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WO2017071150A1 - Contrôleur utilisé à l'extérieur destiné à localiser, guider et déplacer un micro-équipement logé dans un corps - Google Patents

Contrôleur utilisé à l'extérieur destiné à localiser, guider et déplacer un micro-équipement logé dans un corps Download PDF

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Publication number
WO2017071150A1
WO2017071150A1 PCT/CN2016/076561 CN2016076561W WO2017071150A1 WO 2017071150 A1 WO2017071150 A1 WO 2017071150A1 CN 2016076561 W CN2016076561 W CN 2016076561W WO 2017071150 A1 WO2017071150 A1 WO 2017071150A1
Authority
WO
WIPO (PCT)
Prior art keywords
micro
magnetic
external controller
vivo
positioning
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/CN2016/076561
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English (en)
Chinese (zh)
Inventor
赵德政
张涛
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.)
China Qingdao Bright Medical Manufacturing Co Ltd
Original Assignee
China Qingdao Bright Medical Manufacturing Co Ltd
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 China Qingdao Bright Medical Manufacturing Co Ltd filed Critical China Qingdao Bright Medical Manufacturing Co Ltd
Publication of WO2017071150A1 publication Critical patent/WO2017071150A1/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
    • A61B1/045—Control thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes

Definitions

  • the present invention belongs to the technical field of medical devices, and mainly relates to a control device for a micro-small device in a medical body, and is specifically an external controller for positioning, steering and displacement of a micro-small device in the body.
  • the capsule endoscope is an endoscope made of a capsule shape, which is a medical instrument for inspecting the human intestine.
  • the capsule endoscope can enter the human body and be used to spy on the health of the human stomach and esophagus. It can be used to help doctors diagnose patients.
  • a typical capsule endoscope consists of seven parts, a transparent housing, a light source, an imaging element, a sensor, a battery, a transmitting module, and an antenna.
  • the circuit system further includes sensor detection components, signal processing components, and wireless transmission components.
  • the sensor detecting unit such as image, temperature, pH, etc. detects information in the digestive tract, and the information is sent to the outside of the body via the wireless transmitting unit by the processing of the signal processing unit.
  • the external receiver receives the signal, which is processed by the in vitro processing unit and displayed at the terminal.
  • the capsule endoscope may also include a drug delivery component for mechanical components of the microsurgery. Most capsules currently only incorporate one or more of these features.
  • the capsule endoscope actually reduces the camera and implants a medical capsule to help the doctor diagnose the patient.
  • a small capsule is a camera studio that explores the human body. It may even become a "spaceship" that travels the human body; fine fibers can be used to strengthen the heart's arteries; from the outside, it is not much different from ordinary capsules, but It is a miniature camera that provides a glimpse into the health of the human stomach and esophagus.
  • the capsule moves along the digestive direction with the movement of the gastrointestinal muscles, takes an image, and transmits the image to the patient's waist-to-waist data transmission device. After a few hours, the doctor downloaded the image taken from the capsule to the computer, and the capsule was automatically excreted in 24 hours. With a capsule endoscope, patients can maintain normal activity and life.
  • the external control device in the capsule endoscope control system is bulky, complicated in structure, high in manufacturing and use cost, and inflexible and convenient in operation, which is popularized and popularized for capsule endoscopes. Applications are greatly limited.
  • the present invention is directed to the above-mentioned problems existing in the prior art, and provides an external controller for positioning, steering, and displacement of a micro-small device in a body.
  • the handheld external-purpose controller converts a medical body into a human body through a magnetic field or a magnetic force.
  • the small device is remotely controlled to position, steer and displace, and has a simple structure, flexible operation, and low production and use cost.
  • An external controller for positioning, steering and displacement of micro-miniature devices in the body comprising a housing, a magnet and a control system, wherein the magnet is a magnetic sensor or a remote sensing magnetic sensor disposed at a plurality of positions on the housing a coil, the control system includes a wireless transmitter for receiving and transmitting in-vivo images, temperature and human physiological data information, and controlling magnetic fields and magnetic forces of each magnetic sensor or remote sensing magnetic induction coil Transformed magnetic regulator.
  • the magnetic sensor or the remote sensing magnetic induction coil is disposed on the outer casing.
  • a further improvement of the above technical solution a handle is disposed on the outer casing, and the magnetic adjuster is disposed on the handle.
  • the wireless transmitter is disposed within the handle.
  • the in vivo micro-small device comprises a capsule endoscope for use in a digestive system, a micro device for use in an intravascular or a medical micro device for use in other human organs, A magnet or a metal that induces a magnetic field is placed on a micro device in the body.
  • the outer casing is annular, polygonal or elongated.
  • the outer casing is annular, a handle is disposed in the middle of the circular outer casing, and the magnetic sensor or the remote sensing magnetic induction coil is disposed on the bottom surface of the circular outer casing.
  • the outer casing and the handle are made of plastic or stainless steel.
  • the present invention provides a magnetic sensor or a remote sensing magnetic induction coil at a plurality of positions of the outer casing, and a magnetic regulator for controlling magnetic field and magnetic transformation of each magnetic sensor, and is used in the control system for receiving and transmitting in vivo images, temperature and human physiology.
  • Wireless transmitter for data information.
  • the handheld external controller is placed near the human detection site, and the micro-small device entering the medical body can be remotely controlled by changing the position, magnetic field or magnetic force to position, steer and shift.
  • the structure is simple, the operation is flexible and convenient, and the production and use cost are low.
  • FIG. 1 is a perspective view of a top surface of an external controller for positioning, steering, and displacement of a micro-miniature device in vivo according to the present invention
  • FIG. 2 is a perspective view of a bottom surface of an external controller for positioning, steering, and displacement of a micro-miniature device in the present invention.
  • an embodiment of an external controller for positioning, steering and displacement of an in-vivo micro-device includes an outer casing 3, a magnet 4 and a control system.
  • the control system includes a wireless transmitter for receiving and transmitting in-vivo images, temperature and human physiological data information, and a magnetic regulator 1 for controlling magnetic and magnetic transformation of each magnetic sensor or remote magnetic induction coil 4.
  • the above magnetic sensor or remote sensing magnetic induction coil 4 is disposed on the outer casing 3, and the magnetic sensor may be a square, cylindrical or spherical magnet.
  • a handle 2 is disposed on the outer casing 3, and the magnetic adjuster 1 is disposed on the handle 2, and the wireless transmitter is disposed in the handle 2.
  • the outer casing 3 may be in the shape of a ring, a polygon or a long rod.
  • the in vivo micro-small device of the present invention comprises a capsule endoscope for use in a digestive system, a micro device for use in an intravascular or a medical micro device for use in other human organs, the in vivo micro-small device A magnet or a metal that induces a magnetic field.
  • the outer casing 3 shown in FIGS. 1 and 2 has a circular shape, and a plurality of magnetic sensors or remote sensing magnetic induction coils 4 are disposed on the annular bottom surface of the outer casing 3, and a handle 2 is disposed in the middle of the circular outer casing 3.
  • the outer casing 3 and the handle 2 are made of plastic or stainless steel.
  • the present invention can be remotely controlled in vitro for capsule endoscopes in the digestive system, microdevices for intravascular use, or medical microdevices for use in other human organs.
  • the patient swallows a capsule endoscope with a magnet and lies on the test bed, and the doctor is required to carry the positioning, steering and displacement of the micro-device in the body of the present invention.
  • the external controller is aimed at the patient's abdomen by a magnetic field remote control, and the capsule endoscope enters the patient's stomach and is positioned, turned or displaced in the patient's stomach according to the magnetic regulator 1 remotely.
  • the capsule endoscope can be patrolled anywhere under the digestive tract under the control of a doctor to achieve precise positioning.
  • the doctor can have different angles of view for the capsule endoscope to achieve a specific orientation of the gastrointestinal wall for a clearer and more accurate image, helping faster The diagnosis of the ground greatly improves the accuracy and accuracy of the diagnosis or detection.
  • the capsule endoscope When the patient changes to the left lateral position, the capsule endoscope is controlled to the upper wall of the fundus, and the fundus and hernia are observed. Door, when the patient changes to a supine position, observe the stomach, stomach angle and antrum of the stomach. When the patient changes to the right lateral position, the antrum and pylorus can be observed closely. After the examination is completed, the capsule endoscope will naturally drain out of the patient's body.
  • the wireless transmitter in the control system can receive and transmit the in vivo image, temperature and human physiological data information, and simultaneously transmit the in vivo image, temperature and human physiological data information to the display and the workstation, display and store For information, for doctor diagnosis.
  • the structure of the invention is simple, the operation is flexible and convenient, the controllability is strong, and the cost performance is high.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Endoscopes (AREA)

Abstract

Contrôleur utilisé à l'extérieur destiné à localiser, guider et déplacer un micro-équipement logé dans un corps, lequel contrôleur comprend une enveloppe externe (3), un corps magnétique (4) et un système de commande, le corps magnétique (4) étant un capteur magnétique ou une bobine d'induction à télédétection susceptible de se trouver dans une pluralité d'emplacements sur l'enveloppe externe (3), le système de commande renfermant un radio-émetteur destiné, d'une part, à recevoir et transmettre les images et la température d'un corps ainsi que les informations numériques sur le physique d'un corps et, d'autre part, à commander chaque capteur magnétique ou champ magnétique d'une bobine d'induction à télédétection et un régulateur magnétique (1) de transformation magnétique, le capteur magnétique ou le champ magnétique d'une bobine d'induction à télédétection se trouvant sur l'enveloppe externe (3). Une poignée (2) est prévue sur l'enveloppe externe (3), le régulateur magnétique (1) se trouvant sur la poignée (2) et l'enveloppe externe (2) adoptant une configuration annulaire, polygonale ou allongée. La commande utilisée à l'extérieur portative est destinée à télécommander, par l'intermédiaire d'un champ magnétique ou d'une transformation magnétique, des micro-équipements à usage médical logés dans le corps en vue de les localiser, les guider et les déplacer. Avantages : structure simple, opérations faciles à exécuter, bonne flexibilité, facile à fabriquer et coûts de fabrication modiques.
PCT/CN2016/076561 2015-10-30 2016-03-17 Contrôleur utilisé à l'extérieur destiné à localiser, guider et déplacer un micro-équipement logé dans un corps Ceased WO2017071150A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510720921.XA CN105286762A (zh) 2015-10-30 2015-10-30 一种用于体内微小型设备定位、转向及位移的外用控制器
CN201510720921.X 2015-10-30

Publications (1)

Publication Number Publication Date
WO2017071150A1 true WO2017071150A1 (fr) 2017-05-04

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Country Status (2)

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CN (1) CN105286762A (fr)
WO (1) WO2017071150A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3942992A4 (fr) * 2019-06-17 2022-12-21 Shenzhen Sibernetics Co., Ltd. Dispositif de commande magnétique d'un endoscope à capsule et procédé de commande du mouvement d'un endoscope à capsule dans une cavité tissulaire

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105286762A (zh) * 2015-10-30 2016-02-03 青岛光电医疗科技有限公司 一种用于体内微小型设备定位、转向及位移的外用控制器
CN117982086A (zh) * 2020-04-23 2024-05-07 深圳硅基智控科技有限公司 胶囊内窥镜系统
CN111999967B (zh) * 2020-09-27 2025-06-24 吕智才 一种镜片支架及镜片支架组件
CN114255527B (zh) * 2021-12-07 2024-06-18 中国科学院工程热物理研究所 一种能够无线充电和无线通讯的数据记录器

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030114742A1 (en) * 2001-09-24 2003-06-19 Shlomo Lewkowicz System and method for controlling a device in vivo
TW200901929A (en) * 2007-07-06 2009-01-16 Univ Nat Taiwan Endoscope and magnetic field control method thereof
CN101623196A (zh) * 2008-07-08 2010-01-13 奥林巴斯医疗株式会社 引导系统以及引导方法
TW201336470A (zh) * 2012-03-05 2013-09-16 Gi-Shih Lien 膠囊內視鏡磁控系統
CN104840175A (zh) * 2014-02-19 2015-08-19 光峰科技股份有限公司 具有可抛弃式内视镜的消化道检视装置及其控制方法
CN105286762A (zh) * 2015-10-30 2016-02-03 青岛光电医疗科技有限公司 一种用于体内微小型设备定位、转向及位移的外用控制器

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030114742A1 (en) * 2001-09-24 2003-06-19 Shlomo Lewkowicz System and method for controlling a device in vivo
TW200901929A (en) * 2007-07-06 2009-01-16 Univ Nat Taiwan Endoscope and magnetic field control method thereof
CN101623196A (zh) * 2008-07-08 2010-01-13 奥林巴斯医疗株式会社 引导系统以及引导方法
TW201336470A (zh) * 2012-03-05 2013-09-16 Gi-Shih Lien 膠囊內視鏡磁控系統
CN104840175A (zh) * 2014-02-19 2015-08-19 光峰科技股份有限公司 具有可抛弃式内视镜的消化道检视装置及其控制方法
CN105286762A (zh) * 2015-10-30 2016-02-03 青岛光电医疗科技有限公司 一种用于体内微小型设备定位、转向及位移的外用控制器

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3942992A4 (fr) * 2019-06-17 2022-12-21 Shenzhen Sibernetics Co., Ltd. Dispositif de commande magnétique d'un endoscope à capsule et procédé de commande du mouvement d'un endoscope à capsule dans une cavité tissulaire

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