Imaging device for in vivo use
The imaging device with a cantilever mechanism and guided reciprocating motion provides high-precision images in vivo, addressing the issue of low image quality in conventional devices and enabling accurate disease diagnosis.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- TOKUSEN IND CO LTD
- Filing Date
- 2025-10-27
- Publication Date
- 2026-07-02
AI Technical Summary
Conventional imaging devices fail to provide high-precision images in vivo, hindering accurate disease diagnosis.
An imaging device with a cantilever mechanism that includes a cam to cause reciprocating motion, guided by a cylinder and a guide, allowing for rotational and reciprocating motions within the body, combined with sensors for high-precision imaging.
Enables high-precision imaging in vivo, facilitating accurate disease diagnosis and treatment by suppressing vibration and enhancing image quality.
Smart Images
Figure JP2025037612_02072026_PF_FP_ABST
Abstract
Description
Imaging device for in-vivo use
[0001] This specification discloses an imaging device suitable for diagnosing diseases in the body of an organism.
[0002] For the purpose of diagnosing diseases such as malignant tumors, an imaging device is inserted into blood vessels, digestive organs, body cavities, etc. With this device, images of biological tissues, etc. can be obtained by imaging using ultrasonic waves, light, etc. Based on this image, the presence or absence of a disease, the degree of the disease, etc. are determined. An example of this imaging device is disclosed in Japanese Patent Publication No. 2001-515382.
[0003] Japanese Patent Publication No. 2001-515382
[0004] For appropriate treatment, accurate diagnosis is important. The image quality of the images obtained by conventional imaging devices is not sufficient. This image can hinder accurate diagnosis.
[0005] What the applicant intends is to provide an imaging device capable of obtaining a high-precision image in vivo.
[0006] The in-vivo imaging device disclosed in this specification has a cantilever, a cam that rotates to cause a reciprocating motion of the cantilever, and a guide that guides the cantilever and regulates the direction of the reciprocating motion of the cantilever.
[0007] With this imaging device, a high-precision image in vivo can be obtained.
[0008] Figure 1 is a partially cutaway cross-sectional view showing an in vivo imaging device according to one embodiment. Figure 2 is an enlarged cross-sectional view showing a part of the imaging device of Figure 1. Figure 3 is a right side view showing the imaging device of Figure 2. Figure 4 is a cross-sectional view along line IV-IV in Figure 2. Figure 5 is a cross-sectional view along line V-V in Figure 2. Figure 6 is a cross-sectional view showing the imaging device of Figure 2. Figure 7 is a right side view showing the imaging device of Figure 6. Figure 8 is a right side view showing a part of an in vivo imaging device according to another embodiment. Figure 9 is an enlarged cross-sectional view showing a part of the imaging device of Figure 8. Figure 10 is a cross-sectional view showing a part of an in vivo imaging device according to yet another embodiment. Figure 11 is a cross-sectional view showing a part of an in vivo imaging device according to yet yet another embodiment.
[0009] Preferred embodiments will be described in detail below, with reference to drawings as appropriate.
[0010] Figure 1-5 shows the imaging device 2. This imaging device 2 has a main shaft 4, a sub-shaft 6, a first cable 8a, a second cable 8b, and a head 10. In Figure 1, the right side is the front end of the imaging device 2, and the left side is the hand end of the imaging device 2. Although not shown, this imaging device 2 has a controller on the hand end of the main shaft 4. The main shaft 4, sub-shaft 6, first cable 8a, and second cable 8b are connected to this controller.
[0011] The main shaft 4 is hollow. In this embodiment, the main shaft 4 is a coil. This main shaft 4 is flexible. This main shaft 4 can rotate around the axis Ax1 (described in detail later) shown in Figure 2. This main shaft 4 is rotated by a drive device in the controller. This main shaft 4 transmits rotational motion to the head 10.
[0012] The sub-shaft 6 is hollow. In this embodiment, the sub-shaft 6 is a coil. This sub-shaft 6 is flexible. The outer diameter of this sub-shaft 6 is sufficiently smaller than the inner diameter of the main shaft 4. Therefore, the sub-shaft 6 can rotate freely within the main shaft 4. The sub-shaft 6 can rotate around the axis Ax2 (described in detail later) shown in Figure 2. This sub-shaft 6 is rotated by other drive devices of the controller. This sub-shaft 6 transmits rotational motion to the cam (described in detail later).
[0013] In this embodiment, the first cable 8a has a fiber and a resin layer covering it. The first cable 8a extends from the controller to the head 10. In this embodiment, the second cable 8b has a fiber and a resin layer covering it. The second cable 8b extends from the controller to the head 10.
[0014] The head 10 is continuous with the main shaft 4. The head 10 includes a cylinder 12, a filler 14, a tube 16, a guide 18, a camshaft 20, and a cam 22. The head 10 is inserted into a living body. The head 10 can move forward and backward within the living body.
[0015] The cylinder 12 is hollow. The cylinder 12 is fixed to the main shaft 4. The cylinder 12 rotates as the main shaft 4 rotates. The direction of rotation of the cylinder 12 is indicated by arrow R1 in Figure 3. The cylinder 12 may also rotate in the opposite direction to that of arrow R1. The cylinder 12 has a receiver 24. This receiver 24 has a hole 26 (see Figure 2).
[0016] The filler 14 is housed in the cylinder 12. A typical material for the filler 14 is a resin composition or a rubber composition. The filler 14 is fixed to the inner circumferential surface of the cylinder 12. A tube 16 passes through the filler 14. A first cable 8a and a second cable 8b pass through the tube 16. The first cable 8a is fixed to the cylinder 12 via the tube 16 and the filler 14. The second cable 8b is fixed to the cylinder 12 via the tube 16 and the filler 14.
[0017] The filler 14 has a hole 28. This hole 28 extends from the tip side to the handle side of the filler 14. The sub-shaft 6 passes through this hole 28. As is clear from Figure 4, the outer diameter of the sub-shaft 6 is sufficiently smaller than the inner diameter of the hole 28. The sub-shaft 6 is not fixed to the filler 14. The sub-shaft 6 can rotate relative to the cylinder 12.
[0018] As shown in Figure 2, a portion of the tube 16 is exposed beyond the filler 14 at its tip. Since the cable 8 and tube 16 are flexible, the portion of the tube 16 exposed beyond the filler 14 can swing relative to the filler 14. A first sensor 30a and a second sensor 30b are located near the tip of this tube 16. Therefore, when the tube 16 swings, the sensors 30 can also swing. In this specification, these swingable portions are referred to as cantilevers 31. The first cable 8a is connected to the first sensor 30a. The second cable 8b is connected to the second sensor 30b.
[0019] The guide 18 is located near the tip of the cylinder 12. The guide 18 is fixed to the cylinder 12. As shown in Figure 5, the guide 18 has a guide groove 32. The guide groove 32 extends radially to the cylinder 12. As shown in Figure 2, the cantilever 31 is inserted into this guide groove 32. As shown in Figure 3, the outer diameter of the cantilever 31 is approximately the same as the width of the guide groove 32.
[0020] As shown in Figure 2, the leading end of the camshaft 20 is inserted into the hole 26 of the receiver 24. The camshaft 20 is not fixed in the hole 26. Therefore, the camshaft 20 can rotate relative to the receiver 24. The trailing end of the camshaft 20 is inserted into the subshaft 6. The camshaft 20 is fixed to the subshaft 6 by the adhesive layer 34. The camshaft 20 can rotate in accordance with the rotation of the subshaft 6.
[0021] The cam 22 is fixed to the subshaft 6 and also to the camshaft 20. The cam 22 is in contact with the cantilever 31. The cam 22 can rotate in accordance with the rotation of the subshaft 6. The cam 22 has a long diameter portion 36. In Figure 3, the long diameter portion 36 is located below the camshaft 20.
[0022] The subshaft 6 rotates relative to the cylinder 12. This rotation causes the cam 22 to rotate relative to the cantilever 31. Figures 6 and 7 show the state after the cam 22 has rotated 180° from the state shown in Figures 2 and 3. In Figures 6 and 7, the long diameter portion 36 is located above the camshaft 20. As is clear from comparing Figure 2 and Figure 6, in Figure 6, the cantilever 31 is pushed up by the cam 22. When transitioning from the state shown in Figure 3 to the state shown in Figure 7, the cantilever 31 rises, guided by the guide groove 32. When transitioning from the state shown in Figure 7 to the state shown in Figure 3, the cantilever 31 descends, guided by the guide groove 32. When the cam 22 repeats rotational motion, the cantilever 31 repeats reciprocating motion. The guide 18 restricts the direction of the reciprocating motion of the cantilever 31. The direction of the reciprocating motion coincides with the radial direction of the cylinder 12. The guide 18 suppresses meandering of the cantilever 31 during reciprocating motion.
[0023] When an examination is performed using this imaging device 2, the head 10 is inserted into the living body. Following the head 10, a part of the main shaft 4 and other components are also inserted into the living body. As the main shaft 4 rotates, the cylinder 12 rotates. As the cylinder 12 rotates, the cantilever 31 rotates relative to the living body. The sub-shaft 6 rotates relative to the cylinder 12. Due to the relative rotation of the sub-shaft 6, the cam 22 rotates relative to the cylinder 12. Due to the rotation of the cam 22, the cantilever 31 performs a reciprocating motion. In other words, the cantilever 31 performs rotational and reciprocating motions within the living body. In conjunction with these motions, the first sensor 30a or the second sensor 30b performs two-dimensional scanning. Furthermore, as the head 10 moves forward or backward, three-dimensional imaging can be performed. Three-dimensional imaging can be performed over a wide area. Since the guide 18 guides the reciprocating motion of the cantilever 31, the vibration of the cantilever 31 during scanning is suppressed, resulting in highly accurate images.
[0024] When the absolute direction of rotation of the subshaft 6 is different from the direction of rotation of the main shaft 4, the cam 22 may rotate relative to the cylinder 12. When the absolute direction of rotation of the subshaft 6 is the same as the direction of rotation of the main shaft 4, and the rotational speed of the subshaft 6 is different from the rotational speed of the main shaft 4, the cam 22 may rotate relative to the cylinder 12. When the absolute rotational speed of the subshaft 6 is zero and the main shaft 4 is rotating, the cam 22 may rotate relative to the cylinder 12. Preferably, the controller has a sensor capable of measuring the rotational speed of the cylinder 12. Preferably, the controller has a sensor capable of measuring the rotational speed of the cam 22.
[0025] The cantilever 31 may be attracted to the cam 22 by magnetic or electrostatic force. The cantilever 31 does not separate from the cam 22 during reciprocating motion. This cantilever 31 allows for high-precision imaging. The cantilever 31 may be pressed against the cam 22 by a spring. The cantilever 31 may be pressed against the cam 22 by another cam.
[0026] In Figure 2, the symbol Ax1 represents the axis of rotation of the main shaft 4. The cylinder 12 and cantilever 31 can rotate within the body about the axis of rotation Ax1. In Figure 2, the symbol Ax2 represents the axis of rotation of the sub-shaft 6. The cam 22 can rotate relative to the cantilever 31 about the axis of rotation Ax2. The axis of rotation Ax2 is offset from the center of the cylinder 12. The axis of rotation Ax2 does not coincide with the axis of rotation Ax1. In this head 10, a cam 22 with a large lift amount may be used. The images obtained with this imaging device 2 are highly accurate.
[0027] Examples of sensors 30 included in the cantilever 31 include photoacoustic imaging sensors and ultrasonic imaging sensors. The imaging device 2 may have a cantilever 31 that does not include a sensor 30. In this imaging device 2, image information obtained by the head 10 is sent to a controller via a cable 8, and imaging is performed. Typically, light is sent to the controller via a cable 8 containing an optical fiber, and imaging using this light is achieved. In other words, the imaging device 2 has either or both of the sensor 30 and the optical fiber. In an imaging device 2 that performs imaging using light, the head 10 may have a lens. This lens is located on the tip side of the cantilever 31. This lens may be located in a guide groove 32, etc. This lens may contribute to light focusing.
[0028] It is preferable that the sensor 30 (including the optical fiber) has a mechanism different from the mechanism of the other sensors 30. In this cantilever 31, each sensor 30 (or optical fiber) performs its function, making it possible to obtain a high-precision image. For example, the first sensor 30a performs scanning with low resolution but deep depth, and the second sensor 30b performs scanning with shallow depth but high resolution, so that the two sensors 30 complement each other. This complementarity makes it possible to obtain a high-precision image and make a highly accurate diagnosis of disease. It is preferable that the cantilever 31 can perform imaging using light and imaging using ultrasound. Imaging using light has excellent resolution. Imaging using ultrasound has excellent depth. The cantilever 31 may have three or more sensors 30 (or optical fibers). The number of sensors 30 (or optical fibers) in the cantilever 31 may be one.
[0029] The cantilever 31 may include a biopsy device or a treatment device together with the sensor 30 or optical fiber. A biopsy device may include a biopsy needle. A treatment device may include a knife. It is preferable that the controller has a sensor for detecting the orientation of the cantilever 31 or cylinder 12. This sensor may assist in tissue sampling or treatment.
[0030] This imaging device 2 is suitable for tomographic imaging of the gastrointestinal tract, lungs, digestive organs, etc., for endoscopic treatment or laparoscopic surgery. This imaging device 2 is also suitable for tomographic imaging of blood vessels. This imaging device 2 can be used as a replacement for handheld ultrasound devices for the breast, heart, etc. This imaging device 2 can also be used in microsurgery.
[0031] Figures 8 and 9 show an imaging device 38 according to another embodiment. Figure 8 shows a head 40. This head 40 has a cylinder 42, a cantilever 44, a guide 46, and a cam 48. The guide 46 includes a guide groove 50. Figure 9 shows the cantilever 44 and the guide 46. The configuration of the components of this imaging device 38, other than the cantilever 44, is the same as that of the imaging device 2 shown in Figure 1-7.
[0032] As shown in Figure 9, the cantilever 44 has two rotors 52 and a body 54. Each rotor 52 has a spherical shape. The body 54 has two chambers 56. A rotor 52 is housed in each chamber 56. Part of the rotor 52 is exposed from the chamber 56. The rotor 52 is rotatable relative to the body 54. The outer diameter D1 of the body 54 is slightly smaller than the width W1 of the guide groove 50. The guide 46 guides the reciprocating motion of the cantilever 44. During the reciprocating motion, the body 54 does not contact the guide groove 50. The rotor 52 contacts the guide groove 50. As the rotor 52 rotates, the frictional force between the cantilever 44 and the guide groove 50 is suppressed.
[0033] Figure 10 shows an imaging device 58 according to yet another embodiment. Figure 10 shows a subshaft 60, a first cable 62a, a second cable 62b, and a head 64. The head 64 has a cylinder 66, a filler 68, a cantilever 70, a guide 72, a camshaft 74, and a cam 76. The cylinder 66 includes a first sensor 78a, to which the first cable 62a is connected. The cantilever 70 includes a second sensor 78b, to which the second cable 62b is connected. The configuration of this imaging device 58 is the same as that of the imaging device 2 shown in Figure 1-7, except that the first sensor 78a is included in the cylinder 66 instead of the cantilever 70.
[0034] In this imaging device 58, the cantilever 70 performs rotational and reciprocating motions within the body. These motions cause the second sensor 78b to perform two-dimensional scanning. The first sensor 78a does not perform reciprocating motion. The first sensor 78a performs scanning by rotational motion. High-precision images can be obtained by the two sensors 78. The number of sensors 78 may be three or more.
[0035] Figure 11 shows an imaging device 80 according to yet another embodiment. Figure 11 shows a subshaft 82, a first cable 84a, a second cable 84b, and a head 86. The head 86 has a cylinder 88, a filler 90, a cantilever 92, a guide 94, a camshaft 96, a cam 98, a cam receiver 100, a front stopper 102, and a rear stopper 104. The configuration of the components of this imaging device 80, excluding the cam receiver 100, the front stopper 102, and the rear stopper 104, is the same as that of the imaging device 2 shown in Figure 1-7.
[0036] The cam support 100 is cylindrical. The inner diameter of the cam support 100 is slightly larger than the outer diameter of the cantilever 92. The cam support 100 can rotate relative to the cantilever 92. The front stopper 102 has a ring shape. This front stopper 102 is fixed to the cantilever 92. The rear stopper 104 has a ring shape. This rear stopper 104 is fixed to the cantilever 92. Movement of the cam support 100 along the length of the cantilever 92 is prevented by the front stopper 102 and the rear stopper 104.
[0037] When the cam 98 rotates, the cam receiver 100 rotates due to the force from the cam 98. Therefore, the cantilever 92 receives almost no force in the direction of rotation. The reciprocating motion of this cantilever 92 is highly precise.
[0038] [Disclosure Items] Each of the following items discloses a preferred embodiment.
[0039] [Item 1] An imaging device for use inside a living body, comprising: a cantilever; a cam that rotates to cause the cantilever to reciprocate; and a guide that guides the cantilever and restricts the direction of the reciprocating motion of the cantilever.
[0040] [Item 2] The imaging device according to Item 1, further comprising a main shaft that rotates the cantilever with respect to the living body.
[0041] [Item 3] The imaging device according to Item 2, further comprising: a cylinder to which the cantilever and the guide are attached and that rotates according to the rotation of the main shaft; and a sub-shaft that is connected to the cam, passes through the cylinder, and is rotatable relative to the cylinder.
[0042] [Item 4] The imaging device according to Item 3, wherein the guide has a guide groove into which the cantilever is inserted and that extends in the radial direction of the cylinder.
[0043] [Item 5] The imaging device according to any one of Items 1 to 4, wherein the rotation axis of the cam is different from the rotation axis of the cantilever.
[0044] [Item 6] The imaging device according to any one of Items 1 to 5, wherein the cantilever includes an optical fiber, a photoacoustic imaging sensor, or an ultrasonic imaging sensor.
[0045] [Item 7] The imaging device according to Item 6, wherein the cantilever includes two or more sensors.
[0046] [Item 8] The imaging device according to Item 7, wherein the cantilever includes a sensor for imaging using light and a sensor for imaging using ultrasonic waves.
[0047] [Item 9] The imaging device according to Item 6, wherein the cantilever includes an optical fiber and a sensor.
[0048] [Item 10] The imaging device according to any one of Items 1 to 9, wherein the cantilever includes a biopsy device or a treatment device.
[0049] [Item 11] An imaging device according to any one of items 1 to 10, wherein the cantilever is attracted to the cam by magnetic or electrostatic force.
[0050] [Item 12] An imaging device according to any one of items 1 to 11, further comprising a cam receiver into which the cantilever described above is inserted, and which rotates relative to the cantilever in conjunction with the rotation of the cam described above.
[0051] The imaging equipment described above is suitable for the examination and treatment of various diseases.
[0052] 2... Imaging equipment 4... Main shaft 6... Subshaft 8... Cable 8a... First cable 8b... Second cable 10... Head 12... Cylinder 14... Filler 16... Tube 18... Guide 20... Camshaft 22... Cam 24... Receiving 26... Hole 28... Hole 30... Sensor 30a... First sensor 30b... Second sensor 31... Cantilever 32... Guide groove 34... Adhesive layer 36... Long diameter section 38... Imaging equipment 40... Head 42... Cylinder 44... Cantilever 46... Guide 48... Cam 50... Guide groove 52... Rotor 54... Body 56... Chamber 58... Imaging equipment 60... Subshaft 62a... First cable 62b... Second cable 64... Head 66... Cylinder 68... Filler 70... Cantilever 72... Guide 74... Camshaft 76... Cam 78... Sensor 78a... First sensor 78b... Second sensor
Claims
1. An in vivo imaging device comprising a cantilever, a cam that rotates to cause the cantilever to reciprocate, and a guide that guides the cantilever and restricts the direction of its reciprocating motion.
2. The imaging device according to claim 1, further comprising a main shaft for rotating the cantilever relative to the living organism.
3. The imaging apparatus according to claim 2, further comprising a cylinder to which the above-mentioned cantilever and guide are attached and which rotates in accordance with the rotation of the main shaft, and a sub-shaft connected to the cam, passing through the cylinder and capable of rotating relative to the cylinder.
4. The imaging apparatus according to claim 3, wherein the guide has a guide groove into which the cantilever is inserted and which extends radially in the direction of the cylinder.
5. The imaging device according to claim 1 or 2, wherein the axis of rotation of the cam is different from the axis of rotation of the cantilever.
6. The imaging device according to claim 1 or 2, wherein the cantilever includes an optical fiber, a photoacoustic imaging sensor, or an ultrasonic imaging sensor.
7. The imaging device according to claim 6, wherein the cantilever includes two or more sensors.
8. The imaging device according to claim 7, wherein the cantilever includes an imaging sensor that utilizes light and an imaging sensor that utilizes ultrasound.
9. The imaging device according to claim 6, wherein the cantilever includes an optical fiber and a sensor.
10. The imaging device according to claim 1 or 2, wherein the cantilever includes a biopsy device or a treatment device.
11. The imaging device according to claim 1 or 2, wherein the cantilever is attracted to the cam by magnetic or electrostatic force.
12. The imaging device according to claim 1 or 2, further comprising a cam receiver into which the cantilever is inserted and which rotates relative to the cantilever in conjunction with the rotation of the cam.