CN103767662B - Scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system - Google Patents
Scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system Download PDFInfo
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- CN103767662B CN103767662B CN201410058051.XA CN201410058051A CN103767662B CN 103767662 B CN103767662 B CN 103767662B CN 201410058051 A CN201410058051 A CN 201410058051A CN 103767662 B CN103767662 B CN 103767662B
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Abstract
A kind of scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system of non-invasive medical technique with the apparatus field, shell and be arranged at the optical imaging moieties of its inside, wireless energy information transmit-receive part, motion parts and microprocessor, microprocessor is connected with optical imaging moieties and receives analog image information, wireless energy information transmit-receive part receiving package containing control instruction wireless energy and export from the digital picture of microprocessor, motion parts receives microprocessor-based control instruction to adjust position and the attitude of reconnaissance system.The present invention can to acquisition gastrointestinal visible light and fluoroscopic image information, and its fluoroscopic image information obtained can be used as the examination foundation of gastrointestinal tract Precancerous Lesion.System comprises a distensible helical type lower limb formula frame for movement, effectively can expand gastrointestinal tract diameter to increase the visual field of photographic head, to obtain the image information in digestive tract gauffer, this mechanism also can control system berth in gastral ad-hoc location in addition, realizes resident inspection.
Description
Technical field
What the present invention relates to is a kind of system of non-invasive medical technique with the apparatus field, specifically a kind of scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system.
Background technology
Along with people's rhythm of life accelerates the continuous change with dietary structure, the sickness rate of gastroenteropathy raises increasingly.It is reported, the crude death rate of China's gastrointestinal cancer is 37,/10 ten thousand, higher than 25.17/10 ten thousand of hepatocarcinoma, 31.44/10 ten thousand of pulmonary carcinoma, occupies first of mortality rate.China male gastrointestinal cancer age-standardized mortality ratio is higher than developed country male by 13.2%, the age-standardized mortality ratio of rural area male's gastrointestinal cancer is higher than cities and towns male by 16.85%, rural females is higher than cities and towns male by 16.5%, has become one of pertinacious disease of harm people ' s health and quality of life.
The disease condition concealments such as gastrointestinal cancer, are difficult to find, once find that the state of an illness has reached to a certain degree, 80% has been in middle and advanced stage, delays best occasion for the treatment at present clinically.Clinical practice shows, upper gastrointestinal road malignant tumor well in time treatment after 5 years and above survival rate reach more than 90%, what have even can fully recover.Therefore the diagnostic level improving upper gastrointestinal canceration to find the morning of gastrointestinal canceration and early treatment particularly important, but lack economy, easy, effective examination and early diagnosis means clinically at present.
Modern molecular biology research shows, be that malignant cell will experience multiple step from normal cell turnover, the periphery biochemical environment of cell is by the change producing matter and become special host, these special host excite lower meeting to send fluorescence different wave length is monochromatic, because the generation of this fluorescence is without the need to exogenous material, be therefore called primary fluorescence.For Precancerous Lesion, because epithelial hyperplasia causes dense structure, block part exciting light, brightness deterioration is in dark-coloured.Therefore, by the color of primary fluorescence, brightness and Fluorescence Characteristic, the biochemical characteristics of special host can be disclosed, thus carry out the detection of Precancerous Lesion.
Utilize primary fluorescence to carry out precancerous lesion detection method and have image method and spectrographic method at present.Whether image method is precancerous lesion according to normal structure from different diagnosis of Precancerous Lesion primary fluorescence color, intensity.Spectrographic method is collected through optical fibers by primary fluorescence, after light/converting electrical signal, analog/digital conversion, send into computer system by custom-designed software display light spectral curve, according to the type of the diversity judgement tissue to be checked of normal structure and abnormal structure's curve of spectrum.Obviously, fluoroscopic image method directly detects according to color, and advantage is directly perceived, simple, can make real-time judge, the observation visual field is large, and not need complicated appliance arrangement, be very beneficial for clinical expansion.Fluorescent spectrometry is rigorous and scientific comparatively, what spectrum comprised contains much information, comprise known various pathological changes and the differentiation of early cancer, the differentiation degree of cancerous cell and gene mutation etc., but spectrographic method is sampled by " point ", obtaining spectrum is single point, and spectroscopy equipment complex structure, costliness, directly perceived not to the judgement of pathological changes, therefore promote the use of certain limitation.
Through finding following pertinent literature: Chinese patent literature CN102160774A, publication date 2011-08-24 to prior art retrieval, disclose one: the video image capsule system of wireless energy supply.This technology adopts wireless energy supply, and the digestive tract picture signal of detection is wirelessly sent to external picture receiver, then the image reproducing external picture receiver can preserved by special-purpose software or directly shown in real time by image workstation.This patent adopts the mode of wireless energy supply, improve the frequency acquisition of image, " continuously " that realize digestive tract image gathers, and improves the resolution of digestive tract image acquisition, meets the demand of clinical all-digestive tract medical diagnosis on disease, but this video image capsule remains white light capsule endoscope, the detection of precancerous lesion can not be realized, meanwhile, because this video image capsule does not possess gastrointestinal tract expanding mechanism, can not to subside to gastrointestinal tract and indagation is carried out at fold position, to cause undetected.
Chinese patent literature CN103211564A, publication date 2013-07-24, disclose a kind of endoscope class technical field for gastrointestinal microrobot, comprise: axial stretching mechanism, the radial clamping mechanism of head and the radial clamping mechanism of afterbody, wherein: the radial clamping mechanism of head is connected with axial stretching mechanism by radial power set, and radial clamping mechanism comprises: intermeshing mechanism output gear and speed governing output gear, at least 3 helix lower limb and clamper arrangements for speed regulation being uniformly distributed in mechanism's output gear excircle.But the defect that this technology is compared in the present invention and deficiency are: only containing white light source in the video module of this robot, therefore can only obtain gastrointestinal visible light image information, can not investigate Precancerous Lesion; In addition, complicated frame for movement also can increase the volume of robot, is unfavorable for going deep into human body alimentary canal.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system is proposed, can to acquisition gastrointestinal visible light and fluoroscopic image information, its fluoroscopic image information obtained can be used as the examination foundation of gastrointestinal tract Precancerous Lesion.System comprises a distensible helical type lower limb formula frame for movement, effectively can expand gastrointestinal tract diameter to increase the visual field of photographic head, to obtain the image information in digestive tract gauffer, this mechanism also can control system berth in gastral ad-hoc location in addition, realizes resident inspection.
The present invention is achieved by the following technical solutions, the present invention includes: shell and be arranged at the optical imaging moieties of its inside, wireless energy information transmit-receive part, motion parts and microprocessor, wherein: microprocessor is connected with optical imaging moieties and receives analog image information, wireless energy information transmit-receive part receiving package containing control instruction wireless energy and export from the digital picture of microprocessor, motion parts receives microprocessor-based control instruction to adjust position and the attitude of reconnaissance system.
Described shell comprises: medical transparent hemispherical shell and medical shell, wherein: medical transparent hemispherical shell is positioned at the outside of optical imaging moieties to provide shooting visual angle, and medical shell and medical transparent hemispherical surgery are tightly connected.
Described optical imaging moieties comprises: ultraviolet monochromatic light source, white light source, image device and short-focus lens, wherein: ultraviolet monochromatic light source and white light source are uniformly distributed in the both sides of short-focus lens, image device is positioned at the below of short-focus lens and is connected to export analog image information with microprocessor.
Described wireless energy information transmit-receive part comprises: wireless messages transmitting portion and wireless energy receiving unit, wherein: wireless messages transmitting portion is made up of wireless communication module and dual-mode antenna, the digital image information from microprocessor is sent to described diagnostic and examination system outside; Wireless energy receiving unit is made up of receiving coil and electric power management circuit, receive the wireless energy from described diagnostic and examination system outside and to optical imaging moieties, wireless messages transmitting portion, motion parts and microprocessor energy supply, export control instruction wherein to microprocessor simultaneously.
Described motion parts comprises: scroll lower limb radial dilatation mechanism and scroll lower limb drive control module, wherein: helical Xing Tui radial dilatation mechanism is positioned at medical transparent hemispherical shell and medical shell junction, helical type lower limb drive control module is positioned at medical surgical inside.
Described scroll lower limb radial dilatation mechanism comprises: driven wheel, frame, central gear and helical lower limb, wherein: rotate the driven wheel and the multiple helical lower limb be meshed with it respectively and a central gear that are arranged in frame.
Described helical lower limb is made up of the supporting leg of the transmitting gear be arranged in frame and arcuate structure.
Described helical lower limb is evenly distributed in the periphery of described driven wheel.
Described transmitting gear is imperfect gear structure.
Technique effect
Compared with prior art, the present invention achieves controlled in experimenter's gastrointestinal tract, the effective berth of checkout gear by scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system, achieves the controlled of stomach intestinal tissue's white light/fluoroscopic image and long-time detection, testing result to external wireless transmission; Because system possesses scroll lower limb radial dilatation mechanism, solve prior art gastrointestinal tract subside and the indagation of fold position time cause undetected, achieve the noinvasive to all-digestive tract, the comprehensive indagation of no pain.Achieve the wireless energy supply to scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system by wireless energy supply system, the restriction to all-digestive tract examinations when breaching the restriction of working time during current inspect in gastroenterology device employing battery-powered, employing towing cable energy supply, can not be realized.The radial dilatation action to scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system scroll lower limb radial dilatation mechanism is achieved by wireless communication technology; According to indagation demand, achieve the controlled switching of white light/ultraviolet monochromatic optical illumination light source, the controlled acquisition of white light/fluoroscopic image; Achieve the wireless transmission to detecting detected image information.
Accompanying drawing explanation
Fig. 1 is scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system schematic diagram;
Fig. 2 is scroll lower limb radial dilatation structural scheme of mechanism;
Fig. 3 is scroll lower limb radial dilatation institution staff schematic diagram;
In figure: the medical elastic diaphragm seal 12 of medical transparent hemispherical shell 1, ultraviolet monochromatic light source 2, image device 3, scroll lower limb radial dilatation mechanism 4, microprocessor 5, wireless communication module 6, medical shell 7, dual-mode antenna 8, receiving coil 9, electric power management circuit 10, scroll lower limb drive control module 11, expandable, short-focus lens 13, white light source 14, driven wheel 15, frame 16, central gear 17 and helical lower limb 18.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: shell a and be arranged at the optical imaging moieties b of its inside, wireless energy information transmit-receive part c, motion parts d and microprocessor 5, wherein: microprocessor 5 is connected with optical imaging moieties b and receives analog image information, wireless energy information transmit-receive part c receives the wireless energy containing control instruction and the digital picture exported from microprocessor 5, and motion parts d receives the control instruction of microprocessor 5 to adjust position and the attitude of reconnaissance system.
The described wireless energy containing control instruction refers to and control instruction is wirelessly received by wireless energy information transmit-receive part c in the lump with wireless energy after modulation.
Described shell comprises: medical transparent hemispherical shell 1 and medical shell 7, wherein: medical transparent hemispherical shell 1 is positioned at the outside of optical imaging moieties b to provide shooting visual angle, and medical shell 7 is tightly connected with medical transparent hemispherical surgery.
Described optical imaging moieties b comprises: ultraviolet monochromatic light source 2, white light source 14, image device 3 and short-focus lens 13, wherein: ultraviolet monochromatic light source 2 and white light source 14 are uniformly distributed in the both sides of short-focus lens 13, and image device 3 is positioned at the below of short-focus lens 13 and is connected to export analog image information with microprocessor 5.
Described wireless energy information transmit-receive part c comprises: wireless messages transmitting portion e and wireless energy receiving unit f, wherein: wireless messages transmitting portion e is made up of wireless communication module 6 and dual-mode antenna 8, the digital image information from microprocessor 5 is sent to described diagnostic and examination system outside; Wireless energy receiving unit f is made up of receiving coil 9 and electric power management circuit 10, receive the wireless energy from described diagnostic and examination system outside and to optical imaging moieties b, wireless messages transmitting portion e, motion parts d and microprocessor 5 energy supply, export control instruction wherein to microprocessor 5 simultaneously.
Described motion parts d comprises: scroll lower limb radial dilatation mechanism 4 and scroll lower limb drive control module, wherein: helical Xing Tui radial dilatation mechanism 4 is positioned at medical transparent hemispherical shell 1 and medical shell 7 junction, helical type lower limb drive control module is positioned at medical surgical inside.
As shown in Figure 2, scroll lower limb radial dilatation mechanism 4 in the present embodiment comprises: driven wheel 15, frame 16, central gear 17 and helical lower limb 18, wherein: rotate the driven wheel 15 and the multiple helical lower limbs 18 be meshed with it respectively and a central gear 17 that are arranged in frame 16.
Described helical lower limb 18 is made up of the supporting leg rotating transmitting gear and the arcuate structure be arranged in frame 16.
Described helical lower limb 18 is evenly distributed in the periphery of described driven wheel 15.
Described transmitting gear is imperfect gear structure.
Described scroll lower limb radial dilatation mechanism 4 realizes scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system and stays at the pool of gastrointestinal tract optional position, the long-time detection that stomach intestinal tissue is carried out and relative analysis, or the imaging realized from different perspectives look-out station, or gastrointestinal tract is subsided and there is the enforcement indagation of fold position.
In work process, medical worker is by the man machine interface sending controling instruction of operation control system, control instruction is received by dual-mode antenna 8, wireless communication module 6, microprocessor 5 is realized subsiding and having fold gastrointestinal radial dilatation by scroll lower limb drive control module 11 and scroll lower limb radial dilatation mechanism 4, and the size of expansion is controlled by medical worker by the man machine interface of control system realizes White-light image.Realize on the one hand scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system the berthing of optional position in gastrointestinal tract, also achieve and gastrointestinal tract subsided and the blur-free imaging at fold position.
Described micromotor drives driven wheel 15 to rotate under the control of scroll lower limb drive control module 11, and drives central gear 17 to rotate; Located by turning cylinder and engage with central gear 17, when central gear 17 rotates, all helical lower limbs 18 synchronous axial system thereupon, makes the end of helical lower limb 18 outwards uphold, realize subsiding and having fold gastrointestinal radial dilatation, scroll lower limb radial dilatation mechanism 4 work process as shown in Figure 3.
Be the initial position of each helical lower limb 18 as shown in Figure 3 d, now the external diameter of scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system is minimum, ensure when scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system is sent in body from subject oral cavity or anus, misery and damage are not brought to experimenter, ensure the passability of scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system in gastrointestinal tract simultaneously; Along with Fig. 3 c to Fig. 3 b arrives the motor process of Fig. 3 a again, the external diameter of helical lower limb 18 end constantly increases, and upholds effect also strengthen gradually the radial direction of gastrointestinal tract inwall.
In order to reduce the end of helical lower limb 18 to the damage of gastrointestinal tract inwall, the end of helical lower limb 18 adopts in axial add wide way, by the end of increase helical lower limb 18 and the contact area of gastrointestinal tract inwall, the mode of end to the active force of gastrointestinal tract inwall reducing helical lower limb 18 prevents the damage of end to stomach intestinal tissue of helical lower limb 18.In order to realize the positiver sealing to scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system, the medical elastic diaphragm seal 12 of expandable of high resiliency, thin-wall circular tubular is set vertically in the outside of scroll lower limb radial dilatation mechanism 4, the two ends of the medical elastic diaphragm seal 12 of expandable respectively with the bonding positiver sealing of outer rim of medical transparent hemispherical shell 1, medical shell 7.
As can be seen from the above-described embodiment, by precision machinery technology, wireless energy supply technology, wireless communication technology, white light/fluoroscopic image detection technique realizes the controlled berth of checkout gear in gastrointestinal tract, gastrointestinal radial direction is upheld, active detecting, eliminate existing inspect in gastroenterology system shortcoming and defect, contribute to the indagation of gastroenteropathy, benefit clinical patients.
Claims (1)
1. a scroll lower limb expanding gastrointestinal tract precancerous lesion minisize non-invasive diagnostic and examination system, it is characterized in that, comprise: shell and be arranged at the optical imaging moieties of its inside, wireless energy information transmit-receive part, motion parts and microprocessor, wherein: microprocessor is connected with optical imaging moieties and receives analog image information, wireless energy information transmit-receive part receiving package containing control instruction wireless energy and export from the digital picture of microprocessor, motion parts receives microprocessor-based control instruction to adjust position and the attitude of diagnostic and examination system;
Described shell comprises: medical transparent hemispherical shell and medical shell, wherein: medical transparent hemispherical shell is positioned at the outside of optical imaging moieties to provide shooting visual angle, and medical shell is connected with medical transparent hemispherical body seal;
The described place of being tightly connected is provided with the medical elastic diaphragm seal of expandable;
Described optical imaging moieties comprises: ultraviolet monochromatic light source, white light source, image device and short-focus lens, wherein: ultraviolet monochromatic light source and white light source are uniformly distributed in the both sides of short-focus lens, image device is positioned at the below of short-focus lens and is connected to export analog image information with microprocessor;
Described wireless energy information transmit-receive part comprises: wireless messages transmitting portion and wireless energy receiving unit, wherein: wireless messages transmitting portion is made up of wireless communication module and dual-mode antenna, the digital image information from microprocessor is sent to described diagnostic and examination system outside; Wireless energy receiving unit is made up of receiving coil and electric power management circuit, receive the wireless energy from described diagnostic and examination system outside and to optical imaging moieties, wireless messages transmitting portion, motion parts and microprocessor energy supply, export control instruction wherein to microprocessor simultaneously;
Described motion parts comprises: scroll lower limb radial dilatation mechanism and scroll lower limb drive control module, wherein: scroll lower limb radial dilatation mechanism is positioned at medical transparent hemispherical shell and medical shell junction, and scroll lower limb drive control module is positioned at medical enclosure;
Described scroll lower limb radial dilatation mechanism comprises: driven wheel, frame, central gear and helical lower limb, wherein: rotate the driven wheel be arranged in frame and the central gear be meshed with it, multiple helical lower limb is meshed with a central gear;
Described helical lower limb is made up of the supporting leg of the transmitting gear be arranged in frame and arcuate structure;
Described helical lower limb is evenly distributed in the periphery of described central gear;
Described transmitting gear is imperfect gear structure.
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| US20200000323A1 (en) * | 2018-06-27 | 2020-01-02 | Covidien Lp | Micro robotic imaging device for laparoscopic surgery |
| CN109846451B (en) * | 2019-01-28 | 2020-07-10 | 上海交通大学 | Scissors type radial expansion device for intestinal tract micro-robot |
| CN109805884A (en) * | 2019-03-04 | 2019-05-28 | 上海交通大学 | Radial dilatation device for microrobot |
| CN110393500B (en) * | 2019-08-07 | 2022-02-08 | 中北大学 | Electromagnetic and mechanical combined type capsule robot for full digestive tract examination |
| CN112914492B (en) * | 2021-03-14 | 2022-07-05 | 中北大学 | Plant growth simulation soft body gas drive propelling mechanism for intestinal tract examination |
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| CN1171227A (en) * | 1997-05-14 | 1998-01-28 | 上海雷硕医疗器械有限公司 | Natural fluoroscopic image and spectrodiagnostic apparatus for malignant tumor |
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