CN111728577A - Digestive tract endoscopy capsule and gastrointestinal endoscopy capsule control system - Google Patents

Abstract

A digestive tract endoscope capsule and a digestive tract endoscope capsule control system, the digestive tract endoscope capsule includes a capsule shell and a magnet unit arranged in the capsule shell, the magnet unit includes a first magnet, the first magnet It is rotatably arranged in the capsule shell, and the rotation axis of the magnet unit is perpendicular to the long axis direction of the capsule shell. The digestive tract endoscope capsule can better prevent the digestive tract endoscope capsule from rotating around its own short axis when it moves in the narrow lumen of the digestive tract.

Description

Digestive tract endoscopy capsule and gastrointestinal endoscopy capsule control system

technical field

The invention relates to the field of medical devices, in particular to a digestive tract endoscope capsule and a digestive tract endoscope capsule control system.

Background technique

Existing digestive tract endoscopic capsules on the market, under the control of an external magnetic field environment, can achieve active free movement (rotation, Translation or tumbling motion), but in the narrow lumen of the entire digestive tract (such as the esophagus, small intestine or colon), the capsule generally moves passively with the peristalsis of the digestive tract. In the existing capsule, the magnet in the capsule is generally connected with the shell of the capsule in a fixed manner, so as to ensure that the capsule can generate active movement in different ways with the change of the strength and direction of the external magnetic field environment.

When the capsule moves into the narrow lumen of the digestive tract, the direction of the magnetic pole of the magnet in the capsule cannot be determined. The magnetic pole direction of the external magnetic field is determined. When the magnetic pole direction of the magnet in the capsule does not match the magnetic pole direction of the external magnetic field, the capsule may rotate around the short axis of the capsule in the narrow lumen, causing discomfort or injury to the subject. .

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a digestive tract endoscope capsule and a digestive tract endoscope capsule control system, so as to prevent the digestive tract endoscope capsule from rotating around its own short axis when it moves in the narrow lumen of the digestive tract.

The present invention provides a capsule for digestive tract endoscopy, comprising a capsule shell and a magnet unit disposed in the capsule shell, wherein the magnet unit includes a first magnet, and the first magnet is rotatably disposed in the capsule shell inside the body, and the rotation axis of the magnet unit and the long axis direction of the capsule shell are perpendicular to each other.

Further, the rotation axis of the magnet unit coincides with the short axis of the capsule shell.

Further, the magnet unit further includes a magnet fixing seat, the first magnet is rotatably disposed in the magnet fixing seat, and the magnet fixing seat is fixed in the capsule housing.

Further, one of the first magnet and the magnet fixing seat is provided with a support shaft, the other of the first magnet and the fixing seat is provided with an accommodating hole, and the support shaft extends into the accommodating hole.

Further, the magnet unit further includes a magnet fixing seat, the first magnet is fixedly arranged in the magnet fixing seat, and the magnet fixing seat is rotatably arranged in the capsule housing.

Further, a support shaft is provided on one of the magnet holder and the capsule shell, and an accommodating hole is provided on the other of the magnet holder and the capsule casing, and the support The shaft extends into the accommodating hole.

Further, the digestive tract endoscope capsule further includes a lens assembly, a power supply module, a data acquisition module and a wireless transmission module arranged in the capsule casing, and the center of mass of the digestive tract endoscope capsule is formed on the length of the capsule casing. on the axis of the shaft, and the rotation axis of the magnet unit passes through the center of mass of the digestive tract endoscope capsule.

Further, the lens assembly is disposed on one side of the magnet unit, and the power module, the data acquisition module and the wireless transmission module are disposed on the other side of the magnet unit away from the lens assembly.

Further, the shape of the first magnet is a cylinder, a rectangular parallelepiped or a sphere.

The present invention also provides a digestive tract endoscope capsule control system, including the above-mentioned digestive tract endoscope capsule, and the digestive tract endoscope capsule control system further includes a magnetic field generator for controlling the digestive tract endoscope capsule device, the magnetic field generating device includes a second magnet and a third magnet, the digestive tract endoscope capsule is arranged between the second magnet and the third magnet; the magnetic pole polarization direction of the magnet unit and the magnetic field The polarization directions of the respective magnetic poles of the generating devices are parallel to each other.

To sum up, by rotatably arranging the magnet unit in the capsule shell, and the rotation axis of the magnet unit and the long axis of the capsule shell being perpendicular to each other, when the endoscopic capsule moves into the narrow lumen of the digestive tract, the external Under the action of the magnetic field, no matter how the angle between the direction of the long axis of the capsule and the force of the external magnetic field changes, the rotating magnet unit rotates around the direction of the short axis of the capsule shell to achieve a stable state, so that the endoscopic capsule does not wrap around itself. Short-axis motion, i.e. the device does not turn around in the narrow digestive tract. The external magnetic control device controls the digestive tract endoscope capsule more accurately, and will not cause discomfort or injury to the subject due to the turning of the endoscope capsule at the narrow digestive tract.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific preferred embodiments, and in conjunction with the accompanying drawings, are described in detail as follows.

Description of drawings

FIG. 1 is a schematic diagram of an exploded structure of the digestive tract endoscope capsule provided in the first embodiment of the present invention.

FIG. 2 is a schematic structural diagram of the digestive tract endoscope capsule and the external magnetic field of FIG. 1 .

FIG. 3 is a schematic structural diagram of a magnet unit in the capsule for digestive tract endoscopy in FIG. 1 .

FIG. 4 is a schematic diagram of a cross-sectional structure in the direction of IV-IV in FIG. 3 .

FIG. 5 is a schematic diagram of the exploded structure of the digestive tract endoscope capsule in FIG. 1 after removing the capsule shell.

FIG. 6 is a schematic front view of a lighting module and a camera.

FIG. 7 is a schematic cross-sectional structure diagram of the magnet unit in the second embodiment of the present invention.

Detailed ways

In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

The purpose of the present invention is to provide a digestive tract endoscope capsule and a digestive tract endoscope capsule control system, so as to avoid the phenomenon that the digestive tract endoscope capsule moves in the narrow lumen of the digestive tract and rotates around its own short axis.

FIG. 1 is a schematic diagram of an exploded structure of the digestive tract endoscope capsule according to the first embodiment of the present invention, and FIG. 2 is a schematic structural diagram of the digestive tract endoscope capsule and an external magnetic field in FIG. 1 .

As shown in FIG. 1 and FIG. 2 , the digestive tract endoscope capsule provided by the embodiment of the present invention includes a capsule shell 10 and a magnet unit disposed in the capsule shell 10 , the magnet unit includes a first magnet 20 , a first magnet 20 is rotatably arranged in the capsule housing 10, and the rotation axis of the magnet unit and the long axis direction of the capsule housing 10 are perpendicular to each other. That is, the rotation axis of the magnet unit is perpendicular to the extending direction of the b-b axis in FIG. 2 .

In this embodiment, the first magnet 20 is rotatably disposed in the capsule casing 10 , and the rotation axis of the magnet unit and the long axis direction of the capsule casing 10 are perpendicular to each other. When the endoscopic capsule is controlled by the external magnetic field generating device, the external magnetic field generating device interacts with the first magnet 20 in the endoscopic capsule, thereby driving the movement of the endoscopic capsule in the cavity. As shown in FIG. 2 , the magnetic field generating device includes a second magnet 31 and a third magnet 32 , and the endoscope capsule is located between the second magnet 31 and the third magnet 32 . As shown in FIG. 2A , the external magnetic field is set so that the polarization directions of the magnetic poles of the second magnet 31 and the third magnet 32 are parallel to the horizontal direction, and the polarization directions of the magnetic poles are the same. Under the action of the magnetic fields generated by the second magnet 31 and the third magnet 32 , the magnetic pole polarization direction of the first magnet 20 is parallel to the magnetic pole polarization direction of the second magnet 31 and the third magnet 32 . The magnetic pole polarization direction is opposite to the magnetic pole polarization direction of the second magnet 31 and the third magnet 32 . That is, as shown in FIG. 2A , in a specific example, along the horizontal direction, the N poles of the second magnet 31 and the third magnet 32 are facing the left side of the paper. When the magnetic field formed by the magnet 32 reaches a stable state, its N pole will face the right side of the paper. Of course, the setting of the external magnetic field is not limited to this.

Because the rotation axis of the magnet unit and the long axis direction of the capsule housing 10 are perpendicular to each other. When the endoscopic capsule enters a relatively narrow lumen of the digestive tract (such as the esophagus or intestine), the inner wall of the relatively narrow lumen presses the capsule shell 10 to move the endoscopic capsule, as shown in FIG. 2B , the first magnet 20 Under the action of the external magnetic field, it will rotate around the rotating shaft of the magnet unit to achieve a relatively stable state. In this way, it can be ensured that the endoscopic capsule moves in the narrow lumen, and the overall orientation of the endoscopic capsule will not be changed under the influence of an external magnetic field. That is, the endoscopic capsule can basically keep the posture when entering the narrow lumen and traverse the narrow lumen.

Therefore, under the above structure, when the endoscopic capsule moves into the narrow lumen of the digestive tract, under the action of the external magnetic field, the first magnet 20 in the endoscopic capsule rotates around the short axis direction of the capsule shell 10 to achieve In a stable state, the endoscopic capsule will not move around its own short axis, that is, the device will not turn around in the narrow digestive tract. The external magnetic control device controls the digestive tract endoscope capsule more accurately, and will not cause discomfort or injury to the subject due to the turning of the endoscope capsule in the narrow digestive tract.

Further, in this embodiment, the digestive tract endoscope capsule further includes a lens assembly 40 , a power module 50 , a data acquisition module 60 and a wireless transmission module 70 arranged in the capsule housing 10 . The lens assembly 40 is disposed on one side of the magnet unit; the power module 50 , the data acquisition module 60 and the wireless transmission module 70 are disposed on the other side of the magnet unit away from the lens assembly 40 .

Preferably, the rotation axis of the magnet unit coincides with the short axis of the capsule housing 10 , that is, the rotation axis of the magnet unit coincides with the line a-a in FIG. 2A . The arrangement of the above structures can also be in other forms, but the arrangement of the structures is such that the center of mass of the digestive tract endoscope capsule is formed on the axis of the long axis of the capsule housing 10, and the rotation axis of the magnet unit passes through the center of mass of the digestive tract endoscope capsule. . This can further prevent the capsule housing 10 from rotating around its own short axis, and prevent the gastrointestinal endoscope capsule from rolling over in the narrow lumen.

FIG. 3 is a schematic structural diagram of a magnet unit in the capsule for digestive tract endoscopy in FIG. 1 , and FIG. 4 is a schematic cross-sectional structural diagram in the direction of IV-IV in FIG. 3 .

As shown in FIG. 1 , FIG. 3 and FIG. 4 , the magnet unit further includes a magnet fixing seat 21 , and the first magnet 20 is arranged in the magnet fixing seat 21 . Further, in this embodiment, the magnet fixing seat 21 is in the shape of a frame. One of the magnet holder 21 and the first magnet 20 is provided with a support shaft 22 , and the other is provided with an accommodating hole 23 . The supporting shaft 22 extends into the accommodating hole 23 so that the first magnet 20 is relatively opposite to the magnet. The rotation of the fixed seat 21 enables the rotation axis of the first magnet 20 to be perpendicular to the long axis direction of the capsule housing 10 . That is, in this embodiment, the first magnet 20 is rotatably disposed in the magnet fixing seat 21 , and the magnet fixing seat 21 is fixed in the capsule housing 10 .

FIG. 7 is a schematic cross-sectional structure diagram of the magnet unit in the second embodiment of the present invention. As shown in FIG. 7 , in the second embodiment of the present invention, the magnet unit may also include a magnet fixing seat 21 . The difference from the above embodiment is that the first magnet 20 is fixed in the magnet fixing seat 21 , and the magnet is fixed in the magnet fixing seat 21 . The seat 21 is rotatably provided in the capsule housing 10 .

Correspondingly, one of the magnet holder 21 and the capsule housing 10 is provided with a support shaft 22, and the other of the magnet holder 21 and the capsule housing 10 is provided with an accommodating hole 23 (Fig. 7 only shows the support shaft 22 ), the support shaft 22 extends into the accommodating hole 23 , so that the magnet holder 21 is rotatably disposed in the capsule housing 10 .

Further, the support shaft 22 is the rotating shaft of the magnet unit.

FIG. 5 is a schematic diagram of the exploded structure of the digestive tract endoscope capsule after removing the capsule shell in FIG. 1 , and FIG. 6 is a schematic diagram of the front view of the lighting module and the camera.

As shown in FIG. 5 and FIG. 6 , in this embodiment, the lens assembly 40 includes a camera 41 , an illumination module 42 and an image sensor module 43 . The illumination module 42 is disposed between the camera 41 and the image sensor module 43 , and the camera 41 passes through the camera 41 . The lighting module 42 is electrically connected to the image sensor module 43 . The lighting module 42 includes a plurality of LED lights 421 , the plurality of LED lights 421 are arranged around the periphery of the camera 41 , and the arrangement positions of the plurality of LED lights 421 are symmetrical with respect to the long axis of the capsule housing 10 .

Further, the capsule casing 10 includes a first casing 11 and a second casing 12. The first casing 11 is disposed on the side of the magnet unit relative to the lens assembly 40. The lens assembly 40, the magnet unit, the power module 50, The data acquisition module 60 and the wireless transmission module 70 are disposed in the second casing 12 , the lens assembly 40 is disposed at the port of the second casing 12 , and the first casing 11 is disposed on the second casing 12 to cover the second casing 12 . Outside the lens assembly 40, the first casing 11 is a transparent casing.

On the side of the magnet unit away from the lens assembly 40 , the power module 50 , the data acquisition module 60 and the wireless transmission module 70 are arranged in sequence, and the wireless transmission module 70 closest to the end of the second housing 12 is formed with the capsule housing 10 , Specifically, the end portion of the second shell 12 is an arc-shaped surface adapted to the shape, which facilitates the fixing of the components in the capsule and prevents the components from shaking in the capsule shell 10 .

The design of the digestive tract endoscope capsule is not limited to this, and it can also be a dual-lens capsule or the like.

Further, in this embodiment, the shape of the first magnet 20 may be a cylinder, and in other embodiments, the shape of the first magnet 20 may also be a rectangular parallelepiped, a sphere, or the like.

In this embodiment, the magnet unit includes a first magnet 20 and a magnet fixing seat 21 , and the first magnet 20 is disposed in the capsule housing 10 through the magnet fixing seat 21 . In other embodiments, the magnet unit may only include the first magnet 20 , and the first magnet 20 may also be directly and rotatably connected to the capsule housing 10 .

In this embodiment, the rotation axis of the magnet unit is coincident with the short axis of the capsule shell 10, while in other embodiments, the magnet unit can also be arranged at any end of the capsule shell 10, that is, it can be located in the capsule shell 10. Any position of the capsule 10 is sufficient as long as its rotation axis and the long axis direction of the capsule housing 10 are perpendicular to each other.

To sum up, by rotatably arranging the magnet unit in the capsule housing 10, and the rotation axis of the magnet unit and the long axis of the capsule housing 10 being perpendicular to each other, the endoscopic capsule can move when it enters the narrow lumen of the digestive tract. , under the action of the external magnetic field, no matter how the angle between the direction of the long axis of the capsule and the force of the external magnetic field changes, the rotating magnet unit rotates around the direction of the short axis of the capsule shell 10 to achieve a stable state, so that the endoscopic capsule is in a stable state. There will be no movement around its own short axis, that is, the device will not turn around in the narrow digestive tract. The external magnetic control device controls the digestive tract endoscope capsule more accurately, and will not cause discomfort or injury to the subject due to the turning of the endoscope capsule in the narrow digestive tract.

Referring to FIG. 2, the present invention also provides a digestive tract endoscope capsule control system, the digestive tract endoscope capsule control system includes a digestive tract endoscope capsule and a magnetic field generating device for controlling the digestive tract endoscope capsule outside the human body , the magnetic field generating device includes a second magnet 31 and a third magnet 32, and the digestive tract endoscope capsule is arranged between the magnetic fields generated by the magnetic field generating device. When in use, the magnetic pole polarization direction of the magnet unit of the digestive tract endoscope capsule is the same as The respective magnetic pole polarization directions of the magnetic field generating devices are parallel to each other.

The above are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. The technical personnel, within the scope of the technical solution of the present invention, can make some changes or modifications by using the technical content disclosed above to be equivalent embodiments of equivalent changes, provided that they do not depart from the technical solution content of the present invention, according to the technical solution of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments still fall within the scope of the technical solutions of the present invention.

Claims (10)

1. A digestive tract endoscope capsule, characterized in that: it comprises a capsule housing and a magnet unit arranged in the capsule housing, the magnet unit comprises a first magnet, and the first magnet is rotatably arranged on the inside the capsule shell, and the rotation axis of the magnet unit and the long axis direction of the capsule shell are perpendicular to each other. 2 . The digestive tract endoscope capsule according to claim 1 , wherein the rotation axis of the magnet unit coincides with the short axis of the capsule shell. 3 . 3 . The digestive tract endoscope capsule according to claim 1 , wherein the magnet unit further comprises a magnet fixing seat, the first magnet is rotatably arranged in the magnet fixing seat, and the magnet is fixed. 4 . The seat is fixed in the capsule shell. 4 . The digestive tract endoscope capsule according to claim 3 , wherein a support shaft is provided on one of the first magnet and the magnet fixing seat, and the first magnet and the fixing seat are provided with a support shaft. 5 . An accommodating hole is provided on the other of the two, and the support shaft extends into the accommodating hole. 5 . The digestive tract endoscope capsule according to claim 1 , wherein the magnet unit further comprises a magnet fixing seat, the first magnet is fixedly arranged in the magnet fixing seat, and the magnet fixing seat can be It is rotatably arranged in the capsule housing. 6 . The digestive tract endoscope capsule according to claim 5 , wherein a support shaft is provided on one of the magnet holder and the capsule shell, and a support shaft is arranged on the magnet holder. 7 . And the other one of the capsule shells is provided with an accommodating hole, and the support shaft extends into the accommodating hole. 7 . The digestive tract endoscope capsule according to claim 1 , wherein the digestive tract endoscope capsule further comprises a lens assembly, a power supply module, a data acquisition module and a wireless transmission module arranged in the capsule shell, and the The center of mass of the digestive tract endoscope capsule is formed on the axis of the long axis of the capsule shell, and the rotation axis of the magnet unit passes through the center of mass of the digestive tract endoscope capsule. 8 . The digestive tract endoscopy capsule according to claim 7 , wherein the lens assembly is arranged on one side of the magnet unit, and the power module, the data acquisition module and the wireless transmission module are arranged on the side of the magnet unit. 9 . on the other side of the magnet unit away from the lens assembly. 9 . The digestive tract endoscopy capsule according to claim 1 , wherein the shape of the first magnet is a cylinder, a rectangular parallelepiped or a sphere. 10 . 10. A digestive tract endoscope capsule control system, characterized in that: comprising the digestive tract endoscope capsule according to any one of claims 1 to 9, the digestive tract endoscope capsule control system further comprising: a magnetic field generating device controlled by the digestive tract endoscope capsule, the magnetic field generating device includes a second magnet and a third magnet, and the digestive tract endoscope capsule is arranged between the second magnet and the third magnet; the The magnetic pole polarization direction of the magnet unit and the respective magnetic pole polarization directions of the magnetic field generating devices are parallel to each other.

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