Magnetically driven capsule endoscope and magnetically driven biopsy system

Abstract

The invention belongs to the technical field of medical instruments, and provides a magnetic drive capsule endoscope and a magnetic drive biopsy system. The magnetic drive capsule endoscope comprises a shell and a biopsy module, the shell is provided with a containing cavity and a through hole, and a guide rail is formed on the cavity wall of the containing cavity. The biopsy module comprises a permanent magnet, a sliding column, a sliding block and a biopsy needle, the permanent magnet is arranged in the containing cavity, the axial direction of the permanent magnet is perpendicular to the penetrating direction of the penetrating hole, and the permanent magnet is magnetized in the radial direction; the sliding column is arranged at one end of the permanent magnet, and the axial direction of the sliding column and the axial direction of the permanent magnet are eccentrically arranged; the sliding block is arranged in the containing cavity and is in sliding fit with the guide rail, the sliding block is provided with a sliding groove in sliding fit with the sliding column, and the sliding block can slide on the guide rail in a reciprocating mode along with rotation of the sliding column. The biopsy needle is arranged on the sliding block and the axial direction of the biopsy needle coincides with that of the through hole. The magnetic drive capsule endoscope is simple and compact in overall structure and easy to manufacture and maintain, only one permanent magnet is arranged in the shell, possible fault points are reduced, and reliability is better.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a magnetically driven capsule endoscope and a magnetically driven biopsy system. Background Art

[0002] At present, capsule endoscopes with biopsy functions can be divided into two control modes: external control and internal control. Capsule endoscopes using internal control mainly use structures such as torsion springs, micro clamps or shape memory alloys as the driving structure of the biopsy needle. However, these driving structures all have some problems. Specifically, torsion springs and micro clamps can only perform one-time biopsy operations and cannot be recycled and reused, which easily leads to waste of resources. Shape memory alloys have high energy consumption and slow response speed. At the same time, heating shape memory alloys may cause potential damage to patient tissues.

[0003] In the related art, capsule endoscopes using external control mainly use magnetic drive to drive the biopsy needle, and the capsule endoscopes using magnetic drive usually have multiple magnets inside, so the structure is relatively complex and the reliability is relatively low. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a magnetically driven capsule endoscope and a magnetically driven biopsy system to solve the technical problems existing in the prior art that a magnetically driven capsule endoscope is usually provided with a plurality of magnets inside, has a relatively complex structure and has low reliability.

[0005] To achieve the above objectives, the technical solution adopted in this application is to provide a magnetically driven capsule endoscope, comprising:

[0006] The housing has a receiving cavity and a through hole, wherein the through hole connects the receiving cavity with the outside of the housing, a guide rail is formed on the cavity wall of the receiving cavity, and the extension direction of the guide rail is parallel to the penetration direction of the through hole;

[0007] The biopsy module comprises a permanent magnet, a sliding column, a slider and a biopsy needle. The permanent magnet is arranged in the accommodating cavity and its axial direction is perpendicular to the penetration direction of the perforation. The permanent magnet is radially magnetized and can rotate around its own axial direction under the driving action of an external magnetic control device; the sliding column is arranged at one end of the permanent magnet, the axial direction of the sliding column is eccentrically arranged with the axial direction of the permanent magnet, and the sliding column can rotate around the axial direction of the permanent magnet with the permanent magnet; the slider is arranged in the accommodating cavity and slidably cooperates with the guide rail, and the slider is provided with a sliding groove that slidably cooperates with the sliding column, and can slide back and forth on the guide rail as the sliding column rotates; the biopsy needle is arranged on the sliding column and its axial direction coincides with the axial direction of the perforation, and can pass through the perforation or retract into the accommodating cavity as the slider slides back and forth.

[0008] In one embodiment, the slide groove is a linear slide groove, the extension direction of the slide groove is perpendicular to the penetration direction of the perforation and the axial direction of the permanent magnet, and the two ends of the cross section of the slide groove are semicircular, the middle part of the cross section of the slide groove is rectangular, and the cross section of the slide column is circular.

[0009] In one of the embodiments, the shell is a cylindrical structure, the through hole penetrates the outer wall of the shell along the radial direction of the shell, and the permanent magnet is arranged in the accommodating cavity along the axial direction of the shell; the magnetically driven capsule endoscope also includes an image acquisition module, the image acquisition module and the biopsy module are arranged in sequence in the axial direction of the shell, and the image acquisition module is arranged at one end or both ends of the shell.

[0010] In one of the embodiments, two protrusions are protruding from the cavity wall of the accommodating cavity, the two protrusions are opposite and spaced apart in the radial direction of the shell, the guide rail is formed between the two protrusions, and the spacing between the two protrusions is equal to the length of the slider.

[0011] In one embodiment, the biopsy module further includes a mounting seat, which is coaxially arranged with the permanent magnet, one end of the mounting seat is fixedly sleeved on the outer side of the permanent magnet, and the other end of the mounting seat is provided with the sliding column.

[0012] In one embodiment, the biopsy module further includes a bearing, wherein the bearing is sleeved on the outer side of the mounting seat and is clearance-fitted with the mounting seat, and the outer side of the bearing is interference-fitted with the cavity wall of the accommodating cavity.

[0013] In one embodiment, the cavity wall of the accommodating cavity has a first step surface, the mounting seat has a second step surface, the first step surface and the second step surface are both perpendicular to the axial direction of the shell, the end surface of the mounting seat close to the permanent magnet abuts against the first step surface, and the end surface of the bearing close to the permanent magnet abuts against the second step surface.

[0014] In one embodiment, the housing, the slider and the bearing are all made of transparent material.

[0015] In one embodiment, the perforation is filled with an elastic filler, and the elastic filler is biocompatible.

[0016] To achieve the above objectives, the present application also provides a magnetically driven biopsy system, which includes a magnetically controlled device and the above-mentioned magnetically driven capsule endoscope, wherein the magnetically controlled device is used to drive the permanent magnet to rotate around the axial direction of the permanent magnet.

[0017] The beneficial effects of the magnetically driven capsule endoscope and the magnetically driven biopsy system provided by the present application are as follows: compared with the prior art, the magnetically driven capsule endoscope provided by the present application is only provided with a single permanent magnet, and the single permanent magnet and the slide column, the slider and the guide rail on the inner wall of the accommodating cavity constitute a Scotch crank mechanism. With such a configuration, the permanent magnet is driven to rotate by an external magnetic control device, and the motion characteristics of the Scotch crank mechanism are utilized to efficiently convert the rotational motion of the permanent magnet into the linear motion of the biopsy needle. The overall structure of the magnetically driven capsule endoscope is simple, compact, easy to manufacture and maintain, and only one permanent magnet is provided inside the shell, which reduces possible failure points and has better reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 Schematic diagram of the structure of the magnetically driven capsule endoscope provided in the embodiment of the present application Figure 1 , showing the state where the biopsy needle is retracted into the housing;

[0020] Figure 2 Schematic diagram of the structure of the magnetically driven capsule endoscope provided in the embodiment of the present application Figure 2 , showing a state where the biopsy needle is extended to the outside of the housing;

[0021] Figure 3 A schematic diagram of the exploded structure of a magnetically driven capsule endoscope provided in an embodiment of the present application;

[0022] Figure 4 A schematic diagram of the structure of a biopsy module of a magnetically driven capsule endoscope provided in an embodiment of the present application;

[0023] Figure 5 A schematic diagram of the structure of a partial housing, a slider and a mounting seat of a magnetically driven capsule endoscope provided in an embodiment of the present application;

[0024] Figure 6 A schematic diagram of a magnetically driven capsule endoscope provided in an embodiment of the present application gradually moving in the intestine to a suspected lesion;

[0025] Figure 7 A schematic diagram of a magnetically driven capsule endoscope provided in an embodiment of the present application extending a biopsy needle into the intestine;

[0026] Figure 8 A schematic diagram of a magnetically driven capsule endoscope retracting a biopsy needle in the intestine provided in an embodiment of the present application.

[0027] Among them, the reference numerals in the figure are:

[0028] 10-magnetically driven capsule endoscope; 100-housing; 101-accommodating cavity; 1011-first step surface; 102-perforation; 103-guide rail; 110-housing; 120-bump; 200-biopsy module; 210-permanent magnet; 220-sliding column; 230-sliding block; 231-sliding groove; 240-biopsy needle; 250-mounting seat; 251-second step surface; 260-bearing;

[0029] 20 - intestine;

[0030] 30-Suspicious lesions. DETAILED DESCRIPTION

[0031] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0032] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] See also Figures 1 to 5 Now, the magnetically driven capsule endoscope 10 provided in the embodiment of the present application is described. The magnetically driven capsule endoscope 10 includes a housing 100 and a biopsy module 200 .

[0035] The housing 100 has a receiving cavity 101 and a through hole 102. The through hole 102 connects the receiving cavity 101 with the outside of the housing 100. A guide rail 103 is formed on the wall of the receiving cavity 101 (see Figure 4 ), the extension direction of the guide rail 103 is parallel to the penetration direction of the through hole 102.

[0036] See also Figures 3 to 5 The biopsy module 200 includes a permanent magnet 210, a slide post 220, a slider 230 and a biopsy needle 240. The permanent magnet 210 is arranged in the accommodating cavity 101 and its axial direction is perpendicular to the penetration direction of the through hole 102. The permanent magnet 210 is radially magnetized and can rotate around its own axial direction under the driving action of an external magnetic control device (not shown in the figure, the same below); the slide post 220 is arranged at one end of the permanent magnet 210, and the axial direction of the slide post 220 is eccentric to the axial direction of the permanent magnet 210. The slide post 220 can The slide block 230 is provided in the accommodating cavity 101 and is slidably matched with the guide rail 103, and the slide block 230 is provided with a slide groove 231 slidably matched with the slide post 220, and can slide back and forth on the guide rail 103 as the slide post 220 rotates; the biopsy needle 240 is provided on the slide block 230 and its axial direction coincides with the axial direction of the through hole 102, and can pass through the through hole 102 or retract into the accommodating cavity 101 as the slide block 230 slides back and forth.

[0037] Specifically, see Figure 3 The housing 100 may include a plurality of shells 110, the plurality of shells 110 together form a receiving cavity 101, the through hole 102 and the guide rail 103 may be disposed on the same one of the plurality of shells 110, or may be disposed on two shells 110 respectively. Figure 3 In the embodiment shown, the housing 100 includes four shells 110, and the through holes 102 and the guide rails 103 are arranged on the same shell 110. The specific structure of the shell 110 is not limited in this embodiment. The guide rails 103 can be a groove-shaped structure on the wall of the accommodating cavity 101, or a single protruding structure convexly arranged on the wall of the accommodating cavity 101. Figure 5 The guide rail 103 may also be the gap between two protrusions 120 on the cavity wall of the accommodating cavity 101. It can be set as needed, and the specific form of the guide rail 103 is not limited in this embodiment.

[0038] Specifically, see Figure 4, the shape of the slide groove 231 on the slider 230 can be set to a linear slide groove. The slide groove 231 on the slider 230 can also include a first linear groove, a curved groove and a second linear groove connected in sequence, which is not shown in the figure, wherein the curved groove overlaps with part of the motion trajectory of the slide post 220. When the slide post 220 slides in the first linear groove or the second linear groove, the slider 230 moves on the guide rail 103, and correspondingly, the biopsy needle 240 moves with the slider 230. When the slide post 220 slides in the curved groove, the slider 230 remains stationary, and correspondingly, the biopsy needle 240 remains stationary with the slider 230, which can be applied to the situation where the biopsy needle 240 needs to stay at a certain position. Of course, the slide groove 231 can also be set to other slide groove forms commonly used in Scotch crank mechanisms, and the shape of the slide groove 231 is not limited in this embodiment.

[0039] Specifically, the slide column 220 may be directly connected to the permanent magnet 210 , or the slide column 220 may be indirectly connected to the permanent magnet 210 via a mounting seat 250 described below, which may be configured as required.

[0040] Specifically, the biopsy needle 240 can be interference fit with the slider 230, or the biopsy needle 240 can be installed on the slider 230 in other detachable ways, so that different biopsy needles 240 can be replaced as needed to meet the sampling requirements of different parts. This embodiment does not limit the connection method between the biopsy needle 240 and the slider 230.

[0041] When using the magnetically driven capsule endoscope 10 provided in this embodiment, please refer to Figure 6 First, the patient can swallow the magnetically driven capsule endoscope 10, and change the direction and strength of the magnetic field of the magnetic control device as needed, so that the magnetically driven capsule endoscope 10 moves in the intestine 20 to the location of the suspected lesion 30 in a magnetically dragged manner under the drive of the external magnetic field.

[0042] See also Figure 7 After the magnetically driven capsule endoscope 10 reaches the position of the suspected lesion 30, the direction and strength of the magnetic field of the magnetic control device can be further adjusted to align the perforation 102 of the magnetically driven capsule endoscope 10 with the position of the suspected lesion 30 in preparation for sampling.

[0043] Please continue reading Figure 7After the perforation 102 of the magnetically driven capsule endoscope 10 is aligned with the position of the suspicious lesion 30, the magnetic control device can apply a rotating magnetic field in a positive direction to the permanent magnet 210 by permanent magnet drive and / or electromagnetic drive, and the rotating magnetic field drives the permanent magnet 210 to rotate. According to the characteristics of the Scotch crank mechanism, while the permanent magnet 210 rotates, the slide column 220 can rotate with the rotation of the permanent magnet 210, and the slider 230 can move on the guide rail 103 with the rotation of the slide column 220 and drive the biopsy needle 240 to pass through the perforation 102 to the outside of the accommodating cavity 101 to sample the suspicious lesion 30, wherein the length of the biopsy needle 240 extending out of the perforation 102 is directly proportional to the size of the applied rotating magnetic field.

[0044] Finally, see Figure 8 After the biopsy needle 240 is inserted into the suspicious lesion 30, the magnetic control device can apply a rotating magnetic field in the opposite direction to the permanent magnet 210 through permanent magnet drive and / or electromagnetic drive. In this way, the permanent magnet 210 will rotate, the slide column 220 can rotate with the rotation of the permanent magnet 210, and the slider 230 can move on the guide rail 103 with the rotation of the slide column 220 and drive the biopsy needle 240 to retract from the perforation 102 to the accommodating cavity 101, completing the entire sampling process.

[0045] Compared with the prior art, the magnetically driven capsule endoscope 10 provided in the present embodiment is only provided with a single permanent magnet 210, and the single permanent magnet 210, the slide column 220, the slider 230 and the guide rail 103 on the inner wall of the accommodating chamber 101 constitute a Scotch crank mechanism. With such a configuration, the permanent magnet 210 is driven to rotate by an external magnetic control device, and the motion characteristics of the Scotch crank mechanism are utilized to efficiently convert the rotational motion of the permanent magnet 210 into the linear motion of the biopsy needle 240. The overall structure of the magnetically driven capsule endoscope 10 is simple, compact, easy to manufacture and maintain, and only one permanent magnet 210 is provided inside the housing 100, thereby reducing possible failure points and improving reliability.

[0046] Furthermore, the biopsy module 200 can efficiently convert rotational motion into reciprocating linear motion; the motion process is smooth and stable, with little vibration and impact, and can also achieve multiple repeated sampling.

[0047] In addition, the biopsy needle 240 of the magnetically driven capsule endoscope 10 provided in this embodiment can achieve a controllable reciprocating stroke with a relatively large amplitude and a large sampling range, and is suitable for the inspection of the entire intestinal tract 20 .

[0048] In another embodiment of the present application, please refer to Figure 4The slide groove 231 is a linear slide groove, and the extension direction of the slide groove 231 is perpendicular to the penetration direction of the perforation 102 (i.e., the length direction of the biopsy needle 240) and the axial direction of the permanent magnet 210. The two ends of the cross section of the slide groove 231 are semicircular, the middle part of the cross section of the slide groove 231 is rectangular, and the cross section of the slide column 220 is circular.

[0049] The magnetically driven capsule endoscope 10 provided in this embodiment has a linear slide groove 231 on the slider 230. The linear slide groove can reduce friction loss, more effectively convert rotary motion into linear motion, improve the efficiency of power transmission, and the linear slide groove is conducive to making the movement of the slide column 220 more stable and controllable, and is conducive to maintaining the stability and accuracy of the movement. In addition, the linear slide groove is simpler in design than other shapes of slide grooves, and only needs to be cut in a straight line, which can also reduce manufacturing costs and processing difficulties.

[0050] In another embodiment of the present application, please refer to Figure 3 The shell 100 is a cylindrical structure, the through hole 102 penetrates the outer wall of the shell 100 along the radial direction of the shell 100, and the permanent magnet 210 is arranged in the accommodating cavity 101 along the axial direction of the shell 100; the magnetically driven capsule endoscope 10 also includes an image acquisition module (not shown in the figure, the same below), the image acquisition module and the biopsy module 200 are arranged in sequence in the axial direction of the shell 100, and the image acquisition module is arranged at one end or both ends of the shell 100.

[0051] Specifically, the image acquisition module may include one camera or two cameras. When it includes one camera, the camera is located at one end of the biopsy module 200. When it includes two cameras, the two cameras are respectively located at both ends of the biopsy module 200, and can be set as needed.

[0052] Optionally, the magnetically driven capsule endoscope 10 provided in this embodiment is further provided with an energy supply module (not shown in the figure, the same below), a control module (not shown in the figure, the same below) and a communication module (not shown in the figure, the same below), and the energy supply module, the control module and the communication module can be selectively arranged at any end of the biopsy module 200. That is, any one of the energy supply module, the control module and the communication module is arranged in sequence with the biopsy module 200 in the axial direction of the housing 100.

[0053] The magnetically driven capsule endoscope 10 provided in this embodiment sets the biopsy module 200 in the middle part of the shell 110 in the axial direction, and can provide sufficient installation space for modules such as the image acquisition module at both ends of the shell 110, so that the image acquisition module can provide visual guidance for the extension and retraction of the biopsy module 200; on the other hand, the perforation 102 and the biopsy needle 240 can be kept away from modules such as the image acquisition module as much as possible to avoid contamination of the internal components of the magnetically driven capsule endoscope 10, thereby improving the reliability of the magnetically driven capsule endoscope 10.

[0054] In another embodiment of the present application, please refer to Figure 5 Two protrusions 120 are convexly arranged on the wall of the accommodating cavity 101. The two protrusions 120 are arranged opposite to each other and spaced apart in the radial direction of the housing 100. A guide rail 103 is formed between the two protrusions 120. The spacing between the two protrusions 120 is equal to the length of the slider 230. In this way, the slider 230 can be embedded in the guide rail 103. The slider 230 and the guide rail 103 are at the same position in the axial direction of the housing 100, which is conducive to shortening the axial dimension of the housing 100, making the overall structure of the magnetically driven capsule endoscope 10 more compact and the design more lightweight.

[0055] In another embodiment of the present application, please refer to Figure 3 and Figure 4 The biopsy module 200 further includes a mounting seat 250 , which is coaxially arranged with the permanent magnet 210 , one end of the mounting seat 250 is fixedly sleeved on the outer side of the permanent magnet 210 , and the other end of the mounting seat 250 is provided with a sliding column 220 .

[0056] Specifically, a circular groove may be provided on one side of the mounting seat 250 close to the permanent magnet 210, and the permanent magnet 210 may be inserted into the groove by interference fit, so as to achieve a fixed connection between the mounting seat 250 and the permanent magnet 210. The mounting seat 250 may be integrally formed with the slide post 220, or may be separately formed with the slide post 220 and then connected as a whole, and may be configured as required, and this embodiment does not make a sole limitation thereto.

[0057] Generally, due to the magnetic requirements of the permanent magnet 210, it is usually necessary to be made of a material with good magnetic properties, while the slide column 220 and the slide groove 231 slide with each other, and usually do not need to have magnetism, but need to have good structural strength. The magnetically driven capsule endoscope 10 provided in this embodiment makes the permanent magnet 210 and the slide column 220 indirectly fixedly connected through the mounting base 250, which can facilitate the permanent magnet 210 and the slide column 220 to be made of two different materials, and also facilitate the permanent magnet 210 and the slide column 220 to be connected to each other.

[0058] In another embodiment of the present application, please refer to Figure 3 and Figure 4The biopsy module 200 further includes a bearing 260 , which is sleeved on the outer side of the mounting seat 250 and has a clearance fit with the mounting seat 250 , and the outer side of the bearing 260 has an interference fit with the cavity wall of the accommodating cavity 101 .

[0059] It can be understood that the bearing 260 has a certain rigidity and strength, and the bearing 260 can be a plastic bearing or other types of bearings.

[0060] Specifically, the bearing 260 may be configured as a thrust bearing capable of withstanding the load and torque generated by the rotation of the permanent magnet 210 , the mounting seat 250 , and the sliding column 220 .

[0061] The magnetically driven capsule endoscope 10 provided in this embodiment has a bearing 260 disposed between the mounting seat 250 and the housing 100. The bearing 260 can better withstand the load and torque brought by the rotational motion, reduce friction and wear, and help extend the service life of the mounting seat 250 and the housing 100 and reduce maintenance costs.

[0062] In another embodiment of the present application, please refer to Figure 3 The cavity wall of the accommodating cavity 101 has a first step surface 1011, and the mounting seat 250 has a second step surface 251. The first step surface 1011 and the second step surface 251 are both perpendicular to the axial direction of the outer shell 100. The end surface of the mounting seat 250 close to the permanent magnet 210 abuts against the first step surface 1011, and the end surface of the bearing 260 close to the permanent magnet 210 abuts against the second step surface 251.

[0063] With such a configuration, the first step surface 1011 can limit the movement of the mounting seat 250 in the direction from the mounting seat 250 to the permanent magnet 210, and further limit the movement of the mounting seat 250, the sliding column 220 and the permanent magnet 210 to form a whole in the direction from the mounting seat 250 to the permanent magnet 210, and the second step surface 251 can limit the movement of the bearing 260 in the direction close to the permanent magnet 210. With such a configuration, it is only necessary to use the bearing 260 to limit the movement of the mounting seat 250, the sliding column 220 and the permanent magnet 210 to form a whole in the direction from the permanent magnet 210 to the mounting seat 250, and limit the movement of the bearing 260 in the direction away from the permanent magnet 210, so that all structures of the magnetically driven capsule endoscope 10 can be limited in the axial direction of the shell 100, so that the permanent magnet 210 can stably rotate in the shell 110, and the overall structure is compact and simple.

[0064] In another embodiment of the present application, please refer to Figure 3 The housing 100, the slider 230 and the bearing 260 are all made of transparent materials.

[0065] Specifically, the sliding column 220 and the mounting seat 250 may also be made of transparent material.

[0066] Specifically, the housing 100 , the sliding column 220 , the sliding block 230 , the mounting seat 250 and the bearing 260 can all be manufactured by 3D printing technology.

[0067] The magnetically driven capsule endoscope 10 provided in this embodiment is configured to be made of transparent materials, such that the housing 100, the slider 230 and the bearing 260 are all made of transparent materials, so that the magnetically driven capsule endoscope 10 has good transparency, and it is convenient to clearly observe the rotation of the permanent magnet 210, the slider 220 and the mounting seat 250 inside the magnetically driven capsule endoscope 10, so as to monitor the biopsy sampling process. In addition, when an image acquisition module is provided inside the magnetically driven capsule endoscope 10, it is also convenient for the image acquisition function module to work normally.

[0068] In another embodiment of the present application, the through hole 102 is filled with an elastic filler, and the elastic filler is biocompatible.

[0069] It can be understood that the elastic filler can undergo elastic deformation and is similar to biological tissue and has biocompatibility. When the biopsy needle 240 extends from the perforation 102 to the outside of the accommodating cavity 101, the elastic filler will be compressed or pushed away due to the movement of the biopsy needle 240, so that the biopsy needle 240 can smoothly pass through the perforation 102 and enter the area to be sampled. After the biopsy needle 240 is inserted into the area to be sampled, when the biopsy needle 240 is retracted, the elastic filler will restore its original shape due to the retraction of the biopsy needle 240 and close the perforation 102. It can be seen that in the process of the biopsy needle 240 passing through and retracting, the elastic filler can always better close the perforation 102, and can isolate the internal environment of the magnetically driven capsule endoscope 10 from the outside, which is beneficial to improve the reliability and service life of the magnetically driven capsule endoscope 10.

[0070] The present application also provides a magnetically driven biopsy system, which includes a magnetically controlled device and the magnetically driven capsule endoscope 10 , wherein the magnetically controlled device is used to drive the permanent magnet 210 to rotate around the axial direction of the permanent magnet 210 .

[0071] Specifically, the magnetic control device can apply magnetic force or magnetic torque to the permanent magnet 210 through electromagnetic drive and / or permanent magnet drive to drive the permanent magnet 210 to rotate around the axis of the permanent magnet 210, or drive the magnetically driven capsule endoscope 10 to move as a whole in the patient's intestine 20.

[0072] Since the magnetically driven biopsy system adopts all the embodiments of the magnetically driven capsule endoscope 10, it has at least all the beneficial effects of the above embodiments, which will not be described one by one here.

[0073] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A magnetically driven capsule endoscope, characterized in that: The magnetically driven capsule endoscope comprises: The housing has a receiving cavity and a through hole, wherein the through hole connects the receiving cavity with the outside of the housing, a guide rail is formed on the cavity wall of the receiving cavity, and the extension direction of the guide rail is parallel to the penetration direction of the through hole; The biopsy module comprises a permanent magnet, a sliding column, a slider and a biopsy needle. The permanent magnet is arranged in the accommodating cavity and its axial direction is perpendicular to the penetration direction of the perforation. The permanent magnet is radially magnetized and can rotate around its own axial direction under the driving action of an external magnetic control device; the sliding column is arranged at one end of the permanent magnet, the axial direction of the sliding column is eccentrically arranged with the axial direction of the permanent magnet, and the sliding column can rotate around the axial direction of the permanent magnet with the permanent magnet; the slider is arranged in the accommodating cavity and slidably cooperates with the guide rail, and the slider is provided with a sliding groove that slidably cooperates with the sliding column, and can slide back and forth on the guide rail as the sliding column rotates; the biopsy needle is arranged on the sliding column and its axial direction coincides with the axial direction of the perforation, and can pass through the perforation or retract into the accommodating cavity as the slider slides back and forth.

2. The magnetically driven capsule endoscope according to claim 1, characterized in that: The slide groove is a linear slide groove, the extension direction of the slide groove is perpendicular to the penetration direction of the perforation and the axial direction of the permanent magnet, and the two ends of the cross section of the slide groove are semicircular, the middle part of the cross section of the slide groove is rectangular, and the cross section of the slide column is circular.

3. The magnetically driven capsule endoscope according to claim 1, characterized in that: The shell is a cylindrical structure, the through hole penetrates the outer wall of the shell along the radial direction of the shell, and the permanent magnet is arranged in the accommodating cavity along the axial direction of the shell; the magnetically driven capsule endoscope also includes an image acquisition module, the image acquisition module and the biopsy module are arranged in sequence in the axial direction of the shell, and the image acquisition module is arranged at one end or both ends of the shell.

4. The magnetically driven capsule endoscope according to claim 3, characterized in that: Two protrusions are convexly arranged on the cavity wall of the accommodating cavity. The two protrusions are arranged opposite to each other and spaced apart in the radial direction of the shell. The guide rail is formed between the two protrusions. The spacing between the two protrusions is equal to the length of the slider.

5. The magnetically driven capsule endoscope according to claim 3, characterized in that: The biopsy module also includes a mounting seat, which is coaxially arranged with the permanent magnet. One end of the mounting seat is fixedly sleeved on the outer side of the permanent magnet, and the other end of the mounting seat is provided with the sliding column.

6. The magnetically driven capsule endoscope according to claim 5, characterized in that: The biopsy module also includes a bearing, which is sleeved on the outer side of the mounting seat and has a clearance fit with the mounting seat, and the outer side of the bearing has an interference fit with the cavity wall of the accommodating cavity.

7. The magnetically driven capsule endoscope according to claim 6, characterized in that: The cavity wall of the accommodating cavity has a first step surface, and the mounting seat has a second step surface. The first step surface and the second step surface are both perpendicular to the axial direction of the shell. The end surface of the mounting seat close to the permanent magnet abuts against the first step surface, and the end surface of the bearing close to the permanent magnet abuts against the second step surface.

8. The magnetically driven capsule endoscope according to claim 6, characterized in that: The housing, the slider and the bearing are all made of transparent materials.

9. The magnetically driven capsule endoscope according to any one of claims 1 to 8, characterized in that: The perforation is filled with an elastic filler, and the elastic filler has biocompatibility.

10. A magnetically driven biopsy system, characterized in that: The magnetically driven biopsy system comprises a magnetic control device and the magnetically driven capsule endoscope according to any one of claims 1 to 9, wherein the magnetic control device is used to drive the permanent magnet to rotate around the axial direction of the permanent magnet and to drive the magnetically driven capsule endoscope to move.

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