CN107569204A - Egg-shaped colonoscope and advancing control method - Google Patents

Abstract

The invention discloses an egg-shaped colonoscope and a marching control method thereof, wherein the egg-shaped colonoscope comprises: the egg-shaped shell is provided with an axial direction, a first end and a second end are formed in the axial direction, and the first end is made of a transparent material; the first photographing module is arranged at the first end and used for illuminating and photographing; the vibration motor is arranged in the egg-shaped shell and is used for generating vibration to the egg-shaped shell; the control module receives the control instruction to control the first photographing module to photograph and transmit the film and control the vibration of the vibration motor; the wire group comprises an air passage opening, the wire group is fixed at the second end side of the egg-shaped shell and is composed of at least two wires and a hose air passage which are coated by a wire sheath, the at least two wires are used for transmitting electric power to the control module, and the hose air passage is used for sending gas generated from the outside to the large intestine through the air passage opening.

Description

Egg-shaped colonoscopy and its progress control method

technical field

The invention relates to a colonoscope, in particular to an egg-shaped colonoscope and a method for controlling its progress.

Background technique

In the article "Global Cancer Report", it is believed that "if cancer common sense is popularized and "early screening, early diagnosis, and early treatment" is implemented, about half of the occurrence of cancer can be controlled."

About 120,000 people die from colorectal cancer every year in China. The average age is 48.3 years old (concentrated years), compared with an average of 69.8 years for Americans. The time when Chinese people are diagnosed with colorectal cancer It is late. The probability of malignancy is high, and the recurrence rate is as high as 50%. Half of the patients will have liver metastases in the later stage. In the final stage, 13 people will die of colorectal cancer for every 100,000 people, and one person will die of colorectal cancer every 5 minutes.

In Taiwan, China, cancer has ranked first among the top ten causes of death for 33 years. Among them, colorectal cancer continues to rank among the top three; in 2014, 15,000 patients were diagnosed with colorectal cancer, and the death toll was about 5,000. In Japan, the annual incidence of colorectal cancer is about 45,000, and the death toll is about 18,000. In the United States, about 150,000 people experience colorectal cancer each year, and about 50,000 people die from it.

Among them, colorectal polyps are highly correlated with cancer. Among adults aged 20-49 in Taiwan, about 710,000 people have colorectal polyps. Colorectal polyps may turn into colorectal cancer within 5-10 years. Therefore, most colorectal cancers can be prevented if the presence of colorectal polyps can be identified and treated first.

Currently, the medical device that can be used to check for polyps in the large intestine is the colonoscope. The mainstream of existing colonoscopy equipment is occupied by Olympus Medical Systems Crop. (Olympus Medical Systems Crop.). The colonoscopy equipment provided by Olympus has a system composed of optical fibers that makes the lens less prone to bending. Since the colonoscope is 180 cm thick and long, general anesthesia must be performed if a complete inspection of the large intestine is to be performed. Because of the inherent risks of anesthesia, most patients are reluctant to undergo general anesthesia. The inspection process must be inflated to cause abdominal distension. In addition, the thick and long colonoscope is inserted into the intestinal tract and the mirror body of the colonoscope presses the intestinal wall, which will cause extreme discomfort for most patients, and even make it impossible to perform the inspection of the entire large intestine. . What's more, multiple domestic research data show that about 2.5 per thousand of colonoscopy examinations The rate of 5 out of 1000 will be due to the improper use of the colonoscopy, or the special condition of the patient, or the burning process of polyps, etc., resulting in intestinal perforation during the colonoscopy examination. This situation often ends in medical litigation. Therefore, the examination of colonoscopy is also full of risks. For patients, there is a risk of large intestine perforation. For doctors, medical litigation after intestinal perforation is unwilling for doctors. For all the above reasons, the examination of colonoscopy cannot be popularized, and the purpose of preventing colorectal cancer cannot be further achieved by detecting colorectal polyps.

In order to solve the problem of the inability to turn the colonoscope, some assistive devices are designed to assist the direction of intestinal bending, such as the European patent No. EP0792130B1 External straightener for colonoscopy, which discloses a bump-shaped assistive device, which tries to compress the The large intestine makes it straight from the bend, so that the colonoscope can go deep. The same concept is also found in US Publication No. US2014/0350341. However, these assistive devices still cannot solve the problem of the large turn from the descending colon to the transverse colon and from the transverse colon to the ascending colon.

In addition to using assistive devices to try to solve the problem of turning, some people also try to develop a turnable colonoscope technology (changing the colonoscope itself) to solve the problem that traditional colonoscopes are not easy to turn. For example, the Chinese Taiwan No. I468140 "Colonoscope Magnetic Control System" patent case developed by Lien Jishi (Gi Shih, LIEN) et al. uses a magnetic follower to be installed on the strip support of the colonoscope. The magnetic active part on the control device guides the magnetic driven part to rotate, so that the colonoscope can be controlled to turn smoothly at the corner. Then it solves the problem that the colonoscope is not easy to turn in the past.

However, this technology is still based on the traditional concept of thick and long pipe diameter. Although it can be turned, if there is a little carelessness (such as poor technique or negligence), it is still easy to press the intestinal wall when the colonoscope is advancing in the intestinal tract, causing the body of the colonoscope to touch the intestinal wall hard. In other words, the problem that patients tend to feel extremely uncomfortable during the examination has yet to be overcome.

In addition, the traditional colonoscope, or the colonoscope developed by Lian Jishi et al., still cannot solve the problem of invisible dead ends in the folds of the large intestine. In other words, due to its one-way viewing angle, the traditional colonoscope cannot see the other side of the folds of the large intestine, resulting in a dead angle for inspection.

Therefore, painless colonoscopy equipment is bound to become a sharp tool in the prevention of colorectal cancer. Therefore, how to develop colonoscopy equipment that is painless, has no dead ends, is easy to operate, and can meet the needs of doctors in all aspects of examination has become a very focused research and development direction for medical equipment manufacturers.

Contents of the invention

In order to achieve the above purpose, the present invention provides an egg-shaped colonoscope, which can solve the problems of turning, painless and simple operation that cannot be solved by the existing colonoscope.

The present invention provides an egg-shaped colonoscope, comprising: an egg-shaped shell with an axial direction, and a first end and a second end are formed on the axial direction, the first end is made of a transparent material A first camera module, installed at the first end, for lighting and photography; a vibration motor, installed in the egg-shaped shell, to make the egg-shaped shell vibrate; a control module, Installed in the egg-shaped casing, electrically connected to the first camera module and the vibration motor, receives a control instruction to control the first camera module to perform video shooting and image transmission, and controls the vibration of the vibration motor; a wire A group, including an airway opening, the wire group is fixed on the second end side of the egg-shaped shell, and is composed of a wire sheath covering a hose airway; and a power supply component is arranged on the wire group or the egg In the egg-shaped casing, the power supply assembly is electrically connected to the control module to transmit power to the control module, wherein the egg-shaped casing or the wire set has an air passage opening, and the air passage opening communicates with the hose air of the wire set. The airway is used to send an externally generated gas to the large intestine through the flexible airway and the opening of the airway in sequence.

In one embodiment of the present invention, the egg-shaped colonoscope also includes:

A second camera module is installed at the second end, and is used for shooting images opposite to the shooting direction of the first camera module.

In one embodiment of the present invention, the egg-shaped colonoscope also includes:

An angle detection unit is connected with the control module to detect a horizontal angle change value of the egg-shaped shell, and transmit the horizontal angle change value through the control module.

In one embodiment of the present invention, the angle detection unit is a microelectromechanical angle detection chip, a microelectromechanical gyroscope chip, a microelectromechanical dual-axis acceleration sensing chip, a microelectromechanical three-axis acceleration sensing chip, a scroll switch and a magnetic sensor. one of the sensors.

In one embodiment of the present invention, the egg-shaped colonoscope also includes:

At least one gastropod is installed on the outer periphery of the egg-shaped casing to assist the advancement of the egg-shaped colonoscope.

In one embodiment of the present invention, the egg-shaped colonoscope also includes:

At least one set of magnetic passive sets is installed on the inner periphery of the egg-shaped casing to assist the advancement and positioning of the egg-shaped colonoscope through an external active magnetic device.

In an embodiment of the present invention, the power supply component is disposed in a wire group, and the power supply component is a plurality of wires.

In one embodiment of the present invention, the egg-shaped colonoscope also includes:

A wireless transmission module, connected to the control module, is used to transmit the images captured by the first camera module.

In an embodiment of the present invention, the power supply component is a battery disposed in the egg-shaped casing, and the wireless transmission module is also used to receive the control command and transmit the control command to the control module.

In one embodiment of the present invention, the egg-shaped colonoscope also includes a power line signal transmission module connected to the control module, or the wire set also includes a signal transmission line, and the power line signal transmission module and the signal transmission line are used to connect The images captured by the first camera module are transmitted out.

In an embodiment of the present invention, the length of the egg-shaped colonoscope is between 2.5-5.2 cm, and the width is between 1.5-2.5 cm.

In an embodiment of the present invention, the guide wire set further includes an instrument channel, or the hose air channel also serves as the instrument channel, and the opening of the instrument channel is configured at the first end for accommodating a medical instrument through the to the first end for medical procedures.

In one embodiment of the present invention, the egg-shaped colonoscope further includes a telescopic actuating assembly connected between the first end and the second end of the egg-shaped housing, and the side wall of the egg-shaped housing is elastically Material composition.

In an embodiment of the present invention, the outer periphery of the egg-shaped shell further has at least one gastropod.

In one embodiment of the present invention, the telescopic actuating assembly has an actuating motor, a telescopic driving member and a telescopic follower, the actuating motor is fixed on the inner surface of the side wall, and the telescopic driving member is rotatably Connected with the actuating motor, the telescoping follower is disposed on at least one of the first end and the second end.

The present invention also provides a method for controlling the movement of an egg-shaped colonoscope. The egg-shaped colonoscope includes a vibration module, a wire group, a first end, a second end, and a first camera module. The vibration module is used to The egg-shaped colonoscope vibrates, the wire group is used for power transmission, the first end and the second end are the opposite ends of the egg-shaped colonoscope in an axial direction, and the first camera module is located at the first end , the moving control method includes the following steps: vibrating the egg-shaped colonoscope; and when the egg-shaped colonoscope vibrates, making the first end lower than the second end in the direction of gravity.

In an embodiment of the present invention, the method for controlling the advancement of an egg-shaped colonoscope further includes the following steps:

A pulling force is provided to control the traveling speed of the egg-shaped colonoscope or to fine-tune the traveling direction of the egg-shaped colonoscope.

In an embodiment of the present invention, the method of providing the pulling force is pulling the wire group.

In an embodiment of the present invention, the method for controlling the advancement of an egg-shaped colonoscope further includes the following steps:

Detect the change of the horizontal angle of the egg-shaped colonoscope and transmit a value of the change of the horizontal angle.

The present invention also provides a method for controlling the movement of an egg-shaped colonoscope. The egg-shaped colonoscope includes a vibrating module to enable the egg-shaped colonoscope to vibrate. The egg-shaped colonoscope also includes a wire group for power transmission. The egg-shaped colonoscope The colonoscope also includes a magnetic passive set, and the travel control method includes the following steps: vibrating the egg-shaped colonoscope; and providing an external active magnetic device to pull the magnetic passive set to assist the egg-shaped colonoscope when vibrating. The egg-shaped colonoscope advances while vibrating.

In an embodiment of the present invention, the method for controlling the advancement of an egg-shaped colonoscope further includes the following steps:

A pulling force is provided to control the advancing speed of the egg-shaped colonoscope or to fine-tune the advancing direction of the egg-shaped colonoscope.

In an embodiment of the present invention, the method of providing the pulling force is pulling the wire group.

In an embodiment of the present invention, the method for controlling the advancement of an egg-shaped colonoscope further includes the following steps:

Detect the change of the horizontal angle of the egg-shaped colonoscope and transmit a value of the change of the horizontal angle.

The present invention also provides a method for controlling the travel of an egg-shaped colonoscope. The egg-shaped colonoscope includes a wire group, a first end, a second end, a first camera module, and a telescopic actuation assembly. The wire group is used to To transmit power, the first end and the second end are opposite ends of the egg-shaped colonoscope in an axial direction, the first camera module is located at the first end, and the telescopic actuator assembly is used to make the egg-shaped colonoscope The colonoscope can expand and contract along the axial direction, and the travel control method includes the following steps: making the egg-shaped colonoscope expand and contract; and when the egg-shaped colonoscope is stretched, making the first end lower than the second end in the direction of gravity .

In an embodiment of the present invention, the outer periphery of the shell of the egg-shaped colonoscope also has at least one gastropod; the method of advancing control also includes the following steps:

When the egg-shaped colonoscope stretches, the gastropa can support the wall of the intestinal tract during the stretching of the egg-shaped colonoscope.

In order to make the above and other objects, features, and advantages of the present invention more comprehensible, a number of preferred embodiments are exemplified below, together with the attached drawings, and described in detail as follows (implementation mode).

Description of drawings

Fig. 1A is a schematic cross-sectional view of a specific embodiment of an egg-shaped colonoscope provided by the present invention;

Figure 1B is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

2 is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

3A is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

Fig. 3B is an embodiment of the three-dimensional schematic diagram of the embodiment of the egg-shaped colonoscope provided by the present invention in Fig. 3A;

Fig. 3C is another example of the three-dimensional schematic diagram of the embodiment of the egg-shaped colonoscope provided by the present invention in Fig. 3A;

Fig. 4A is a vertical cross-sectional schematic diagram of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

Fig. 4B is a schematic horizontal cross-sectional view of a specific embodiment of an egg-shaped colonoscope provided by the present invention;

5 is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

Fig. 6 is a schematic diagram of the use state of the egg-shaped colonoscope provided by the present invention;

Fig. 7A and Fig. 7B are schematic diagrams of another use state of the egg-shaped colonoscope provided by the present invention, and the dead angle of intestinal wall folds can be observed through the second camera module;

Fig. 8A is the first flow chart of the method for controlling the advancement of the egg-shaped colonoscope provided by the present invention;

Fig. 8B is the second flow chart of the egg-shaped colonoscope travel control method provided by the present invention;

Fig. 9A is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

Fig. 9B is a schematic cross-sectional view of the wire group (exposed part) in the embodiment of the egg-shaped colonoscope in Fig. 9A provided by the present invention;

Fig. 9C is a schematic cross-sectional view of the first end of the egg-shaped case in the embodiment of the egg-shaped colonoscope in Fig. 9A provided by the present invention;

Fig. 10 is a schematic diagram of operation using polypectomy instruments in the embodiment of the egg-shaped colonoscope in Fig. 9A provided by the present invention;

Fig. 11A is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention;

Fig. 11B is a schematic cross-sectional view of the wire group (exposed part) in the embodiment of the egg-shaped colonoscope in Fig. 11A provided by the present invention;

Fig. 11C is a schematic cross-sectional view of the first end of the egg-shaped case in the embodiment of the egg-shaped colonoscope in Fig. 11A provided by the present invention;

Fig. 12 is a schematic diagram of operation using polypectomy instruments in the embodiment of the egg-shaped colonoscope in Fig. 11A provided by the present invention;

Fig. 13a is a schematic cross-sectional view of another embodiment of the egg-shaped colonoscope provided by the present invention when the egg-shaped casing is stretched;

Fig. 13b is a schematic cross-sectional view of another embodiment of the egg-shaped colonoscope provided by the present invention when the egg-shaped shell shrinks;

Fig. 13c is a schematic cross-sectional view of another embodiment of the egg-shaped colonoscope provided by the present invention when the egg-shaped casing is partially stretched and partially contracted.

Description of reference signs: 10-egg-shaped shell; 10c-egg-shaped shell; 11a-first end; 11b-second end; 12a-first imaging module; 12b-second imaging module; 13a-second 13b-second light-emitting module; 14a-first circuit board; 14b-second circuit board; 15-vibration motor; 16-gastropod; 16a-gastropod; 16b-gastropod; pole; 17b-magnetic component S pole; 18-central circuit board; 19-housing side wall; 19'-housing side wall; 20-wire group; 20a-wire group; -Hose airway; 23-Wire sheath; 24-Hose airway opening; 25-Airway opening; 26-Instrument channel; 27-Tube filling; 30-Large intestine; - descending colon; 34-sigmoid colon; 35-rectum; 40-colon polyp; 50-wireless transmission module; 60-control module; 70-angle detection unit; Telescopic driver; 83-telescopic follower; 90-polypectomy instrument; 91-polypectomy knife; L 1-length; W1-width.

detailed description

According to an embodiment of the present invention, the present invention provides an egg-shaped colonoscope and a method for controlling the movement of the egg-shaped colonoscope. The colonoscope has the shape of an egg, enough to be placed in the large intestine, and then through vibration, the colonoscope can cooperate with the intestinal wall to advance along the intestinal tract. Even in curved bowel walls, the colonoscope advances smoothly without causing discomfort to the bowel or bowel wall.

In addition, the egg-shaped colonoscope provided by the present invention is also connected with a soft wire group to provide the required power for the colonoscope, which is convenient for real-time photography. Moreover, according to the doctor's demand or control, the lead group can also supply gas in a timely manner, so that the intestinal wall can be moderately expanded, which is beneficial for the doctor to perform inspection operations. The specific structure and function of the egg-shaped colonoscope provided by the present invention will be described in detail below.

FIG. 1A shows a first embodiment of an egg-shaped colonoscope. The egg-shaped colonoscope includes: an egg-shaped casing 10 and a wire set 20 . Wherein, the egg-shaped housing 10 includes a first camera module, a second camera module, a vibration module and a control module 60 .

Structurally, the egg-shaped shell 10 has a first end 11 a , a second end 11 b and a central cylindrical portion extending axially along the egg-shaped shell 10 . Wherein, the first end 11a and the second end 11b refer to the axial ends of the egg-shaped casing 10 respectively, and the first end 11a and the second end 11b are each made of a transparent material.

Secondly, the first camera module is disposed on the first end 11a of the egg-shaped casing 10, and includes: a first image-taking module 12a, a first light-emitting module 13a and a first circuit board 14a. The second camera module is disposed on the second end 11b of the egg-shaped casing 10, and includes: a second image-taking module 12b, a second light-emitting module 13b and a second circuit board 14b.

The first and second imaging modules 12a and 12b use one of high-pixel CMOS sensors and CCD sensors. The first and second light-emitting modules 13a, 13b can be light-emitting modules composed of light-emitting diodes (abbreviated as LED in English). Therefore, the first camera module and the second camera module can perform lighting and photography, and the second camera module is mainly used to shoot folds or blind spots of the intestinal wall, and the shooting direction of the image taken by the first camera module is opposite to that of the first camera module.

The control module 60 is installed in the egg-shaped casing 10 . In this embodiment, the control module 60 is installed on the central circuit board 18 . The central circuit board 18 is connected to a first circuit board 14a and a second circuit board 14b to electrically connect the entire circuit. Actually, the overall circuit is not limited thereto, for example, the control module 60 is electrically connected to the first camera module, the second camera module and the vibration module. The control module 60 can receive an external control command, so as to operate any camera module to perform image shooting and transmission, and can also determine whether the vibration module vibrates or not.

The wire set 20 is on the side of the second end 11b of the egg-shaped casing 10 , and it is better that the two are fixed. In this embodiment, the lead set 20 has a lead sheath 23 that includes a plurality of tube airway openings 24 . The wire sheath 23 covers three conductive (electrical) wires (such as signal wires, positive wires, and negative wires) and a hose air channel 22 . In some embodiments, the wire sheath 23 covers at least two conductive (electrical) wires 21 . These conductive (electrical) wires 21 serve as a power supply component, which can be electrically connected to the aforementioned control module 60, and are used to output power to each electronic component set in the egg-shaped housing 10, such as the first camera module, the second camera module, Components such as the control module 60 and the vibration module. The flexible airway 22 guides air from the outside, passing through the flexible airway opening 24 into the large intestine.

In this embodiment, the vibration module may be a vibration motor 15 installed in the egg-shaped casing 10 to make the egg-shaped casing 10 vibrate. In FIG. 1 , the vibrating motor 15 is installed on the side wall 19 of the egg-shaped housing 10 , that is, the side wall of the central cylinder. In FIG. 1B , the vibrating motor 15 is installed on the side wall 19 which is biased toward the second end 11 b. In some embodiments, it is preferable that the vibration motor 15 is installed on the side wall 19 biased towards the first end 11a. In some other embodiments, the vibrating motor 15 is installed at the center of the central cylinder of the egg-shaped housing 10 , that is, on the central circuit board 18 .

As shown in Figure 1A, in terms of size planning, the length L1 of the egg-shaped colonoscope is between 2.5-5.2 cm, and the width W1 is between 1.5-2.5 cm

Although the insufflation of gas into the intestinal tract falls under the category of external control, it is the main function that an egg colonoscope must provide. In addition to forming a hose airway opening 24 near the second end 11b of the egg-shaped housing 10 as shown in FIG. 1A , the wire set 20 can also directly form an airway opening 25 in the egg-shaped housing 10 as shown in FIG. 2 . In addition to supplying gas, the airway opening 25 can also supply some water or medicine as needed.

In FIG. 3A , there are a plurality of gastropods 16 on the outside of the egg-shaped casing 10 , and these gastropods 16 can assist the egg-shaped colonoscope to advance more stably in the large intestine. Of course, there are other options for the gastropod structure that assists the advancement of the egg-shaped colonoscope: more than one gastropod 16a with a single-ring structure as shown in Figure 3B; or a gastropod 16b with a spiral structure as shown in Figure 3C; or a snake-like gastropod Scale-structured gastropods; or a combination of these structures.

In addition to the abdomen, the device for assisting the advancement of the egg-shaped colonoscope in the large intestine also includes a magnetic passive set installed on the egg-shaped shell 10 . In Fig. 4A and Fig. 4B, three sets of magnetic passive sets are installed on the part of the central cylinder of the egg-shaped housing 10 near the first end 11a, and each set of magnetic passive sets includes: a magnetic component N pole 17a and a magnetic component S The pole 17b, the N pole and the S pole 17a, 17b of the magnetic component are located at the two ends of the diameter, and an external active magnetic device can be used to assist the advancement and positioning of the egg-shaped casing 10 .

In an application scenario, the external active magnetic device has a traction effect on the magnetic passive set, so that the egg-shaped casing 10 entering the large intestine is partially rotated until the second camera module can see the blind spot covered by the lead group 20 . In other application scenarios, the external active magnetic device pulls the magnetic passive set, so that the egg-shaped shell 10 generates auxiliary power to move forward along the intestinal tract.

In addition, the magnetic field of the magnetic passive set can be sensed by some inductive detection equipment, and the correct position of the egg-shaped shell 10 inside the large intestine can be known through a display. When the doctor diagnoses the patient, he can clearly mark the precise location of the affected part in the large intestine.

In terms of image signal transmission, due to the design of the wire set 20, as long as sufficient power is supplied, the transmission operation can be carried out in one of wired or wireless ways. Specifically, in the wired transmission mode, the egg-shaped colonoscope adopts one of signal transmission lines or power line transmission. Therefore, the wire group 20 includes a signal transmission line (not shown in the figure), or an additional set of power line signal transmission modules (not shown in the figure) are installed on the egg-shaped housing 10, so that the control module 60 can transmit the image signal in real time. go out.

As shown in FIG. 5 , in the wireless transmission mode, a wireless transmission module 50 is added to the egg-shaped colonoscope. The wireless transmission module 50 is electrically connected to the control module 60 and can also transmit the images captured by the first and second camera modules.

Secondly, the conductive (electrical) wire 21 of the egg-shaped colonoscope is replaced by a battery (not shown). In the wireless transmission mode, the battery is arranged in the egg-shaped casing 10 and acts as a power supply unit of the egg-shaped colonoscope to supply the power required by each electronic component. Therefore, an external control instruction is received by the wireless transmission module 50 and transmitted to the control module 60 . In this way, the guide wire set 20 only has the flexible tube airway 22, but no guide (electric) wire, and will not hinder the egg-shaped colonoscope from performing intestinal inspection.

As shown in FIG. 5 , the egg-shaped colonoscope has an additional angle detection unit 70 to assist the egg-shaped colonoscope to grasp the current horizontal tilt angle of the egg-shaped colonoscope when navigating in the large intestine. The angle detection unit 70 is electrically connected to the control module 60 and can detect and transmit the change value of the horizontal angle of the egg-shaped casing 10 .

In short, the first end 11a of the egg-shaped shell 10 is lower than the second end 11b in the direction of gravity, that is, the horizontal inclination angle of the first end 11a is downward. At this moment, the egg-shaped colonoscope can continue to advance in the intestinal tract of the large intestine in a vibratory manner.

If it is not the situation that the first end 11a is downward (that is, the first end 11a is higher than the second end 11b in the direction of gravity, or equal to the second end 11b), the doctor can pass the aforementioned external active magnetic device (see details). 4A and 4B) to assist in pulling the egg-shaped colonoscope forward; or, by adjusting the patient’s posture to adjust the angle of the intestinal tract so that the egg-shaped colonoscope can form a state where the first end 11a faces downward. Therefore, through the configuration of the angle detection unit 70 , the egg-shaped colonoscope provided by the present invention can more easily achieve the purpose of forward control intended by the present invention.

Wherein, the angle detection unit 70 can be selected from: a micro-electromechanical angle detection chip, a micro-electro-mechanical gyroscope chip, a micro-electro-mechanical dual-axis acceleration sensing chip, a micro-electro-mechanical three-axis acceleration sensing chip, a scroll switch, and a magnetic sensor. one. For the above-mentioned many components, as far as possible, components that are miniaturized and have shock-resistant conditions are selected as considerations.

As shown in Figure 6, the use status of the egg-shaped colonoscope is illustrated. As can be seen clearly from the figure, since the present invention utilizes an egg-shaped structure, that is, the design of the egg-shaped shell 10, the egg-shaped design conforms to the structural characteristics of the digesta that the intestinal tract can hold originally. In addition, since the wire group 20 adopts the design of a soft flexible airway. Its flexible characteristics and its diameter are controlled below 0.5 cm. Therefore, when the doctor operates the egg-shaped colonoscope of the present invention, it can easily Painful way, let the egg-shaped colonoscope enter the intestinal tract of the large intestine 30 smoothly, from the rectum 35 to the sigmoid colon 34 to the descending colon 33 to the transverse colon 32 to the ascending colon 31, the complete 160 cm intestine will not cause intestinal compression Naturally, it will not cause discomfort to the patient.

More importantly, the egg-shaped colonoscope provided by the present invention allows the egg-shaped colonoscope to see the other side of the folds of the large intestine without a dead angle through the design of the front and rear double mirrors.

As shown in Fig. 7A and Fig. 7B, another use state of the egg-shaped colonoscope is illustrated. In FIG. 7A , when the egg-shaped colonoscope is advancing, the large intestine polyp 40 opposite the fold of the large intestine 30 cannot be seen. But when moving to the position shown in FIG. 7B , the large intestine polyp 40 in the dead corner of the folds of the intestinal wall of the large intestine 30 can be observed through the second camera module.

Basically, the egg-shaped colonoscope provided by the present invention assists advancement through vibration, and its main purpose is to reduce the discomfort of the patient during examination. And suitable advance control method has just played very important effect to the present invention. The present invention enables the egg-shaped colonoscope to advance smoothly through some methods: the first method is the gravity plus vibration method, the second method is the magnetic force plus vibration method, and the third method is the gravity plus vibration plus magnetic force method.

As shown in Figure 8A, the first flow chart of the egg-shaped colonoscope travel control method provided by the present invention includes the following steps:

Step 101: Detect the horizontal tilt angle of the egg-shaped colonoscope.

Step 103: Make the egg-shaped colonoscope vibrate.

Step 105: When the egg-shaped colonoscope vibrates, make the first end 11a of the egg-shaped colonoscope lower than the second end 11b in the direction of gravity (for example: let the intestine where the egg-shaped colonoscope is located be inclined to the horizon, and Make the advancing direction of the egg-shaped colonoscope face down).

Since the horizontal inclination angle of the egg-shaped colonoscope has been mastered, and the condition of the intestinal tract has been seen through the first camera module, when the first end (11a) of the egg-shaped colonoscope is not facing down, there are many ways to check Adjust the condition of the bowel, try to make the first end (11a) of the egg-shaped colonoscope face down, so that the egg-shaped colonoscope can move forward in a vibrating way. For example, the lying position of the patient can be changed, or, with the assistance of the hospital bed, the relative position of the intestinal tract can be changed. For example, after the egg-shaped colonoscope enters the descending colon, the hospital bed can be controlled so that the patient's head is facing down and the feet are facing up, so that the direction of travel is facing downwards (the first end 11a is facing downwards). The position of the intestinal tract can be locally adjusted so that the first end (11a) of the egg-shaped colonoscope faces downward, making it easier to travel in the descending colon. For another example, at the turning point where the descending colon turns to the transverse colon, the patient can be made to lie on the right side, forming a state where the egg-shaped colonoscope can easily travel to the transverse colon. Or, push the bowel locally, and so on.

In addition to the above step 101, step 103 and step 105, the first flow chart of the method for controlling the advancement of the egg-shaped colonoscope provided by the present invention may further include a step 107: provide a pulling force to control the advancing speed of the egg-shaped colonoscope or fine-tune the egg-shaped colonoscope. The direction of travel of the colonoscope.

This step 107 is used to slow down the traveling speed of the egg-shaped colonoscope when it is too fast, or to slightly adjust its traveling direction when the traveling direction of the egg-shaped colonoscope is slightly deflected and stuck in the intestinal tract. Wherein, the way of providing the pulling force may be pulling the guide wire set 20 .

Next, as shown in FIG. 8B, the second flow chart of the process flow of the method for controlling the progress of the egg-shaped colonoscope provided by the present invention, that is, the method of using magnetic force, is the description of the method for controlling the progress of FIG. 4A , which includes the following steps:

Step 111: Provide an egg-shaped colonoscope-magnetic passive kit.

Step 113: Detect the horizontal tilt angle of the egg-shaped colonoscope.

Step 115: Make the egg-shaped colonoscope vibrate.

Step 117 : When the egg-shaped colonoscope is vibrating, an external active magnetic device is provided to pull the magnetic passive sleeve to assist the egg-shaped colonoscope to move forward when vibrating. Since the horizontal inclination angle of the egg-shaped colonoscope has been mastered, when the egg-shaped colonoscope advances, it can be attracted to the egg-shaped colonoscope through the external active magnetic device to make it advance. The image sent by the camera module can be seen. Therefore, we can easily provide a slight auxiliary traction force through the active magnetic device during vibration, so that the egg-shaped colonoscope can move forward.

Similarly, in addition to the above step 111, step 113, step 115 and step 117, the second flow chart of the egg-shaped colonoscope advancement control method provided by the present invention may further include a step 119: providing a pulling force to control the movement of the egg-shaped colonoscope. Travel speed or fine-tune the travel direction of the egg colonoscope. The implementation and purpose of this step 119 are the same as the step 107 of the first embodiment of the travel control method described above, so it will not be repeated here.

As shown in Figure 9A, it is a schematic cross-sectional view of another specific embodiment of an egg-shaped colonoscope provided by the present invention; Figure 9B is a schematic cross-sectional view of the wire group (exposed part) of the embodiment of Figure 9A; Figure 9C is an egg-shaped embodiment of Figure 9A A schematic cross-sectional view of the first end 11 a of the casing 10 .

In this embodiment, in addition to the original hose airway 22, the wire set 20a adds an instrument channel 26 (Instrument Channel), and the hose airway 22 and the instrument channel 26 are both at the first end of the egg-shaped colonoscope. There is an outlet at 11a. In this embodiment, the openings of the hose airway 22 and the instrument channel 26 are arranged beside the first imaging module 12a, so that the physician can pass through the instrument channel 26 to insert a polypectomy instrument 90 (as shown in FIG. 10 ), a hemostat , slicing forceps, foreign body forceps, etc., perform the necessary operations. In addition, the egg-shaped colonoscope of this specific embodiment can also have a magnetic passive set as shown in Figure 4A and Figure 4B, so as to use an external active magnetic device to magnetically attract the magnetic passive set during the whole or part of the operation, and then The position and orientation of the egg-shaped casing 10 in the large intestine are fixed.

In addition, it can be observed in FIG. 9B that the wire group 20a is located in the cross-sectional structure outside the egg-shaped colonoscope, except for the original flexible airway 22 and the wire 21 (composed of three wires, respectively positive, negative, and signal wires, and cladding), it also includes an instrument channel 26, and a filler 27 in the tube, and the filler 27 in the tube can make the structure of the whole wire group 20a stable. In FIG. 9A , the opening of the first end 11 a does not include the part of the wire 21 , which passes through the position of the second end 11 b and is soldered on the second circuit board 14 b. Here, a special structure of the wire group 20a is formed. Of course, in another embodiment, the wire 21 can also pass through the position of the first end 11a, and be soldered on the first circuit board 14a (not shown).

It can be observed in FIG. 9C that the instrument channel 26 and the hose channel 22 are placed next to the first imaging module 12a. When the instrument passes through the instrument channel 26, the doctor can clearly see the state of the instrument, and then perform accurate diagnosis. Surgery, as shown in Figure 10.

As shown in FIG. 10 , the operation mode of adding polypectomy instrument 90 to the egg-shaped colonoscope in FIG. 9A is illustrated. Wherein, the hose airway 22 can spray out required gas and water, etc., to allow the intestinal tract to expand and lubricate. The first light-emitting module 13a can be controlled to generate light sources of different colors, and then the first image-taking module 12a can take images under the irradiation results of different light sources. Alternatively, when the first imaging module 12a is replaced with a camera with adjustable magnification, low-magnification and high-magnification imaging can be performed, and cells can be directly observed with a high magnification effect, allowing doctors to make more detailed diagnoses.

In addition, an instrument channel 26 is added to the egg-shaped colonoscope in FIG. 9A , allowing different instruments to enter the first end 11a through this channel. Taking Fig. 10 as an example, the polypectomy instrument 90 is used to penetrate the instrument channel 26, and the polypectomy knife 91 can also be extended to assist the doctor to further perform the large intestine polyp incision operation.

Next, as shown in FIG. 11A , FIG. 11C and FIG. 12 , another specific embodiment of the egg-shaped colonoscope is illustrated. Wherein, Fig. 11A is a schematic cross-sectional view of the egg-shaped colonoscope of this embodiment, Fig. 11B is a schematic cross-sectional view of the wire group (exposed part) of the egg-shaped colonoscope of this embodiment, and Fig. 11C is a schematic cross-sectional view of the egg-shaped colonoscope of this embodiment A schematic cross-sectional view of the first end 11a of the mirror, and FIG. 12 is a schematic view of the operation when using the egg-shaped colonoscope of this embodiment for surgery. Compared with the previous embodiment, the wire set 20b of this embodiment omits the instrument channel 26, and uses the hose air channel 22 as the instrument channel port (Instrument Channel), thereby realizing the three-in-one of gas, water and instrument channels Effect.

Fig. 13a to Fig. 13c are schematic cross-sectional views of another specific embodiment of the egg-shaped colonoscope provided by the present invention. The structure of this embodiment is similar to that of the aforementioned first embodiment, but the shell side wall 19' of the egg-shaped shell 10c of this embodiment is made of elastic material. In addition, the egg-shaped housing 10c does not have a central circuit board 18, so the vibration motor 15, the control module 60 and the angle detection unit 70 of this embodiment are arranged on the first circuit board 14a or the second circuit board 14b, and the first circuit board The board 14a and the second circuit board 14b are connected by flexible wires.

In this embodiment, the main features of the egg-shaped colonoscope are: a telescopic actuating assembly 80 is provided in the egg-shaped housing 10c and connected between the first end 11a and the second end 11b of the egg-shaped housing 10c, and The outer surface of the egg-shaped shell 10c has gastropods 16 .

Specifically, the telescopic actuation assembly 80 is a structure capable of repeatedly telescoping the distance between the first end 11a and the second end 11b of the egg-shaped shell 10c, and includes an actuation motor 81, a telescopic drive member 82 and A telescopic follower 83, wherein the actuating motor 81 can be controlled by the control module 60 and is preferably fixed on the inner surface of the housing side wall 19', the telescopic drive 82 is rotatably connected to the actuating motor 81, and the telescopic follower 83 is disposed on the first circuit board 14a at the first end 11a and the second circuit board 14b at the second end 11b. Alternatively, the actuating motor 81 may also be fixed on one of the first circuit board 14a and the second circuit board 14b, and the telescopic follower 83 may be disposed on the other of the first circuit board 14a and the second circuit board 14b.

Through the above telescopic actuating assembly 80, when the actuating motor 81 operates to rotate the telescopic driving member 82, the telescopic driven member 83 will be away from the telescopic driving member 82 (as shown in FIG. 13A ) or adjacent to the telescopic driving member 82 ( As shown in FIG. 13B ), the shell side wall 19' is stretched, thereby assisting the egg-shaped colonoscope to smoothly pass through the narrow place or turning point in the intestinal tract, or even completely provided by the stretching of the shell side wall 19'. Momentum for egg-shaped colonoscope travel.

The aforesaid telescopic actuating assembly 80 may be composed of any structure capable of repeatedly expanding and contracting the distance between the first end 11a and the second end 11b of the egg-shaped shell 10c. As shown in Fig. 13A and Fig. 13B, the telescopic driving part 82 is a crankshaft, and the telescopic follower 83 is two connecting rods, one of which is pivotally connected to the crankshaft and the first circuit board 14a, and the other connecting rod is pivotally connected to the crankshaft and the first circuit board 14a. Connected to the crankshaft and the second circuit board 14b. Or, as shown in FIG. 13C, the telescopic driver 82 is a rotor with alternately arranged magnetic pole faces of different polarities on the outer peripheral surface, and the telescopic follower 83 is two magnets whose magnetic pole faces face the telescopic driver 82. The mutual attraction or repulsion between the magnetic pole surface of the driver 82 and the magnetic pole surface of the telescopic follower 83 can also make the casing side wall 19 ′ expand and contract.

Through the structure of the above-mentioned embodiment, the method for controlling the movement of the egg-shaped colonoscope provided by the present invention can also make the egg-shaped colonoscope stretch after detecting the horizontal tilt angle of the egg-shaped colonoscope, and make the egg-shaped colonoscope move. The first end 11a is lower than the second end 11b in the direction of gravity, so that the egg-shaped colonoscope can be moved forward in a repeatedly telescopic manner. Alternatively, the above-mentioned stretching action can also be implemented in conjunction with the vibration traveling or magnetic attraction traveling in other aforementioned embodiments. In addition, since the outer periphery of the egg-shaped casing 10c can be provided with the gastropods 16, the gastropods 16 can support the wall of the intestinal tract during the stretching process of the egg-shaped colonoscope, effectively improving the traveling effect of the stretching action.

Using the present invention can achieve special technical effects such as no pain, no dead angle, and not easy to cause intestinal perforation, etc., which has achieved a great progress in the history of human medicine.

Although the technical content of the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention, and any modifications and modifications made by those skilled in the art without departing from the spirit of the present invention should be included in the present invention. Within the scope of the present invention, the protection scope of the present invention should be defined as defined by the scope of claims in this case.

Claims (25)

1. an egg-shaped colonoscope, characterized in that, comprising: An egg-shaped shell has an axial direction, and a first end and a second end are formed on the axial direction, and the first end is made of a transparent material; A first camera module, installed at the first end, for lighting and photography; A vibrating motor installed in the egg-shaped shell to vibrate the egg-shaped shell; A control module, installed in the egg-shaped housing, is electrically connected to the first camera module and the vibration motor, receives a control command to control the first camera module to perform video shooting and image transmission, and controls the vibration motor vibration; a wire set, including an airway opening, fixed to the second end side of the egg-shaped housing, and consisting of a wire sheath covering a hose airway; and a power supply component is arranged in the wire group or the egg-shaped housing, the power supply component is electrically connected with the control module to transmit power to the control module, Wherein the egg-shaped housing or the wire set has an air passage opening, and the air passage opening communicates with the hose air passage of the wire set, and is used to send an externally generated gas through the hose air passage and the air passage opening sequentially. to the large intestine. 2. egg type colonoscope according to claim 1, is characterized in that, also comprises: A second camera module is installed at the second end, and is used for shooting images opposite to the shooting direction of the first camera module. 3. egg type colonoscope according to claim 1, is characterized in that, also comprises: An angle detection unit is connected with the control module to detect a horizontal angle change value of the egg-shaped shell, and transmit the horizontal angle change value through the control module. 4. The egg-shaped colonoscope according to claim 3, wherein the angle detection unit is a micro-electro-mechanical angle detection chip, a micro-electro-mechanical gyroscope chip, a micro-electro-mechanical dual-axis acceleration sensing chip, and a micro-electromechanical three-axis acceleration sensor chip. One of acceleration sensing chip, scroll switch and magnetic sensor. 5. egg type colonoscope according to claim 1, is characterized in that, also comprises: At least one gastropod is installed on the outer periphery of the egg-shaped casing to assist the advancement of the egg-shaped colonoscope. 6. egg type colonoscope according to claim 1, is characterized in that, also comprises: At least one set of magnetic passive sets is installed on the inner periphery of the egg-shaped casing to assist the advancement and positioning of the egg-shaped colonoscope through an external active magnetic device. 7 . The egg-shaped colonoscope according to claim 1 , wherein the power supply component is arranged in a wire group, and the power supply component is a plurality of wires. 8. egg type colonoscope according to claim 1, is characterized in that, also comprises: A wireless transmission module, connected to the control module, is used to transmit the images captured by the first camera module. 9. The egg-shaped colonoscope according to claim 8, wherein the power supply assembly is a battery disposed in the egg-shaped casing, and the wireless transmission module is also used to receive the control command and transmit the control command to the control module. 10. The egg-shaped colonoscope according to claim 1, characterized in that, it also includes a power line signal transmission module connected to the control module, or the wire set also includes a signal transmission line, the power line signal transmission module and the power line signal transmission module The signal transmission line is used for transmitting the image captured by the first camera module. 11. The egg-shaped colonoscope according to claim 1, wherein the length of the egg-shaped colonoscope is between 2.5-5.2 cm, and the width is between 1.5-2.5 cm. 12. The egg-shaped colonoscope according to claim 1, characterized in that, the guide wire set also comprises an instrument channel, or the hose airway also serves as the instrument channel, and the opening of the instrument channel is configured at the first end , used for accommodating a medical device passing through to the first end for performing medical operations. 13. The egg-shaped colonoscope according to claim 1, further comprising a telescopic actuator assembly connected between the first end and the second end of the egg-shaped housing, and the egg-shaped housing The side walls are made of elastic material. 14. The egg-shaped colonoscope according to claim 13, characterized in that, the outer periphery of the egg-shaped shell also has at least one gastropod. 15. The egg-shaped colonoscope according to claim 13, wherein the telescoping actuating assembly has an actuating motor, a telescoping driver and a telescoping follower, and the actuating motor is fixed inside the side wall On the surface, the telescopic driving member is rotatably connected to the actuating motor, and the telescopic follower is disposed on at least one of the first end and the second end. 16. A method for controlling the travel of an egg-shaped colonoscope, the egg-shaped colonoscope comprising a vibration module, a wire set, a first end, a second end and a first camera module, the vibration module is used to make the egg Type colonoscope vibrates, the wire group is used to transmit power, the first end and the second end are opposite ends of the egg-shaped colonoscope on one axis, and the first camera module is located at the first end; its features In that, the traveling control method includes the following steps: vibrate the egg-shaped colonoscope; and When the egg-shaped colonoscope vibrates, the first end is lower than the second end in the direction of gravity. 17. The advancing control method of egg-shaped colonoscope according to claim 16, is characterized in that, also comprises the following steps: A pulling force is provided to control the traveling speed of the egg-shaped colonoscope or to fine-tune the traveling direction of the egg-shaped colonoscope. 18. The method for controlling the travel of an egg-shaped colonoscope according to claim 17, wherein the method of providing the pulling force is pulling the wire group. 19. The advancing control method of egg-shaped colonoscope according to claim 16, is characterized in that, also comprises the following steps: Detect the change of the horizontal angle of the egg-shaped colonoscope and transmit a value of the change of the horizontal angle. 20. A method for controlling the movement of an egg-shaped colonoscope. The egg-shaped colonoscope includes a vibration module to enable the egg-shaped colonoscope to vibrate. The egg-shaped colonoscope also includes a wire group to transmit power. The egg-shaped colonoscope It also includes a magnetic passive kit; it is characterized in that the travel control method includes the following steps: vibrate the egg-shaped colonoscope; and When the egg-shaped colonoscope vibrates, an external active magnetic device is provided to pull the magnetic passive sleeve to assist the egg-shaped colonoscope to advance during vibration. 21. The advancing control method of egg-shaped colonoscope according to claim 20, is characterized in that, also comprises the following steps: A pulling force is provided to control the advancing speed of the egg-shaped colonoscope or to fine-tune the advancing direction of the egg-shaped colonoscope. 22. The method for controlling the travel of an egg-shaped colonoscope according to claim 21, wherein the method of providing the pulling force is pulling the wire group. 23. The advancing control method of egg-shaped colonoscope according to claim 20, is characterized in that, also comprises the following steps: Detect the change of the horizontal angle of the egg-shaped colonoscope and transmit a value of the change of the horizontal angle. 24. A method for controlling the travel of an egg-shaped colonoscope. The egg-shaped colonoscope includes a wire group, a first end, a second end, a first camera module, and a telescopic actuation component. The wire group is used to transmit Electric power, the first end and the second end are the opposite ends of the egg-shaped colonoscope in an axial direction, the first camera module is located at the first end, and the telescopic actuating component is used to make the egg-shaped colonoscope It can expand and contract along the axis; it is characterized in that the travel control method includes the following steps: telescoping the egg colonoscope; and When the egg-shaped colonoscope stretches, the first end is lower than the second end in the direction of gravity. 25. The method for controlling the advancement of the egg-shaped colonoscope according to claim 24, wherein the outer periphery of the shell of the egg-shaped colonoscope also has at least one gastropod; the method for controlling the advancement also includes the following steps: When the egg-shaped colonoscope stretches, the gastropa can support the wall of the intestinal tract during the stretching of the egg-shaped colonoscope.