above and other objects, features, and advantages of the present invention will become more apparent and understood.
10‧‧‧蛋型殼體 10‧‧‧ egg shell
10a‧‧‧蛋型殼體 10a‧‧‧ egg shell
10b‧‧‧蛋型殼體 10b‧‧‧ egg shell
10c‧‧‧蛋型殼體 10c‧‧‧ egg shell
11a‧‧‧第一端 11a‧‧‧ first end
11b‧‧‧第二端 11b‧‧‧second end
12a‧‧‧第一取像模組 12a‧‧‧first image capture module
12b‧‧‧第二取像模組 12b‧‧‧second image capture module
13a‧‧‧第一發光模組 13a‧‧‧First lighting module
13b‧‧‧第二發光模組 13b‧‧‧second lighting module
14a‧‧‧第一電路板 14a‧‧‧First board
14b‧‧‧第二電路板 14b‧‧‧second board
15‧‧‧振動馬達 15‧‧‧Vibration motor
16‧‧‧腹足 16‧‧‧ gastropod
16a‧‧‧腹足 16a‧‧‧gastropod
16b‧‧‧腹足 16b‧‧‧gastropod
17a‧‧‧磁性元件N極 17a‧‧‧Magnetic element N pole
17b‧‧‧磁性元件S極 17b‧‧‧Magnetic element S pole
18‧‧‧中心電路板 18‧‧‧ center circuit board
19‧‧‧殼體側壁 19‧‧‧ housing side wall
19’‧‧‧殼體側壁 19’‧‧‧Shell side wall
20‧‧‧導線組 20‧‧‧Wire set
20a‧‧‧導線組 20a‧‧‧Wire set
20b‧‧‧導線組 20b‧‧‧Wire set
21‧‧‧導線 21‧‧‧Wire
22‧‧‧軟管氣道 22‧‧‧Hose airway
23‧‧‧導線外皮 23‧‧‧Wire sheath
24‧‧‧軟管氣道開口 24‧‧‧Hose airway opening
25‧‧‧氣道開口 25‧‧‧ airway opening
26‧‧‧器械通道 26‧‧‧Device channel
27‧‧‧管內填充物 27‧‧‧In-tube filling
30‧‧‧大腸 30‧‧‧ Large intestine
31‧‧‧升結腸 31‧‧ ‧ ascending colon
32‧‧‧橫結腸 32‧‧‧cross colon
33‧‧‧降結腸 33‧‧‧ descending colon
34‧‧‧乙狀結腸 34‧‧‧Sigmoid colon
35‧‧‧直腸 35‧‧‧ rectum
40‧‧‧大腸瘜肉 40‧‧‧大肠瘜肉
50‧‧‧無線傳輸模組 50‧‧‧Wireless Transmission Module
60‧‧‧控制模組 60‧‧‧Control Module
70‧‧‧角度偵測單元 70‧‧‧ Angle detection unit
80‧‧‧伸縮致動組件 80‧‧‧ Telescopic Actuating Components
81‧‧‧致動馬達 81‧‧‧Activity motor
82‧‧‧伸縮驅動件 82‧‧‧Flexible drive parts
83‧‧‧伸縮從動件 83‧‧‧Flexible follower
90‧‧‧瘜肉切除器械 90‧‧‧ meat removal equipment
91‧‧‧瘜肉切除刀 91‧‧‧ meat removal knife
L1‧‧‧長度 L1‧‧‧ length
W1‧‧‧寬度 W1‧‧‧Width
第1A圖係本發明之蛋型大腸鏡之一具體實施例之剖面示意圖。 Fig. 1A is a schematic cross-sectional view showing one embodiment of the egg-shaped colonoscopy of the present invention.
第1B圖係本發明之蛋型大腸鏡之另一具體實施例之剖面示意圖。 Fig. 1B is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention.
第2圖係本發明之蛋型大腸鏡之又一具體實施例之剖面示意圖。 Fig. 2 is a schematic cross-sectional view showing still another embodiment of the egg-shaped colonoscopy of the present invention.
第3A圖係本發明之蛋型大陽鏡之再一具體實施例之剖面示意圖。 Fig. 3A is a schematic cross-sectional view showing still another embodiment of the egg-shaped sun mirror of the present invention.
第3B圖係第3A圖本發明之蛋型大腸鏡之實施例之立體示意圖之一實施例。 Figure 3B is an embodiment of a perspective view of an embodiment of the egg-shaped colonoscopy of the present invention in Figure 3A.
第3C圖係第3A圖本發明之蛋型大腸鏡之實施例之立體示意圖之又一實例。 3C is a still further example of a perspective view of an embodiment of the egg-shaped colonoscope of the present invention.
第4A圖係本發明之蛋型大腸鏡之又一具體實施例之垂直剖面示意圖。 Fig. 4A is a vertical sectional view showing still another embodiment of the egg type colonoscopy of the present invention.
第4B圖係本發明之蛋型大腸鏡之一具體實施例之水平剖面示意圖。 Figure 4B is a horizontal cross-sectional view of one embodiment of the egg-shaped colonoscopy of the present invention.
第5圖係本發明之蛋型大腸鏡之又一具體實施例之剖面示意圖。 Fig. 5 is a schematic cross-sectional view showing still another embodiment of the egg-shaped colonoscopy of the present invention.
第6圖係本發明之蛋型大腸鏡之使用狀態示意圖。 Fig. 6 is a view showing the state of use of the egg-shaped colonoscopy of the present invention.
第7A、7B圖係本發明之蛋型大腸鏡另一使用狀態之示意圖,藉由第二攝影模組可觀察到腸壁皺褶的死角。 7A and 7B are schematic views showing another state of use of the egg-type colonoscope of the present invention, and the dead angle of the intestinal wall wrinkles can be observed by the second photographic module.
第8A圖係本發明之蛋型大腸鏡行進控制方法之第一流程圖。 Fig. 8A is a first flow chart of the egglet colonoscopy travel control method of the present invention.
第8B圖係本發明之蛋型大腸鏡行進控制方法之第二流程圖。 Fig. 8B is a second flow chart of the egg type colonoscopy travel control method of the present invention.
第9A圖係本發明蛋型大腸鏡之另一具體實施例的剖面示意圖。 Fig. 9A is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscopy of the present invention.
第9B圖係本發明之蛋型大腸鏡之第9A圖實施例中,導線組(外露部分)的剖面示意圖。 Fig. 9B is a schematic cross-sectional view showing a wire group (exposed portion) in the embodiment of Fig. 9A of the egg-shaped colonoscope of the present invention.
第9C圖係本發明之蛋型大腸鏡之第9A圖實施例中,蛋型殼體之第一端的橫切面示意圖。 Figure 9C is a cross-sectional view showing the first end of the egg-shaped housing in the embodiment of Figure 9A of the egg-shaped colonoscope of the present invention.
第10圖為本發明之蛋型大腸鏡之第9A圖實施例中,運用瘜肉切除器械進行手術的操作示意圖。 Fig. 10 is a view showing the operation of the operation using the meat removal apparatus in the embodiment of Fig. 9A of the egg type colonoscopy of the present invention.
第11A圖係本發明之蛋型大腸鏡之另一具體實施例的剖面示意圖。 Figure 11A is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention.
第11B圖係本發明之蛋型大腸鏡之第11A圖實施例中,導線組(外露部分)的剖面示意圖。 Fig. 11B is a schematic cross-sectional view showing a wire group (exposed portion) in the embodiment of Fig. 11A of the egg-shaped colonoscope of the present invention.
第11C圖係本發明之蛋型大腸鏡之第11A圖實施例中,蛋型殼體之第一端的橫切面示意圖。 Figure 11C is a cross-sectional view showing the first end of the egg-shaped housing in the embodiment of Figure 11A of the egg-shaped colonoscope of the present invention.
第12圖係本發明之蛋型大腸鏡之第11A圖實施例中,運用瘜肉切除器械進行手術的操作示意圖。 Fig. 12 is a view showing the operation of the operation using the meat removal apparatus in the 11A embodiment of the egg type colonoscopy of the present invention.
第13a圖係本發明之蛋型大腸鏡之又一具體實施例在蛋型殼體伸展時的剖面示意圖。 Fig. 13a is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention when the egg-shaped housing is extended.
第13b圖係本發明之蛋型大腸鏡之又一具體實施例在蛋型殼體收縮時的剖面示意圖。 Fig. 13b is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscopy of the present invention when the egg-shaped shell is contracted.
第13c圖係本發明之蛋型大腸鏡之又一具體實施例在蛋型殼體部分伸展而部分收縮時的剖面示意圖。 Fig. 13c is a schematic cross-sectional view showing another embodiment of the egg-shaped colonoscope of the present invention when the egg-shaped shell portion is stretched and partially contracted.
根據本發明的一個實施例,本發明提供了一個蛋型大腸鏡, 以及蛋型大腸鏡的行進控制方法。所述的大腸鏡具備蛋型的機能形狀,足以置入大腸中,再藉由振動的方式,讓大腸鏡配合腸壁而能順著腸道前進。即使在轉彎的腸壁處,大腸鏡也能順利前進,不會造成腸道或腸壁的不舒適。 According to an embodiment of the invention, the invention provides an egg-shaped colonoscope, And a method of controlling the travel of the egg-shaped colonoscopy. The colonoscopy has an egg-shaped functional shape, which is sufficient to be placed in the large intestine, and the vicinous manner allows the colonoscopy to cooperate with the intestinal wall to advance along the intestinal tract. Even at the curved bowel wall, the colonoscopy progresses smoothly without causing discomfort in the intestinal or intestinal wall.
另外,本發明的蛋型大腸鏡還連接了軟質的導線組,對大腸鏡提供所需的電力,方便即時攝影的進行。而且,根據醫師的需求或控制,該導線組也可以適時的供應氣體,以致腸璧適度的擴張,有利於醫師執行檢查作業。以下將詳細說明本發明的蛋型大腸鏡具體的結構與功能。 In addition, the egg-shaped colonoscopy of the present invention is also connected to a soft wire set to provide the required power to the colonoscope for convenient instant photography. Moreover, according to the needs or control of the physician, the wire set can also supply gas in a timely manner, so that the intestinal fistula is moderately expanded, which is beneficial for the physician to perform the inspection work. The specific structure and function of the egg-shaped colonoscopy of the present invention will be described in detail below.
請參考第1A圖,闡明蛋型大腸鏡第一實施例之具體結構包含:一蛋型殼體10與一導線組20。其中,該蛋型殼體10當中包含有一第一攝影模組、一第二攝影模組、一振動模組與一控制模組60。 Referring to FIG. 1A, the specific structure of the first embodiment of the egg-shaped colonoscopy comprises an egg-shaped housing 10 and a wire set 20. The egg shell 10 includes a first camera module, a second camera module, a vibration module and a control module 60.
在結構上,該蛋型殼體10有一第一端11a、一第二端11b以及一沿蛋型殼體10軸向延伸的中心圓柱部分。其中,所述的第一端11a及第二端11b分別是指蛋型殼體10的軸向二端,而且第一端11a、第二端11b各自用一透明材料製作而成。 Structurally, the egg-shaped housing 10 has a first end 11a, a second end 11b, and a central cylindrical portion extending axially along the egg-shaped housing 10. The first end 11a and the second end 11b refer to the axial ends of the egg-shaped housing 10, respectively, and the first end 11a and the second end 11b are each made of a transparent material.
其次,該第一攝影模組配置在蛋型殼體10的第一端11a,其包括:一第一取像模組12a、一第一發光模組13a與一第一電路板14a。該第二攝影模組配置在蛋型殼體10的第二端11b,其包括:一第二取像模組12b、一第二發光模組13b與一第二電路板14b。 The first photographic module is disposed at the first end 11a of the egg-shaped housing 10, and includes a first image capturing module 12a, a first lighting module 13a and a first circuit board 14a. The second camera module is disposed at the second end 11b of the egg-shaped housing 10, and includes a second image capturing module 12b, a second lighting module 13b and a second circuit board 14b.
該第一、第二取像模組12a、12b採用高畫素的CMOS感測器與CCD感測器之一。該第一、第二發光模組13a、13b可採用發光二極體(英文縮寫為LED)所構成的發光模組。因此,該第一攝影模組與第二攝影模組可進行照明與攝影,而且第二攝影模組主要是用來拍攝腸壁的皺褶或死角,其拍攝影像與第一攝影模組之拍攝方向相反。 The first and second image capturing modules 12a, 12b are one of a high pixel CMOS sensor and a CCD sensor. The first and second light-emitting modules 13a and 13b can adopt a light-emitting module composed of a light-emitting diode (abbreviated as LED). Therefore, the first camera module and the second camera module can perform illumination and photography, and the second camera module is mainly used for photographing wrinkles or dead corners of the intestinal wall, and the captured image and the first camera module are captured. The opposite direction.
所述的控制模組60裝置於蛋型殼體10中。在本實施例,該控制模組60安裝於中心電路板18上。該中心電路板18連接一第一電路板14a與 一第二電路板14b,使整體線路電性相連。實際上,整體線路不限於此,譬如該控制模組60電性連接第一攝影模組、第二攝影模組及振動模組。所述的控制模組60可接收一來自於外部的控制指令,從而操作任一攝影模組執行影像的拍攝與傳輸,也能決定振動模組的振動或不振動。 The control module 60 is disposed in the egg-shaped housing 10. In this embodiment, the control module 60 is mounted on the center circuit board 18. The central circuit board 18 is connected to a first circuit board 14a and A second circuit board 14b electrically connects the entire circuit. In fact, the overall circuit is not limited thereto. For example, the control module 60 is electrically connected to the first photographic module, the second photographic module, and the vibration module. The control module 60 can receive a control command from the outside, thereby operating any of the camera modules to perform image capture and transmission, and can also determine vibration or non-vibration of the vibration module.
該導線組20在蛋型殼體10的第二端11b側邊,二者是固定的為佳。在本實施例,該導線組20有一導線外皮23,其包含多個軟管氣道開口24。該導線外皮23包覆三導(電)線(如訊號線、正極線、負極線)與一軟管氣道22。在某些實施例,該導線外皮23包覆至少二導(電)線21。這些導(電)線21充當一供電元件,可電性連接前述的控制模組60,用以輸出電力至蛋型殼體10內所設的各電子元件,如第一攝影模組、第二攝影模組、控制模組60及振動模組等元件。該軟管氣道22引導外部的氣體,經由軟管氣道開口24傳遞到大腸中。 The wire set 20 is on the side of the second end 11b of the egg-shaped housing 10, preferably both of which are fixed. In the present embodiment, the wire set 20 has a wire sheath 23 that includes a plurality of hose airway openings 24. The wire sheath 23 covers a three-conductor (electric) wire (such as a signal line, a positive line, and a negative line) and a hose air passage 22. In some embodiments, the wire sheath 23 encases at least two conductive (electric) wires 21. The conductive (electric) wires 21 serve as a power supply component, and can be electrically connected to the foregoing control module 60 for outputting power to various electronic components disposed in the egg-shaped housing 10, such as the first camera module and the second component. Components such as a photographic module, a control module 60, and a vibration module. The hose air passage 22 directs the external gas and is delivered to the large intestine via the hose airway opening 24.
在本實施例,該振動模組可以是振動馬達15,其裝置於蛋型殼體10中,使蛋型殼體10產生振動。在第1A圖中,所述的振動馬達15安裝於蛋型殼體10的側壁19,也就是中心柱體的側壁上。在第1B圖中,該振動馬達15裝置於側壁19偏向第二端11b處。某些實施例,該振動馬達15裝置於側壁19偏向第一端11a處為佳。又有一些實施例,該振動馬達15裝置於蛋型殼體10的中心柱體中央處,也就是中心電路板18上。 In the present embodiment, the vibration module may be a vibration motor 15 that is disposed in the egg-shaped housing 10 to cause the egg-shaped housing 10 to vibrate. In Fig. 1A, the vibration motor 15 is mounted to the side wall 19 of the egg-shaped housing 10, that is, the side wall of the center cylinder. In Fig. 1B, the vibration motor 15 is biased toward the second end 11b at the side wall 19. In some embodiments, the vibration motor 15 is preferably biased toward the first end 11a of the side wall 19. In still other embodiments, the vibration motor 15 is disposed at the center of the center cylinder of the egg-shaped housing 10, that is, on the center circuit board 18.
如第1A圖所示,在尺寸的規劃上,該蛋型大腸鏡的長度L1介於2.5-5.2公分,寬度W1介於1.5-2.5公分 As shown in Figure 1A, the size of the egg-shaped colonoscopy is between 2.5 and 5.2 cm and the width W1 is between 1.5 and 2.5 cm.
雖然,將氣體灌入腸道屬於外部控制的範疇,卻是蛋型大腸鏡所必須提供的主要功能。該導線組20除了如第1A圖般在靠近蛋型殼體10的第二端11b處形成軟管氣道開口24以外,也可以像第2圖直接在蛋型殼體10形成一氣道開口25。所述的氣道開口25除了進行氣體的供應以外,亦能視需要供給一些水或藥水。 Although the infusion of gas into the intestine belongs to the category of external control, it is the main function that the egg-type colonoscopy must provide. In addition to forming the hose air passage opening 24 at the second end 11b of the egg-shaped housing 10 as in FIG. 1A, the wire group 20 may form an air passage opening 25 directly in the egg-shaped housing 10 as shown in FIG. The air passage opening 25 can supply some water or syrup as needed in addition to the supply of gas.
在第3A圖中,該蛋型殼體10外部有多個腹足16,這些腹足16 可以輔助蛋型大腸鏡在大腸中更穩定地前進。當然,輔助蛋型大腸鏡前進的腹足構造,還有其他的選項:一個以上宛如第3B圖單環構造的腹足16a;或是如第3C圖所示螺旋構造的腹足16B;或類似於蛇鱗片構造的腹足;又或是這些構造的組合。 In Fig. 3A, the eggshell 10 has a plurality of gastropes 16 on the outside of the eggshell 10, and these webs 16 It can assist the egg-shaped colonoscopy to advance more stably in the large intestine. Of course, there are other options for assisting the adventitious endoscopic advancement of the gastropod structure: one or more of the gastrope 16a that resembles the single-ring structure of Figure 3B; or the gastrope 16B of the helical configuration as shown in Figure 3C; or similar The gastropod of the snake scale structure; or a combination of these structures.
除了腹足以外,輔助蛋型大腸鏡在大腸前進的設備還包括一安裝於蛋型殼體10的磁型被動套件。在第4A、4B圖中,三組磁性被動套件安裝於蛋型殼體10的中心柱體靠近第一端11a的部分,每組磁性被動套件包括:一磁性元件N極17a與一磁性元件S極17b,該磁性元件N極與S極17a、17b位於直徑的二端,可透過一外部主動磁性裝置來輔助牽引蛋型殼體10的前進與定位。 In addition to the abdomen, the device for assisting the egg-shaped colonoscopy to advance in the large intestine further includes a magnetic passive set mounted to the egg-shaped housing 10. In Figures 4A, 4B, three sets of magnetic passive kits are mounted to the central column of the egg-shaped housing 10 near the first end 11a, each set of magnetic passive kits comprising: a magnetic element N pole 17a and a magnetic element S The pole 17b, the magnetic element N pole and the S pole 17a, 17b are located at the two ends of the diameter, and can assist the advancement and positioning of the egg shell 10 by an external active magnetic device.
在一應用場景中,該外部主動磁性裝置對磁性被動套件產生牽引作用,讓進入大腸的蛋型殼體10局部旋轉,直到第二攝影模組能夠看到被導線組20遮蔽的死角。在其他的應用場景中,該外部主動磁性裝置牽引磁性被動套件,使蛋型殼體10產生順著腸道前行的輔助性動力。 In an application scenario, the external active magnetic device acts to pull the magnetic passive kit to partially rotate the egg-shaped housing 10 entering the large intestine until the second camera module can see the blind spot obscured by the wire set 20. In other applications, the external active magnetic device pulls the magnetic passive kit to cause the eggshell 10 to generate auxiliary power along the intestine.
另外,該磁性被動套件的磁場,可被一些感應式偵測器材感測,並通過一顯示器得知蛋型殼體10在大腸內部正確的方位。在醫師為病患確診時,可以清楚標示患部在大腸的精準位置。 In addition, the magnetic field of the magnetic passive kit can be sensed by some inductive detection devices, and the correct orientation of the egg-shaped housing 10 inside the large intestine is known through a display. When the doctor diagnoses the patient, the precise location of the affected part in the large intestine can be clearly indicated.
在影像訊號的傳輸方面,由於導線組20的設計,只要供應充足的電力,就能以有線或無線方式之一進行傳輸作業。具體而言,在有線傳輸模式中,該蛋型大腸鏡係採用訊號傳輸線或電源訊號傳輸(Power line transmission)方式之一。因此,該導線組20包含一條訊號傳輸線(圖面未繪),或在蛋型殼體10安裝額外的一組電源線訊號傳輸模組(圖面未繪),方便控制模組60即時將影像訊號傳送出去。 In terms of transmission of video signals, due to the design of the wire group 20, as long as sufficient power is supplied, the transmission operation can be performed in one of wired or wireless manners. Specifically, in the wired transmission mode, the egg-type colonoscope adopts one of a signal transmission line or a power line transmission. Therefore, the wire set 20 includes a signal transmission line (not shown), or an additional set of power line signal transmission modules (not shown) are installed in the egg-shaped housing 10, so that the control module 60 can instantly display the image. The signal is transmitted.
如第5圖所示,在無線傳輸模式中,該蛋型大腸鏡添加一無線傳輸模組50。該無線傳輸模組50電性連接控制模組60,同樣能將第一、第二攝影模組拍攝的影像傳輸出去。 As shown in FIG. 5, in the wireless transmission mode, the egg-shaped colonoscopy adds a wireless transmission module 50. The wireless transmission module 50 is electrically connected to the control module 60, and can also transmit images captured by the first and second imaging modules.
其次,該蛋型大腸鏡的導(電)線21被一電池(圖面未繪)取代。在無線傳輸模式,該電池設在蛋型殼體10內,充當蛋型大腸鏡的供電單元,供給各電子元件所需的電力。因此,一來自外部的控制指令被無線傳輸模組50接收,從而傳遞至控制模組60。如此,該導線組20只有軟管氣道22,卻無導(電)線,也不會妨礙蛋型大腸鏡執行腸道的檢查。 Secondly, the lead (electro) line 21 of the egg-shaped colonoscopy is replaced by a battery (not shown). In the wireless transmission mode, the battery is disposed in the egg-shaped housing 10 and serves as a power supply unit for the egg-shaped colonoscope to supply electric power required for each electronic component. Therefore, an external control command is received by the wireless transmission module 50 and transmitted to the control module 60. Thus, the lead set 20 has only the air passage 22 of the hose, but has no conductive (electrical) line, and does not prevent the egg-type colonoscopy from performing the examination of the intestinal tract.
如第5圖所示,該蛋型大腸鏡還多了一角度偵測單元70,輔助蛋型大腸鏡在大腸的腸道航行時,掌握到蛋型大腸鏡目前的水平傾斜角度。該角度偵測單元70電性連接控制模組60,可偵測蛋型殼體10水平角度的變化值且傳送出去。 As shown in Fig. 5, the egg-shaped colonoscopy also has an angle detecting unit 70, which assists the egg-type colonoscopy in grasping the current horizontal tilt angle of the egg-shaped colonoscope during the intestinal navigation of the large intestine. The angle detecting unit 70 is electrically connected to the control module 60, and can detect the change value of the horizontal angle of the egg-shaped housing 10 and transmit it.
簡單地說,該蛋型殼體10的第一端11a在重力方向低於第二端11b,即謂第一端11a的水平傾斜角度向下。此刻,得以振動方式,讓蛋型大腸鏡在大腸的腸道繼續前進。 Briefly, the first end 11a of the egg-shaped housing 10 is lower in the direction of gravity than the second end 11b, that is, the horizontal inclination angle of the first end 11a is downward. At this moment, it is possible to vibrate and let the egg-shaped colonoscopy continue in the intestine of the large intestine.
如果不是第一端11a向下的狀況(即第一端11a在重力方向上高於第二端11b,或與第二端11b等位),醫師就可藉由前述的外部主動磁性裝置(詳見第4A、4B圖相關的說明)來輔助牽引蛋型大腸鏡的前進;或者,藉由調整病人姿勢來調整腸道的角度來讓蛋型大腸鏡可形成第一端11a朝下的狀態。因此,藉由角度偵測單元70的配置,本發明的蛋型大腸鏡更容易達成本發明想達到的前進控制的目的。 If it is not the downward state of the first end 11a (ie, the first end 11a is higher in the direction of gravity than the second end 11b, or is equivalent to the second end 11b), the physician can use the aforementioned external active magnetic device (detailed See the description of Figures 4A, 4B for assistance in advancing the advancement of the egg-shaped colonoscopy; or, by adjusting the patient's posture to adjust the angle of the intestine, the egg-shaped colonoscopy can be formed with the first end 11a facing downward. Therefore, with the configuration of the angle detecting unit 70, the egg-shaped colonoscopy of the present invention is more likely to achieve the purpose of the forward control desired by the present invention.
其中,角度偵測單元70可選自:一微機電角度偵測晶片、微機電陀螺儀晶片、微機電雙軸加速度感測晶片、微機電三軸加速度感測晶片、滾動開關、磁感測器其中之一。以上的眾多元件,盡可能以微小化且具備耐震條件的元件為選擇考量。 The angle detecting unit 70 can be selected from the group consisting of: a micro-electromechanical angle detecting chip, a microelectromechanical gyro chip, a micro-electromechanical biaxial acceleration sensing chip, a micro-electromechanical three-axis acceleration sensing chip, a rolling switch, and a magnetic sensor. one of them. Many of the above components are selected as much as possible for components that are as small as possible and have shock-resistant conditions.
接著請參考第6圖,闡明蛋型大腸鏡之使用狀態。從圖中可清楚的看到,由於本發明運用了蛋型的結構,也就是蛋型殼體10的設計,其蛋型的設計,符合腸道本來可容納的消化物結構特性。此外,由於導線組20採用了軟質的軟管氣道的設計.其可撓的特性加上直徑控制在0.5公分 以下,所以,在醫師操作本發明的蛋型大腸鏡時,可輕易以無痛的方式,順利的讓蛋型大腸鏡進入大腸30的腸道,由直腸35到乙狀腸34到降結腸33到橫結腸32到升結腸31,完整的160公分腸道,不會造成腸道的壓迫感,自然不會造成病患的不舒服感覺。 Next, please refer to Figure 6 to illustrate the state of use of the egg-shaped colonoscopy. As is clear from the figure, since the present invention utilizes the structure of the egg type, that is, the design of the egg-shaped casing 10, the egg shape is designed to conform to the structural characteristics of the digest which the intestines can accommodate. In addition, because the wire set 20 uses a soft hose airway design. Its flexible characteristics plus diameter control of 0.5 cm Hereinafter, when the doctor operates the egg-shaped colonoscopy of the present invention, the egg-shaped colonoscopy can be easily and painlessly entered into the intestine of the large intestine 30, from the rectum 35 to the sigmoid 34 to the descending colon 33. The transverse colon 32 to the ascending colon 31, a complete 160 cm intestine, does not cause a sense of oppression of the intestine, and naturally does not cause the patient's uncomfortable feeling.
更重要的,本發明的蛋型大腸鏡藉由前、後雙鏡的設計,讓蛋型大腸鏡無死角地看到大腸皺褶的另一面。 More importantly, the egg-shaped colonoscopy of the present invention allows the egg-shaped colonoscopy to see the other side of the large intestine fold without dead angles by the design of the front and rear double mirrors.
參考第7A、7B圖,闡明蛋型大腸鏡另一使用狀態。在第7A圖中,當蛋型大腸鏡行進的過程,無法看到大腸30皺褶處反面的大腸瘜肉40。但行進到第7B圖的位置時,即可藉由第二攝影模組觀察到大腸30腸壁皺褶的死角的大腸瘜肉40。 Referring to Figures 7A and 7B, another state of use of the egg-shaped colonoscopy is illustrated. In Fig. 7A, when the egg-shaped colonoscope travels, the large intestines 40 on the reverse side of the large intestine 30 fold cannot be seen. However, when proceeding to the position of Fig. 7B, the large intestines 40 of the dead angle of the intestinal wall of the large intestine 30 can be observed by the second photographic module.
基本上,本發明的蛋型大腸鏡藉由振動的方式來輔助前進,其主要目的是希望能減低病患於檢查時的不適。而適當的行進控制方法,對本發明就起了很重要的作用。本發明可藉由一些方法來讓蛋型大腸鏡可順利地輔助前進:第一種方法是重力加振動法,第二種方法是磁力加振動法,第三種方法是重力加振動加磁力法。 Basically, the egg-shaped colonoscope of the present invention assists advancement by vibration, and its main purpose is to reduce the discomfort of the patient during examination. The appropriate travel control method plays an important role in the present invention. The invention can make the egg-type colonoscopy smoothly assisted by some methods: the first method is gravity plus vibration method, the second method is magnetic force plus vibration method, and the third method is gravity plus vibration plus magnetic method .
接著請參考第8A圖,其係本發明之蛋型大腸鏡行進控制方法之第一流程圖,包含了以下步驟: Next, please refer to FIG. 8A, which is a first flowchart of the egg-shaped colonoscopy travel control method of the present invention, which comprises the following steps:
步驟101:偵測蛋型大腸鏡的水平傾斜角度。 Step 101: Detecting the horizontal tilt angle of the egg-shaped colonoscope.
步驟103:使蛋型大腸鏡進行振動之動作。 Step 103: The egg-shaped colonoscopy is subjected to a vibration action.
步驟105:於蛋型大腸鏡振動時,讓蛋型大腸鏡的第一端11a在重力方向上低於第二端11b(例如:讓蛋型大腸鏡所位之腸道呈與地平線傾斜,並使蛋型大腸鏡之前進方向朝下)。 Step 105: when the egg-shaped colonoscope vibrates, let the first end 11a of the egg-shaped colonoscope be lower than the second end 11b in the direction of gravity (for example, the intestine of the egg-shaped colonoscope is inclined to the horizon, and Make the egg-shaped colonoscopy face forward).
由於已經掌握了蛋型大腸鏡的水平傾斜角度,也透過了第一攝影模組看到了腸道的狀況,因此,當蛋型大腸鏡的第一端(11a)未朝下時,可藉由許多方式來調整腸道的狀況,設法讓蛋型大腸鏡的第一端(11a)朝下,讓蛋型大腸鏡可以振動的方式前進。例如,可以讓病人躺的位置改 變,或者,藉由病床的輔助,即可達到讓腸道相對位置改變的目的。例如,蛋型大腸鏡進入降結腸後,可控制病床使病人的頭部朝下而腳朝上,即可形成行進方向朝下(第一端11a朝下)的狀態,再搭配蛋型大腸鏡的水平角度變化資訊,即可局部調整腸道位置,讓蛋型大腸鏡的第一端(11a)朝下,容易於降結腸行進。又例如,於降結腸轉橫結腸的轉彎處,可使病人身體往右側躺.形成蛋型大腸鏡容易往橫結腸行進的狀態。或者,局部推擠腸道,以此類推。 Since the horizontal tilt angle of the egg-shaped colonoscope has been mastered, the condition of the intestine is also seen through the first photography module, so when the first end (11a) of the egg-shaped colonoscope is not facing downward, There are many ways to adjust the condition of the intestines. Try to make the first end of the egg-shaped colonoscopy (11a) face down so that the egg-shaped colonoscopy can move in a vibrating manner. For example, you can change the position of the patient to lie down. Change, or, with the aid of the bed, the purpose of changing the relative position of the intestine can be achieved. For example, after the egg-shaped colonoscopy enters the descending colon, the bed can be controlled so that the patient's head is facing downward and the foot is facing upward, so that the direction of travel is downward (the first end 11a faces downward), and then the egg-shaped colonoscopy is combined. The horizontal angle change information can locally adjust the position of the intestine, so that the first end (11a) of the egg-shaped colonoscopy faces downward, which is easy to travel on the descending colon. For another example, at the turn of the descending colon to the transverse colon, the patient's body can be placed to the right. It forms a state in which the egg-shaped colonoscopy easily travels to the transverse colon. Or, partially push the intestines, and so on.
除了上述步驟101、步驟103及步驟105,本發明之蛋型大腸鏡之行進控制方法的第一流程圖可更包含一步驟107:提供一拉力以控制蛋型大腸鏡之行進速度或微調蛋型大腸鏡之行進方向。 In addition to the above steps 101, 103 and 105, the first flow chart of the egglet colonoscopy travel control method of the present invention may further comprise a step 107: providing a pulling force to control the speed of the egg-shaped colonoscopy or fine-tuning the egg type The direction of travel of the colonoscope.
此步驟107乃是用於在蛋型大腸鏡的行進速度過快時減緩其速度,或是用於在蛋型大腸鏡因為行進方向稍有偏斜而卡在腸道內時稍微調整其行進方向。其中,提供此拉力的方式係藉由拉引導線組20而產生。 This step 107 is for slowing down the speed of the egg-shaped colonoscope when it is too fast, or for slightly adjusting the direction of travel when the egg-shaped colonoscope is stuck in the intestine because the direction of travel is slightly skewed. . Among them, the manner of providing this pulling force is generated by pulling the guide wire group 20.
接著,請參考第8B圖,其係本發明之蛋型大腸鏡之行進控制方法流程之第二流程圖,也就是運用磁力的方式,此即第4A圖的行進控制方法的說明,為包含了以下的步驟: Next, please refer to FIG. 8B, which is a second flow chart of the flow control method of the egg-shaped colonoscope of the present invention, that is, a method using magnetic force, that is, the description of the travel control method of FIG. 4A includes The following steps:
步驟111:提供蛋型大腸鏡一磁性被動套件。 Step 111: Providing an egg-shaped colonoscopy-magnetic passive kit.
步驟113:偵測蛋型大腸鏡的水平傾斜角度。 Step 113: Detecting the horizontal tilt angle of the egg-shaped colonoscope.
步驟115:使該蛋型大腸鏡振動。 Step 115: The egg-shaped colonoscope is vibrated.
步驟117:於該蛋型大腸鏡振動時,提供一外部主動磁性裝置牽引磁性被動套件,以輔助蛋型大腸鏡於振動時前進。由於已經掌握了蛋型大腸鏡的水平傾斜角度,所以蛋型大腸鏡於前進時,藉由外部的主動磁性裝置,可吸引到蛋型大腸鏡而使其前進,這點,我們可直接透過第一攝影模組所傳來的影像看到。因此,我們可輕易的藉由主動磁作裝置於振動時提供一輕微的輔助牽引力量,而讓蛋型大腸鏡行進。 Step 117: When the egg-type colonoscope vibrates, an external active magnetic device is provided to pull the magnetic passive kit to assist the egg-shaped colonoscope to advance when vibrating. Since the horizontal tilt angle of the egg-shaped colonoscope has been mastered, the egg-shaped colonoscopy can be attracted to the egg-shaped colonoscope by the external active magnetic device when advancing, which we can directly pass through. An image from a camera module is seen. Therefore, we can easily use the active magnetic device to provide a slight auxiliary traction force when vibrating, and let the egg-shaped colonoscope travel.
同理,除了上述步驟111、步驟113步驟115及步驟117,本發 明之蛋型大腸鏡行進控制方法的第二流程圖可更包含一步驟119:提供一拉力以控制該蛋型大腸鏡之行進速度或微調蛋型大腸鏡之行進方向。此步驟119之實施方式及目的,係與前述行進控制方法之第一實施例的步驟107相同,故不再贅述。 Similarly, in addition to the above step 111, step 113, step 115 and step 117, the present invention The second flow chart of the egg-type colonoscopy travel control method may further comprise a step 119 of providing a pulling force to control the speed of travel of the egg-shaped colonoscope or to fine-tune the direction of travel of the egg-shaped colonoscope. The embodiment and the purpose of the step 119 are the same as the step 107 of the first embodiment of the foregoing travel control method, and therefore will not be described again.
接著請參考第9A圖,係本發明之蛋型大腸鏡之另一具體實施例的剖面示意圖;第9B圖係第9A圖實施例導線組(外露的部分)的剖面示意圖;第9C圖係第9A圖實施例蛋型殼體10之第一端11a的橫切面示意圖。 Next, please refer to FIG. 9A, which is a schematic cross-sectional view of another embodiment of the egg-shaped colonoscope of the present invention; and FIG. 9B is a schematic cross-sectional view of the wire group (exposed portion) of the embodiment of FIG. 9A; 9A is a schematic cross-sectional view of the first end 11a of the egg-shaped housing 10.
在此實施例中,導線組20a除了原先的軟管氣道22外,增加了一個器械通道26(Instrument Channel),而軟管氣道22與器械通道26皆於蛋型大腸鏡的第一端11a處開口(outlet)。本實施例將軟管氣道22與器械通道26的開口,配置於第一取像模組12a旁,以讓醫師可以透過器械通道26穿入瘜肉切除器械90(請參考第10圖)、止血針、切片鉗、異物鉗等等後,施行必要的手術。另,本具體實施例之蛋型大腸鏡亦可具有如第4A、4B圖所示之磁性被動套件,藉以在施行手術的整個或部分過程中,利用外部主動磁性裝置磁吸磁性被動套件,進而固定蛋型殼體10在大腸腸道中的位置及方位。 In this embodiment, the wire set 20a has an instrument channel 26 in addition to the original hose airway 22, and the hose airway 22 and the instrument channel 26 are at the first end 11a of the egg-shaped colonoscope. Opening. In this embodiment, the opening of the air passage 22 of the hose and the passage of the instrument channel 26 are disposed beside the first image capturing module 12a, so that the physician can penetrate the meat removal device 90 through the instrument channel 26 (refer to FIG. 10), and stop bleeding. After the needle, the slicer, the foreign body forceps, etc., perform the necessary surgery. In addition, the egg-shaped colonoscopy of the present embodiment may also have a magnetic passive kit as shown in FIGS. 4A and 4B, thereby utilizing an external active magnetic device to magnetically move the passive kit during all or part of the operation. The position and orientation of the fixed egg-shaped housing 10 in the large intestine.
此外,在第9B圖中可以觀察到,導線組20a位於蛋型大腸鏡外的剖面結構中,除了原先的軟管氣道22、導線21(由三條導線組成,分別為正極、負極、訊號線,以及包覆體)外,還包括了器械通道26,以及管內填充物27,管內填充物27可讓整個導線組20a的結構穩固。而在第9A圖中,第一端11a的開口並不包含導線21的部分,其由第二端11b的位置穿出,而焊接於第二電路板14b上。此處形成特殊的導線組20a之結構。當然,就另一實施例而言,導線21也可從第一端11a的位置穿出,並焊接於第一電路板14a上(未繪出)。 In addition, it can be observed in Fig. 9B that the wire group 20a is located in the cross-sectional structure outside the egg-shaped colonoscope, except for the original hose air passage 22 and the wire 21 (consisting of three wires, namely a positive electrode, a negative electrode, and a signal line, In addition to the covering body, an instrument channel 26 is included, as well as a tube filler 27 which stabilizes the structure of the entire wire group 20a. In Fig. 9A, the opening of the first end 11a does not include a portion of the wire 21 which is pierced by the position of the second end 11b and is soldered to the second circuit board 14b. Here, the structure of the special wire group 20a is formed. Of course, in another embodiment, the wire 21 can also be threaded out of the first end 11a and soldered to the first circuit board 14a (not shown).
在第9C圖中可以觀察到,器械通道26與軟管通道22置於第一取像模組12a旁,當器械由器械通道26穿出時,可讓醫師清楚看到器械的狀 態,進而進行準確的手術,如第10圖所示者。 It can be observed in Fig. 9C that the instrument channel 26 and the hose channel 22 are placed beside the first image capturing module 12a, allowing the physician to clearly see the shape of the instrument when the instrument is passed out of the instrument channel 26. State, and then perform an accurate surgery, as shown in Figure 10.
請參考第10圖,闡明第9A圖蛋型大腸鏡添加瘜肉切除器械90進行手術的操作方式。其中,軟管通道22可噴出需要的氣體與水等,讓腸道膨脹與潤滑。而第一發光模組13a可受控產生不同顏色的光源,再由第一取像模組12a進行不同光源照射結果下的取像。或者,當第一取像模組12a更換為倍率可調的攝像頭,即可進行低倍率、高倍率的取像,以高倍的放大效果直接觀察細胞,讓醫師可進行更詳細的診斷。 Please refer to Fig. 10 to illustrate the operation of the egg-shaped colonoscopy with the addition of the pterygium removal instrument 90 in Figure 9A. Among them, the hose passage 22 can spray the required gas and water to expand and lubricate the intestinal tract. The first light-emitting module 13a can be controlled to generate light sources of different colors, and then the first image capturing module 12a performs image capturing under different light source irradiation results. Alternatively, when the first image capturing module 12a is replaced with a camera with adjustable magnification, the image can be imaged at a low magnification and a high magnification, and the cells can be directly observed with a high magnification effect, so that the doctor can perform a more detailed diagnosis.
另外,在第9A圖的蛋型大腸鏡增加了器械通道26,可讓不同的器械經由此通道進入第一端11a。以第10圖為例,其運用了瘜肉切除器械90穿入器械通道26,瘜肉切除刀91也可伸出,協助醫師進一步進行大腸瘜肉切入手術。 In addition, the egg-shaped colonoscope of Figure 9A adds an instrument channel 26 through which different instruments can enter the first end 11a. Taking Fig. 10 as an example, the meat removal device 90 is used to penetrate the instrument channel 26, and the meat removal knife 91 can also be extended to assist the physician to further perform the large intestine and sputum incision operation.
接著,請參考第11A至11C圖及第12圖,闡明蛋型大腸鏡另一具體實施例。其中,第11A圖為此實施例之蛋型大腸鏡的剖面示意圖,第11B圖為此實施例之蛋型大腸鏡的導線組(外露的部分)的剖面示意圖,第11C圖為此實施例之蛋型大腸鏡的第一端11a的橫切面示意圖,而第12圖為運用此實施例之蛋型大腸鏡進行手術時的操作示意圖。相較於前一實施例,此實施例之導線組20b係省略器械通道26,而以軟管氣道22當作器械通道口(Instrument Channel)用,進而實現了氣體、水與器械通道三合一的效果。 Next, please refer to FIGS. 11A to 11C and FIG. 12 to explain another specific embodiment of the egg type colonoscopy. 11A is a schematic cross-sectional view of the egg-shaped colonoscope of this embodiment, and FIG. 11B is a schematic cross-sectional view of the wire group (exposed portion) of the egg-shaped colonoscope of this embodiment, and FIG. 11C is a view of this embodiment. A schematic cross-sectional view of the first end 11a of the egg-shaped colonoscope, and Fig. 12 is a schematic view of the operation when the egg-shaped colonoscopy of this embodiment is used for surgery. Compared with the previous embodiment, the wire group 20b of this embodiment omits the instrument channel 26, and the hose air channel 22 is used as an instrument channel, thereby realizing the three-in-one gas, water and instrument channel. Effect.
請參考第13a至13c圖所示,係本發明蛋形大腸鏡的又一具體實施例的剖面示意圖。此實施例的結構與前述之第一具體實施例相近,惟本實施例的蛋型殼體10c之殼體側壁19’係由彈性材料構成。另,蛋型殼體10c不具有中心電路板18,故本實施例的振動馬達15、控制模組60及角度偵測單元70係設置於第一電路板14a或第二電路板14b,且第一電路板14a及第二電路板14b之間係以可撓曲的導線相連接。 Referring to Figures 13a to 13c, there is shown a cross-sectional view of still another embodiment of the egg-shaped colonoscope of the present invention. The structure of this embodiment is similar to that of the first embodiment described above, except that the casing side wall 19' of the egg-shaped casing 10c of the present embodiment is composed of an elastic material. In addition, the egg-shaped housing 10c does not have the center circuit board 18, so the vibration motor 15, the control module 60, and the angle detecting unit 70 of the present embodiment are disposed on the first circuit board 14a or the second circuit board 14b, and A circuit board 14a and a second circuit board 14b are connected by flexible wires.
在本實施例,蛋形大腸鏡的主要特徵是:在蛋型殼體10c內更設有一伸縮致動組件80連接於蛋型殼體10c之第一端11a與第二端11b之 間,且蛋型殼體10c的外表面具有腹足16。 In this embodiment, the main feature of the egg-shaped colonoscope is that a telescopic actuation assembly 80 is further disposed in the egg-shaped housing 10c to be coupled to the first end 11a and the second end 11b of the egg-shaped housing 10c. The outer surface of the egg-shaped housing 10c has a gastrope 16.
詳言之,此伸縮致動組件80係為可使蛋型殼體10c之第一端11a與第二端11b之間的距離反覆伸縮的結構,其包含一致動馬達81、一伸縮驅動件82及一伸縮從動件83,其中致動馬達81係可受控制模組60控制且較佳固定於殼體側壁19’的內表面,伸縮驅動件82可轉動地連接致動馬達81,伸縮從動件83設置於第一端11a的第一電路板14a及第二端11b的第二電路板14b。或者,亦可將致動馬達81固定於第一電路板14a及第二電路板14b之一,並將伸縮從動件83設置於第一電路板14a及第二電路板14b的另一者。 In detail, the telescopic actuator assembly 80 is configured to repeatedly extend and contract the distance between the first end 11a and the second end 11b of the egg-shaped housing 10c, and includes an actuating motor 81 and a telescopic drive member 82. And a telescopic follower 83, wherein the actuating motor 81 is controllable by the control module 60 and preferably fixed to the inner surface of the side wall 19' of the housing, and the telescopic drive member 82 is rotatably coupled to the actuating motor 81 for expansion and contraction The movable member 83 is disposed on the first circuit board 14a of the first end 11a and the second circuit board 14b of the second end 11b. Alternatively, the actuation motor 81 may be fixed to one of the first circuit board 14a and the second circuit board 14b, and the expansion/contraction follower 83 may be provided to the other of the first circuit board 14a and the second circuit board 14b.
藉由上述的伸縮致動組件80,當致動馬達81進行運作而轉動伸縮驅動件82時,伸縮從動件83即會遠離伸縮驅動件82(如第13A圖所示)或者鄰近伸縮驅動件82(如第13B圖所示),使殼體側壁19’進行伸縮,進而輔助此蛋形大腸鏡更順利地通過腸道中的細狹處或轉彎處,甚或完全藉由殼體側壁19’之伸縮提供蛋形大腸鏡行進的動力。 With the above-described telescopic actuation assembly 80, when the actuation motor 81 is operated to rotate the telescopic drive member 82, the telescopic follower 83 will be remote from the telescopic drive member 82 (as shown in FIG. 13A) or adjacent to the telescopic drive member. 82 (as shown in Fig. 13B), the housing side wall 19' is telescoped, thereby assisting the egg-shaped colonoscopy to pass more smoothly through the narrow narrows or turns in the intestine, or even entirely by the side wall of the housing 19' Telescopic provides the power to travel with an egg-shaped colonoscope.
前述的伸縮致動組件80,可由任何能夠使蛋型殼體10c之第一端11a與第二端11b之間的距離反覆伸縮的結構組成。如第13A及13B圖所示,伸縮驅動件82是一曲軸,而伸縮從動件83為二連桿,其中一連桿樞接於曲軸及第一電路板14a,另一連桿則樞接於曲軸及第二電路板14b。或者,如第13C圖所示,伸縮驅動件82是一外周面具有交替設置之異極性磁極面的轉子,而伸縮從動件83為磁極面朝向伸縮驅動件82的二磁鐵,則藉由伸縮驅動件82之磁極面與伸縮從動件83之磁極面之間的相吸或相斥,亦可使殼體側壁19’進行伸縮。 The aforementioned telescopic actuator assembly 80 can be composed of any structure capable of reciprocating the distance between the first end 11a and the second end 11b of the egg-shaped housing 10c. As shown in Figures 13A and 13B, the telescopic drive member 82 is a crankshaft, and the telescopic follower 83 is a two-link, wherein one of the links is pivotally connected to the crankshaft and the first circuit board 14a, and the other link is pivotally connected. The crankshaft and the second circuit board 14b. Alternatively, as shown in Fig. 13C, the telescopic drive member 82 is a rotor having an outer peripheral surface having alternately disposed polar pole faces, and the telescopic follower 83 is a magnet having a magnetic pole face facing the telescopic drive member 82. The suction or repelling between the magnetic pole faces of the driving member 82 and the magnetic pole faces of the telescopic follower 83 can also cause the housing side wall 19' to expand and contract.
藉由上述實施例之結構,本發明之蛋型大腸鏡之行進控制方法也可於偵測得蛋型大腸鏡的水平傾斜角度之後,使蛋型大腸鏡進行伸縮之動作,並讓蛋型大腸鏡的第一端11a在重力方向上低於第二端11b,即可使蛋形大腸鏡以反覆伸縮的方式前進。或者,上述伸縮動作也可配合前述其他實施例之振動行進或磁吸行進等方式實施。此外,由於蛋型殼體10c的外 周可設有腹足16,因此在蛋型大腸鏡伸展的過程中,腹足16可以扺撐於腸道壁面,有效提升伸縮動作的行進效果。 According to the structure of the above embodiment, the egglet colonoscopy travel control method of the present invention can also make the egg-shaped colonoscopy expand and contract after the horizontal tilt angle of the egg-type colonoscopy is detected, and let the egg-shaped large intestine The first end 11a of the mirror is lower in the direction of gravity than the second end 11b, so that the egg-shaped colonoscope can be advanced in a repetitive manner. Alternatively, the above-described expansion and contraction operation may be carried out in accordance with the vibration travel or the magnetic travel of the other embodiments. In addition, due to the outside of the egg-shaped housing 10c The circumference can be provided with the gastropod 16, so that during the extension of the egg-type colonoscopy, the gastrope 16 can be supported on the wall of the intestine, effectively improving the traveling effect of the telescopic movement.
運用本發明,可達到無痛、無死角、不易造成腸穿孔等的特殊技術效果,達到了人類醫學史上的一大進步。 By using the invention, special technical effects such as painlessness, no dead angle, and difficulty in causing intestinal perforation can be achieved, and a great progress in the history of human medicine has been achieved.
雖然,本發明的技術內容已經以較佳實施例揭露如上,然其並非用以限定本發明,任何熟習此技藝者,在不脫離本發明之精神所作些許之更動與潤飾,皆應涵蓋於本發明的範疇內,因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。 Although the technical content of the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and any modifications and refinements made by those skilled in the art without departing from the spirit of the present invention should be Within the scope of the invention, therefore, the scope of the invention is defined by the scope of the appended claims.
10‧‧‧蛋型殼體 10‧‧‧ egg shell
11a‧‧‧第一端 11a‧‧‧ first end
11b‧‧‧第二端 11b‧‧‧second end
12a‧‧‧第一取像模組 12a‧‧‧first image capture module
12b‧‧‧第二取像模組 12b‧‧‧second image capture module
13a‧‧‧第一發光模組 13a‧‧‧First lighting module
13b‧‧‧第二發光模組 13b‧‧‧second lighting module
14a‧‧‧第一電路板 14a‧‧‧First board
14b‧‧‧第二電路板 14b‧‧‧second board
15‧‧‧振動馬達 15‧‧‧Vibration motor
17a‧‧‧磁性元件N極 17a‧‧‧Magnetic element N pole
17b‧‧‧磁性元件S極 17b‧‧‧Magnetic element S pole
18‧‧‧中心電路板 18‧‧‧ center circuit board
19‧‧‧殼體側壁 19‧‧‧ housing side wall
20‧‧‧導線組 20‧‧‧Wire set
21‧‧‧導線 21‧‧‧Wire
22‧‧‧軟管氣道 22‧‧‧Hose airway
23‧‧‧導線外皮 23‧‧‧Wire sheath
24‧‧‧軟管氣道開口 24‧‧‧Hose airway opening
60‧‧‧控制模組 60‧‧‧Control Module
70‧‧‧角度偵測單元 70‧‧‧ Angle detection unit
L1‧‧‧長度 L1‧‧‧ length
W1‧‧‧寬度 W1‧‧‧Width
Claims (15)
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