Endoscopic imaging device with diagnostic imaging apparatus, imaging system and method thereof

Abstract

The present application relates to the field of medical equipment, and in particular to an endoscopic imaging device, an imaging system, and a method thereof having a diagnostic imaging device. The device comprises: a diagnostic imaging device, an external control device, and an ingestible capsule endoscope. The external control device is used to control the position and / or posture of the capsule endoscope within a target area; the diagnostic imaging device is disposed within the capsule endoscope and is used to perform diagnostic imaging of the target area under the control of the external control device. The endoscopic imaging device and the imaging method thereof provided in the present application utilize a diagnostic imaging device to examine the target area without the need for a tissue biopsy, thereby not only improving the accuracy of the examination of the lesion area, but also reducing the risk of infection in the patient.

Description

Technical Field

[0001] The present application relates to the field of medical equipment, and in particular to an endoscopic imaging device with a diagnostic imaging device, an imaging system and a method thereof. Background Art

[0002] A capsule endoscope is a miniature camera housed in a capsule-shaped casing. After being swallowed, the pill-shaped camera travels along the patient's gastrointestinal tract, capturing a series of images. As the capsule endoscope passes through the patient's digestive system, the images are simultaneously transmitted to a receiver outside the patient's body, allowing doctors to conduct real-time examinations based on the data.

[0003] Capsule endoscopy has proven to be a very successful technique for examining patients’ gastrointestinal tracts. Furthermore, it offers significant advantages over conventional endoscopy for examining the small intestine, which is difficult to reach with conventional endoscopy.

[0004] However, studies have shown that images captured by capsule endoscopy can only be used as a disease screening tool. Until now, in clinical settings, a biopsy has been the common approach for more precise diagnosis of a specific area. Typically, a biopsy involves removing a portion of tissue from the area, which is then observed using a high-resolution microscope and evaluated based on morphological features. Because biopsies only provide sparse sampling and are not necessarily fully representative of the area being examined, patients are often concerned about the risk of infection from undergoing a tissue biopsy.

[0005] Therefore, labor / surgery with potential biopsy risks should be reduced. Summary of the Invention

[0006] The present application provides an endoscopic imaging device, an imaging system and a method thereof to solve the problems in the prior art, improve inspection accuracy and reduce infection risks.

[0007] A first aspect of the present application provides an endoscopic imaging device, comprising: a diagnostic imaging device, an external control device, and an ingestible capsule endoscope;

[0008] The external control device is used to control the position and / or posture of the capsule endoscope within the target area;

[0009] The diagnostic imaging device is disposed in the capsule endoscope and is used to perform diagnostic imaging on a target area under the control of the external control device.

[0010] The endoscopic imaging device as described above, wherein preferably, the capsule endoscope comprises a body, a first end portion and a second end portion;

[0011] The first end portion and the second end portion are respectively fixed to two ends of the body, and the first end portion, the second end portion and the body together form a receiving cavity;

[0012] The capsule endoscope further includes a magnet. The magnet and the diagnostic imaging device are both disposed in the accommodating cavity for cooperating with the external control device.

[0013] The endoscopic imaging device as described above, wherein preferably, the main body is cylindrical.

[0014] The endoscopic imaging device as described above, wherein preferably, the first end portion is hemispherical.

[0015] The endoscopic imaging device as described above, wherein preferably, the first end portion is designed to be light-transmissive.

[0016] In the endoscopic imaging device as described above, preferably, the second end portion is in a hemispherical shape with the top of the spherical portion cut off.

[0017] The endoscopic imaging device as described above, wherein preferably, the second end portion is designed to be light-transmissive.

[0018] In the endoscopic imaging device as described above, preferably, the first end portion and / or the second end portion are both provided with an anti-reflection coating.

[0019] The endoscopic imaging device as described above, wherein preferably, the capsule endoscope further includes a photographing and video recording device, which is disposed in the accommodating cavity and is used to take photos and / or videos of the target area.

[0020] The endoscopic imaging device as described above, wherein preferably, the capsule endoscope further includes a first light source for cooperating with the photographing and imaging device or the diagnostic imaging device to illuminate the target area.

[0021] The endoscopic imaging device as described above, wherein preferably, the capsule endoscope further includes a second light source and / or a third light source for cooperating with the diagnostic imaging device or the photo-taking device to illuminate the target area.

[0022] The endoscopic imaging apparatus as described above, wherein preferably, a first light blocking portion is provided between a first area on the first end portion or the second end portion facing the diagnostic imaging device and a second area on the first end portion or the second end portion facing the second light source;

[0023] A second light blocking portion is provided between a first area on the first end or the second end facing the diagnostic imaging device and a third area on the first end or the second end facing the third light source.

[0024] In the endoscopic imaging device as described above, preferably, the first light blocking portion and the second light blocking portion are both provided on the same blocking ring.

[0025] In the endoscopic imaging apparatus as described above, preferably, the second light sources and the third light sources are the same in number and are symmetrical about the center of the diagnostic imaging device.

[0026] In the endoscopic imaging apparatus as described above, preferably, the wavelength of light provided by the second light source and the third light source is 0.2 to 300 μm.

[0027] The endoscopic imaging device as described above, wherein, preferably, the second light source and the third light source are located on the same side of the capsule endoscope; and the first light source is located on a side of the capsule endoscope away from the second light source and the third light source.

[0028] In the endoscopic imaging apparatus as described above, preferably, the diagnostic imaging device is a tilted reflective phase contrast microscope.

[0029] In the endoscopic imaging apparatus as described above, preferably, the second light source and the third light source are used to illuminate the diagnostic imaging device simultaneously with light of the same wavelength or the same spectrum, or to illuminate the diagnostic imaging device separately with light of different wavelengths.

[0030] The endoscopic imaging device as described above, wherein, preferably, the external control device comprises a magnetic ball and a controller cooperating with the magnetic ball;

[0031] The magnetic ball is used to cooperate with the magnet of the capsule endoscope to change the position and / or posture of the capsule endoscope;

[0032] The controller controls the diagnostic imaging device to perform diagnostic imaging on the target area.

[0033] A second aspect of the present application provides an endoscopic imaging system, which runs in a controller of an external control device, wherein a capsule endoscope is controlled by the following steps:

[0034] Obtaining the position of the capsule endoscope and controlling the capsule endoscope to move to the target area;

[0035] Control the movement of capsule endoscope to change its posture;

[0036] The diagnostic imaging device is controlled to perform diagnostic imaging on the target area.

[0037] The endoscopic imaging system as described above, preferably, before the capsule endoscope moves and changes its posture, further comprises:

[0038] Controlling the photographing and video recording device to take photos and / or videos of the target area.

[0039] The endoscopic imaging system as described above, wherein preferably, after the photographing and / or videoing device takes a photograph and / or video of the target area, further comprises:

[0040] The magnetic ball controls the capsule endoscope to rotate 180 degrees;

[0041] The controller controls the second light source and the third light source to illuminate the target area;

[0042] The controller controls the diagnostic imaging device to perform diagnostic imaging on the target area.

[0043] A third aspect of the present application provides an endoscopic imaging method, comprising:

[0044] An external control device controls the capsule endoscope to move to a target area;

[0045] An external control device controls the capsule endoscope to move and change its posture;

[0046] The external control device controls the diagnostic imaging device to perform diagnostic imaging on the target area.

[0047] In the endoscopic imaging method as described above, preferably, the external control device controls the capsule endoscope to move to the target area, including:

[0048] The magnetic ball cooperates with the magnet of the capsule endoscope to control the capsule endoscope to move to the target area.

[0049] In the endoscopic imaging method as described above, preferably, before the external control device controls the capsule endoscope to move and change its posture, the method further comprises:

[0050] The external control device controls the photo-taking and video-taking devices to take photos and / or videos of the target area.

[0051] In the endoscopic imaging method as described above, preferably, after the external control device controls the photographing and video recording device to take photos and / or videos of the target area, the method further comprises:

[0052] The magnetic ball controls the capsule endoscope to rotate 180 degrees;

[0053] The controller controls the second light source and the third light source to illuminate the target area;

[0054] The controller controls the diagnostic imaging device to perform diagnostic imaging on the target area.

[0055] The technical solution provided by this application can achieve the following beneficial effects:

[0056] The endoscopic imaging device, imaging system and imaging method provided in the present application utilize diagnostic imaging devices to examine the target area without resorting to tissue biopsy, which not only improves the accuracy of examination of the lesion area but also reduces the risk of infection in patients.

[0057] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0059] Figure 1 A structural block diagram of an endoscopic imaging device provided in an embodiment of the present application;

[0060] Figure 2 The figure is a side view of the external shape and structure of the capsule endoscope;

[0061] Figure 3 for Figure 2 Left view of;

[0062] Figure 4 for Figure 2 Right view;

[0063] Figure 5 is a front view of the first end portion;

[0064] Figure 6 is a front view of the second end portion;

[0065] Figure 7 This is an exploded diagram of the capsule endoscope structure;

[0066] Figure 8 Schematic diagram of a capsule endoscope in a suspended state, wherein the capsule is suspended horizontally in the digestive tract and can move forward and backward under the control of an external magnetic ball;

[0067] Figure 9Schematic diagram of a capsule endoscope floating in gastric fluid, wherein the capsule floats horizontally in the gastric fluid, and the angle between the capsule and the gastric fluid can be adjusted by rotating an external magnetic ball;

[0068] Figure 10 Schematic diagram of a capsule endoscope in a suspended state, wherein the capsule is vertically suspended in the digestive tract and can move forward and backward under the control of an external magnetic ball;

[0069] Figure 11 Schematic diagram of a capsule endoscope floating in gastric fluid, wherein the capsule floats vertically in the gastric fluid, and the angle between the capsule and the gastric fluid can be adjusted by rotating the external magnetic ball;

[0070] Figure 12 Schematic diagram of the capsule endoscope in various postures on the colon wall, wherein the capsule can be rotated continuously to scan the target area;

[0071] Figure 13a Schematic diagram of a capsule endoscope floating in gastric fluid, where the front end of the capsule faces the magnetic ball and the capsule can move vertically up and down under the control of the external magnetic ball;

[0072] Figure 13b Schematic diagram of a capsule endoscope floating in gastric fluid, where the rear end of the capsule faces the magnetic ball and the capsule can move vertically up and down under the control of the external magnetic ball;

[0073] Figure 14a is a schematic diagram of a capsule endoscope located in a target area, wherein the capsule endoscope can move along a first surface of the target area and scan the first surface;

[0074] Figure 14b is a schematic diagram of a capsule endoscope located in a target area, wherein the capsule endoscope can move along a second surface of the target area;

[0075] Figure 15 is a schematic diagram of a capsule endoscope located in a target area, wherein the capsule endoscope can move along a first surface of the target area and form a certain inclination angle with the first surface so as to scan a second surface during the movement;

[0076] Figure 16 is a schematic diagram of a capsule endoscope located in a target area, wherein the capsule endoscope can move along a second surface of the target area, and a certain inclination angle is formed between the capsule endoscope and the second surface, so as to scan the first surface during the movement, wherein the second surface is closer to the external magnetic sphere;

[0077] Figure 17is a schematic diagram of a capsule endoscope positioned at a target area, wherein the capsule endoscope can change its direction so that the diagnostic imaging device is directed toward the diseased area;

[0078] Figure 18 is a schematic cross-sectional view of a hemispherical end of a capsule endoscope with the top of the sphere cut off;

[0079] Figure 19 A schematic diagram of a structure in which a retaining ring is provided at the second end;

[0080] Figure 20 for Figure 18 Bottom view of

[0081] Figure 21 A schematic diagram of another structure in which a retaining ring is provided at the second end;

[0082] Figure 22 A flowchart of a first endoscopic imaging method provided in an embodiment of the present application;

[0083] Figure 23 A flowchart of a second endoscopic imaging method provided in an embodiment of the present application;

[0084] Figure 24 This is a flow chart of the third endoscopic imaging method provided in an embodiment of the present application.

[0085] Reference numerals:

[0086] 1- Diagnostic imaging devices;

[0087] 2-External control device;

[0088] 21-magnetic ball;

[0089] 3-Capsule endoscopy;

[0090] 31-Ontology;

[0091] 32-first end portion;

[0092] 33- second end portion;

[0093] 331-First Area;

[0094] 332-Second Area;

[0095] 333-Third Area;

[0096] 34-Photography and video recording device;

[0097] 35-first light source;

[0098] 36- second light source;

[0099] 37-third light source;

[0100] 38-RF switch;

[0101] 39-battery;

[0102] 310-magnet;

[0103] 311- retaining ring;

[0104] 311a-first light shielding portion;

[0105] 311b-second light blocking portion.

[0106] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0107] The following will clearly and completely describe the technical solution of this application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0108] like Figure 1 As shown, an embodiment of the present application provides an endoscopic imaging device, comprising a diagnostic imaging device 1, an external control device 2, and an ingestible capsule endoscope 3. The external control device 2 is used to control the position and / or posture of the capsule endoscope 3 within a target region; the diagnostic imaging device 1 is disposed within the capsule endoscope 3 and is used to perform diagnostic imaging of the target region under the control of the external control device 2. The target region may be a region such as the stomach, small intestine, or colon in the digestive tract, a region such as the stomach, small intestine, or colon in ex vivo tissue, or a region such as the stomach, small intestine, or colon corresponding to a digestive tract model.

[0109] After the patient swallows the capsule endoscope 3, the capsule endoscope 3 enters the target area to be examined through the digestive tract, and the diagnostic imaging device 1 can perform diagnostic imaging of the target area. Compared with the existing technology, there is no need for biopsy, thereby improving the accuracy of the examination and reducing the risk of infection in the biopsy part.

[0110] In one embodiment of the present application, the diagnostic imaging apparatus performs transverse imaging.

[0111] In one embodiment of the present application, the diagnostic imaging apparatus 1 performs cross-sectional imaging.

[0112] In one embodiment of the present application, the diagnostic imaging apparatus 1 performs imaging at a depth of 0.1-1 mm below a surface of a target area.

[0113] In another embodiment of the present invention, the imaging depth resolution of the diagnostic imaging device 1 below a surface of the target area is 5 μm.

[0114] In yet another embodiment of the present application, the diagnostic imaging device 1 has an imaging lateral resolution of 1 μm.

[0115] like Figures 2 to 7 As shown, the capsule endoscope 3 includes a body 31, a first end 32, and a second end 33. The first end 32 and the second end 33 are respectively fixed to the two ends of the body 31, and the first end 32, the second end 33 and the body 31 together form a receiving cavity. The capsule endoscope 3 also includes a magnet 310. The magnet 310 and the diagnostic imaging device 1 are both disposed in the receiving cavity for cooperating with the external control device 2. The external control device 2 cooperates with the magnet 310 to control the capsule endoscope 3 to change its position and posture.

[0116] The magnet 310 may be a permanent magnetic dipole, which may interact with the external magnetic field of the external control device 2 to control the movement of the capsule endoscope 3 and determine the direction of the capsule endoscope 3. In one embodiment of the present application, the direction of the permanent magnetic dipole is parallel to the length direction of the capsule endoscope 3.

[0117] In order to avoid friction between the capsule endoscope 3 and the patient's digestive tract, thereby causing discomfort to the patient. Preferably, the body 31 of the capsule endoscope 3 is roughly cylindrical, the first end 32 is hemispherical, and the second end 33 is hemispherical with the top of the spherical ball cut off. The hemispherical first end 32 is the front end of the capsule endoscope 3 when it moves in the digestive tract, and the hemispherical second end 33 with the top of the spherical ball cut off is the rear end. The cylindrical part of the capsule endoscope 3 has a certain length and diameter, and the length is the distance between the first end 32 and the second end 33 along the cylindrical direction. In one embodiment of the present application, the length of the capsule endoscope 3 is less than 30 mm. In one embodiment of the present application, the diameter of the capsule endoscope 3 is less than 10 mm. In one embodiment of the present application, the capsule endoscope 3 weighs more than 3 grams. In another embodiment, the capsule endoscope 3 weighs less than 10 grams. In another embodiment, the capsule endoscope 3 weighs less than 8 grams. In another embodiment, the capsule endoscope 3 weighs less than 6 grams. In another embodiment, the capsule endoscope 3 weighs less than 5 grams. In another embodiment, the capsule endoscope 3 is less than 12 mm long.

[0118] The capsule endoscope 3 includes wired, wireless, or a combination of wired and wireless control modes. The capsule endoscope 3 can communicate with the external control device 2 through wireless communication and be controlled by the external control device 2. The capsule endoscope 3 can also be controlled by a pulling structure (such as a tether detachably connected to the capsule endoscope 3) provided at the end of the capsule endoscope 3.

[0119] If the diagnostic imaging device 1 is installed so that diagnostic imaging is performed through the first end 32, then the first end 32 is preferably designed to be light-transmissive. If the diagnostic imaging device 1 is installed so that diagnostic imaging is performed through the second end 33, then the second end 33 is preferably designed to be light-transmissive.

[0120] Preferably, refer to Figure 3 and Figure 4 The capsule endoscope 3 further includes a first light source 35 to provide illumination for the diagnostic imaging device 1. In this embodiment, the capsule endoscope 3 preferably further includes a photographing and video recording device 34 disposed within the aforementioned accommodating cavity for taking photographs and / or videos of the target area. The first light source 35 can also cooperate with the photographing and video recording device 34 to illuminate the photographing and video recording device 34.

[0121] The capsule endoscope 3 may further include a second light source 36 and / or a third light source 37 for illuminating the target area in conjunction with the diagnostic imaging device 1 or the camera 34. Those skilled in the art will appreciate that the number of the first light source 35, the second light source 36, and the third light source 37 may be one or more. In this embodiment, there are five first light sources 35, arranged around the center of the camera 34 to provide more uniform illumination. There is one second light source 36 and one third light source 37, symmetrically arranged about the center of the diagnostic imaging device 1.

[0122] In addition, the second light source 36 and the third light source 37 are located on the same side of the capsule endoscope 3 ; the first light source 35 is located on a side of the capsule endoscope 3 away from the second light source 36 and the third light source 37 .

[0123] In this embodiment, the diagnostic imaging device 1 can be an oblique back-illumination microscopy (OBM module), the first light source 35, the second light source 36 and the third light source 37 can all be LEDs, and an RF (Radio Frequency) switch 38 is provided between any two adjacent LEDs for turning on the capsule endoscope 3 before examination.

[0124] Reference Figure 7The capsule endoscope 3 includes a diagnostic imaging device 1 (OBM module) located in the accommodating cavity at a position corresponding to the second end 33, an RF switch 38, a battery 39 and a magnet 310 encapsulated in the accommodating cavity at a position corresponding to the body 31, and the magnet 310 can be a permanent magnetic dipole. The capsule endoscope 3 also includes a photo-taking and video-recording device 34 arranged in the accommodating cavity at a position corresponding to the first end 32. The photo-taking and video-recording device 34 can be integrated with the first light source 35. In the capsule endoscope 3, the second end 33, the body 31 and the first end 32 have an interlocking mechanism, so that the body 31 can connect the second end 33 and the first end 32 and lock them firmly in place. In one embodiment, the interlocking mechanism is an external thread / internal thread joint. For example, the second end 33 and the first end 32 both have external thread joints, and both ends of the body 31 have internal thread joints.

[0125] When the capsule endoscope 3 travels within the patient's digestive tract, the first end 32 leads the way. Therefore, the hemispherical first end 32 can be designed with a unique, smooth curved surface to reduce friction and smooth out wrinkles in the gastrointestinal wall, minimizing patient discomfort. Furthermore, the first end 32 is made of a transparent material, transparent to light with a wavelength of 400-1200 nm. The first end 32 can also optionally be coated with an anti-reflective coating to enhance light transmission, thereby improving image quality by reducing noise levels.

[0126] The second end 33 also requires a spherical surface so that the capsule endoscope 3 can smoothly pass through the patient's gastrointestinal tract. However, when the diagnostic imaging device 1 uses an OBM module, the light sources must be symmetrical about the center of the diagnostic imaging device 1, that is, the number of second light sources 36 and third light sources 37 must be the same. In this case, light sources of different wavelengths can be used, that is, the second light source 36 and the third light source 37 can emit light of different wavelengths (for example, the second light source 36 is red light and the third light source 37 is blue or green light), and the second light sources 36 and the third light sources 37 can be illuminated simultaneously to illuminate the diagnostic imaging device 1 for optical biopsy. Alternatively, light sources of the same wavelength or spectrum can be used, that is, the second light source 36 and the third light source 37 can emit light of the same wavelength or spectrum (for example, white light), and the second light sources 36 and the third light sources 37 can be illuminated separately to illuminate the diagnostic imaging device 1 for optical biopsy. In this embodiment, the wavelength of light provided by the second light source 36 and the third light source 37 is 0.2 to 300 μm.

[0127] To reduce background noise caused by the position of the LED, the second end portion 33 is preferably designed to be planar. Therefore, the spherical rear end is truncated at the top, forming a flat surface that meets OBM detection requirements. Furthermore, at least the planar portion of the second end portion 33 is made of a light-transmitting material, and this planar surface can be coated with various coatings, including but not limited to anti-reflective coatings.

[0128] The capsule endoscope 3 may also be provided with a surface friction structure to enhance the friction between the capsule endoscope 3 and the inner wall of the target area. The surface friction structure helps to fix the capsule endoscope 3 in a specific position or maintain a specific posture. The friction structure includes various rings and protrusions.

[0129] In one embodiment of the present application, the capsule endoscope 3 can be positioned near the upper or lower wall of the target area, wherein the length direction of the capsule endoscope 3 is parallel to the air-liquid interface of the target area. In another embodiment of the present application, the capsule endoscope 3 can float or be immersed in a liquid while taking images or performing optical biopsy.

[0130] In some embodiments, horizontal suspension means that when the subject lies on a horizontal surface, the capsule endoscope 3 is suspended in a state parallel to the horizontal plane; in some embodiments, horizontal suspension means that when the capsule endoscope 3 is located in a target area with a flat inner wall surface, the capsule endoscope 3 is suspended in a liquid or supported by a friction structure on its surface so as to be parallel to at least one inner wall of the target area. In addition, if the inner wall surface of the target area is uneven, when the capsule endoscope 3 is inspecting the patient's stomach, horizontal placement of the capsule endoscope 3 means that the length direction of the capsule endoscope 3 is parallel to the tangent direction of the curved inner wall surface. In some embodiments, vertical suspension means that when the subject lies on a horizontal surface, the capsule endoscope 3 is suspended in a state perpendicular to the horizontal plane; in some embodiments, vertical support of the capsule endoscope 3 means that when located in a target area with a flat inner wall surface, the capsule endoscope 3 is supported by the friction structure on its surface and is perpendicular to the inner wall surface of the target area. In some embodiments, the capsule endoscope 3 is vertically supported, meaning that when located in a target area with a curved inner wall surface, the capsule endoscope 3 is supported by the friction structure on its surface and is perpendicular to the cross-section of the curved surface. In some embodiments, the capsule endoscope 3 is vertically suspended, meaning that when liquid is present in the target area where the capsule endoscope 3 is located, the capsule endoscope 3 is vertically suspended at the air-liquid interface, i.e., the angle between the length direction of the capsule endoscope 3 and the air-liquid interface is approximately 90 degrees.

[0131] The body 31 of the capsule endoscope 3 is substantially cylindrical. The magnet 310 is positioned within the body 31 near the distal end of the first end 32, such that the center of gravity of the capsule endoscope 3 is close to the magnetic center. In one embodiment, the distance between the center of gravity and the magnetic center of the capsule endoscope 3 is less than 2 mm, thereby providing a stable anchoring effect in an external magnetic field. In a preferred embodiment, the distance between the center of gravity and the magnetic center of the capsule endoscope 3 is less than 1 mm.

[0132] The diameter of the first end portion 32 may be the same as that of the body 31, for example, 12 mm. The diameter of the flat portion of the second end portion 33 may be 8 mm.

[0133] The capsule endoscope 3 may further include a battery 39 to power various functional modules. The battery 39 and the magnet 310 are heavier than other components, so it is preferred that the battery 39 and the magnet 310 are both fixed in the middle of the body 31.

[0134] The external control device 2 may include a magnetic ball 21 (refer to Figure 8 ) and a controller (not shown) that cooperates with the magnetic ball 21. The magnetic ball 21 is used to generate an external magnetic field to cooperate with the magnet 310 of the capsule endoscope 3 to change the position and / or posture of the capsule endoscope 3; the controller is used to control the movement of the magnetic ball 21 to control the diagnostic imaging device 1 to perform diagnostic imaging on the target area.

[0135] like Figure 8-12 The figure shows a schematic diagram of the basic steps of how a capsule endoscope 3 equipped with a camera and an OBM module navigates a patient's gastrointestinal tract. In one embodiment, the method includes: first, positioning the capsule endoscope 3 equipped with a permanent magnetic dipole at a target area having a gas-liquid interface; and positioning an external magnetic sphere 21 near the capsule endoscope 3 so that the permanent magnetic dipole within the capsule endoscope 3 can change its position and / or posture according to the movement and rotation of the external magnetic sphere 21. Secondly, applying a magnetic field force to balance the weight and buoyancy of the capsule endoscope 3, thereby causing the capsule endoscope 3 to suspend at the gas-liquid interface or in the liquid. Preferably, the capsule endoscope 3 suspends horizontally at the gas-liquid interface with its front end facing the direction of movement of the capsule endoscope 3. Then, the capsule endoscope 3 can be controlled to move back and forth in the horizontal direction through the lateral movement of the external magnetic sphere 21.

[0136] Once the capsule endoscope 3 is guided to the target area in a horizontally suspended state, it is reoriented to change its posture so that the camera 34 can scan the inner wall of the area and take pictures. The method includes the following steps: turning the capsule endoscope 3 so that the camera 34 (front camera) points toward the area to be inspected, and then determining a marking point in the area to mark the first position; rotating and moving the external magnetic ball 21 up and down to rotate the capsule endoscope 3, change its posture, and take pictures.

[0137] like Figure 10 As shown, Figure 8A schematic diagram of an alternative embodiment of a capsule endoscope 3 is shown. In another embodiment, a navigation method for a capsule endoscope 3, i.e., a capsule endoscope 3 equipped with a camera 34 and a diagnostic imaging device 1, includes: first, positioning the capsule endoscope 3 equipped with a permanent magnetic dipole at a target area having an air-liquid interface; and positioning an external magnetic sphere 21 near the capsule endoscope 3 such that the magnetic dipole within the capsule endoscope 3 can change its position and / or posture in response to the movement and rotation of the external magnetic sphere 21. Secondly, applying a magnetic field force to balance the weight and buoyancy of the capsule endoscope 3, thereby suspending the capsule endoscope 3 at the air-liquid interface, wherein the capsule endoscope 3 is suspended vertically at the air-liquid interface. Then, the lateral movement of the external magnetic sphere 21 controls the left-right movement of the capsule endoscope 3, wherein the left-right movement direction of the capsule endoscope 3 is perpendicular to the length of the capsule endoscope 3, rather than parallel to it, and the left-right movement of the capsule endoscope 3 causes the front end of the capsule endoscope 3 to face the inner wall of the target area. In addition, the camera device 34 takes pictures when the capsule endoscope 3 moves laterally along the gas-liquid interface.

[0138] Figure 10 A method for moving the capsule endoscope 3 to scan the inner wall of the target area is described. Alternatively, the capsule endoscope 3 can be fixed at a desired position to scan the inner wall of the target area, and then the direction of the capsule endoscope 3 can be changed to scan the surface above it. When the capsule endoscope 3 disclosed in the present application is vertically suspended on the air / liquid interface and the front shell is located above the liquid surface, it can be swung from left to right to scan an area above, or rotated around its anchor position to scan a wider area. In one embodiment of the present application, a navigation method for a capsule provided with a photo camera 34 and a diagnostic imaging device 1 includes: first, positioning the capsule endoscope 3 provided with a permanent magnetic dipole to the target area having the air-liquid interface; and positioning the external magnetic sphere 21 near the capsule endoscope 3 so that the permanent magnetic dipole of the capsule endoscope 3 can change its position and / or posture according to the movement and rotation of the external magnetic sphere 21. Secondly, a magnetic field force is applied to suspend the capsule endoscope 3 at a first position on the gas-liquid interface, and a first inclination angle is formed between the length direction of the capsule endoscope 3 and the gas-liquid interface; the capsule endoscope 3 is fixed at the first position and rotated left or right to change the inclination angle between its length direction and the gas-liquid interface, and images are captured by the camera device 34 at the front end of the capsule endoscope 3.

[0139] like Figure 12 As shown, the capsule endoscope 3 can move forward linearly under the action of the external magnetic field while rotating continuously, and the capsule endoscope 3 can be turned over at the top or bottom.

[0140] like Figure 10As shown in Figures 11, 13a and 13b, when the capsule endoscope 3 reaches the target area, it is suspended on the gas-liquid interface with the front end above the liquid surface. The camera device 34 can take the first picture and rotate from left to right, as shown in Figures 11, 13a and 13b. Figure 11 As shown, the capsule endoscope 3 can be moved upward or downward relative to the gas-liquid interface by vertically moving the external magnetic ball 21 or adjusting the vertical distance between the external magnetic ball 21 and the capsule endoscope 3, as needed. Typically, the front end of the capsule endoscope 3 can be submerged below the gas-liquid interface, depending on the situation. Similarly, the capsule endoscope 3 can move up and down in response to the vertical movement of the external magnetic ball 21.

[0141] like Figure 8-12 As shown in FIG, it is a schematic diagram of a capsule endoscope 3 being introduced into a target area filled with gas and liquid and moving in the target area in a suspended state. Figures 13a-17 FIG. 1 is a schematic diagram showing a capsule endoscope 3 being introduced into a target area where liquid has been evacuated and only gas (such as air) remains.

[0142] like Figure 13a and 13b ,as well as Figure 14a and 14b As shown, when the capsule endoscope 3 is introduced into the target area filled with air, it can be suspended in the air ( Figure 13a and b) or on the inner wall of the target area ( Figure 14a and 14b ).like Figure 13a and 13b As shown, the capsule endoscope 3 will adopt a suspended position relative to the first or second surface, with its front end facing the first or second surface. The capsule endoscope 3 can then be moved closer to or farther from the first or second surface, and the camera 34 can capture images while the capsule endoscope 3 moves. In one embodiment of the present application, a method for positioning a capsule endoscope 3 equipped with the camera 34 and the diagnostic imaging device 1 includes: first, positioning the capsule endoscope 3 equipped with a permanent magnetic dipole within a gas-filled target area; and positioning an external magnetic sphere 21 near the capsule endoscope 3 so that the permanent magnetic dipole within the capsule endoscope 3 can change its position according to the movement and rotation of the external magnetic sphere 21. Secondly, applying a magnetic field force causes the capsule endoscope 3 to suspend in the target area in an upright position relative to a first plane, with its front end pointing toward the first surface. The capsule endoscope 3 is moved closer to or farther from the first surface by adjusting the distance between the external magnetic sphere 21 and the first surface of the target area, while the camera 34 at the front end of the capsule endoscope 3 captures images.

[0143] like Figure 14a and 14bAs shown, the capsule endoscope 3 is in direct contact with the surface of the target area filled with gas, and the front end of the capsule endoscope 3 is directed toward the first or second surface. Then, the external magnetic ball 21 is moved in the direction of the first or second surface, and the capsule endoscope 3 can move forward or backward along the first or second surface. During the movement of the capsule endoscope 3, the camera 34 can take pictures.

[0144] When the capsule endoscope 3 moves along the first surface, its front end can also be lifted up and rotated to scan the surface opposite to the first surface, such as Figure 15 and 16 As shown. Figure 15 As shown, when a capsule endoscope 3 equipped with a camera 34 and a diagnostic imaging device 1 is located in a target area filled with gas (e.g., air or CO2), the capsule endoscope 3 automatically remains stationary due to its own weight and is supported by the first surface of the target area, regardless of the presence or absence of an external magnetic field. Next, the external magnetic ball 21 is rotated and moved to lift the front end of the capsule endoscope 3 to capture an image. Figure 16 Schematic diagram of a subsequent method for inspecting a surface opposite to a first surface. Figure 16 As shown, the capsule endoscope 3 is suspended on a second surface (the second surface is opposite to the first surface), with its front end pointing to and scanning the first surface. In one embodiment of the present application, the method includes: first, introducing the capsule endoscope 3 with a built-in permanent magnetic dipole into a target area filled with gas through an external magnetic field, and placing it stationary on the first surface; rotating the external magnetic ball 21, lifting the front end of the capsule endoscope 3 upward to point to the second surface, scanning the second surface, and taking pictures through the camera inside the front end of the capsule endoscope 3. Then, by moving the external magnetic ball 21 closer to the second surface, the capsule endoscope 3 is moved from the first surface to the second surface, and flipped up and down on the second surface so that its front end faces and scans the first surface.

[0145] According to various aspects of the present application, capsule endoscope 3 includes a camera 34 for scanning and a diagnostic imaging device 1 for biopsy. Capsule endoscope 3 always first uses camera 34 to collect image data to determine whether a diseased area requiring further examination exists. Once the diseased area is identified, capsule endoscope 3 can be flipped or rotated 180 degrees so that diagnostic imaging device 1 faces the diseased area and an optical biopsy is performed.

[0146] Figure 8-17The following lists the basic method steps for using a capsule endoscope 3 having a camera 34 and a diagnostic imaging device 1. Each method step shown in the figure must be used in conjunction with other method steps to effectively examine and diagnose the target area. In one embodiment of the present application, the diagnostic imaging device 1 is an OBM module (oblique back-illumination microscopy). In another embodiment of the present application, the diagnostic imaging device 1 is a SECM (spectrally-encoded confocal microscopy).

[0147] In one embodiment of the present application, the capsule endoscope 3 includes a first light source 35 for a front-end camera, and a second light source 36 and a third light source 37 for a back-end diagnostic imaging device 1. The first light source 35, the second light source 36, and the third light source 37 can each be one or more LEDs. The number of second and third light sources 36, 37 is equal and symmetrical about the center of the diagnostic imaging device 1. When the second and third light sources 36, 37 emit light of different wavelengths, they must be illuminated simultaneously to illuminate the diagnostic imaging device 1 for performing an optical biopsy. When the second and third light sources 36, 37 emit light of the same wavelength or spectrum, they must be illuminated separately to illuminate the diagnostic imaging device 1 for performing an optical biopsy. In one embodiment, the first light source 35 includes two identical white LEDs capable of emitting light in the visible light region. In another embodiment, the second and third light sources 36, 37 include a total of six LEDs, symmetrical about the center of the diagnostic imaging device 1. In one embodiment, the three LEDs serving as the second light source 36 are identical and emit light at a first wavelength, while the other three LEDs serving as the third light source 37 are also identical and emit light at a second wavelength, wherein the first and second wavelengths are distinct and easily distinguishable. In another embodiment, the first three LEDs are red and the other three are blue. In another embodiment, once the affected area is identified, the second light source 36 and the third light source 37 (LED light sources) are used to illuminate the affected area with orthogonal polarizations.

[0148] In one embodiment of the present invention, the first light source 35 and the second light source 36 can provide illumination with a wavelength in the range of 0.2 to 300 μm.

[0149] In another embodiment of the present application, the first light source 35 , the second light source 36 and the third light source 37 are light emitting diodes (LEDs), lasers, ultra-broad spectrum light sources or superluminescent diodes (SLEDs).

[0150] In another embodiment of the present application, corresponding to the position of the diagnostic imaging device 1, the first end 32 or the second end 33 of the capsule endoscope 3 further includes a transparent surface and an opaque surface. In this embodiment, the diagnostic imaging device 1 corresponds to the second end 33, and the opaque surface is disposed between a surface near the LED (which may be the second light source 36 or the third light source 37) and a surface near the lens of the OBM module, wherein any opaque surface is disposed between transparent surfaces. The opaque surface is provided to prevent the LED light from being received by the lens and interfering with the imaging result of the target area (e.g., blurred image quality and reduced contrast).

[0151] like Figures 18 to 21 As shown, a first light blocking portion 311 a is provided between a first region 331 on the first end 32 or the second end 33 facing the diagnostic imaging device 1 and a second region 332 on the first end 32 or the second end 33 facing the second light source 36. A second light blocking portion 311 b is provided between the first region 331 on the first end 32 or the second end 33 facing the diagnostic imaging device 1 and a third region 333 on the first end 32 or the second end 33 facing the third light source 37.

[0152] The first light blocking portion 311a and the second light blocking portion 311b can be separately provided or integrated on the same retaining ring 311. The retaining ring 311 is provided around the lens of the OBM module. Since the light emitted by the LED is divided into two parts, the outgoing light and the reflected light, after passing through the second end portion 33, the outgoing light enters the object to be measured and then reflects back to the plane portion of the second end portion 33, and then enters the lens of the OBM module. The light beam B is effective light. A part of the reflected light enters the lens of the OBM module, which is stray light A. After the retaining ring 311 is provided, the reflected light is emitted to other places due to the shielding of the retaining ring 311 and will not enter the lens of the OBM module, thereby avoiding the interference of stray light on the imaging result of the lens.

[0153] The retaining ring 311 can be embedded in the second end portion 33, and its height can be the same as the material thickness of the second end portion 33. The height of the retaining ring 311 can also be set to be higher than the material thickness of the second end portion 33, so that the side of the retaining ring 311 close to the LED extends out of the inner surface of the second end portion 33. Those skilled in the art can set it according to actual conditions.

[0154] The capsule endoscope 3 may further include, but is not limited to, a CMOS, a 3D magnetic sensor, a 3D gyroscope sensor, a CPU, and an ASIC image processor.

[0155] After the capsule endoscope 3 is turned on, all functions of the photo camera 34 and the diagnostic imaging device 1 can be independently controlled by the CPU and / or ASIC / FPGA inside the capsule endoscope 3. The images captured by the photo camera 34 or the OBM module are processed by the ASIC / FPGA module, and the specific shooting time is controlled by the CPU. The CPU can read the values ​​of the sensors, and all information can be used to calculate the specific position of the capsule endoscope 3. The various functions of the capsule endoscope 3 can be controlled by commands received by the internal RF switch 38. The RF signal can be 2.4GHz or 433MHz, or other frequencies. The external control device 2 includes a controller, which is used to communicate with the capsule endoscope 3, receive imaging and sensor data, and send commands to the capsule endoscope 3; the controller can be a portable device that communicates with a PC, PAD or smartphone via USB, Ethernet, Bluetooth, WiFi or other means to display images in real time on a display.

[0156] An endoscopic imaging system operates in a controller of an external control device 2, and is used to control a capsule endoscope 3. The controller includes a processing unit and a memory, wherein the memory includes at least one type of readable storage medium. The at least one type of readable storage medium may be a non-volatile storage medium such as a flash memory, a hard disk, a multimedia card, a card-type memory, or the like. In some embodiments, the processing unit may be a central processing unit (CPU), a microprocessor, or other data processing chip, and is used to run program code or process data stored in the memory, such as executing program code of the endoscopic imaging system.

[0157] The endoscopic imaging system controls the capsule endoscope 3 through the following steps: obtaining the position of the capsule endoscope 3 and controlling the capsule endoscope 3 to move to the target area; controlling the capsule endoscope 3 to change its posture; and controlling the diagnostic imaging device 1 to perform diagnostic imaging on the target area.

[0158] The endoscopic imaging system can also control the capsule endoscope 3 through the following steps: obtaining the position of the capsule endoscope 3 and controlling the capsule endoscope 3 to move to the target area; controlling the photo-taking and video-taking device 34 to take photos and / or videos of the target area; controlling the capsule endoscope 3 to move and change its posture; and controlling the diagnostic imaging device 1 to perform diagnostic imaging of the target area.

[0159] The endoscopic imaging system can also control the capsule endoscope 3 through the following steps: obtaining the position of the capsule endoscope 3 and controlling the capsule endoscope 3 to move to the target area; controlling the photo-taking and video-taking device 34 to take photos and / or videos of the target area; controlling the magnetic ball 21 of the external control device 2 to rotate the capsule endoscope 3 180 degrees; controlling the second light source 36 and the third light source 37 to illuminate the target area; and controlling the diagnostic imaging device 1 to perform diagnostic imaging of the target area.

[0160] like Figure 22 As shown, the embodiment of the present application also provides an endoscopic imaging method, comprising:

[0161] S101 : The external control device 2 controls the capsule endoscope 3 to move to a target area.

[0162] S102 , the external control device 2 controls the capsule endoscope 3 to move and change its posture.

[0163] S103 , the external control device 2 controls the diagnostic imaging device 1 to perform diagnostic imaging on the target area.

[0164] The above step S101 may specifically include:

[0165] The magnetic ball 21 cooperates with the magnet 310 of the capsule endoscope 3 to control the capsule endoscope 3 to move to the target area.

[0166] like Figure 23 As shown, the method of this embodiment includes:

[0167] S201 : The external control device 2 controls the capsule endoscope 3 to move to a target area.

[0168] S202: The external control device 2 controls the photographing and video recording device 34 to take photos and / or videos of the target area.

[0169] S203 , the external control device 2 controls the capsule endoscope 3 to move and change its posture.

[0170] S204 , the external control device 2 controls the diagnostic imaging device 1 to perform diagnostic imaging on the target area.

[0171] like Figure 24 As shown, the method of this embodiment includes:

[0172] S301 : The external control device 2 controls the capsule endoscope 3 to move to a target area.

[0173] S302: The external control device 2 controls the photographing and video recording device 34 to take photos and / or videos of the target area.

[0174] S303 , the magnetic ball 21 controls the capsule endoscope 3 to rotate 180 degrees.

[0175] S304 , the controller controls the second light source 36 and the third light source 37 to illuminate the target area.

[0176] S305 , the controller controls the diagnostic imaging device 1 to perform diagnostic imaging on the target area.

[0177] Before the examination, the patient should be fasting and well prepared for the examination. Instruct the patient to swallow the capsule endoscope 3 (capsule endoscope 3 has a built-in permanent magnetic dipole) and position the capsule endoscope 3 to the target area. Irradiate the target area of ​​the sample with the first light source 35 to capture an image. When performing a digestive tract pathology examination, rotate the capsule endoscope 3 180 degrees so that the irradiation point of the first light source 35 is away from the position of the sample. Irradiate the target area of ​​the sample with the second light source 36 and the third light source 37 to achieve oblique reflective illumination of the target area of ​​the sample, and use the light irradiated by the second light source 36 and the third light source 37 to detect the phase contrast image and provide reflective illumination for the target area of ​​the sample.

[0178] The above method further includes using the external magnetic ball 21 to form direct contact between the capsule endoscope 3 and the sample to obtain the OBM image.

[0179] In addition, the step of irradiating the target area of ​​the sample with the first light source 35 to capture an image also includes scanning the patient's gastric fundus, examining the upper and lower gastric walls in the area, and then scanning the cardia; scanning multiple areas in the patient's digestive tract, including the pylorus; examining the gastric antrum, etc.

[0180] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An endoscopic imaging device, characterized in that include: diagnostic imaging devices, external control units, and ingestible capsule endoscopes; The external control device is used to control the position and / or posture of the capsule endoscope within the target area; The diagnostic imaging device is disposed within the capsule endoscope and is configured to perform diagnostic imaging of a target area under the control of the external control device; The capsule endoscope includes a body, a first end, and a second end; the first end and the second end are respectively fixed to two ends of the body, and the first end, the second end, and the body together form a receiving cavity; The diagnostic imaging device is arranged in the accommodating cavity; the diagnostic imaging device is a tilted reflective phase contrast microscope; The first end portion is in a hemispherical shape, and the second end portion is in a hemispherical shape with the top of the sphere cut off.

2. The endoscopic imaging device according to claim 1, wherein The capsule endoscope further includes a magnet, which is disposed in the accommodating cavity and is used to cooperate with the external control device.

3. The endoscopic imaging device according to claim 2, wherein: The main body is cylindrical.

4. The endoscopic imaging device according to claim 1, wherein The first end portion is designed to be light-transmissive.

5. The endoscopic imaging device according to claim 1, wherein The second end portion is designed to be light-transmissive.

6. The endoscopic imaging device according to claim 1, wherein The first end portion and / or the second end portion are both provided with an anti-reflection coating.

7. The endoscopic imaging device according to claim 1, wherein The capsule endoscope further comprises a photographing and video recording device, which is arranged in the accommodating cavity and is used to take photos and / or videos of the target area.

8. The endoscopic imaging device according to claim 7, wherein: The capsule endoscope further includes a first light source for cooperating with the photographing and imaging device or the diagnostic imaging device to illuminate the target area.

9. The endoscopic imaging device according to claim 8, characterized in that The capsule endoscope further includes a second light source and / or a third light source, which is used to cooperate with the diagnostic imaging device or the photo-taking device to illuminate the target area.

10. The endoscopic imaging device according to claim 9, characterized in that A first light blocking portion is provided between a first area on the first end or the second end facing the diagnostic imaging device and a second area on the first end or the second end facing the second light source; A second light blocking portion is provided between a first area on the first end or the second end facing the diagnostic imaging device and a third area on the first end or the second end facing the third light source.

11. The endoscopic imaging device according to claim 10, wherein: The first light blocking portion and the second light blocking portion are both arranged on the same blocking ring.

12. The endoscopic imaging device according to claim 9, wherein The number of the second light sources and the third light sources is the same and they are symmetrical with respect to the center of the diagnostic imaging device.

13. The endoscopic imaging device according to claim 12, wherein: The wavelength of light provided by the second light source and the third light source is 0.2-300 μm.

14. The endoscopic imaging device according to claim 9, wherein The second light source and the third light source are located on the same side of the capsule endoscope; and the first light source is located on a side of the capsule endoscope away from the second light source and the third light source.

15. The endoscopic imaging device according to claim 9, wherein The second light source and the third light source are used to illuminate the diagnostic imaging device simultaneously with light of the same wavelength or light of the same spectrum, or to illuminate the diagnostic imaging device separately with light of different wavelengths.

16. The endoscopic imaging device according to claim 2, wherein: The external control device includes a magnetic ball and a controller matched with the magnetic ball; The magnetic ball is used to cooperate with the magnet of the capsule endoscope to change the position and / or posture of the capsule endoscope; The controller controls the diagnostic imaging device to perform diagnostic imaging on the target area.

17. An endoscopic imaging system, running in a controller of an external control device, characterized in that: The capsule endoscope is controlled by the following steps: Obtaining the position of the capsule endoscope and controlling the capsule endoscope to move to the target area; Controlling the photographing and video recording device to take photos and / or videos of the target area to determine whether there is a diseased area that requires further examination; The magnetic ball controls the capsule endoscope to rotate 180 degrees so that the diagnostic imaging device faces the diseased area; The controller controls the second light source and the third light source to illuminate the diseased area and illuminate the diagnostic imaging device so that the diagnostic imaging device can perform optical biopsy. The controller controls the diagnostic imaging device to perform diagnostic imaging on the diseased area.

18. An endoscopic imaging method, characterized in that: include: The external control device controls the movement of the capsule endoscope to the target area; The external control device controls the photographing and video recording device to take photos and / or videos of the target area to determine whether there is a diseased area that requires further examination; The magnetic ball controls the capsule endoscope to rotate 180 degrees so that the diagnostic imaging device faces the diseased area and performs an optical biopsy; The controller controls the second light source and the third light source to illuminate the diseased area and illuminate the diagnostic imaging device so that the diagnostic imaging device can perform optical biopsy. The controller controls the diagnostic imaging device to perform diagnostic imaging on the diseased area.

19. The endoscopic imaging method according to claim 18, wherein: The external control device controls the capsule endoscope to move to the target area, comprising: The magnetic ball cooperates with the magnet of the capsule endoscope to control the capsule endoscope to move to the target area.

Images