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WO2008125529A1 - Capsule endoscopique pouvant être mise en mouvement - Google Patents

Capsule endoscopique pouvant être mise en mouvement Download PDF

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Publication number
WO2008125529A1
WO2008125529A1 PCT/EP2008/054133 EP2008054133W WO2008125529A1 WO 2008125529 A1 WO2008125529 A1 WO 2008125529A1 EP 2008054133 W EP2008054133 W EP 2008054133W WO 2008125529 A1 WO2008125529 A1 WO 2008125529A1
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WO
WIPO (PCT)
Prior art keywords
endoscopy capsule
endoscopy
control
drive means
capsule according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/054133
Other languages
German (de)
English (en)
Inventor
Sven-Martin Sutter
Rainer Graumann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of WO2008125529A1 publication Critical patent/WO2008125529A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging

Definitions

  • the invention relates to a navigable endoscopy capsule for the examination and / or treatment of the interior of the human body, in particular of the gastrointestinal tract.
  • Swallowable endoscopy capsules that traverse the gastrointestinal tract of a patient to be diagnostic or therapeutic there are well known. Capsules without their own drive can usually be used only in limited areas of application, for example in the small intestine area, so that externally navigable endoscopy capsules have been proposed in order to be able to expand the usefulness in diagnosis and therapy.
  • an endoscopy capsule of the type mentioned that it comprises at least one control nozzle, via which for the realization of a pneumatic and / or hydraulic drive drive medium is ejected.
  • the direct combination with a radiological imaging can be realized. Then, during an examination or during an intervention, for example, an X-ray check or simultaneous recording of computed tomography data sets can be made possible.
  • the capsule is expediently made of non-ferromagnetic materials, it is possible to combine such an endoscopy device with magnetic resonance imaging, which is particularly advantageous. In this way, an interventional, minimally invasive workplace can be realized for many applications.
  • the combination of a two-dimensional or three-dimensional vessel representation, as can be recorded by the endoscopy capsule, with a digital one Subtraction angiography may be the cause, as more bleeding may occur, especially in the removal of polyps, which can be predicted by digital subtraction angiography.
  • an endoscopy capsule which is radiation-opaque or otherwise visible in the external image, it is also possible, for example, to dispense with a position-determining system. A position-determining system is also unnecessary if the capsule is directly visually controlled, for example by the image directly recorded by it.
  • a position determination of the capsule is particularly useful if, for example, a spatial connection to previously recorded image data is to take place. Something like this can be realized, for example, via image fusion. Position detection can also serve to generate three-dimensional images of the hollow organs traversed by the capsule.
  • the endoscopy capsule comprises two image recording devices that are at an angle to one another (so-called stereo arrangement).
  • the capsule may include a projection device which projects line structures onto the surface of the hollow organ, which are then received by an image pickup device also provided in the capsule.
  • the endoscopy capsule may also comprise more than one image recording device, for example, front and rear image recording devices may be provided.
  • the endoscopy capsule can also comprise a light source for infrared light, with which, for example, locally fluorescent substances, such as, for example, contrast agents, can be detected, possibly followed by therapy.
  • the capsule also includes an OCT device (optical coherence tomography), the examination of the first tissue layers, for example, to quantify the depth of pathological tissue, since the image recording method OCT has a penetration depth of a few millimeters.
  • OCT optical coherence tomography
  • a particular advantage of the hydraulic and / or pneumatic drive provided according to the invention is that the simultaneous use of several such endoscopy capsules is made possible in order, for example, to visually observe and control a therapeutic activity.
  • Such a parallel use of several endoscopy capsules is unthinkable in electromagnetically controlled systems because the capsules would all react to the same external magnetic field.
  • endoscopy capsule With the endoscopy capsule according to the invention, it is conceivable, for example, to bring the endoscopy capsule intended for the treatment to the examination and treatment site, where the connection between the endoscopy capsules is then separated and both capsules can be controlled independently It is also possible to use the endoscopy capsule in combination with external instruments, such as laparoscopes or devices for stereotactic irradiation, if the position of the endoscopy capsule is determined and transmitted to the external instrument.
  • external instruments such as laparoscopes or devices for stereotactic irradiation
  • the endoscopy capsule according to the invention can also be used in patients who can not be exposed to large magnetic fields, for example in pacemaker patients. Therefore, there are no restrictions on applicability.
  • the aim of the specific design of the hydraulic or pneumatic drive is to navigate the endoscopy capsule as comfortable as possible and on a fast path to certain positions and / or in certain orientations.
  • One Another Auslegekriterium may be to keep the capsule as stable as possible in their position. It can be assumed that an elongated cylindrical endoscopy capsule.
  • each control nozzle is arranged facing one end of the endoscopy capsule in the longitudinal direction of the endoscopy capsule and four control nozzles at different angles substantially perpendicular to the longitudinal direction of the endoscopy capsule aligned substantially in a plane in the front and rear of the endoscopy capsule are arranged.
  • the eight further nozzles which are arranged around the circumference in the front and rear of the endoscopy capsule, serve to move in the other spatial directions and to rotate the endoscopy capsule.
  • Control nozzles in the rear area are mutually perpendicular to each other, that is, each two adjacent of the four control nozzles form an angle of 90 ° with each other.
  • Rotations about the longitudinal axis of the endoscopy capsule are not possible in this configuration, however, most endoscopy capsules are anyway rotationally symmetrical with respect to the longitudinal axis, so that such a rotation is not required. If rotation about the longitudinal axis is also to be enabled, further control nozzles can, for example, be provided. Overall, in this embodiment, a stable, comfortable and easy to navigate navigation of the endoscopy capsule allows.
  • the ejection direction of at least one control nozzle can be changed. Then it is possible that the driving force by the corresponding Control nozzle is generated to point in different directions, so that different types of movements can be generated.
  • the change in the ejection direction of the control nozzle is of course designed to be controllable, for example via a provided in the endoscopy capsule control unit, which also takes over the control of the other pneumatic and / or hydraulic drive.
  • the control unit or an external control device provided for controlling the drive can be designed to convert directional or rotary hubs into a corresponding control in an intelligent way.
  • the change in the ejection direction can be realized by at least one adjusting device assigned to a control nozzle and designed to move the control nozzle in order to change the ejection direction.
  • an adjusting device may for example comprise a nanomotor and / or piezoelectric elements, which are then driven accordingly.
  • a control nozzle in at least one direction, in particular two directions is pivotable.
  • a pivotability in two directions can be realized, for example, by means of a ball joint, but also by a correspondingly extendable contraction of the control nozzle, for example by means of piezo elements, inwards.
  • a pivotability is not only given about an axis, but at least two axes, in particular mutually perpendicular.
  • two adjustment means may be provided for this purpose, for example two piezo elements or stacks of piezo elements.
  • nozzles are provided whose ejection direction is changeable, it is possible to realize a stable control of the endoscopy capsule with four control nozzles arranged in a longitudinal plane of the endoscopy capsule, two of which are arranged substantially opposite one another in the front and rear regions of the endoscopy capsule. In this way, fewer control nozzles are needed. It can be shown in particular that when using control nozzles which are pivotable in two directions by 120 °, a particularly comfortable navigation of the endoscopy capsule is achieved.
  • the driving force that generates a control nozzle is essentially determined by the pressure of the drive means ejected by it.
  • a controllable valve is assigned to a control nozzle.
  • This control can be done for example electrically or electromechanically or directly via the drive means itself.
  • valves are known which open or close mechanically, but also those which respond, for example, reacting to a certain current flow or close. In the simplest embodiment, such a valve can be easily opened or closed.
  • the drive means is then ejected at a predetermined pressure.
  • the opening degree of the valve can also be determined to be controllable, so that different driving forces can be generated.
  • the control of the valve or valves can be provided via a provided in the capsule control unit or take place via an external control device, which controls in particular the entire drive, so in the case of variable in their ejection direction control nozzles and these and other functions of the drive.
  • a sufficient supply of drive means must be ensured.
  • a thin tube is provided for the supply of the drive means.
  • the drive means possibly already under the necessary pressure - the endoscopy capsule via a thin tube supplied from the outside.
  • the tube can be made highly flexible at least in the region of its capsule-side end, so that no obstruction of the navigation of the endoscopy capsule occurs as far as possible.
  • the tube which preferably consists of an inelastic, that is flexible, but non-stretchable, material such as polypropylene or polytetrafluoroethylene, so that it does not stretch elastically upon supply of the drive means, can be very thin-walled and made very small in diameter.
  • the wall thickness of the hose can be between 0.1 to 0.5 mm, preferably 0.2 mm, while the outer diameter of the hose can be between 2 and 6 mm, in particular 3 to 4 mm.
  • each control nozzle may be assigned a supply line for drive means within the tube or a channel of the tube divided into several separate channels. The corresponding drive means can be supplied simultaneously via the several feed paths. The channels are of course sealed against each other.
  • a separation device for selective separation of the tube may be provided by the endoscopy capsule.
  • This can for example be realized by a coupling element to which the hose is attached, and that allows a rotation of the capsule relative to the hose.
  • the decoupling of the tube from the capsule can take place, for example, via an electrical signal given by a capsule-side control unit, which selectively opens a holder at the connection of the tube with the capsule, but it is also possible to decouple by defined mechanical tension on the tube so that a connection mechanism between hose and capsule is thereby opened in a defined manner.
  • the tube can then be pulled out, while the capsule, which, for example, no further supply of drive means more needed, continue the Traversed through the gastrointestinal tract and eventually excreted naturally.
  • the ability to decouple offers the possibility of painless removal of the tube during oral examinations (gastroscopy) after decoupling via the mouth or nose, while the capsule is moved by natural peristalsis and recovered anal ,
  • At least one further supply and communication line in particular a data line for image and / or sensor data and / or a power supply and / or a control line for intervention tools and / or a medicament or rinsing liquid line, can be provided in the hose , in particular in the hose wall, be guided.
  • the communication between the external control device and the capsule-side control unit can also take place, that is to say that image or other measurement data, which are recorded on the capsule side, can be sent to the external control device to be transmitted or control commands from external to capsule-internal functional devices, in particular the pneumatic and / or hydraulic drive, are given.
  • Electrical connections can, for example, be supplied and controlled: the data transfer of the image data, the power supply of a camera and image processing, the power supply of therapeutic systems (for example a biopsy forceps or irrigation), systems for ablating tissue or haemostasis and / or other therapeutic systems (eg medication, local parameter measurements, brachytherapy, etc.).
  • therapeutic systems for example a biopsy forceps or irrigation
  • systems for ablating tissue or haemostasis and / or other therapeutic systems eg medication, local parameter measurements, brachytherapy, etc.
  • a multiplicity of components previously provided within the capsule can be omitted there, for example the internal power supply, transmission devices for radio communication, the permanent magnet for magnetic navigation, etc.
  • the endoscopy capsule can thereby be substantially smaller and be made lighter, so that applications in smaller hollow organs are possible.
  • the endoscopy capsule may comprise at least one inlet opening for receiving body fluid and / or body gas as drive means and at least one pump, wherein the body fluid is usable by means of the pump for driving the capsule.
  • the filtering devices for filtering the body fluid and / or the body gas in order to prevent blockages or restrictions due to stuck-on, more solid components.
  • body fluid or body gas can be used. In the stomach, for example, liquid and gas are present, while in the colon only gas is available.
  • inlet openings are provided distributed over the surface of the endoscopy capsule. Then, the suction force is distributed, so that only a small change in position and orientation of the capsule is generated. Essentially, two embodiments are conceivable in this case.
  • each control nozzle is associated with a pump.
  • the operation of the pump then controls how much driving power the corresponding control nozzle generates.
  • via the pump body gas can be sucked into a container arranged in the interior of the capsule to produce a predetermined pressure. Then only one pump is required and the control nozzles, for example, valves can be assigned.
  • At least one therapeutic and / or diagnostic pneumatically and / or hydraulically operable instrument can be operated with the drive means.
  • the drive means is in this case doubled uses, so that, for example, eliminates an electric drive for the corresponding instrument.
  • the invention also relates to an endoscopy device which comprises an endoscopy capsule according to the invention and an external control device, which communicates with the endoscopy capsule, for controlling the endoscopy capsule.
  • an external control device which communicates with the endoscopy capsule, for controlling the endoscopy capsule.
  • a less complex designed control unit can be provided, which forwards the corresponding control commands to the individual components.
  • the endoscopy capsule of the endoscopy device can be configured as described in the previous sections, so that the corresponding advantages can also be achieved with the endoscopy device according to the invention.
  • the endoscopy device can be advantageously further configured if a thin tube for supplying the drive means and a drive means supply are provided. It can then be provided with particular advantage that in each case one control nozzle associated feed lines or channels for the drive means, the supply to each nozzle by means of the drive means supply is separately controllable. Valves or the like on the control nozzles on the capsule are then no longer necessary, the entire navigation of the endoscopy capsule can be controlled completely externally by the drive means of a certain pressure of the control nozzle or the control nozzles is supplied. In this way it is possible to make the endoscopy capsule even smaller and more compact. Preferably, therefore, the pressure of the drive means can be adjusted via the drive means supply.
  • FIG. 1 is a perspective view of an endoscopy capsule in a first embodiment of the present invention
  • FIG. 2 is a front view of the endoscopy capsule of FIG. 1;
  • FIG. 3 is a plan view of the endoscopy capsule of Fig. 1,
  • FIG. 4 shows a cross section through the endoscopy capsule from FIG. 1, FIG.
  • FIG. 5 shows an embodiment of a hose for supplying drive means
  • Fig. 6 shows an alternative embodiment of a
  • FIG. 7 shows the cross-sectional view of an endoscopy capsule in a second embodiment.
  • Figures 1 to 3 show various views of a first endoscopy capsule 1 according to the present invention.
  • the endoscopy capsule 1 is elongated, cylindrical and has a diameter of, for example, 10 mm. It comprises a capsule housing 2, which may also be partially or completely transparent when imaging or measurements are to be made.
  • the endoscopy capsule 1 comprises ten control nozzles 3, via which drive means can be ejected for realizing a pneumatic and / or hydraulic drive.
  • the ten control nozzles are arranged so that a comfortable and stable navigation of the endoscopy capsule 1 by the hydraulic and / or pneumatic drive can be realized.
  • Two groups of four control nozzles 3 are arranged in a front region and in a rear region perpendicular to the longitudinal axis 4 of the endoscopy capsule 1 in a plane at different angles.
  • the front and the rear control nozzle 3 are parallel to the longitudinal axis 4.
  • Two adjacent control nozzles 3 of the group in the front and rear each include an angle of 90 ° with each other, which means there are two control nozzles 3 opposite each other, wherein the connecting axes opposite control nozzles 3 at a right angle on the longitudinal axis 4 intersect.
  • the control nozzles 3 of the group in the front and in the rear of the capsule are each equidistant from a median plane of the endoscopy capsule 1.
  • a symmetrical structure is realized, which allows virtually all types of movement required.
  • rotations about the longitudinal axis 4 of the endoscopy capsule perpendicular axes are possible, the capsule can slide or float.
  • the capsule housing 2 may also have further openings, for example for medical instruments or for receiving and dispensing substances and electrodes, which are not shown here for reasons of clarity.
  • the endoscopy capsule 1 further comprises a highly flexible, non-rigid tube 5 or is connected to the highly flexible, non-rigid tube 5 via a separation device 6.
  • the hose 5 serves mainly to supply drive means for the control nozzles 3. It consists of polypropylene (PP) or polytetrafluoroethylene (PTFE), ie of an inelastic material that does not expand in the interior when pressurized, and is extremely thin in diameter as well in terms of wall thickness. The latter is preferably about 0.2 mm, the diameter is preferably between 3 and 4 mm.
  • This tube 5 two or more
  • FIG. 4 shows, in the form of a cross section, the inner workings of the endoscopy capsule 1. Only the components relevant for the present invention are shown here. Due to the cross-sectional view, six of the ten control nozzles 3 can be seen here.
  • the tube 5 is connected to the endoscopy capsule 1 via the separation device 6.
  • the separation device 6 can be actuated, for example via the control unit 8 provided in the endoscopy capsule 1, in such a way that an opening mechanism (not shown in more detail) integrated on the separation device side actuates the tube 5 is decoupled.
  • this may be a simply designed, electrically controllable mechanism. This makes it possible, if necessary, to detach the tube 5 from the capsule 1, whereupon the tube 5 can be pulled out and the capsule 1 is moved on by the natural peristalsis.
  • the endoscopy capsule 1 comprises a control unit 8, which serves to control the hydraulic and / or pneumatic drive. In addition, it can also control other systems of the endoscopy capsule, not shown here in detail, for example an image recording device, a sensor, medical instruments, the transmission of data to and from the capsule 1 and the like.
  • control unit 8 can be designed as a microcontroller.
  • each control nozzle 3 is associated with a supply line for drive means within the tube 5 or a channel of the divided into several separate channels tube 5. This will be discussed in more detail below.
  • Each of the control nozzles 3 is preceded by a valve 10 which can be controlled by the control unit 8 via corresponding communication lines 11. In this case, the control is carried out electrically, with an electromechanical control is conceivable. If each control nozzle 3 is assigned its own supply line, the control of the valve 10 can also take place via the drive means itself.
  • valves 10 determines the degree of opening of the valves 10, how much drive means is ejected, so ultimately the driving force of the corresponding control nozzle 3.
  • a drive means feed line 12 to a medical instrument 13, in this case gripping tongs, is provided, which can be operated hydraulically and / or pneumatically.
  • the drive means which is used for the realization of the hydraulic and / or pneumatic drive, also becomes the operation of the instrument 13 used.
  • the operation of the instrument 13 is also controlled by the control unit 8.
  • An endoscopy device 14 comprising the endoscopy capsule 1 comprises further components communicating with the endoscopy capsule 1 from outside the body.
  • the tube 5 is connected distally to a drive means supply 15 which provides the corresponding drive means, for example carbon dioxide or water.
  • an external control device 16 is also provided which serves to control the hydraulic and / or pneumatic drive and the other components of the endoscopy capsule 1.
  • data recorded by the endoscopy capsule 1 is received here.
  • the necessary communication connection is performed in the form of a communication line 17 along the tube wall of the tube 5 through the tube 5 to the endoscopy capsule.
  • the communication line 17 can simultaneously serve as a supply line for the power supply of the endoscopy capsule 1 or it can be provided a further line for power supply. In this way, it is possible that the endoscopy capsule 1 can do without internal power supply (apart from, for example, an auxiliary power supply) and without a communication unit. It can accordingly be dimensioned in a smaller format. Overall, a multiplicity of data can be transmitted via the supply and / or communication line 17, for example image and / or sensor data and control commands for intervention tools, for example the instrument 13. Further supply lines (not shown here) can also be supplied with Medicines or rinsing liquid serve. These can also be passed through the tube 5.
  • the external control device 16 is also designed to control the drive means supply 15 in such a way that the drive means is supplied with a specific pressure, that is, the pressure at the valves 10 can be preset accordingly.
  • the control device 16 can directly determine the corresponding pressure and thus the driving force which is generated via the corresponding control nozzle 3 by actuating the drive means supply 15 without Signals must be sent to the endoscopy capsule 1.
  • the control unit 8 is not designed to control the hydraulic and / or pneumatic drive, but the
  • Control takes place completely via the control device 16.
  • the drive means does not have to be supplied via the tube 5, but also for example in the form of body fluid and / or body gas can be sucked through inlet openings via corresponding pumps and can be ejected to the drive via the control nozzles 3 again.
  • Fig. 5 shows a possible embodiment of a tube 5a for supplying the endoscopy capsule 1 with drive means.
  • the tube wall 18 is made of a highly flexible, non-elastic material.
  • a communication line 17a and a supply line 17b leads, which are sealed by a sealing layer 19 against the drive means.
  • FIG. 6 shows a further embodiment of a tube 5b for an endoscopy capsule 1 with four control nozzles 3.
  • the interior of the tube 5b is divided by partition walls 20 into four channels 21, which are sealed against each other and supply drive means to a control nozzle 3, respectively.
  • the communication line 17a and the power supply line 17b are integrated here in the highly flexible material of the hose wall 18.
  • FIG. 7 shows a further endoscopy device 14 'according to the invention with an endoscopy capsule 1', wherein all of them similar components are provided with the same reference numerals.
  • the endoscopy capsule 1 ' is a stable control realized with only four control nozzles 3, which lie in one plane.
  • Each two control nozzles 3 are provided opposite one another in the front and in the rear region of the endoscope capsule 1 ', which is likewise elongated and cylindrical. Again, a symmetrical arrangement has been chosen.
  • the control nozzles 3 are designed to be pivotable in two directions, as indicated by the arrows A and B. Each of the control nozzles 3 can be pivoted in the two directions by 120 °. As a result, the ejection direction of the control nozzles 3 can be changed so that, despite the use of only four control nozzles 3, all the movements required for navigating the endoscopy capsule 1 'can be performed.
  • each control nozzle 3 is associated with an adjustment 22.
  • the adjusting device 22 may comprise, for example, a nanomotor and / or piezoelectric elements, in particular also stacks of piezoelectric elements.
  • the seal is achieved by rubber seals 30.
  • the various control devices 3 are associated with pumps 23, via which the drive means in the form of body fluid and / or body gas aspirated through inlet openings 24 can be supplied to the control nozzles 3 through corresponding supply lines 25.
  • the inlet openings 24 are arranged opposite each other, so that no drive is achieved by the suction itself.
  • the supply line 25 is formed in the region of the intake openings 24 with a larger cross section. Accordingly, the driving force is determined via the operation of the pumps 23, the ejection direction via the adjusting devices 22.
  • the adjusting devices 22 and the pumps 23 can be correspondingly activated by a control unit 8 via corresponding communication lines 26, 27, with control commands for specific movements. gen by a Steuerintelligencez be automatically converted into a suitable control of the hydraulic and / or pneumatic drive.
  • No tube is provided on the endoscopy capsule 1 ', so that the communication with the external control device 16, which is part of the endoscopy device 14', is realized via corresponding transmitting and receiving devices 28 of the endoscopy capsule 1 'and the control device 16, for example via Wireless.
  • the endoscopy capsule 1 'in this case includes a power supply indicated at 29.
  • the endoscopy capsule 1 '- as known - include other components, such as image recording devices, sensors, medical instruments and the like. These are not shown for the sake of clarity.
  • each control nozzle 3 is assigned a pump 23
  • the control nozzles 3 are assigned in this case valves, which are then controlled accordingly and allow the drive via the pressure of the drive means in the container.
  • Such an embodiment would have to be considered in particular in an application in the colon, where there is only gas that can be compressed well.
  • a tube can be connected to the endoscopy capsule 1 ', which supplies the drive means.
  • the tube 5b described with reference to FIG. 6 would be suitable, in which case each of the channels 21 could be assigned to a control nozzle 3.
  • a drive means supplied from the outside via a drive means supply can be used, wherein the pressure ejected by the respective control nozzle 3 is also unobjectionable. can be controlled indirectly on the drive means supply 15 via the external control device 16.
  • Both the endoscopy capsule 1 and the endoscopy capsule 1 'and the tube 5 are made of non-ferromagnetic materials. This makes it possible to use the endoscopy devices 14 and 14 'simultaneously with a magnetic resonance imaging. In particular, it is also possible to use a position detection system based on electromagnetic signals, since the endoscopy capsules 1 and 1 'can be navigated completely without magnetic fields.

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Abstract

La présente invention concerne une capsule endoscopique pouvant être mise en mouvement, destinée à l'examen et/ou au traitement de l'intérieur du corps humain, en particulier du tube gastro-intestinal, la capsule comprenant au moins une buse de commande (3) par laquelle un moyen d'entraînement peut être sorti pour réaliser un entraînement pneumatique et/ou hydraulique.
PCT/EP2008/054133 2007-04-13 2008-04-07 Capsule endoscopique pouvant être mise en mouvement Ceased WO2008125529A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007017517.7A DE102007017517B4 (de) 2007-04-13 2007-04-13 Navigierbare Endoskopiekapsel
DE102007017517.7 2007-04-13

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WO2008125529A1 true WO2008125529A1 (fr) 2008-10-23

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PCT/EP2008/054133 Ceased WO2008125529A1 (fr) 2007-04-13 2008-04-07 Capsule endoscopique pouvant être mise en mouvement

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WO (1) WO2008125529A1 (fr)

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CN108523823A (zh) * 2018-06-29 2018-09-14 重庆金山医疗器械有限公司 一种胶囊内窥镜及其自主移动转向控制系统

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CA2824524C (fr) * 2011-01-25 2017-10-17 Nvision Medical Corporation Systemes et methodes pour preserver une lumiere corporelle etroite

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