CN111568346A - A Capsule Endoscope Based on Optical Ultrasound Dual-modality Imaging - Google Patents

Abstract

The invention is applicable to the technical field of capsule endoscope, and proposes a capsule endoscope based on optical ultrasonic dual-mode imaging. In the embodiment of the present invention, the capsule endoscope body is mechanically guided and transported by using a coaxial cable with an outer diameter smaller than that of the capsule endoscope body, so that the movement of the capsule endoscope body in the human body is controllable, which can effectively reduce The collision and friction caused by the coaxial cable to the human digestive tract can also reduce electromagnetic radiation and eliminate static electricity through the shielding layer; obtain the optical image data of the human digestive tract through the camera module, and obtain the ultrasonic scanning of the human digestive tract through the ultrasonic imaging module. The optical image data and ultrasonic scan data are sent to the imaging system for real-time image processing through the coaxial cable, and the optical image and ultrasonic image are obtained and displayed, which can realize optical imaging and ultrasonic imaging, and present the multi-dimensional tissue in the human digestive tract in real time. The imaging screen can obtain the lesion information in the deep tissue.

Description

A Capsule Endoscope Based on Optical Ultrasound Dual-modality Imaging

technical field

The invention belongs to the technical field of capsule endoscopes, and in particular relates to a capsule endoscope based on optical ultrasonic dual-mode imaging.

Background technique

The mortality rate of patients with esophageal cancer is high. The main reason is that the early symptoms of esophageal cancer are not obvious, and it is difficult to diagnose. The patient's condition is often very serious when he sees a doctor, and the treatment effect is limited. At present, the lesions of human esophagus, stomach and duodenum can be diagnosed by capsule endoscope. The capsule endoscope is small in size and can penetrate deep into the human digestive tract to spy on the health of the human stomach and esophagus.

However, the existing optical endoscopes based on optical imaging technology can only observe the surface of the digestive tract, and cannot obtain the information of lesions in the deep tissue, so that the tiny lesions located in the submucosa cannot be captured, which greatly limits the integrity of the diagnosis. and accuracy.

SUMMARY OF THE INVENTION

In view of this, the embodiment of the present invention provides a capsule endoscope based on optical ultrasonic dual-modal imaging, so as to solve the problem that the existing optical endoscope based on optical imaging technology can only observe the surface of the digestive tract, and cannot. Obtaining the lesion information in the deep tissue, it is impossible to capture the tiny lesions located in the submucosa, which greatly limits the completeness and accuracy of the diagnosis.

Embodiments of the present invention provide a capsule endoscope based on optical ultrasonic dual-mode imaging, including a capsule endoscope body and a coaxial cable, wherein the capsule endoscope body includes a housing, a camera module and an ultrasonic imaging module ;

The capsule endoscope body is capsule-shaped and the outer diameter of the capsule endoscope body is larger than the outer diameter of the coaxial cable;

The camera module and the ultrasonic imaging module are arranged inside the casing, the outer insulating layer, the shielding layer and the inner insulating layer of the coaxial cable are connected to the casing, and the center of the coaxial cable is connected to the casing. One end of the wire is electrically connected to the camera module and the ultrasonic imaging module, and the other end is electrically connected to the imaging system;

The camera module is used to acquire optical image data of the human digestive tract when the main body of the capsule endoscope moves into the human digestive tract and send it to the imaging system through the central wire;

The ultrasonic imaging module is used to acquire ultrasonic scanning data of the human digestive tract when the main body of the capsule endoscope moves into the human digestive tract and send it to the imaging system through the central wire;

The imaging system is used to perform real-time image processing on the optical image data and the ultrasonic scan data to obtain and display the optical image and the ultrasonic image.

In one embodiment, the coaxial cable includes a center conductor, and the optical image data and the ultrasound scan data are time-divisionally transmitted to the imaging system through the center conductor;

Alternatively, the coaxial cable includes two central wires, the camera module and the ultrasonic imaging module are each electrically connected to the imaging system through a central wire, and the optical image data and the ultrasonic scanning data pass through The two center wires are delivered to the imaging system simultaneously.

In one embodiment, the camera module includes a camera and a controller, and the controller is electrically connected to the central wire;

One end of the casing away from the outer insulating layer, the shielding layer and the inner insulating layer includes a light-transmitting area, the camera is disposed toward the light-transmitting area, and the camera is used to pass through the light-transmitting area Obtain optical images of the human digestive tract;

The controller is configured to control the camera to capture an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data, and send the optical image to the imaging system through the central wire.

In one embodiment, the camera includes an optical lens and a light source, and the light source is electrically connected to the controller;

The optical lens and the light source are arranged toward the light-transmitting area;

The controller is also used to control the light source to emit light to the human digestive tract for illumination and supplementary light.

In one embodiment, the light source includes a visible light source and an infrared light source, and the optical image includes a visible light image and an infrared light image.

In one embodiment, the ultrasonic imaging module includes an ultrasonic transducer, a signal transmitter and a motor;

The ultrasonic transducer is electrically connected to the signal transmitter, the ultrasonic transducer is mechanically connected to the motor, and the signal transmitter and the motor are electrically connected to the central wire;

The side wall of the casing is provided with a sound-transmitting window, and the ultrasonic transducer is arranged toward the sound-transmitting window. The human digestive tract is scanned by ultrasonic rotation to obtain the ultrasonic scanning data of the human digestive tract;

The motor is arranged inside the casing, and the motor is used to drive the ultrasonic transducer to rotate by a preset scanning angle;

The signal transmitter is a rotatable electrical coupling device for coupling the ultrasound scan data to the center wire and sending the ultrasound scan data to the imaging system through the center wire.

In one embodiment, the preset scanning angle ranges from 0° to 360°, and the center frequency of the ultrasonic transducer ranges from 30MHz to 50MHz.

In one embodiment, the outer diameter of the outer insulating layer ranges from 1 mm to 3 mm;

The outer diameter of the capsule endoscope body ranges from 10 mm to 15 mm, and the length ranges from 20 mm to 50 mm.

In one embodiment, the capsule endoscope further includes a magnetic positioning component, and the magnetic positioning component is disposed on the housing;

The magnetic positioning component is used to drive the main body of the capsule endoscope to move into the human digestive tract under the magnetic attraction of the magnetic attraction component when the coaxial cable is connected to the imaging system.

In one embodiment, the camera module is further configured to acquire optical image data of multiple sections of the human digestive tract when the capsule endoscope body is moved out of the human digestive tract at a constant speed and send it to the human digestive tract through the central wire the imaging system;

The ultrasonic imaging module is further configured to acquire ultrasonic scanning data of multiple sections of the human digestive tract when the capsule endoscope body is moved out of the human digestive tract at a constant speed and send it to the imaging system through the central wire;

The imaging system is further configured to perform three-dimensional image reconstruction processing on the optical image data and the ultrasonic scan data through a three-dimensional image reconstruction algorithm, so as to obtain a three-dimensional tissue image in the human digestive tract.

The embodiment of the present invention provides a capsule endoscope including a capsule endoscope main body and a coaxial cable, a camera module and an ultrasonic imaging module are arranged inside the shell of the capsule endoscope main body, and the outer diameter of the capsule is smaller than that of the capsule. The coaxial cable of the outer diameter of the endoscope body guides and transports the capsule endoscope body mechanically, so that the movement of the capsule endoscope body in the human body is controllable, which can effectively reduce the collision caused by the coaxial cable to the human digestive tract It can also reduce electromagnetic radiation and eliminate static electricity through the shielding layer; obtain the optical image data of the human digestive tract through the camera module, and obtain the ultrasonic wave of the human digestive tract through the ultrasonic imaging module. Scan data, and send optical image data and ultrasonic scan data to imaging system through coaxial cable for real-time image processing, obtain optical image and ultrasonic image and display, which can realize optical imaging and ultrasonic imaging, and present multi-dimension in human digestive tract in real time The tissue imaging screen is easy to observe the tissue lesions, and can obtain the lesion information in the deep tissue, provide a more intuitive and accurate diagnosis basis, and improve the integrity and accuracy of the diagnosis.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic diagram of a first perspective structure of a capsule endoscope provided in Embodiment 1 of the present invention;

Fig. 2 is the two-dimensional ultrasonic image of pig small intestine provided by the first embodiment of the present invention;

3 is a three-dimensional ultrasound image of a pig small intestine provided in Embodiment 1 of the present invention;

4 is a schematic diagram of a second perspective structure of the capsule endoscope provided in Embodiment 1 of the present invention;

5 is a schematic structural diagram of a capsule endoscope provided in Embodiment 2 of the present invention;

6 is a schematic diagram of the relative positional relationship between the magnetic positioning component and the magnetic attraction component provided in Embodiment 2 of the present invention;

7 is a schematic diagram of a first perspective structure of the capsule endoscope provided in Embodiment 3 of the present invention;

8 is a schematic diagram of a second perspective structure of the capsule endoscope provided in Embodiment 3 of the present invention.

Detailed ways

In order for those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are of the present invention. Some examples, but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The term "comprising" and any variations thereof in the description and claims of the present invention and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method or system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes Other steps or units inherent in these processes, methods, products or devices.

Example 1

As shown in FIG. 1 , this embodiment provides a capsule endoscope 100 based on optical ultrasound dual-modality imaging, including a capsule endoscope body 101 and a coaxial cable 102 , and the capsule endoscope body 101 includes a housing 1 , Camera module 2 and ultrasonic imaging module 3;

The capsule endoscope body 101 is capsule-shaped and the outer diameter of the capsule endoscope body 101 is larger than the outer diameter of the coaxial cable 102;

The camera module 2 and the ultrasonic imaging module 3 are arranged inside the casing 1. The outer insulating layer 1021, the shielding layer 1022 and the inner insulating layer (not shown in the figure) of the coaxial cable 102 are connected to the casing 1. The coaxial cable One end of the central wire 1023 of 102 is electrically connected with the camera module 2 and the ultrasonic imaging module 3, and the other end is used for electrical connection with the imaging system.

In applications, the body of the capsule endoscope can also be set to any other shape that is easy to swallow according to actual needs, for example, spherical, ellipsoid, and the like. The size of the capsule endoscope body is smaller than the smallest size that can be accommodated by the human digestive tract. The outer diameter of the capsule endoscope body can range from 10mm to 15mm, and the length can range from 20mm to 50mm. For example, the outer diameter is 10mm and the length is 20mm.

In application, the coaxial cable includes an outer insulation layer, a shield layer, an inner insulation layer and a center conductor arranged coaxially from outer to inner. The outer insulating layer and the inner insulating layer can be made of any smooth insulating material that is harmless to the human digestive tract, flexible and easy to swallow according to actual needs, such as silicone rubber, polyvinyl chloride (PVC), thermoplastic elastic Body (Thermoplastic Elastomer, TPE) and so on. The shielding layer is usually composed of a metal foil layer and a metal mesh fabric. The metal foil layer is usually an aluminum foil layer, and the metal mesh fabric is usually braided by copper wires. The shielding layer plays an important role in the shielding performance of the signal transmitted in the coaxial cable. , can effectively reduce the impact of the electromagnetic radiation generated by the signal on the human body, and the shielding layer can also lead the static electricity generated by the shell out of the human body to avoid damage to the human body caused by static electricity. Specifically, the central wire may be copper wire, silver wire, or the like.

In application, the outer diameter of the outer insulating layer is smaller than the minimum inner diameter of the human digestive tract, and the outer diameter of the outer insulating layer may range from 1 mm to 3 mm, for example, the outer diameter is 2 mm. Due to the use of a thinner coaxial cable, the discomfort caused by capsule endoscopy to various parts of the human digestive tract (for example, the throat) can be greatly reduced, and the use of anesthetics can also be avoided. The coaxial cable can be connected to the capsule endoscope body fixedly or detachably, and the coaxial cable can be detachably connected to the imaging system. The detachable connection method allows users to replace the capsule endoscope body or coaxial cable according to actual needs. , so that the same capsule endoscope body can be adapted to different coaxial cables, and the same coaxial cable can also be adapted to different capsule endoscope bodies, which facilitates the replacement of the two. The coaxial cable can be a disposable cable, which can be replaced after one use, which is convenient and hygienic, and can effectively prevent cross infection.

In applications, the detachable connection method between the coaxial cable and the imaging system may be a plug-in method, a snap or fastener fixing method, a screw connection method, and the like.

In one embodiment, a plug interface is provided at one end of the coaxial cable detachably connected to the imaging system, and the coaxial cable is detachably connected to the imaging system through the plug interface.

In application, the shell can be made of any material that is harmless to the human digestive tract and has flexibility according to actual needs, such as silicone rubber, polyvinyl chloride or thermoplastic elastomer. The housing can be partially transparent or completely transparent.

In application, the camera module and the ultrasonic imaging module are arranged inside the casing and do not block each other.

1 exemplarily shows that the camera module 2 is disposed inside the casing 1 away from the outer insulating layer 1021, the shielding layer 1022 and the end of the inner insulating layer, and the ultrasonic imaging module 3 is disposed inside the casing 1 and is connected with the camera module. 2 do not block each other.

In this embodiment, the camera module 2 is used to acquire optical image data of the human digestive tract and send it to the imaging system through the central wire 1023 when the capsule endoscope body 101 moves into the human digestive tract.

In application, the camera module can select any device with optical image capturing function according to actual needs, for example, a combination of a camera and an image sensor. The camera module can capture two-dimensional optical image data within the visual field of 0° to 360° in the human digestive tract and send it to the imaging system.

In this embodiment, the ultrasonic imaging module 3 is used to acquire ultrasonic scanning data of the human digestive tract and send it to the imaging system through the central wire when the capsule endoscope main body 101 moves into the human digestive tract.

In application, the ultrasonic imaging module can select any device with ultrasonic scanning function according to actual needs, for example, the combination of ultrasonic transducer, motor and signal transmitter. The ultrasonic imaging module can perform ultrasonic rotational scanning imaging of the human digestive tract in the scanning range of 0° to 360°, obtain ultrasonic scanning data and send it to the imaging system.

In this embodiment, the imaging system is used to perform real-time image processing on the optical image data and the ultrasonic scan data to obtain and display the optical image and the ultrasonic image.

In one embodiment, the imaging system is specifically used to perform real-time image processing on the optical image data and the ultrasonic scanning data to obtain and display a two-dimensional optical image and a two-dimensional ultrasonic image, and is also used to perform three-dimensional image processing on the optical image data and the ultrasonic scanning data. Image reconstruction processing, obtaining and displaying the three-dimensional optical image and three-dimensional ultrasonic image of the human digestive tract. The two-dimensional ultrasound image is specifically a tissue section image of the human digestive tract.

In application, the capsule endoscope provided in this embodiment can be used to inspect both the human digestive tract and the animal digestive tract.

As shown in Figure 2, a two-dimensional ultrasound image of a pig's small intestine is exemplarily shown.

As shown in Figure 3, a three-dimensional ultrasound image of a pig's small intestine is exemplarily shown.

In one embodiment, the camera module is further configured to acquire optical image data of multiple sections of the human digestive tract when the capsule endoscope body is moved out of the human digestive tract at a constant speed and send it to the human digestive tract through the central wire the imaging system;

The ultrasonic imaging module is further configured to acquire ultrasonic scanning data of multiple sections of the human digestive tract when the capsule endoscope body is moved out of the human digestive tract at a constant speed and send it to the imaging system through the central wire;

The imaging system is further configured to perform three-dimensional image reconstruction processing on the optical image data and the ultrasonic scan data through a three-dimensional image reconstruction algorithm, so as to obtain a three-dimensional tissue image in the human digestive tract.

In applications, the imaging system can choose any device with image data processing and display functions according to actual needs, such as a combination of an image processor and a display, a combination of a computer host and a display, a notebook computer, a desktop computer, a mobile phone, a tablet computer, etc. The imaging system can perform real-time image processing on the optical image data sent by the camera module and the ultrasonic scanning data sent by the ultrasonic imaging module, and obtain and display two-dimensional optical images and two-dimensional ultrasonic images, so that users can observe the inner surface of the human digestive tract in real time. Therefore, according to the tissue lesions observed in real time, the movement position of the capsule endoscope in the human digestive tract can be controlled by the magnetic attraction component, and the two-dimensional optical image and two-dimensional ultrasound of the target position can be obtained through the capsule endoscope. The imaging system can also perform 3D image reconstruction processing on the optical image data and ultrasonic scan data, obtain the 3D optical image and 3D ultrasonic image of the human digestive tract and display it, so as to obtain the deep tissue lesions at the target location.

In one embodiment, the coaxial cable includes a center conductor, and the optical image data and the ultrasound scan data are time-divisionally transmitted to the imaging system through the center conductor;

Alternatively, the coaxial cable includes two central wires, the camera module and the ultrasonic imaging module are each electrically connected to the imaging system through a central wire, and the optical image data and the ultrasonic scanning data pass through The two center wires are delivered to the imaging system simultaneously.

In the application, the camera module and the ultrasonic imaging module can transmit the optical image data and ultrasonic scanning data to the imaging system in a time-sharing manner through the same central wire, which can save wires, reduce the outer diameter of the coaxial cable, and effectively reduce the coaxial cable. The collision and friction on the human digestive tract improves the comfort and tolerance of examination and diagnosis. The specific method of time-sharing transmission can be alternately transmitted according to the optical image data in the front and the ultrasonic scanning data in the back, or can be alternately transmitted according to the ultrasonic scanning data in the front and the optical image data in the back, and can also be transmitted in accordance with the optical image data. The acquisition time of the image data and the ultrasonic scan data is transmitted in sequence. When the acquisition times of the optical image data and the ultrasonic scan data are the same, the aforementioned alternate transmission method is adopted. For example, assuming that the data streams of the optical image data acquired in the preset time period are A1A2...An, and the ultrasonic data streams are B1B2...Bn, the data streams that alternately transmit the two can be A1B1A2B2...AnBn or B1A1B2A2 ...BnAn, where n≥1 and is an integer. After receiving the data stream, the imaging system splits the data stream to restore it to optical image data and ultrasonic scan data. The camera module and the ultrasonic imaging module can also transmit the optical image data and the ultrasonic scanning data to the imaging system at the same time through a central wire, so that the optical image data and the ultrasonic scanning data do not interfere with each other, and the data transmission efficiency can be improved.

FIG. 1 exemplarily shows a situation in which the camera module 2 and the ultrasonic imaging module 3 are electrically connected to a central wire 1023 .

FIG. 4 exemplarily shows a situation in which the camera module 2 and the ultrasonic imaging module 3 are each electrically connected to a central wire 1023 .

The embodiment of the present invention provides a capsule endoscope including a capsule endoscope main body and a coaxial cable, a camera module and an ultrasonic imaging module are arranged inside the shell of the capsule endoscope main body, and the outer diameter of the capsule is smaller than that of the capsule. The coaxial cable of the outer diameter of the endoscope body guides and transports the capsule endoscope body mechanically, so that the movement of the capsule endoscope body in the human body is controllable, which can effectively reduce the collision caused by the coaxial cable to the human digestive tract It can also reduce electromagnetic radiation and eliminate static electricity through the shielding layer; obtain the optical image data of the human digestive tract through the camera module, and obtain the ultrasonic wave of the human digestive tract through the ultrasonic imaging module. Scan data, and send optical image data and ultrasonic scan data to imaging system through coaxial cable for real-time image processing, obtain optical image and ultrasonic image and display, which can realize optical imaging and ultrasonic imaging, and present multi-dimension in human digestive tract in real time The tissue imaging screen is easy to observe the tissue lesions, and can obtain the lesion information in the deep tissue, provide a more intuitive and accurate diagnosis basis, and improve the integrity and accuracy of the diagnosis. Two-dimensional optical images and two-dimensional ultrasonic images can also be obtained and displayed, and three-dimensional image reconstruction processing of optical image data and ultrasonic scanning data is performed by an imaging system to obtain three-dimensional optical images and three-dimensional ultrasonic images of human digestive tract and display.

Embodiment 2

As shown in FIG. 5 , in this embodiment, the capsule endoscope 100 further includes a magnetic positioning member 4 , and the magnetic positioning member 4 is disposed on the housing 1 .

In application, the magnetic positioning part can be arranged inside or outside the casing, and the shape and size of the magnetic positioning part can be set according to actual needs. One end of the layer is a semi-ellipse of the same shape and size.

As shown in FIG. 5 , the magnetic positioning member 4 is exemplarily shown to be disposed outside the casing 1 near one end of the outer insulating layer 1021 , the shielding layer 1022 and the inner insulating layer, and is close to the outer insulating layer 1021 , One end of the shielding layer 1022 and the inner insulating layer have the same semi-elliptical shape and size.

In this embodiment, the magnetic positioning component 4 is used to drive the capsule endoscope body 101 to move into the human digestive tract under the magnetic attraction of the magnetic attraction component when the coaxial cable 102 is connected to the imaging system.

In application, the magnetic positioning component can choose any magnetic component that is harmless to human body according to actual needs, for example, it can be realized by swallowable magnetic nanoparticles. The magnetic attracting member can be selected from any magnetic member whose magnetic polarity is opposite to that of the magnetic positioning member, for example, a magnet. According to actual needs, the user can manually control the magnetic attraction part to make a uniform cloud or variable speed movement at the position corresponding to the magnetic positioning part outside the human body, and move the main body of the capsule endoscope to the target position in the human digestive tract. The movement speed and movement position of the capsule endoscope in the human digestive tract can be controlled according to actual needs. The target location may be any location in the human digestive tract where the user wants to check whether tissue lesions have occurred, such as the small intestine, stomach, duodenum, pharynx, and the like.

As shown in FIG. 6 , it exemplarily shows a schematic diagram of the relative positional relationship between the magnetic positioning member 4 and the magnetic attraction member 300 when the capsule endoscope main body 101 moves into the human digestive tract.

In this embodiment, a magnetic positioning part is provided in the capsule endoscope, so that the user can manually control the magnetic attraction part to make a uniform cloud or variable speed movement at the position corresponding to the magnetic positioning part outside the human body according to actual needs, and move the main body of the capsule endoscope to The target position in the human digestive tract, so as to realize real-time imaging of any target position in the human digestive tract.

Embodiment 3

As shown in FIG. 7 , in this embodiment, the camera module 2 in the first embodiment or the second embodiment includes a camera head 21 and a controller 22 , and the controller 22 is electrically connected to the center wire 1023 ;

One end of the housing 1 away from the outer insulating layer 1021 , the shielding layer 1022 and the inner insulating layer includes a light-transmitting area 11 , and the camera 21 is disposed toward the light-transmitting area 11 ;

The camera 21 is used to obtain an optical image of the human digestive tract through the light-transmitting area 11;

The controller 22 is configured to control the camera 21 to capture an optical image of the human digestive tract within a preset field of view, convert the optical image into optical image data, and send the optical image to the imaging system through the central wire 1023 .

In the application, the light-transmitting area completely covers the optical lens area of the camera, so that the light reflected from the human digestive tract can enter the optical lens area to be collected, and the camera performs imaging along the advancing or withdrawing direction of the capsule endoscope in the human digestive tract. The optical lens area includes the optical lens and the light source. The optical lens can choose any type of lens according to actual needs, for example, an ultra-wide-angle lens. The camera can be arranged at one end or side of the casing away from the outer insulating layer, the shielding layer and the inner insulating layer. The light source is used to emit light to the human digestive tract, and plays the role of illumination and supplementary light.

In one embodiment, the camera includes an optical lens and a light source, and the light source is electrically connected to the controller;

The optical lens and the light source are arranged toward the light-transmitting area;

The controller is also used to control the light source to emit light to the human digestive tract for illumination and supplementary light.

In applications, the light source may be a visible light source. The light source may also include an infrared light source in addition to a visible light source, so that the optical lens can also obtain an infrared light image in the human digestive tract. Infrared light can penetrate the tissues in the human digestive tract and realize the imaging of deep tissues in the human digestive tract.

In one embodiment, the light source includes a visible light source and an infrared light source, and the optical image includes a visible light image and an infrared light image.

As shown in FIG. 7 , the camera 21 is exemplarily shown at one end of the casing 1 which is far away from the outer insulating layer 1021 , the shielding layer 1022 and the inner insulating layer.

As shown in FIG. 8 , the camera 21 exemplarily includes a visible light source 211 and an infrared light source 212 .

In the application, the controller can choose any type of camera controllers (camera controllers) and image sensors according to the actual needs to realize, which is used to control the camera to obtain the light signal reflected from the human digestive tract at any angle within the preset field of view and convert it into an electrical signal , so as to obtain optical image data at any angle within the preset field of view. The image sensor may be a CCD (Charge Coupled Device, charge coupled device) sensor or a CMOS (Complementary Metal-Oxide Semiconductor, metal oxide semiconductor) sensor. The preset field of view can be set according to actual needs, for example, 0° to 360°.

As shown in FIG. 7 , in this embodiment, the ultrasonic imaging module 3 in the first embodiment includes an ultrasonic transducer 31 , a signal transmitter 32 and a motor 33 ;

The ultrasonic transducer 31 is electrically connected to the signal transmitter 32 , the ultrasonic transducer 31 is mechanically connected to the motor 33 , and the signal transmitter 32 and the motor 33 are electrically connected to the central wire 1023 .

In application, the center frequency range of the ultrasonic transducer and the diameter range of the focusing focus can be set according to actual needs. For example, the center frequency range is 30MHz to 50MHz, and the diameter range of the focus focus is 3mm to 10mm. Specifically, the center frequency may be 40MHz. The motor can choose any type of DC motor according to actual needs, for example, a micro DC servo motor. The capsule endoscope may also include a battery provided in the housing, and the battery is used to supply power to the motor. The battery may be a rechargeable coin cell battery.

In this embodiment, the side wall of the housing 1 is provided with a sound-transmitting window (not shown in the figure), the ultrasonic transducer is arranged toward the sound-transmitting window 31, and the ultrasonic transducer 31 is used to transmit high frequency through the sound-transmitting window. The ultrasound scans the human digestive tract within the preset scanning angle by ultrasonic rotation, so as to obtain the ultrasonic scanning data of the human digestive tract;

The motor 33 is arranged inside the housing 1, and the motor 33 is used to drive the ultrasonic transducer 31 to rotate;

The signal transmitter 32 is a rotatable electrical coupling device for coupling the ultrasound scan data to the central wire 1023, and sending the ultrasound scan data to the imaging system through the central wire 1023;

The imaging system is also used to power the motor 33 .

In application, the sound-transmitting window can be a through-hole or an array of through-holes opened on the side wall of the casing. The sound-transmitting window completely covers the ultrasonic emitting surface of the ultrasonic transducer, so that high-frequency ultrasonic waves can be transmitted to the human body through the sound-transmitting window. Ultrasound scan. The motor can be arranged at any position inside the casing that does not block the camera and the ultrasonic transducer, for example, the inside of the casing is close to one end of the outer insulating layer, the shielding layer and the inner insulating layer. The motor is used to drive the ultrasonic transducer to rotate by a preset scanning angle, and the preset scanning angle can be set according to actual needs, for example, any angle from 0° to 360°. The rotatable electric coupling device is realized by a pair of resolvers, which can be a double-coupled inductance structure, which can effectively prevent the central wire from being entangled due to the rotating action of the motor and the ultrasonic transducer. The ultrasonic imaging module is arranged on one side of the inside of the casing and is adjacent to the camera module, so as to avoid mutual occlusion with the camera module.

As shown in FIG. 7 , it exemplarily shows that the ultrasonic transducer 31 is disposed on one side of the inside of the casing 1 and is adjacent to the camera module 2 , and the motor 33 is disposed inside the casing 1 close to the outer insulating layer 1021 , shielding layer 1022 and one end of the inner insulating layer.

In this embodiment, by arranging the camera in the light-transmitting area at one end of the casing away from the outer insulating layer, the shielding layer and the inner insulating layer, the camera module can obtain the light reflected from the human digestive tract through the light-transmitting area, and pass along the inside of the capsule. The endoscope performs imaging in the advancing or retracting direction of the human digestive tract; by arranging the ultrasonic transducer in the sound-transmitting window area on one side of the casing and adjacent to the camera module, it can effectively avoid the exchange of the camera module and the ultrasonic wave. The energy devices are shielded from each other, and high-frequency ultrasonic waves are emitted through the sound-transmitting window to perform ultrasonic rotation scanning on the human digestive tract within the preset scanning angle, so as to obtain the ultrasonic scanning data of the human digestive tract, and obtain the information of the deep lesions of the human tissue.

It should be understood that the structural features shown in all drawings of the present invention are only exemplary, and do not limit the specific shape, structure or size of the device.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.

Claims (10)

1. A capsule endoscope based on optical ultrasonic bimodal imaging is characterized by comprising a capsule endoscope main body and a coaxial cable, wherein the capsule endoscope main body comprises a shell, a camera module and an ultrasonic imaging module;

the capsule endoscope main body is in a capsule shape, and the outer diameter of the capsule endoscope main body is larger than that of the coaxial cable;

the camera module and the ultrasonic imaging module are arranged in the shell, an outer insulating layer, a shielding layer and an inner insulating layer of the coaxial cable are connected with the shell, one end of a central lead of the coaxial cable is electrically connected with the camera module and the ultrasonic imaging module, and the other end of the central lead of the coaxial cable is electrically connected with an imaging system;

the camera module is used for acquiring optical image data of the human digestive tract and sending the optical image data to the imaging system through the central lead when the capsule endoscope main body moves into the human digestive tract;

the ultrasonic imaging module is used for acquiring ultrasonic scanning data of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves into the human digestive tract;

the imaging system is used for carrying out real-time image processing on the optical image data and the ultrasonic scanning data to obtain and display an optical image and an ultrasonic image.

2. The capsule endoscope of claim 1, wherein the coaxial cable comprises a central conductor through which the optical image data and the ultrasound scan data are time-shared for transmission to the imaging system;

or the coaxial cable comprises two central leads, the camera module and the ultrasonic imaging module are respectively electrically connected with the imaging system through one central lead, and the optical image data and the ultrasonic scanning data are simultaneously transmitted to the imaging system through the two central leads.

3. The capsule endoscope of claim 1, wherein the camera module comprises a camera and a controller, the controller being electrically connected to the central wire;

one end, far away from the outer insulating layer, the shielding layer and the inner insulating layer, of the shell comprises a light transmitting area, the camera is arranged towards the light transmitting area, and the camera is used for acquiring an optical image of the digestive tract of the human body through the light transmitting area;

the controller is used for controlling the camera to shoot an optical image of the human digestive tract in a preset visual field range, converting the optical image into optical image data and sending the optical image data to the imaging system through the central wire.

4. The capsule endoscope of claim 3, wherein the camera head comprises an optical lens and a light source, the light source being electrically connected to the controller;

the optical lens and the light source are arranged towards the light-transmitting area;

the controller is also used for controlling the light source to emit light to the alimentary canal of the human body for illumination and supplementary lighting.

5. The capsule endoscope of claim 4, wherein the light source comprises a visible light source and an infrared light source, and the optical image comprises a visible light image and an infrared light image.

6. The capsule endoscope of claim 1, wherein the ultrasonic imaging module comprises an ultrasonic transducer, a signal transmitter, and a motor;

the ultrasonic transducer is electrically connected with the signal transmitter, the ultrasonic transducer is mechanically connected with the motor, and the signal transmitter and the motor are electrically connected with the central lead;

the side wall of the shell is provided with a sound-transmitting window, the ultrasonic transducer is arranged towards the sound-transmitting window, and the ultrasonic transducer is used for transmitting high-frequency ultrasonic waves through the sound-transmitting window to perform ultrasonic rotary scanning on the human digestive tract within a preset scanning angle so as to obtain ultrasonic scanning data of the human digestive tract;

the motor is arranged in the shell and used for driving the ultrasonic transducer to rotate by a preset scanning angle;

the signal transmitter is a rotatable electrical coupling device for coupling the ultrasound scan data to the center conductor and transmitting the ultrasound scan data to the imaging system through the center conductor.

7. The capsule endoscope of claim 6, wherein the preset scan angle ranges from 0 ° to 360 °, and the central frequency of the ultrasonic transducer ranges from 30MHz to 50 MHz.

8. A capsule endoscope according to any one of claims 1 to 7, wherein the outer diameter of said outer insulating layer ranges from 1mm to 3 mm;

the capsule endoscope main body has an outer diameter range of 10mm to 15mm and a length range of 20mm to 50 mm.

9. A capsule endoscope according to any of claims 1-7, and also comprising a magnetic positioning member provided to said housing;

the magnetic positioning component is used for driving the capsule endoscope main body to move into the human digestive tract under the magnetic attraction effect of the magnetic attraction component when the coaxial cable is connected with the imaging system.

10. A capsule endoscope according to any one of claims 1-7, wherein said camera module is further configured to obtain optical image data of a plurality of sections of the human digestive tract and send the optical image data to said imaging system through said central wire when said capsule endoscope main body is moved out of the human digestive tract at a constant speed;

the ultrasonic imaging module is also used for acquiring ultrasonic scanning data of a plurality of sections of the human digestive tract and sending the ultrasonic scanning data to the imaging system through the central lead when the capsule endoscope main body moves out of the human digestive tract at a constant speed;

the imaging system is also used for carrying out three-dimensional image reconstruction processing on the optical image data and the ultrasonic scanning data through a three-dimensional image reconstruction algorithm to obtain a three-dimensional tissue image in the human digestive tract.

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