WO2021196771A1

WO2021196771A1 - Optical-ultrasonic dual-modality imaging-based capsule endoscope

Info

Publication number: WO2021196771A1
Application number: PCT/CN2020/139454
Authority: WO
Inventors: 邱维宝; 黄耀才
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2020-04-03
Filing date: 2020-12-25
Publication date: 2021-10-07
Also published as: CN111568346A

Abstract

The present invention is applicable to the technical field of capsule endoscopes, and provides an optical-ultrasonic dual-modality imaging-based capsule endoscope. According to embodiments of the present invention, mechanical guidance and delivery of a capsule endoscope main body by using a coaxial cable having an outer diameter smaller than that of the capsule endoscope main body enables the movement of the capsule endoscope main body inside a human body to be controllable, so that impact and friction of the coaxial cable against the human digestive tract can be effectively reduced, and in addition, by means of a shielding layer, electromagnetic radiation can be reduced and static electricity can be eliminated; optical image data of the human digestive tract is obtained by means of a camera module, ultrasonic scan data of the human digestive tract is obtained by means of an ultrasonic imaging module, and the optical image data and the ultrasound scan data are transmitted by means of the coaxial cable to an imaging system to perform real-time image processing so as to obtain and display optical images and ultrasonic images, thereby achieving optical imaging and ultrasonic imaging, and presenting multidimensional tissue imaging screens of the human digestive tract in real time, and obtaining information of pathological changes of deep tissues.

Description

A capsule endoscope based on optical ultrasonic dual-mode imaging

Technical field

The invention belongs to the technical field of capsule endoscopes, and in particular relates to a capsule endoscope based on optical ultrasonic dual-mode imaging.

Background technique

The mortality rate of patients with esophageal cancer is relatively high. The main reason is that the early symptoms of esophageal cancer are not obvious, and it is difficult to diagnose. The patient's condition is often already very serious when he sees a doctor, and the treatment effect is limited. At present, diseases of the digestive tract such as the human esophagus, stomach, and duodenum can be diagnosed by a capsule endoscope. The capsule endoscope is small in size and can penetrate into the human digestive tract to observe the health of the human digestive tract and esophagus.

However, the existing optical endoscope based on optical imaging technology can only observe the surface of the digestive tract, and cannot obtain information on the deep layer of the tissue, so that it cannot capture the small lesions located in the submucosa, which greatly limits the completeness of the diagnosis. And accuracy.

Summary of the invention

In view of this, the embodiments of the present invention provide a capsule endoscope based on optical ultrasonic dual-mode imaging to solve the situation that the existing optical endoscope based on optical imaging technology can only observe the surface of the digestive tract, but cannot Obtain the pathological information of the deep layer of the tissue, so that the small pathological changes located in the submucosa cannot be captured, which greatly limits the problem of the completeness and accuracy of the diagnosis.

The embodiment of the present invention provides a capsule endoscope based on optical ultrasonic dual-mode imaging, including a capsule endoscope main body and a coaxial cable, the capsule endoscope main body including a housing, a camera module, and an ultrasonic imaging module ；

The main body of the capsule endoscope is capsule-shaped and the outer diameter of the main body of the capsule endoscope is larger than the outer diameter of the coaxial cable;

The camera module and the ultrasonic imaging module are arranged inside the housing, the outer insulating layer, the shielding layer, and the inner insulating layer of the coaxial cable are connected to the housing, and the center of the coaxial cable One end of the wire is electrically connected to the camera module and the ultrasonic imaging module, and the other end is used to electrically connect to the imaging system;

The camera module is used to obtain optical image data of the human digestive tract when the capsule endoscope main body moves into the human digestive tract and send it to the imaging system through the central wire;

The ultrasonic imaging module is used to obtain ultrasonic scan data of the human digestive tract when the capsule endoscope main body moves into the human digestive tract and send it to the imaging system through the central wire;

The imaging system is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain and display optical images and ultrasound images.

In one embodiment, the coaxial cable includes a central wire, and the optical image data and the ultrasound scan data are transmitted to the imaging system in a time-sharing manner through the central wire;

Alternatively, the coaxial cable includes two central wires, the camera module and the ultrasonic imaging module are each electrically connected to the imaging system through a central wire, and the optical image data and the ultrasonic scanning data pass through The two center wires are simultaneously transmitted to the imaging system.

In one embodiment, the camera module includes a camera and a controller, and the controller is electrically connected to the center wire;

One end of the housing away from the outer insulating layer, the shielding layer, and the inner insulating layer includes a light-transmitting area, the camera is disposed toward the light-transmitting area, and the camera is used to pass through the light-transmitting area Obtain optical images of the human digestive tract;

The controller is used to control the camera to take an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data and send it to the imaging system through the central wire.

In one embodiment, the camera includes an optical lens and a light source, and the light source is electrically connected to the controller;

The optical lens and the light source are arranged toward the light-transmitting area;

The controller is also used to control the light source to emit light to the human digestive tract for illumination and supplement light.

In one embodiment, the light source includes a visible light source and an infrared light source, and the optical image includes a visible light image and an infrared light image.

In one embodiment, the ultrasonic imaging module includes an ultrasonic transducer, a signal transmitter, and a motor;

The ultrasonic transducer is electrically connected with the signal transmitter, the ultrasonic transducer is mechanically connected with the motor, and the signal transmitter and the motor are electrically connected with the center wire;

The side wall of the housing is provided with a sound-transmitting window, the ultrasonic transducer is arranged toward the sound-transmitting window, and the ultrasonic transducer is used to emit high-frequency ultrasonic waves through the sound-transmitting window to a predetermined scanning angle. The human digestive tract undergoes ultrasonic rotation scanning to obtain the ultrasonic scanning data of the human digestive tract;

The motor is arranged inside the housing, and the motor is used to drive the ultrasonic transducer to rotate by a preset scanning angle;

The signal transmitter is a rotatable electrical coupling device for coupling the ultrasound scan data to the center wire, and sends the ultrasound scan data to the imaging system through the center wire.

In one embodiment, the value range of the preset scanning angle is 0°~360°, and the center frequency range of the ultrasonic transducer is 30MHz~50MHz.

In an embodiment, the outer diameter of the outer insulating layer ranges from 1 mm to 3 mm;

The main body of the capsule endoscope has an outer diameter range of 10 mm to 15 mm, and a length range of 20 mm to 50 mm.

In one embodiment, the capsule endoscope further includes a magnetic positioning component, and the magnetic positioning component is disposed on the housing;

The magnetic positioning component is used to drive the main body of the capsule endoscope to move into the digestive tract of the human body under the magnetic attraction of the magnetic attraction component when the coaxial cable is connected to the imaging system.

In one embodiment, the camera module is also used to obtain optical image data of multiple cross-sections of the human digestive tract when the capsule endoscope main body is removed from the human digestive tract at a constant speed and send the optical image data through the central wire The imaging system;

The ultrasonic imaging module is also used to obtain ultrasonic scan data of multiple sections of the human digestive tract when the capsule endoscope main body moves out of the human digestive tract at a constant speed and send it to the imaging system through the central wire;

The imaging system is also used to perform a three-dimensional image reconstruction process on the optical image data and the ultrasound scan data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.

The embodiment of the present invention provides a capsule endoscope including a capsule endoscope main body and a coaxial cable. A camera module and an ultrasonic imaging module are arranged inside the housing of the capsule endoscope main body. The coaxial cable with the outer diameter of the main body of the endoscope mechanically guides and transports the main body of the capsule endoscope, so that the movement of the main body of the capsule endoscope in the human body can be controlled, which can effectively reduce the collision of the coaxial cable on the human digestive tract. And friction, improve the comfort and tolerance of inspection and diagnosis, and can also reduce electromagnetic radiation and eliminate static electricity through the shielding layer; obtain optical image data of the human digestive tract through the camera module, and obtain the ultrasound of the human digestive tract through the ultrasonic imaging module Scan data, and send optical image data and ultrasound scan data to the imaging system through a coaxial cable for real-time image processing, obtain and display optical images and ultrasound images, which can realize optical imaging and ultrasound imaging, and present the multi-dimensionality of the human digestive tract in real time The tissue imaging screen is convenient for observing the tissue lesions, can obtain the deep tissue lesion information, provide a more intuitive and accurate diagnosis basis, and improve the completeness and accuracy of the diagnosis.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are merely of the present invention. For some embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of the first perspective structure of the capsule endoscope provided in the first embodiment of the present invention;

Figure 2 is a two-dimensional ultrasound image of the pig small intestine provided by the first embodiment of the present invention;

Figure 3 is a three-dimensional ultrasound image of the pig small intestine provided by the first embodiment of the present invention;

4 is a schematic diagram of a second perspective structure of the capsule endoscope provided in the first embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a capsule endoscope provided in the second embodiment of the present invention;

6 is a schematic diagram of the relative positional relationship between the magnetic positioning component and the magnetic attraction component provided by the second embodiment of the present invention;

7 is a schematic diagram of the first perspective structure of the capsule endoscope provided in the third embodiment of the present invention;

Fig. 8 is a schematic diagram of a second perspective structure of the capsule endoscope provided in the third embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the present invention. Part of the embodiment, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

The term "comprising" in the specification and claims of the present invention and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally includes Other steps or units inherent in these processes, methods, products or equipment.

Example one

As shown in FIG. 1, this embodiment provides a capsule endoscope 100 based on optical ultrasonic dual-mode imaging, which includes a capsule endoscope main body 101 and a coaxial cable 102. The capsule endoscope main body 101 includes a housing 1, Camera module 2 and ultrasonic imaging module 3;

The capsule endoscope main body 101 is in a capsule shape, and the outer diameter of the capsule endoscope main body 101 is larger than the outer diameter of the coaxial cable 102;

The camera module 2 and the ultrasonic imaging module 3 are arranged inside the housing 1. The outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer (not shown in the figure) of the coaxial cable 102 are connected to the housing 1. The coaxial cable One end of the central wire 1023 of 102 is electrically connected to the camera module 2 and the ultrasonic imaging module 3, and the other end is used to electrically connect to the imaging system.

In application, the main body of the capsule endoscope can also be set to any other shape that is easy to swallow, such as spherical, ellipsoidal, etc., according to actual needs. The size of the main body of the capsule endoscope is smaller than the minimum size that the human digestive tract can accommodate. The outer diameter of the main body of the capsule endoscope may range from 10 mm to 15 mm, and the length range may range from 20 mm to 50 mm, for example, the outer diameter is 10 mm and the length is 20 mm.

In application, a coaxial cable includes an outer insulating layer, a shielding layer, an inner insulating layer, and a center wire coaxially arranged from the outside to the inside. The outer insulating layer and inner insulating layer can be made of any smooth insulating material that is harmless to the human digestive tract, flexible and easy to swallow according to actual needs, such as silicone rubber, polyvinyl chloride (PVC), and thermoplastic elastic Body (Thermoplastic Elastomer, TPE), etc. The shielding layer is usually composed of a metal foil layer and a metal mesh fabric. The metal foil layer is usually an aluminum foil layer. The metal mesh fabric is usually braided with copper wires. The shielding layer plays an important role in the shielding performance of the signal transmitted in the coaxial cable. , Can effectively reduce the influence of electromagnetic radiation generated by the signal on the human body, and at the same time, the shielding layer can also lead the static electricity generated by the shell out of the human body to avoid the damage caused by the static electricity to the human body. Specifically, the center wire may be a copper wire, a silver wire, or the like.

In application, the outer diameter of the outer insulating layer is smaller than the minimum inner diameter of the human digestive tract, and the outer diameter of the outer insulating layer can range from 1 mm to 3 mm, for example, the outer diameter is 2 mm. Due to the use of a thinner coaxial cable, the discomfort caused by capsule endoscopy to various parts of the human digestive tract (for example, the throat) can be greatly reduced, and the use of anesthetics can also be avoided. The coaxial cable can be fixedly connected or detachably connected with the main body of the capsule endoscope, and the coaxial cable can be detachably connected with the imaging system. The detachable connection mode allows the user to replace the main body of the capsule endoscope or the coaxial cable according to actual needs. , So that the same capsule endoscope main body can be adapted to different coaxial cables, and the same coaxial cable can also be adapted to different capsule endoscope main bodies, which facilitates the replacement of the two. The coaxial cable can be a disposable cable, which can be replaced after one use, which is convenient and hygienic, and can effectively prevent cross-infection.

In application, the detachable connection method of the coaxial cable and the imaging system can be a plug-in method, a buckle or fastener fixing method, a threaded connection method, and the like.

In an embodiment, a plug interface is provided at one end of the coaxial cable that is detachably connected to the imaging system, and the coaxial cable is detachably connected to the imaging system through the plug interface.

In application, the shell can be made of any material that is harmless to the human digestive tract and has flexibility according to actual needs, for example, silicone rubber, polyvinyl chloride or thermoplastic elastomer. The shell can be partially or entirely transparent.

In application, the camera module and the ultrasonic imaging module are arranged inside the housing without blocking each other.

FIG. 1 exemplarily shows that the camera module 2 is arranged inside the housing 1 at one end away from the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer, and the ultrasonic imaging module 3 is arranged inside the housing 1 and is connected to the camera module. 2 Do not block each other.

In this embodiment, the camera module 2 is used to obtain optical image data of the human digestive tract when the capsule endoscope main body 101 moves into the human digestive tract and send it to the imaging system through the central wire 1023.

In application, the camera module can select any device with optical image shooting function according to actual needs, for example, a combination of a camera and an image sensor. The camera module can take two-dimensional optical image data in the 0°~360° field of view in the human digestive tract and send it to the imaging system.

In this embodiment, the ultrasound imaging module 3 is used to obtain the ultrasound scan data of the human digestive tract when the capsule endoscope main body 101 moves into the human digestive tract and send it to the imaging system through the central wire.

In application, the ultrasonic imaging module can choose any device with ultrasonic scanning function according to actual needs, for example, a combination of ultrasonic transducer, motor and signal transmitter. The ultrasound imaging module can perform ultrasound rotation scan imaging of the human digestive tract from 0° to 360°, obtain ultrasound scan data and send it to the imaging system.

In this embodiment, the imaging system is used to perform real-time image processing on optical image data and ultrasound scan data to obtain and display optical images and ultrasound images.

In one embodiment, the imaging system is specifically used to perform real-time image processing on optical image data and ultrasound scan data to obtain and display two-dimensional optical images and two-dimensional ultrasound images, and is also used to perform three-dimensional operations on optical image data and ultrasound scan data. The image reconstruction process obtains and displays the three-dimensional optical image and the three-dimensional ultrasound image of the human digestive tract. The two-dimensional ultrasound image is specifically a tissue cross-sectional image of the human digestive tract.

In application, the capsule endoscope provided in this embodiment can be used to inspect the digestive tract of humans as well as the digestive tract of animals.

As shown in FIG. 2, a two-dimensional ultrasound image of the pig small intestine is exemplarily shown.

As shown in FIG. 3, a three-dimensional ultrasound image of the pig small intestine is exemplarily shown.

In the application, the imaging system can choose any device with image data processing and display functions according to actual needs, for example, the combination of image processor and display, the combination of computer host and display, laptop, desktop computer, mobile phone, tablet Computer, etc. The imaging system can perform real-time image processing on the optical image data sent by the camera module and the ultrasound scan data sent by the ultrasound imaging module to obtain and display two-dimensional optical images and two-dimensional ultrasound images, so that users can observe the inner surface of the human digestive tract in real time According to the tissue lesions observed in real time, the magnetic attraction component can control the movement position of the capsule endoscope in the human digestive tract, and obtain the two-dimensional optical image and two-dimensional ultrasound of the target position through the capsule endoscope. Image; the imaging system can also perform three-dimensional image reconstruction processing on optical image data and ultrasound scan data to obtain and display three-dimensional optical images and three-dimensional ultrasound images of the human digestive tract, so as to obtain the deep tissue lesions at the target location.

In application, the camera module and the ultrasonic imaging module can transmit optical image data and ultrasonic scanning data to the imaging system in a time-sharing manner through the same central wire, which can save wires, reduce the outer diameter of the coaxial cable, and effectively reduce the coaxial cable. The collision and friction caused to the human digestive tract improve the comfort and tolerance of inspection and diagnosis. The specific method of time-sharing transmission can be alternate transmission based on the optical image data first and the ultrasonic scan data later, or alternate transmission based on the ultrasonic scan data first and optical image data after the optical image data. The image data and the ultrasonic scan data are transmitted sequentially in the order of acquisition time. When the optical image data and the ultrasonic scan data are acquired at the same time, the aforementioned alternate transmission method is adopted. For example, assuming that the data stream of the optical image data acquired in the preset time period is A1A2...An, and the ultrasonic data stream is B1B2...Bn, the data stream that transmits the two alternately can be A1B1A2B2...AnBn or B1A1B2A2 ...BnAn, where n≥1 and is an integer. After receiving the data stream, the imaging system splits the data stream to restore optical image data and ultrasound scan data. The camera module and the ultrasonic imaging module can also simultaneously transmit the optical image data and the ultrasonic scan data to the imaging system through a central wire, so that the optical image data and the ultrasonic scan data do not interfere with each other, and the data transmission efficiency can be improved.

FIG. 1 exemplarily shows that the camera module 2 and the ultrasonic imaging module 3 are electrically connected to a central wire 1023.

FIG. 4 exemplarily shows that the camera module 2 and the ultrasonic imaging module 3 are each electrically connected to a central wire 1023.

The embodiment of the present invention provides a capsule endoscope including a capsule endoscope main body and a coaxial cable. A camera module and an ultrasonic imaging module are arranged inside the housing of the capsule endoscope main body. The coaxial cable with the outer diameter of the main body of the endoscope mechanically guides and transports the main body of the capsule endoscope, so that the movement of the main body of the capsule endoscope in the human body can be controlled, which can effectively reduce the collision of the coaxial cable on the human digestive tract. And friction, improve the comfort and tolerance of inspection and diagnosis, and can also reduce electromagnetic radiation and eliminate static electricity through the shielding layer; obtain optical image data of the human digestive tract through the camera module, and obtain the ultrasound of the human digestive tract through the ultrasonic imaging module Scan data, and send optical image data and ultrasound scan data to the imaging system through a coaxial cable for real-time image processing, obtain and display optical images and ultrasound images, which can realize optical imaging and ultrasound imaging, and present the multi-dimensionality of the human digestive tract in real time The tissue imaging screen is convenient for observing the tissue lesions, can obtain the deep tissue lesion information, provide a more intuitive and accurate diagnosis basis, and improve the completeness and accuracy of the diagnosis. Two-dimensional optical images and two-dimensional ultrasound images can also be obtained and displayed, and three-dimensional image reconstruction processing is performed on optical image data and ultrasound scan data through the imaging system to obtain and display three-dimensional optical images and three-dimensional ultrasound images of the human digestive tract.

Example two

As shown in FIG. 5, in this embodiment, the capsule endoscope 100 further includes a magnetic positioning component 4, and the magnetic positioning component 4 is disposed on the housing 1.

In application, the magnetic positioning component can be set inside or outside the housing, and the shape and size of the magnetic positioning part can be set according to actual needs. For example, the magnetic positioning part is close to the outer insulating layer, shielding layer and inner insulating layer from the outside of the housing. One end of the layer has the same shape and size as a semi-ellipse.

As shown in FIG. 5, it is exemplarily shown that the magnetic positioning component 4 is arranged at one end of the housing 1 close to the outer insulating layer 1021, the shielding layer 1022, and the inner insulating layer, and is close to the outer insulating layer 1021 from the outside of the housing 1. The shielding layer 1022 and the inner insulating layer have a semi-elliptical shape with the same shape and size at one end.

In this embodiment, the magnetic positioning component 4 is used to drive the capsule endoscope main body 101 to move into the digestive tract of the human body under the magnetic attraction of the magnetic attraction component when the coaxial cable 102 is connected to the imaging system.

In application, the magnetic positioning component can select any magnetic component that is harmless to the human body according to actual needs, for example, it can be realized by swallowable magnetic nanoparticles. The magnetic attraction member can be any magnetic member that is opposite to the magnetic polarity of the magnetic positioning member, for example, a magnet. The user can manually manipulate the magnetic attraction component to move at a constant cloud or variable speed at the position corresponding to the magnetic positioning component outside the human body according to actual needs, and move the capsule endoscope main body to the target position in the human digestive tract. The movement speed and movement position of the capsule endoscope in the human digestive tract can be controlled according to actual needs. The target location can be any location in the human digestive tract where the user wants to check whether tissue disease occurs, for example, the small intestine, stomach, duodenum, pharynx, etc.

As shown in FIG. 6, it exemplarily shows a schematic diagram of the relative positional relationship between the magnetic positioning component 4 and the magnetic attraction component 300 when the capsule endoscope main body 101 moves into the human digestive tract.

In this embodiment, the capsule endoscope is provided with a magnetic positioning component, so that the user can manually manipulate the magnetic attraction component to move at a uniform cloud or variable speed at a position corresponding to the magnetic positioning component outside the human body according to actual needs to move the capsule endoscope main body to The target position in the human digestive tract, so as to realize real-time imaging of any target position in the human digestive tract.

Example three

As shown in FIG. 7, in this embodiment, the camera module 2 in the first embodiment or the second embodiment includes a camera 21 and a controller 22, and the controller 22 is electrically connected to the center wire 1023;

One end of the housing 1 away from the outer insulating layer 1021, the shielding layer 1022, and the inner insulating layer includes a light-transmitting area 11, and the camera 21 is disposed toward the light-transmitting area 11;

The camera 21 is used to obtain an optical image of the human digestive tract through the light-transmitting area 11;

The controller 22 is used to control the camera 21 to capture an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data and send it to the imaging system through the central wire 1023.

In application, the light-transmitting area completely covers the optical lens area of the camera, so that the light reflected by the human digestive tract can enter the optical lens area to be collected. The camera performs imaging along the advancing or retreating direction of the capsule endoscope in the human digestive tract. The optical lens area includes an optical lens and a light source, and the optical lens can choose any type of lens according to actual needs, for example, an ultra-wide-angle lens. The camera can be arranged at one end or side of the housing away from the outer insulating layer, the shielding layer and the inner insulating layer. The light source is used to emit light to the human digestive tract, playing the role of illumination and supplementary light.

In applications, the light source can be a visible light source. The light source may also include an infrared light source as well as a visible light source, so that the optical lens can also obtain an infrared light image in the human digestive tract. Infrared light can penetrate the tissues in the human digestive tract to achieve imaging of deep tissues in the human digestive tract.

As shown in FIG. 7, the camera 21 is exemplarily shown at one end of the housing 1 away from the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer.

As shown in FIG. 8, the exemplary camera 21 includes a visible light source 211 and an infrared light source 212.

In the application, the controller can select any type of camera controllers and image sensors according to actual needs. It is used to control the camera to obtain the light signal reflected by the human digestive tract at any angle within the preset field of view and convert it into electricity. Signal to obtain optical image data at any angle within the preset field of view. The image sensor can be a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal-Oxide) sensor. Semiconductor, metal oxide semiconductor) sensor. The preset field of view can be set according to actual needs, for example, 0°~360°.

As shown in FIG. 7, in this embodiment, the ultrasonic imaging module 3 in the first embodiment includes an ultrasonic transducer 31, a signal transmitter 32, and a motor 33;

The ultrasonic transducer 31 is electrically connected to the signal transmitter 32, the ultrasonic transducer 31 is mechanically connected to the motor 33, and the signal transmitter 32 and the motor 33 are electrically connected to the center wire 1023.

In application, the center frequency range of the ultrasonic transducer and the diameter range of the focus focus can be set according to actual needs, for example, the center frequency range is 30MHz~50MHz, and the diameter range of the focus focus is 3mm~10mm. The center frequency may specifically be 40 MHz. The motor can choose any type of DC motor according to actual needs, for example, a micro DC servo motor. The capsule endoscope may also include a battery arranged in the housing, and the motor is powered by the battery. The battery may be a rechargeable button battery.

In this embodiment, the side wall of the housing 1 is provided with a sound-transmitting window (not shown in the figure), the ultrasonic transducer is arranged toward the sound-transmitting window 31, and the ultrasonic transducer 31 is used to emit high frequency through the sound-transmitting window. Ultrasonic scans the human digestive tract within a preset scanning angle to obtain ultrasonic scanning data of the human digestive tract;

The motor 33 is arranged inside the housing 1, and the motor 33 is used to drive the ultrasonic transducer 31 to rotate;

The signal transmitter 32 is a rotatable electrical coupling device, which is used to couple the ultrasound scan data to the center wire 1023, and send the ultrasound scan data to the imaging system through the center wire 1023;

The imaging system is also used to power the motor 33.

In application, the sound-transmitting window can be a through-hole or a through-hole array opened on the side wall of the housing. The sound-transmitting window completely covers the ultrasonic emission surface of the ultrasonic transducer, so that high-frequency ultrasonic waves can be transmitted through the sound-transmitting window to the human body for digestion Do an ultrasound scan. The motor can be arranged at any position inside the casing that does not block the camera and the ultrasonic transducer, for example, the inside of the casing is close to one end of the outer insulating layer, the shielding layer, and the inner insulating layer. The motor is used to drive the ultrasonic transducer to rotate a preset scan angle, and the preset scan angle can be set according to actual needs, for example, any angle from 0° to 360°. The rotatable electrical coupling device is realized by a pair of rotary transformers, and can be specifically a dual-coupled inductance structure, which can effectively prevent the rotation of the motor and the ultrasonic transducer from causing the center wire to be entangled. The ultrasonic imaging module is arranged on one side inside the housing and adjacent to the camera module to avoid mutual shielding with the camera module.

As shown in FIG. 7, it is exemplarily shown that the ultrasonic transducer 31 is arranged on one side inside the housing 1 and adjacent to the camera module 2, and the motor 33 is arranged inside the housing 1 close to the outer insulating layer 1021, and shielding Layer 1022 and one end of the inner insulating layer.

In this embodiment, by arranging the camera in the light-transmitting area at one end of the housing away from the outer insulating layer, the shielding layer, and the inner insulating layer, the camera module can obtain the light reflected by the human digestive tract through the light-transmitting area and along the inside of the capsule. The endoscope performs imaging in the direction of advancement or retreat in the human digestive tract; by arranging the ultrasonic transducer in the sound-transmitting window area on the inner side of the housing and adjacent to the camera module, the camera module and ultrasonic exchange can be effectively avoided. The energy devices are shielded from each other, and high-frequency ultrasonic waves are transmitted through the acoustic window to perform ultrasonic rotation scanning of the human digestive tract within a preset scanning angle, which can obtain the ultrasonic scanning data of the human digestive tract and obtain the disease information of the deep layer of the human tissue.

It should be understood that the structural features shown in all the drawings of the present invention are only exemplary, and do not constitute a limitation on the specific shape, structure or size of the device.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still implement the foregoing various embodiments. The technical solutions recorded in the examples are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in Within the protection scope of the present invention.

Claims

A capsule endoscope based on optical ultrasonic dual-mode imaging, which is characterized by comprising a capsule endoscope main body and a coaxial cable, the capsule endoscope main body including a housing, a camera module, and an ultrasonic imaging module;

The main body of the capsule endoscope is capsule-shaped and the outer diameter of the main body of the capsule endoscope is larger than the outer diameter of the coaxial cable;

The camera module and the ultrasonic imaging module are arranged inside the housing, the outer insulating layer, the shielding layer, and the inner insulating layer of the coaxial cable are connected to the housing, and the center of the coaxial cable One end of the wire is electrically connected to the camera module and the ultrasonic imaging module, and the other end is used to electrically connect to the imaging system;

The camera module is used to obtain optical image data of the human digestive tract when the capsule endoscope main body moves into the human digestive tract and send it to the imaging system through the central wire;

The ultrasonic imaging module is used to obtain ultrasonic scan data of the human digestive tract when the capsule endoscope main body moves into the human digestive tract and send it to the imaging system through the central wire;

The imaging system is used to perform real-time image processing on the optical image data and the ultrasound scan data to obtain and display optical images and ultrasound images.
The capsule endoscope according to claim 1, wherein the coaxial cable includes a central wire, and the optical image data and the ultrasound scan data are transmitted to the imaging system in a time-sharing manner through the central wire ；

Alternatively, the coaxial cable includes two central wires, the camera module and the ultrasonic imaging module are each electrically connected to the imaging system through a central wire, and the optical image data and the ultrasonic scanning data pass through The two center wires are simultaneously transmitted to the imaging system.
The capsule endoscope according to claim 1, wherein the camera module comprises a camera and a controller, and the controller is electrically connected to the center wire;

One end of the housing away from the outer insulating layer, the shielding layer, and the inner insulating layer includes a light-transmitting area, the camera is disposed toward the light-transmitting area, and the camera is used to pass through the light-transmitting area Obtain optical images of the human digestive tract;

The controller is used to control the camera to take an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data and send it to the imaging system through the central wire.
The capsule endoscope according to claim 3, wherein the camera includes an optical lens and a light source, and the light source is electrically connected to the controller;

The optical lens and the light source are arranged toward the light-transmitting area;

The controller is also used to control the light source to emit light to the human digestive tract for illumination and supplement light.
The capsule endoscope according to claim 4, wherein the light source includes a visible light source and an infrared light source, and the optical image includes a visible light image and an infrared light image.
The capsule endoscope according to claim 1, wherein the ultrasonic imaging module includes an ultrasonic transducer, a signal transmitter and a motor;

The ultrasonic transducer is electrically connected with the signal transmitter, the ultrasonic transducer is mechanically connected with the motor, and the signal transmitter and the motor are electrically connected with the center wire;

The side wall of the housing is provided with a sound-transmitting window, the ultrasonic transducer is arranged toward the sound-transmitting window, and the ultrasonic transducer is used to emit high-frequency ultrasonic waves through the sound-transmitting window to a predetermined scanning angle. The human digestive tract undergoes ultrasonic rotation scanning to obtain the ultrasonic scanning data of the human digestive tract;

The motor is arranged inside the housing, and the motor is used to drive the ultrasonic transducer to rotate by a preset scanning angle;

The signal transmitter is a rotatable electrical coupling device for coupling the ultrasound scan data to the center wire, and sends the ultrasound scan data to the imaging system through the center wire.
7. The capsule endoscope according to claim 6, wherein the preset scanning angle ranges from 0° to 360°, and the center frequency of the ultrasonic transducer ranges from 30 MHz to 50 MHz.
8. The capsule endoscope according to any one of claims 1 to 7, wherein the outer diameter of the outer insulating layer ranges from 1 mm to 3 mm;

The main body of the capsule endoscope has an outer diameter range of 10 mm to 15 mm, and a length range of 20 mm to 50 mm.
7. The capsule endoscope according to any one of claims 1 to 7, further comprising a magnetic positioning component, and the magnetic positioning component is disposed on the housing;

The magnetic positioning component is used to drive the main body of the capsule endoscope to move into the digestive tract of the human body under the magnetic attraction of the magnetic attraction component when the coaxial cable is connected to the imaging system.
The capsule endoscope according to any one of claims 1 to 7, wherein the camera module is also used to obtain information of the human digestive tract when the main body of the capsule endoscope is removed from the human digestive tract at a uniform speed. The optical image data of multiple cross-sections are sent to the imaging system through the center wire;

The ultrasonic imaging module is also used to obtain ultrasonic scan data of multiple sections of the human digestive tract when the capsule endoscope main body moves out of the human digestive tract at a constant speed and send it to the imaging system through the central wire;

The imaging system is also used to perform a three-dimensional image reconstruction process on the optical image data and the ultrasound scan data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.