CN102085084B - Sampling capsule system based on wireless energy supply extracorporeal magnetic control - Google Patents

Abstract

An extracorporeal magnetic control sampling capsule system based on wireless energy supply in the technical field of medical devices, including: a sampling capsule, an in vitro magnetic drive device, an in vitro sampling operation control device, an in vitro wireless energy supply device, and an in vitro image real-time processing device. The environment information of the digestive tract is collected in the tract, the in vitro sampling operation control device is wirelessly connected with the sampling capsule and transmits sampling control information, the in vitro image real-time processing device is wirelessly connected with the sampling capsule, and the capsule video information is transmitted and graphically output. The wireless energy supply device provides energy to the sampling capsule in the form of an alternating magnetic field, and the external magnetic drive device and the permanent magnet device of the sampling capsule realize the change and adjustment of the attitude and position of the sampling capsule by the external magnetic drive device through the mutual repulsion of the permanent magnetic field of the same polarity. The invention realizes the active control of the posture and position of the sampling capsule by the external operation controller.

Description

In vitro magnetic control sampling capsule system based on wireless energy supply

technical field

The present invention relates to a device in the technical field of medical devices, in particular to an external magnetic control sampling capsule system based on wireless energy supply.

Background technique

Due to the accelerated pace of work and uneven diet of modern people, the incidence of digestive tract diseases is increasing day by day. Gastrointestinal diseases have become a common disease affecting the health of modern people. According to statistical analysis, digestive tract diseases are becoming younger and younger. The direction of concealment is developing. Visual detection of gastrointestinal diseases plays a very important role in the prevention, diagnosis and treatment of gastrointestinal diseases. The total length of the human digestive tract is 9 meters. Since the shape of the digestive tract is a slender pipe, it is distributed between various organs of the human body. The irregular closure of the structure brings great challenges to the clinical detection and sampling of gastrointestinal diseases.

There are mainly two types of visual detection of gastrointestinal diseases implemented clinically: gastrointestinal, colonoscopy and capsule endoscopy. Gastroscopy and colonoscopy detection are active detection, which can realize the "fixed-point" diagnosis of the whole digestive tract disease, but there may be risks of gastric trauma and intestinal trauma during the detection process of gastroscopy and colonoscopy, which will bring huge harm to the patient during the detection process. pain. Capsule endoscopy is a non-invasive detection method. After the patient takes the capsule endoscope orally, the detection of gastrointestinal diseases can be carried out without causing discomfort or pain to the patient. However, the capsule endoscope can only follow the The peristalsis of the digestive tract is used for diagnosis, and the movement of the capsule endoscope is completely passive. The diagnosis of digestive tract diseases by capsule endoscopy is also a "local" and "random" diagnosis, and cannot be actively "fixed" for digestive tract diseases. "Diagnosis, there is a large blind spot in the whole process of capsule endoscopy diagnosis, which greatly limits the clinical application of capsule endoscopy in the visual diagnosis of diseases of the whole digestive tract.

On the other hand, when disease lesions are found through capsule images and the type of disease is further determined, it is necessary to determine the type of disease through sampling and analysis of biological tissues around the digestive tract disease to realize the sampling requirements for digestive tract disease tissues. For the digestive tract above the stomach and the colon The following digestive tract can be sampled under the video image navigation of gastroscope and enteroscope, but there is still the risk of gastric trauma and intestinal trauma during the sampling process, and the patient needs to bear great pain during the sampling process. For the sampling of pathological tissue in the digestive tract where the small intestine is located, traditional gastroscopy and colonoscopy cannot be used, and surgical methods are required to achieve pathological tissue sampling, which is imaginable for patients. Existing capsule endoscopes only have the function of taking pictures of digestive tract images, but do not have the function of sampling digestive tract tissues at all, so it is impossible to use capsule endoscopes to carry out sampling work of digestive tract pathological tissues.

After searching the existing technologies, it was found that the paper "Design and Experimental Research of a New Capsule Gastrointestinal Sampling Micro-Electro-Mechanical System" published in "Mechanical and Electrical Engineering Technology", Volume 35, No. 8, 2006, published a sampling method for gastric juice Capsule system, which uses an in vitro magnetic field to operate and control the sampling drive mechanism, but there are at least two disadvantages in this system. First, there is no image navigation device. After the sampling capsule system enters the digestive tract, it is impossible to determine that the sampling capsule system is close to the target position; second, the in vitro The operator cannot actively control the attitude and position of the sampling capsule system, and cannot actively control the sampling operation of the sampling capsule system. Therefore, the sampling capsule system published in this paper cannot be applied clinically.

The existing capsule endoscope system is limited by the way of movement, power supply, etc., and it is far from meeting the requirements of actively controlling the capsule endoscope outside the body to diagnose diseases and realize pathological tissue sampling. Although gastroscopy and colonoscopy have the function of diagnosing diseases in the upper gastrointestinal tract and the gastrointestinal tract below the colon and carrying out pathological sampling, there are traumas and pains in the process of diagnosis and sampling, and they are not capable of diagnosing small intestinal diseases and in the small intestine. Functions for pathological sampling. Therefore, the existing technology cannot meet the actual needs of clinical non-invasive or minimally invasive diagnosis.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides an external magnetically controlled sampling capsule system based on wireless energy supply, which realizes the active control of the attitude and position of the sampling capsule by the external operation controller.

The present invention is achieved through the following technical proposals. The present invention includes: a sampling capsule, an external magnetic drive device, an external sampling operation control device, an external wireless energy supply device and an external image real-time processing device, wherein: the sampling capsule is located in the digestive tract and collects and digests The external sampling operation control device is wirelessly connected with the sampling capsule and transmits sampling control information, the external image real-time processing device is wirelessly connected with the sampling capsule and transmits the capsule video information and outputs it graphically, and the external wireless energy supply device The sampling capsule is supplied with energy in the form of an alternating magnetic field, and the external magnetic drive device and the permanent magnet device of the sampling capsule realize the change and adjustment of the attitude and position of the sampling capsule by the external magnetic drive device through the mutual repulsion of the permanent magnetic field of the same polarity.

The sampling capsule includes: an analog image sensor, an illumination system, a sampling device, a housing and a main control system disposed inside it, an image wireless transmitting device, a digital signal wireless transmitting and receiving device, a rectifying device, a wireless energy receiving coil, a memory and a permanent The magnetic device, wherein: the analog image sensor and the lighting system are installed on the outer end of the casing, the sampling device is installed on the outer surface of the sampling capsule casing, the memory is installed between the sampling capsule casing and the permanent magnet device, and the wireless energy receiving coil receives The alternating magnetic field sent by the wireless energy supply device is converted into AC electromotive force. The rectifier is connected with the wireless energy receiving coil and converts the AC electromotive force into DC voltage. The rectifier is connected with the analog image sensor, lighting system, main control system, and image wirelessly. The device and the sampling device are connected and provide DC power. The image wireless transmission device converts the video image collected by the analog image sensor into electromagnetic waves and transmits it directly to the patient's body. The main control system realizes the adjustment of the imaging parameters of the analog image sensor. The in vitro sampling control instruction is received, the sampling device is controlled to sample the lesion tissue, and the pathological tissue obtained by sampling is saved to the memory. The permanent magnetic device of the sampling capsule has no electrical connection with other parts of the sampling capsule. The permanent magnetic field formed by the permanent magnetic device directly interacts with the permanent magnetic field of the external magnetic drive device. According to the principle of permanent magnetic field interaction: same polarity repels each other, different polarity The polarities attract each other, so as to ensure the control of the attitude and position of the sampling capsule by the magnetic drive device outside the body.

The shell is in the shape of a capsule, and the two ends are close to the shape of a smooth ball.

The external magnetic drive device is a magnetic drive control device with a permanent magnet, wherein the magnetic drive control device adjusts the attitude and position of the sampling capsule by adjusting the displacement and direction between the permanent magnet and the sampling capsule.

The external sampling operation control device is a sampling control device with a wireless unit, wherein: the sampling control device generates a sampling control signal and outputs it to the sampling capsule through the wireless unit.

The external wireless energy supply device includes: an external wireless energy transmitting coil and a power controller, wherein: the power controller is connected to a DC or AC power supply and outputs a control signal with a sequence to the external wireless energy transmitting coil, and the external wireless energy transmitting coil The control signal is converted into an alternating electromagnetic field and output to the sampling capsule.

The in vitro image real-time processing device includes: an in vitro image real-time receiving module and a computer workstation, wherein: the in vitro image real-time receiving module receives in real time the photographed images sent to the outside of the body by the sampling capsule and transmits them to the computer workstation, and the computer works to display the images on the computer. On the screen, an image navigation function is provided for the operator to realize the attitude, position control and sampling operation of the sampling capsule.

Compared with the prior art, the present invention realizes the active control of the posture and position of the sampling capsule by the external operation controller, can complete the "fixed-point" diagnosis of the digestive tract image, realizes the "fixed-point" operation control for the sampling operation, and at the same time actively controls the The operation of the attitude and position of the sampling capsule is carried out under the navigation of the video image of the sampling capsule. At present, no technology has been found to use the navigation of the video image of the capsule to carry out the attitude, position adjustment and sampling of the sampling capsule itself. With the help of this patent achievement, a real sense of Image diagnosis and pathological tissue sampling of gastrointestinal diseases under image navigation. Compared with existing gastroscopes, colonoscopes and single-function image capsules, it has obvious advantages. The invention has very important practical application value in the diagnosis of digestive tract diseases and the sampling of pathological tissues.

Description of drawings

Fig. 1 is a schematic diagram of the working principle of the present invention.

Fig. 2 is a schematic diagram of the structure of the sampling capsule.

Fig. 3 is a schematic diagram of the magnetic drive structure in vitro.

Fig. 4 Schematic diagram of the structure of the in vitro sampling operation control device.

Fig. 5 is a schematic diagram of an in vitro wireless energy supply device.

Fig. 6 is a schematic diagram of an in vitro image real-time processing device.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

As shown in Figure 1, this implementation includes: a sampling capsule 1, an in vitro magnetic drive device 2, an in vitro sampling operation control device 3, an in vitro wireless energy supply device 4 and an in vitro image real-time processing device 5, wherein: the sampling capsule 1 is located in the digestive tract and Gather environmental information of the digestive tract, the external sampling operation control device 3 is wirelessly connected to the sampling capsule 1 and transmit sampling control information, the external image real-time processing device 5 is wirelessly connected to the sampling capsule 1, and transmits the video information of the sampling capsule and graphically Output, the external wireless energy supply device 4 provides energy to the sampling capsule 1 in the form of an alternating magnetic field, and the external magnetic drive device 2 and the sampling capsule 1 work according to the principle of permanent magnetic field interaction, that is, permanent magnetic fields of the same polarity repel each other, and permanent magnetic fields of different polarities repel each other. The permanent magnetic fields attract each other, and the interaction force between the permanent magnetic fields is related to its distance. By changing the distance and polarity between the permanent magnetic field polarity of the external magnetic drive device and the permanent magnetic field of the sampling capsule, the attitude of the external magnetic drive device to the sampling capsule can be guaranteed. and position control.

The sampling capsule 1 includes: an analog image sensor 6, an illumination system 7, a sampling device 8, a housing 9 and a main control system 10 disposed inside it, an image wireless transmitting device 11, a digital signal wireless transmitting and receiving device 12, and a rectifying device 13 , a wireless energy receiving coil 14, a memory 15 and a permanent magnet device 16, wherein: the analog image sensor 6 and the lighting system 7 are installed on the outer end of the casing 9, the sampling device 8 is installed on the outer surface of the sampling capsule 1 casing 9, the memory 15 Installed between the shell 9 of the sampling capsule 1 and the permanent magnet device 16, the wireless energy receiving coil 14 receives the alternating magnetic field sent by the external wireless energy supply device 4 and converts it into an AC electromotive force, the rectifying device 13 is connected with the wireless energy receiving coil 14 and The AC electromotive force is converted into a DC voltage, and the rectification device 13 is respectively connected with the analog image sensor 6, the lighting system 7, the main control system 10, the image wireless transmission device 11, and the sampling device 8 to provide DC power, and the image wireless transmission device 11 directly converts the analog The analog video collected by the image sensor 6 is sent to the outside of the body, the main control system 10 can adjust the imaging parameters of the analog image sensor 6, the permanent magnet device 16 does not produce any electrical connection with other parts, the permanent magnetic field formed by the permanent magnet device 16 and The permanent magnetic field of the external magnetic drive device 2 follows the principle that the permanent magnetic fields of the same polarity repel each other and the permanent magnetic fields of different polarities attract each other, so as to realize the attitude and position adjustment of the permanent magnetic device 16 of the sampling capsule 1 by the external magnetic drive device 2 , the main control system 10 controls the sampling device 8 to carry out pathological tissue sampling, and the sampling device 8 is connected to the memory 15 to output the pathological tissue samples.

The shell 9 is in the shape of a capsule, and the two ends are close to the shape of a smooth ball.

In this embodiment, the external magnetic drive device 2 is attracted to each other by the permanent magnetic field of the same polarity formed by the permanent magnet device 16 in the sampling capsule 1, and the principle of mutual attraction of the permanent magnetic fields of different polarities is used to control the posture and position of the sampling capsule 1 .

In this embodiment, the wireless energy receiving coil 14 receives the alternating electromagnetic field generated by the external wireless energy supply device 4 and converts the alternating electromagnetic field into an alternating electromotive force, thereby receiving the energy sent from the outside of the body.

In this embodiment, the digital signal wireless transceiver device 12 receives the sampling control signal sent by the in vitro sampling operation control device 3, and transmits the sampling control signal to the main control system 10, and the main control system 10 controls and starts the sampling device 8 according to the sampling control signal to carry out pathology. Tissue sampling, the pathological tissue obtained by sampling is sent to the memory 15 for storage.

In this embodiment, the wireless energy receiving coil 14 receives the alternating electromagnetic field sent by the external wireless energy supply device 4, and converts the alternating electromagnetic field into an alternating electromotive force, and the rectifying device 13 converts the alternating electromotive force into a suitable DC power supply. Power supply to analog image sensor 6, lighting system 7, sampling device 8 and casing 9 and main control system 10, image wireless transmitting device 11, digital signal wireless transmitting and receiving device 12, rectifying device 13, wireless energy receiving coil 14 arranged inside it , memory 15 and permanent magnet device 16,

In this embodiment, the permanent magnetic field produced by the permanent magnet device 16 and the permanent magnetic field produced by the permanent magnet device 18 of the external magnetic drive device 2 follow the principle that the permanent magnetic fields of the same polarity repel each other and the permanent magnetic fields of different polarities repel each other. The polarity of the permanent magnetic field generated by the device 18 is the same as that of the permanent magnetic field formed by the permanent magnetic device 16 of the sampling capsule 1, and when the permanent magnetic device 18 is close to the human body, according to the principle of mutual repulsion of the same polarity magnetic field, the sampling capsule 1 in the digestive tract is Will be far away from the permanent magnet device 18, and when the permanent magnetic field polarity that the permanent magnet device 18 produces and the permanent magnetic field polarity that the permanent magnet device 16 of sampling capsule 1 forms, and the permanent magnet device 18 is close to the human body, according to the magnetic field of different polarity Based on the principle of mutual attraction, the sampling capsule 1 in the digestive tract will approach the permanent magnet device 18. By continuously adjusting the polarity, position and direction of the permanent magnetic field of the permanent magnet device 18, the posture and position of the sampling capsule 1 in the digestive tract can be controlled.

The external magnetic drive device 2 is a magnetic drive control device 17 with a permanent magnet device 18, wherein the magnetic drive control device 17 realizes the attitude of the sampling capsule 1 by adjusting the distance and direction between the permanent magnet device 18 and the sampling capsule 1 and position adjustments.

In this embodiment, the in vitro sampling operation control device 3 includes: a wireless unit 19 and a sampling control device 20. The sampling control signal generated by the sampling control device 20 is sent to the sampling capsule 1 in the digestive tract through the wireless unit 19, and the digital signal of the sampling capsule 1 The wireless transceiver device 12 receives it and transmits it to the main control system 10. The main control 10 controls the sampling device 8 to sample pathological tissue according to the sampling control signal, and the pathological tissue obtained by sampling is sent to the memory 15 for storage.

The external wireless energy supply device 4 includes: an external wireless energy transmitting coil 19 and a power controller 20, wherein: the power controller 20 is connected to a DC or AC power supply and outputs a control signal with timing to the external wireless energy transmitting coil 21, The external wireless energy transmitting coil 21 converts the control signal into an alternating electromagnetic field and outputs it to the sampling capsule 1 .

Described extracorporeal image real-time processing device 5 includes: extracorporeal image real-time receiving module 23 and computer workstation 24, wherein: in vitro image real-time receiving module 23 receives in real time the photographed image sent to the outside of the body by the sampling capsule 1 and transmits it to the computer workstation 24, the computer The workstation 24 displays the image on the computer screen, and provides image navigation functions for the operator to realize the posture, position control and sampling operation of the sampling capsule 1 .

The device works in the following way: the patient swallows the sampling capsule 1, the external wireless energy supply device 4 starts to work, the power controller 22 converts the DC power into an alternating signal of a certain frequency and transmits it to the external wireless energy transmitting coil 21, The external wireless energy transmitting coil 21 converts electric energy into an alternating magnetic field of a certain frequency. The alternating magnetic field is received by the wireless energy receiving coil 14 in the internal sampling capsule 1, and an alternating electromotive force is generated inside the coil. 13 performs filtering and rectification to generate a DC power supply, which provides power to the lighting system 7, sampling device 8, analog image sensor 6, main control system 10, image wireless transmitting device 11, and digital signal wireless transmitting and receiving device 12. The lighting system 7, the image sensor 3, the main control system 10 and the wireless image transmitting device 11 start to work. The analog image sensor 6 transmits the image of the digestive tract wall to the outside of the body through the image wireless transmission device 11, and receives and transmits it to the computer workstation 24 by the external image real-time receiving module 23. The computer workstation 24 displays the image on the screen. According to the image, the operator, Control the magnetic drive control device 17 to change the position and direction of the permanent magnet device 18, and the permanent magnet device 16 of the internal sampling capsule 1 follows the position and posture of the external permanent magnetic device 18 to change, changing the posture and position of the sampling capsule 1 in the digestive tract , the analog image sensor 6 can detect the images of the digestive tract wall in different positions and postures and transmit them outside the body, so as to ensure that the operator can carry out "fixed-point" and "directional" diagnosis of the digestive tract under image navigation. During the diagnosis process, when a digestive tract disease is found, with the help of capsule image navigation, the operator controls the sampling capsule 1 to be close to the pathological tissue of the lesion, so that the sampling device 8 of the sampling capsule 1 is close to the pathological tissue, and the operator uses in vitro sampling operation The sampling operation device 20 of the control device 3 sends a sampling operation control signal, which is transmitted to the sampling capsule 1 through the wireless unit 19, received by the digital signal wireless transceiver device 12 and transmitted to the main control system 10, and the main control system 10 activates the sampling device 8 Working, the sampling device 8 samples the pathological tissue, and sends the obtained pathological tissue sample into the memory 15 for storage. During the sampling process, the operator can operate the external magnetic drive device 2 to change the posture and position of the sampling capsule 1, and use the image navigation on the computer workstation 24 to realize the sampling operation of pathological tissue under the image navigation.

Claims (5)

1. An external magnetic control sampling capsule system based on wireless energy supply, characterized in that it includes: sampling capsule, external magnetic drive device, external sampling operation control device, external wireless energy supply device and external image real-time processing device, wherein: sampling The capsule is located in the digestive tract and collects environmental information of the digestive tract. The in vitro sampling operation control device is wirelessly connected to the sampling capsule and transmits sampling control information. The in vitro image real-time processing device is wirelessly connected to the sampling capsule and transmits the capsule video information and graphically Output, the external wireless energy supply device provides energy to the sampling capsule in the form of an alternating magnetic field, and the external magnetic drive device and the permanent magnet device of the sampling capsule realize the change and adjustment of the sampling capsule attitude of the external magnetic drive device through the mutual repulsion of the permanent magnetic field of the same polarity and location; The sampling capsule includes: an analog image sensor, an illumination system, a sampling device, a housing and a main control system disposed inside it, an image wireless transmitting device, a digital signal wireless transmitting and receiving device, a rectifying device, a wireless energy receiving coil, a memory and a permanent The magnetic device, wherein: the analog image sensor and the lighting system are installed on the outer end of the casing, the sampling device is installed on the outer surface of the sampling capsule casing, the memory is installed between the sampling capsule casing and the permanent magnet device, and the wireless energy receiving coil receives The alternating magnetic field sent by the wireless energy supply device is converted into AC electromotive force. The rectifier is connected with the wireless energy receiving coil and converts the AC electromotive force into DC voltage. The rectifier is connected with the analog image sensor, lighting system, main control system, and image wirelessly. The device and the sampling device are connected and provided with a DC power supply. The image wireless transmission device directly transmits the image collected by the analog image sensor to the outside body. The main control system realizes the adjustment of the imaging parameters of the analog image sensor. Sampling, the sampling device is connected to the memory to output pathological tissue samples; the permanent magnet device of the sampling capsule has no electrical connection with other parts of the sampling capsule, and the permanent magnetic field formed by the permanent magnet device directly interacts with the permanent magnetic field of the external magnetic drive device. The principle of magnetic field interaction: the same polarity repels each other, and the opposite polarity attracts each other, so as to ensure the control of the attitude and position of the sampling capsule by the magnetic drive device outside the body; The external magnetic drive device is a magnetic drive control device with a permanent magnet, wherein the magnetic drive control device adjusts the attitude and position of the sampling capsule by adjusting the displacement and direction between the permanent magnet and the sampling capsule. 2. The external magnetically controlled sampling capsule system based on wireless energy supply according to claim 1, wherein the outer shell is in the shape of a capsule, and the two ends are close to the shape of a smooth ball. 3. The external magnetic control sampling capsule system based on wireless energy supply according to claim 1, wherein the external sampling operation control device is a sampling control device with a wireless unit, wherein: the sampling control device generates a sampling control signal And output to the sampling capsule by the wireless unit. 4. The external magnetically controlled sampling capsule system based on wireless energy supply according to claim 1, characterized in that, said external wireless energy supply device comprises: an external wireless energy transmitting coil and a power controller, wherein: the power controller and The DC or AC power supply is connected and outputs a time-sequential control signal to the external wireless energy transmitting coil, and the external wireless energy transmitting coil converts the control signal into an alternating electromagnetic field and outputs it to the sampling capsule. 5. The external magnetic control sampling capsule system based on wireless energy supply according to claim 1, characterized in that, said external image real-time processing device comprises: external image real-time receiving module and computer workstation, wherein: external external image real-time receiving module Real-time receive the captured images sent by the sampling capsule to the outside of the body and transmit them to the computer workstation, and the computer will display the images on the computer screen, providing image navigation functions for the operator to realize the attitude, position control and sampling operation of the sampling capsule.

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