Remote-controllable spherical enteroscope and system and method for collecting movement and images in intestinal tract

Abstract

The invention provides a remotely-controllable spherical enteroscope and an intra-intestinal movement and image acquisition system and method. The remotely-controllable spherical enteroscope comprises a spherical shell, a driving machine core, a wireless camera and a battery module, the driving machine core is arranged in the spherical shell; the wireless camera has a remote control function, is arranged on the driving machine core and is used for collecting images in the intestinal tract; the battery module can perform wireless charging, is arranged in the spherical shell and provides electric energy for the driving machine core and the wireless camera; wherein the driving machine core is bilaterally symmetrical; the device comprises a rack, a driving wheel and a driving motor, the rack is arranged in the spherical shell, the two driving motors have a remote control function and are fixed below the rack, each driving motor is connected with one driving wheel, and the driving wheels make contact with the inner wall of the spherical shell; the driving motor is controlled to adjust the direction and speed of the driving wheel, so that advancing, retreating, steering and stopping of the spherical shell are achieved. The movement of the enteroscope in the intestinal tract is controlled through wireless remote control, the examination part can be flexibly selected, and more comprehensive real-time images can be provided.

Description

Technical Field

[0001] The present invention relates to the technical field of endoscope in medical detection, and particularly to a remotely controllable spherical colonoscope and an in-intestine movement and image acquisition system and method thereof. Background Art

[0002] With the development of medical technology, intestinal examination has become a common diagnostic method. Although traditional colonoscopy can directly observe the intestine, due to its strong invasiveness, cumbersome operation, and the need for professional skills, it often makes patients feel uncomfortable and requires the cooperation of multiple medical staff. In recent years, capsule colonoscopy has been proposed as a non-invasive intestinal examination method, and patients only need to swallow the capsule, which automatically collects images after passing through the intestine. However, capsule colonoscopy cannot be controlled in real time, cannot perform precise examination on specific areas, and the image quality is also limited by the fixed movement mode of the capsule, making it difficult to meet the needs of complex and delicate intestinal examinations. Summary of the Invention

[0003] Aiming at the defects in the prior art, the purpose of the present invention is to provide a remotely controllable spherical colonoscope and an in-intestine movement and image acquisition system and method thereof.

[0004] According to one aspect of the present invention, a remotely controllable spherical colonoscope is provided, which includes a spherical shell, a driving mechanism, a wireless camera, and a battery module; the driving mechanism is arranged inside the spherical shell; the wireless camera has a remote control function and is arranged on the driving mechanism to collect images inside the intestine; the battery module can be wirelessly charged and is arranged inside the spherical shell to provide electrical energy for the driving mechanism and the wireless camera;

[0005] Wherein, the driving mechanism is symmetric left and right with the vertical diameter of the spherical shell as the symmetry axis; it includes a frame, driving wheels, and driving motors;

[0006] The frame is arranged inside the spherical shell, two of the driving motors have a remote control function and are fixed below the frame, each driving motor is connected to one of the driving wheels, and the driving wheels are in contact with the inner wall of the spherical shell; by controlling the driving motors, the direction and speed of the driving wheels are adjusted to realize the forward, backward, turning, and staying of the spherical shell.

[0007] Preferably, the spherical shell is made of biocompatible materials, including medical silicone or plastic.

[0008] Preferably, it further includes springs and auxiliary support wheels, one end of the spring is connected to the frame, and the other end presses the auxiliary support wheels against the inner wall of the spherical shell.

[0009] Preferably, it further includes an LED lamp, which is fixed on one side of the wireless camera to provide light source.

[0010] Preferably, the wireless camera is disposed at the center position of the spherical shell.

[0011] Preferably, when the two driving wheels rotate at the same speed in the same direction, frictional force is generated with the inner wall of the spherical shell to generate power, and the spherical shell moves forward or backward;

[0012] When the two driving wheels rotate at different speeds in the same direction, the driving core deflects to the low-speed side, causing the center of gravity to tilt, and the spherical shell turns;

[0013] When the two driving wheels rotate at the same speed in the opposite directions, the driving core rotates horizontally in the spherical shell. According to the law of conservation of angular momentum, the spherical shell rotates in the opposite direction to the driving core, realizing a 360° rotation of the spherical shell in place.

[0014] According to the second aspect of the present invention, there is provided a system for intestinal movement and image acquisition of a remotely controllable spherical colonoscope, including:

[0015] Shooting module: A remotely controlled wireless camera captures images inside the intestine in real time and uploads them to an external control device;

[0016] Receiving module: View the received images from the external control device;

[0017] Control module: According to the images, control the forward movement, backward movement, stop, and photographing of the colonoscope.

[0018] Preferably, the control module includes:

[0019] Linear unit: When the two driving wheels rotate at the same speed in the same direction, frictional force is generated with the inner wall of the spherical shell to generate power, and the spherical shell moves forward or backward;

[0020] Turning unit: When the two driving wheels rotate at different speeds in the same direction, the driving core deflects to the low-speed side, causing the center of gravity to tilt, and the spherical shell turns;

[0021] Rotation unit: When the two driving wheels rotate at the same speed in the opposite directions, the driving core rotates horizontally in the spherical shell. According to the law of conservation of angular momentum, the spherical shell rotates in the opposite direction to the driving core, realizing a 360° rotation of the spherical shell in place.

[0022] Preferably, the external control device displays and checks the power of the battery module of the colonoscope in real time to ensure that the remaining power of the colonoscope is greater than the power required for each examination before each examination; when the battery power is insufficient, the colonoscope is directly placed on a wireless charging base to charge the battery module.

[0023] According to the third aspect of the present invention, there is provided a method for intestinal movement and image acquisition of a remotely controllable spherical colonoscope, including:

[0024] Establish a wireless connection between the wireless camera, drive motor, battery module of the colonoscope and an external control device;

[0025] Insert the colonoscope into the human intestinal tract;

[0026] The wireless camera captures images inside the intestine in real time and uploads them to the external control device;

[0027] View the received images from the external control device and, based on the images, control the forward, backward, stop and photograph functions of the colonoscope;

[0028] After the examination is completed, control the spherical colonoscope to exit the body of the examinee through the external control device.

[0029] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0030] The remotely controllable spherical colonoscope and the intestinal movement and image acquisition system and method in the embodiments of the present invention can utilize wireless remote control technology to manipulate the movement of the colonoscope in the intestine, so that not only can the specific examination sites be flexibly selected, but also more comprehensive real-time image information can be provided.

[0031] The remotely controllable spherical colonoscope in the embodiments of the present invention has the following characteristics:

[0032] Ease and flexibility of operation: Compared with the professional operation requirements of traditional colonoscopes, the spherical colonoscope can be manipulated through a smartphone or tablet computer, and its operation convenience can be comparable to that of a toy remote control car, and doctors do not need to master complex operation skills.

[0033] Accurate positioning and real-time imaging: Compared with capsule endoscopes, the colonoscope of the present invention can adjust its direction in real time, enabling doctors to examine various parts of the intestine at any time and ensuring the accuracy of the examination.

[0034] Reduce patient discomfort: The spherical colonoscope is designed to be small and does not require the insertion of a long tube. Patients only need to swallow a small ball, thus avoiding the discomfort during the insertion of traditional colonoscopes and significantly improving the comfort of patients.

[0035] Improve diagnostic efficiency: Doctors can freely control the movement direction and speed of the colonoscope as needed, so as to examine the intestine more flexibly and comprehensively. Especially for areas that are difficult to reach, higher-quality diagnostic images can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives and advantages of the present invention will become more apparent:

[0037] Figure 1Schematic diagram of the structure of a remotely controllable spherical colonoscope in an embodiment of the present invention.

[0038] In the figure: 1 - First drive motor, 2 - Second drive motor, 3 - Second drive wheel, 4 - First drive wheel, 5 - First spring, 6 - Second spring, 7 - LED lamp, 8 - Wireless camera, 9 - First auxiliary support wheel, 10 - Second auxiliary support wheel, 11 - Spherical shell, 12 - Frame, 13 - Battery module.

[0039] Figure 2 Structural diagram of a remotely controllable spherical colonoscope and an in - intestine motion and image acquisition system in an embodiment of the present invention;

[0040] Figure 3 Flowchart of a remotely controllable spherical colonoscope and an in - intestine motion and image acquisition method in an embodiment of the present invention. Detailed implementation manners

[0041] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made. These all belong to the protection scope of the present invention.

[0042] In an embodiment of the present invention, a remotely controllable spherical colonoscope is provided. As Figure 1 shown, it includes a spherical shell 11, a drive core, a wireless camera 8 and a battery module 13; the drive core is arranged inside the spherical shell 11; the wireless camera 8 has a remote control function and is arranged on the drive core to collect images inside the intestine; the battery module 13 can be wirelessly charged and is arranged inside the spherical shell 11 to provide electrical energy for the drive core and the wireless camera 8.

[0043] Among them, the drive core is symmetric about the vertical diameter of the spherical shell 11 in terms of structure; it includes a frame 12, drive wheels and drive motors;

[0044] The frame 12 is arranged inside the spherical shell 8. Two drive motors have a remote control function and are fixed below the frame 12. Each drive motor is connected to a drive wheel, and the drive wheel contacts the inner wall of the spherical shell 8; by controlling the drive motors, the direction and speed of the drive wheels are adjusted to realize the forward, backward, turning and staying of the spherical shell.

[0045] The colonoscope in the above - mentioned embodiment can be remotely controlled wirelessly to move inside the intestine, not only can the inspection site be flexibly selected, but also more comprehensive real - time images can be provided.

[0046] Among them, by independently controlling the symmetrically distributed drive wheels with two drive motors, fine decoupling control of the sphere's motion vector (front drive / rear drive / differential steering) is achieved. Compared with the passive peristaltic propulsion or single-point drive design of traditional colonoscopes, 360° omnidirectional motion (including right-angle steering and in-situ rotation) can be completed, improving the positioning accuracy in complex folded environments and effectively solving the problem of missed detection of lesions in the prior art.

[0047] Based on the frame structure distributed along the symmetry axis of the sphere, combined with the two-wheel synchronous feedback control system, the center of mass of the device is always distributed along the vertical bisector. Even when the intestinal systolic pressure reaches 15 kPa, the attitude stability angle can still be maintained within ±2°, reducing the rolling probability of the traditional eccentric structure and ensuring the continuous clarity of the images collected by the camera.

[0048] The drive wheels adopt a non-full-circumference contact propulsion mode, reducing the normal contact force. While ensuring the transmission efficiency, it reduces the intestinal wall stress concentration coefficient and the risk of mucosal damage.

[0049] In a preferred embodiment, the spherical shell 11 is made of a highly biocompatible material (such as medical-grade silicone or plastic), and its diameter is designed to be suitable for movement through the human intestine. The outer shell is designed to be smooth without sharp corners, and it will not cause scratches or irritation to the intestine.

[0050] In a preferred embodiment, a preferred structure of the spherical colonoscope is provided. The frame 12 is designed as a frustum of a cone with a T-shaped cross-section. The battery module 13 is arranged at the center of the bottom of the frame 12, and the wireless camera 8 is fixed above the frame 12. The first drive motor 1 and the second drive motor 2 are symmetrically arranged at the bottom of the frame 12. The first drive motor 1 controls the first drive wheel 4, and the second drive motor 2 controls the second drive wheel 3. The two drive wheels are respectively in contact with the inner wall of the spherical shell.

[0051] Furthermore, in order to enhance the stability of the spherical colonoscope, in a preferred embodiment, a first spring 5 and a second spring 6 are arranged above the frame 12, and the ends of the two springs are the first auxiliary support wheel 9 and the second auxiliary support wheel 10 respectively.

[0052] The spiral structures of the first spring 5 and the second spring 6 generate dynamic support forces through pre-compression adjustment. When the sphere tilts by ±15° under intestinal extrusion, the springs can generate reverse torque compensation to control the deflection angle of the frame 12 within ±3°. The first auxiliary support wheel 9 and the second auxiliary support wheel 10 and the first drive wheel 4 and the second drive wheel 3 form a four-point contact configuration, forming a spatial tetrahedron support framework. Through the dynamic distribution of the spring force, the center of mass of the device is always maintained within ±0.2 mm of the geometric center of the sphere, reducing the deflection torque when passing through the curved section of the intestine.

[0053] In the foregoing embodiment, the auxiliary support wheel is pressed against the surface of the spherical shell by spring force to ensure the stability of the driving core, prevent it from flipping or shaking when moving inside the spherical shell, and provide sufficient normal pressure for the driving wheel to maintain the necessary frictional force. In addition, the auxiliary support wheel ensures that the driving wheel and the spherical shell always maintain close contact during the movement of the driving core to avoid sliding. The spring firmly presses the driving wheel and the auxiliary support wheel against the spherical shell, so that when the driving core rotates or deflects inside the ball, the support wheel can slide accordingly.

[0054] In order to further improve the image acquisition effect, in a preferred embodiment, an LED lamp 7 is equipped for the wireless camera 8, and the image inside the intestine can be taken in real time with high definition.

[0055] Based on the same inventive concept, other embodiments of the present invention provide a system for intestinal movement and image acquisition of a remotely controllable spherical colonoscope, as Figure 2 shown, including a shooting module, a receiving module and a control module.

[0056] Shooting module: The remotely controlled wireless camera takes pictures of the inside of the intestine in real time and uploads them to an external control device;

[0057] Receiving module: View the received images from the external control device;

[0058] Control module: According to the images, control the forward, backward, stop and photographing of the colonoscope.

[0059] In a preferred embodiment, the control module includes a straight-line unit, a turning unit and a rotating unit. Specifically:

[0060] Straight-line unit: When the two driving wheels rotate at the same speed in the same direction, frictional force is generated with the inner wall of the spherical shell to generate power, and the spherical shell moves forward or backward;

[0061] Turning unit: When the two driving wheels rotate at different speeds in the same direction, the driving core deflects to the low-speed side, causing the center of gravity to tilt, and the spherical shell turns;

[0062] Rotating unit: When the two driving wheels rotate at the same speed in opposite directions, the driving core rotates horizontally in the spherical shell. According to the law of conservation of angular momentum, the spherical shell rotates in the opposite direction to the driving core, realizing a 360° in-situ rotation of the spherical shell.

[0063] The external control device in the above embodiment can be a desktop computer or a portable mobile device (such as a smart phone, a tablet, etc.). The doctor views the images through the external control device and controls the forward, backward, turning, stopping, photographing and other actions of the spherical colonoscope.

[0064] In a preferred embodiment, the external control device displays and checks the battery level of the colonoscope in real time to ensure that the colonoscope has sufficient power before each examination. When the battery level is low, the colonoscope is directly placed on the wireless charging base to charge the battery.

[0065] Based on the same inventive concept, another embodiment of the present invention provides a method for the in-intestinal movement and image acquisition of a remotely controllable spherical colonoscope, as Figure 3 shown, including the following steps:

[0066] Step 1: Establish a wireless connection between the wireless camera, drive motor, battery module of the colonoscope and the external control device.

[0067] Step 2: Insert the colonoscope into the human intestine.

[0068] Step 3: The wireless camera takes real-time images of the intestine and uploads them to the external control device.

[0069] Step 4: View the received images from the external control device and control the forward, backward, stop and photographing of the colonoscope according to the images.

[0070] When taking a photo is required, the external control device controls the colonoscope to move to the target position, aligns the camera's picture with the part to be photographed, takes a photo, and wirelessly transmits the photo to the external control device for viewing and analysis.

[0071] Step 5: After the examination is completed, control the spherical colonoscope to exit the body of the examinee through the external control device.

[0072] Traditional colonoscopes need to be inserted into the intestine through intubation, which is complicated and uncomfortable to operate and requires skilled technical operation. However, for the spherical colonoscope in the above embodiment, the colonoscope can be easily controlled by wireless remote control, the operation is simple, and intubation is not required, providing higher comfort for patients.

[0073] Moreover, capsule endoscopes are uncontrollable, and patients can only passively accept the automatic movement of the capsule and cannot perform precise examinations on specific areas in the intestine. However, the spherical colonoscope in the above embodiment is controllable, and doctors can adjust the direction and speed at any time to conduct a detailed examination on the area to be examined, improving the accuracy and efficiency of intestinal examinations.

[0074] Therefore, the above embodiment solves the deficiencies of traditional colonoscopes and capsule endoscopes during the examination process. The balloon colonoscope and its method for in-intestinal movement and image acquisition are applicable to all clinical scenarios requiring intestinal examinations, including but not limited to: diagnosis of intestinal diseases: such as enteritis, colon cancer, polyps, etc. Pre- and post-gastrointestinal surgery examinations: assisting doctors in evaluating the surgical area and postoperative recovery.

[0075] In another preferred embodiment, the external control device can display and check the battery power of the spherical colonoscope in real time to ensure that the spherical colonoscope has sufficient power before each examination. When the battery power is insufficient, the spherical colonoscope is directly placed on the wireless charging base to charge the battery, without the need to open the housing or drill a charging hole in the housing, avoiding the inconvenience that may be caused by the traditional charging method.

[0076] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present invention. The above preferred features can be used in any combination without conflict.

Claims

1. A remotely controlled spherical colonoscope, characterized in that: It comprises a ball shell, a driving mechanism, a wireless camera and a battery module; the driving mechanism is arranged in the ball shell; the wireless camera has a remote control function, is arranged on the driving mechanism, and collects images of the intestine; the battery module can be wirelessly charged, is arranged in the ball shell, and provides power for the driving mechanism and the wireless camera; The driving core is bilaterally symmetrical with the vertical diameter of the spherical shell as the symmetry axis; it includes a frame, a driving wheel and a driving motor; The frame is arranged in the spherical shell, and the two driving motors have a remote control function and are fixed under the frame. Each driving motor is connected to a driving wheel, and the driving wheel contacts the inner wall of the spherical shell. By controlling the driving motor, the direction and speed of the driving wheel are adjusted to realize the forward, backward, turning and stopping of the spherical shell.

2. A remote-controlled spherical enteroscope according to claim 1, characterized in that: The spherical shell is made of biocompatible materials, including medical silica gel or plastic.

3. A remote-controlled spherical enteroscope according to claim 1, characterized in that: It also includes a spring and an auxiliary supporting wheel, one end of the spring is connected to the frame, and the other end pushes the auxiliary supporting wheel onto the inner wall of the spherical shell.

4. The remote-controlled spherical colonoscope according to claim 1, characterized in that: It also includes an LED lamp, which is fixed on one side of the wireless camera to provide a light source.

5. The remote-controlled spherical enteroscope according to claim 1, characterized in that: The wireless camera is arranged at the center of the spherical shell.

6. The remote-controlled spherical enteroscope according to claim 1, characterized in that: When the two driving wheels rotate in the same direction and at the same speed, friction is generated with the inner wall of the spherical shell to generate power, and the spherical shell moves forward or backward; When the two driving wheels rotate differentially in the same direction, the driving movement deflects to the low-speed side, causing the center of gravity to tilt, thereby achieving the turning of the spherical shell; When the two driving wheels rotate at the same speed in opposite directions, the driving movement rotates horizontally in the spherical shell. According to the conservation of angular momentum, the spherical shell and the driving movement rotate in opposite directions to achieve a 360° rotation of the spherical shell in situ.

7. A remote-controlled intestinal movement and image acquisition system of a spherical enteroscope, characterized in that: include: Shooting module: The remote-controlled wireless camera takes real-time images of the intestines and uploads them to an external control device; Receiving module: viewing the received image from the external control device; Control module: controls the colonoscope to move forward, backward, stay and take pictures according to the image.

8. The intestinal movement and image acquisition system of a remote-controlled spherical colonoscope according to claim 7, characterized in that: The control module comprises: Linear unit: When the two driving wheels rotate in the same direction and at the same speed, friction is generated with the inner wall of the spherical shell to generate power, and the spherical shell moves forward or backward; Turning unit: When the two driving wheels rotate differentially in the same direction, the driving movement deflects to the low-speed side, causing the center of gravity to tilt, thus achieving the turning of the spherical shell; Rotation unit: When the two driving wheels rotate at the same speed in opposite directions, the driving movement rotates horizontally in the spherical shell. According to the conservation of angular momentum, the spherical shell and the driving movement rotate in opposite directions, realizing a 360° rotation of the spherical shell in situ.

9. The intestinal movement and image acquisition system of a remote-controlled spherical colonoscope according to claim 7, characterized in that: The external control device displays and checks the power level of the colonoscope's battery module in real time to ensure that before each examination, the power balance of the colonoscope is greater than the power required for the examination; when the battery power is low, the colonoscope is directly placed on the wireless charging base to charge the battery module.

10. A method for intestinal movement and image acquisition of a remotely controlled spherical colonoscope, characterized in that: include: Establishing a wireless connection between the wireless camera, the driving motor, and the battery module of the colonoscope and an external control device in a wireless manner; Insert the colonoscope into the human intestine; The wireless camera captures images of the intestine in real time and uploads the images to the external control device; Viewing the received image from the external control device, and controlling the colonoscope to move forward, backward, stay and take pictures according to the image; After the examination is completed, the spherical colonoscope is controlled to withdraw from the body of the person being examined through an external control device.

Images