CN102139137B - External magnetic control drug release capsule system based on digital image navigation - Google Patents
External magnetic control drug release capsule system based on digital image navigation Download PDFInfo
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- CN102139137B CN102139137B CN 201110051490 CN201110051490A CN102139137B CN 102139137 B CN102139137 B CN 102139137B CN 201110051490 CN201110051490 CN 201110051490 CN 201110051490 A CN201110051490 A CN 201110051490A CN 102139137 B CN102139137 B CN 102139137B
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Abstract
The invention discloses an external magnetic control drug release capsule system based on digital image navigation in the technical field of medical instruments, which comprises a drug release capsule, an external magnetic driving device, an external application control device and an external real-time image processing device, wherein the drug release capsule is positioned in the digestive tract and used for releasing drug slowly; the external application control device and the drug release capsule transmit drug release control information; and the external real-time image processing device and the drug release capsule are connected wirelessly, transmit capsule video information and output the information in a graphic mode, and the external magnetic driving device and the drug release capsule controls the posture and position of the drug release capsule by magnetic force. The external magnetic control drug release capsule system actively controls the posture and position of the drug release capsule in the digestive tract, diagnoses diseases of the digestive tract by details according to the photographed images, and provides image navigation help for external magnetic control and application control of operators till the whole process of application therapy of a focus part is completed.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically a kind of external magnetic control drug release capsule system based on digital image navigation.
Background technology
The modern is because work rhythm quickening, diet are uneven, cause the sickness rate of digestive tract disease increasingly to raise, digestive tract disease becomes the common a kind of disease that affects modern's health, analyze according to statistics and find, digestive tract disease is to becoming younger and hiddenization future development.The visual detection of digestive tract disease has very important effect for prevention and the diagnosis and treatment of digestive tract disease, and 9 meters of human body all-digestive tract overall lengths, because the digestive tract shape belongs to slender pipeline, be distributed between each organ of trunk, the irregular closure of all-digestive tract structure, giving clinically, the test-and-treat of digestive tract disease brings very large challenge.
The visual detection of the digestive tract disease of implementing clinically mainly contains two kinds: gastrointestinal, intestinal mirror and capsule endoscope two large 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 large blind area in the capsule endoscopy diagnosis overall process, has greatly limited the clinical practice of capsule endoscope in all-digestive tract disease visible diagnosis.
On the other hand, when making a definite diagnosis digestive tract and find the disease such as disease, 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 for the disease that the digestive tract at small intestinal place exists, can't adopt traditional gastroscope and intestinal mirror to treat, 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 have the only shoot function of concrete digestive tract image of capsule endoscope now, do not possess and find that digestive tract produces the rear function that digestive tract disease is carried out treatment, so can't carry out treatment to digestive tract disease.
Find through the retrieval to prior art, be published in the scientific paper " design and research of drug release microcapsule control circuit " on " modern Manufacturing Engineering " the 8th phase in 2009, announced a kind of microcapsule structure for the digestive tract drug release, by control Miniature magnetic gauge tap the compressed spring of medicine in the medicine storehouse has been discharged.
But there are following two shortcomings at least in the microcapsule that this technology forms: at first, do not have the digestive tract image-guidance to help, can not determine the position of drug release; Secondly operator lacks the ability of manipulation in vitro control microcapsule attitude and position, can not ACTIVE CONTROL microcapsule attitude and position, and the restriction of above two shortcomings makes this patent of invention can't be applied to clinical practice.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of external magnetic control drug release capsule system based on digital image navigation is provided, realize attitude and the position of this drug release capsules system of ACTIVE CONTROL in digestive tract, overcome the defective that capsule system is subjected to peristalsis of the digest tract " passive " method of operation, the digital image sensor that the drug release capsules system carries can be taken the digestive tract image, and be sent to external by wireless transmission method, the doctor carries out detailed diagnosis according to the image that photographs to digestive tract disease, when finding disease is arranged, pass through external magnetic field, the operator controls drug release capsules system " location " in disease location, the drug release capsules system can be sent to the image of disease location external in real time, navigation in the capsule digital picture, the operator controls the drug release capsules system to disease location " rake to " dispenser treatment, any time in the dispenser process, the drug release capsules system can be sent to picture system external, for operator's external magnetic control system and dispenser control provide image-guidance to help, until finish the dispenser treatment overall process of lesions position.
The present invention is achieved by the following technical solutions, the present invention includes: drug release capsules, external magnetic drive unit, external device for controlling pesticide application and external image real-time processing device, wherein: drug release capsules is positioned at digestive tract and carries out medicament slow release, external device for controlling pesticide application is connected with wireless mode with drug release capsules and transmits the drug release control information, external image real-time processing device is connected with wireless mode with drug release capsules and transmits the capsule video information and with graphics mode output, external magnetic drive unit and drug release capsules are by the control of magnetic force realization to drug release capsules attitude and position.
Described drug release capsules comprises: illuminator, optical system and drug release device, 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, the medicine storehouse, battery and permanent magnet, wherein: the outer surface that drug release device is installed in the drug release capsules shell discharges and drug release position temperature real-time measurement to realize topical remedy, permanent magnet is installed in drug release capsules one end, and produce the magnetic force that attracts each other or mutually repel with permanent-magnetic field that external magnetic drive unit produces, change attitude and the position of drug release capsules by magnetic force, power management module links to each other with battery and exports respectively DC voltage to digital image sensor, illuminator, master control system, radio receiving transmitting module and drug release device, 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, radio receiving transmitting module links to each other with master control system and video information that digital image sensor is collected and the temperature information that collects are converted into electromagnetic wave and are sent to externally, and drug release device links to each other to obtain medicine and receives control instruction with the medicine storehouse respectively with master control system.
Described shell is the capsule body shape, both ends nearly smooth bulb shape.
Described external magnetic drive unit comprises: frame is adjusted in permanent magnet and position, and wherein: permanent magnet is fixedly installed on the position adjustment frame and to drug release capsules magnetic field is provided.
Described external device for controlling pesticide application comprises: residual drug display screen, radio-cell and dispenser operating means, wherein: the residual drug display screen is presented at remaining dose in the drug release capsules system on the screen, the dispenser operating means sends the dispenser control signal, this control signal is sent to drug release capsules system in the digestive tract by radio-cell, the drug release capsules system sends control signal to drug release device according to control signal, and drug release device is carried out the drug release treatment to lesions position.
Described external image real-time processing device comprises: the real-time receiver module of external image and computer workstation, wherein: 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 drug release capsules system, computer operation is presented at image on the computer screen, provides the image-guidance function for the operation effector realizes drug release capsules system attitude, Position Control and drug release operation.
The present invention compared with prior art, the manipulation in vitro effector can ACTIVE CONTROL to the attitude of drug disposition release capsule system and position, can finish " fixed point " diagnosis of digestive tract image, for drug release operation realizes " rake to " operation control, the while operation of external ACTIVE CONTROL drug disposition release capsule system is all carried out under the video image guiding, 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, have obvious advantage, the present invention has very important actual application value aspect digestive tract disease diagnosis and the treatment.
Description of drawings
Fig. 1 is operation principle schematic diagram of the present invention.
Fig. 2 is the drug release capsules structural representation.
Fig. 3 is external magnetic drives structure schematic diagram.
The operating control device structural representation is treated in the dispenser of Fig. 4 body.
Fig. 5 is external image real-time processing device schematic diagram.
The specific embodiment
The below elaborates to embodiments of the invention, and the present embodiment is implemented under take technical solution of the present invention as prerequisite, 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: drug release capsules system 1, external magnetic drive unit 2, external device for controlling pesticide application 3 and external image real-time processing device 4, wherein: drug release capsules system 1 is positioned at digestive tract and carries out medicament slow release, external device for controlling pesticide application 3 is connected with wireless mode with drug release capsules system 1 and transmits the drug release control information, external image real-time processing device 4 is connected with wireless mode with drug release capsules system 1 and transmits the capsule video information and with graphics mode output, and external magnetic drive unit 2 and drug release capsules system 1 realize control to drug release capsules system 1 attitude and position by magnetic force.
Described drug release capsules system 1 comprises: illuminator 5, optical system 6 and drug release device 7, shell 8 and be arranged at its inner master control system 9, digital image sensor 10, radio receiving transmitting module 11, power management module 12, switch 13, medicine storehouse 14, battery 15 and permanent magnet 16, wherein: the outer surface that drug release device 7 is installed in drug release capsules shell 8 discharges and drug release position temperature real-time measurement to realize topical remedy, permanent magnet 16 is installed an end of drug release capsules 1, magnetic force between the permanent-magnetic field that permanent magnet 16 produces and the permanent-magnetic field of external magnetic drive unit 2 changes attitude and the position of drug release capsules 1, power management module 12 links to each other by switch 13 with battery 15, during switch 13 closure, power management module 12 is that suitable DC voltage exports respectively digital image sensor 10 to battery 15 voltage transition, illuminator 5, master control system 9, radio receiving transmitting module 11 and drug release device 7, optical system 6, illuminator 5 and digital image sensor 10 are connected successively and are arranged at the end of shell 8, digital image sensor 10 links to each other with master control system 9 and output digital image, radio receiving transmitting module 11 links to each other with master control system 9 and video information that digital image sensor 10 is collected and the temperature information that collects are converted into electromagnetic wave and are sent to externally, and drug release device 7 links to each other to obtain medicine and receives control instruction with medicine storehouse 14 and master control system 9 respectively.
Described shell 8 is the capsule body shape, both ends nearly smooth bulb shape.
Described external magnetic drive unit 2 comprises: frame 18 is adjusted in permanent magnet 17 and position, and wherein: permanent magnet 17 is fixedly installed on the position adjustment frame 18 and to drug release capsules permanent-magnetic field is provided.
Described external device for controlling pesticide application 3 comprises: residual drug display screen 19, radio-cell 20 and dispenser operating means 21, wherein: residual drug display screen 19 is presented at drug release capsules system 1 interior remaining dose on the screen, dispenser operating means 21 sends the dispenser control signal, this control signal is sent to drug release capsules system 1 in the digestive tract by radio-cell 20, drug release capsules system 1 sends control signal to drug release device 7 according to control signal, and 7 pairs of lesions positions of drug release device are carried out the drug release treatment.
Described external image real-time processing device 4 comprises: the 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 components and parts with digital radio communication system function and receives the digital image information that is sent by drug release capsules, 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 drug release capsules system 1, computer operation is presented at image on the computer screen, and the effector realizes drug release capsules system 1 attitude for operation, Position Control and drug release operation provide the image-guidance function.
This device carries out work in the following manner: the patient is by taking drugs release capsule 1, switch 13 cuts out, power management module 12 is converted into suitable voltage with battery 15 voltages, drug release capsules 1 is started working, digital image sensor 10 is sent to external by the image wireless transporter digestive tract wall image that collects, receive and be sent to computer workstation 23 by the real-time receiver module 22 of external image, computer workstation 23 is presented at image on the screen, the operator is according to image, the permanent magnet 17 of the moving device of control volume external magnetic region changes direction and position, position and attitude that the permanent magnet 16 of drug disposition release capsule is followed external permanent magnet 17 change, change position and the state of drug release capsules 1 in digestive tract, digital image sensor 10 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 disease is arranged, under the image guiding, the operator controls drug release capsules 1 and rests on the disease surface, make the drug release device 7 of drug release capsules 1 be close to the disease surface, the operator utilizes the dispenser regulating system 21 of external device for controlling pesticide application 3 to send the dispenser control signal, this control signal transmits drug release capsules by radio receiving transmitting module 11, radio receiving transmitting module 11 by drug release capsules system 1 receives and is sent to master control system 9, master control system 9 starts drug release device 7 work, medicine " rake to " is carried out on the disease surface discharged treatment, in the dispenser process, master control system detects medicine storehouse 14 interior residual drugs in real time, 9 pairs of residual drugs of master control system carry out being sent to radio receiving transmitting module 11 after the AD conversion, and be sent to external by radio receiving transmitting module 11, after the radio-cell 20 of external device for controlling pesticide application 3 receives this residual drug signal, be sent on the residual drug display screen 19, the operator can grasp in real time the dispenser position residual drug what, and in conjunction with the image that digital image sensor 10 detects dispenser is carried out on the disease surface, in the dispenser process, the operator can move attitude and the position that device 2 changes drug release capsules by the operating body external magnetic region, by means of the image-guidance on the work station 23, to realize the comprehensive of disease location and " rake to " drug release treatment.
Claims (1)
1. external magnetic control drug release capsule system based on digital image navigation, it is characterized in that, comprise: drug release capsules, external magnetic drive unit, external device for controlling pesticide application and external image real-time processing device, wherein: drug release capsules is positioned at digestive tract and carries out medicament slow release, external device for controlling pesticide application is connected with wireless mode with drug release capsules and transmits the drug release control information, external image real-time processing device is connected with wireless mode with drug release capsules and transmits the capsule video information and with graphics mode output, external magnetic drive unit and drug release capsules are by the control of magnetic force realization to drug release capsules attitude and position;
Described external image real-time processing device comprises: the real-time receiver module of external image and computer workstation, wherein: 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 drug release capsules system, computer workstation is presented at image on the computer screen, provides the image-guidance function for the operation effector realizes drug release capsules attitude, Position Control and drug release operation;
Described drug release capsules comprises: illuminator, optical system and drug release device, shell and be arranged at its inner master control system, digital image sensor, radio receiving transmitting module, power management module, the medicine storehouse, switch, battery and permanent magnet, wherein: the outer surface that drug release device is installed in the drug release capsules shell discharges to realize topical remedy, permanent magnet is installed in drug release capsules one end, attitude and the position of the magnetic force size and Orientation control drug release capsules between the permanent-magnetic field that the permanent-magnetic field that permanent magnet produces and external magnetic drive unit produce, power management module links to each other with battery and exports respectively DC voltage to digital image sensor, illuminator, master control system, radio receiving transmitting module and drug release device, 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, radio receiving transmitting module links to each other with master control system and video information that digital image sensor is collected and the temperature information that collects are converted into electromagnetic wave and are sent to externally, and drug release device links to each other to obtain medicine and receives control instruction with the medicine storehouse respectively with master control system;
Described shell is the capsule body shape, both ends nearly smooth bulb shape;
Described external magnetic drive unit comprises: frame is adjusted in permanent magnet and position, and wherein: permanent magnet is fixedly installed on the position adjustment frame and to drug release capsules permanent-magnetic field is provided;
Described external device for controlling pesticide application comprises: residual drug display screen, radio-cell and dispenser operating means, wherein: the residual drug display screen is presented at remaining dose in the drug release capsules system on the screen, the dispenser operating means sends the dispenser control signal, this control signal is sent to drug release capsules in the digestive tract by radio-cell, drug release capsules is sent control command to drug release device according to control signal, and drug release device is carried out the drug release treatment to lesions position;
Described external magnetic control drug release capsule system carries out work in the following manner: the patient is by the taking drugs release capsule, switch cuts out, power management module is converted into suitable voltage with cell voltage, drug release capsules is started working, digital image sensor is sent to external by the image wireless transporter digestive tract wall image that collects, receive and be sent to computer workstation by the real-time receiver module of external image, computer workstation is presented at image on the screen, the operator is according to image, the permanent magnet of the moving device of control volume external magnetic region changes direction and position, position and attitude that the permanent magnet of drug disposition release capsule is followed external permanent magnet change, change position and the state of drug release capsules in digestive tract, digital image sensor 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 fixed point and directed diagnosis to digestive tract under image-guidance;
In diagnostic procedure, when finding disease is arranged, under the image guiding, the operator controls drug release capsules and rests on the disease surface, make the drug release device of drug release capsules be close to the disease surface, the operator utilizes the dispenser regulating system of external device for controlling pesticide application to send the dispenser control signal, this control signal transmits drug release capsules by radio receiving transmitting module, radio receiving transmitting module by the drug release capsules system receives and is sent to master control system, master control system starts drug release device work, the medicine rake is carried out to discharging treatment in the disease surface, in the dispenser process, master control system detects residual drug in the medicine storehouse in real time, master control system carries out being sent to radio receiving transmitting module after the AD conversion to residual drug, and be sent to external by radio receiving transmitting module, after the radio-cell of external device for controlling pesticide application receives this residual drug signal, be sent on the residual drug display screen, the operator can grasp in real time the dispenser position residual drug what, and in conjunction with the image that digital image sensor detects dispenser is carried out on the disease surface, in the dispenser process, the operator can move attitude and the position that device changes drug release capsules by the operating body external magnetic region, by means of the image-guidance on the work station, to realize the comprehensive of disease location and to harrow and treat to drug release.
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| CN 201110051490 CN102139137B (en) | 2011-03-04 | 2011-03-04 | External magnetic control drug release capsule system based on digital image navigation |
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| CN 201110051490 CN102139137B (en) | 2011-03-04 | 2011-03-04 | External magnetic control drug release capsule system based on digital image navigation |
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| CN102139137B true CN102139137B (en) | 2013-01-09 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN108056747A (en) * | 2017-12-12 | 2018-05-22 | 重庆财玺科技有限公司 | A kind of capsule endoscope with drug release |
| CN111631674A (en) * | 2020-06-03 | 2020-09-08 | 湖北科技学院 | Medicine release capsule type digestive tract endoscope device and medicine release method |
| CN113769249B (en) * | 2021-09-10 | 2023-08-04 | 安翰科技(武汉)股份有限公司 | Drug delivery capsule |
| CN113769250B (en) * | 2021-09-10 | 2023-08-04 | 安翰科技(武汉)股份有限公司 | Drug delivery capsule |
| CN113730639B (en) * | 2021-09-15 | 2022-05-06 | 上海大学 | Magnetic dressing and preparation method and application thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN1843284A (en) * | 2005-04-07 | 2006-10-11 | 中国科学院合肥智能机械研究所 | External magnetic field driving system of in vivo microrobot |
| CN1868396A (en) * | 2005-05-27 | 2006-11-29 | 上海飞恩微电子有限公司 | Medicine-releasing type capsule endoscope |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101375805A (en) * | 2007-12-29 | 2009-03-04 | 清华大学深圳研究生院 | Method and system for guiding operation of electronic endoscope by auxiliary computer |
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Patent Citations (3)
| 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 |
| CN1843284A (en) * | 2005-04-07 | 2006-10-11 | 中国科学院合肥智能机械研究所 | External magnetic field driving system of in vivo microrobot |
| CN1868396A (en) * | 2005-05-27 | 2006-11-29 | 上海飞恩微电子有限公司 | Medicine-releasing type capsule endoscope |
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