WO2018006186A1 - 蛋型大肠镜及行进控制方法 - Google Patents

蛋型大肠镜及行进控制方法 Download PDF

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Publication number
WO2018006186A1
WO2018006186A1 PCT/CN2016/000364 CN2016000364W WO2018006186A1 WO 2018006186 A1 WO2018006186 A1 WO 2018006186A1 CN 2016000364 W CN2016000364 W CN 2016000364W WO 2018006186 A1 WO2018006186 A1 WO 2018006186A1
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Prior art keywords
egg
shaped
colonoscope
colonoscopy
module
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PCT/CN2016/000364
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English (en)
French (fr)
Inventor
曾锦顺
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曾锦顺
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Application filed by 曾锦顺 filed Critical 曾锦顺
Priority to PCT/CN2016/000364 priority Critical patent/WO2018006186A1/zh
Publication of WO2018006186A1 publication Critical patent/WO2018006186A1/zh

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    • 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
    • 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
    • A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes

Definitions

  • the present invention relates to a colonoscopy, and more particularly to an egg-shaped colonoscopy and a method of travel control.
  • the number of people who die of colorectal cancer every year in China is about 120,000.
  • the average age is 48.3 years (concentrated 40 to 59 years old), while the average American is 69.8 years old.
  • the time when the Chinese were diagnosed with colorectal cancer was 25 to 33%.
  • the chance of malignancy is high and the recurrence rate is as high as 50%.
  • Half of the patients will have liver metastasis later.
  • 13 people will die of colorectal cancer every 100,000 people, and one person will die of colorectal cancer every 5 minutes.
  • Taiwan China has been the leading cause of death for the first time in 33 years.
  • colorectal cancer continued to rank among the top three; in 2014, 15,000 patients were diagnosed with colorectal cancer, and the death toll was about 5,000.
  • Japan the annual incidence of colorectal cancer is about 45,000, and the death toll is about 18,000.
  • the annual incidence of colorectal cancer is about 150,000, and the death toll is about 50,000.
  • colorectal polyps are highly correlated with cancer.
  • Colorectal polyps may turn into colorectal cancer in 5-10 years. Therefore, if colorectal polyps can be confirmed and disposed of, most of the colorectal cancer can be prevented.
  • 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 the inability to perform a large bowel examination. .
  • 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 the colonoscopy, or Because of the patient's
  • the condition of the disease, or the burning process of the polyp, etc. leads to the situation of intestinal perforation. This situation often ends in the form of medical litigation.
  • the examination of the colonoscopy is also full of risks, and there is a risk of perforation of the large intestine for the patient.
  • the medical procedure after the perforation of the intestine is not desired by the physician.
  • the examination of colonoscopy is not widespread, and it is impossible to further prevent the colorectal cancer by examining the large intestine polyps.
  • auxiliary devices designed to assist the direction of bowel curvature such as European Patent No. EP0792130B1, External Linearener for Colonoscopy, which discloses a bump-shaped auxiliary device, seeks to be pressed by an auxiliary device.
  • the large intestine makes it straight from the bend, allowing the colonoscopy to penetrate.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 existing colonoscopy.
  • the present invention provides an egg-shaped colonoscope comprising: an egg-shaped housing having an axial direction and defining a first end and a second end in the axial direction, the first end being made of a transparent material a first photographic module, disposed at the first end for illumination and photography; a vibration motor 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, receives a control command to control the first camera module to perform film shooting and image transmission, and controls vibration of the vibration motor;
  • the set includes 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 egg
  • 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 hose of the wire set Road
  • the egg-shaped colonoscopy further comprises:
  • a second photographic module is disposed at the second end for capturing an image opposite to a photographing direction of the first photographic module.
  • the egg-shaped colonoscopy further comprises:
  • An angle detecting unit is connected to the control module for detecting a horizontal angle change value of the egg shell, and transmitting the horizontal angle change value through the control module.
  • the angle detecting unit is a microelectromechanical 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 One of the sensors.
  • the egg-shaped colonoscopy further comprises:
  • At least one gastropod is disposed on the outer periphery of the egg-shaped housing to assist in advancement of the egg-shaped colonoscopy.
  • the egg-shaped colonoscopy further comprises:
  • At least one set of magnetic passive kits are mounted on the inner periphery of the egg-shaped housing for assisting advancement and positioning of the egg-shaped colonoscope by an external active magnetic device.
  • the power supply component is disposed in the wire group, and the power supply component is a plurality of wires.
  • the egg-shaped colonoscopy further comprises:
  • a wireless transmission module connected to the control module for capturing the first camera module The image is transmitted.
  • the power supply component is a battery disposed in the egg-shaped housing, and the wireless transmission module is further configured to receive the control command and transmit the control command to the control module.
  • the egg-shaped colonoscopy further comprises a power line signal transmission module connected to the control module, or the wire group further comprises a signal transmission line, the power line signal transmission module and the signal transmission line are used for The image captured by the first photography module is transmitted.
  • the egg-shaped colonoscope has a length between 2.5 and 5.2 cm and a width between 1.5 and 2.5 cm.
  • the wire set further comprises an instrument channel, or the air channel of the tube is also used as the device channel, and the opening of the device channel is disposed at the first end for receiving a medical device through To the first end for medical procedures.
  • the egg-shaped colonoscopy further comprises a telescopic actuation assembly coupled between the first end and the second end of the egg-shaped housing, and the side wall of the egg-shaped housing is elastic Material composition.
  • the outer periphery of the egg-shaped housing further has at least one gastropod.
  • the telescopic actuator assembly has an actuating motor, a telescopic driving member and a telescopic driven member.
  • the actuating motor is fixed to an inner surface of the side wall, and the telescopic driving member is rotatably
  • the actuating motor is connected, and the telescopic follower is disposed on at least one of the first end and the second end.
  • the invention further provides a travel control method for an egg-shaped colonoscope, the egg-shaped colonoscope comprising a vibration module, a wire set, a first end, a second end and a first photographic module, wherein the vibration module is used to make The egg-shaped colonoscope vibrates, the wire set is used for power transmission, 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 first end
  • the travel control method includes the steps of: vibrating the egg-shaped colonoscope; and, when the egg-shaped colonoscope vibrates, lowering the first end in the direction of gravity lower than the second end.
  • the egglet colonoscopy travel control method further comprises the following steps:
  • a pulling force is provided 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 method of providing the pulling force is to pull the wire set.
  • the egglet colonoscopy travel control method further comprises the following steps:
  • a horizontal angle change of the egg-shaped colonoscope is detected and a horizontal angle change value is transmitted.
  • the invention further provides a method for controlling the travel of an egg-shaped colonoscopy, the egg-shaped colonoscope comprising a vibration module for vibrating the egg-shaped colonoscope, the egg-shaped colonoscopy further comprising a wire set for transmitting electric power, the egg type
  • the colonoscopy further comprises a magnetic passive kit, the travel control method comprising the steps of: vibrating the egg-shaped colonoscope; and providing an external active magnetic device to pull the magnetic passive kit when the egg-type colonoscope vibrates to assist the The egg-shaped colonoscopy advances as it vibrates.
  • the egglet colonoscopy travel control method further comprises the following steps:
  • a pulling force is provided 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 method of providing the pulling force is to pull the wire set.
  • the egglet colonoscopy travel control method further comprises the following steps:
  • a horizontal angle change of the egg-shaped colonoscope is detected and a horizontal angle change value is transmitted.
  • the invention further provides a travel control method for an egg-shaped colonoscope, the egg-shaped colonoscope comprising a wire set, a first end, a second end, a first photographic module and a telescopic actuation assembly, the wire set To transmit power, the first end and the second end are opposite ends of the egg-shaped colonoscope in one axial direction, the first photographing module is located at the first end, and the telescopic actuation component is used to make the egg type
  • the colonoscope is expandable and contractable along the axial direction, and the travel control method comprises the steps of: stretching the egg-shaped colonoscope; and allowing the first end to be lower in gravity direction than the second end when the egg-type colonoscope is stretched .
  • the outer circumference of the shell of the egg-shaped colonoscope further has at least one gastropod; the travel control method further comprises the following steps:
  • the gastropod When the egg-type colonoscopy is stretched, the gastropod can resist the wall of the intestine during the extension of the egg-type colonoscopy.
  • FIG. 1A is a schematic cross-sectional view showing a specific embodiment of an egg-type colonoscope according to the present invention
  • FIG. 1B is a schematic cross-sectional view showing another embodiment of an egg-type colonoscope according to the present invention.
  • FIG. 2 is a schematic cross-sectional view showing still another embodiment of the egg-type colonoscope provided by the present invention.
  • 3A is a schematic cross-sectional view showing still another embodiment of an egg-type colonoscope according to the present invention.
  • FIG. 3B is an embodiment of a perspective view of the embodiment of the egg-shaped colonoscope provided by the present invention in FIG. 3A;
  • FIG. 3C is still another example of a perspective view of the egg-shaped colonoscopy embodiment provided by the present invention in FIG. 3A; FIG.
  • FIG. 4A is a vertical cross-sectional view showing still another embodiment of an egg-type colonoscope according to the present invention.
  • 4B is a horizontal cross-sectional view showing a specific embodiment of an egg-type colonoscope according to the present invention.
  • FIG. 5 is a cross-sectional view showing still another embodiment of the egg-type colonoscope according to the present invention.
  • Figure 6 is a schematic view showing the use state of the egg-shaped colonoscopy provided by the present invention.
  • FIGS. 7A and 7B are schematic views showing another use state of the egg-type colonoscope according to the present invention, and the dead angle of the intestinal wall wrinkles can be observed by the second photographing module;
  • FIG. 8A is a first flowchart of a method for controlling egg-shaped colonoscopy travel according to the present invention.
  • FIG. 8B is a second flowchart of the egg-shaped colonoscopy travel control method provided by the present invention.
  • FIG. 9A is a schematic cross-sectional view showing another embodiment of an egg-type colonoscope according to the present invention.
  • FIG. 9B is a schematic cross-sectional view showing a wire group (exposed portion) in the embodiment of the egg-shaped colonoscope of FIG. 9A provided by the present invention.
  • FIG. 9C is a schematic cross-sectional view showing the first end of the egg-shaped housing in the embodiment of the egg-shaped colonoscope of FIG. 9A provided by the present invention.
  • Figure 10 is a schematic view showing the operation of the operation of the polypectomy device in the embodiment of the egg-type colonoscopy of Figure 9A;
  • 11A is a schematic cross-sectional view showing another embodiment of an egg-type colonoscope according to the present invention.
  • FIG. 11B is a schematic cross-sectional view showing a wire group (exposed portion) in the embodiment of the egg-type colonoscopy FIG. 11A according to the present invention.
  • FIG. 11C is a schematic cross-sectional view showing the first end of the egg-shaped housing in the embodiment of the egg-shaped colonoscopy of FIG. 11A;
  • Figure 12 is a schematic view showing the operation of the operation of the polypectomy device in the embodiment of the egg-type colonoscopy of Figure 11A;
  • Figure 13a is a schematic cross-sectional view showing another embodiment of the egg-type colonoscope according to the present invention when the egg-shaped shell is extended;
  • Figure 13b is a schematic cross-sectional view showing another embodiment of the egg-type colonoscope according to the present invention when the egg-shaped shell is contracted;
  • Fig. 13c is a schematic cross-sectional view showing another embodiment of the egg-type colonoscope according to the present invention when the egg-shaped shell portion is stretched and partially contracted.
  • the present invention provides an egg-shaped colonoscopy, and a method of controlling travel of an egg-shaped colonoscope.
  • the colonoscopy has the shape of an egg, which is enough to be placed in the large intestine, and then the vibrating 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.
  • the egg-shaped colonoscopy provided by the present invention is also connected with a soft wire set to provide the required power to the colonoscope for convenient real-time photography.
  • the wire set can also supply gas at a timely time, so that the intestinal fistula is moderately expanded, which is beneficial for the physician to perform the inspection work.
  • a first embodiment of an egg-shaped colonoscope includes an egg-shaped housing 10 and a wire set 20.
  • the egg-shaped housing 10 includes a first camera module, a second camera module, a vibration module and a control module 60.
  • 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 respectively refer to the axial ends of the egg-shaped housing 10, and the first end 11a and the second end 11b are each made of a transparent material.
  • the first camera module is disposed at the first end 11a of the egg-shaped housing 10, and includes a first image capturing module 12a, a first light emitting 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 light emitting module 13b and a second circuit board 14b.
  • the first and second image capturing modules 12a, 12b employ 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 angles of the intestinal wall, and the captured image is opposite to the photographing direction of the first camera module.
  • the control module 60 is housed in the egg-shaped housing 10. In the present 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 to electrically connect the entire circuit. In fact, the overall circuit is not limited thereto, for example, the control module 60 is electrically connected to the first photography module, the second photography module, and the vibration module. The control module 60 can receive a control command from the outside to operate any of the camera modules to perform image capture and transmission, and can also determine vibration or non-vibration of the vibration module.
  • 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.
  • the wire set 20 has a wire sheath 23 that includes a plurality of hose airway openings 24.
  • the wire sheath 23 covers three conductive (electric) wires (such as a signal wire, a positive wire, and a negative wire) and a hose air passage 22.
  • 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 control module 60 for outputting power to various electronic components disposed in the egg-shaped housing 10, such as a first camera module, a second camera module, Control module 60 and vibration module and other components.
  • the hose air passage 22 directs the external gas and is delivered to the large intestine via the hose airway opening 24.
  • 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.
  • 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.
  • the vibration motor 15 is biased toward the second end 11b at the side wall 19.
  • the vibration motor 15 is preferably biased toward the first end 11a of the side wall 19.
  • 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.
  • the length L1 of the egg-shaped colonoscope is between 2.5-5.2 cm and the width W1 is between 1.5-2.5 cm.
  • 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.
  • the wire set 20 can also form an airway opening 25 directly in the egg-shaped housing 10 as in FIG.
  • the air passage opening 25 can also supply some water or syrup as needed.
  • the eggshell 10 has a plurality of gastropes 16 on the outside which can assist the egg-shaped colonoscopy to advance more stably in the large intestine.
  • gastropes 16 there are other options for advancing the gastro-column colonoscopy to the gastropod structure: one or more of the gastropod 16a of the single-ring structure of Figure 3B; or the gastrope 16b of the spiral structure of Figure 3C; or a snake-like The gastropod of the scale structure; or a combination of these structures.
  • 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.
  • a magnetic passive set mounted to the egg-shaped housing 10.
  • three sets of magnetic passive kits are mounted on a portion of the center cylinder of the egg-shaped housing 10 near the first end 11a.
  • Each set of magnetic passive kits includes: a magnetic component N pole 17a and a magnetic component S.
  • the pole 17b, the magnetic component N pole and S pole 17a, 17b are located at both ends of the diameter, and can assist the advancement and positioning of the egg shell 10 by an external active magnetic device.
  • the external active magnetic device produces a pulling action on the magnetic passive kit to partially rotate the egg-shaped housing 10 entering the large intestine until the second photographic module can see the blind spot obscured by the set of wires 20.
  • the external active magnetic device pulls the magnetic passive kit to cause the eggshell 10 to generate auxiliary power along the intestine.
  • 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.
  • the doctor diagnoses the patient, the precise location of the affected part in the large intestine can be clearly indicated.
  • the transmission operation can be performed in one of wired or wireless manner.
  • the egg-shaped colonoscope adopts one of a signal transmission line or a power line transmission. Therefore, the wire group 20 includes a signal transmission line (not shown), or an additional set of power line signal transmission modules (not shown) is installed in the egg-shaped housing 10, so that the control module 60 can transmit the image signal in real time. Go out.
  • 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 camera modules.
  • the lead (electro) line 21 of the egg-shaped colonoscopy is replaced by a battery (not shown).
  • the battery is disposed in the egg-shaped housing 10 and serves as a power supply unit for the egg-shaped colonoscopy to supply the power required for each electronic component. Therefore, a control command from the outside is received by the wireless transmission module 50 and transmitted to the control module 60.
  • 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.
  • 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.
  • 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.
  • the egg-shaped colonoscopy can be moved in the intestinal tract of the large intestine by vibration.
  • the physician can pass the aforementioned external active magnetic device (see 4A and 4B are related to assist in advancing the advancement of the egg-shaped colonoscope; or, by adjusting the posture of the patient to adjust the angle of the intestinal tract, the egg-shaped colonoscopy can be formed in a state in which the first end 11a faces downward. Therefore, by the configuration of the angle detecting unit 70, the egg-shaped colonoscopy provided by the present invention is more likely to achieve the purpose of the forward control desired by the present invention.
  • the angle detecting unit 70 can be selected from the group consisting of: a micro-electromechanical angle detecting chip, a micro-electromechanical gyro chip, a micro-electromechanical biaxial acceleration sensing chip, a micro-electromechanical three-axis acceleration sensing chip, a rolling switch, and a magnetic sensor.
  • a micro-electromechanical angle detecting chip a micro-electromechanical gyro chip
  • a micro-electromechanical biaxial acceleration sensing chip a micro-electromechanical three-axis acceleration sensing chip
  • a rolling switch a rolling switch
  • the state of use of the egg-shaped colonoscopy is clarified.
  • 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.
  • the wire set 20 adopts a soft hose air passage design, its flexible characteristics and diameter are controlled to be less than 0.5 cm, so that when the doctor operates the egg-shaped colonoscopy of the present invention, it is easy to The painful way, the egg colonoscopy enters the intestine of the large intestine 30 smoothly, from the rectum 35 to the sigmoid colon 34 to the descending colon 33 to the transverse colon 32 to the ascending colon 31, a complete 160 cm intestine, does not cause intestinal compression Feeling, naturally does not cause the patient's uncomfortable feeling.
  • the egg-shaped colonoscopy provided by the present invention allows the egg-shaped colonoscopy to see the other side of the large intestine fold without a dead angle through the design of the front and rear double mirrors.
  • FIG. 7A As shown in Fig. 7A and Fig. 7B, another use state of the egg type colonoscope is explained.
  • Fig. 7A when the egg-shaped colonoscope travels, the large intestine polyp 40 on the reverse side of the large intestine 30 fold cannot be seen.
  • the large intestine polyp 40 of the dead space of the intestinal wall wrinkles of the large intestine 30 can be observed by the second photographing module.
  • the egg-shaped colonoscopy provided by 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.
  • FIG. 8A is a first flowchart of the egg-shaped colonoscopy travel control method provided by the present invention, which comprises the following steps:
  • Step 101 Detecting the horizontal tilt angle of the egg-shaped colonoscope.
  • Step 103 The egg-shaped colonoscope is vibrated.
  • Step 105 when the egg-shaped colonoscope vibrates, let the first end 11a of the egg-shaped colonoscopy be lower than the second end 11b in the direction of gravity (for example, the intestinal tract where the egg-shaped colonoscope is placed is inclined to the horizon, and Let the egg-shaped colonoscopy move forward.)
  • the condition of the intestine is also seen through the first photography module, so when the first end (11a) of the egg-shaped colonoscopy is not facing down, there are many ways to Adjust the condition of the intestines and try to make the first end (11a) of the egg-shaped colonoscopy face down so that the egg-shaped colonoscopy can vibrate.
  • the position of the patient can be changed, or, with the aid of the bed, the purpose of changing the relative position of the intestine can be achieved.
  • the bed can be controlled so that the patient's head is facing downward and the foot is facing upwards, 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.
  • the patient's body in the turn of the descending colon to the transverse colon, the patient's body can be placed to the right side to form a state in which the egg-shaped colonoscopy easily travels to the transverse colon. Or, partially push the intestines, and so on.
  • the first flow chart of the egglet colonoscopy travel control method provided by the present invention may further comprise a step 107: providing a pulling force to control the travel speed of the egg-shaped colonoscope or fine-tuning the egg The direction of travel of the colonoscopy.
  • 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 caught in the intestine due to a slight deviation in the direction of travel.
  • the pulling force can be provided by pulling the guide wire group 20.
  • a second flow chart of the flow control method of the egg-shaped colonoscope provided by the present invention that is, a method of applying a magnetic force, that is, the description of the travel control method of FIG. 4A, includes the following steps:
  • Step 111 Providing an egg-shaped colonoscopy-magnetic passive kit.
  • Step 113 Detecting the horizontal tilt angle of the egg-shaped colonoscope.
  • Step 115 The egg-shaped colonoscope is vibrated.
  • 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 colonoscopy has been mastered, the egg-shaped colonoscopy can be attracted to the egg-shaped colonoscope through the external active magnetic device, and we can directly pass the first. The image from the photography module is seen. Therefore, we can easily provide a slight auxiliary traction force when vibrating through the active magnetic device, so that the egg-shaped colonoscope can travel.
  • the second flow chart of the egg-type colonoscopy travel control method may further comprise a step 119: providing a pulling force to control the egg-shaped colonoscopy Travel speed or fine-tune the direction of travel of the egg-shaped colonoscopy.
  • the implementation and purpose of this 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.
  • FIG. 9A is a schematic cross-sectional view showing another embodiment of the egg-type colonoscope according to the present invention
  • FIG. 9B is a cross-sectional view showing the wire group (exposed portion) of the embodiment of FIG. 9A
  • FIG. 9C is a schematic view
  • Figure 9A is a schematic cross-sectional view of the first end 11a of the egg-shaped housing 10 of the embodiment.
  • the wire set 20a adds an instrument channel 26 in addition to the original hose airway 22, and the hose airway 22 and the instrument channel 26 are both at the first end of the egg-shaped colonoscope. Opening at 11a.
  • the opening of the hose airway 22 and the instrument channel 26 are disposed beside the first image capturing module 12a, so that the physician can penetrate the polypectomy device 90 (shown in FIG. 10) and the lancet through the instrument channel 26. After the sectioning forceps, foreign body forceps, etc., perform the necessary surgery.
  • the egg-shaped colonoscopy of the present embodiment may also have a magnetic passive kit as shown in FIG. 4A and FIG. 4B, in order to utilize the external active magnetic device magnetic magnetic passive kit during the whole or part of the operation. The position and orientation of the fixed egg-shaped housing 10 in the large intestine.
  • 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, which are a positive electrode, a negative electrode, and a signal line, respectively).
  • an instrument channel 26 is included, as well as a tube filler 27 which stabilizes the structure of the entire wire group 20a.
  • 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.
  • the structure of the special wire group 20a is formed.
  • the wire 21 can also be threaded out of the first end 11a and soldered to the first circuit board 14a (not shown).
  • the operation of the egg-shaped colonoscopy-added polypectomy device 90 of Fig. 9A is illustrated.
  • the hose air 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.
  • the first image capturing module 12a is also replaced with a camera with adjustable magnification, the image capturing at a low magnification and a high magnification can be performed, and the cells can be directly observed with a high magnification effect, so that the doctor can perform a more detailed diagnosis.
  • the egg-shaped colonoscopy of Figure 9A adds an instrument channel 26 through which different instruments can enter the first end 11a.
  • the polypectomy device 90 is used to penetrate the instrument channel 26, and the polypectomy blade 91 can also be extended to assist the physician in further performing a large intestine polyp incision operation.
  • FIG. 11A is a schematic cross-sectional view of the egg-shaped colonoscope of this embodiment
  • FIG. 11B is a schematic cross-sectional view of the wire group (exposed portion) of the egg-shaped colonoscope of this embodiment
  • FIG. 11C is an egg-shaped large intestine of this embodiment.
  • a schematic cross-sectional view of the first end 11a of the mirror, and Fig. 12 is a schematic view of the operation when the egg-shaped colonoscopy of this embodiment is used for surgery.
  • the wire set 20b of this embodiment omits the instrument channel 26, and the hose air passage 22 is used as an instrument channel, thereby realizing the three-in-one gas, water and instrument channel. Effect.
  • FIG. 13a to 13c A cross-sectional view of still another embodiment of the egg-shaped colonoscope provided by the present invention is shown in Figs. 13a to 13c.
  • the structure of this embodiment is similar to that of the first embodiment described above, but the casing side wall 19' of the egg-shaped casing 10c of the present embodiment is composed of an elastic material.
  • the egg-shaped housing 10c does not have the central 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 the first circuit The board 14a and the second circuit board 14b are connected by flexible wires.
  • the main feature of the egg-shaped colonoscope is that a telescopic actuation assembly 80 is further disposed in the egg-shaped housing 10c between the first end 11a and the second end 11b of the egg-shaped housing 10c, and The outer surface of the egg-shaped housing 10c has a gastrope 16.
  • 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, 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 housing side wall 19', and the telescopic drive member 82 is rotatably coupled to the actuating motor 81, the telescopic follower 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.
  • 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.
  • the telescopic follower 83 will be away 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 smoothly through the narrow narrows or turns in the intestine, or even completely through the telescoping of the housing side wall 19'.
  • the aforementioned telescopic actuation assembly 80 can be any first end 11a capable of enabling the eggshell 10c
  • the structure is configured to repeatedly expand and contract with the distance between the second end 11b.
  • the telescopic drive member 82 is a crankshaft
  • the telescopic follower 83 is two links, one of which is pivotally connected to the crankshaft and the first circuit board 14a, and the other link is pivoted. Connected to the crankshaft and the second circuit board 14b.
  • FIG. 13A and FIG. 13B the telescopic drive member 82 is a crankshaft
  • the telescopic follower 83 is two links, one of which is pivotally connected to the crankshaft and the first circuit board 14a, and the other link is pivoted. Connected to the crankshaft and the second circuit board 14b.
  • the telescopic drive member 82 is a rotor having an outer peripheral surface having alternately disposed pole-shaped magnetic pole faces
  • the telescopic follower 83 is a magnet having a magnetic pole face facing the telescopic drive member 82, and is expanded and contracted.
  • the suction or repelling between the magnetic pole faces of the driving member 82 and the magnetic pole faces of the telescopic followers 83 can also cause the casing side walls 19' to expand and contract.
  • the travel control method of the egg-type colonoscopy provided by the present invention can also make the egg-shaped colonoscopy expand and contract after detecting the horizontal tilt angle of the egg-type colonoscopy, and let the egg-type colonoscopy
  • the first end 11a is lower in the direction of gravity than the second end 11b, so that the egg-shaped colonoscope can be advanced in a retractable manner.
  • 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.
  • the abdominal foot 16 can resist the wall surface of the intestinal tract during the extension of the egg-shaped colonoscope, thereby effectively improving the traveling effect of the telescopic movement.

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Abstract

一种蛋型大肠镜及行进控制方法，其中，蛋型大肠镜包含：一蛋型壳体（10,10c），具有一轴向，并在该轴向上形成一第一端（11a）及一第二端（11b），第一端（11a）由一透明材料制作而成；第一摄影模块装置于第一端（11a），用以进行照明与摄影；振动马达（15）装置于该蛋型壳体（10,10c）中，用以使蛋型壳体（10,10c）产生振动；控制模块（60）接收控制指令以控制第一摄影模块进行影片拍摄与传输，并控制振动马达（15）的振动；导线组（20，20a，20b）包含一气道开口（25），导线组（20，20a，20b）固定于蛋型壳体（10,10c）的第二端（11b）侧，由一导线外皮（23）包覆至少两条导线（21）与一软管气道（22）构成，该至少两条导线（21）用以传输电力至控制模块（60），软管气道（22）用以将外部产生的一气体经由气道开口（25）送至大肠（30）中。

Description

蛋型大肠镜及行进控制方法 技术领域
本发明涉及一种大肠镜，特别关于一种蛋型大肠镜及行进控制方法。
背景技术
在“全球癌症报告”一文中，认为『若癌症常识得以普及落实“早期筛检，早期诊断，早期治疗”约有一半癌症的发生是可以控制的』。
中国每年死于大肠癌的人数约为12万。平均年龄48.3岁(集中40～59岁)，而美国人则平均为69.8岁。中国人确诊为大肠癌的时间，有25～33％已是晚期。恶性几率高，复发率高达50％。一半病人在后期会有肝转移。进入末期，每10万人就有13人会死于大肠癌，每5分钟就有一人死于大肠癌。
在中国台湾，癌症已连续位居十大死因之首达33年。其中，结肠直肠癌持续排名前三名；2014年确诊为大肠癌的患者达1万5千人，死亡人数约5千人。在日本，大肠癌的每年发生人数约4万5千人，死亡人数约1万八千人。在美国，大肠癌的每年发生人数约15万人，死亡人数约5万人。
其中，大肠息肉与癌症的相关性极高。中国台湾20-49岁成人中，约有71万人有大肠息肉。大肠息肉在5-10年间可能会转变为大肠癌。因此，若能先确认有大肠息肉并加以处置，就可预防大部分的大肠癌。
目前，可用于检查大肠息肉的医疗器材即为大肠镜。现有的大肠镜设备主流由奥林帕斯医疗(股)公司(Olympus Medical Systems Crop.)占据了主要的市场。Olympus所提供的大肠镜检查设备，其由光纤构成的系统使得镜头不易弯曲。由于大肠镜为粗长的180厘米，如果要完整检查大肠，必须要进行全身麻醉。由于麻醉本身具有风险性，因此，大部分患者不愿进行全身麻醉。检查过程又必须进行充气而导致腹胀，加上粗长的大肠镜塞入肠道中行进使大肠镜的镜身压迫肠壁，会造成大部分患者极度不舒服，甚而导致无法进行全大肠道的检查。更甚者，国内的多个研究数据表明，大肠镜的检查，约有千分之二点五～千分之五的比率，会于大肠镜的检查过程中，因为大肠镜的使用不当，或者因为病患的特 殊病情，或因息肉的烧除过程等等，导致肠穿孔的情形。此一情形，往往以医疗诉讼的方式收场。所以，大肠镜的检查也充满了风险，对病人来说有大肠穿孔的风险，对医师来说，肠穿孔后的医疗诉讼则为医师所不愿。以上种种原因，导致大肠镜的检查无法普及，也无法进一步通过检查出大肠息肉来达到预防大肠癌的目的。
为了解决大肠镜的无法转弯问题，有些针对辅助肠道弯曲的方向所设计的辅具，例如欧洲第EP0792130B1号专利案External straightener for colonoscopy，其公开了凸块状的辅具，设法通过辅具压迫大肠使其由弯变直，让大肠镜可深入。同样的概念亦见于美国公开第US2014/0350341号专利案。不过，这些辅助器材仍无法解决由降结肠进入横结肠，以及由横结肠进入升结肠的大幅度转弯处的问题。
除了用辅具来设法解决转弯的问题外，也有人尝试开发可转弯的大肠镜技术(改变大肠镜本身)，以解决传统大肠镜不易转弯的问题。例如，连吉时(Gi Shih，LIEN)等人所研发的中国台湾第I468140号“大肠镜磁控系统”专利案，运用了磁性从动件装置于大肠镜的条状支持件上，通过外部控制装置上的磁性主动件导引磁性从动件转动，即可控制大肠镜于转弯处顺利转弯。进而解决了以往大肠镜不易转弯的问题。
然而，这种技术仍是基于传统的粗长式管径概念。虽可转弯，但稍有不慎(如技术不佳或疏忽)，仍然容易在大肠镜于肠道内行进的过程中压迫肠壁，造成大肠镜的镜身对肠壁的硬碰触。换言之，病患易于在检查过程中感到极度不舒服的问题仍然有待克服。
此外，传统的大肠镜，或者连吉时等人所开发的大肠镜，仍然无法解决大肠皱褶处的不可视死角问题。换言之，传统的大肠镜由于其单向视角，无法看到大肠皱褶的另一面，造成检查的死角。
因此，无痛的大肠镜设备势必成为预防大肠癌的利器。所以，如何开发出无痛、无死角、操作简单，能够符合医师检查用的各方面需求的大肠镜设备，成为医疗器材厂商极为专注的研发方向。
发明内容
为了达到上述目的，本发明提供了一种蛋型大肠镜，可解决现有大肠镜无法解决的转弯、无痛、操作简单等问题。
本发明提供了一种蛋型大肠镜，包含：一蛋型壳体，具有一轴向，并在该轴向上形成一第一端及一第二端，该第一端由一透明材料制作而成；一第一摄影模块，装置于该第一端，用以进行照明与摄影；一振动马达，装置于该蛋型壳体中，用以使该蛋型壳体产生振动；一控制模块，装置于该蛋型壳体中，电性连接该第一摄影模块及该振动马达，接收一控制指令以控制该第一摄影模块进行影片拍摄与影像传输，并控制该振动马达的振动；一导线组，包含一气道开口，该导线组固定于该蛋型壳体的该第二端侧，由一导线外皮包覆一软管气道构成；及一供电组件，设置于该导线组或该蛋型壳体内，该供电组件与该控制模块电性连接，以传输电力至该控制模块，其中该蛋型壳体或该导线组具有一气道开口，该气道开口连通该导线组的软管气道，用以将外部产生的一气体依序经由该软管气道及气道开口送至大肠中。
在本发明的一实施例中，蛋型大肠镜还包含：
一第二摄影模块，装置于该第二端，用以拍摄相反于该第一摄影模块的拍摄方向的影像。
在本发明的一实施例中，蛋型大肠镜还包含：
一角度侦测单元，连接该控制模块，用以侦测该蛋型壳体的一水平角度变化值，并通过该控制模块将该水平角度变化值传送出去。
在本发明的一实施例中，该角度侦测单元为微机电角度侦测芯片、微机电陀螺仪芯片、微机电双轴加速度感测芯片、微机电三轴加速度感测芯片、滚动开关和磁传感器其中之一。
在本发明的一实施例中，蛋型大肠镜还包含：
至少一腹足，装置于该蛋型壳体的外周，用以辅助该蛋型大肠镜前进。
在本发明的一实施例中，蛋型大肠镜还包含：
至少一组磁性被动套件，装置于该蛋型壳体的内周，用以通过一外部主动磁性装置辅助该蛋型大肠镜前进与定位。
在本发明的一实施例中，该供电组件设置于导线组内，且该供电组件为多条导线。
在本发明的一实施例中，蛋型大肠镜还包含：
一无线传输模块，连接该控制模块，用以将该第一摄影模块所拍摄 的影像传输出去。
在本发明的一实施例中，该供电组件为设置于该蛋型壳体内的一电池，且该无线传输模块还用于接收该控制指令并传送该控制指令至该控制模块。
在本发明的一实施例中，蛋型大肠镜还包含一连接该控制模块的电源线信号传输模块，或者该导线组还包含一信号传输线，该电源线信号传输模块及该信号传输线用以将该第一摄影模块所拍摄的影像传输出去。
在本发明的一实施例中，该蛋型大肠镜的长度介于2.5-5.2厘米之间，宽度介于1.5-2.5厘米之间。
在本发明的一实施例中，该导线组还包含一器械通道，或者该软管气道还作为该器械信道，该器械信道的开口配置于该第一端，用以容置一医疗器械贯穿至该第一端处，以进行医疗手术。
在本发明的一实施例中，蛋型大肠镜还包含一连接于该蛋型壳体的第一端及第二端之间的伸缩致动组件，且该蛋型壳体的侧壁由弹性材料构成。
在本发明的一实施例中，该蛋型壳体的外周还具有至少一腹足。
在本发明的一实施例中，该伸缩致动组件具有一致动马达、一伸缩驱动件及一伸缩从动件，该致动马达固定于该侧壁的内表面，该伸缩驱动件可转动地连接该致动马达，该伸缩从动件设置于该第一端及第二端至少之一。
本发明另提供一种蛋型大肠镜的行进控制方法，该蛋型大肠镜包含一振动模块、一导线组、一第一端、一第二端及一第一摄影模块，该振动模块用于使该蛋型大肠镜振动，该导线组用以傅输电力，该第一端及第二端为该蛋型大肠镜在一轴向上的相对两端，该第一摄影模块位于该第一端，该行进控制方法包含以下步骤：使该蛋型大肠镜振动；及于该蛋型大肠镜振动时，让该第一端在重力方向上低于该第二端。
在本发明的一实施例中，蛋型大肠镜的行进控制方法还包含以下步骤：
提供一拉力以控制该蛋型大肠镜的行进速度或微调该蛋型大肠镜行进方向。
在本发明的一实施例中，提供该拉力的方法为拉引该导线组。
在本发明的一实施例中，蛋型大肠镜的行进控制方法还包含以下步骤：
侦测该蛋型大肠镜的水平角度变化并将一水平角度变化值传送出去。
本发明另提供一种蛋型大肠镜的行进控制方法，该蛋型大肠镜包含一振动模块以使该蛋型大肠镜可振动，该蛋型大肠镜还包含一导线组以传输电力，该蛋型大肠镜还包含一磁性被动套件，该行进控制方法包含以下步骤：使该蛋型大肠镜振动；及于该蛋型大肠镜振动时，提供一外部主动磁性装置牵引该磁性被动套件，以辅助该蛋型大肠镜于振动时前进。
在本发明的一实施例中，蛋型大肠镜的行进控制方法还包含以下步骤：
提供一拉力以控制该蛋型大肠镜的行进速度或微调该蛋型大肠镜的行进方向。
在本发明的一实施例中，提供该拉力的方法为拉引该导线组。
在本发明的一实施例中，蛋型大肠镜的行进控制方法还包含以下步骤：
侦测该蛋型大肠镜的水平角度变化并将一水平角度变化值传送出去。
本发明另提供一种蛋型大肠镜的行进控制方法，该蛋型大肠镜包含一导线组、一第一端、一第二端、一第一摄影模块及一伸缩致动组件，该导线组用以传输电力，该第一端及第二端为该蛋型大肠镜在一轴向上的相对两端，该第一摄影模块位于该第一端，该伸缩致动组件用于使该蛋型大肠镜可沿该轴向伸缩，该行进控制方法包含以下步骤：使该蛋型大肠镜伸缩；及于该蛋型大肠镜伸缩时，让该第一端在重力方向上低于该第二端。
在本发明的一实施例中，该蛋型大肠镜的壳体的外周还具有至少一腹足；该行进控制方法还包含以下步骤：
在蛋型大肠镜伸缩时，该腹足可在蛋型大肠镜伸展过程中抵撑肠道的壁面。
为让本发明的上述和其他目的、特征、和优点能还明显易懂，下文特举多个较佳实施例，并配合所附图式，作详细说明如下(实施方式)。
附图说明
图1A为本发明提供的蛋型大肠镜一具体实施例的剖面示意图；
图1B为本发明提供的蛋型大肠镜另一具体实施例的剖面示意图；
图2为本发明提供的蛋型大肠镜又一具体实施例的剖面示意图；
图3A为本发明提供的蛋型大肠镜再一具体实施例的剖面示意图；
图3B为图3A中本发明提供的蛋型大肠镜实施例的立体示意图的一实施例；
图3C为图3A中本发明提供的蛋型大肠镜实施例的立体示意图的又一实例；
图4A为本发明提供的蛋型大肠镜又一具体实施例的垂直剖面示意图；
图4B为本发明提供的蛋型大肠镜一具体实施例的水平剖面示意图；
图5为本发明提供的蛋型大肠镜又一具体实施例的剖面示意图；
图6为本发明提供的蛋型大肠镜的使用状态示意图；
图7A、图7B为本发明提供的蛋型大肠镜另一使用状态的示意图，通过第二摄影模块可观察到肠壁皱褶的死角；
图8A为本发明提供的蛋型大肠镜行进控制方法的第一流程图；
图8B为本发明提供的蛋型大肠镜行进控制方法的第二流程图；
图9A为本发明提供的蛋型大肠镜另一具体实施例的剖面示意图；
图9B为本发明提供的蛋型大肠镜图9A实施例中，导线组(外露部分)的剖面示意图；
图9C为本发明提供的蛋型大肠镜图9A实施例中，蛋型壳体第一端的横切面示意图；
图10为本发明提供的蛋型大肠镜图9A实施例中，运用息肉切除器械进行手术的操作示意图；
图11A为本发明提供的蛋型大肠镜另一具体实施例的剖面示意图；
图11B为本发明提供的蛋型大肠镜图11A实施例中，导线组(外露部分)的剖面示意图；
图11C为本发明提供的蛋型大肠镜图11A实施例中，蛋型壳体第一端的横切面示意图；
图12为本发明提供的蛋型大肠镜图11A实施例中，运用息肉切除器械进行手术的操作示意图；
图13a为本发明提供的蛋型大肠镜又一具体实施例在蛋型壳体伸展时的剖面示意图；
图13b为本发明提供的蛋型大肠镜又一具体实施例在蛋型壳体收缩时的剖面示意图；
图13c为本发明提供的蛋型大肠镜又一具体实施例在蛋型壳体部分伸展而部分收缩时的剖面示意图。
附图标记说明：10-蛋型壳体；10c-蛋型壳体；11a-第一端；11b-第二端；12a-第一取像模块；12b-第二取像模块；13a-第一发光模块；13b-第二发光模块；14a-第一电路板；14b-第二电路板；15-振动马达；16-腹足；16a-腹足；16b-腹足；17a-磁性组件N极；17b-磁性组件S极；18-中心电路板；19-壳体侧壁；19’-壳体侧壁；20-导线组；20a-导线组；20b-导线组；21-导线；22-软管气道；23-导线外皮；24-软管气道开口；25-气道开口；26-器械通道；27-管内填充物；30-大肠；31-升结肠；32-横结肠；33-降结肠；34-乙状结肠；35-直肠；40-大肠息肉；50-无线传输模块；60-控制模块；70-角度侦测单元；80-伸缩致动组件；81-致动马达；82-伸缩驱动件；83-伸缩从动件；90-息肉切除器械；91-息肉切除刀；L1-长度；W1-宽度。
具体实施方式
根据本发明的一个实施例，本发明提供了一个蛋型大肠镜，以及蛋型大肠镜的行进控制方法。所述大肠镜具备蛋的形状，足以置入大肠中，再通过振动的方式，让大肠镜配合肠壁而能顺着肠道前进。即使在转弯的肠壁处，大肠镜也能顺利前进，不会造成肠道或肠壁的不舒适。
另外，本发明提供的蛋型大肠镜还连接了软质的导线组，对大肠镜提供所需的电力，方便进行实时摄影。而且，根据医师的需求或控制，该导线组也可以适时的供应气体，以使肠璧适度的扩张，有利于医师执行检查作业。以下将详细说明本发明提供的蛋型大肠镜具体的结构与功 能。
如图1A所示为蛋型大肠镜第一实施例，蛋型大肠镜包含：一蛋型壳体10与一导线组20。其中，该蛋型壳体10当中包含有一第一摄影模块、一第二摄影模块、一振动模块与一控制模块60。
在结构上，该蛋型壳体10有一第一端11a、一第二端11b以及一沿蛋型壳体10轴向延伸的中心圆柱部分。其中，所述第一端11a及第二端11b分别是指蛋型壳体10的轴向两端，而且第一端11a、第二端11b各自用一透明材料制作而成。
其次，该第一摄影模块配置在蛋型壳体10的第一端11a，其包括：一第一取像模块12a、一第一发光模块13a与一第一电路板14a。该第二摄影模块配置在蛋型壳体10的第二端11b，其包括：一第二取像模块12b、一第二发光模块13b与一第二电路板14b。
该第一、第二取像模块12a、12b采用高像素的CMOS传感器与CCD传感器之一。该第一、第二发光模块13a、13b可采用发光二极管(英文缩写为LED)所构成的发光模块。因此，该第一摄影模块与第二摄影模块可进行照明与摄影，而且第二摄影模块主要是用来拍摄肠壁的皱褶或死角，其拍摄影像与第一摄影模块的拍摄方向相反。
所述控制模块60装置于蛋型壳体10中。在本实施例，该控制模块60安装于中心电路板18上。该中心电路板18连接一第一电路板14a与一第二电路板14b，使整体线路电性相连。实际上，整体线路不限于此，譬如该控制模块60电性连接第一摄影模块、第二摄影模块及振动模块。所述控制模块60可接收一来自于外部的控制指令，从而操作任一摄影模块执行影像的拍摄与传输，也能决定振动模块的振动或不振动。
该导线组20在蛋型壳体10的第二端11b侧边，二者是固定的为佳。在本实施例，该导线组20有一导线外皮23，其包含多个软管气道开口24。该导线外皮23包覆三条导(电)线(如信号线、正极线、负极线)与一软管气道22。在某些实施例，该导线外皮23包覆至少两条导(电)线21。这些导(电)线21充当一供电组件，可电性连接前述控制模块60，用以输出电力至蛋型壳体10内所设的各电子组件，如第一摄影模块、第二摄影模块、控制模块60及振动模块等组件。该软管气道22引导外部的气体，经由软管气道开口24传递到大肠中。
在本实施例，该振动模块可以是振动马达15，其装置于蛋型壳体10中，使蛋型壳体10产生振动。在图1图中，所述振动马达15安装于蛋型壳体10的侧壁19，也就是中心柱体的侧壁上。在图1B中，该振动马达15装置于侧壁19偏向第二端11b处。某些实施例，该振动马达15装置于侧壁19偏向第一端11a处为佳。又有一些实施例，该振动马达15装置于蛋型壳体10的中心柱体中央处，也就是中心电路板18上。
如图1A所示，在尺寸的规划上，该蛋型大肠镜的长度L1介于2.5-5.2厘米之间，宽度W1介于1.5-2.5厘米之间
虽然，将气体灌入肠道属于外部控制的范畴，却是蛋型大肠镜所必须提供的主要功能。该导线组20除了如图1A般在靠近蛋型壳体10的第二端11b处形成软管气道开口24以外，也可以像图2直接在蛋型壳体10形成一气道开口25。所述气道开口25除了进行气体的供应以外，亦能视需要供给一些水或药水。
在图3A中，该蛋型壳体10外部有多个腹足16，这些腹足16可以辅助蛋型大肠镜在大肠中更稳定地前进。当然，辅助蛋型大肠镜前进的腹足构造，还有其他的选项：一个以上宛如图3B单环构造的腹足16a；或是如图3C所示螺旋构造的腹足16b；或类似于蛇鳞片构造的腹足；又或是这些构造的组合。
除了腹足以外，辅助蛋型大肠镜在大肠前进的设备还包括一安装于蛋型壳体10的磁型被动套件。在图4A、图4B中，三组磁性被动套件安装于蛋型壳体10的中心柱体靠近第一端11a的部分，每组磁性被动套件包括：一磁性组件N极17a与一磁性组件S极17b，该磁性组件N极与S极17a、17b位于直径的两端，可通过一外部主动磁性装置来辅助牵引蛋型壳体10的前进与定位。
在一应用场景中，该外部主动磁性装置对磁性被动套件产生牵引作用，让进入大肠的蛋型壳体10局部旋转，直到第二摄影模块能够看到被导线组20遮蔽的死角。在其他的应用场景中，该外部主动磁性装置牵引磁性被动套件，使蛋型壳体10产生顺着肠道前行的辅助性动力。
另外，该磁性被动套件的磁场，可被一些感应式侦测器材感测，并通过一显示器得知蛋型壳体10在大肠内部正确的方位。在医师为病患确诊时，可以清楚标示患部在大肠的精准位置。
在影像信号的传输方面，由于导线组20的设计，只要供应充足的电力，就能以有线或无线方式之一进行传输作业。具体而言，在有线传输模式中，该蛋型大肠镜采用信号传输线或电源信号传输(Power line transmission)方式之一。因此，该导线组20包含一条信号传输线(图中未绘)，或在蛋型壳体10安装额外的一组电源线信号传输模块(图中未绘)，方便控制模块60实时将影像信号传送出去。
如图5所示，在无线传输模式中，该蛋型大肠镜添加一无线传输模块50。该无线传输模块50电性连接控制模块60，同样能将第一、第二摄影模块拍摄的影像传输出去。
其次，该蛋型大肠镜的导(电)线21被一电池(图中未绘)取代。在无线传输模式，该电池设在蛋型壳体10内，充当蛋型大肠镜的供电单元，供给各电子组件所需的电力。因此，一来自外部的控制指令被无线传输模块50接收，从而传递至控制模块60。如此，该导线组20只有软管气道22，却无导(电)线，也不会妨碍蛋型大肠镜执行肠道的检查。
如图5所示，该蛋型大肠镜还多了一角度侦测单元70，辅助蛋型大肠镜在大肠的肠道航行时，掌握到蛋型大肠镜目前的水平倾斜角度。该角度侦测单元70电性连接控制模块60，可侦测蛋型壳体10水平角度的变化值且传送出去。
简单地说，该蛋型壳体10的第一端11a在重力方向低于第二端11b，即谓第一端11a的水平倾斜角度向下。此刻，能够以振动方式让蛋型大肠镜在大肠的肠道继续前进。
如果不是第一端11a向下的状况(即第一端11a在重力方向上高于第二端11b，或与第二端11b等位)，医师就可通过前述的外部主动磁性装置(详见图4A、图4B相关的说明)来辅助牵引蛋型大肠镜的前进；或者，通过调整病人姿势来调整肠道的角度来让蛋型大肠镜可形成第一端11a朝下的状态。因此，通过角度侦测单元70的配置，本发明提供的蛋型大肠镜更容易达成本发明想达到的前进控制的目的。
其中，角度侦测单元70可选自：一微机电角度侦测芯片、微机电陀螺仪芯片、微机电双轴加速度感测芯片、微机电三轴加速度感测芯片、滚动开关、磁传感器其中之一。以上的众多组件，尽可能以微小化且具备耐震条件的组件为选择考虑。
如图6所示，阐明蛋型大肠镜的使用状态。从图中可清楚的看到，由于本发明运用了蛋型的结构，也就是蛋型壳体10的设计，其蛋型的设计，符合肠道本来可容纳的消化物结构特性。此外，由于导线组20采用了软质的软管气道的设计.其可挠的特性加上直径控制在0.5厘米以下，所以，在医师操作本发明的蛋型大肠镜时，可轻易以无痛的方式，顺利的让蛋型大肠镜进入大肠30的肠道，由直肠35到乙状结肠34到降结肠33到横结肠32到升结肠31，完整的160厘米肠道，不会造成肠道的压迫感，自然不会造成病患的不舒服感觉。
更重要的，本发明提供的蛋型大肠镜通过前、后双镜的设计，让蛋型大肠镜无死角地看到大肠皱褶的另一面。
如图7A、图7B所示，阐明蛋型大肠镜另一使用状态。在图7A中，当蛋型大肠镜行进的过程，无法看到大肠30皱褶处反面的大肠息肉40。但行进到图7B的位置时，即可通过第二摄影模块观察到大肠30肠壁皱褶的死角的大肠息肉40。
基本上，本发明提供的蛋型大肠镜通过振动的方式来辅助前进，其主要目的是希望能减低病患于检查时的不适。而适当的行进控制方法，对本发明就起了很重要的作用。本发明可通过一些方法来让蛋型大肠镜可顺利地辅助前进：第一种方法是重力加振动法，第二种方法是磁力加振动法，第三种方法是重力加振动加磁力法。
如图8A所示为本发明提供的蛋型大肠镜行进控制方法第一流程图，包含了以下步骤：
步骤101：侦测蛋型大肠镜的水平倾斜角度。
步骤103：使蛋型大肠镜进行振动。
步骤105：于蛋型大肠镜振动时，让蛋型大肠镜的第一端11a在重力方向上低于第二端11b(例如：让蛋型大肠镜所处的肠道呈与地平线倾斜，并使蛋型大肠镜的前进方向朝下)。
由于已经掌握了蛋型大肠镜的水平倾斜角度，也通过第一摄影模块看到了肠道的状况，因此，当蛋型大肠镜的第一端(11a)未朝下时，可通过许多方式来调整肠道的状况，设法让蛋型大肠镜的第一端(11a)朝下，让蛋型大肠镜可以振动的方式前进。例如，可以让病人躺的位置改变，或者，通过病床的辅助，即可达到让肠道相对位置改变的目的。例 如，蛋型大肠镜进入降结肠后，可控制病床使病人的头部朝下而脚朝上，即可形成行进方向朝下(第一端11a朝下)的状态，再搭配蛋型大肠镜的水平角度变化信息，即可局部调整肠道位置，让蛋型大肠镜的第一端(11a)朝下，容易于降结肠行进。又例如，于降结肠转横结肠的转弯处，可使病人身体往右侧躺，形成蛋型大肠镜容易往横结肠行进的状态。或者，局部推挤肠道，以此类推。
除了上述步骤101、步骤103及步骤105，本发明提供的蛋型大肠镜的行进控制方法的第一流程图可进一步包含一步骤107：提供一拉力以控制蛋型大肠镜的行进速度或微调蛋型大肠镜的行进方向。
此步骤107用于在蛋型大肠镜的行进速度过快时减缓其速度，或是用于在蛋型大肠镜因为行进方向稍有偏斜而卡在肠道内时稍微调整其行进方向。其中，提供此拉力的方式可以是拉引导线组20。
接着，如图8B所示为本发明提供的蛋型大肠镜的行进控制方法流程第二流程图，也就是运用磁力的方式，此即图4A的行进控制方法的说明，包含了以下的步骤：
步骤111：提供蛋型大肠镜一磁性被动套件。
步骤113：侦测蛋型大肠镜的水平倾斜角度。
步骤115：使该蛋型大肠镜振动。
步骤117：于该蛋型大肠镜振动时，提供一外部主动磁性装置牵引磁性被动套件，以辅助蛋型大肠镜于振动时前进。由于已经掌握了蛋型大肠镜的水平倾斜角度，所以蛋型大肠镜于前进时，通过外部的主动磁性装置，可吸引到蛋型大肠镜而使其前进，这点，我们可直接通过第一摄影模块所传来的影像看到。因此，我们可轻易的通过主动磁作装置于振动时提供一轻微的辅助牵引力量，从而让蛋型大肠镜行进。
同理，除了上述步骤111、步骤113步骤115及步骤117，本发明提供的蛋型大肠镜行进控制方法的第二流程图可进一步包含一步骤119：提供一拉力以控制该蛋型大肠镜的行进速度或微调蛋型大肠镜的行进方向。此步骤119的实施方式及目的与前述行进控制方法第一实施例的步骤107相同，故不再赘述。
如图9A所示为本发明提供的蛋型大肠镜另一具体实施例的剖面示意图；图9B为图9A实施例导线组(外露的部分)的剖面示意图；图9C为 图9A实施例蛋型壳体10第一端11a的横切面示意图。
在此实施例中，导线组20a除了原先的软管气道22外，增加了一个器械通道26(Instrument Channel)，而软管气道22与器械通道26皆于蛋型大肠镜的第一端11a处开口(outlet)。本实施例将软管气道22与器械通道26的开口，配置于第一取像模块12a旁，以让医师可以通过器械通道26穿入息肉切除器械90(如图10所示)、止血针、切片钳、异物钳等等后，施行必要的手术。另，本具体实施例的蛋型大肠镜亦可具有如图4A、图4B所示的磁性被动套件，以在施行手术的整个或部分过程中，利用外部主动磁性装置磁吸磁性被动套件，进而固定蛋型壳体10在大肠肠道中的位置及方位。
此外，在图9B中可以观察到，导线组20a位于蛋型大肠镜外的剖面结构中，除了原先的软管气道22、导线21(由三条导线组成，分别为正极、负极、信号线，以及包覆体)外，还包括了器械通道26，以及管内填充物27，管内填充物27可让整个导线组20a的结构稳固。而在图9A中，第一端11a的开口并不包含导线21的部分，其由第二端11b的位置穿出，而焊接于第二电路板14b上。此处形成特殊的导线组20a的结构。当然，就另一实施例而言，导线21也可从第一端11a的位置穿出，并焊接于第一电路板14a上(未绘出)。
在图9C中可以观察到，器械信道26与软管信道22置于第一取像模块12a旁，当器械由器械通道26穿出时，可让医师清楚看到器械的状态，进而进行准确的手术，如图10所示。
如图10所示，阐明图9A蛋型大肠镜添加息肉切除器械90进行手术的操作方式。其中，软管气道22可喷出需要的气体与水等，让肠道膨胀与润滑。而第一发光模块13a可受控产生不同颜色的光源，再由第一取像模块12a进行不同光源照射结果下的取像。或者，当第一取像模块12a还换为倍率可调的摄像头，即可进行低倍率、高倍率的取像，以高倍的放大效果直接观察细胞，让医师可进行更详细的诊断。
另外，在图9A的蛋型大肠镜增加了器械通道26，可让不同的器械经由此通道进入第一端11a。以图10为例，其运用了息肉切除器械90穿入器械通道26，息肉切除刀91也可伸出，协助医师进一步进行大肠息肉切入手术。
接着，如图11A、图11C及图12所示，阐明蛋型大肠镜另一具体实施例。其中，图11A为此实施例的蛋型大肠镜的剖面示意图，图11B为此实施例的蛋型大肠镜的导线组(外露的部分)的剖面示意图，图11C为此实施例的蛋型大肠镜的第一端11a的横切面示意图，而图12为运用此实施例的蛋型大肠镜进行手术时的操作示意图。相较于前一实施例，此实施例的导线组20b省略器械通道26，而以软管气道22当作器械通道口(Instrument Channel)用，进而实现了气体、水与器械通道三合一的效果。
如图13a至图13c所示为本发明提供的蛋形大肠镜的又一具体实施例的剖面示意图。此实施例的结构与前述第一具体实施例相近，但本实施例的蛋型壳体10c的壳体侧壁19’由弹性材料构成。另，蛋型壳体10c不具有中心电路板18，故本实施例的振动马达15、控制模块60及角度侦测单元70设置于第一电路板14a或第二电路板14b，且第一电路板14a及第二电路板14b之间以可挠曲的导线相连接。
在本实施例，蛋形大肠镜的主要特征是：在蛋型壳体10c内还设有一伸缩致动组件80连接于蛋型壳体10c的第一端11a与第二端11b之间，且蛋型壳体10c的外表面具有腹足16。
详言之，此伸缩致动组件80为可使蛋型壳体10c的第一端11a与第二端11b之间的距离反复伸缩的结构，其包含一致动马达81、一伸缩驱动件82及一伸缩从动件83，其中致动马达81可受控制模块60控制且较佳固定于壳体侧壁19’的内表面，伸缩驱动件82可转动地连接致动马达81，伸缩从动件83设置于第一端11a的第一电路板14a及第二端11b的第二电路板14b。或者，亦可将致动马达81固定于第一电路板14a及第二电路板14b之一，并将伸缩从动件83设置于第一电路板14a及第二电路板14b的另一者。
通过上述的伸缩致动组件80，当致动马达81进行运作而转动伸缩驱动件82时，伸缩从动件83即会远离伸缩驱动件82(如图13A所示)或者邻近伸缩驱动件82(如图13B所示)，使壳体侧壁19’进行伸缩，进而辅助此蛋形大肠镜还顺利地通过肠道中的细狭处或转弯处，甚或完全通过壳体侧壁19’的伸缩提供蛋形大肠镜行进的动力。
前述的伸缩致动组件80，可由任何能够使蛋型壳体10c的第一端11a 与第二端11b之间的距离反复伸缩的结构组成。如图13A及图13B所示，伸缩驱动件82是一曲轴，而伸缩从动件83为两个连杆，其中一个连杆枢接于曲轴及第一电路板14a，另一连杆则枢接于曲轴及第二电路板14b。或者，如图13C所示，伸缩驱动件82是一外周面具有交替设置之异极性磁极面的转子，而伸缩从动件83为磁极面朝向伸缩驱动件82的两个磁铁，则通过伸缩驱动件82的磁极面与伸缩从动件83的磁极面之间的相吸或相斥，亦可使壳体侧壁19’进行伸缩。
通过上述实施例的结构，本发明提供的蛋型大肠镜的行进控制方法也可于侦测得蛋型大肠镜的水平倾斜角度之后，使蛋型大肠镜进行伸缩，并让蛋型大肠镜的第一端11a在重力方向上低于第二端11b，即可使蛋形大肠镜以反复伸缩的方式前进。或者，上述伸缩动作也可配合前述其他实施例的振动行进或磁吸行进等方式实施。此外，由于蛋型壳体10c的外周可设有腹足16，因此在蛋型大肠镜伸展的过程中，腹足16可以抵撑于肠道壁面，有效提升伸缩动作的行进效果。
运用本发明，可达到无痛、无死角、不易造成肠穿孔等的特殊技术效果，达到了人类医学史上的一大进步。
虽然，本发明的技术内容已经以较佳实施例揭露如上，然其并非用以限定本发明，任何熟习此技艺者，在不脱离本发明的精神所作些许之还动与润饰，皆应涵盖于本发明的范畴内，因此本发明的保护范围当视本案权利要求范围所界定为准。

Claims (25)

  1. 一种蛋型大肠镜，其特征在于，包含：
    一蛋型壳体，具有一轴向，并在该轴向上形成一第一端及一第二端，该第一端由一透明材料制作而成；
    一第一摄影模块，装置于该第一端，用以进行照明与摄影；
    一振动马达，装置于该蛋型壳体中，用以使该蛋型壳体产生振动；
    一控制模块，装置于该蛋型壳体中，电性连接该第一摄影模块及该振动马达，接收一控制指令以控制该第一摄影模块进行影片拍摄与影像传输，并控制该振动马达的振动；
    一导线组，包含一气道开口，该导线组固定于该蛋型壳体的该第二端侧，由一导线外皮包覆一软管气道构成；及
    一供电组件，设置于该导线组或该蛋型壳体内，该供电组件与该控制模块电性连接，以传输电力至该控制模块，
    其中该蛋型壳体或该导线组具有一气道开口，该气道开口连通该导线组的软管气道，用以将外部产生的一气体依序经由该软管气道及气道开口送至大肠中。
  2. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含：
    一第二摄影模块，装置于该第二端，用以拍摄相反于该第一摄影模块的拍摄方向的影像。
  3. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含：
    一角度侦测单元，连接该控制模块，用以侦测该蛋型壳体的一水平角度变化值，并通过该控制模块将该水平角度变化值传送出去。
  4. 根据权利要求3所述的蛋型大肠镜，其特征在于，该角度侦测单元为微机电角度侦测芯片、微机电陀螺仪芯片、微机电双轴加速度感测芯片、微机电三轴加速度感测芯片、滚动开关和磁传感器其中之一。
  5. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含：
    至少一腹足，装置于该蛋型壳体的外周，用以辅助该蛋型大肠镜前进。
  6. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含：
    至少一组磁性被动套件，装置于该蛋型壳体的内周，用以通过一外部主动磁性装置辅助该蛋型大肠镜前进与定位。
  7. 根据权利要求1所述的蛋型大肠镜，其特征在于，该供电组件设置于导线组内，且该供电组件为多条导线。
  8. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含：
    一无线传输模块，连接该控制模块，用以将该第一摄影模块所拍摄的影像传输出去。
  9. 根据权利要求8所述的蛋型大肠镜，其特征在于，该供电组件为设置于该蛋型壳体内的一电池，且该无线传输模块还用于接收该控制指令并传送该控制指令至该控制模块。
  10. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含一连接该控制模块的电源线信号传输模块，或者该导线组还包含一信号传输线，该电源线信号传输模块及该信号传输线用以将该第一摄影模块所拍摄的影像传输出去。
  11. 根据权利要求1所述的蛋型大肠镜，其特征在于，该蛋型大肠镜的长度介于2.5-5.2厘米之间，宽度介于1.5-2.5厘米之间。
  12. 根据权利要求1所述的蛋型大肠镜，其特征在于，该导线组还包含一器械通道，或者该软管气道还作为该器械信道，该器械信道的开口配置于该第一端，用以容置一医疗器械贯穿至该第一端处，以进行医疗手术。
  13. 根据权利要求1所述的蛋型大肠镜，其特征在于，还包含一连接于该蛋型壳体的第一端及第二端之间的伸缩致动组件，且该蛋型壳体的侧壁由弹性材料构成。
  14. 根据权利要求13所述的蛋型大肠镜，其特征在于，该蛋型壳体的外周还具有至少一腹足。
  15. 根据权利要求13所述的蛋型大肠镜，其特征在于，该伸缩致动组件具有一致动马达、一伸缩驱动件及一伸缩从动件，该致动马达固定于该侧壁的内表面，该伸缩驱动件可转动地连接该致动马达，该伸缩从动件设置于该第一端及第二端至少之一。
  16. 一种蛋型大肠镜的行进控制方法，该蛋型大肠镜包含一振动模块、一导线组、一第一端、一第二端及一第一摄影模块，该振动模块用 于使该蛋型大肠镜振动，该导线组用以传输电力，该第一端及第二端为该蛋型大肠镜在一轴向上的相对两端，该第一摄影模块位于该第一端；其特征在于，该行进控制方法包含以下步骤：
    使该蛋型大肠镜振动；及
    于该蛋型大肠镜振动时，让该第一端在重力方向上低于该第二端。
  17. 根据权利要求16所述的蛋型大肠镜的行进控制方法，其特征在于，还包含以下步骤：
    提供一拉力以控制该蛋型大肠镜的行进速度或微调该蛋型大肠镜行进方向。
  18. 根据权利要求17所述的蛋型大肠镜的行进控制方法，其特征在于，提供该拉力的方法为拉引该导线组。
  19. 根据权利要求16所述的蛋型大肠镜的行进控制方法，其特征在于，还包含以下步骤：
    侦测该蛋型大肠镜的水平角度变化并将一水平角度变化值传送出去。
  20. 一种蛋型大肠镜的行进控制方法，该蛋型大肠镜包含一振动模块以使该蛋型大肠镜可振动，该蛋型大肠镜还包含一导线组以传输电力，该蛋型大肠镜还包含一磁性被动套件；其特征在于，该行进控制方法包含以下步骤：
    使该蛋型大肠镜振动；及
    于该蛋型大肠镜振动时，提供一外部主动磁性装置牵引该磁性被动套件，以辅助该蛋型大肠镜于振动时前进。
  21. 根据权利要求20所述的蛋型大肠镜的行进控制方法，其特征在于，还包含以下步骤：
    提供一拉力以控制该蛋型大肠镜的行进速度或微调该蛋型大肠镜的行进方向。
  22. 根据权利要求21所述的蛋型大肠镜的行进控制方法，其特征在于，提供该拉力的方法为拉引该导线组。
  23. 根据权利要求20所述的蛋型大肠镜的行进控制方法，其特征在于，还包含以下步骤：
    侦测该蛋型大肠镜的水平角度变化并将一水平角度变化值传送出 去。
  24. 一种蛋型大肠镜的行进控制方法，该蛋型大肠镜包含一导线组、一第一端、一第二端、一第一摄影模块及一伸缩致动组件，该导线组用以传输电力，该第一端及第二端为该蛋型大肠镜在一轴向上的相对两端，该第一摄影模块位于该第一端，该伸缩致动组件用于使该蛋型大肠镜可沿该轴向伸缩；其特征在于，该行进控制方法包含以下步骤：
    使该蛋型大肠镜伸缩；及
    于该蛋型大肠镜伸缩时，让该第一端在重力方向上低于该第二端。
  25. 根据权利要求24所述的蛋型大肠镜的行进控制方法，其特征在于，该蛋型大肠镜的壳体的外周还具有至少一腹足；该行进控制方法还包含以下步骤：
    在蛋型大肠镜伸缩时，该腹足可在蛋型大肠镜伸展过程中抵撑肠道的壁面。
PCT/CN2016/000364 2016-07-05 2016-07-05 蛋型大肠镜及行进控制方法 WO2018006186A1 (zh)

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