Non-invasive biopsy sampling device and system under digestive endoscopy

Abstract

The present invention relates to the technical field of non-invasive biopsy, and provides a non-invasive biopsy sampling device and system under digestive endoscopy, including an electronic capsule, a built-in image acquisition device and a micro biopsy sampling device, which enters the detection site of the digestive endoscope through the patient's oral administration and wirelessly communicates with an external PC display device. A magnetic field generating device that generates multiple alternating magnetic field sources, as well as an external PC display device and an external PC control device are installed on the patient's abdomen. The electronic capsule enters the detection site of the digestive endoscope through the patient's oral administration, and its built-in image acquisition device is used to collect tissue images of the detection site, and the micro biopsy sampling device samples the detection site according to the instructions of the external PC control device. The magnetic field generating device is installed on the patient's abdomen to provide positioning and navigation support for the electronic capsule. The external PC display device is used to receive the tissue image transmitted by the electronic capsule, and the external PC control device determines the lesion area based on the tissue image and samples the lesion area.

Description

Technical Field

[0001] The present invention relates to the field of non-invasive biopsy, and in particular to a non-invasive biopsy sampling device and system under digestive endoscopy. Background Art

[0002] Currently, non-invasive biopsy sampling technology for digestive endoscopy is in a rapid development stage, among which confocal microendoscopy (CLE) is a major breakthrough in this field. The following is some key information about the current status of non-invasive biopsy sampling technology for digestive endoscopy:

[0003] Confocal microendoscopy (CLE): This is one of the most advanced endoscopic technologies in the world, with a resolution of up to micrometers. This technology uses a fiber optic probe thinner than a needle to instantly see the most essential morphology of tissues, thereby achieving non-invasive biopsy. Confocal microendoscopy has been widely used around the world and has been put into use in some of the top hospitals in China.

[0004] Hiskell Confocal Microscopic Optical Biopsy System CellTouch™: This is a domestically produced high-end endoscopic technology that enables non-invasive real-time optical biopsy. This technology has played an important role in improving the detection rate of lesions and reducing the number of biopsies, and has been put into use in many tertiary hospitals in China. The image quality of this system is no different from that of imported equipment, and it has unique advantages such as dual display on the same screen, 60 frames / second high-speed imaging, and micro-blood flow imaging.

[0005] Application of confocal technology in colorectal cancer: The application of CLE technology in the field of colorectal cancer shows high sensitivity and accuracy, especially in the diagnosis and differentiation of colorectal lesions. This technology can present the mucosal and vascular structures more clearly, achieve the purpose of "optical biopsy", and help improve the early diagnosis rate of colorectal cancer.

[0006] Application of confocal technology in the diagnosis of early digestive tract cancer: CLE technology has shown significant advantages in the diagnosis of esophageal cancer, gastric cancer, and colorectal cancer. It can improve the detection rate of malignant tumors and has application prospects in the diagnosis of early digestive tract cancer and precancerous lesions. The performance of CLE in diagnosing esophageal malignant lesions is comparable to that of biopsy. Combined with endoscopic biopsy, it can improve the detection rate of gastric malignant lesions and reduce the number of biopsies. At the same time, it has high accuracy and good sensitivity in diagnosing colorectal malignant lesions.

[0007] However, the above-mentioned non-invasive biopsy sampling methods cannot obtain the most accurate sampling results, because the lesion area cannot be accurately located, which easily causes a certain degree of deviation between the sampling results and the actual pathological results of the patient. Summary of the invention

[0008] The present invention proposes a non-invasive biopsy sampling device and system under digestive endoscopy, which is used to solve the problem that non-invasive biopsy sampling methods cannot obtain the most accurate sampling results because the lesion area cannot be accurately located, which easily causes a certain degree of deviation between the sampling results and the actual pathological results of the patients.

[0009] In a first aspect, the present invention provides a non-invasive biopsy sampling device under digestive endoscopy, comprising:

[0010] An electronic capsule with a built-in image acquisition device and a micro biopsy sampling device, which is used to enter the detection site of a digestive endoscope through the patient's mouth and communicate wirelessly with an external PC display device to obtain tissue images inside the digestive tract, wherein the image acquisition device is used to acquire tissue images of the detection site, and the micro biopsy sampling device is used to receive instructions from an external PC control device to sample the detection site;

[0011] A magnetic field generating device installed on the patient's abdomen to generate multiple alternating magnetic field sources;

[0012] An external PC display device for receiving tissue images transmitted by the electronic capsule;

[0013] The external PC control device is used to determine the lesion area according to the tissue image, and when the electronic capsule is in the lesion area, it receives the control instruction of the administrator to perform sampling in the lesion area.

[0014] In combination with the first aspect, the magnetic field generating device includes a plurality of magnetic field sub-devices for generating an alternating magnetic field source;

[0015] Determine the magnetic field gradient tensor of each magnetic field sub-device according to the plurality of magnetic field sub-devices, wherein the magnetic field gradient tensor of each magnetic field sub-device changes adaptively when the external PC control device adjusts the frequency of the magnetic field generating device;

[0016] According to the magnetic field gradient tensor, the real-time horizontal position of each magnetic field sub-device is determined, and a three-dimensional coordinate system based on the electronic capsule is established through the real-time horizontal position.

[0017] In combination with the first aspect, the magnetic field sub-device is provided with a coupling measurement unit, which is used to measure the interference amount of each magnetic field sub-device, and calculate the power correction amount of each magnetic field sub-device under the current interference amount, and generate a correction instruction for the multiple alternating magnetic field sources based on the power correction amount; wherein,

[0018] The coupling measurement unit measures the interference amount of the magnetic field sub-device according to the communication cycle, and if there is a deviation between the angle control of the electronic capsule in the current communication cycle and the expected control angle, the interference amount is measured.

[0019] In combination with the first aspect, the image acquisition device includes an infrared marking device and an ultra-precision lens;

[0020] The infrared marking device is used to set the marking light spot, which includes a first marking light spot and a second marking light spot under the current plane. The first marking light spot is on the same horizontal line as the focus of the ultra-precision lens, and the second marking light spot is a direct light spot on the current horizontal plane.

[0021] The ultra-precision lens is used to collect the tissue image of the detection part in real time when the first marking light spot and the second marking light spot coincide with each other.

[0022] In combination with the first aspect, the micro biopsy sampling device comprises: a liquid aspirating portion and a liquid storage portion, wherein the liquid aspirating portion and the liquid storage portion are separated by an inner cover type biofilm;

[0023] The liquid absorbing part is composed of a V-shaped or Ω-shaped flexible capsule.

[0024] In a second aspect, the present invention provides a non-invasive biopsy sampling system under digestive endoscopy, which is applicable to the non-invasive biopsy sampling device under digestive endoscopy, comprising:

[0025] Image processing module: used to obtain tissue images collected by the electronic capsule in real time, perform image enhancement processing, and determine the lesion site after image enhancement;

[0026] Sampling control module: used to determine the sampling area according to the lesion site;

[0027] Magnetic field control module: used to control the electronic capsule to collect tissue sample liquid at the lesion site through the magnetic field generating device.

[0028] In conjunction with the second aspect, the image processing module includes:

[0029] Image enhancement unit: used to pre-set the standard resolution of the tissue image. When the real-time tissue image collected by the electronic capsule is lower than the standard resolution, the real-time tissue image is subjected to the first enhancement processing and the second enhancement processing, wherein:

[0030] The first enhancement processing includes determining the medium transmittance of the real-time tissue image and the light conditions of the acquisition and detection part, and performing the first enhancement processing on the real-time tissue image according to the medium transmittance and the light conditions;

[0031] The second enhancement processing includes, after the first enhancement processing, if the resolution of the real-time tissue image is still lower than the standard resolution, performing RGB space transformation on the resolution of the real-time tissue image to determine and generate a target tissue image, and the resolution of the target tissue image is higher than the standard resolution.

[0032] Adaptive marking device: used to render and mark the lesion during the RGB space transformation process.

[0033] In conjunction with the second aspect, the sampling control module includes:

[0034] Image acquisition unit: acquires tissue images of the detection site;

[0035] Image segmentation processing unit: performs background threshold segmentation on the tissue image to obtain an object image of the lesion area, performs noise suppression on the object image of the lesion area to obtain a smoothed image of the object of the lesion area;

[0036] Acquisition position processing unit: to judge the degree of lesion deterioration of the smoothed image of the lesion area object, to obtain the area of ​​the lesion deterioration area and the dispersion amplitude of the lesion deterioration degree, and to determine the real-time position of the lesion acquisition area according to the dispersion amplitude;

[0037] Collection position determination unit: determines the target position of the electronic capsule for collecting tissue sample liquid according to the real-time position.

[0038] In combination with the second aspect, the magnetic field control module:

[0039] Magnetic field simulation unit: used to build a magnetic field simulation space according to the real-time position of the magnetic field generating device and the electronic capsule;

[0040] Magnetic field sub-device calibration unit: used to calibrate the magnetic field sub-device according to the magnetic field simulation space and determine the power range of different magnetic field sub-devices;

[0041] Magnetic field control unit: used to set the magnetic field gradient tensor of the magnetic field sub-device according to the real-time position of the electronic capsule and the acquisition position of the lesion site, so that the direction of the magnetic field pushes the electronic capsule to the lesion site.

[0042] In a third aspect, the present invention provides a non-invasive biopsy sampling method under digestive endoscopy, which is applicable to the non-invasive biopsy sampling device under digestive endoscopy, comprising:

[0043] The electronic capsule is taken orally by the patient, enters the detection site of the digestive endoscope, and wirelessly communicates with an external PC display device to obtain tissue images inside the digestive tract;

[0044] Based on the tissue image inside the digestive tract, the edge area is determined and it is judged whether the electronic capsule is in the lesion area;

[0045] When the electronic capsule is not in the lesion area, the magnetic field gradient tensor is adjusted by the magnetic field generating device, and the electronic capsule is controlled to be in the lesion sampling area to collect tissue sample liquid.

[0046] The beneficial effects of the present invention are:

[0047] The device and method realize non-invasive biopsy sampling of the digestive tract, thereby alleviating the pain of the patient.

[0048] Through electronic capsule technology and image information acquisition technology, doctors can accurately determine the sampling location and improve diagnostic accuracy.

[0049] The design of the slice cup and the slice cup extractor prevents the specimen from being contaminated by external bacteria and dust.

[0050] The device and method are suitable for biopsy sampling of various digestive tract diseases and have wide applicability.

[0051] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0052] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0054] Figure 1 This is a structural diagram of a non-invasive biopsy sampling device under digestive endoscopy in an embodiment of the present invention;

[0055] Figure 2 This is a system composition diagram of a non-invasive biopsy sampling system under digestive endoscopy in an embodiment of the present invention;

[0056] Figure 3 The present invention is a flowchart of a non-invasive biopsy sampling method under digestive endoscopy in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0058] like Figure 1 As shown, this embodiment provides a non-invasive biopsy sampling device under digestive endoscopy, comprising:

[0059] An electronic capsule with a built-in image acquisition device and a micro biopsy sampling device, which is used to enter the detection site of a digestive endoscope through the patient's mouth and communicate wirelessly with an external PC display device to obtain tissue images inside the digestive tract, wherein the image acquisition device is used to acquire tissue images of the detection site, and the micro biopsy sampling device is used to receive instructions from an external PC control device to sample the detection site;

[0060] A magnetic field generating device installed on the patient's abdomen to generate multiple alternating magnetic field sources;

[0061] An external PC display device for receiving tissue images transmitted by the electronic capsule;

[0062] The external PC control device is used to determine the lesion area according to the tissue image, and when the electronic capsule is in the lesion area, it receives the control instruction of the administrator to perform sampling in the lesion area.

[0063] The principle of the above technical solution is:

[0064] The electronic capsule of the present invention is a miniaturized medical device, which is taken orally by the patient into the detection part of the digestive endoscope. The built-in image acquisition device is responsible for acquiring the tissue image of the detection part. The micro biopsy sampling device samples the detection part according to the instruction of the external PC control device.

[0065] The wireless communication function allows the electronic capsule to communicate with the external PC display device wirelessly to transmit the collected tissue images. The magnetic field generator is installed on the patient's abdomen to generate multiple alternating magnetic field sources. The magnetic field generator provides positioning and navigation support for the electronic capsule to ensure that it accurately reaches the lesion area. The external PC display device and control device receive the tissue images transmitted by the electronic capsule and display them to the doctor. The external PC control device determines the lesion area based on the tissue image. When the electronic capsule is in the lesion area, it receives the control instructions of the administrator and performs sampling in the lesion area.

[0066] In the specific implementation process, the patient takes the electronic capsule orally. The electronic capsule accurately reaches the detection site through the navigation provided by the multiple alternating magnetic field sources in the digestive tract. The image acquisition device built into the electronic capsule starts working to collect tissue images of the detection site. The image is transmitted to the external PC display device through wireless communication. The doctor observes the image through the external PC display device to determine the lesion area. The administrator sends instructions to the micro biopsy sampling device of the electronic capsule through the external PC control device. The electronic capsule samples the lesion area. After the sampling is completed, the electronic capsule continues to move in the digestive tract until it is excreted from the body.

[0067] The beneficial effects of the above technical solution are:

[0068] The device and method realize non-invasive biopsy sampling of the digestive tract, reducing the pain of patients. Through electronic capsule technology and image information acquisition technology, doctors can accurately determine the sampling position and improve the accuracy of diagnosis. Through the design of the slice cup and slice cup extractor, the contamination of the specimen by external bacteria and dust is avoided. The device and method are suitable for biopsy sampling of various digestive tract diseases and have wide applicability.

[0069] As an embodiment of the present invention: the magnetic field generating device includes a plurality of magnetic field sub-devices for generating an alternating magnetic field source;

[0070] Determine the magnetic field gradient tensor of each magnetic field sub-device according to the plurality of magnetic field sub-devices, wherein the magnetic field gradient tensor of each magnetic field sub-device changes adaptively when the external PC control device adjusts the frequency of the magnetic field generating device;

[0071] According to the magnetic field gradient tensor, the real-time horizontal position of each magnetic field sub-device is determined, and a three-dimensional coordinate system based on the electronic capsule is established through the real-time horizontal position.

[0072] The principle of the above technical solution is:

[0073] In the implementation process of the present invention, the coordinate system of the sampling point can be automatically adjusted by real-time monitoring of the magnetic field influence range generated by the electronic capsule in each magnetic field sub-device, so that the sampling point is always located in the optimal sampling area. According to the control of the magnetic field gradient tensor, the direction and sampling operation of the electronic capsule are controlled.

[0074] In actual implementation, the image acquisition device and the micro biopsy sampling device are integrated into a tiny chip, making it easier to swallow and reducing errors caused by operational errors. The electronic capsule is equipped with various types of magnetic field sub-devices to increase the coverage of sampling points and improve the accuracy of detection. The external PC control device is loaded with a control system to control the electronic capsule to return accurately after removing the tissue and maintain a stable state during the return process. The image acquisition device integrates artificial intelligence technology, which can automatically identify and locate the lesion through image processing and analysis, thereby improving the efficiency and accuracy of detection. The electronic capsule is equipped with a thermal imaging sensor, which makes the biopsy process more intuitive and accurate, and can also reduce damage to the lesion. The image acquisition device is equipped with a sonar detector, which can obtain more tissue information and improve the accuracy of diagnosis.

[0075] As an embodiment of the present invention: the magnetic field sub-device is provided with a coupling measurement unit, which is used to measure the interference amount of each magnetic field sub-device, and calculate the power correction amount of each magnetic field sub-device under the current interference amount, and generate a correction instruction for the multiple alternating magnetic field sources based on the power correction amount; wherein,

[0076] The coupling measurement unit measures the interference amount of the magnetic field sub-device according to the communication cycle, and if there is a deviation between the angle control of the electronic capsule in the current communication cycle and the expected control angle, the interference amount is measured.

[0077] The principle of the above technical solution is:

[0078] The present invention measures the interference amount of each magnetic field sub-device and calculates the power correction amount of each magnetic field sub-device under the current interference amount according to the interference amount. The power correction amount is used to generate a correction instruction for a multi-alternating magnetic field source, and the power correction amount is updated in real time.

[0079] This process is carried out according to the communication cycle. At regular intervals, the interference amount of each magnetic field sub-device is measured. If it is found during the measurement process that the electronic capsule angle control in the current communication cycle deviates from the expected control angle, then the interference amount of these deviations needs to be measured. In this way, when generating the correction instruction, all possible interference factors can be identified to improve the accuracy of the correction instruction.

[0080] The beneficial effects of the above technical solution are:

[0081] The present invention can perform interference dual measurement and realize real-time correction of multiple alternating magnetic field sources.

[0082] As an embodiment of the present invention: the image acquisition device includes an infrared marking device and an ultra-precision lens;

[0083] The infrared marking device is used to set the marking light spot, which includes a first marking light spot and a second marking light spot under the current plane. The first marking light spot is on the same horizontal line as the focus of the ultra-precision lens, and the second marking light spot is a direct light spot on the current horizontal plane.

[0084] The ultra-precision lens is used to collect the tissue image of the detection part in real time when the first marking light spot and the second marking light spot coincide with each other.

[0085] The principle of the above technical solution is:

[0086] First, the image acquisition equipment consists of two parts: infrared marking equipment and ultra-precision lens.

[0087] The main function of the infrared marking device is to set the marking light spot. The marking light spot is divided into two categories: the first marking light spot and the second marking light spot. The first marking light spot is located at the focus of the ultra-precision lens, while the second marking light spot is located at the direct light spot of the current level.

[0088] The function of the ultra-precision lens is to collect the collected tissue images in real time when the first marking light spot and the second marking light spot coincide with each other, so as to obtain clear and high-quality images.

[0089] The beneficial effect of the above technical solution is that the infrared marking device can realize positioning and focusing at the same time of acquisition. The ultra-precision lens is to capture accurate images, but it cannot achieve accurate image acquisition when it is inside the human body. If it is combined with the infrared marking device, the camera angle can be measured and adjusted.

[0090] As an embodiment of the present invention: the micro biopsy sampling device comprises: a liquid aspiration part and a liquid storage part, the liquid aspiration part and the liquid storage part are isolated by an inner cover type biofilm; the liquid aspiration part is composed of a V-shaped or Ω-shaped flexible capsule.

[0091] The principle of the above technical solution is:

[0092] The micro biopsy sampling device mainly consists of two parts: the liquid aspiration part and the liquid storage part. These two parts are designed as a whole to prevent cross contamination.

[0093] The design of the liquid aspiration part and the liquid storage part is to collect the liquid sample from the detection part. The liquid aspiration part is responsible for aspirating the liquid, while the liquid storage part is responsible for storing the liquid sample. Both are designed to ensure the smooth progress of the sampling process.

[0094] like Figure 2 As shown, the present invention also proposes a non-invasive biopsy sampling system under digestive endoscopy, which is applicable to the non-invasive biopsy sampling device under digestive endoscopy, comprising:

[0095] Image processing module: used to obtain tissue images collected by the electronic capsule in real time, perform image enhancement processing, and determine the lesion site after image enhancement;

[0096] Sampling control module: used to determine the sampling area according to the lesion site;

[0097] Magnetic field control module: used to control the electronic capsule to collect tissue sample liquid at the lesion site through the magnetic field generating device.

[0098] The principle of the above technical solution is:

[0099] Image processing module, sampling control module and magnetic field control module. These three modules each undertake different tasks and work together to complete the entire sampling process.

[0100] The main function of the image processing module is to obtain the tissue images collected by the electronic capsule in real time and enhance these images. The purpose of this is to see the lesion more clearly and facilitate subsequent diagnosis and treatment.

[0101] The sampling control module determines the area that needs to be sampled based on the location of the lesion, and is used to determine the final sampling data and sampling location.

[0102] Finally, the function of the magnetic field control module is to control the electronic capsule to collect tissue sample liquid at the lesion site through the magnetic field generating device. This is to collect the actual liquid sample.

[0103] As an embodiment of the present invention: the image processing module includes:

[0104] Image enhancement unit: used to pre-set the standard resolution of the tissue image. When the real-time tissue image collected by the electronic capsule is lower than the standard resolution, the real-time tissue image is subjected to the first enhancement processing and the second enhancement processing, wherein:

[0105] The first enhancement processing includes determining the medium transmittance of the real-time tissue image and the light conditions of the acquisition and detection part, and performing the first enhancement processing on the real-time tissue image according to the medium transmittance and the light conditions;

[0106] The second enhancement processing includes, after the first enhancement processing, if the resolution of the real-time tissue image is still lower than the standard resolution, performing RGB space transformation on the resolution of the real-time tissue image to determine and generate a target tissue image, and the resolution of the target tissue image is higher than the standard resolution.

[0107] Adaptive marking device: used to render and mark the lesion during the RGB space transformation process.

[0108] Enhancement processing of the first part and enhancement processing of the second part.

[0109] The principle of the above technical solution is:

[0110] In the specific implementation of the present invention, the enhancement processing part is a pre-processing step, which performs enhancement processing on the image collected in real time to improve the clarity and contrast of the image.

[0111] Specifically, it will pre-set a standard resolution of tissue images according to the specific application scenario. If the real-time tissue image collected by the electronic capsule is lower than this standard resolution, the image will be enhanced.

[0112] This enhancement process mainly includes two steps:

[0113] The first step is to perform the first enhancement processing on the image according to the medium projection rate of the image and the light conditions of the acquisition and detection part; the second step is to perform the second enhancement processing if the image resolution is still not high enough after the first enhancement processing. This processing is performed during the RGB space transformation, mainly to increase the image resolution to a state higher than the standard resolution.

[0114] The enhanced processing part can also perform adaptive marking. This device can render and mark the lesion during the RGB space transformation process. This makes it easier for doctors to better locate the lesion during subsequent treatment, so as to provide more accurate treatment.

[0115] As an embodiment of the present invention: the sampling control module includes:

[0116] Image acquisition unit: acquires tissue images of the detection site;

[0117] Image segmentation processing unit: performs background threshold segmentation on the tissue image to obtain an object image of the lesion area, performs noise suppression on the object image of the lesion area to obtain a smoothed image of the object of the lesion area;

[0118] Acquisition position processing unit: to judge the degree of lesion deterioration of the smoothed image of the lesion area object, to obtain the area of ​​the lesion deterioration area and the dispersion amplitude of the lesion deterioration degree, and to determine the real-time position of the lesion acquisition area according to the dispersion amplitude;

[0119] Collection position determination unit: determines the target position of the electronic capsule for collecting tissue sample liquid according to the real-time position.

[0120] The principle of the above technical solution is:

[0121] The sampling control module mainly includes four parts: an image acquisition unit, an image segmentation processing unit, a collection position processing unit and a collection position determination unit.

[0122] The image acquisition unit is responsible for capturing the tissue image of the detection site, which is the input data of the entire system. The image segmentation processing unit is responsible for processing these images, extracting the object image of the lesion area, and performing noise reduction on these images to obtain the smoothed image of the object in the lesion area, ensuring the quality of the output image for more accurate subsequent analysis and identification. The acquisition position processing unit is responsible for processing the smoothed image of the object in the lesion area, judging the severity of the lesion area, and determining the specific location of the electronic capsule for tissue sample liquid collection based on the severity. Ensure that the most accurate results can be obtained for each sampling. Finally, the acquisition position determination unit will determine the target location of the electronic capsule for tissue sample liquid collection based on the precise location of the lesion area. Ensure the efficient and stable operation of the entire sampling process.

[0123] As an embodiment of the present invention: the magnetic field control module:

[0124] Magnetic field simulation unit: used to build a magnetic field simulation space according to the real-time position of the magnetic field generating device and the electronic capsule;

[0125] Magnetic field sub-device calibration unit: used to calibrate the magnetic field sub-device according to the magnetic field simulation space and determine the power range of different magnetic field sub-devices;

[0126] Magnetic field control unit: used to set the magnetic field gradient tensor of the magnetic field sub-device according to the real-time position of the electronic capsule and the acquisition position of the lesion site, so that the direction of the magnetic field pushes the electronic capsule to the lesion site.

[0127] The principle of the above technical solution is:

[0128] In the specific implementation process of the present invention, the magnetic field control module is mainly composed of three parts: a magnetic field simulation unit, a magnetic field sub-device calibration unit and a magnetic field control unit. The main function of the magnetic field simulation unit is to construct a magnetic field simulation space according to the real-time position of the magnetic field generating device and the electronic capsule. The magnetic field simulation space is used to predict the movement path of the electronic capsule, thereby determining the sampling path, which can improve the accuracy and efficiency of sampling. The main task of the magnetic field sub-device calibration unit is to calibrate different magnetic field sub-devices according to the magnetic field simulation space, determine their power range, and thus provide a standard for the magnetic field setting, ensure the consistency of all operations, ensure the uniformity of the magnetic field, and make the angle more accurate when controlling the movement of the electronic capsule. The magnetic field control unit sets the magnetic field gradient tensor of the magnetic field sub-device according to the real-time position of the electronic capsule and the collection position of the lesion site, so that the electronic capsule can stay at the lesion site and collect tissue samples to the predetermined position.

[0129] like Figure 3 As shown, the present invention also proposes a non-invasive biopsy sampling method under digestive endoscopy, which is applicable to the non-invasive biopsy sampling device under digestive endoscopy, comprising:

[0130] The electronic capsule is taken orally by the patient, enters the detection site of the digestive endoscope, and wirelessly communicates with an external PC display device to obtain tissue images inside the digestive tract;

[0131] According to the tissue image inside the digestive tract, the lesion area is determined, and it is judged whether the electronic capsule is in the lesion area;

[0132] When the electronic capsule is not in the lesion area, the magnetic field gradient tensor is adjusted by the magnetic field generating device, and the electronic capsule is controlled to be in the lesion sampling area to collect tissue sample liquid;

[0133] The principle of the above technical solution is:

[0134] During the specific implementation process, the patient will take an electronic capsule with a camera and a biopsy device orally, and the electronic capsule will pass through the patient's digestive tract to the area to be tested. During this process, it will communicate wirelessly with an external computer display device to transmit real-time image information of the digestive tract.

[0135] Secondly, the image information will be analyzed by computer to determine whether there are abnormal areas, which may be the lesion area. At the same time, by analyzing the position of the electronic capsule, it can be determined whether it is in the lesion area. If not, the magnetic field gradient tensor can be adjusted to control the electronic capsule to move to the lesion area.

[0136] Finally, when the electronic capsule moves to the lesion area, it will collect tissue samples in the area. Since this process is automated, accurate lesion tissue samples can be obtained without damaging surrounding tissues.

[0137] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A non-invasive biopsy sampling device under digestive endoscopy, characterized in that: include An electronic capsule with a built-in image acquisition device and a micro biopsy sampling device, which is used to enter the detection site of a digestive endoscope through the patient's mouth and wirelessly communicate with an external PC display device to obtain tissue images inside the digestive tract, wherein the image acquisition device is used to acquire tissue images of the detection site, and the micro biopsy sampling device is used to receive instructions from an external PC control device to sample the detection site; A magnetic field generating device installed on the patient's abdomen to generate multiple alternating magnetic field sources; An external PC display device for receiving tissue images transmitted by the electronic capsule; The external PC control device is used to determine the lesion area according to the tissue image, and when the electronic capsule is in the lesion area, it receives the control instruction of the administrator to perform sampling in the lesion area; The magnetic field generating device includes a plurality of magnetic field sub-devices for generating an alternating magnetic field source; The magnetic field sub-device is provided with a coupling measuring unit, which is used to measure the interference amount of each magnetic field sub-device, calculate the power correction amount of each magnetic field sub-device under the current interference amount, and generate a correction instruction for the multiple alternating magnetic field sources based on the power correction amount; wherein, The coupling measurement unit measures the interference amount of the magnetic field sub-device according to the communication cycle. If there is a deviation between the electronic capsule angle control in the current communication cycle and the expected control angle, the interference amount is measured; The image acquisition device includes an infrared marking device and an ultra-precision lens; The infrared marking device is used to set the marking light spot, which includes a first marking light spot and a second marking light spot under the current plane. The first marking light spot is on the same horizontal line as the focus of the ultra-precision lens, and the second marking light spot is a direct light spot on the current horizontal plane. The ultra-precision lens is used to collect the tissue image of the detection part in real time when the first marking light spot and the second marking light spot coincide with each other.

2. The non-invasive biopsy sampling device under digestive endoscopy according to claim 1, characterized in that: The magnetic field generating device includes a plurality of magnetic field sub-devices for generating an alternating magnetic field source; Determine the magnetic field gradient tensor of each magnetic field sub-device according to the plurality of magnetic field sub-devices, wherein the magnetic field gradient tensor of each magnetic field sub-device changes adaptively when the external PC control device adjusts the frequency of the magnetic field generating device; According to the magnetic field gradient tensor, the real-time horizontal position of each magnetic field sub-device is determined, and a three-dimensional coordinate system based on the electronic capsule is established through the real-time horizontal position.

3. The non-invasive biopsy sampling device under digestive endoscopy according to claim 1, characterized in that: The micro biopsy sampling device comprises: a liquid aspiration part and a liquid storage part, wherein the liquid aspiration part and the liquid storage part are isolated by an inner cover type biofilm; The liquid absorbing part is composed of a V-shaped or Ω-shaped flexible capsule.

4. A non-invasive biopsy sampling system under digestive endoscopy, applicable to the non-invasive biopsy sampling device under digestive endoscopy according to any one of claims 1 to 3, characterized in that: include: Image processing module: used to obtain tissue images collected by the electronic capsule in real time, perform image enhancement processing, and determine the lesion site after image enhancement; Sampling control module: used to determine the sampling area according to the lesion site; Magnetic field control module: used to control the electronic capsule to collect tissue sample liquid at the lesion site through the magnetic field generating device.

5. The non-invasive biopsy sampling system under digestive endoscopy according to claim 4, characterized in that: The image processing module comprises: Image enhancement unit: used to pre-set the standard resolution of the tissue image. When the real-time tissue image collected by the electronic capsule is lower than the standard resolution, the real-time tissue image is subjected to the first enhancement processing and the second enhancement processing, wherein: The first enhancement processing includes determining the medium transmittance of the real-time tissue image and the light conditions of the acquisition and detection part, and performing the first enhancement processing on the real-time tissue image according to the medium transmittance and the light conditions; The second enhancement processing includes, after the first enhancement processing, if the resolution of the real-time tissue image is still lower than the standard resolution, performing RGB space transformation on the resolution of the real-time tissue image to determine and generate a target tissue image, wherein the resolution of the target tissue image is higher than the standard resolution; Adaptive marking device: used to render and mark the lesion during the RGB space transformation process.

6. The non-invasive biopsy sampling system under digestive endoscopy according to claim 4, characterized in that: The sampling control module comprises: Image acquisition unit: acquires tissue images of the detection site; Image segmentation processing unit: performs background threshold segmentation on the tissue image to obtain an object image of the lesion area, performs noise suppression on the object image of the lesion area to obtain a smoothed image of the object of the lesion area; Acquisition position processing unit: to judge the degree of lesion deterioration of the smoothed image of the lesion area object, to obtain the area of ​​the lesion deterioration area and the dispersion amplitude of the lesion deterioration degree, and to determine the real-time position of the lesion acquisition area according to the dispersion amplitude; Collection position determination unit: determines the target position of the electronic capsule for collecting tissue sample liquid according to the real-time position.

7. The non-invasive biopsy sampling system under digestive endoscopy according to claim 4, characterized in that: The magnetic field control module comprises: Magnetic field simulation unit: used to build a magnetic field simulation space according to the real-time position of the magnetic field generating device and the electronic capsule; Magnetic field sub-device calibration unit: used to calibrate the magnetic field sub-device according to the magnetic field simulation space and determine the power range of different magnetic field sub-devices; Magnetic field control unit: used to set the magnetic field gradient tensor of the magnetic field sub-device according to the real-time position of the electronic capsule and the acquisition position of the lesion site, so that the direction of the magnetic field pushes the electronic capsule to the lesion site.

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