CN118383803A - Magnetic drive ultrasonic capsule endoscope - Google Patents
Magnetic drive ultrasonic capsule endoscope Download PDFInfo
- Publication number
- CN118383803A CN118383803A CN202410556282.7A CN202410556282A CN118383803A CN 118383803 A CN118383803 A CN 118383803A CN 202410556282 A CN202410556282 A CN 202410556282A CN 118383803 A CN118383803 A CN 118383803A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- capsule endoscope
- magnet
- shell
- magnetic field
- 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.)
- Pending
Links
- 230000005291 magnetic effect Effects 0.000 title claims abstract description 76
- 239000002775 capsule Substances 0.000 title claims abstract description 67
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000003384 imaging method Methods 0.000 claims description 13
- 238000000926 separation method Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 15
- 238000003745 diagnosis Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000001839 endoscopy Methods 0.000 description 5
- 239000003292 glue Substances 0.000 description 5
- 208000002193 Pain Diseases 0.000 description 4
- 230000036407 pain Effects 0.000 description 4
- 210000000813 small intestine Anatomy 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000968 intestinal effect Effects 0.000 description 3
- 210000000214 mouth Anatomy 0.000 description 3
- 231100000915 pathological change Toxicity 0.000 description 3
- 230000036285 pathological change Effects 0.000 description 3
- MCMNRKCIXSYSNV-UHFFFAOYSA-N Zirconium dioxide Chemical group O=[Zr]=O MCMNRKCIXSYSNV-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000009558 endoscopic ultrasound Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003238 esophagus Anatomy 0.000 description 2
- 230000009545 invasion Effects 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 208000021795 small intestine disease Diseases 0.000 description 2
- 210000002784 stomach Anatomy 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 210000002429 large intestine Anatomy 0.000 description 1
- 230000003211 malignant effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 210000000664 rectum Anatomy 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009747 swallowing Effects 0.000 description 1
- 208000008918 voyeurism Diseases 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Power Engineering (AREA)
- Vascular Medicine (AREA)
- Gynecology & Obstetrics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention discloses a magnetic drive ultrasonic capsule endoscope, which belongs to the field of endoscopes, wherein a shell of a rotor comprises a shell and a spiral structure arranged on the outer surface of the shell, a magnet and an acoustic reflector are fixed in the shell and are positioned in the shell, the magnet is driven to rotate by a magnetic field so as to drive the shell and the acoustic reflector to rotate, the spiral structure converts rotary motion into linear motion of a main body, an ultrasonic transducer of a stator is used for generating ultrasonic signals, the acoustic reflector reflects the ultrasonic signals to the outside of the main body, the acoustic reflector drives the ultrasonic signals to rotate when rotating so as to realize sound field scanning, the magnet is driven by an external magnetic field to rotate, and the acoustic reflector drives the ultrasonic signals to rotate so as to realize sound field scanning when rotating, and a driving device such as a motor is not required to be arranged in the main body so that the ultrasonic capsule endoscope can be further miniaturized; the spiral structure converts the rotary motion into the linear motion of the main body, so that the ultrasonic capsule endoscope can actively move, and the ultrasonic capsule endoscope is prevented from being blocked in intestinal tracts.
Description
Technical Field
The invention relates to the field of endoscopes, in particular to a magnetic drive ultrasonic capsule endoscope.
Background
An optical capsule endoscope (Video Capsule Endoscopy, VCE) is a capsule-shaped endoscope, typically about 10mm in diameter and about 30mm in length, approved for use in the human body in 2001. The capsule endoscope can enter the human body, is used for peeping the health condition of the intestines, stomach and esophagus parts of the human body, and helps doctors to diagnose diseases of the digestive tract system of patients. Compared with the traditional endoscopy, the capsule endoscope does not need anesthesia, is simple and convenient to operate, and avoids physiological pains of patients; meanwhile, the method can check all small intestine conditions, and is the first choice method for diagnosing small intestine diseases.
Ultrasonic endoscopy (Endoscopic Ultrasound, EUS) is a digestive tract examination technique that combines endoscopy and ultrasound. The technology is that a miniature high-frequency ultrasonic probe is arranged at the top end of an endoscope, so that the histological features of the hierarchical structure of the gastrointestinal tract and the ultrasonic images of surrounding adjacent organs can be obtained, the pathological changes of the digestive tract are identified and diagnosed, the invasion depth and the invasion range of the pathological changes are judged, and the benign and malignant pathological changes are identified.
In recent years, an ultrasonic capsule endoscope (Ultrasound Capsule Endoscopy, USCE) has been proposed, which is an endoscope having a capsule shape and an ultrasonic device inside. Similar to the advantages of the common optical capsule endoscope, the wireless/flexible wire design can eliminate the pain of people in the traditional examination mode, and in addition, the device can carry out detailed examination on the intestinal wall of the small intestine and obtain deep intestinal wall information. The ultrasonic capsule endoscope has the advantages of convenient examination, no wound, no catheter, no pain, no cross infection, no influence on the normal work of patients, and the like, and has positive effect on disease diagnosis.
However, the existing ultrasonic capsule endoscope needs to rely on a built-in motor to realize the optional scanning imaging of a single array element transducer, so that the overall size is limited; in addition, the existing ultrasonic capsule endoscope does not have active movement capability, and needs to move forward by means of intestinal peristalsis, so that the inspection time is long and the risk of jamming exists.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the invention is to provide a magnetic drive ultrasonic capsule endoscope which can actively move and does not need a built-in motor for driving during scanning of a transducer.
One of the purposes of the invention is realized by adopting the following technical scheme:
The utility model provides a magnetic drive supersound capsule endoscope, includes the main part, the main part include the rotor and with the stator that the rotor rotates to be connected, the rotor includes shell, magnet and acoustic mirror, the shell include the casing and set up in the helicitic texture of casing surface, magnet and acoustic mirror be fixed in the casing and lie in inside the casing, thereby the magnet receives the magnetic field drive rotation to drive the shell and the acoustic mirror rotates, thereby helicitic texture will rotary motion turns into the rectilinear motion of main part, the stator includes ultrasonic transducer, ultrasonic transducer is used for producing ultrasonic signal, the acoustic mirror will ultrasonic signal reflection extremely the main part is outside, the acoustic mirror drives when rotating ultrasonic signal rotates the realization sound field scans.
Further, the magnets are magnetized radially.
Further, the shell is provided with an acoustic window, and the reflecting surface of the acoustic reflector faces the acoustic window.
Further, the acoustic mirror is fixed to the magnet.
Further, the stator further comprises a bearing and a fixing seat, the ultrasonic transducer is installed on the fixing seat, the fixing seat is fixed with the inner ring of the bearing, and the inner wall of the shell is fixed with the outer ring of the bearing.
Further, the main body further comprises a soft rope, the soft rope comprises a cable and a protective sleeve for covering the cable, and the soft rope is fixed at one end, far away from the rotor, of the stator.
Further, the stator further comprises a base, the soft rope is fixedly connected with the base, the base is provided with a separation structure, and the separation structure is used for separating the soft rope from the stator.
Further, the magnetic drive ultrasonic capsule endoscope further comprises an ultrasonic imaging host, and the ultrasonic imaging host is connected with the cable of the soft rope.
Further, the magnetic drive ultrasonic capsule endoscope further comprises an external magnetic field driving device, the external magnetic field driving device comprises a mechanical arm and a driving magnet arranged on the mechanical arm, the mechanical arm drives the driving magnet to move in three mutually perpendicular directions and can drive the driving magnet to rotate around a shaft, a required rotating magnetic field is generated at a target point, and the magnet in the main body is driven to synchronously rotate through a magnetic moment.
Further, the magnetic drive ultrasonic capsule endoscope further comprises a control handle, the control handle is in communication connection with the external magnetic field driving device, and the control handle controls the external magnetic field driving device to work so as to control the main body to move.
Compared with the prior art, the main body of the magnetic drive ultrasonic capsule endoscope comprises a rotor and a stator rotationally connected with the rotor, the rotor comprises a shell, a magnet and an acoustic reflector, the shell comprises a shell and a spiral structure arranged on the outer surface of the shell, the magnet and the acoustic reflector are fixed in the shell and positioned in the shell, the magnet is driven to rotate by a magnetic field so as to drive the shell and the acoustic reflector to rotate, the spiral structure converts rotary motion into linear motion of the main body, the stator comprises an ultrasonic transducer, the ultrasonic transducer is used for generating ultrasonic signals, the acoustic reflector reflects the ultrasonic signals to the outside of the main body, the acoustic reflector drives the ultrasonic signals to rotate when rotating to realize sound field scanning, the magnet is driven by an external magnetic field to rotate, and the acoustic reflector drives the ultrasonic signals to rotate to realize sound field scanning, and is not required to be driven by a driving device such as a motor in the main body, so that the ultrasonic capsule endoscope can be further miniaturized; the spiral structure converts the rotary motion into the linear motion of the main body, so that the ultrasonic capsule endoscope can actively move, and the ultrasonic capsule endoscope is prevented from being blocked in intestinal tracts.
Drawings
FIG. 1 is a schematic view of a magnetically driven ultrasonic capsule endoscope of the present invention;
FIG. 2 is a perspective view of the internal structure of the magnetically driven ultrasonic capsule endoscope of FIG. 1;
FIG. 3 is a cross-sectional view of the magnetically driven ultrasonic capsule endoscope of FIG. 1;
FIG. 4 is a schematic diagram of the principle of operation of the magnetically driven ultrasonic capsule endoscope of FIG. 1;
FIG. 5 is a schematic view of the magnetically-driven ultrasonic capsule endoscope of FIG. 1 advanced and imaged in the intestinal tract;
FIG. 6 is a schematic view of the magnetically driven ultrasonic capsule endoscope of FIG. 1 in motion within a human body;
Fig. 7 is a schematic diagram of the operation of the magnetically driven ultrasonic capsule endoscope of fig. 1.
In the figure: 10. a main body; 11. a rotor; 110. a housing; 111. a housing; 112. a spiral structure; 113. an acoustic window; 114. a magnet; 115. an acoustic mirror; 12. a stator; 121. a bearing; 122. a fixing seat; 123. an ultrasonic transducer; 124. a base; 20. a soft rope; 30. an ultrasonic imaging host; 40. a control handle; 50. an external magnetic field driving device; 100. a human body; 101. intestinal tract.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or be present as another intermediate element through which the element is fixed. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 7, the magnetically-driven ultrasonic capsule endoscope of the present invention includes a main body 10, a flexible cord 20, an ultrasonic imaging main body 30, a control handle 40, and an external magnetic field driving device 50.
The main body 10 includes a rotor 11 and a stator 12 rotatably coupled to the rotor 11.
The rotor 11 includes a housing 110, a magnet 114, and an acoustic mirror 115. The magnet 114 and the acoustic mirror 115 are fixed inside the housing 110. The casing 110 is entirely in the shape of a capsule, the casing 110 includes a housing 111 and a spiral structure 112, the spiral structure 112 is disposed on an outer wall of the housing 111, and when the body 10 rotates in the intestinal tract 101 of the human body 100, the spiral structure 112 enables the body 10 to linearly move along the intestinal tract 101. The housing 111 is further provided with an acoustic window 113, and the acoustic window 113 is used for transmitting ultrasonic waves required for imaging out of the housing 111. The magnet 114 is magnetized radially, and the external magnetic field can control the ferromagnetic substance in the body through magnetic moment and magnetic force, and in this embodiment, the magnetic field of the external magnetic field driving device 50 drives the magnet 114 in the intestinal tract 101 to rotate. The magnet 114 is shown as a cylinder, and the magnet 114 may have other shapes.
Specifically, the magnetic moment causes the magnetization direction of the inner magnet to coincide with the direction of the outer drive magnetic field. That is, if the driving magnetic field continuously rotates around the axis at the target point, the magnetic moment causes the internal magnet to rotate in synchronization with the external magnetic field. On the other hand, the magnetic force translates the inner magnet in a direction determined by the direction of the magnetization of the magnet and the spatial derivative of the outer magnetic field.
τm＝μ0md×hm (1)
Wherein,Is the magnetic moment; is magnetic; mu 0＝4π×10-7{N·A2 is vacuum permeability; Driving a magnetic field for the target point; Is the internal magnet moment.
The magnetic drive ultrasonic endoscope can adopt a control strategy of single magnetic moment drive and magnetic moment magnetic force common drive. The spatial magnetic field distribution of the external driving magnet can be described by a magnetic dipole model as in equation (3).
Where r=p d-Pe { m } is the relative displacement vector; is the center position of the internal magnet; The center position of the driving magnet is; Is a unit matrix; To drive the magnetic moment of the magnet externally.
As can be seen from equations (1) - (3), the external driving magnet rotates around the axis at a proper position and in a proper posture, so as to generate a required rotating magnetic field at the target point, and the magnet 114 inside the capsule is driven to rotate synchronously by the magnetic moment. In a tubular environment, the helical structure 112 may convert rotational motion into linear motion, enabling autonomous advancement and retraction of the capsule endoscope by changing the direction of rotation. Meanwhile, the acoustic mirror 115 may change the propagation direction of the ultrasonic signal, thereby realizing 360 ° sound field scanning during the forward travel. As shown in fig. 4. Meanwhile, by optimizing the position of the external driving magnet, magnetic force components along the movement direction can be generated in each period, so that a dragging effect is achieved, and the movement efficiency of the ultrasonic capsule endoscope is further improved.
By the mode, the driving magnetic field is dynamically adjusted according to the real-time position, the motion state and the environment of the ultrasonic capsule robot, so that the active progress and ultrasonic imaging of the ultrasonic capsule robot in the small intestine can be realized. As shown in fig. 5.
The acoustic mirror 115 is fixed to the end of the magnet 114, and the acoustic mirror 115, the magnet 114, and the housing 111 are rigidly connected to each other by UV glue or the like.
Stator 12 includes bearings 121, mounts 122, ultrasonic transducers 123, and pedestals 124. The outer ring of the bearing 121 is fixed to the inner wall of the housing 111, and the inner ring of the bearing 121 is fixed to the fixing base 122. Specifically, the bearing 121 is a micro zirconia bearing. The outer ring of the bearing 121 is rigidly connected with the inner wall of the shell 111 by adopting UV glue, and the inner ring of the bearing 121 is rigidly connected with the fixed seat 122 by adopting UV glue. The axial limiting and axial rotation properties of the inner ring and the outer ring of the bearing realize the axial limiting and axial rotation of the front-end rotor 11 and the rear-end stator 12.
The fixing base 122 is cylindrical, the fixing base 122 is of a hollow structure, and the ultrasonic transducer 123 is fixedly installed inside the fixing base 122. The ultrasonic transducer 123 is a miniature single-element ultrasonic transducer. The base 124 is fixedly connected with the fixing base 122, specifically, the lower half part of the fixing base 122 is rigidly connected with the base 124 by adopting a mode of UV glue and the like. The base 124 may optionally be provided with functional modules. For example, a separation means for accomplishing rapid separation of the front end body 10 and the rear end cord 20 after completion of ultrasonic diagnosis; the magnetic positioning device is used for positioning the ultrasonic capsule endoscope by using a magnetic field in the working process; the ultrasonic positioning device is used for positioning the ultrasonic capsule endoscope by utilizing ultrasonic in the working process.
The cord 20 includes a cable and a protective sheath that encases the cable. The cord 20 is used for transducer power and signal transmission. The cord 20 is rigidly connected to the stator 12 by a mechanical tight fit, UV glue or the like.
The ultrasonic imaging host 30 is connected with the soft rope 20, and imaging is realized according to signals transmitted by the soft rope 20.
The control handle 40 is used for controlling the external magnetic field driving device 50, the external magnetic field driving device 50 comprises a mechanical arm, and an end motor and a driving magnet which are arranged on the mechanical arm, the mechanical arm drives the end motor and the driving magnet to move in three mutually perpendicular directions, and the end motor can drive the driving magnet to rotate around the axis, so that a required rotating magnetic field is generated at a target point, and the magnet 114 in the main body is driven to synchronously rotate through magnetic moment.
When the magnetic drive ultrasonic capsule endoscope is used, the magnetic drive ultrasonic capsule endoscope enters the digestive tract system of the human body 100 in an oral swallowing way and sequentially passes through the oral cavity, the esophagus, the stomach, the small intestine and the large intestine to complete ultrasonic diagnosis of the whole digestive tract.
As shown in fig. 7, a desired magnetic field is generated by the external magnetic field driving device 50, and the magnetic field can penetrate the human body harmlessly, thereby controlling the in-vivo ultrasonic capsule endoscope. The ultrasonic capsule endoscope is connected with an ultrasonic imaging host 30 through a soft rope 20 to complete energy supply and signal transmission. The physician controls the movement of the magnetically driven ultrasonic capsule endoscope distally through the control handle 40.
After the end of the diagnosis, there are two ways for the capsule endoscope to leave the body: the first type is that the front end main body 10 rotates reversely and the soft rope 20 withdraws, and the whole body is pulled out from the oral cavity; the second is that by means of the separating apparatus, the main body 10 continues to move downwards and is discharged out of the human body 100 through the rectum and anus, and the cord 20 is directly withdrawn from the mouth. As shown in fig. 6.
The application applies the magnetic driving method to the design of the ultrasonic capsule endoscope, and considers the magnetic driving basic principle and the ultrasonic imaging requirement. The capsule endoscope does not need to be provided with a built-in motor, and has the advantage of small size; the capsule endoscope can actively advance under the action of an external magnetic field, so that the movement flexibility in the digestive tract is improved; the capsule endoscope completes 360-degree ultrasonic beam scanning by a magnetic drive reflector mode and provides high-precision ultrasonic images of the digestive tract. The magnetic drive ultrasonic capsule endoscope can relieve the pain of the traditional ultrasonic endoscope examination, shorten the diagnosis time and improve the diagnosis efficiency, and provides a new method for the diagnosis of clinical small intestine diseases.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, it is possible to make several modifications and improvements without departing from the concept of the present invention, which are equivalent to the above embodiments according to the essential technology of the present invention, and these are all included in the protection scope of the present invention.
Claims (10)
1. A magnetic drive supersound capsule endoscope, includes main part, its characterized in that: the main part include the rotor and with the stator that the rotor rotates to be connected, the rotor include shell, magnet and acoustic reflector, the shell include the casing and set up in the helicitic texture of casing surface, magnet and the acoustic reflector is fixed in the casing is located inside the casing, thereby the magnet receives the magnetic field drive rotation to drive the shell with the acoustic reflector rotates, helicitic texture will rotary motion turns into the rectilinear motion of main part, the stator includes ultrasonic transducer, ultrasonic transducer is used for producing ultrasonic signal, the acoustic reflector will ultrasonic signal reflection extremely the main part is outside, the acoustic reflector rotates the time drive ultrasonic signal is rotatory realizes the sound field scanning.
2. The magnetically driven ultrasonic capsule endoscope of claim 1, wherein: the magnets are magnetized radially.
3. The magnetically driven ultrasonic capsule endoscope of claim 1, wherein: the shell is provided with an acoustic window, and the reflecting surface of the acoustic reflector faces the acoustic window.
4. The magnetically driven ultrasonic capsule endoscope of claim 1, wherein: the acoustic mirror is fixed to the magnet.
5. The magnetically driven ultrasonic capsule endoscope of claim 1, wherein: the stator also comprises a bearing and a fixing seat, the ultrasonic transducer is arranged on the fixing seat, the fixing seat is fixed with the inner ring of the bearing, and the inner wall of the shell is fixed with the outer ring of the bearing.
6. The magnetically driven ultrasonic capsule endoscope of claim 1, wherein: the main body further comprises a soft rope, the soft rope comprises a cable and a protective sleeve for covering the cable, and the soft rope is fixed at one end, far away from the rotor, of the stator.
7. The magnetically driven ultrasonic capsule endoscope of claim 6, wherein: the stator further comprises a base, the soft rope is fixedly connected with the base, the base is provided with a separation structure, and the separation structure is used for separating the soft rope from the stator.
8. The magnetically driven ultrasonic capsule endoscope of claim 6, wherein: the magnetic drive ultrasonic capsule endoscope further comprises an ultrasonic imaging host, and the ultrasonic imaging host is connected with the cable of the soft rope.
9. The magnetically driven ultrasonic capsule endoscope of claim 1, wherein: the magnetic drive ultrasonic capsule endoscope further comprises an external magnetic field driving device, the external magnetic field driving device comprises a mechanical arm and a driving magnet arranged on the mechanical arm, the mechanical arm drives the driving magnet to move in three mutually perpendicular directions and can drive the driving magnet to rotate around a shaft, a required rotating magnetic field is generated at a target point, and the magnet in the main body is driven to synchronously rotate through magnetic moments.
10. The magnetically driven ultrasonic capsule endoscope of claim 9, wherein: the magnetic drive ultrasonic capsule endoscope further comprises a control handle, the control handle is in communication connection with the external magnetic field driving device, and the control handle controls the external magnetic field driving device to work so as to control the main body to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410556282.7A CN118383803A (en) | 2024-05-07 | 2024-05-07 | Magnetic drive ultrasonic capsule endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410556282.7A CN118383803A (en) | 2024-05-07 | 2024-05-07 | Magnetic drive ultrasonic capsule endoscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118383803A true CN118383803A (en) | 2024-07-26 |
Family
ID=92005599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410556282.7A Pending CN118383803A (en) | 2024-05-07 | 2024-05-07 | Magnetic drive ultrasonic capsule endoscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118383803A (en) |
-
2024
- 2024-05-07 CN CN202410556282.7A patent/CN118383803A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7578788B2 (en) | Capsule-type medical device | |
| JP4204577B2 (en) | Medical micro-ultrasonic-OCT probe via endoscope | |
| JP4503930B2 (en) | Medical equipment | |
| CN105559736B (en) | A kind of ultrasound capsule endoscope | |
| Wang et al. | An earthworm-like robotic endoscope system for human intestine: design, analysis, and experiment | |
| CN109044248B (en) | Three-dimensional photoacoustic endoscope in curved cavity based on snake bone direction changing and imaging method thereof | |
| CN105007827B (en) | Reciprocating Vltrasonic device | |
| JP2003325438A (en) | Capsule type medical treatment device | |
| CN110367912A (en) | A kind of endoscope and endoscopic system | |
| CN104473614A (en) | Capsule endoscope | |
| JP2007125356A (en) | Insertion device to be inserted into subject | |
| WO2021196771A1 (en) | Optical-ultrasonic dual-modality imaging-based capsule endoscope | |
| CN216124472U (en) | Ultrasonic-optical dual-mode imaging device and detection system | |
| CN118383803A (en) | Magnetic drive ultrasonic capsule endoscope | |
| JP4530717B2 (en) | Endoscope | |
| CN216124468U (en) | Imaging device, detection probe and endoscope system | |
| JP2005237979A (en) | Capsule type medical treatment device | |
| CN102697455A (en) | Optical coherence tomography (OCT) electronic bronchoscope system | |
| CN110141273A (en) | Ultrasonic device with hand-held intervention probe | |
| Moldovan et al. | Ultrasound technology for capsule endoscopy | |
| CN113229770A (en) | Medical device guidance and control system and method | |
| CN115211901A (en) | Ultrasonic-optical dual-mode imaging device, imaging method and detection system thereof | |
| JP2014036723A (en) | Self-propelled connected-capsule endoscope | |
| CN109646052A (en) | A kind of ultrasound capsule endoscope | |
| JP2549663B2 (en) | Ultrasonic diagnostic device in body cavity |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |