WO2008041809A1 - Endoscope du type à capsule - Google Patents

Endoscope du type à capsule Download PDF

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Publication number
WO2008041809A1
WO2008041809A1 PCT/KR2007/004733 KR2007004733W WO2008041809A1 WO 2008041809 A1 WO2008041809 A1 WO 2008041809A1 KR 2007004733 W KR2007004733 W KR 2007004733W WO 2008041809 A1 WO2008041809 A1 WO 2008041809A1
Authority
WO
WIPO (PCT)
Prior art keywords
capsule
main body
type endoscope
endoscope device
organ
Prior art date
Application number
PCT/KR2007/004733
Other languages
English (en)
Inventor
Yeh-Sun Hong
Heon Kang
Ju-Sung Lee
Original Assignee
University Industry Cooperation Foundation Korea Aerospace University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020060097365A external-priority patent/KR100707393B1/ko
Priority claimed from KR1020070070297A external-priority patent/KR100810732B1/ko
Application filed by University Industry Cooperation Foundation Korea Aerospace University filed Critical University Industry Cooperation Foundation Korea Aerospace University
Publication of WO2008041809A1 publication Critical patent/WO2008041809A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery

Definitions

  • the present invention relates to a capsule-type endoscope device which photographs internal organs of a human body and supplies the photographed images via wireless communication, and more particularly to a capsule-type endoscope device capable of maintaining an advancing direction of a capsule although a rotational direction of the capsule is reversed to prevent twist of the internal organs when adhesion between the capsule and the internal organs occurs, since protrusions formed on a surface of the capsule for smooth advance in the internal organs can be freely redirected without any special driver.
  • An endoscope is a medical device enabling visual inspection of such internal parts of the body by being inserted into a desired internal part. According to the applied sites, the endoscopes can be classified into general endoscopes including a bronchoscope, an esophagoscope, a gastroscope, a duodenoscope, a rectoscope, a cystoscope, and a gynecologiclaparoscope, and special endoscopes including a thoraocoscope, a mediastinoscope, and a cardioscope.
  • general endoscopes including a bronchoscope, an esophagoscope, a gastroscope, a duodenoscope, a rectoscope, a cystoscope, and a gynecologiclaparoscope
  • special endoscopes including a thoraocoscope, a mediastinoscope, and a cardioscope.
  • the endoscopes may also be classified into a direct- view endoscope comprising a single tube and enabling a user to directly view internal organs by naked eyes, a lens-system endoscope applying a lens system, a camera-insertion endoscope used by inserting a micro camera directly into the organs, and a fiberscope using glass fibers.
  • a direct- view endoscope comprising a single tube and enabling a user to directly view internal organs by naked eyes
  • a lens-system endoscope applying a lens system
  • a camera-insertion endoscope used by inserting a micro camera directly into the organs
  • a fiberscope using glass fibers In case of using the camera-insertion endoscope, the micro camera inserted in the internal organs directly photographs mucous membranes of a stomach and records the photographed images, thereby discovering and diagnosing minute lesions at the stomach.
  • a stomach fiberscope has an excellent resolution and can be additionally equipped with a device for cutting and examining tissues of the lesions while observing the state of the mucous membranes.
  • the term "endoscope” generally implies a stomach camera or the stomach fiberscope.
  • a capsule-type endoscope comprises a photographing unit for taking images of the internal organs, a wireless communication unit for transmitting the images taken by the photographing unit wirelessly to a receiver at the outside of the body, and a small battery for driving the photographing unit and the wireless communication unit.
  • the capsule-type endoscope photographs the inside of the organs and transmits signals of the photographed images to the external receiver, while passing through an esophagus, a stomach, a small intestine and a large intestine by peristalsis of such digestive organs until being discharged out of the body.
  • the capsule-type endoscope is moved by the peristaltic motion of the organs. Therefore, although a symptom, probably by a disease, is caught, the capsule-type endoscope cannot stop optionally at a desired spot for a precision examination or return to the desired spot already passed for a reexamination. Thus, although the lesions are detected and the corresponding images are transmitted in realtime by the capsule-type endoscope, the conventional fiberscope is still required to be inserted in the organ to find the lesion once detected by the capsule-type endoscope and to examine the lesion more precisely. Such a drawback becomes a major factor hindering widespread application of the capsule-type endoscope.
  • the fixed spiral protrusion of the capsule will be effective in moving forward and backward the capsule within a narrow organ where high friction is generated.
  • the rotational direction for forward movement of the capsule is determined mechanically, for example, by the right-handed screw rule, if the capsule keeps rotating in a direction for the forward movement when adhered to the organ, the organ will be forced to twist, thereby causing pain to a patient and even damaging the organ. If the capsule is rotated in the opposite direction of the direction for forward movement to release the twist caused by the adhesion between the capsule and the organ, an advancing direction of the capsule is then reversed. Therefore, while keeping the forward movement of the capsule, twist of the organ cannot be prevented.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide a capsule-type endoscope capable of reversing a direction of spiral slip wires formed on the outside thereof automatically without a dedicated driver. It is another object of the present invention to provide a capsule-type endoscope capable of maintaining an advancing direction thereof although the capsule-type endoscope adheres to an internal organ, since a direction of spiral slip wires can be reversed by reversing a rotational direction of magnetism applied from the outside.
  • a capsule-type endoscope device comprising a main body including a magnet and a photographing unit for taking images of an organ and transmitting the images via a wireless communication unit, and advanced within the organ while being rotated by a magnetic field applied from the outside; a plurality of slip wires fixed to an outside of the main body by one end and to an auxiliary ring by the other end and arranged at predetermined intervals on the outside of the main body; and the auxiliary ring slidably engaged with a slide groove formed at one side of the main body to guide the slip wires to be spirally twisted by frictional force generated between the main body and the organ upon rotation of the main body.
  • a capsule-type endoscope device may comprise a main body including a magnet, a photographing unit for taking images of an organ and transmitting the images through a wireless communication unit and slide grooves formed at both sides, and advanced within the organ while being rotated by a magnetic field applied from the outside; a plurality of slip wires fixed by both ends to first and second auxiliary rings which are slidably engaged with the respective slide grooves formed at both sides of the main body and arranged at predetermined intervals on the outside of the main body; and the first and second auxiliary rings slidably engaged with the respective slide grooves formed at both sides of the main body to guide the slip wires to be spirally twisted by frictional force generated between the main body and the organ upon rotation of the main body, by being fixed by a fixing unit selectively.
  • a capsule-type endoscope device may comprise a main body including a photographing unit for taking images of a patient' s organ, a communication unit for transmitting the images taken by the photographing unit to the outside of the patient's body, and a magnet, and advancing within the organ while being rotated by a rotative magnetic field applied from the outside; and a blade generating spiral motion regardless of a rotational direction of the main body, thereby advancing the main body in one certain direction.
  • FIG. 1 is a scheme showing a capsule-type endoscope device according to an embodiment of the present invention
  • FIG. 2 is a scheme showing the arrangement of a magnet inside a capsule of the capsule-type endoscope device according to the embodiment of the present invention
  • FIG. 3 is a scheme illustrating the driving state of the capsule-type endoscope device according to the embodiment of the present invention
  • FIG. 4 is a scheme illustrating the driving method of the capsule-type endoscope device according to the embodiment of the present invention.
  • FIG. 5 and FIG. 6 are schemes of a capsule-type endoscope device according to another embodiment of the present invention.
  • FIG. 7 is a perspective view of the capsule-type endoscope device according to yet another embodiment of the present invention.
  • FIG. 8 is a scheme showing the arrangement of a magnet, according to the yet another embodiment of the present invention.
  • FIG. 9 is a scheme illustrating the driving state of the capsule-type endoscope device shown in FIG. 7;
  • FIG. 10 and FIG. 11 are schemes illustrating the driving method for the capsule-type endoscope device according to the yet another embodiment of the present invention.
  • FIG. 1 is a schematic view of a capsule-type endoscope device according to an embodiment of the present invention.
  • the capsule-type endoscope device 10 comprises a main body 100 including a photographing unit (not shown) for photographing an internal organ and transmitting images of the photographed organ via a wireless communication unit (not shown), and a magnet 110.
  • the main body 100 advances in the organ, while being rotated by a magnetic field applied from the outside.
  • the capsule-type endoscope device 10 also comprises a plurality of slip wires 200 formed on an outside of the main body 100 and arranged at predetermined intervals, and an auxiliary ring 300.
  • One end of the slip wire 200 is fixedly connected to an outside of the main body 100 while the other end is fixed to the auxiliary ring 300.
  • the auxiliary ring 300 is slidably engaged with a slide groove 120 formed at one side of the main body 100 to guide the slip wires 200 to be spirally twisted by frictional force generated between the rotating main body 100 and the organ.
  • the main body 100 is made of a harmless material, in a cylinder form.
  • the main body 100 includes therein a camera to be put into a human body through a mouth to photograph the inside of the organ, the wireless communication unit for transmitting the image photographed by the camera to a receiver being at the outside of the human body, and a battery (not shown) for supplying electric power to drive the camera and the wireless communication unit.
  • the main body 100 further includes the magnet 110 so that the main body 100, while advancing, can be rotated by magnetism applied from the outside.
  • the camera may be implemented, for instance, by a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS) generally used in small appliances such as an optical-fiber endoscope and a mobile communication terminal.
  • CCD charge coupled device
  • CMOS complementary metal-oxide semiconductor
  • the camera is mounted to a head of the main body 100 with respect to an advancing direction.
  • the camera photographs the inside of the organ and transmits the photographed images to the external receiver through the wireless communication unit.
  • the wireless communication unit sets up the wireless connection with the external receiver (not shown) , and transmits to the external receiver signals corresponding to the organ images photographed and output by the camera.
  • a wireless communication unit may include not only existing wireless communication protocols including Bluetooth, ZigBee and RF communication but also any other future wireless communication protocols.
  • the main body 100 has the slide groove 120 formed at one side thereof for slidable engagement with the auxiliary ring 300. Both ends of the slide groove 120 are provided with a separation prevention projection for preventing separation of the auxiliary ring 300.
  • the magnet 110 mounted in the main body 100 can be implemented by a permanent magnet or an electromagnet. Both poles (N pole and S pole) of the magnet 110 are arranged perpendicularly to a rotational axis of the main body 100. A rotative or regularly reversed magnetic field is applied to the magnet 110 from the outside, so that the magnet 110 alternately generates attracting force and repulsive force while rotatively advancing.
  • the power for magnetizing the electromagnet may be supplied by the battery.
  • FIG. 2 shows the arrangement of the magnet within a capsule of the capsule-type endoscope device according to the embodiment of the present invention.
  • the magnet 110 mounted in the main body 100 may be disposed in the middle of the main body 100.
  • the magnet 110 may be provided at a front and a rear of the main body 100 for more favorable advance of the capsule-type endoscope device 10.
  • the respective magnetic poles are disposed to be perpendicular to the rotational axis of the main body 100.
  • the slip wire 200 is made of a soft and harmless material, for example silicon, for flexible bending and for use in the human body.
  • the slip wire 200 is in the form of a wire having predetermined thickness, one end of which is fixedly connected to the outside front of the main body 100, that is, the front with respect to the advancing direction, and the other end is fixedly connected to an outside of the auxiliary ring 300 that is engaged with the slide groove 120 of the main body 100 to slide along the slide groove 120. More specifically, the slip wire 200 may be manufactured so that the sectional shape thereof is a polygon such as a circle or a triangle. The sectional shape of the slip wire 200 influences the degree of the frictional force between the slip wire 200 and an inner wall of the organ.
  • the slip wires 200 While the main body 100 is rotatively advancing, the slip wires 200 are spirally twisted in the opposite direction of the rotational direction of the main body 100 due to the frictional force generated between the inner wall of the organ and the main body 100.
  • the auxiliary ring 300 is slid in the advancing direction of the main body 100 in accordance with the spiraling angle of the slip wires 200 so that the spiraling angle and the intervals among the respective slip wires 200 can be maintained regularly.
  • the spiraling angle is determined by length of the slip wires 200. More particularly, as the slip wires 200 are longer, the spiraling angle of the slip wires 200 upon rotation of the main body 100 increases. As the slip wires 200 are shorter, the spiraling angle decreases .
  • the auxiliary ring 300 ⁇ is made of the same material as the main body 100 and slidably engaged with the slide groove 120 formed at one side of the main body 100. On the outside of the auxiliary ring 300, the other ends of the slip wires 200 are fixed. As described above, when the slip wires 200 in connection with the main body 100 and the auxiliary ring 300 are twisted by the frictional force with the organ upon the rotative advance of the main body 100, the auxiliary ring 300 is advanced forward until being stopped by the separation prevention projection, thereby guiding the slip wires 200 to maintain regular spiraling angles and intervals. When the main body 100 stops advancing and the slip wires 200 are restored by resilience, the auxiliary ring 300 is slid back until being stopped by the separation prevention projection formed at the rear side.
  • FIG. 3 schematically shows the driving state of the capsule-type endoscope device according to the embodiment of the present invention.
  • Fig. 4 schematically shows the driving method of the capsule-type endoscope device according to the embodiment of the present invention.
  • an electromagnet such as a 3-axis Helmholtz coil or the magnet 110 coaxially arranged with the capsule-type endoscope device 10.
  • slip wires 200 connected with the main body 100 and the auxiliary ring 300 are twisted due to the frictional force caused by the rotative force of the main body 100, and accordingly the auxiliary ring 300 is advanced forward until being stopped by the separation prevention projection, thereby guiding the slip wires 200 to be at regular spiraling angles and intervals.
  • Such varied spiral forms of the slip wires 200 enable more favorable advance of the capsule-type endoscope device 10 within the organ.
  • the capsule- type endoscope device 10 is able to maintain the advancing direction regardless of the rotational direction thereof.
  • the rotational direction of the magnetic field applied from the outside is reversed in order to prevent twist of the organ.
  • the magnet 110 mounted in the main body 100 is rotated in the opposite direction while keeping the advancing motion.
  • the spiraling direction of the slip wires 200 is reversed by the frictional force between the rotating main body 100 and the inner wall of the organ, the main body 100 is able to maintain its advancing direction regardless of the rotational direction thereof.
  • the slip wires 200 form a right-handed spiral by the frictional force with the inner wall of organ and the main body 100 is advanced by the frictional force of the spiral of the slip wires 200. If the slip wires 200 adhere to the inner wall of organ during the advance, the direction of the magnetic field is reversed to the opposite direction. Then, the main body 100 is rotated counterclockwise, and accordingly, the slip wires 200 form a left-handed spiral by the frictional force with the inner wall of organ. As a result, twist of the organ can be prevented as well as relieving the adherence of the slip wires 200 to the organ. Furthermore, the advancing direction of the main body 100 can still be maintained.
  • the capsule-type endoscope device 10 is able to keep advancing in one direction. Consequently, examination of the organ can be performed continuously.
  • the capsule-type endoscope device 10 comprises the slide grooves 120 at both sides of the main body 100, and the auxiliary rings 300 engaged with the respective slide grooves 120. Both ends of the slip wires 200 are fixed to the outside of the auxiliary rings 300. Therefore, the advancing direction of the capsule-type endoscope device 10 can be determined freely.
  • the capsule-type endoscope device 10 according to another embodiment will be explained hereinafter in greater detail with reference to FIG. 5 and FIG. 6.
  • FIGS. 5 and 6 are schematically showing the capsule- type endoscope device 10 according to another embodiment of the present invention.
  • the capsule-type endoscope device 10 comprises the main body 100 including therein the photographing unit for photographing the organ and transmitting images of the photographed organ through the wireless communication unit, the magnet 110, and the slide grooves 120 formed on both sides thereof.
  • the main body 100 advances in the organ, while being rotated by a magnetic field 20 applied from the outside.
  • the capsule-type endoscope device 10 also comprises the plurality of slip wires 200 arranged on the outside of the main body 100 at predetermined intervals.
  • Both ends of the slip wires 200 are fixed respectively to first and second auxiliary rings 301 and 302 which are slidably engaged with the slide grooves 120 formed at both sides of the main body 100, respectively.
  • the main body 100 is provided with the slide grooves 120 at both sides thereof for slidable engagement with the first and second auxiliary rings 301 and 302. Both ends of the slide grooves 120 are provided with a separation prevention projection for preventing separation of the first and second auxiliary rings 301 and 302.
  • the reason for applying the fixing unit 400 is to vary the advancing direction of the main body 100 by fixing any one of the first and second auxiliary rings 301 and 302 to the main body 100 because if the first and second auxiliary rings 301 and 302 are both movable, the slip wires 200 will not be spirally twisted in spite of rotation of the main body 100. For example, if the first auxiliary ring 301 is fixed to the main body 100 while the second auxiliary ring 302 is set free, the slip wires 200 are capable of spirally twisting, thereby advancing the capsule-type endoscope device 10.
  • the advancing direction of the capsule-type endoscope device 10 toward the first auxiliary ring 301 is fixed.
  • the advancing direction can be set toward the second auxiliary ring 302. Since the advancing operation of the capsule-type endoscope device 10 and generation of the spiral of the slip wires 200 by the auxiliary ring 300 have already been explained in relation to FIG. 1 through FIG. 3, detailed description thereof will not be repeated.
  • the fixing unit 140 may be comprised of an electromagnet 401 generating magnetism only when the power is applied, and a metal plate 402 influenced by the magnetism of the electromagnet 401.
  • an electromagnet 401 generating magnetism only when the power is applied
  • a metal plate 402 influenced by the magnetism of the electromagnet 401.
  • the electromagnets 401 are mounted to both ends of the slide grooves 120 and the metal plates 402 are correspondingly mounted to the first and second auxiliary rings 301 and 302, so that one of the first and second auxiliary rings 301 and 302 can be fixed.
  • the fixing unit 400 may be implemented by forming a projection 403 and a depression 404 on inner walls of the slide grooves 120 and the corresponding auxiliary rings 301 and 302, respectively, so that the first and second auxiliary rings 301 and 302 can be fixed by force-fit through the projection and depression 403 and 404.
  • the fixing unit 400 may comprise an auxiliary ring supporter 405 formed on the main body 100 between the two slide grooves 120 and slid transversely to restrict sliding of the first and second auxiliary rings 301 and 302, and a supporter driver 406 mounted inside the main body 100 to slide the auxiliary ring supporter 405 transversely according to the user's operation.
  • a space for receiving the auxiliary ring supporter 405 is formed between the slide grooves 120 formed at both sides of the main body 100.
  • the auxiliary ring supporter 405 is inserted in the space and slid transversely by a supporting member which is driven by the user' s operation command, accordingly restricting the movement of the first auxiliary ring 301 or the second auxiliary ring 302.
  • the supporter driver 406 is inserted in the main body 100 to control the sliding movement of the auxiliary ring supporter 405, more specifically, to control a sliding direction of the auxiliary ring supporter 405.
  • the supporter driver 406 may be implemented by a driving unit comprising a micro motor, at least one gear for converting a rotational motion of the motor to a linear motion, and a connector for sliding the auxiliary ring supporter 405.
  • the motor is rotated in accordance with the user's operation command, the rotational motion of the motor is converted to the linear motion by the driving unit, thereby sliding the auxiliary ring supporter 405.
  • the user transmits the operation command to the supporter driver 406 to move the auxiliary ring supporter 405 toward the first auxiliary ring 301 when fixing the first auxiliary ring 301, and toward the second auxiliary ring 302 when fixing the second auxiliary ring 302.
  • FIG. 7 is a perspective view of the capsule-type endoscope device according to yet another embodiment of the present invention.
  • the capsule-type endoscope 500 comprises a main body 510 and a blade 520.
  • the main body 510 is manufactured of a harmless material in a cylinder form.
  • a camera (not shown) , a communication unit (not shown) , and a battery (not shown) for operating the camera and the communication unit are included in the main body 510.
  • the camera photographs the internal organ and the communication unit transmits images of the photographed organ to the external receiver.
  • the main body 510 includes a magnet for reacting on a rotative magnetic field applied from the outside, so that the main body 510 is able to keep advancing in one direction as rotating in the organ.
  • a small CCD or a CMOS may be used for the camera.
  • the camera is mounted to a head of the main body 510 with respect to the advancing direction.
  • the camera may be mounted to both ends of the main body 510.
  • the communication unit transmits the organ images photographed by the camera to the external receiver wirelessly.
  • General wireless communication means including
  • Bluetooth, ZigBee and RF communication may be used for the communication unit.
  • the present invention is not limited so, but any structure capable of wireless transmission of images photographed by the camera can be applied to the present invention.
  • the magnet 512 is mounted inside the main body 510.
  • a permanent magnet or an electromagnet may be adopted.
  • the electromagnet may be operated by the battery.
  • the magnet 512 may have a disc, ring or rectangular form and is disposed in such a manner that both poles (N pole and S pole) are arranged perpendicularly to the length direction of the main body 510, that is, the direction of a rotational axis of the main body 510.
  • the main body 510 is rotated by the magnet 512 mounted therein in the similar manner to a rotor in an electric motor.
  • FIG. 8 schematically shows the arrangement of the magnet in the yet another embodiment of the present invention.
  • the magnet 512 may be disposed substantially in the middle of the main body 510.
  • the magnet 512 is provided at a front and a rear of the main body with respect to the length direction such that aligning moment or rotative force applied to the main body 510 by the magnetic field can be increased.
  • the magnets 512 are disposed to have the magnetic fields all in the same direction for efficient rotation of the main body 510.
  • the blade 520 is fixed to an outer surface of the main body 510 by one side thereof.
  • the blade 520 may be manufactured separately and attached to the main body 510 simply by applying adhesive on the one fixed side.
  • the one side of the blade 520 may be fixedly inserted in the groove with adhesive applied in the groove.
  • connection between the blade 520 and the main body 510 are not limited to the above.
  • the blade 520 can be connected to the main body 510 using a connection member (not shown) such as a screw, or integrally formed with the main body 510.
  • the blade 520 can be prevented from separating from the main body 510 by external force.
  • a plurality of the blades 520 are provided and arranged at regular intervals so that the blades 520 can continuously make a spiral motion with respect to the capsule-type endoscope device 500.
  • a sectional shape of the blade 520 is a straight line or a polygon such as a triangle, so that the blade 520 can smoothly slide down along the inner wall of the organ in the length direction whereas the blade 520 can hardly do so in a lateral direction. Therefore, when the main body 510 is rotated by the external magnetic field, the blades 520 are twisted by a predetermined angle due to the frictional force with the organ, thereby forming spiral protrusions.
  • the predetermined angle which is varied according to the modulus of elasticity of the blade 520, may be determined by the performer's intention.
  • the spiral protrusions are able to allow the main body 510 to keep advancing in one direction regardless of the rotational direction of the main body 510.
  • the capsule-type endoscope device 500 can smoothly move by forming the spiral protrusions easily.
  • FIG. 9 shows the capsule-type endoscope device in which such spiral projections are formed right-handedly or left-handedly according to the above principle.
  • the blades 520 when the main body 510 rotates clockwise or counterclockwise about the rotational axis formed in the length direction, the blades 520 accordingly form the spiral projections right-handedly or left-handedly. If the main body 510 keeps rotating with the spiral protrusions formed thereon, the main body 510 is advanced according to the spiral motion of the spiral protrusions.
  • FIG. 10 a method for using the capsule-type endoscope device according to the yet another embodiment of the present invention will be described with reference to FIG. 10 and FIG. 11.
  • the same reference numerals as in FIGS. 7 through 9 still denote the same structures.
  • rotative magnetic fields 21 and 22 are applied from the outside to the capsule-type endoscope device 500 through an electromagnet such as a 3-axis Helmholtz or a permanent magnet.
  • the magnet 512 mounted in the capsule-type endoscope device 500 is rotated similarly to a rotor of an electric motor.
  • the blades 520 are twisted by a predetermined angle by contact with the inner wall of the organ, thereby forming the spiral protrusions.
  • the blades 520 form left- handed spiral protrusions.
  • the blades 520 form right-handed spiral protrusions .
  • the rotative magnetic fields applied to the capsule- type endoscope device 500 may be implemented by a magnetic unit 21 rotating as surrounding the capsule-type endoscope device 500 as shown in FIG. 10, or a magnetic unit 22 rotating separately at one side of the capsule-type endoscope device 500 as shown in FIG. 11.
  • the capsule-type endoscope device 500 is spirally rotated and thereby advanced in the organ.
  • the user can rotate the capsule-type endoscope device 500 counterclockwise by generating the magnetic field in the opposite rotational direction with the electromagnet or the permanent magnet.
  • the spiraling direction of the spiral protrusions formed by the blades 520 is reversed. Simultaneously, the twist of the organ is corrected. Therefore, the advance of the capsule-type endoscope device 500 can be maintained in one direction. If a backward movement of the capsule-type endoscope device 500 is demanded to reexamine the organ already photographed, the advancing direction is revised by rotating the main body 510 in a pitch or yaw direction and then the main body 510 is moved to keep the examination.
  • the rotational direction of the capsule-type endoscope device can be freely reversed by adopting movable slip wires automatically reversing the spiraling direction and by reversing the rotational direction of magnetic field applied from the outside. Accordingly, twist of the organ can be prevented while maintaining the advancing direction of the capsule-type endoscope device. Furthermore, damage of the organ can be prevented.
  • the capsule-type endoscope device can keep advancing in one direction since the spiraling direction of the slip wires is suitably reversed. Therefore, the examination of an organ can be continuously performed. Since first and second auxiliary rings are provided to be selectively fixed to the capsule-type endoscope device, the advancing direction of the capsule-type endoscope device can be determined freely regardless of the rotational direction of the external magnetic field. Also, by providing flexible blades on the outer surface of the capsule-type endoscope device, spiral protrusions can be formed to help the capsule-type endoscope device advance in one direction regardless of the rotational direction without causing a trouble such as the twist of an organ.
  • the capsule-type endoscope device can smoothly move as desired even under unfavorable conditions, for example, in an organ with many foreign substances.
  • the simple structure of the capsule-type endoscope device enhances mass production.

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Abstract

L'invention porte sur un endoscope du type à capsule capable de photographier des organes internes et d'en transmettre les images via une liaison sans fil. Ledit endoscope comporte: un corps principal incluant un aimant et une unité photographique prenant des images d'un organe et les transmettant via une unité de liaison sans fil, et pouvant avancer dans l'organe tout en tournant sous l'effet d'un champ magnétique appliqué de l'extérieur; plusieurs fils coulissants fixés par une extrémité à l'extrémité du corps principal et par l'autre à un anneau auxiliaire et disposés à intervalles prédéterminés sur l'extérieur du corps principal; et l'anneau auxiliaire coulissant dans une rainure pratiquée dans un côté du corps principal pour guider les fils coulissant afin de les torsader en spirale sous l'effet des forces de frottement créées entre le corps principal et l'organe par la rotation du corps principal.
PCT/KR2007/004733 2006-10-02 2007-09-28 Endoscope du type à capsule WO2008041809A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020060097365A KR100707393B1 (ko) 2006-10-02 2006-10-02 캡슐형 내시경 장치
KR10-2006-0097365 2006-10-02
KR1020070070297A KR100810732B1 (ko) 2007-07-12 2007-07-12 캡슐형 내시경 장치
KR10-2007-0070297 2007-07-12

Publications (1)

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WO2008041809A1 true WO2008041809A1 (fr) 2008-04-10

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PCT/KR2007/004733 WO2008041809A1 (fr) 2006-10-02 2007-09-28 Endoscope du type à capsule

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EP2143368A1 (fr) * 2008-07-08 2010-01-13 Olympus Medical Systems Corporation Système de guidage de dispositif médical à capsule
CN103054542A (zh) * 2012-12-20 2013-04-24 深圳市资福技术有限公司 一种胶囊内窥镜运动的控制系统和控制方法
US20130345506A1 (en) * 2012-06-25 2013-12-26 Gi-Shih LIEN Magnetic-controlled system applicable for colonoscopy
TWI422349B (zh) * 2010-05-03 2014-01-11 Univ Ishou Capsule endoscopy
US20140058203A1 (en) * 2012-03-21 2014-02-27 Olympus Medical Systems Corp. Endoscope and helical rotation member attached to insertion unit of this endoscope
CN106214107A (zh) * 2016-07-14 2016-12-14 上海交通大学 用于电磁驱动式肠道微型机器人的主动运动单元
CN108451486A (zh) * 2017-02-18 2018-08-28 曹炳鑫 一种自驱动胶囊内镜
WO2019068137A1 (fr) * 2017-10-03 2019-04-11 University Of Wollongong Dispositif et procédé d'immobilisation d'une capsule robotisée à l'intérieur d'une lumière corporelle
CN111212591A (zh) * 2017-10-17 2020-05-29 富士胶片株式会社 医疗图像处理装置及内窥镜装置
US11122971B2 (en) 2016-08-18 2021-09-21 Neptune Medical Inc. Device and method for enhanced visualization of the small intestine
US11135398B2 (en) 2018-07-19 2021-10-05 Neptune Medical Inc. Dynamically rigidizing composite medical structures
US11219351B2 (en) 2015-09-03 2022-01-11 Neptune Medical Inc. Device for endoscopic advancement through the small intestine
US11744443B2 (en) 2020-03-30 2023-09-05 Neptune Medical Inc. Layered walls for rigidizing devices
US11793392B2 (en) 2019-04-17 2023-10-24 Neptune Medical Inc. External working channels
US11937778B2 (en) 2022-04-27 2024-03-26 Neptune Medical Inc. Apparatuses and methods for determining if an endoscope is contaminated

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Cited By (24)

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Publication number Priority date Publication date Assignee Title
EP2143368A1 (fr) * 2008-07-08 2010-01-13 Olympus Medical Systems Corporation Système de guidage de dispositif médical à capsule
US8235888B2 (en) 2008-07-08 2012-08-07 Olympus Medical Systems Corp. System for guiding capsule medical device
US9095261B2 (en) 2008-07-08 2015-08-04 Olympus Medical Systems Corp. System for guiding capsule medical device
TWI422349B (zh) * 2010-05-03 2014-01-11 Univ Ishou Capsule endoscopy
US20140058203A1 (en) * 2012-03-21 2014-02-27 Olympus Medical Systems Corp. Endoscope and helical rotation member attached to insertion unit of this endoscope
US8821385B2 (en) * 2012-03-21 2014-09-02 Olympus Medical Systems Corp. Endoscope and helical rotation member attached to insertion unit of this endoscope
US20130345506A1 (en) * 2012-06-25 2013-12-26 Gi-Shih LIEN Magnetic-controlled system applicable for colonoscopy
CN103054542A (zh) * 2012-12-20 2013-04-24 深圳市资福技术有限公司 一种胶囊内窥镜运动的控制系统和控制方法
US11219351B2 (en) 2015-09-03 2022-01-11 Neptune Medical Inc. Device for endoscopic advancement through the small intestine
CN106214107A (zh) * 2016-07-14 2016-12-14 上海交通大学 用于电磁驱动式肠道微型机器人的主动运动单元
US11122971B2 (en) 2016-08-18 2021-09-21 Neptune Medical Inc. Device and method for enhanced visualization of the small intestine
US11944277B2 (en) 2016-08-18 2024-04-02 Neptune Medical Inc. Device and method for enhanced visualization of the small intestine
CN108451486A (zh) * 2017-02-18 2018-08-28 曹炳鑫 一种自驱动胶囊内镜
WO2019068137A1 (fr) * 2017-10-03 2019-04-11 University Of Wollongong Dispositif et procédé d'immobilisation d'une capsule robotisée à l'intérieur d'une lumière corporelle
CN111212591A (zh) * 2017-10-17 2020-05-29 富士胶片株式会社 医疗图像处理装置及内窥镜装置
CN111212591B (zh) * 2017-10-17 2022-08-02 富士胶片株式会社 医疗图像处理装置及内窥镜装置
US11574401B2 (en) 2017-10-17 2023-02-07 Fujifilm Corporation Medical image processing apparatus and endoscope apparatus
US11554248B1 (en) 2018-07-19 2023-01-17 Neptune Medical Inc. Rigidizing devices
US11478608B2 (en) 2018-07-19 2022-10-25 Neptune Medical Inc. Dynamically rigidizing composite medical structures
US11724065B2 (en) 2018-07-19 2023-08-15 Neptune Medical Inc. Nested rigidizing devices
US11135398B2 (en) 2018-07-19 2021-10-05 Neptune Medical Inc. Dynamically rigidizing composite medical structures
US11793392B2 (en) 2019-04-17 2023-10-24 Neptune Medical Inc. External working channels
US11744443B2 (en) 2020-03-30 2023-09-05 Neptune Medical Inc. Layered walls for rigidizing devices
US11937778B2 (en) 2022-04-27 2024-03-26 Neptune Medical Inc. Apparatuses and methods for determining if an endoscope is contaminated

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