Integrated diagnostic and therapeutic bronchial magnetically controlled capsule endoscopy device

Abstract

This utility model relates to a bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment, belonging to the field of medical device technology. The magnetically controlled capsule is connected to the side of the flexible tube near the target area. The treatment mechanism is located inside the magnetically controlled capsule, and the treatment mechanism is equipped with an exhaust mechanism to vent gas from the target area. Two sets of anchoring modules are respectively fitted onto the flexible tube and the magnetically controlled capsule. Under the action of a magnetic field, the flexible tube, the magnetically controlled capsule, the treatment mechanism, and the anchoring modules move along the bronchi of the lung. After the treatment mechanism aims at the target tissue, the rear anchoring balloon first inflates to fix the rear end of the flexible tube and initially vents gas from the target area through the treatment mechanism. Then, the front anchoring balloon inflates to fix the treatment mechanism, and then vents gas from the target area a second time, so that the lung is completely compressed and the target tissue will no longer deform with breathing. During the ablation process, the ablation needle can always be aligned with the target tissue without deviation.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment. Background Technology

[0002] Lung cancer is the leading cause of cancer death worldwide, consistently contributing significantly to mortality. Current mainstream treatments include surgery, chemotherapy, radiotherapy, molecular targeted therapy, and immunotherapy. Each has its own advantages and disadvantages. For early-stage lung cancer patients, surgical resection is the most effective treatment, offering the possibility of a cure. However, surgery is not suitable for all patients, especially those with advanced stages or serious comorbidities. Surgical risks and postoperative recovery time are also factors to consider. Percutaneous ablation for lung cancer is a minimally invasive treatment. Compared to traditional surgery, percutaneous ablation is less traumatic, allows for faster recovery, and has less impact on the patient's body. However, for tumors larger than 5 cm in diameter, the residual rate after ablation is high; lesions near large blood vessels and airways may not be completely ablated, increasing the risk of local recurrence. Although minimally invasive, it still carries risks of complications such as pneumothorax, pleural effusion, bleeding or hemoptysis, and pleural reaction. Bronchoscopic-assisted lung tumor ablation is a minimally invasive treatment method characterized by its minimally invasive nature, high efficiency, safety, rapid recovery, and high repeatability, providing a new treatment option for lung cancer patients who cannot undergo surgical resection. However, the development of this technology has been subject to some limitations and challenges. Performing ablation through the working channel of the bronchoscope presents difficulties, especially in precisely guiding the ablation electrode to the target tumor. Increased resistance in the radiofrequency pathway due to the large amount of gas in the lungs can hinder bronchoscope movement. The cooling properties of lung tissue due to blood flow and the deformation of the target tissue with respiration also make it difficult for the ablation needle to consistently target the tumor, resulting in poor ablation outcomes.

[0003] Therefore, devices suitable for bronchial access for lung cancer examination and treatment still need improvement. Utility Model Content

[0004] This utility model provides a bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment, and is used to solve at least one of the above-mentioned technical problems.

[0005] This utility model provides a bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment, including: hose; A magnetically controlled capsule is attached to the side of the tubing closest to the target area. The treatment mechanism, located inside the magnetically controlled capsule, extends from the capsule to treat target tissue. The treatment mechanism is equipped with magnetic material and is magnetically connected to an external magnetic field. It also includes an exhaust mechanism to vent gases from the target area. Anchoring modules, which are provided in at least two sets, are respectively fitted onto the hose and the magnetically controlled capsule.

[0006] In one embodiment, the magnetically controlled capsule includes: The capsule body has a magnetic material at its end, and a treatment mechanism channel that communicates with a soft tube is opened inside the capsule body. The end of the treatment mechanism near the target area is slidably connected to the capsule body through the treatment mechanism channel. A photoelectric conversion device is installed inside the capsule body; The lighting module is installed inside the capsule body and is electrically connected to the photoelectric conversion device; and An optical lens is installed inside the capsule body and is electrically connected to the photoelectric conversion device.

[0007] In one embodiment, the treatment facility includes: The treatment needle is located inside the capsule body; A wire is connected to the end of the treatment needle furthest from the target area; A temperature measurement module is installed on the treatment needle; and The positioning module is installed on the treatment needle.

[0008] In one embodiment, the treatment needle is fitted with a cannula, and the cannula has multiple channels evenly distributed circumferentially. A portion of the channels is used to store liquid, and a nozzle is provided at one end of the channel near the target area. The liquid is used to cool the treatment needle, cool lung tissue, clean lung tissue, or clean the lighting module and optical lens. Another portion of the channels is used to absorb gas and mucus from the lungs.

[0009] In one embodiment, the anchoring module includes: An anchoring airbag, mounted on a magnetically controlled capsule, is used to seal off branch bronchi in the target area; and The rear anchoring airbag, installed at the end of the hose furthest from the target area, is used to close the main bronchus of one lung.

[0010] In one embodiment, both the front anchoring airbag and the rear anchoring airbag have a deformable alloy layer inside.

[0011] In one embodiment, the integrated diagnostic and therapeutic bronchial magnetically controlled capsule endoscopy device further includes: robotic arms; and A permanent magnet is installed at the operating end of the robotic arm, and both the magnetically controlled capsule and the treatment mechanism are magnetically connected to the permanent magnet.

[0012] In one embodiment, the anchoring module fitted onto the magnetically controlled capsule has a treatment needle channel and a lighting module channel, and the treatment needle channel is connected to the treatment mechanism channel.

[0013] In one embodiment, the hose is a fully magnetic hose or a partially magnetic hose.

[0014] In one embodiment, when the hose is a partially magnetic hose, it includes: Magnetic Materials Department; and The non-magnetic material section, the magnetic material section, and the non-magnetic material section are all provided in multiple sets, and are arranged alternately.

[0015] Compared with existing technologies, the advantages of this invention lie in its use of dual robotic arms and two permanent magnets to control the magnetic field and guide the movement of the magnetically controlled capsule. The two permanent magnet system can generate a specific magnetic field, causing torque to be generated on the magnetic part of the capsule. Compared with a single permanent magnet, the dual permanent magnet system can generate gradient-free magnetic field manipulation and provides a higher magnetic flux density. This effectively reduces the force applied to human tissue. After the treatment mechanism aims at the target tissue, the anchoring module fixes the treatment mechanism, empties the gas from the target area, and seals it, preventing deformation of the target tissue due to breathing movements. This allows the treatment mechanism to continuously aim at the target tissue during ablation. Attached Figure Description

[0016] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0018] Figure 2 This is a schematic diagram of the flexible tube in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0019] Figure 3 This is a schematic diagram of the structure of the flexible tube and the magnetically controlled capsule in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0020] Figure 4 This is a cross-sectional schematic diagram of the magnetically controlled capsule in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0021] Figure 5 This is a cross-sectional schematic diagram of the treatment mechanism in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0022] Figure 6 This is a schematic diagram of the treatment mechanism in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0023] Figure 7 This is a schematic diagram of the deformable alloy layer in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0024] Figure 8 This is a schematic diagram of the structure of the robotic arm and permanent magnet in the bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment according to this utility model.

[0025] Figure label: 100. Tube; 101. Magnetic material section; 102. Non-magnetic material section; 200. Magnetically controlled capsule; 201. Capsule body; 202. Treatment mechanism channel; 203. Photoelectric conversion device; 204. Illumination module; 205. Optical lens; 300. Treatment mechanism; 301. Treatment needle; 302. Wire; 303. Temperature measurement module; 304. Positioning module; 305. Sleeve; 400. Anchoring module; 401. Front anchoring airbag; 402. Rear anchoring airbag; 403. Deformable alloy layer; 500. Robotic arm; 600. Permanent magnet. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings.

[0027] This utility model provides a bronchial magnetically controlled capsule endoscope device that integrates diagnosis and treatment, such as... Figures 1-8 The device includes: a flexible tube 100, a magnetically controlled capsule 200, a treatment mechanism 300, and an anchoring module 400. The magnetically controlled capsule 200 is connected to the side of the flexible tube 100 near the target area. The treatment mechanism 300 is disposed inside the magnetically controlled capsule 200 and is used to extend from the inside of the magnetically controlled capsule 200 to treat the target tissue. The treatment mechanism 300 is provided with magnetic material and is magnetically connected to an external magnetic field. The treatment mechanism 300 is provided with an exhaust mechanism to vent gas from the target area. At least two sets of anchoring modules 400 are provided, and they are respectively sleeved on the flexible tube 100 and the magnetically controlled capsule 200.

[0028] Specifically, the treatment unit 300 is a module containing an ablation needle. In the initial state, the tubing 100, the magnetically controlled capsule 200, the treatment unit 300, and the anchoring module 400 move along the bronchi of the lungs under the influence of a magnetic field. After the treatment unit 300 aims at the target tissue, the rear anchoring airbag 402 first inflates to fix the rear end of the tubing 100 and initially empties the gas in the target area through the treatment unit 300. Then, the front anchoring airbag 401 inflates to fix the treatment unit 300. Then, the gas in the target area is emptied a second time, so that the lungs are completely compressed and the target tissue will no longer deform with breathing. At this time, ablation is performed. During the ablation process, the ablation needle can always be aligned with the target tissue without deviation.

[0029] Furthermore, in the technical solution of this utility model, the ablation needle is set inside the treatment mechanism 300. When the device moves as a whole, the ablation needle is always inside the treatment mechanism 300 until the device stops moving, is fixed, and the gas in the target area is vented. At this time, the ablation needle is extended to perform ablation treatment, thereby avoiding damage to the lungs by the ablation needle during the movement, fixing, and venting of the device.

[0030] Furthermore, the treatment mechanism 300 can utilize radiofrequency energy, microwave energy, cryoablation, irreversible electroporation, laser, etc. This treatment mechanism 300 is typically designed as a lead wire or treatment needle, unlike traditional bronchoscopes where treatment instruments are inserted via an instrument channel. This invention's device is pre-integrated with a capsule endoscope and can extend the endoscope's tip via an external control device. Magnetic materials can be placed on the magnetically controlled capsule 200 or mounted on the treatment mechanism 300, allowing for accurate entry into the target tissue under the guidance of an external magnetic field after the ablation needle is extended.

[0031] Specifically, the flexible tube 100 in this invention uses multiple segments of magnetic material 101 and non-magnetic material 102 arranged at intervals. The non-magnetic material 102 uses a softer material to provide better magnetic control and bending effect. Furthermore, the flexible tube 100 can also be made entirely of silicone mixed with magnetic microparticles and cured by mold. That is, no matter which form the flexible tube 100 in this invention takes, it must ensure its flexibility to avoid damaging the lungs and bronchi during movement.

[0032] Furthermore, regardless of which form of hose 100 is used, it contains magnetic material, which can be magnetically connected to permanent magnet 600, thereby using robotic arm 500 to operate permanent magnet 600 to drive hose 100 to move.

[0033] Preferably, the magnetically controlled capsule 200 includes: a capsule body 201, a photoelectric conversion device 203, an illumination module 204, and an optical lens 205. The end of the capsule body 201 is provided with a magnetic material. The capsule body 201 has a treatment mechanism channel 202 that communicates with the flexible tube 100. The end of the treatment mechanism 300 near the target area is slidably connected to the capsule body 201 through the treatment mechanism channel 202. The photoelectric conversion device 203 is installed inside the capsule body 201. The illumination module 204 is installed inside the capsule body 201 and is electrically connected to the photoelectric conversion device 203. The optical lens 205 is installed inside the capsule body 201 and is electrically connected to the photoelectric conversion device 203.

[0034] Specifically, if the magnetic material at the end of the capsule body 201 is a rigid material, it can be a tubular structure made of neodymium iron boron. The magnetic material at the end of the capsule body 201 is magnetically connected to the permanent magnet 600, so that the operator can adjust the orientation of the end of the capsule body 201 by controlling the permanent magnet 600, so that the end of the capsule body 201 is aligned with the target tissue, that is, the ablation needle is aligned with the target tissue.

[0035] Furthermore, the technical solution of this utility model also includes a controller, which is electrically connected to the photoelectric conversion device 203, the illumination module 204, and the optical lens 205 respectively. The operator can connect an external imaging device to observe the ablation process in real time, and can flexibly adjust the illumination module 204 and the optical lens 205 through the controller. In the technical solution of this utility model, the photoelectric conversion device 203 is preferably a CMOS sensor circuit module. Each pixel unit of the CMOS sensor not only includes a photosensitive element (photodiode), but also integrates an amplifier, an analog-to-digital converter (ADC), a switching circuit, etc., and can directly complete the entire process of "photoelectric conversion → analog signal amplification → digital signal output" within the chip without the need for an external signal processing chip.

[0036] Furthermore, the lighting module 204 and the optical lens 205 can be configured to be rotatable, allowing the user to control the rotation of the lighting module 204 and the optical lens 205 via a controller, thereby expanding the field of view.

[0037] Preferably, the treatment mechanism 300 includes: a treatment needle 301, a wire 302, a temperature measuring module 303, and a positioning module 304. The treatment needle 301 is disposed inside the capsule body 201. The wire 302 is connected to the end of the treatment needle 301 away from the target area. The temperature measuring module 303 is installed on the treatment needle 301. The positioning module 304 is installed on the treatment needle 301.

[0038] Specifically, the treatment needle 301 described in this utility model is an ablation needle. Before the tubing 100, the magnetically controlled capsule 200, and the anchoring module 400 are moved into place, the treatment needle 301 is always located inside the magnetically controlled capsule 200. After the device is moved into place and fixed and vented, the treatment needle 301 extends to ablate the target tissue. In a specific embodiment of this utility model, magnetic material can also be provided on the treatment needle 301. After the tubing 100 and the magnetically controlled capsule 200 are fixed by the anchoring module 400, the magnetism of the permanent magnet 600 can no longer drive its movement. The treatment needle 301, which is not fixed, can move flexibly or adjust its direction under the drive of the permanent magnet 600, so that it can more accurately aim at the target tissue, or the treatment needle 301 can be directly electrically connected to an external controller through a wire, and the extension of the treatment needle 301 can be completed by electrical control.

[0039] Furthermore, if radiofrequency energy therapy is used, a temperature control module can be set up to cool the treatment unit 300 and the lung tissue. The temperature measurement module 303 and the positioning module 304 are electrically connected to the controller and provide real-time feedback on the temperature near the target tissue and the position of the treatment needle 301 in the lung. The treatment needle 301 can also be electrically connected to the controller through the wire 302, and the controller controls the extension and retraction of the treatment needle 301.

[0040] Furthermore, in another embodiment, the treatment needle 301 can also be a puncture needle, so that when a sampling operation is required, the operator can use the treatment needle 301 of the present invention to sample the target tissue.

[0041] Preferably, the treatment needle 301 is fitted with a sleeve 305, and the sleeve 305 is evenly provided with multiple channels in the circumferential direction. A portion of the channels is used to store liquid, and a nozzle is provided at one end of the channel near the target area. The liquid is used to cool the treatment needle 301, or to cool lung tissue, or to clean lung tissue, or to clean the lighting module 204 and the optical lens 205. Another portion of the channels is used to absorb gas and mucus from the lungs.

[0042] Specifically, this utility model provides a cannula 305 for use with the treatment mechanism 300 when needed. The specific solution is to wrap a cannula 305 around the treatment needle 301 or to set multiple independent pipes. Some pipes can be filled with cooling liquid, such as saline, to control the temperature of the treatment mechanism 300. The end of the pipe away from the target area is connected to an external pump and a container for storing cooling liquid. The circulation of the liquid is controlled by an external controller. A nozzle is designed at the end close to the target area, which can spray liquid onto the target tissue that needs to be cooled. It can also be used to clean the target tissue, the illumination module 204, and the optical lens 205. In addition, another part of the pipe can be used to aspirate gas and mucus from the lungs. The end of this part of the pipe away from the target area is connected to an external pump and controlled by a controller. The operator can perform cooling or aspiration operations at any time.

[0043] Furthermore, the nozzle can also be configured to be an angle-adjustable nozzle, which facilitates more precise cooling or cleaning of the target tissue. (Illumination module 204 and optical lens 205)

[0044] Preferably, the anchoring module 400 includes a front anchoring airbag 401 and a rear anchoring airbag 402. The front anchoring airbag 401 is mounted on the magnetically controlled capsule 200 and is used to close the branch bronchus of the target area. The rear anchoring airbag 402 is mounted on the end of the hose 100 away from the target area and is used to close the main bronchus of one lung.

[0045] Specifically, in this invention, both the front anchoring airbag 401 and the rear anchoring airbag 402 can be controlled to expand and contract by a controller. In the technical solution of this invention, after the permanent magnet 600 drives the hose 100, the magnetically controlled capsule 200, and the treatment mechanism 300 to their positions, the operator can control the rear anchoring airbag 402 and the front anchoring airbag 401 to expand sequentially via the controller. It should be noted that the rear anchoring airbag 402 should be expanded first. After it comes into contact with the inner wall of the bronchus, the air pump controls a portion of the tubing on the cannula 305 to empty the air from the lung on that side. Then, the front anchoring airbag 401 is expanded, and the air pump again controls a portion of the tubing on the cannula 305 to empty the air from the target area, so that the lung is completely compressed, thereby avoiding deformation of the target tissue due to respiration during the ablation treatment process.

[0046] Furthermore, the front anchoring airbag 401 and the rear anchoring airbag 402 are passively deformable airbags, which are easy for the operator to control. For example, they are airbags or waterbags that deform by injecting water or air, or they can be electrically inflatable airbags.

[0047] Preferably, both the front anchoring airbag 401 and the rear anchoring airbag 402 are provided with a deformable alloy layer 403 inside.

[0048] Specifically, a deformable alloy layer of 403, such as nickel-titanium shape memory alloy, can be used in the form of an alloy skeleton, which can reduce weight without affecting the sealing effect. The outside of the alloy skeleton needs to be wrapped with elastic material, that is, the surface of the airbag is covered with elastic material to prevent it from bursting during expansion. Since the deformation temperature of the alloy is higher than the body temperature during expansion, the temperature can be raised by using the resistance effect through electricity. The power supply can be controlled by a controller.

[0049] Preferably, the bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment further includes: a robotic arm 500 and a permanent magnet 600. The permanent magnet 600 is installed at the operating end of the robotic arm 500, and the magnetically controlled capsule 200 and the treatment mechanism 300 are both magnetically connected to the permanent magnet 600.

[0050] Specifically, this invention uses two robotic arms to control a set of permanent magnets 600 to control the magnetic field. The two external permanent magnets 600 can generate a specific magnetic field to produce torque on the magnetic part of the magnetically controlled capsule 200. Compared with using a single permanent magnet 600, the two permanent magnets 600 can generate a gradient-free magnetic field manipulation and provide a higher magnetic flux density, making the movement of the device of this invention smoother and more accurate.

[0051] Furthermore, before anchoring, the magnetically controlled capsule 200 moves under the drive of the permanent magnet 600. At this time, although the treatment needle 301 is also equipped with magnetic material, it will not extend outside the magnetically controlled capsule 200 due to the restriction of the wire 302. When the magnetically controlled capsule 200 moves to the designated position, the front anchoring airbag 401 and the rear anchoring airbag 402 expand and anchor. At this time, the magnetic force generated by the permanent magnet 600 is insufficient to drive the magnetically controlled capsule 200 to move, thus releasing the restriction of the wire 302. The treatment needle 301 can move under the action of the permanent magnet 600 to perform ablation treatment on the target tissue.

[0052] Meanwhile, the magnetic field generated by the dual permanent magnets 600 can bear part of the weight of the device, effectively reducing the weight exerted on human tissue. This invention uses a seven-degree-of-freedom robotic arm, with the polarization direction of the permanent magnets 600 perpendicular to the end flange direction of the robotic arm. The high degree of freedom allows for more variations in the magnetic field formed by the dual permanent magnets 600, and also makes the changes in the magnetic field formed by the dual permanent magnets 600 more linear, resulting in smoother movement of the flexible tube 100, magnetically controlled capsule 200, treatment mechanism 300, and anchoring module 400.

[0053] Preferably, the anchoring module 400 fitted on the magnetically controlled capsule 200 has a treatment needle channel and a lighting module channel, and the treatment needle channel is connected to the treatment mechanism channel 202.

[0054] Specifically, during the ablation operation, the treatment needle 301 passes sequentially through the treatment mechanism channel 202 on the capsule body 201 and the treatment needle channel on the anchoring module 400 to perform ablation.

[0055] Preferably, the flexible tube 100 is a fully magnetic flexible tube or a partially magnetic flexible tube.

[0056] Preferably, when the flexible hose 100 is a partially magnetic flexible hose, it includes: a magnetic material part 101 and a non-magnetic material part 102, and multiple sets of both the magnetic material part 101 and the non-magnetic material part 102 are provided and are arranged alternately.

[0057] Specifically, the flexible tube 100 in this invention uses multiple segments of magnetic material 101 and non-magnetic material 102 arranged at intervals. The non-magnetic material 102 uses a softer material to provide better magnetic control and bending effect. Furthermore, the flexible tube 100 can also be made entirely of silicone mixed with magnetic microparticles and cured by mold. That is, no matter which form the flexible tube 100 in this invention takes, it must ensure its flexibility to avoid damaging the lungs and bronchi during movement.

[0058] In practical use, the device of this invention first inserts the tubing 100, the magnetically controlled capsule 200, the treatment mechanism 300, and the anchoring module 400 into the bronchus of the lung. Then, the robotic arm 500 operates the dual permanent magnets 600 to form a magnetic field, which propels the tubing 100, the magnetically controlled capsule 200, the treatment mechanism 300, and the anchoring module 400 to move within the bronchus. Once the tubing 100, the magnetically controlled capsule 200, the treatment mechanism 300, and the anchoring module 400 have moved to the target tissue... Nearby, the operator can control the rear anchoring airbag 402 to inflate via the controller. Once it comes into contact with the inner wall of the bronchus, the air pump controls a portion of the tubing on the cannula 305 to evacuate the air from the lung on that side. Then, the front anchoring airbag 401 is inflated, and the air pump again controls a portion of the tubing on the cannula 305 to evacuate the air from the target area, completely compressing the lung. Then, the dual permanent magnets 600 drive the treatment needle 301, whose surface is covered with magnetic material, to move and perform ablation treatment on the target tissue.

[0059] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment, characterized in that, include: Hose (100); A magnetically controlled capsule (200) is attached to the side of the hose (100) near the target area; A treatment mechanism (300) is disposed inside the magnetically controlled capsule (200) for extending out of the magnetically controlled capsule (200) to treat the target tissue. The treatment mechanism (300) is provided with magnetic material and is magnetically connected to an external magnetic field. The treatment mechanism (300) is provided with an exhaust mechanism for venting gas from the target area. as well as Anchoring module (400) is provided in at least two sets, which are respectively sleeved on the hose (100) and the magnetic capsule (200).

2. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 1, characterized in that, The magnetically controlled capsule (200) includes: The capsule body (201) has a magnetic material at its end. The capsule body (201) has a treatment mechanism channel (202) inside that communicates with the tubing (100). The end of the treatment mechanism (300) near the target area is slidably connected to the capsule body (201) through the treatment mechanism channel (202). A photoelectric conversion device (203) is installed inside the capsule body (201); A lighting module (204), which is installed inside the capsule body (201) and electrically connected to the photoelectric conversion device (203); and An optical lens (205) is installed inside the capsule body (201) and is electrically connected to the photoelectric conversion device (203).

3. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 2, characterized in that, The treatment facility (300) includes: A treatment needle (301) is disposed inside the capsule body (201); A wire (302) is connected to the end of the treatment needle (301) away from the target area; Temperature measurement module (303), which is mounted on the treatment needle (301); and A positioning module (304) is mounted on the treatment needle (301).

4. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 3, characterized in that, The treatment needle (301) is fitted with a cannula (305), and the cannula (305) is evenly provided with multiple channels in the circumferential direction. A portion of the channels are used to store liquid, and a nozzle is provided at one end of the channel near the target area. The liquid is used to cool the treatment needle (301), cool the lung tissue, clean the lung tissue, or clean the lighting module (204) and optical lens (205). Another portion of the channels is used to absorb gas and mucus from the lungs.

5. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 1, characterized in that, The anchoring module (400) includes: An anchoring airbag (401), mounted on the magnetically controlled capsule (200), is used to close off branch bronchi in the target area; and A rear anchoring airbag (402), which is installed at the end of the hose (100) away from the target area, is used to close the main bronchus of one lung.

6. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 5, characterized in that, Both the front anchoring airbag (401) and the rear anchoring airbag (402) have a deformable alloy layer (403) inside.

7. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 1, characterized in that, The integrated diagnostic and therapeutic bronchial magnetically controlled capsule endoscopy device also includes: Robotic arm (500); and A permanent magnet (600) is installed at the operating end of the robotic arm (500), and the magnetically controlled capsule (200) and the treatment mechanism (300) are both magnetically connected to the permanent magnet (600).

8. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 2, characterized in that, The anchoring module (400) fitted onto the magnetically controlled capsule (200) has a treatment needle channel and an illumination module channel, and the treatment needle channel is connected to the treatment mechanism channel (202).

9. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 1, characterized in that, The hose (100) is a fully magnetic hose or a partially magnetic hose.

10. The bronchial magnetically controlled capsule endoscope device integrating diagnosis and treatment according to claim 9, characterized in that, When the hose (100) is the partially magnetic hose, it includes: Magnetic Materials Division (101); and The non-magnetic material section (102) is provided in multiple sets, and the magnetic material section (101) and the non-magnetic material section (102) are arranged alternately.

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