CN111568346A - Capsule endoscope based on optical ultrasonic bimodal imaging - Google Patents
Capsule endoscope based on optical ultrasonic bimodal imaging Download PDFInfo
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- CN111568346A CN111568346A CN202010260190.6A CN202010260190A CN111568346A CN 111568346 A CN111568346 A CN 111568346A CN 202010260190 A CN202010260190 A CN 202010260190A CN 111568346 A CN111568346 A CN 111568346A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00112—Connection or coupling means
- A61B1/00114—Electrical cables in or with an endoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0858—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving measuring tissue layers, e.g. skin, interfaces
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- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4416—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to combined acquisition of different diagnostic modalities, e.g. combination of ultrasound and X-ray acquisitions
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Abstract
The invention is suitable for the technical field of capsule endoscopes and provides a capsule endoscope based on optical ultrasonic bimodal imaging. According to the embodiment of the invention, the capsule endoscope main body is mechanically guided and conveyed by adopting the coaxial cable with the outer diameter smaller than that of the capsule endoscope main body, so that the movement of the capsule endoscope main body in a human body is controllable, the collision and friction of the coaxial cable to the digestive tract of the human body can be effectively reduced, and the electromagnetic radiation can be reduced and the static electricity can be eliminated through the shielding layer; optical image data of the human digestive tract are acquired through the camera module, ultrasonic scanning data of the human digestive tract are acquired through the ultrasonic imaging module, the optical image data and the ultrasonic scanning data are sent to the imaging system through the coaxial cable to be subjected to real-time image processing, optical images and ultrasonic images are obtained and displayed, optical imaging and ultrasonic imaging can be achieved, multi-dimensional tissue imaging pictures in the human digestive tract can be presented in real time, and deep lesion information of tissues can be acquired.
Description
Technical Field
The invention belongs to the technical field of capsule endoscopes, and particularly relates to a capsule endoscope based on optical ultrasonic bimodal imaging.
Background
The death rate of patients with esophageal cancer is high, and the death rate is mainly caused by the fact that early symptoms of esophageal cancer are not obvious and difficult to diagnose, the condition of patients is already serious when the patients visit the clinic, and the treatment effect is limited. At present, the pathological changes of the digestive tract parts of human esophagus, stomach, duodenum and the like can be diagnosed by a capsule endoscope which has small volume and can be deeply inserted into the digestive tract of the human body to spy the health conditions of the human intestines, stomach and esophagus parts.
However, the existing optical endoscope based on the optical imaging technology can only observe the surface condition of the digestive tract, and cannot acquire lesion information in the deep layer of the tissue, so that tiny lesions in the submucosa cannot be captured, and the completeness and the accuracy of diagnosis are greatly limited.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a capsule endoscope based on optical ultrasound bimodal imaging, so as to solve the problem that the existing optical endoscope based on optical imaging technology can only observe the surface of the alimentary canal, cannot acquire lesion information in the deep layer of the tissue, cannot capture the tiny lesion in the submucosa, and greatly limits the completeness and accuracy of diagnosis.
The embodiment of the invention provides a capsule endoscope based on optical ultrasonic bimodal imaging, which comprises a capsule endoscope main body and a coaxial cable, wherein the capsule endoscope main body comprises a shell, a camera module and an ultrasonic imaging module;
the capsule endoscope main body is in a capsule shape, and the outer diameter of the capsule endoscope main body is larger than that of the coaxial cable;
the camera module and the ultrasonic imaging module are arranged in the shell, an outer insulating layer, a shielding layer and an inner insulating layer of the coaxial cable are connected with the shell, one end of a central lead of the coaxial cable is electrically connected with the camera module and the ultrasonic imaging module, and the other end of the central lead of the coaxial cable is electrically connected with an imaging system;
the camera module is used for acquiring optical image data of the human digestive tract and sending the optical image data to the imaging system through the central lead when the capsule endoscope main body moves into the human digestive tract;
the ultrasonic imaging module is used for acquiring ultrasonic scanning data of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves into the human digestive tract;
the imaging system is used for carrying out real-time image processing on the optical image data and the ultrasonic scanning data to obtain and display an optical image and an ultrasonic image.
In one embodiment, the coaxial cable includes a central conductor through which the optical image data and the ultrasound scan data are time-shared for transmission to the imaging system;
or the coaxial cable comprises two central leads, the camera module and the ultrasonic imaging module are respectively electrically connected with the imaging system through one central lead, and the optical image data and the ultrasonic scanning data are simultaneously transmitted to the imaging system through the two central leads.
In one embodiment, the camera module comprises a camera and a controller, and the controller is electrically connected with the central lead;
one end, far away from the outer insulating layer, the shielding layer and the inner insulating layer, of the shell comprises a light transmitting area, the camera is arranged towards the light transmitting area, and the camera is used for acquiring an optical image of the digestive tract of the human body through the light transmitting area;
the controller is used for controlling the camera to shoot an optical image of the human digestive tract in a preset visual field range, converting the optical image into optical image data and sending the optical image data to the imaging system through the central wire.
In one embodiment, the camera includes an optical lens and a light source electrically connected to the controller;
the optical lens and the light source are arranged towards the light-transmitting area;
the controller is also used for controlling the light source to emit light to the alimentary canal of the human body for illumination and supplementary lighting.
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 comprises 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 central lead;
the side wall of the shell is provided with a sound-transmitting window, the ultrasonic transducer is arranged towards the sound-transmitting window, and the ultrasonic transducer is used for transmitting high-frequency ultrasonic waves through the sound-transmitting window to perform ultrasonic rotary scanning on the human digestive tract within a preset scanning angle so as to obtain ultrasonic scanning data of the human digestive tract;
the motor is arranged in the shell and used for driving 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 conductor and transmitting the ultrasound scan data to the imaging system through the center conductor.
In one embodiment, the preset scanning angle ranges from 0 ° to 360 °, and the central frequency range of the ultrasonic transducer ranges from 30MHz to 50 MHz.
In one embodiment, the outer diameter of the outer insulating layer ranges from 1mm to 3 mm;
the capsule endoscope main body has an outer diameter range of 10mm to 15mm and a length range of 20mm to 50 mm.
In one embodiment, the capsule endoscope further comprises a magnetic positioning component disposed at the housing;
the magnetic positioning component is used for driving the capsule endoscope main body to move into the human digestive tract under the magnetic attraction effect of the magnetic attraction component when the coaxial cable is connected with the imaging system.
In one embodiment, the camera module is further configured to acquire optical image data of a plurality of sections of the human body digestive tract and send the optical image data to the imaging system through the central wire when the capsule endoscope main body moves out of the human body digestive tract at a constant speed;
the ultrasonic imaging module is also used for acquiring ultrasonic scanning data of a plurality of sections of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves out of the human digestive tract at a constant speed;
the imaging system is also used for carrying out three-dimensional image reconstruction processing on the optical image data and the ultrasonic scanning data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.
The embodiment of the invention provides a capsule endoscope comprising a capsule endoscope main body and a coaxial cable, wherein a camera module and an ultrasonic imaging module are arranged in a shell of the capsule endoscope main body, and the capsule endoscope main body is mechanically guided and conveyed by the coaxial cable with the outer diameter smaller than that of the capsule endoscope main body, so that the capsule endoscope main body can control the movement in a human body, the collision and friction of the coaxial cable to the alimentary canal of the human body can be effectively reduced, the comfort level and the tolerance of examination and diagnosis are improved, and the electromagnetic radiation can be reduced and the static electricity can be eliminated by a shielding layer; optical image data of the human alimentary canal is acquired through the camera module, ultrasonic scanning data of the human alimentary canal is acquired through the ultrasonic imaging module, the optical image data and the ultrasonic scanning data are sent to the imaging system through the coaxial cable to be subjected to real-time image processing, optical images and ultrasonic images are obtained and displayed, optical imaging and ultrasonic imaging can be achieved, multi-dimensional tissue imaging pictures in the human alimentary canal can be presented in real time, tissue lesion conditions can be observed conveniently, lesion information of tissue layers can be acquired, more direct and accurate diagnosis bases are provided, and completeness and accuracy of diagnosis are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of a first perspective structure of a capsule endoscope provided in accordance with an embodiment of the present invention;
FIG. 2 is a two-dimensional ultrasound image of a small intestine of a pig provided in accordance with an embodiment of the present invention;
FIG. 3 is a three-dimensional ultrasound image of a small intestine of a pig provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second perspective structure of a capsule endoscope provided by one 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;
fig. 6 is a schematic diagram of a relative position relationship between the magnetic positioning component and the magnetic attraction component according to the second embodiment of the present invention;
FIG. 7 is a schematic diagram of a first perspective structure of a capsule endoscope provided in the third embodiment of the present invention;
fig. 8 is a second perspective structural diagram of a capsule endoscope provided by the third embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Example one
As shown in fig. 1, the present embodiment provides a capsule endoscope 100 based on optical ultrasound bimodal imaging, which includes a capsule endoscope main body 101 and a coaxial cable 102, wherein the capsule endoscope main body 101 includes a housing 1, a camera module 2 and an 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 that of the coaxial cable 102;
the camera module 2 and the ultrasonic imaging module 3 are disposed 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, one end of the center conductor 1023 of the coaxial cable 102 is electrically connected to the camera module 2 and the ultrasonic imaging module 3, and the other end is used for being electrically connected to an imaging system.
In application, the capsule endoscope main body can be arranged into any other shape which is easy to swallow according to actual needs, such as a spherical shape, an ellipsoidal shape and the like. The size of the capsule endoscope main body is smaller than the minimum size which can be accommodated by the human digestive tract, and the outer diameter of the capsule endoscope main body can be 10 mm-15 mm, and the length of the capsule endoscope main body can be 20 mm-50 mm, for example, the outer diameter is 10mm, and the length is 20 mm.
In application, the coaxial cable comprises an outer insulating layer, a shielding layer, an inner insulating layer and a central conductor which are coaxially arranged from outside to inside. The outer insulating layer and the inner insulating layer can be made of any smooth insulating material which is harmless to the digestive tract of the human body, has flexibility and is easy to swallow according to actual needs, such as silicon rubber, Polyvinyl chloride (PVC), Thermoplastic Elastomer (TPE) and the like. The shielding layer comprises metal foil layer and metal mesh fabric usually, and the metal foil layer is the aluminium foil layer usually, and metal mesh fabric is woven for the copper line usually, and the shielding layer plays important role to the shielding performance of the signal that transmits among the coaxial cable, can effectively reduce the electromagnetic radiation that the signal produced to the influence that the human body caused, and the static that the while shielding layer also can produce the casing is drawn forth the human body, avoids the static harm that causes the human body. The central conductor may be copper wire, silver wire, etc.
In use, the outer diameter of the outer insulating layer is less than the smallest inner diameter of the human digestive tract, and the outer diameter of the outer insulating layer may range from 1mm to 3mm, for example, 2 mm. Due to the adoption of the thin coaxial cable, the discomfort caused by capsule endoscope detection to various parts (such as throat) in the alimentary canal of a human body can be greatly reduced, and the use of anesthetic can also be avoided. Coaxial cable can be with capsule endoscope main part fixed connection or detachable connection, coaxial cable is connected with imaging system is detachable, detachable connected mode makes user can replace capsule endoscope main part or coaxial cable according to actual need for same capsule endoscope main part can the different coaxial cable of adaptation, and same coaxial cable also can the different capsule endoscope main parts of adaptation, does benefit to and changes the two. The coaxial cable can be a disposable cable, can be replaced after being used once, is convenient and sanitary, and can effectively prevent cross infection.
In application, the detachable connection mode of the coaxial cable and the imaging system can be a plug-in connection mode, a fastening mode or a fastener fixing mode, a threaded connection mode and the like.
In one embodiment, a plug interface is arranged at one end of the coaxial cable detachably connected with the imaging system, and the coaxial cable is detachably connected with the imaging system through the plug interface.
In application, the shell can be made of any material which is harmless to the digestive tract of the human body and has flexibility according to actual needs, such as silicon rubber, polyvinyl chloride or thermoplastic elastomer. The housing may be partially or wholly light transmissive.
In the application, the module of making a video recording and ultrasonic imaging module set up in that the casing is inside and do not shelter from each other.
Fig. 1 exemplarily shows that the camera module 2 is disposed inside the housing 1 at an end far from the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer, and the ultrasonic imaging module 3 is disposed inside the housing 1 and is not shielded from the camera module 2.
In the present embodiment, the camera module 2 is used for acquiring optical image data of the human digestive tract and sending the optical image data to the imaging system through the central wire 1023 when the capsule endoscope main body 101 moves into the human digestive tract.
In application, the camera module can select any device with an optical image shooting function according to actual needs, for example, a combination of a camera and an image sensor. The camera module can shoot two-dimensional optical image data in a 0-360-degree visual field range in a human digestive tract and send the data to the imaging system.
In this embodiment, the ultrasonic imaging module 3 is configured to acquire ultrasonic scanning data of the human digestive tract and send the ultrasonic scanning data to the imaging system through the central wire when the capsule endoscope main body 101 moves into the human digestive tract.
In application, the ultrasonic imaging module can select any device with an ultrasonic scanning function according to actual needs, for example, the combination of an ultrasonic transducer, a motor and a signal transmitter. The ultrasonic imaging module can carry out ultrasonic rotary scanning imaging within the scanning range of 0-360 degrees on the alimentary canal of a human body, and ultrasonic scanning data are obtained and sent to an imaging system.
In this embodiment, the imaging system is configured to perform real-time image processing on the optical image data and the ultrasonic scanning data, and obtain and display an optical image and an ultrasonic image.
In one embodiment, the imaging system is specifically configured to perform real-time image processing on the optical image data and the ultrasonic scanning data to obtain and display a two-dimensional optical image and a two-dimensional ultrasonic image, and is further configured to perform three-dimensional image reconstruction processing on the optical image data and the ultrasonic scanning data to obtain and display a three-dimensional optical image and a three-dimensional ultrasonic image of the alimentary tract of the human body. The two-dimensional ultrasonic image is a tissue section image of a human digestive tract.
In application, the capsule endoscope provided by the embodiment can be used for examining the digestive tract of a human body and the digestive tract of an animal.
As shown in fig. 2, a two-dimensional ultrasound image of a porcine small intestine is illustratively shown.
As shown in fig. 3, a three-dimensional ultrasound image of a porcine small intestine is illustratively shown.
In one embodiment, the camera module is further configured to acquire optical image data of a plurality of sections of the human body digestive tract and send the optical image data to the imaging system through the central wire when the capsule endoscope main body moves out of the human body digestive tract at a constant speed;
the ultrasonic imaging module is also used for acquiring ultrasonic scanning data of a plurality of sections of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves out of the human digestive tract at a constant speed;
the imaging system is also used for carrying out three-dimensional image reconstruction processing on the optical image data and the ultrasonic scanning data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.
In application, the imaging system may select any device with image data processing and displaying functions according to actual needs, for example, a combination of an image processor and a display, a combination of a computer host and a display, a notebook computer, a desktop computer, a mobile phone, a tablet computer, and the like. The imaging system can perform real-time image processing on optical image data sent by the camera module and ultrasonic scanning data sent by the ultrasonic imaging module to obtain and display a two-dimensional optical image and a two-dimensional ultrasonic image, so that a user can observe the tissue lesion condition of the inner surface of the alimentary tract of a human body in real time, the motion position of the capsule endoscope in the alimentary tract of the human body can be controlled through the magnetic attraction component according to the tissue lesion condition observed in real time, and the two-dimensional optical image and the two-dimensional ultrasonic image of a target position are obtained through the capsule endoscope; the imaging system can also carry out three-dimensional image reconstruction processing on the optical image data and the ultrasonic scanning data to obtain and display a three-dimensional optical image and a three-dimensional ultrasonic image of the human digestive tract so as to obtain the deep tissue lesion condition of the target position.
In one embodiment, the coaxial cable includes a central conductor through which the optical image data and the ultrasound scan data are time-shared for transmission to the imaging system;
or the coaxial cable comprises two central leads, the camera module and the ultrasonic imaging module are respectively electrically connected with the imaging system through one central lead, and the optical image data and the ultrasonic scanning data are simultaneously transmitted to the imaging system through the two central leads.
In the application, the camera module and the ultrasonic imaging module can transmit optical image data and ultrasonic scanning data to an imaging system in a time-sharing manner through the same central wire, so that the wire can be saved, the outer diameter of the coaxial cable is reduced, the collision and friction of the coaxial cable on the digestive tract of a human body are effectively reduced, and the comfort level and the tolerance of examination and diagnosis are improved. The specific mode of the time-sharing transmission may be that the optical image data is transmitted in front of the ultrasonic scanning data, the ultrasonic scanning data is transmitted in back of the optical scanning data, the ultrasonic scanning data is transmitted in front of the ultrasonic scanning data, the ultrasonic scanning data and the optical image data are sequentially transmitted according to the sequence of the acquisition time of the optical image data and the ultrasonic scanning data, and when the acquisition time of the optical image data and the acquisition time of the ultrasonic scanning data are the same, the aforementioned alternate transmission mode is adopted. For example, assuming that the data stream of the optical image data acquired within the preset time period is A1A2 … … An and the ultrasonic data stream is B1B2 … … Bn, the data stream alternately transmitting the two may be A1B1A2B2 … … AnBn or B1A1B2A2 … … BnAN, where n ≧ 1 and is An integer. The imaging system splits the data stream after receiving the data stream to restore the data stream to optical image data and ultrasound scan data. The camera module and the ultrasonic imaging module can also transmit optical image data and ultrasonic scanning data to the imaging system through a central wire, so that the optical image data and the ultrasonic scanning data are not interfered with each other, and the data transmission efficiency can be improved.
Fig. 1 exemplarily shows a case where the camera module 2 and the ultrasonic imaging module 3 are electrically connected to one center wire 1023.
Fig. 4 exemplarily shows a case where the camera module 2 and the ultrasonic imaging module 3 are each electrically connected to one center wire 1023.
The embodiment of the invention provides a capsule endoscope comprising a capsule endoscope main body and a coaxial cable, wherein a camera module and an ultrasonic imaging module are arranged in a shell of the capsule endoscope main body, and the capsule endoscope main body is mechanically guided and conveyed by the coaxial cable with the outer diameter smaller than that of the capsule endoscope main body, so that the capsule endoscope main body can control the movement in a human body, the collision and friction of the coaxial cable to the alimentary canal of the human body can be effectively reduced, the comfort level and the tolerance of examination and diagnosis are improved, and the electromagnetic radiation can be reduced and the static electricity can be eliminated by a shielding layer; optical image data of the human alimentary canal is acquired through the camera module, ultrasonic scanning data of the human alimentary canal is acquired through the ultrasonic imaging module, the optical image data and the ultrasonic scanning data are sent to the imaging system through the coaxial cable to be subjected to real-time image processing, optical images and ultrasonic images are obtained and displayed, optical imaging and ultrasonic imaging can be achieved, multi-dimensional tissue imaging pictures in the human alimentary canal can be presented in real time, tissue lesion conditions can be observed conveniently, lesion information of tissue layers can be acquired, more direct and accurate diagnosis bases are provided, and completeness and accuracy of diagnosis are improved. And a two-dimensional optical image and a two-dimensional ultrasonic image can be obtained and displayed, and the optical image data and the ultrasonic scanning data are subjected to three-dimensional image reconstruction processing through the imaging system, so that a three-dimensional optical image and a three-dimensional ultrasonic image of the digestive tract of the human body are obtained and displayed.
Example two
As shown in fig. 5, in the present embodiment, the capsule endoscope 100 further includes a magnetic positioning member 4, and the magnetic positioning member 4 is provided to the housing 1.
In application, the magnetic positioning part can be arranged inside or outside the shell, and the shape and size of the magnetic positioning part can be set according to actual needs, for example, the magnetic positioning part is a semi-oval shape with the same shape and size as that of one end of the shell outside close to the outer insulating layer, the shielding layer and the inner insulating layer.
As shown in fig. 5, the magnetic positioning member 4 is exemplarily shown to be disposed at one end of the outside of the casing 1 near the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer, and has a semi-elliptical shape having the same shape and size as one end of the outside of the casing 1 near the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer.
In the present embodiment, the magnetic positioning component 4 is used for driving the capsule endoscope main body 101 to move into the alimentary canal of the human body under the magnetic attraction effect of the magnetic attraction component when the coaxial cable 102 is connected with the imaging system.
In application, the magnetic positioning component can be any magnetic component harmless to the human body according to actual needs, for example, the magnetic positioning component is realized by swallowable magnetic nanoparticles. The magnetically attractive element may be selected from any magnetic element, such as a magnet, having a magnetic polarity opposite to the magnetic polarity of the magnetically positionable element. The user can manually control the magnetic attraction part to do uniform-speed cloud or variable-speed motion at the position outside the human body corresponding to the magnetic positioning part according to actual needs, and the capsule endoscope main body is moved to a target position in the alimentary canal of the human body. The moving speed and the moving position of the capsule endoscope in the alimentary canal of the human body can be controlled according to actual requirements. The target location may be any location within the human alimentary tract where the user wants to see if a tissue lesion has occurred, such as the small intestine, stomach, duodenum, pharynx, and the like.
As shown in fig. 6, a schematic diagram illustrating the relative position 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 is illustrated.
This embodiment is through setting up magnetic positioning part at the capsule endoscope for the user can be according to actual need manual control magnetic attraction part and do at the constant velocity high in the clouds or variable speed motion in the human outside position that corresponds with magnetic positioning part, with the target location of capsule endoscope main part motion to in the human alimentary canal, thereby realize the real-time imaging to arbitrary target location in the human alimentary canal.
EXAMPLE III
As shown in fig. 7, in the present 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 shell 1, which is far away from the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer, comprises a light-transmitting area 11, and the camera 21 is arranged towards the light-transmitting area 11;
the camera 21 is used for acquiring an optical image of the digestive tract of the human body through the light-transmitting area 11;
the controller 22 is used for controlling the camera 21 to take an optical image of the digestive tract of the human body within a preset visual field range, converting the optical image into optical image data and sending the optical image data 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 light reflected by the alimentary tract of a human body can enter the optical lens area to be collected, and the camera performs imaging along the advancing or withdrawing direction of the capsule endoscope in the alimentary tract of the human body. The optical lens area comprises an optical lens and a light source, and the optical lens can select any type of lens according to actual needs, such as an ultra-wide angle lens. The camera can be arranged at one end or the side part of the shell far away from the outer insulating layer, the shielding layer and the inner insulating layer. The light source is used for emitting light to the alimentary canal of the human body, and plays roles in lighting and light supplement.
In one embodiment, the camera includes an optical lens and a light source electrically connected to the controller;
the optical lens and the light source are arranged towards the light-transmitting area;
the controller is also used for controlling the light source to emit light to the alimentary canal of the human body for illumination and supplementary lighting.
In an application, the light source may be a visible light source. The light source can also comprise an infrared light source at the same time of comprising a visible light source, so that the optical lens can also obtain an infrared light image in the alimentary canal of the human body. The infrared light can penetrate through tissues in the human digestive tract, and imaging of deep tissues in the human digestive tract is realized.
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.
As shown in fig. 7, the camera 21 is exemplarily shown to be disposed inside the housing 1 at an end 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 is shown to include a visible light source 211 and an infrared light source 212.
In application, the controller can be realized by selecting any type of camera controllers (cameras) and image sensors according to actual needs, and is used for controlling the camera to acquire optical signals reflected by the human digestive tract at any angle in a preset visual field range and convert the optical signals into electric signals, so that optical image data at any angle in the preset visual field range is acquired. The image sensor may be a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal-Oxide Semiconductor) sensor. The preset visual field range may be set according to actual needs, for example, 0 ° to 360 °.
As shown in fig. 7, in the present embodiment, the ultrasonic imaging module 3 in the first embodiment includes an ultrasonic transducer 31, a signal transmitter 32 and a motor 33;
In application, the central frequency range of the ultrasonic transducer and the diameter range of the focusing focus can be set according to actual requirements, for example, the central frequency range is 30 MHz-50 MHz, and the diameter range of the focusing focus is 3 mm-10 mm. The center frequency may specifically be 40 MHz. The motor can select any type of direct current motor according to actual needs, such as a miniature direct current servo motor. The capsule endoscope may also include a battery disposed within the housing, with the battery powering the motor. The battery may be a rechargeable button cell.
In this embodiment, the side wall of the housing 1 is provided with an acoustic window (not shown in the figure), the ultrasonic transducer 31 is arranged toward the acoustic window, and the ultrasonic transducer 31 is configured to transmit high-frequency ultrasonic waves through the acoustic window to perform ultrasonic rotary scanning on the human digestive tract within a preset scanning angle, so as to obtain ultrasonic scanning data of the human digestive tract;
the motor 33 is arranged inside the shell 1, and the motor 33 is used for driving the ultrasonic transducer 31 to rotate;
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 formed in the side wall of the shell, and the sound-transmitting window completely covers the ultrasonic wave emitting surface of the ultrasonic transducer, so that high-frequency ultrasonic waves can be emitted to the alimentary tract of a human body through the sound-transmitting window to carry out ultrasonic wave scanning. The motor may be disposed at any position inside the housing that does not shield the camera and the ultrasonic transducer, for example, at an end inside the housing that is close to the outer insulating layer, the shielding layer, and the inner insulating layer. The motor is used for driving the ultrasonic transducer to rotate by a preset scanning angle, and the preset scanning angle can be set according to actual needs, for example, any angle in the range of 0-360 degrees. The rotatable electric coupling device is realized through a pair of rotary transformers, and specifically can be of a double-coupling inductance structure, so that the winding of a central lead wire caused by the rotation action of a motor and the ultrasonic transducer can be effectively prevented. The ultrasonic imaging module is arranged on one side of the inside of the shell and is adjacent to the camera module, so that the ultrasonic imaging module is prevented from being shielded by the camera module.
As shown in fig. 7, the ultrasonic transducer 31 is exemplarily shown to be disposed at one side of the inside of the housing 1 and adjacent to the camera module 2, and the motor 33 is disposed at one end of the inside of the housing 1 near the outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer.
In the embodiment, the camera is arranged in the light transmitting area at one end of the shell far away from the outer insulating layer, the shielding layer and the inner insulating layer, so that the camera module can obtain light rays reflected by the human digestive tract through the light transmitting area and image along the advancing or withdrawing direction of the capsule endoscope in the human digestive tract; through setting up ultrasonic transducer in the sound-permeable window region of the inside one side of casing and adjacent with the module of making a video recording, can effectively avoid making a video recording module and ultrasonic transducer to shelter from each other, carry out the rotatory scanning of ultrasonic wave through sound-permeable window transmission high frequency ultrasonic wave to the human alimentary canal in presetting the scanning angle, can acquire the ultrasonic scanning data of human alimentary canal, obtain the deep pathological change information of human tissue.
It is to be understood that the structural features illustrated throughout the drawings are merely exemplary and are not to be construed as limiting the specific shape, configuration or dimensions of the devices.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A capsule endoscope based on optical ultrasonic bimodal imaging is characterized by comprising a capsule endoscope main body and a coaxial cable, wherein the capsule endoscope main body comprises a shell, a camera module and an ultrasonic imaging module;
the capsule endoscope main body is in a capsule shape, and the outer diameter of the capsule endoscope main body is larger than that of the coaxial cable;
the camera module and the ultrasonic imaging module are arranged in the shell, an outer insulating layer, a shielding layer and an inner insulating layer of the coaxial cable are connected with the shell, one end of a central lead of the coaxial cable is electrically connected with the camera module and the ultrasonic imaging module, and the other end of the central lead of the coaxial cable is electrically connected with an imaging system;
the camera module is used for acquiring optical image data of the human digestive tract and sending the optical image data to the imaging system through the central lead when the capsule endoscope main body moves into the human digestive tract;
the ultrasonic imaging module is used for acquiring ultrasonic scanning data of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves into the human digestive tract;
the imaging system is used for carrying out real-time image processing on the optical image data and the ultrasonic scanning data to obtain and display an optical image and an ultrasonic image.
2. The capsule endoscope of claim 1, wherein the coaxial cable comprises a central conductor through which the optical image data and the ultrasound scan data are time-shared for transmission to the imaging system;
or the coaxial cable comprises two central leads, the camera module and the ultrasonic imaging module are respectively electrically connected with the imaging system through one central lead, and the optical image data and the ultrasonic scanning data are simultaneously transmitted to the imaging system through the two central leads.
3. The capsule endoscope of claim 1, wherein the camera module comprises a camera and a controller, the controller being electrically connected to the central wire;
one end, far away from the outer insulating layer, the shielding layer and the inner insulating layer, of the shell comprises a light transmitting area, the camera is arranged towards the light transmitting area, and the camera is used for acquiring an optical image of the digestive tract of the human body through the light transmitting area;
the controller is used for controlling the camera to shoot an optical image of the human digestive tract in a preset visual field range, converting the optical image into optical image data and sending the optical image data to the imaging system through the central wire.
4. The capsule endoscope of claim 3, wherein the camera head comprises an optical lens and a light source, the light source being electrically connected to the controller;
the optical lens and the light source are arranged towards the light-transmitting area;
the controller is also used for controlling the light source to emit light to the alimentary canal of the human body for illumination and supplementary lighting.
5. The capsule endoscope of claim 4, wherein the light source comprises a visible light source and an infrared light source, and the optical image comprises a visible light image and an infrared light image.
6. The capsule endoscope of claim 1, wherein the ultrasonic imaging module comprises 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 central lead;
the side wall of the shell is provided with a sound-transmitting window, the ultrasonic transducer is arranged towards the sound-transmitting window, and the ultrasonic transducer is used for transmitting high-frequency ultrasonic waves through the sound-transmitting window to perform ultrasonic rotary scanning on the human digestive tract within a preset scanning angle so as to obtain ultrasonic scanning data of the human digestive tract;
the motor is arranged in the shell and used for driving 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 conductor and transmitting the ultrasound scan data to the imaging system through the center conductor.
7. The capsule endoscope of claim 6, wherein the preset scan angle ranges from 0 ° to 360 °, and the central frequency of the ultrasonic transducer ranges from 30MHz to 50 MHz.
8. A capsule endoscope according to any one of claims 1 to 7, wherein the outer diameter of said outer insulating layer ranges from 1mm to 3 mm;
the capsule endoscope main body has an outer diameter range of 10mm to 15mm and a length range of 20mm to 50 mm.
9. A capsule endoscope according to any of claims 1-7, and also comprising a magnetic positioning member provided to said housing;
the magnetic positioning component is used for driving the capsule endoscope main body to move into the human digestive tract under the magnetic attraction effect of the magnetic attraction component when the coaxial cable is connected with the imaging system.
10. A capsule endoscope according to any one of claims 1-7, wherein said camera module is further configured to obtain optical image data of a plurality of sections of the human digestive tract and send the optical image data to said imaging system through said central wire when said capsule endoscope main body is moved out of the human digestive tract at a constant speed;
the ultrasonic imaging module is also used for acquiring ultrasonic scanning data of a plurality of sections of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves out of the human digestive tract at a constant speed;
the imaging system is also used for carrying out three-dimensional image reconstruction processing on the optical image data and the ultrasonic scanning data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.
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| CN202010260190.6A CN111568346A (en) | 2020-04-03 | 2020-04-03 | Capsule endoscope based on optical ultrasonic bimodal imaging |
| PCT/CN2020/139454 WO2021196771A1 (en) | 2020-04-03 | 2020-12-25 | Optical-ultrasonic dual-modality imaging-based capsule endoscope |
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| CN202010260190.6A CN111568346A (en) | 2020-04-03 | 2020-04-03 | Capsule endoscope based on optical ultrasonic bimodal imaging |
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| WO2021196771A1 (en) * | 2020-04-03 | 2021-10-07 | 中国科学院深圳先进技术研究院 | Optical-ultrasonic dual-modality imaging-based capsule endoscope |
| CN113951802A (en) * | 2021-11-26 | 2022-01-21 | 广东省医疗器械质量监督检验所 | Optical ultrasonic capsule endoscope and imaging method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114403803B (en) * | 2021-12-08 | 2024-05-17 | 上海科技大学 | Photoacoustic/ultrasonic dual-mode endoscopic imaging device and method |
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| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
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| JP2005526263A (en) * | 2001-07-26 | 2005-09-02 | ザ ラドロウ カンパニー リミテッド パートナーシップ | Cable with signal conductors surrounding a light transmissive core for a remote imaging system |
| EP4238492A3 (en) * | 2010-05-28 | 2023-09-27 | The General Hospital Corporation | Apparatus, systems, methods and computer-accessible medium for analyzing information regarding cardiovascular disease(s) and function(s) |
| JP6129509B2 (en) * | 2012-10-04 | 2017-05-17 | 東芝メディカルシステムズ株式会社 | Ultrasonic medical apparatus and ultrasonic diagnostic imaging apparatus |
| CN105559736B (en) * | 2015-12-15 | 2019-01-25 | 深圳先进技术研究院 | A kind of ultrasound capsule endoscope |
| CN111568346A (en) * | 2020-04-03 | 2020-08-25 | 中国科学院深圳先进技术研究院 | Capsule endoscope based on optical ultrasonic bimodal imaging |
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| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021196771A1 (en) * | 2020-04-03 | 2021-10-07 | 中国科学院深圳先进技术研究院 | Optical-ultrasonic dual-modality imaging-based capsule endoscope |
| CN113951802A (en) * | 2021-11-26 | 2022-01-21 | 广东省医疗器械质量监督检验所 | Optical ultrasonic capsule endoscope and imaging method |
| CN113951802B (en) * | 2021-11-26 | 2022-09-30 | 广东省医疗器械质量监督检验所 | Optical ultrasonic capsule endoscope and imaging method |
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