CN116602605B - Multifunctional capsule endoscope - Google Patents
Multifunctional capsule endoscope Download PDFInfo
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- CN116602605B CN116602605B CN202310881837.0A CN202310881837A CN116602605B CN 116602605 B CN116602605 B CN 116602605B CN 202310881837 A CN202310881837 A CN 202310881837A CN 116602605 B CN116602605 B CN 116602605B
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- 239000002775 capsule Substances 0.000 title claims abstract description 48
- 238000001574 biopsy Methods 0.000 claims abstract description 81
- 238000005070 sampling Methods 0.000 claims abstract description 59
- 238000012377 drug delivery Methods 0.000 claims abstract description 22
- 230000008685 targeting Effects 0.000 claims abstract description 18
- 239000003814 drug Substances 0.000 claims description 52
- 229940079593 drug Drugs 0.000 claims description 22
- 230000009471 action Effects 0.000 claims description 4
- 229910045601 alloy Inorganic materials 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 239000000696 magnetic material Substances 0.000 claims description 2
- 239000000725 suspension Substances 0.000 claims description 2
- 239000012780 transparent material Substances 0.000 claims description 2
- 229910000859 α-Fe Inorganic materials 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 7
- 238000003745 diagnosis Methods 0.000 abstract description 6
- 230000006872 improvement Effects 0.000 description 10
- 210000001035 gastrointestinal tract Anatomy 0.000 description 6
- 239000007788 liquid Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000003902 lesion Effects 0.000 description 2
- 208000018522 Gastrointestinal disease Diseases 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000004798 organs belonging to the digestive system Anatomy 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009747 swallowing Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- 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
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- 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
- A61B1/012—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 characterised by internal passages or accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/04—Endoscopic instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B2010/0225—Instruments for taking cell samples or for biopsy for taking multiple samples
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/10—Trunk
- A61M2210/1042—Alimentary tract
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Endoscopes (AREA)
Abstract
The invention provides a multifunctional capsule endoscope which comprises an upper cabin shell, a lower cabin shell and a guiding inclined panel arranged on the lower cabin shell, wherein the guiding inclined panel divides a space formed by surrounding the upper cabin shell and the lower cabin shell into a first cavity and a second cavity, the first cavity or the second cavity can be a biopsy sampling cabin or a targeting drug delivery cabin, and the specific structures in the cavities are specifically arranged, so that when the control is carried out through an external magnetic field, multiple functions such as biopsy sampling, targeted drug delivery, multiple biopsy sampling or multiple targeted drug delivery can be realized in one diagnosis and treatment process.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multifunctional capsule endoscope.
Background
Gastrointestinal tract diseases are one of the types of diseases with higher incidence, which cause great threat to physical examination of people, and the examination and treatment of the gastrointestinal tract diseases generally require various instruments to be inserted into the digestive tract, thus bringing great pain to patients. Therefore, the capsule endoscope robot with the characteristics of high safety, no pain, simple operation and the like appears, enters the digestive tract by the way of swallowing by a patient, passes through each digestive organ through gastrointestinal peristalsis, acquires images required by diagnosis and treatment, and finally eliminates the digestive tract. The capsule robot brings wide prospect for high-efficiency noninvasive diagnosis and treatment of gastrointestinal diseases.
The existing capsule endoscope robots have a plurality of problems, namely, firstly, the existing capsule endoscope robots can only collect images, can not carry out biopsy sampling at focus and can not release medicines at focus; secondly, the capsule endoscope robot with the active diagnosis and treatment function has too single function, and the capsule endoscope robot for biopsy sampling only has one active function for biopsy sampling, so that the focus can not be timely applied after sampling; the capsule robot for applying the medicine only has an active function of active medicine application, and the tissue at the focus can not be collected by once medicine application treatment at the focus.
The Chinese patent publication CN113081075B discloses a magnetic control capsule with active biopsy and drug application functions, which is driven by a micro motor to realize the dual functions of biopsy and drug application, but the technical scheme needs to be internally provided with an energy and power unit, so that the structure is relatively complex, and certain potential safety hazard exists, and the cost is high and the application scene is limited.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a multifunctional capsule endoscope which can realize multiple biopsy sampling or multiple targeting drug delivery or has the functions of biopsy sampling and targeting drug delivery in one diagnosis and treatment process.
The invention is realized by the technical scheme that:
a multifunctional capsule endoscope comprises an upper cabin shell, a lower cabin shell and a guiding inclined panel arranged on the lower cabin shell, wherein the guiding inclined panel divides a space formed by surrounding the upper cabin shell and the lower cabin shell into a first cavity and a second cavity.
The first chamber comprises a magnet upper baffle, a magnet lower baffle, a tension spring and a rotor permanent magnet, wherein the magnet upper baffle is vertically arranged at the inner top of the cabin upper shell at the first chamber, one end of the magnet lower baffle is hinged with the bottom end of the magnet upper baffle through a hinge shaft, the other end of the magnet lower baffle is suspended, the rotor permanent magnet is arranged between the magnet upper baffle and the side wall of the cabin upper shell, the rotor permanent magnet is a cylinder or a cylinder-like cylinder with the axis perpendicular to the physical axis of the multifunctional capsule endoscope, one end of the tension spring is fixedly connected to the middle part of one side of the magnet upper baffle facing the rotor permanent magnet, the other end of the tension spring is fixedly connected to the middle part of one side of the magnet lower baffle facing the rotor permanent magnet, and the nearest distance between the suspension end of the magnet lower baffle and the inner wall of the cabin upper shell is smaller than the diameter of the rotor permanent magnet; and in a state that the tension spring is tensioned, the mover permanent magnet is limited to move by the magnet lower baffle plate and the inner wall of the cabin upper shell.
The bottom of the guiding inclined plate is fixedly connected with the middle of the cabin lower shell, the top of the guiding inclined plate is an inclined plane, and the lower end of the inclined plane faces the first chamber.
The bottom end of the cabin lower shell at the first chamber is provided with a first vertical through hole, and the bottom end of the cabin lower shell at the second chamber is provided with a second vertical through hole.
As a further improvement of the invention, the first chamber is a biopsy sampling chamber and the second chamber is a targeted drug delivery chamber; or the first chamber is a targeted drug application cabin, and the second chamber is a biopsy sampling cabin; or the first chamber and the second chamber are both biopsy sampling chambers; or the first chamber and the second chamber are both targeted application cabins.
The biopsy sampling cabin is internally provided with a guide bracket, a biopsy working head and rebound springs, wherein the guide bracket is of a flat plate structure, the flat plate structure is parallel to the physical axis of the multifunctional capsule endoscope and perpendicular to the biopsy working head, the biopsy working head is arranged in the first vertical through hole or the second vertical through hole, the rebound springs are provided with a plurality of rebound springs, one end of each rebound spring is fixedly connected with the bottom of the guide bracket, and the other end of each rebound spring is fixedly connected with the inner wall of the lower cabin shell.
The targeting drug delivery cabin is internally provided with a soft drug storage cabin and a drug delivery working head, one end of the drug delivery working head is communicated with the soft drug storage cabin, and the other end of the drug delivery working head is arranged in the first vertical through hole or the second vertical through hole.
The length of the biopsy working head is greater than the thickness of the bottom wall of the cabin lower shell.
When the first chamber is a biopsy sampling cabin, the second chamber is a targeted drug application cabin, the magnet upper baffle is fixed on the cabin upper shell, the magnet upper baffle and the magnet lower baffle are connected through a hinge and a tension spring, so that movement of the magnet is limited, one end of the rebound spring is fixed on a groove of the cabin lower shell, the other end of the rebound spring is fixed on a groove of the guide bracket, after an external magnetic field is applied, the mover permanent magnet moves towards the guide bracket and pushes away the magnet lower baffle, so that a biopsy working head fixedly connected to the guide bracket extends out of the cabin lower shell to perform biopsy sampling operation, after sampling is completed, the external magnetic field is gradually removed, the rebound is gradually recovered, the biopsy working head is retracted, the mover permanent magnet is retracted, the external magnetic field is moved, the mover permanent magnet moves to the drug application cabin along the guide inclined panel, the external magnetic field is increased, and the mover permanent magnet extrudes the soft drug storage cabin, so that drug liquid in the soft drug storage cabin flows out, and drug application is completed.
As a further improvement of the invention, the guiding inclined panel and the cabin lower shell are fixed by interference fit or dispensing.
As a further improvement of the invention, the distance between the top end of the guiding inclined plate and the bottom end of the magnet upper baffle plate is larger than or equal to the diameter of the mover permanent magnet, so that the mover permanent magnet can move from the first chamber to the second chamber through the space between the guiding inclined plate and the magnet upper baffle plate under the action of an externally applied magnetic field.
Through setting up the inclined plane setting of direction inclined plane board and setting up its and relevant configuration modes such as distance between the baffle bottom on the magnet for the rotor permanent magnet is relatively easy from first cavity (with the help of the additional magnetic force) remove to the second cavity, and relatively difficult from the second cavity free back to in the first cavity when not needing, thereby avoided the maloperation.
As a further improvement of the invention, the free length of the tension spring is smaller than the distance between the middle part of the upper baffle plate of the magnet and the middle part of the lower baffle plate of the magnet, and the elasticity of the tension spring is set so that the mover permanent magnet can be released to the lower part of the lower baffle plate of the magnet against the pressure of the lower baffle plate of the magnet after the external magnetic field is applied.
As a further improvement of the invention, the soft medicine storage bin, the medicine application working head, the cabin upper shell, the cabin lower shell, the magnet upper baffle, the magnet lower baffle, the tension spring, the guide bracket, the biopsy working head, the rebound spring and the guide inclined panel are all made of non-magnetic materials.
As a further improvement of the invention, the biopsy working head is a biopsy needle or a biopsy forceps, and a pressure sensor is arranged in the head of the biopsy working head.
As a further improvement of the invention, the top end and the bottom end of the soft medicine storage bin are both hard plate structures, and the middle part is a flexible multi-layer folding cavity.
As a further improvement of the invention, the mover permanent magnet is a radial magnetizing permanent magnet, and the mover permanent magnet is made of Ru-Fe-B material, alNi-Co permanent magnet alloy, fe-Cr-Co permanent magnet alloy, permanent magnetic ferrite or rare earth-Co permanent magnet material.
As a further improvement of the invention, the multifunctional capsule endoscope further comprises an image pickup module, and the shell of the image pickup module is made of transparent material.
As a further improvement of the invention, the inclined surface of the guiding inclined plate is a smooth surface.
The multifunctional capsule endoscope comprises two cabins, each cabin can be used as a biopsy sampling cabin or a targeting drug application cabin according to specific requirements, and has multiple functions, namely a side biopsy sampling cabin and a side targeting drug application cabin, a biopsy sampling cabin on two sides and a targeting drug application cabin on two sides, wherein the functions of the side biopsy sampling cabin and the side targeting drug application cabin are diversified, and the multifunctional capsule endoscope has the characteristics of multiple functions. When the multi-cabin system is a one-side biopsy sampling cabin and a one-side targeting drug delivery cabin, two functions of biopsy sampling and targeting drug delivery are integrated, and two functions of biopsy sampling and targeting drug delivery can be realized in one diagnosis and treatment process. When the multi-cabin system is provided with biopsy sampling cabins on two sides, biopsy sampling can be carried out at different positions, so that the diversity of sampled tissue samples is increased. When the multi-cabin system is provided with the targeted drug application cabins on both sides, different drug liquids can be carried by the cabins on both sides, so that diversified drug delivery is realized.
2, through the arrangement of specific internal part structures, the device does not need to be internally provided with an energy device and a power device, reduces the volume of the capsule robot and reduces the probability of possible errors caused by a large number of internal mechanisms mutually matched; the possible damage of the built-in energy source to the human body is avoided. According to the technical scheme, through the arrangement of the internal structures of the chambers (the specific structure of each part, the matching mode and the position relation among the parts), particularly the specific arrangement of the upper magnet baffle, the lower magnet baffle, the tension spring and the mover permanent magnet and the matching among the upper magnet baffle, the lower magnet baffle, the tension spring and the mover permanent magnet, the effect of higher flexibility and controllability is realized through the provision of driving energy by an external magnetic field, and therefore the sampling and the application of the medicine are controlled more flexibly.
Drawings
FIG. 1 is a schematic view in partial perspective of one-sided biopsy sampling chamber and one-sided targeted delivery chamber embodiments of the multi-functional capsule endoscope of the present invention.
FIG. 2 is a schematic view of a partial explosion of one side biopsy sampling chamber and one side targeted delivery chamber embodiment of the multi-functional capsule endoscope of the present invention.
FIG. 3 is a partially exploded front cross-sectional schematic view of one side biopsy sampling chamber and one side targeted delivery chamber embodiment of the multi-functional capsule endoscope of the present invention.
FIG. 4 is a partially exploded front cross-sectional schematic view of an embodiment of the multi-functional capsule endoscope of the present invention with targeted application chambers on both sides.
FIG. 5 is an exploded front view schematic illustration of an embodiment of the multi-functional capsule endoscope of the present invention flanked by biopsy sampling cabins.
FIG. 6 (a) is a schematic illustration of a sampling and dispensing process step of one-sided biopsy sampling chamber and one-sided targeted dispensing chamber embodiment of the multi-functional capsule endoscope of the present invention.
Fig. 6 (b) is a schematic diagram of a sampling and dispensing process step of one-sided biopsy sampling chamber and one-sided targeted dispensing chamber embodiment of the multi-functional capsule endoscope of the present invention.
FIG. 6 (c) is a three schematic illustration of the sampling and dispensing process steps of one side biopsy sampling chamber and one side targeted dispensing chamber embodiment of the multi-functional capsule endoscope of the present invention.
Fig. 6 (d) is a schematic diagram of a sampling and dispensing process step of one-sided biopsy sampling chamber and one-sided targeted dispensing chamber embodiment of the multi-functional capsule endoscope of the present invention.
Fig. 6 (e) is a schematic diagram of a sampling and dispensing process step of a side biopsy sampling chamber and side targeting dispensing chamber embodiment of a multi-functional capsule endoscope of the present invention.
Wherein: 1-camera module, 2-multi-cabin system, 201-cabin upper shell, 202-cabin lower shell, 203-rotor permanent magnet, 204-magnet upper baffle, 205-magnet lower baffle, 206-tension spring, 207-guiding inclined panel, 208-soft medicine storage bin, 209-biopsy working head, 210-rebound spring, 211-guiding bracket, 212-vertical through hole I, 213-vertical through hole II, 214-medicine application working head, 215-medicine liquid, 216-focus; a-an externally applied magnetic field.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present embodiment takes the combination of the first chamber as a biopsy sampling chamber and the second chamber as a targeting application chamber as an example, and the present invention is further described with reference to the accompanying drawings and the specific embodiments, and the other two combination principles are similar.
As shown in fig. 1, the magnetically driven capsule endoscope integrated with the multi-cabin system comprises an image pickup module 1 and a multi-cabin system 2.
As shown in fig. 1 to 4, the multifunctional capsule endoscope of the present embodiment is composed of a cabin upper case 201, a cabin lower case 202, a mover permanent magnet 203, a magnet upper baffle 204, a magnet lower baffle 205, a tension spring 206, a guide slope 207, a soft medicine storage bin 208, a biopsy working head 209, a rebound spring 210, and a guide bracket 211.
The soft medicine storage bin 208, the magnet upper baffle 204, the magnet lower baffle 205, the tension spring 206, the rotor permanent magnet 203, the guide bracket 211, the biopsy head 209, the rebound spring 210 and the guide inclined panel 207 are all positioned in a closed space formed by the cabin upper shell 201 and the cabin lower shell 202, the magnet upper baffle 204 is installed on the cabin upper shell 201, the magnet upper baffle 204 and the magnet lower baffle 205 are connected through the tension spring 206, the rotor permanent magnet 203 is limited, one end of the rebound spring 210 is fixed on a groove of the cabin lower shell 202, the other end of the rebound spring is fixed on the groove of the guide bracket 211, after an external magnetic field A is applied, the rotor permanent magnet 203 moves towards the guide bracket 211, pushes the magnet lower baffle 205 to strike the guide bracket 211, so that the biopsy head 209 installed on the guide bracket 211 stretches out from a vertical through hole 212 of the cabin lower shell, after the biopsy sampling is completed, the magnetic field A is removed, the rebound spring 210 resets the biopsy head 209, the rotor permanent magnet 203 is retracted, the external magnetic field A is applied, the rotor permanent magnet 203 moves along the guide inclined panel 207, the guide inclined panel 207 is applied, the medicine storage bin 208 moves to one side of the soft medicine storage bin 208, and the soft medicine is squeezed, and the soft medicine is stored in the cabin 215. As shown in fig. 3, the application head 214 is located in the vertical through hole two 213.
As shown in fig. 3, the magnet upper baffle 204 and the magnet lower baffle 205 are connected by a hinge and a tension spring 206, the hinge facilitates the rotation of the magnet lower baffle 205 along the hinge shaft, and facilitates the movement of the mover permanent magnet 203. In the initial state, the tension spring 206 is in an extension state, and a pulling force acts between the magnet upper baffle 204 and the magnet lower baffle 205 to limit the mover permanent magnet 203 to an initial position; the rebound spring 210 is in a free state so that the biopsy working head 209 is positioned inside the capsule cabin, avoiding damage to external human tissue.
When an external magnetic field A is applied, the mover permanent magnet 203 is acted by magnetic force, the tensile force on the tension spring 206 is overcome, and after the magnet lower baffle 205 rotates a certain angle along the connecting shaft, the mover permanent magnet 203 leaves the initial position and moves towards the guide bracket 211; when the mover permanent magnet 203 is contacted with the guide bracket 211, the mover permanent magnet 203 continues to be acted by the magnetic field force, so that the guide bracket 211 and the biopsy working head 209 are pushed to move along the outside, and meanwhile, the biopsy working head 209 reaches the maximum extension amount when the elastic force and the magnetic field force reach balance due to the gradually increased elastic force provided by the rebound spring 210 and the opposite direction of the magnetic field force, and grooves for installing the rebound spring 210 are formed in the guide bracket 211 and the cabin lower shell 202, so that the rebound spring 210 is ensured to be positioned at a proper position and cannot swing along the non-moving direction.
When the external magnetic field A is removed, the restoring force of the rebound spring 210 causes the mover permanent magnet 203, the biopsy working head 209 and the guide bracket 211 to move into the cabin, thereby completing biopsy sampling.
As shown in fig. 3, the guiding inclined plate 207 is mounted on the cabin lower shell 202, the surface is smooth, the resistance applied to the moving process of the mover permanent magnet 203 is reduced, and the mover permanent magnet 203 can be ensured to move from the biopsy sampling cabin to the target application cabin. Upon application of the applied magnetic field a, the mover permanent magnet 203 moves along the guide ramp plate 207, moving from the biopsy sampling chamber to the targeted application chamber.
When the mover permanent magnet 203 moves to the targeting drug delivery cabin, the direction of the magnetic field is changed, the mover permanent magnet 203 moves to the soft drug storage cabin 208 under the action of the magnetic field force, and after contacting, the soft drug storage cabin 208 is extruded, so that the drug liquid 215 flows out, and the drug delivery process is completed. The magnetic induction intensity of the external magnetic field A is changed, so that the magnetic force applied to the rotor permanent magnet 203 can be changed, and the outflow rate of the liquid medicine 215 can be further changed.
As shown in fig. 4 and 5, the other embodiments are embodiments in which both sides are the application chamber or both sides are the biopsy sampling chamber, and the single-chamber arrangement is the same as that of the first embodiment.
The description of the multifunctional capsule endoscope in the actual scene is as follows:
the capsule endoscope consists of an imaging module 1 and a multi-cabin system 2. The camera module 1 collects real-time images in the gastrointestinal tract and transmits the images to the computer, and a doctor can analyze and diagnose the illness state by analyzing the received image data so as to find focus positions; after the lesion location is found, the multi-compartment system 2 performs biopsy sampling and targeted drug delivery.
The steps of the first embodiment are shown in fig. 6 (a) -6 (e).
As shown in fig. 6 (a), a target sampling point is found, and inspection is started to find a suspicious lesion.
As shown in fig. 6 (b), when the patient reaches the focus 216, the sampling operation is performed first, and an external magnetic field is applied to make the mover permanent magnet 203 subject to the magnetic force, so as to drive the lower baffle 205 of the magnet to overcome the tension force of the tension spring 206, and after rotating along the hinge shaft by a certain angle, the mover permanent magnet 203 leaves the initial position and moves along the direction of the magnetic force to the guide bracket 211; when the mover permanent magnet 203 is in contact with the guide bracket 211, the mover permanent magnet 203 continues to be subjected to the magnetic force, pushing the guide bracket 211 and the biopsy working head 209 to move along the outside, and simultaneously receiving the gradually increasing elastic force opposite to the magnetic force provided by the rebound spring 210, and when the elastic force and the magnetic force reach equilibrium, the biopsy working head 209 reaches the maximum extension.
As shown in fig. 6 (c), the applied magnetic field a is removed, and the rebound spring 210 in a compressed state provides a rebound force, so that the biopsy working head 209 contracts back into the capsule, and the sampling process is completed.
After the completion of sampling as shown in fig. 6 (d), a horizontal magnetic field is applied, and the mover permanent magnet 203 moves along the guide ramp 207 by the magnetic force, and moves from the sampling chamber to the application chamber.
As shown in fig. 6 (e), after the mover permanent magnet 203 moves to the application cabin, the direction of the magnetic field is changed, so that the mover permanent magnet 203 moves to the soft medicine storage bin 208 under the action of the magnetic field force, and after contacting, the soft medicine storage bin 208 is extruded, so that the medicine liquid 215 flows out, and the medicine feeding process is completed.
The embodiment can be seen that the multifunctional capsule endoscope provided by the invention has the following advantages: 1. the biopsy device comprises two cabins, wherein each cabin can be used as a biopsy sampling cabin or a targeting drug delivery cabin according to specific requirements, three functional combinations are provided, namely a biopsy sampling cabin on one side and a targeting drug delivery cabin on one side, the biopsy sampling cabin on two sides and the targeting drug delivery cabin on two sides, so that functional diversification is realized. 2. The driving energy is provided by an external magnetic field, an internal energy device is not needed, the volume of the capsule robot is reduced, and the damage to the human body is avoided. 3. The structure principle is simple, the manufacturing and the installation are convenient, but the arrangement is detailed and ingenious, and the method is easy to realize but not easy to think.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A multifunctional capsule endoscope, which is characterized in that: the multifunctional capsule endoscope comprises an upper cabin shell, a lower cabin shell and a guiding inclined panel arranged on the lower cabin shell, wherein the guiding inclined panel divides a space formed by surrounding the upper cabin shell and the lower cabin shell into a first cavity and a second cavity;
the first chamber comprises a magnet upper baffle, a magnet lower baffle, a tension spring and a rotor permanent magnet, wherein the magnet upper baffle is vertically arranged at the inner top of the cabin upper shell at the first chamber, one end of the magnet lower baffle is hinged with the bottom end of the magnet upper baffle through a hinge shaft, the other end of the magnet lower baffle is suspended, the rotor permanent magnet is arranged between the magnet upper baffle and the side wall of the cabin upper shell, the rotor permanent magnet is a cylinder or a cylinder-like body with the axis perpendicular to the physical axis of the multifunctional capsule endoscope, one end of the tension spring is fixedly connected to the middle part of one side of the magnet upper baffle facing the rotor permanent magnet, the other end of the tension spring is fixedly connected to the middle part of one side of the magnet lower baffle facing the rotor permanent magnet, and the nearest distance between the suspension end of the magnet lower baffle and the inner wall of the cabin upper shell is smaller than the diameter of the rotor permanent magnet; in the state of initial stretching of the tension spring, the mover permanent magnet is limited to move by the magnet lower baffle and the inner wall of the cabin upper shell;
the bottom end of the guiding inclined panel is fixedly connected with the middle part of the lower shell of the cabin, the top end of the guiding inclined panel is an inclined plane, and the lower end of the inclined plane faces the first chamber;
the bottom end of the cabin lower shell at the first chamber is provided with a first vertical through hole, and the bottom end of the cabin lower shell at the second chamber is provided with a second vertical through hole;
the first chamber is a biopsy sampling chamber, and the second chamber is a targeted drug delivery chamber; or the first chamber is a targeted drug application cabin, and the second chamber is a biopsy sampling cabin; or the first chamber and the second chamber are both biopsy sampling chambers; or the first chamber and the second chamber are both targeted drug delivery cabins;
a guide bracket, a biopsy working head and rebound springs are arranged in the biopsy sampling cabin, the guide bracket is of a flat plate structure, the plane where the flat plate structure is positioned is parallel to the physical axis of the multifunctional capsule endoscope and perpendicular to the biopsy working head, the biopsy working head is arranged in the first vertical through hole or the second vertical through hole, a plurality of rebound springs are arranged, one end of each rebound spring is fixedly connected with the bottom of the guide bracket, and the other end of each rebound spring is fixedly connected with the inner wall of the lower shell of the cabin;
a soft medicine storage bin and a medicine application working head are arranged in the targeting medicine application cabin, one end of the medicine application working head is communicated with the soft medicine storage bin, and the other end of the medicine application working head is arranged in the first vertical through hole or the second vertical through hole;
the length of the biopsy working head is larger than the thickness of the bottom wall of the cabin lower shell;
the distance between the top end of the guiding inclined panel and the bottom end of the magnet upper baffle is larger than or equal to the diameter of the mover permanent magnet, so that the mover permanent magnet can move from the first chamber to the second chamber through the space between the guiding inclined panel and the magnet upper baffle under the action of an externally applied magnetic field;
the free length of the tension spring is smaller than the distance between the middle part of the upper baffle plate of the magnet and the middle part of the lower baffle plate of the magnet, and the elasticity of the tension spring is set so that after an external magnetic field is applied, the mover permanent magnet can overcome the pressure of the lower baffle plate of the magnet and be released to the lower part of the lower baffle plate of the magnet;
the mover permanent magnet is a radial magnetizing permanent magnet, and the mover permanent magnet is made of Ru-Fe-B material, alNi-Co permanent magnet alloy, fe-Cr-Co permanent magnet alloy, permanent magnetic ferrite or rare earth-Co permanent magnet material.
2. The multi-functional capsule endoscope according to claim 1, wherein: the guiding inclined panel is fixed with the cabin lower shell through interference fit or dispensing.
3. The multi-functional capsule endoscope according to claim 1, wherein: the soft medicine storage bin, the medicine application working head, the cabin upper shell, the cabin lower shell, the magnet upper baffle, the magnet lower baffle, the tension spring, the guide bracket, the biopsy working head, the rebound spring and the guide inclined panel are all made of non-magnetic materials.
4. The multi-functional capsule endoscope according to claim 1, wherein: the biopsy working head is a biopsy needle or a biopsy forceps, and a pressure sensor is arranged in the head of the biopsy working head.
5. The multi-functional capsule endoscope according to claim 1, wherein: the top and bottom of the soft medicine storage bin are both hard plate structures, and the middle part is a flexible multi-layer folding cavity.
6. The multi-functional capsule endoscope according to claim 1, wherein: the multifunctional capsule endoscope further comprises a camera module, and the shell of the camera module is made of transparent materials.
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