WO2017071150A1

WO2017071150A1 - External controller for positional fixing, directional turning, and displacement of in-vivo microminiature device

Info

Publication number: WO2017071150A1
Application number: PCT/CN2016/076561
Authority: WO
Inventors: 赵德政; 张涛
Original assignee: 青岛光电医疗科技有限公司
Priority date: 2015-10-30
Filing date: 2016-03-17
Publication date: 2017-05-04
Also published as: CN105286762A

Abstract

An external controller for the positioning, directional turning, and displacement of an in-vivo microminiature device, comprising a housing (3), magnets (4), and a control system. The magnets (4) are magnetic sensors or remote sensing magnetic induction coils provided at a plurality of positions on the housing (3). The control system comprises a wireless transmitter used for receiving and transmitting an in-vivo image, temperature, and physiological data information of a human body, and a magnetism regulator (1) for controlling the change of the magnetic fields and the magnetic forces of the various magnetic sensors or remote sensing magnetic induction coils, said magnetic sensors or remote sensing magnetic induction coils being provided on the housing (3). The housing (3) is provided with a handle (2), and the magnetism regulator (1) is provided on the handle (2). The housing (3) is circular, polygonal, or elongate. The handheld external controller implements remote control of an in-vivo medical microminiature device in a human body by changing the magnetic fields or the magnetic forces, thereby fixing the position of the in-vivo medical microminiature device, turning the direction thereof, or displacing the in-vivo medical microminiature device. The handheld external controller is simple in structure, can be operated flexibly and easily, and has low manufacturing and usage costs.

Description

External controller for positioning, steering and displacement of micro-miniature devices in vivo

Technical field

[0001] 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.

Background technique

[0002] With the development of medical technology, various micro-small medical devices for use in the body are continuously introduced, and a more commonly used capsule endoscope. 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.

[0003] 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. In addition, as the function expands, 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.

[0004] 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. After the patient swallows, 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. However, the endoscopic diagnosis and treatment technology is highly specialized, complicated in operation, high in risk, and difficult, which brings a certain degree of safety hazard to the clinical application and promotion of endoscopic diagnosis and treatment technology. [0005] Chinese patent "Capsule Endoscope" (CN200780014471.6) requires an external induction coil to charge the capsule; Chinese patent "Magnetic Navigation Motion Control System for Capsule Endoscopy" (CN2009102 73088) The capsule is driven by a built-in permanent magnet, a gear transmission mechanism, a rotary leg, etc., and the overall structure is complicated and costly; the Chinese patent "a capsule robot for gastrointestinal endoscopy and its control system" (CN201310133128) includes The components such as the examiner support, the magnetic assembly, the magnetic support base, and the linkage shaft also have disadvantages such as complicated structure and high manufacturing cost. Chinese patent "System and method for magnet to find the position of capsule endoscope in non-magnetic cavity" (201410769191.8), wherein the system includes a capsule endoscope with a magnet, a magnetic object, a data logger, a driving device and an acceleration sensor, the overall structure Large, complex, and costly.

technical problem

[0006] In summary, at present, 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.

[0007] For various micro-small devices for medical use in vivo, such as capsule endoscopes, how to design a hand-held control device with simple structure, convenient operation, low manufacturing cost and low cost, through a magnetic field or The magnetic change is remotely controlled to position, steer and displace it, which is a technical problem that needs to be solved.

Problem solution

Technical solution

[0008] 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.

[0009] The object of the present invention is achieved by the following technical solutions:

[0010] 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.

[0011] An improvement to the above technical solution: the magnetic sensor or the remote sensing magnetic induction coil is disposed on the outer casing.

[0012] 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.

[0013] Further improvements to the above technical solution: The wireless transmitter is disposed within the handle.

[0014] Further improvements to the above technical solution: 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.

[0015] Further improvement to the above technical solution: The outer casing is annular, polygonal or elongated.

[0016] Further improvement to the above technical solution: 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.

[0017] Further improvement to the above technical solution: The outer casing and the handle are made of plastic or stainless steel.

Advantageous effects of the invention

Beneficial effect

[0018] 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.

Brief description of the drawing

DRAWINGS

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;

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. [0020] FIG. Embodiments of the invention

[0021] The present invention will be further described in detail below with reference to the accompanying drawings:

[0022] Referring to FIG. 1 and FIG. 2, 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. A magnetic sensor or a remote sensing magnetic induction coil at a plurality of locations on the outer casing 3. 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.

[0023] Specifically, 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.

[0024] 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.

[0025] 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.

[0027] After using a capsule endoscope, 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. By adjusting the magnetic regulator 1 to change the magnitude and direction of the magnetic field or magnetic force, 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.

[0028] 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.

[0029] During the detection process, 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.

[0030] The structure of the invention is simple, the operation is flexible and convenient, the controllability is strong, and the cost performance is high.

The present invention is not limited to the above-described examples, and variations, modifications, additions or substitutions made within the scope of the present invention should also fall within the scope of the present invention.

Claims

Claim

[Claim 1] An external controller for positioning, steering, and displacement of a micro-device in vivo, including a housing

The magnet and the control system are characterized in that the magnet is a magnetic sensor or a remote sensing magnetic induction coil disposed at a plurality of positions on the outer casing, and the control system includes information for receiving and transmitting in vivo images, temperature and human physiological data. A wireless transmitter and a magnetic regulator that controls the magnetic field and magnetic transformation of each magnetic sensor or remote sensing magnetic induction coil.

[Claim 2] The external controller for positioning, steering, and displacement of the micro-miniature device in the body according to claim 1, wherein the magnetic sensor or the remote sensing magnetic induction coil is disposed on the outer casing.

[Claim 3] The external controller for positioning, steering and displacement of the micro-miniature device in the body according to claim 1 or 2, wherein a handle is disposed on the outer casing, and the magnetic regulator is disposed at On the handle.

[Claim 4] The external controller for in-vivo micro-device positioning, steering, and displacement according to claim 3 or claim, wherein the wireless transmitter is disposed in the handle.

[Claim 5] The external controller for positioning, steering and displacement of an in-vivo micro-device according to claim 1 or 2, wherein the in-vivo micro-compact device comprises a capsule type for use in a digestive system An endoscope, a micro device for use in an intravascular or a medical micro device for use in other human organs, on which a magnet or a metal that induces a magnetic field is placed.

[Claim 6] The external controller for positioning, steering, and displacing an in-vivo micro-device according to claim 4 or claim 4, wherein the in-vivo micro-small device includes a capsule endoscope for use in a digestive system A mirror, a micro device for use in an intravascular or a medical micro device for use in other human organs, on which a magnet or a metal that induces a magnetic field is placed.

[Claim 7] The external controller for positioning, steering and displacement of the micro-miniature device in the body according to claim 1 or 2, wherein the outer casing is annular, polygonal or elongated.

[Claim 8] The external controller for positioning, steering, and displacement of the micro-miniature device in the body according to claim 6 or claim, wherein the outer casing is annular, polygonal or elongated.

[Claim 9] The external controller for positioning, steering, and displacement of an in-vivo micro-device according to claim 1 or 2, wherein the outer casing is annular, and the annular outer casing is intermediate A handle is disposed, and the magnetic sensor or the remote sensing magnetic induction coil is disposed on a bottom surface of the annular casing.

[Claim 10] The external controller for positioning, steering, and displacing an in-vivo micro-device according to claim 9, wherein the outer casing and the handle are made of a plastic or stainless steel material.