CN102085085A - In vitro magnetic control thermal therapy capsule system based on digital image navigation - Google Patents
In vitro magnetic control thermal therapy capsule system based on digital image navigation Download PDFInfo
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- CN102085085A CN102085085A CN 201110051701 CN201110051701A CN102085085A CN 102085085 A CN102085085 A CN 102085085A CN 201110051701 CN201110051701 CN 201110051701 CN 201110051701 A CN201110051701 A CN 201110051701A CN 102085085 A CN102085085 A CN 102085085A
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Abstract
The invention relates to an in vitro magnetic control thermal therapy capsule system based on digital image navigation, which belongs to the technical field of medical devices. The in vitro magnetic control thermal therapy capsule system comprises a thermal therapy capsule, an in vitro magnetic drive device, an in vitro thermal therapy control device and an in vitro image real-time treatment device, wherein the thermal therapy capsule is positioned in digestive tract for implementing local thermal therapy treatment, the in vitro thermal therapy control device and the thermal therapy capsule are connected in a wireless way and used for transmitting thermal therapy control information, the in vitro image real-time treatment device and the thermal therapy capsule are connected in the wireless way and used for transmitting video information of the thermal therapy capsule and outputting in a graphic way, and the in vitro magnetic drive device and the thermal therapy capsule adopt magnetic force for realizing control of posture and position of the thermal therapy capsule. By adopting the in vitro magnetic control thermal therapy capsule system, the posture and the position of the thermal therapy capsule can be actively driven and controlled by an in vitro magnetic field, the image navigation can be provided for in vitro magnetic control and thermal therapy operation of an operator, under the image navigation of the capsule, non-invasive diagnosis and treatment of a superficial malignant tumor in the digestive tract can be really realized, and caused suffering and trauma of a patient can be reduced to the maximum extent.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically is that a kind of external magetic-control heating based on the digital picture navigation is treated capsule system.
Background technology
The modern is owing to work rhythm quickening, diet inequality, cause the sickness rate of digestive tract disease to raise day by day, digestive tract disease becomes the common a kind of disease that influences modern's health, analyze to find that according to statistics digestive tract disease is to becoming younger and hiddenization direction develops.The visual detection of digestive tract disease has important effect for the prevention and the diagnosis and treatment of digestive tract disease, form 9 meters of people's human body all-digestive tract length overalls, because the digestive tract shape belongs to slender pipeline, be distributed between each organ of trunk, the irregular closure of all-digestive tract structure is to the detection and the treatment of digestive tract disease bring very big challenge clinically.
The visual detection of the digestive tract disease of Shi Shiing mainly contains two kinds clinically: gastrointestinal, intestinal mirror and capsule endoscope two big classes.Gastroscope, intestinal microscopy are surveyed and are belonged to active detecting, can realize all-digestive tract disease " fixed point " diagnosis, but may have the risk that causes stomach wound, intestinal wound in the gastroscope, intestinal microscopy survey process, understand in the testing process and bring huge misery to patient.Capsule endoscope detects and belongs to the noinvasive detection method, can implement the detection of digestive tract disease after patient's oral capsule endoscope, can not bring discomfort or painful sensation to the patient, but capsule endoscope can only be followed gastral wriggling and be carried out diagnosis in patient's digestive tract, the motion of capsule endoscope belongs to passive movement mode fully, capsule endoscope also belongs to " locality " and " randomness " diagnosis for the diagnosis of digestive tract disease, can not implement initiatively " fixed point " diagnosis to digestive tract disease, there is very big blind area in the capsule endoscopy diagnosis overall process, has greatly limited the clinical practice of capsule endoscope in the visual diagnosis of all-digestive tract disease.
On the other hand, when making a definite diagnosis digestive tract and find disease such as shallow malignant tumor, the therapeutic scheme that can adopt clinically: can under the video image navigation of gastroscope and intestinal mirror, carry out treatment with upper digestive tract and colon with lower digestive tract for stomach, but still have the risk that causes stomach wound, intestinal wound in therapeutic process, needs of patients bears huge misery in the therapeutic process; And, can't adopt traditional gastroscope and intestinal mirror to treat for the shallow malignant tumor that the digestive tract at small intestinal place exists, and must carry out treatment by operation method for the disease that small intestinal exists, this misery that causes for the patient is well imagined.And the existing capsule endoscope shoot function of concrete digestive tract image only, therefore the treatment function of concrete digestive tract disease not can't carry out treatment to digestive tract disease fully.
Find through retrieval prior art, be published in " Gastrointestinal Endoscopy " Vol.72, No.5, paper on 2010 " Remote magnetic control of a wireless capsule endoscope inthe esophagus is safe and feasible:results of a randomized; clinical trial in healthy volunteers " discloses the imaged capsule technique of a kind of external magnetic control, the magnetic control image capsule that this paper is swallowed by external magnetic field control volunteer, finish image diagnostic imaging at volunteer's disease of stomach, by with the image capsule contrast experiment who does not have external magnetic control system, prove that utilizing the external magnetic field control figure is safe and feasible as the attitude and the position of capsule in digestive tract.Though the achievement in research of this paper proves imaged capsular safety of external magnetic control and feasibility.
But the technology that this paper is announced lacks the treatment function, promptly by behind the capsule image discovery digestive tract disease, can't carry out thermotherapy treatment work to the digestive tract disease pathological tissue.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of external magetic-control heating to treat capsule system based on the digital picture navigation, realization is controlled by the external magnetic field active drive, overcome the restriction that capsule system is subjected to peristalsis of the digest tract " passive " method of operation, for operator's external magnetic control system and thermotherapy control provide image-guidance, until the thermotherapy treatment overall process of finishing the capsule position; Utilize this thermotherapy capsule, can realize truly non-invasive diagnosis under the noinvasive image-guidance and treatment, reduce misery and the wound brought to the patient to greatest extent digestive tract shallow malignant tumor.
The present invention is achieved by the following technical solutions, the present invention includes: the thermotherapy capsule, external magnetic drive unit, external thermotherapy control device and the real-time blood processor of external image, wherein: the thermotherapy capsule is positioned at digestive tract and implements local thermotherapy and handle, external thermotherapy control device is connected with wireless mode with the thermotherapy capsule and transmits the thermotherapy control information, the real-time blood processor of external image is connected with wireless mode with the thermotherapy capsule and transmits thermotherapy capsule video information and with graphics mode output, external magnetic drive unit adopts the control of magnetic force realization to capsular attitude of thermotherapy and position with the thermotherapy capsule.
Described thermotherapy capsule comprises: illuminator, temperature measurement system, optical system and hot generating apparatus, shell and be arranged at its inner master control system, digital image sensor, the image wireless dispensing device, radio receiving transmitting module, power management module, battery and permanent magnet, wherein: hot generating apparatus and temperature measurement system are installed in the outer surface of thermotherapy capsule shell to realize local thermotherapy and thermotherapy position temperature real-time measurement, permanent magnet is installed between shell and the hot generating apparatus and receives the alternating magnetic field that is sent by external magnetic drive unit and be converted into kinetic energy controls described thermotherapy capsule, power management module links to each other with battery and exports DC voltage to digital image sensor respectively, illuminator, master control system, radio receiving transmitting module and hot generating apparatus, optical system, illuminator and digital image sensor are connected successively and are arranged at the end of shell, digital image sensor links to each other with master control system and output digital image, the temperature information that radio receiving transmitting module links to each other with master control system and video information that digital image sensor is collected and temperature measurement system collect is converted into electromagnetic wave and is sent to externally, and hot generating apparatus links to each other with master control system and receives control instruction.
Described shell is the capsule body shape, and both ends are chondritic.
Described external magnetic drive unit comprises: frame is adjusted in field generator for magnetic and position, and wherein: field generator for magnetic is fixedly set on the position adjustment frame and to the thermotherapy capsule permanent-magnetic field is provided.
Described external thermotherapy control device is the temperature-adjusting device with temperature display and radio-cell, wherein: radio-cell links to each other with temperature-adjusting device with temperature display and will receive temperature and is sent to temperature display and is presented on the temperature display, and the thermoregulation signal is sent to the control that the thermotherapy capsule is realized thermotherapy temperature by radio-cell.
The real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image is made of the universal electric device with digital radio communication function and receives the data image signal that is sent by the thermotherapy capsule, the real-time receiver module of external image receives in real time and is sent to external photographic images and be sent to computer workstation by the thermotherapy capsule, on computer screen, the effector realizes thermotherapy capsule attitude to computer operation for operation with pictorial display, Position Control and thermotherapy operations provide the image-guidance function.
The present invention compared with prior art, realize the ACTIVE CONTROL of manipulation in vitro effector to capsular attitude of thermotherapy in the body and position, can finish " fixed point " diagnosis of digestive tract image, for thermotherapy operations realizes " fixed point " operation control, the capsular operation of thermotherapy is all carried out under the video image guiding in the external ACTIVE CONTROL body simultaneously, realizes the noinvasive diagnosis and treatment of the digestive tract disease under the image-guidance truly.Than existing gastroscope, intestinal mirror and image capsule system, has tangible advantage.The present invention has very important actual application value aspect the early treatment of digestive tract disease diagnosis and shallow malignant tumor.
Description of drawings
Fig. 1 is an operation principle sketch map of the present invention.
Fig. 2 is a thermotherapy capsule structure sketch map.
Fig. 3 is external magnetic drives structure sketch map.
Fig. 4 is external thermotherapy control device structural representation.
Fig. 5 is the real-time blood processor sketch map of external image.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, this enforcement comprises: thermotherapy capsule 1, external magnetic drive unit 2, the real-time blood processor 4 of external thermotherapy control device 3 and external image, wherein: thermotherapy capsule 1 is positioned at digestive tract and implements local thermotherapy and handle, external thermotherapy control device 3 is connected with wireless mode with thermotherapy capsule 1 and transmits the thermotherapy control information, the real-time blood processor 4 of external image is connected with wireless mode with thermotherapy capsule 1 and transmits thermotherapy capsule 1 video information and with graphics mode output, external magnetic drive unit 2 adopts magnetic force to realize the attitude of thermotherapy capsule 1 and the control of position with thermotherapy capsule 1.
As shown in Figure 2, described thermotherapy capsule 1 comprises: illuminator 5, temperature measurement system 6, optical system 7 and hot generating apparatus 8, shell 9 and be arranged at its inner master control system 10, digital image sensor 11, radio receiving transmitting module 12, switch 13, power management module 14, battery 15 and permanent magnet 16, wherein: hot generating apparatus 8 and temperature measurement system 6 are installed in the outer surface of thermotherapy capsule 1 shell 9 to realize thermotherapy treatment and thermotherapy position temperature real-time measurement, permanent magnet 16 is installed in thermotherapy capsule 1 one ends, the attitude and the position of the magnetic force control thermotherapy capsule 1 between the permanent-magnetic field that permanent-magnetic field that permanent magnet 16 produces and external magnetic drive unit 2 produce, power management module 14 links to each other by switch 13 with battery 15, when switch 13 closures, power management module 14 is that suitable DC voltage exports digital image sensor 11 respectively to battery 15 voltage transition, illuminator 5, master control system 10, radio receiving transmitting module 12 and hot generating apparatus 8, optical system 7, illuminator 5 and digital image sensor 11 are connected successively and are arranged at the end of shell 9, digital image sensor 11 links to each other with master control system 10 and output digital image, the temperature information that radio receiving transmitting module 12 links to each other with master control system 10 and video information that digital image sensor 11 is collected and temperature measurement system 6 collect is converted into electromagnetic wave and is sent to externally, and hot generating apparatus 8 links to each other with master control system 10 and receives control instruction.
Described shell 9 is the capsule structure shape, and both ends are chondritic.
As shown in Figure 3, described external magnetic drive unit 2 comprises: frame 18 is adjusted in permanent magnet 17 and position, and wherein: permanent magnet 17 is fixedly set on the position adjustment frame 18 and to thermotherapy capsule 1 permanent-magnetic field is provided.
As shown in Figure 4, described external thermotherapy control device 3 is for having temperature display 19, radio-cell 20 and temperature-adjusting device 21, wherein: radio-cell 20 links to each other with temperature-adjusting device 21 with temperature display 19, and will receive temperature and be sent to temperature display 19 and be presented on the temperature display 19, the control signal of temperature-adjusting device 21 is sent to the control that thermotherapy capsule 1 is realized thermotherapy temperature by radio-cell 20.
As shown in Figure 5, the real-time blood processor 4 of described external image comprises: real-time receiver module 22 of external image and computer workstation 23, wherein: the real-time receiver module 22 of external image is made of the universal electric device with digital radio communication function and receives the data image signal that is sent by thermotherapy capsule 1, the real-time receiver module 22 of external image receives in real time and is sent to external photographic images and be sent to computer workstation 23 by thermotherapy capsule 1, on computer screen, the effector realizes thermotherapy capsule 1 attitude to computer operation for operation with pictorial display, Position Control and thermotherapy operations provide the image-guidance function.
This device carries out work in the following manner: patient's thermotherapy capsule 1 of swallowing, and thermotherapy capsule 1 switch 13 closures, power management module 14 is converted into suitable voltage with battery 15 voltages, and thermotherapy capsule 1 is started working.Digital image sensor 11 collects the digital picture of digestive tract wall by optical system 7 and illuminator 5, this digital picture is sent to wireless transmitter by master control system 10, and be sent to external by wireless transmitter, receive and be sent to computer workstation 23 by the real-time receiver module 22 of external image, computer workstation 23 with pictorial display on screen, the operator is according to image, the moving device 2 of control volume external magnetic region changes the direction and the position of permanent magnet 17, according to the principle that the identical polar permanent magnetic field attracts each other and the heteropolarity permanent magnetic field repels mutually, the permanent magnet 16 of interior thermotherapy capsule 1 system of body follows external permanent magnet 17 attitudes and the position changes, change attitude and the position of thermotherapy capsule 1 in digestive tract, digital image sensor 11 can detect the image of different attitudes and situation lower digestive tract wall and be sent to external, thereby guarantee that the operator carries out the diagnosis of " fixed point " and " orientation " to digestive tract under image-guidance.In diagnostic procedure, when finding the shallow malignancy disease is arranged, under image-guidance helps, the operator controls thermotherapy capsule 1 and rests on shallow malignancy disease surface, make the hot generating apparatus 8 of thermotherapy capsule 1 be close to shallow malignancy disease surface, the operator utilizes the temperature-adjusting device 21 of external thermotherapy control device 3 to send the thermotherapy control signal, this control signal is sent to thermotherapy capsule 1 by wireless list 20, receive and be sent to master control system 10 by radio receiving transmitting module 12, master control system 10 starts hot generating apparatus 8 work, thermotherapy treatment is carried out on shallow malignant tumor surface, in the thermotherapy process, temperature measurement system 6 detects the temperature at thermotherapy position in real time, this temperature is undertaken being sent to radio receiving transmitting module 12 after the AD conversion by master control system 10, and be sent to external by radio receiving transmitting module 12, after the radio-cell 20 of external thermotherapy control device 3 receives this temperature signal, be sent on the temperature display 19, the operator can grasp the temperature at thermotherapy position in real time, and thermotherapy is carried out on shallow malignant tumor surface in conjunction with digital image sensor 11 detected images, in the thermotherapy process, the operator can move attitude and the position that device 2 changes thermotherapy capsules 1 by the operating body external magnetic region, by means of the navigation of the digital picture on the work station 23, to realize comprehensive thorough thermotherapy to shallow malignant tumor position.
Claims (6)
1. the external magetic-control heating based on the digital picture navigation is treated capsule system, it is characterized in that, comprise: the thermotherapy capsule, external magnetic drive unit, external thermotherapy control device and the real-time blood processor of external image, wherein: the thermotherapy capsule is positioned at digestive tract and implements local thermotherapy and handle, external thermotherapy control device is connected with wireless mode with the thermotherapy capsule and transmits the thermotherapy control information, the real-time blood processor of external image is connected with wireless mode with the thermotherapy capsule and transmits thermotherapy capsule video information and with graphics mode output, external magnetic drive unit adopts the control of magnetic force realization to capsular attitude of thermotherapy and position with the thermotherapy capsule.
2. the external magetic-control heating based on the digital picture navigation according to claim 1 is treated capsule system, it is characterized in that, described thermotherapy capsule comprises: illuminator, temperature measurement system, optical system and hot generating apparatus, shell and be arranged at its inner master control system, digital image sensor, the image wireless dispensing device, radio receiving transmitting module, power management module, battery and permanent magnet, wherein: hot generating apparatus and temperature measurement system are installed in the outer surface of thermotherapy capsule shell to realize local thermotherapy and thermotherapy position temperature real-time measurement, permanent magnet is installed in thermotherapy capsule one end, magnetic force size and Orientation control capsular attitude of thermotherapy and position between the permanent-magnetic field that permanent-magnetic field that permanent magnet produces and external magnetic drive unit produce, power management module links to each other with battery and exports DC voltage to digital image sensor respectively, illuminator, master control system, radio receiving transmitting module and hot generating apparatus, optical system, illuminator and digital image sensor are connected successively and are arranged at the end of shell, digital image sensor links to each other with master control system and output digital image, the temperature information that radio receiving transmitting module links to each other with master control system and video information that digital image sensor is collected and temperature measurement system collect is converted into electromagnetic wave and is sent to externally, and hot generating apparatus links to each other with master control system and receives control instruction.
3. the external magetic-control heating based on the digital picture navigation according to claim 1 and 2 is treated capsule system, it is characterized in that described shell is the capsule body shape, and both ends are chondritic.
4. the external magetic-control heating based on the digital picture navigation according to claim 1 and 2 is treated capsule system, it is characterized in that, described external magnetic drive unit comprises: frame is adjusted in field generator for magnetic and position, and wherein: field generator for magnetic is fixedly set on the position adjustment frame and to the thermotherapy capsule magnetic field is provided.
5. the external magetic-control heating based on the digital picture navigation according to claim 1 is treated capsule system, it is characterized in that, described external thermotherapy control device comprises: temperature display, radio-cell and temperature-adjusting device, wherein: radio-cell links to each other with temperature-adjusting device with temperature display and will receive temperature and is sent to temperature display and is presented on the temperature display, and the thermoregulation signal is sent to the control that the thermotherapy capsule is realized thermotherapy temperature by radio-cell.
6. the external magetic-control heating based on the digital picture navigation according to claim 1 is treated capsule system, it is characterized in that, the real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image is made of the universal electric device with digital radio communication function and receives the data image signal that is sent by the thermotherapy capsule, the real-time receiver module of external image receives in real time and is sent to external photographic images and be sent to computer workstation by the thermotherapy capsule, on computer screen, the effector realizes thermotherapy capsule attitude to computer operation for operation with pictorial display, Position Control and thermotherapy operations provide the image-guidance function.
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| CN201110051701A CN102085085B (en) | 2011-03-04 | 2011-03-04 | In vitro magnetic control thermal therapy capsule system based on digital image navigation |
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| CN201110051701A CN102085085B (en) | 2011-03-04 | 2011-03-04 | In vitro magnetic control thermal therapy capsule system based on digital image navigation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949008A (en) * | 2014-04-23 | 2014-07-30 | 上海交通大学 | Extracorporeal magnetic control type intelligent electrical stimulation capsule system based on video image navigation |
| CN111568348A (en) * | 2020-06-04 | 2020-08-25 | 中国医学科学院生物医学工程研究所 | Optical diagnosis and treatment capsule endoscope with external power supply and control |
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| US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
| CN1537646A (en) * | 2003-10-22 | 2004-10-20 | 高春平 | Tumour local comprehensive therepy method and device |
| CN1654011A (en) * | 2003-10-06 | 2005-08-17 | 西门子公司 | Method for automated localization of lesions in the gastrointestinal tract for treatment using laser light from an endorobot |
| WO2007006728A1 (en) * | 2005-07-08 | 2007-01-18 | Siemens Aktiengesellschaft | Endoscopic capsule |
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2011
- 2011-03-04 CN CN201110051701A patent/CN102085085B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
| CN1654011A (en) * | 2003-10-06 | 2005-08-17 | 西门子公司 | Method for automated localization of lesions in the gastrointestinal tract for treatment using laser light from an endorobot |
| CN1537646A (en) * | 2003-10-22 | 2004-10-20 | 高春平 | Tumour local comprehensive therepy method and device |
| WO2007006728A1 (en) * | 2005-07-08 | 2007-01-18 | Siemens Aktiengesellschaft | Endoscopic capsule |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103949008A (en) * | 2014-04-23 | 2014-07-30 | 上海交通大学 | Extracorporeal magnetic control type intelligent electrical stimulation capsule system based on video image navigation |
| CN103949008B (en) * | 2014-04-23 | 2016-03-16 | 上海交通大学 | Intelligent electric based on the external magnetic control of video image navigation stimulates capsule system |
| CN111568348A (en) * | 2020-06-04 | 2020-08-25 | 中国医学科学院生物医学工程研究所 | Optical diagnosis and treatment capsule endoscope with external power supply and control |
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| CN102085085B (en) | 2012-10-17 |
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