TWI758115B - In vivo micro gripping device - Google Patents

Abstract

The present invention relates to an in vivo micro-clamping device, which comprises a capsule housing, a sealing member, a slicing unit, a transmission unit, a camera module, a driving member, a control module, a main power supply and an additional power supply electrically connected to each other, and the capsule The casing is provided with an opening closed by a seal, the slicing unit is adjacent to the opening, and the transmission unit is connected to the driving part and the slicing unit. Moving, when an abnormality occurs, an additional power source intervenes and transmits power to the control module, so that the control module controls the operation of the driving element and drives the slicing unit back into the opening of the front end of the capsule housing.

Description

In vivo micro gripping device

The present invention is related to endoscopes, in particular to an in vivo micro-clamping device with slice function.

In traditional gastroscopy, the tube endoscope is inserted into the stomach through the mouth of the subject. During the process, when the tube endoscope touches the throat of the subject, the subject will be nauseated, Vomiting and other phenomena, in severe cases, the tubular endoscope rubbing against the throat and esophagus may cause pain or bleeding.

In traditional colonoscopy, gas is injected into the large intestine from the anus, so that the large intestine can be opened, and then the tubular endoscope is inserted deep into the intestine, so that medical personnel can observe it more easily. In addition, because the large intestine is not linear Therefore, the whole inspection process must go through many actions such as bending, inflating, squeezing, etc., before the endoscope can penetrate into the large intestine, and this process will cause pain such as colic and abdominal distension.

In order to overcome the above deficiencies, Taiwan's Invention Patent No. I286926 discloses a magnetic levitation capsule endoscope device, or the digestive tract inspection system and its control method disclosed in Taiwan's Invention Patent No. I540995, which are small in size and can be swallowed by the subject. The capsule method allows medical personnel to observe the conditions in the stomach and intestines to reduce discomfort or pain during the above examination; however, when medical personnel observe polyps in the stomach and intestines, medical personnel usually cannot make a diagnosis based on image information alone. judgment, so the subject will be notified of another Schedule a return visit for gastrointestinal polyp biopsy. Therefore, the conventional capsule endoscopy only has an observation function, and cannot really improve the inspection process of gastrointestinal endoscopy.

The main purpose of the present invention is to provide an in vivo micro-clamping device, which can reduce the nausea and vomiting caused by the user during the process of gastrointestinal endoscopy, and can also perform the operation of collecting slices during the inspection process, and To avoid the situation that the slicing unit damages the inner wall of the user's stomach and intestines when an abnormal situation occurs.

In order to achieve the above-mentioned main purpose, the in vivo micro-clamping device of the present invention includes a capsule shell, a sealing member, a camera module, a driving member, a control module, a main power supply, a slice unit, a transmission unit, and an additional power source, wherein the capsule shell has a front end, a rear end connected to the front end, and an axial direction formed by the front end and the rear end, the front end is transparent and has an opening, and the sealing member closes the opening, The camera module is located at the front end of the capsule shell, the driver is located at the rear end of the capsule shell, the control module is electrically connected to the camera module and the driver, and the main power source is electrically connected to the control module , to transmit power to the control module, the slicing unit is located at the front end of the capsule shell and adjacent to the opening for cutting polyps in the stomach and intestines, the transmission unit is connected to the driving element and the slicing unit, through the drive The operation of the component drives the transmission unit to move back and forth along the axis, and drives the slicing unit to move inside and outside the opening of the front end of the capsule housing. The additional power supply is located in the capsule housing, and the additional power supply is electrically Connect the control module, and when an abnormality occurs, the extra power supply transmits power to the control module, so that the control module controls the operation of the driving element and drives the slicing unit back into the opening of the front end of the capsule shell .

It can be seen from the above that the volume of the in vivo micro-clamping device of the present invention is like a capsule, and the user can effectively improve the nausea and vomiting caused by the swallowing process of the traditional tube endoscope when performing gastroenteroscopy. In addition, the present invention The in vivo micro-clamping device drives the slicing unit through the transmission unit, so that the slicing unit can extend out of the capsule housing for the collection of slicing specimens. More importantly, when the main power supply is abnormal, The extra power supply will be intervened and can provide power to the control module to control the driving element, and retract the slicing unit into the capsule casing, so as to prevent the slicing unit from being exposed outside the casing and scratching the user's stomach inner wall.

Preferably, the main power supply has a lead, and the lead is electrically connected to the control module.

Preferably, the control module has a wireless transmission unit to transmit signals wirelessly.

Preferably, the driving element has a motor and a screw rod, and the motor rotates to drive the screw rod to rotate.

Preferably, the transmission unit has an upper seat and a lower seat, the upper seat is screwed on the screw and is rotated forward and backward along the axial direction of the screw by the screw, the lower seat is displaceably sleeved on the upper seat, the The slicing unit assembly is arranged between the upper seat and the lower seat.

Preferably, the upper seat of the transmission unit has a sleeve, an inner screw hole provided in the sleeve, a front stop part and a rear stop part, the front and rear stop parts are respectively located on the side of the sleeve. two ends; the lower seat has a sliding sleeve and a supporting member fixed on the sliding sleeve, the sliding sleeve is slidably installed on the sleeve, and the slicing unit is assembled between the front stop portion and the supporting member.

Preferably, the slicing unit has a fixing piece and a wire cutter, the fixing piece is arranged on the lower seat, one end of the wire cutter is fixed on the upper base, and the other end of the wire cutter is fixed on the fixing piece.

Preferably, the support member of the lower seat of the transmission unit is provided with a chute; the slicing unit has a fixing member and a wire cutter, the fixing member is arranged on the lower seat, and the wire cutter is slidably arranged in the chute, One end of the wire cutter is fixed on the upper seat, and the other end of the wire cutter is fixed on the fixing piece.

Preferably, the in-vivo micro-clamping device further includes an inner magnetic group, the inner magnetic group is located in the capsule shell and has a first magnetic pole and a second magnetic pole, the first magnetic pole and the second magnetic pole are arranged opposite to each other .

Preferably, the camera module has a lens for capturing images and a fill light for providing a light source.

The detailed structure, features, assembly or usage of the in vivo micro-clamping device provided by the present invention will be described in the detailed description of the following embodiments. However, those with ordinary knowledge in the field of the present invention should understand that these detailed descriptions and specific embodiments for implementing the present invention are only used to illustrate the present invention, and are not intended to limit the scope of the patent application of the present invention.

10: In vivo micro gripping device

10': In vivo micro-clamping device

20: Capsule shell

21: Front end

23: Backend

25: Axial

27: Opening

28: Seals

30: Camera module

31: Lens

33: Fill light

35: Internal magnet group

36: The first magnetic pole

37: Second pole

40: Driver

41: Motor

43: Screw

45: Control Module

46: Wireless transmission unit

50: main power

51: Wire

60: Slicing unit

61: Pivot

62: Pivot lever

63: The first tool

631: First Blade

633: First connection board

635: The first pivot hole

637: Second pivot hole

64: Second tool

641: Second Blade

643: Second connection board

645: The first pivot hole

647: Second pivot hole

65: Pull Line

66: Spring

67: Fixtures

68: Wire cutter

70: Transmission unit

71: Take the seat

711: Sleeve

712: Internal screw hole

713: Front stop

714: Rear stop

73: Down

731: Sliding sleeve

732: Supports

733: Chute

80: Extra power

FIG. 1 is a perspective view of an in vivo micro-clamping device according to a first embodiment of the present invention.

FIG. 2 is an exploded perspective view of the in vivo micro-clamping device according to the first embodiment of the present invention.

3-6 are perspective views of the in-vivo micro-clamping device according to the first embodiment of the present invention, mainly showing the connection state between the slicing unit and the driving member and the transmission unit when the slicing unit is actuated.

FIG. 7 is a perspective view of an in vivo micro-clamping device according to a second embodiment of the present invention.

8 is an exploded perspective view of an in vivo micro-clamping device according to a second embodiment of the present invention.

9-12 are perspective views of the in-vivo micro-clamping device according to the second embodiment of the present invention, mainly showing the connection state between the slicing unit and the driving member and the transmission unit when the slicing unit is actuated.

The applicant first explains that in the entire specification, including the embodiments described below and the claims of the scope of the patent application, the terms related to the directionality are based on the directions in the drawings. Next, in the embodiments and drawings to be introduced below, the same element numbers represent the same or similar elements or their structural features.

Please refer to FIG. 1 to FIG. 2 first. The in-vivo micro-clamping device 10 according to the first embodiment of the present invention includes a capsule shell 20 , a sealing member 28 , a camera module 30 , an inner magnet set 35 , and a driving member 40 . , a control module 45 , a main power supply 50 , a chip unit 60 , a transmission unit 70 and an additional power supply 80 , wherein the transmission unit 70 has an upper seat 71 and a lower seat 73 .

The capsule shell 20 has a transparent front end 21 , a rear end 23 connecting the front end 21 , and an axial direction 25 formed by connecting the front end 21 to the rear end 23 , and an opening 27 is formed in the front end 21 .

For the sealing member 28, the present invention currently uses a plug made of a material that can be eaten by humans to plug the opening 27 of the capsule shell 20, but is not limited thereto.

The camera module 30 is located at the front end 21 of the capsule housing 20 . The camera module 30 has a lens 31 for capturing images and two fill lights 33 (eg, LEDs) for providing light sources.

The inner magnetic group 35 is located in the capsule housing 20 and has a first magnetic pole 36 and a second magnetic pole 37 with different polarities. The first magnetic pole 36 and the second magnetic pole 37 are arranged opposite to each other, thereby changing the camera by means of magnetic force. The shooting angle and direction of the module 30 .

The driving member 40 is located at the rear end 21 of the capsule housing 20 . The driving member 40 has a motor 41 and a screw 43 . The motor 41 can run in forward and reverse directions and drive the screw 43 to rotate forward and reverse.

The control module 45 is electrically connected to the camera module 30 and the driver 40. The control module 45 has a wireless transmission unit 46, so that the connection between the control module 45 and the external main control terminal (not shown in the figure) is Signal transmission can be done wirelessly.

The main power source 50 is electrically connected to the control module 45 to supply the power required for the operation of the in-vivo micro-grip device 10 to the control module 45. It should be noted that the in-vivo micro-grip device 10 of the present invention is of a wired type And the wireless type, as shown in FIG. 1 , is a wired type in vivo micro-clamping device 10, the main power supply 50 has a wire 51, and the power is transmitted to the control module 45 through the wire 51. Of course, the control module 45 returns the power. Signals can also be transmitted through wires 51 , as shown in FIG. 7 , which is a wireless in-vivo micro-clamping device 10 ′.

The slicing unit 60 is located at the front end 21 of the capsule housing 20 and is adjacent to the opening 27 for cutting polyps in the stomach and intestines. In detail, the slicing unit 60 has a pivot shaft 61 , two pivot rods 62 , and a first cutter 63 , a second blade 64, two traction wires 65 and a spring 66, the first blade 63 has a first blade 631 and a first connecting plate 633 fixed on the first blade 631, the second blade 64 has a second blade 641 And a second connecting plate 643 fixed on the second blade 641, the first blade 631 and the second blade 641 are generally bowl-shaped, and the bowl-shaped recesses of each other are correspondingly arranged, the first connecting plate 633 and the The two connecting plates 643 are crossed and stacked, and the first connecting plate 633 and the second connecting plate 643 are respectively provided with a first pivot hole 635 (645) and a second pivot hole 637 (647). The seat 73, the other end of the pivot 61 is pivoted to the first pivot hole 635 (645) of the first connecting plate 633 and the second connecting plate 643, and the two pivot rods 62 are respectively pivoted to the first connecting plate 633 and the second connecting plate 643. The second pivot hole 637 (647), and the spring 66 is sleeved on the pivot 61 and located at the first connection The space between the plate 633 and the second connecting plate 643 is used for blocking and assisting the opening and closing of the first cutter 63 and the second cutter 64 .

The transmission unit 70 is connected to the driving member 40 and the slicing unit 60 , and drives the transmission unit 70 to move back and forth along the axial direction 25 through the operation of the driving member 40 , and also drives the slicing unit 60 to be in the opening 27 of the front end 21 of the capsule housing 20 . , move outward, further, the upper seat 71 of the transmission unit 70 has a sleeve 711, an inner screw hole 712 provided in the sleeve 711, a front stopper 713 and a rear stopper 714, the front stopper 713 and the rear stop 714 are located at two ends of the sleeve 711 respectively. The lower seat 73 of the transmission unit 70 has a sliding sleeve 731 and a support 732 fixed on the sliding sleeve 731. The sliding sleeve 731 is slidably installed on the sleeve 711 The inner screw hole 712 of the upper seat 71 is screwed to the screw 43 and is displaced forward and backward along the axial direction of the screw 43 by the forward and reverse rotation of the screw 43. The sliding sleeve 731 of the lower seat 73 is sleeved on the sleeve 711 of the upper seat 71 and Restricted from sliding between the front stop portion 713 and the rear stop portion 714 of the upper seat 71 , one end of the two pulling wires 65 of the slicing unit 60 is respectively connected to the front stopping portion 713 of the upper seat 71 . The other ends are respectively connected to the two shaft rods 62 .

The extra power source 80 is located in the capsule housing 20 and is adjacent to the rear end 23. The extra power source 80 is electrically connected to the control module 45. When an abnormality occurs (here, the main power source 50 is abnormal as an example, it may also be a signal abnormality), The additional power source 80 intervenes and transmits power to the control module 45 to control the driving element 40 to operate and drive the slicing unit 60 back into the opening 27 of the front end 21 of the capsule housing 20 .

As shown in FIGS. 3-6 , when the user swallows the in-vivo micro-clamping device 10 and enters the stomach and intestines, the operator (such as a medical staff) will output a signal to the control module 45 and start the filming operation of the inner wall of the stomach and intestines , and if abnormality (such as polyps, etc.) is found in the stomach and intestines during the endoscopy, the operator will additionally output a signal to the control module 45. At this time, the control module 45 will start the motor 41 and the screw 43 to correct The upper seat 71 screwed on the screw 43 moves forward (toward the front end), and the lower seat 73 moves forward because the rear stopper 714 pushes against the sliding sleeve 731 of the lower seat 73. During the movement, The first blade 631 of the slicing unit 60 and the first blade 631 The second blade 641 will push the plug on the opening 27 away until the first blade 631 and the second blade 641 protrude out of the opening 27 and abut against the polyp in the stomach and intestines. At this time, the first blade 631 and the second blade 641 Still in the open state, the operator outputs a signal to the control module 45 again to make the motor 41 and the screw 43 reverse and drive the upper seat 71 to move backward (towards the rear end), at this time the lower seat 73 does not move with the upper seat 71 , therefore, the upper seat 71 pulls the two pulling wires 65 backward, causing the intersecting first connecting plate 633 and the second connecting plate 643 to produce a scissors-like cutting action, synchronously allowing the first blade 631 and the second blade 641 to be opened by The state changes to the closed state to complete the slicing operation. Finally, the screw 43 continues to reverse and the upper seat 71 continues to move backward until the front stop 713 of the upper seat 71 pushes against the sliding sleeve 731 of the lower seat 73, so that the lower seat 73 It also starts to move backward, so that the first blade 631 and the second blade 641 that were originally located outside the opening 27 also retreat into the opening 27 to complete the slicing operation.

7 and 8 again, the general structure of the in vivo micro-clamping device 10 ′ according to the second embodiment of the present invention is the same as that of the first embodiment, and the main difference lies in the parts of the transmission unit 70 and the slicing unit 60 . The second embodiment Among them, the supporting member 732 of the lower seat 73 of the transmission unit 70 is provided with a sliding groove 733, the slicing unit 60 has a fixing member 67 and a line cutter 68, the fixing piece 67 is arranged on the lower seat 73, and the line cutter 68 is slidably arranged on the sliding Inside the groove 733 , one end of the wire cutter 68 is fixed on the front stop portion 713 of the upper seat 71 , and the other end of the wire cutter 68 is fixed on the fixing member 67 .

As shown in FIGS. 9-12 , the slicing process of the in vivo micro-clamping device 10 ′ of the second embodiment is similar to that of FIGS. 3-6 of the first embodiment, except that the wire cutter 68 is fixed on the upper seat 71 . Before, one end of the stopper 713 is the movable end, and the end of the wire cutter 68 fixed on the fixing member 67 is the fixed end. When the motor 41 and the screw 43 rotate forward, the upper seat 71 starts to move forward. At this time, the wire cutter The movable end of 68 will also start to extend forward, and the lower seat 73 will also move forward because the rear stopper 714 pushes against the sliding sleeve 731 of the lower seat 73. During the movement, the wire cutter 68 will push the plug open. and extend out of the opening 27 until the wire cutter of the slicing unit 60 When the 68 is against the polyp in the stomach, when the motor 41 and the screw 43 are reversed and drive the upper seat 71 to move backward, until the front stop 713 of the upper seat 71 pushes against the sliding sleeve 731 of the lower seat 73, the lower seat 73 It also starts to move backward, so that the wire cutter 68 originally located outside the opening 27 also retreats into the opening 27 to complete the slicing operation.

To sum up, the volume of the micro-clamping devices 10 and 10' of the present invention is similar to that of a capsule, so that the user can effectively improve the nausea and vomiting caused by the swallowing process of the traditional tube endoscope when the user performs the gastroenteroscopy examination. , In addition, the in-vivo micro-clamping device 10, 10' of the present invention drives the slicing unit 60 through the transmission unit 70, so that the slicing unit 60 can extend out of the capsule housing 20 to perform the slicing and specimen collection operation, and more importantly Yes, when the main power source 50 is abnormal, the additional power source 80 provides power to the control module 45 to control the driving member 40, and retracts the slicing unit 60 into the capsule housing 20, so as to prevent the slicing unit 60 from being exposed to the outside of the casing. Scratch the user's gastrointestinal lining.

10: In vivo micro gripping device

20: Capsule shell

28: Seals

30: Camera module

35: Internal magnet group

45: Control Module

50: main power

60: Slicing unit

70: Transmission unit

73: Down

80: Extra power

Claims (9)

An in vivo micro-clamping device, comprising: a capsule shell, which has a front end, a rear end connected to the front end, and an axial direction formed by the front end and the rear end, and the front end is transparent and has an opening; a seal closing the opening; a camera module, located at the front end of the capsule shell; a driving member, located at the rear end of the capsule housing; a control module, electrically connected to the camera module and the driver; a main power source, electrically connected to the control module to transmit power to the control module; A slicing unit, located at the front end of the capsule shell and adjacent to the opening, and having a fixing piece and a wire cutter fixed with the fixing piece, for cutting polyps in the stomach and intestines; A transmission unit is connected to the driving element and the slicing unit. The transmission unit has an upper seat and a lower seat. The operation of the driving element drives the upper seat to move back and forth along the axial direction, and the lower seat is displaceably sleeved. on the upper seat, and the slicing unit moves inside and outside the opening of the front end of the capsule shell, wherein the fixing part of the slicing unit is arranged on the lower seat, and one end of the wire cutter of the slicing unit is fixed on the an upper seat, the other end of the wire cutter is fixed on the fixing member; and An extra power source is located in the capsule shell, and the extra power source is electrically connected to the control module. When an abnormality occurs, the extra power source intervenes and transmits power to the control module for the control module to control the operation of the driving element And drive the slicing unit back into the opening of the front end of the capsule shell. The in-vivo micro-clamping device as claimed in claim 1, wherein the main power source has a wire, and the wire is electrically connected to the control module. The in-vivo micro-clamping device as claimed in claim 1, wherein the control module has a wireless transmission unit for transmitting signals wirelessly. The in vivo micro-clamping device according to claim 1, wherein the driving member has a motor and a screw rod, and the motor rotates to drive the screw rod to rotate. The internal micro-clamping device according to claim 1, wherein the upper seat is screwed on the screw and is rotated forward and backward along the axial direction of the screw by the screw, and the slicing unit is assembled on the upper seat and the lower seat between. The internal micro-clamping device according to claim 5, wherein the upper seat of the transmission unit has a sleeve, an inner screw hole provided in the sleeve, a front stopper and a rear stopper, the front stopper , the rear stop parts are respectively located at the two ends of the sleeve; the lower seat has a sliding sleeve and a support member fixed on the sliding sleeve, the sliding sleeve is slidably installed on the sleeve, and the slicing unit is assembled in the between the front stop and the support. The in vivo micro-clamping device according to claim 1, wherein the support member of the lower seat of the transmission unit is provided with a chute, and the wire cutter of the slicing unit is slidably arranged in the chute. The in-vivo micro-clamping device according to claim 1, wherein the in-vivo micro-clamping device further comprises an inner magnetic group, the inner magnetic group is located in the capsule shell and has a first magnetic pole and a second magnetic pole, the The first magnetic pole and the second magnetic pole are disposed opposite to each other. The in-vivo micro-clamping device according to claim 1, wherein the camera module has a lens for capturing images and a fill light for providing a light source.

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