Worm-imitating structure digestive tract examination and minimally invasive treatment device
Through digestive tract examination and minimally invasive treatment devices that imitate worm structures, multimodal perception and intelligent operation are integrated, which solves the problems of high pain and low operation accuracy in traditional digestive tract examination and treatment, and achieves high-precision examination and treatment.
Patent Information
- Application Number
- CN202510360370.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-25
- Publication Date
- 2025-08-01
AI Technical Summary
Traditional gastrointestinal examination and minimally invasive treatment techniques have problems such as high pain in patients, low operational accuracy, insufficient functional integration and low intelligence, making it difficult to achieve accurate diagnosis and treatment in complex gastrointestinal tracts.
It adopts digestive tract examination and minimally invasive treatment devices with imitation of worm structures, integrates micro cameras, LED lighting, micro ultrasound probes and micro actuators, simulates worm peristalsis propulsion through flexible joints, and combines multimodal perception and intelligent operation to achieve high-precision inspection and treatment.
It improves patient comfort, enhances operational flexibility and accuracy, realizes multimodal perception fusion and intelligent diagnosis and treatment, and reduces the risk of damage to surrounding tissues.
Smart Images
Figure CN120391981A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of medical devices, and particularly to a worm-like structure digestive tract inspection and minimally invasive treatment device. Background Art
[0002] As the mainstream method, traditional digestive endoscopy relies on a slender tubular structure to be inserted into the digestive tract and is advanced by external force traction. During this operation, patients often suffer great pain and discomfort, which easily cause adverse reactions such as nausea and vomiting. Some patients even refuse necessary examinations due to unbearable pain, thus delaying the diagnosis of the disease. Moreover, due to the complex structure of the human digestive tract, with many curved and folded parts, the passability of traditional endoscopes in these areas is poor, making it difficult to comprehensively and carefully observe the inner wall of the digestive tract, and it is easy to miss diseased tissues, resulting in misdiagnosis or missed diagnosis. According to clinical research statistics, the missed diagnosis rate of traditional endoscopes in complex digestive tract parts can reach 10%-15%.
[0003] In terms of treatment, although certain progress has been made in traditional minimally invasive treatment techniques under endoscopy, challenges still remain. On the one hand, the operation flexibility and precision of existing treatment instruments are limited, making it difficult to accurately excise, stop bleeding, etc. of diseased tissues in the narrow and complex digestive tract space. For example, during the excision of a small polyp, traditional instruments may not be able to accurately control the excision range, resulting in polyp residue or over-excision, increasing the risk of postoperative recurrence or causing complications for patients. On the other hand, the protection of surrounding normal tissues during the treatment process is insufficient, easily causing unnecessary thermal damage or mechanical damage. Research shows that about 20%-30% of patients will experience varying degrees of thermal damage to surrounding tissues after traditional minimally invasive treatment, affecting the patient's recovery process and quality of life.
[0004] In addition, there are also deficiencies in the functional integration and intelligent level of current digestive tract inspection and treatment devices. Most devices only have a single inspection or treatment function and cannot complete comprehensive inspection and precise treatment in one operation. At the same time, the lack of multi-modal perception fusion technology cannot fully obtain various information of digestive tract tissues, such as blood vessel distribution, oxygen metabolism state, tissue hardness, etc., limiting the accurate diagnosis and evaluation of diseases. Moreover, the interaction method between the device and the doctor is relatively single, mainly relying on manual operation, lacking intelligent auxiliary diagnosis and control functions, requiring high operation experience from doctors, and increasing the operation difficulty and risk.
[0005] In summary, the existing digestive tract examination and minimally invasive treatment technologies have many limitations in terms of patient experience, operation accuracy, function integration, and intelligence. Therefore, there is an urgent clinical need and important practical significance to develop a new type of digestive tract examination and minimally invasive treatment device that can improve patient comfort, enhance operation flexibility and accuracy, achieve multi-modal perception fusion, and intelligent diagnosis and treatment. Summary of the Invention
[0006] The present invention provides a digestive tract examination and minimally invasive treatment device with a worm-like structure, which can solve many problems existing in the existing digestive tract examination and minimally invasive treatment technologies in terms of patient experience, operation accuracy, function integration, and intelligence.
[0007] To achieve the above object, the present invention provides the following technical solution: A digestive tract examination and minimally invasive treatment device with a worm-like structure, comprising a head unit and a body module connected to the head unit. The body module is composed of a number of body segment units connected end to end. The front end of the head unit is integrated with a micro camera, an LED illumination light source, and a micro ultrasonic probe. The body segment unit includes an elastic material main body with a hollow middle part and a micro actuator arranged inside the elastic material main body. A spraying device, a treatment instrument channel, and a micro treatment device extending from the treatment instrument channel are arranged at the tail of the body module. A rechargeable power supply for internal power supply and a wireless communication module are installed in the head unit or the body module. The head unit can realize image and data acquisition. The body module is connected by flexible joints to simulate worm peristalsis propulsion and adapt to complex digestive tract structures. The spraying device and the treatment instrument channel arranged at the tail can be used for direction adjustment, tissue sampling, and minimally invasive treatment. It is powered by a micro rechargeable battery and wireless charging technology and realizes data transmission and real-time interaction through the wireless communication module. This device can improve patient comfort, enhance the accuracy of examination and treatment, achieve multi-modal perception fusion and intelligent operation, and has important clinical application value.
[0008] Preferably, the elastic material main body of the body segment unit includes a simulated circular muscle and a simulated longitudinal muscle. The micro actuator is arranged inside the simulated circular muscle and the simulated longitudinal muscle. The cooperation of the simulated circular muscle, the simulated longitudinal muscle, and the micro actuator can achieve local deformation control with an accuracy of up to 0.1 mm.
[0009] Preferably, a protective layer is arranged on the outer side of the elastic material main body of the body segment unit. The protective layer is made of a hydrogel material with chitosan nanofibers incorporated therein, which effectively reduces the friction coefficient with the digestive tract mucosa, and the chitosan nanofibers can promote the repair of digestive tract mucosal damage.
[0010] Preferably, the micro actuator is a piezoelectric ceramic actuator, which is arranged at intervals of 120° along the circumferential direction of the elastic material. Its response time is extremely short, less than 5 ms. When combined with the shape memory alloy framework, the device can maintain an optimal contact stress of 0.8 - 1.2 kPa in the lumen with a diameter of 15 - 50 mm.
[0011] Preferably, the injection device is a pulsed microchannel gas nozzle, which can achieve precise fine-tuning of the device's attitude.
[0012] Preferably, there are 8 - 10 injection devices, which are evenly arranged around the treatment instrument channel.
[0013] Preferably, the micro treatment device includes a micro scalpel or a laser fiber emitter or a sampling forceps, which can perform minimally invasive treatment operations such as polyp resection and hemostasis.
[0014] Preferably, the wireless communication module is a UWB transmission module and a near-field magnetic coupling transmission transceiver coil, which can ensure that the data transmission rate can still be maintained at more than 50 kbps in a complex electromagnetic interference environment, guaranteeing the stability and reliability of communication.
[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: Adopting a brand-new structure, the head unit can realize image and data acquisition. The body module is connected by flexible joints, simulating worm peristalsis propulsion to adapt to complex digestive tract structures. The tail is provided with an injection device and a treatment instrument channel, which can be used for direction adjustment, tissue sampling, and minimally invasive treatment. It is powered by a micro rechargeable battery and wireless charging technology, and data transmission and real-time interaction are achieved through a wireless communication module. This device can improve patient comfort, enhance the accuracy of examination and treatment, realize multi-modal perception fusion and intelligent operation, and has important clinical application value. It can improve patient comfort, enhance operation flexibility and accuracy, realize multi-modal perception fusion, and intelligent diagnosis and treatment. Description of the Drawings
[0016] Figure 1 It is the overall structure diagram of the present invention; Figure 2 It is the tail structure diagram of the body module of the present invention; Figure 3 It is the cross-sectional structure diagram of the body segment unit of the present invention; Figure 4 It is the end structure diagram of the head unit of the present invention;
[0017] Reference Signs: 1. Head unit, 11. Micro ultrasonic probe, 12. LED illumination light source, 13. Micro camera, 2. Somite unit, 21. Simulated circular muscle, 22. Micro actuator, 23. Protective layer, 24. Simulated longitudinal muscle, 3. Micro treatment device, 4. Injection device. Detailed implementation manners
[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
[0019] The present invention aims to solve many problems existing in the existing digestive tract examination and minimally invasive treatment technologies in terms of patient experience, operation accuracy, function integration, and intelligence. As Figures 1-4 shown, the following technical solutions are provided: A digestive tract examination and minimally invasive treatment device with a worm-like structure includes a head unit 1 and a body module connected to the head unit 1. The body module is composed of a number of somite units 2 connected end to end. The front end of the head unit 1 is integrated with a micro camera 13, an LED illumination light source 12, and a micro ultrasonic probe 11. The somite unit 2 includes an elastic material main body with a hollow middle part and a micro actuator 22 arranged inside the elastic material main body. The tail of the body module is provided with an injection device 4, a treatment instrument channel, and a micro treatment device 3 extending from the treatment instrument channel. A charging power supply for internal power supply and a wireless communication module are installed in the head unit 1 or the body module. The head unit 1 can realize image and data acquisition. The body module is connected through flexible joints to simulate worm peristalsis propulsion to adapt to complex digestive tract structures. The injection device and the treatment instrument channel provided at the tail can be used for direction adjustment, tissue sampling, and minimally invasive treatment. It is powered by a micro rechargeable battery and wireless charging technology, and data transmission and real-time interaction are realized through the wireless communication module. This device can improve patient comfort, enhance the accuracy of examination and treatment, realize multi-modal perception fusion and intelligent operation, and has important clinical application value.
[0020] Specifically, the micro-camera 13 is responsible for capturing high-definition images inside the digestive tract in real time, providing an intuitive observation basis for doctors. The LED illumination light source 12 provides sufficient and uniform illumination to ensure clear imaging of the camera. The micro-ultrasound probe 11 can image deep tissues, assisting doctors in accurately judging the depth and scope of lesions and providing key information for subsequent treatment. Among them, the micro-camera 13 can be equipped with a laser speckle blood flow imaging module with a wavelength of 785 nm and a resolution of up to 50 μm, as well as a narrow-band spectral imaging system covering three bands of 415 / 540 / 570 nm. This combination can synchronously obtain tissue surface blood vessel distribution and deep oxygen metabolism data, providing comprehensive and detailed lesion information for doctors. In addition, the ultrasound probe uses a 40 MHz high-frequency array with an axial resolution of 80 μm. Combining with an AI-assisted elastography algorithm, it can automatically label the lesion hardness grade with an accuracy of up to Shore A scale ±0.5, further improving the accuracy of diagnosis.
[0021] The micro-camera 13, LED illumination light source 12, and micro-ultrasound probe 11 of the head unit 1 are integrally manufactured using high-precision microelectromechanical system (MEMS) technology to ensure the tight combination and stable performance of each component. The body segment unit 2 of the body module is manufactured by 3D printing technology, and a high-strength, lightweight, and biocompatible material is selected to ensure the structural strength and flexibility of the unit. The jet device 4 at the tail can be gas jet or liquid jet. The micro-treatment device 3 and the treatment instrument channel are manufactured using microfabrication technology to ensure the dimensional accuracy and functional reliability of each component. Specifically, as Figure 2 shown, the jet device 4 is a pulsed microchannel gas nozzle to achieve precise fine-tuning of the device attitude. There are 8 - 10 jet devices 4, which are evenly arranged around the treatment instrument channel. The diameter of the jet device 4 is 200 μm. Through pulsed gas jet with a frequency between 1 - 10 Hz, precise fine-tuning of the device attitude is achieved. In the in vitro intestinal tube test, it only takes 8 seconds to complete a 360° sharp turn, demonstrating excellent flexibility.
[0022] In addition, the micro-treatment device 3 includes a micro-scalpel or a laser fiber emitter or a sampling forceps to perform minimally invasive treatment operations such as polyp resection and hemostasis. An advanced self-feedback electrocoagulation system can be integrated on the micro-treatment device 3. Through real-time impedance monitoring, the radiofrequency energy is precisely adjusted in the range of 1 - 50 W with an accuracy of up to ±0.5 W. In the in vitro porcine stomach experiment, this system successfully achieved precise hemostasis of blood vessels with a diameter of 3 mm, and the depth of thermal damage was less than 500 μm, effectively reducing the damage to surrounding tissues. At the same time, the modular instrument cabin is ingeniously designed, supporting rapid replacement of the head end. Six treatment modules such as a cold snare, a laser fiber (wavelength 2100 nm), and a drug sustained-release capsule can be conveniently switched within 30 seconds to meet different treatment needs.
[0023] In this embodiment, as Figure 3 shown, the elastic material body of the somite unit 2 includes a simulated circular muscle 21 and a simulated longitudinal muscle 24. The micro actuator 22 is arranged inside the simulated circular muscle 21 and the simulated longitudinal muscle 24. The cooperation of the simulated circular muscle 21, the simulated longitudinal muscle 24 and the micro actuator 22 can achieve local deformation control with an accuracy of up to 0.1 mm. The simulated circular muscle 21 and the simulated longitudinal muscle 24 form a "circular muscle-longitudinal muscle" bimodal drive system carefully designed by using a topology optimization algorithm. At the same time, the micro actuator 22 is a piezoelectric ceramic actuator, which is arranged at intervals of 120° along the circumferential direction of the elastic material. Its response time is extremely short, less than 5 ms. Cooperating with a shape memory alloy skeleton, the device can maintain an optimal contact stress of 0.8-1.2 kPa in a lumen with a diameter of 15-50 mm. Through experimental verification, in the pig colon model test, the average propulsion speed of the device reaches 12 cm / min, which is 3 times higher than that of the traditional colonoscope at 4 cm / min, and no external force traction is required, greatly improving the examination efficiency and patient comfort.
[0024] In this embodiment, a protective layer 23 is arranged on the outer side of the elastic material body of the somite unit 2. The protective layer 23 is made of a hydrogel material with chitosan nanofibers incorporated therein, which effectively reduces the friction coefficient with the digestive tract mucosa. The inner layer of the protective layer 23 incorporates chitosan nanofibers, and the porosity reaches 85% to promote the repair of digestive tract mucosal damage. The hydrogel material can adopt a gradient hydrogel material, and the surface is a PEGDA coating with a contact angle of 15°.
[0025] In this embodiment, the wireless communication module is a UWB transmission module and a near-field magnetic coupling transmission and reception coil, ensuring that the data transmission rate can still be maintained at more than 50 kbps in a complex electromagnetic interference environment, guaranteeing the stability and reliability of communication. Among them, UWB is a carrierless communication technology that transmits data by sending and receiving extremely narrow pulses with nanosecond or even picosecond levels. These pulses have a very wide bandwidth and use the impulse characteristics of narrow pulses to carry information. Instead of using traditional sine carriers for modulation, it directly performs pulse modulation on the baseband signal, modulating the information onto parameters such as the amplitude, width, and position of the pulses. Near-field magnetic coupling is a method of energy transmission and signal transmission based on magnetic fields. When a coil carrying an alternating current (transmitting coil) generates an alternating magnetic field, another coil (receiving coil) nearby will generate an induced electromotive force due to the change in magnetic flux, thereby achieving the transmission of energy or signals. This coupling method has a significant effect at close range. As the distance increases, the magnetic field strength rapidly decays and the coupling efficiency decreases. In addition, an emergency release device is provided. When the temperature sensor detects local overheating, the temperature exceeds 42 °C, or the pressure exceeds the threshold of 3 kPa, the shape memory alloy latch is automatically triggered to quickly release the treatment module to avoid further harm to the patient.
[0026] In this embodiment, a hybrid navigation technology based on electromagnetic positioning (accuracy 0.5 mm) and SLAM algorithm can be adopted. In the gastric body model experiment, a three-dimensional topological map was successfully reconstructed with an error of less than 2%. The system can automatically plan the optimal path, effectively avoid the folded dead corners in the digestive tract, and ensure that the device accurately reaches the target position.
[0027] In this embodiment, a human-machine interaction interface can also be set. The human-machine interaction interface includes a display. The doctor's console is equipped with a high-refresh-rate 3D polarized light field display with a refresh rate of up to 120 Hz, providing doctors with clear and realistic image displays. At the same time, it supports force feedback operations with an accuracy of up to 5 mN, as well as voice command control, making doctors' operations more convenient and precise. In addition, a ResNet-152 deep learning-assisted diagnosis system trained based on 100,000 endoscopic images has a sensitivity of up to 92.3% (AUC = 0.89) for the identification of early gastric cancer, providing reliable diagnostic assistance for doctors.
[0028] Before using the device in this embodiment, system debugging and calibration are required. Specifically, after the device is assembled, the navigation control system is comprehensively debugged. By conducting multiple tests in a standard digestive tract model, the accuracy of the electromagnetic positioning system is calibrated to ensure the fusion effect with the SLAM algorithm, and the reconstruction error of the three-dimensional topological map is controlled within the specified range. The peristaltic propulsion system is debugged to optimize the control parameters of the micro actuator 22 to ensure that the device can move forward stably and smoothly in simulated digestive tracts with different diameters and curvatures. At the same time, the multi-modal perception system and the closed-loop treatment system are calibrated to ensure that the performance of each sensor and treatment instrument reaches the design specifications.
[0029] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.
[0030] In addition, in the present invention, descriptions such as "primary" and "secondary" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "primary" and "secondary" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.
[0031] In the present invention, unless otherwise clearly specified and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0032] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.
Claims
1. A digestive tract inspection and minimally invasive treatment device with a worm-like structure, characterized in that It includes a head unit (1) and a body module connected to the head unit (1). The body module is composed of a number of sequentially connected body segment units (2). A micro camera (13), an LED illumination light source (12), and a micro ultrasonic probe (11) are integrated at the front end of the head unit (1). Each body segment unit (2) includes an elastic material main body with a hollow middle part and a micro actuator (22) arranged inside the elastic material main body. A jetting device (4), a treatment instrument channel, and a micro treatment device (3) extending from the treatment instrument channel are provided at the tail of the body module. A charging power source for internal power supply and a wireless communication module are installed inside the head unit (1) or the body module.
2. The digestive tract inspection and minimally invasive treatment device with a worm-like structure according to claim 1, characterized in that: The elastic material main body of the body segment unit (2) includes an annular muscle simulation part (21) and a longitudinal muscle simulation part (24). The micro actuator (22) is arranged inside the annular muscle simulation part (21) and the longitudinal muscle simulation part (24).
3. The gastrointestinal tract inspection and minimally invasive treatment device with a worm-like structure according to claim 2, characterized in that: A protective layer (23) is provided on the outer side of the elastic material main body of the body segment unit (2). The protective layer (23) is made of a hydrogel material with chitosan nanofibers incorporated therein.
4. The digestive tract inspection and minimally invasive treatment device with a worm-like structure according to claim 2, characterized in that: The micro actuator (22) is a piezoelectric ceramic actuator and is arranged at intervals of 120° along the circumference of the elastic material.
5. The digestive tract inspection and minimally invasive treatment device with a worm-like structure according to claim 1, characterized in that: The jetting device (4) is a pulsed microchannel gas nozzle.
6. The digestive tract inspection and minimally invasive treatment device with a worm-like structure according to claim 5, characterized in that: There are 8 - 10 jetting devices (4), which are evenly arranged around the treatment instrument channel.
7. The gastrointestinal tract inspection and minimally invasive treatment device with a worm-like structure according to any one of claims 1-6, characterized in that: The micro treatment device (3) includes a micro scalpel, or a laser fiber transmitter, or a sampling forceps.
8. The gastrointestinal tract inspection and minimally invasive treatment device with a worm-like structure according to claim 1, characterized in that: The wireless communication module is a UWB transmission module and a near - field magnetic coupling transmission and reception coil.