CN116807366A

CN116807366A - Capsule endoscopy and general digestive endoscopy system

Info

Publication number: CN116807366A
Application number: CN202310943121.9A
Authority: CN
Inventors: 彭德银
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-07-28
Filing date: 2023-07-28
Publication date: 2023-09-29

Abstract

The invention discloses a capsule endoscope and a general digestive endoscope system, which relate to the field of medical appliances, and the system comprises: the capsule endoscope is used for acquiring digestive tract images in the process of moving along the digestive tract of a patient to be detected under the action of an in-vitro magnetic field, sucking the pathological tissue of the pathological part into the shell of the capsule endoscope to cut the pathological tissue of the pathological part when the pathological part is found according to the digestive tract images, and guiding the cut pathological tissue out of the patient to be detected; a magnetic field generator for generating an external magnetic field so that the capsule endoscope entering the body of the patient to be examined moves along the digestive tract of the patient to be examined under the action of the external magnetic field; the system comprises a main machine and a remote controller, wherein the main machine and the remote controller are used for displaying the digestive tract image acquired by the capsule endoscope in real time, and controlling the capsule endoscope to attract, cut and guide out the pathological change tissues of the pathological change part when the pathological change part is found based on the digestive tract image so as to respectively store the pathological change tissues of the pathological change part.

Description

Capsule endoscopy and general digestive endoscopy system

Technical Field

The invention relates to the field of medical equipment, in particular to a capsule endoscope applied to the digestive tract and a general digestive endoscope system.

Background

Digestive tract cancers, namely esophagus cancer, stomach cancer and colon cancer can be discovered early and radically cured through gastroscopy and enteroscopy.

Chinese esophageal cancer and gastric cancer also belong to the high-incidence area worldwide, and account for more than 40% of the worldwide morbidity. According to the statistics of the national cancer center, the number of people suffering from the esophageal cancer in 2016 is 25.3 ten thousand, the death is 19.4 ten thousand, and the statistics of the esophageal cancer in 2016 account for the 6 th site of the incidence rate of the cancer; 39.7 thousands of stomach cancer patients in the same period and 28.9 thousands of deaths account for the 3 rd position of the incidence rate of the cancer. China is also a high incidence of Helicobacter Pylori (HP) infection, and World Health Organization (WHO) indicates that HP infection is a primary carcinogen for gastric cancer, so the incidence of gastric cancer is high. Early detection of gastric cancer can only be achieved by gastroscopy. In reality, the number of high-risk patients who really need to do gastroscopy in China is about 1.2-1.4 hundred million, but the number of people in national gastroscopy is less than 2000 ten thousand each year, and 1.0-1.2 hundred million people have no opportunity to accept gastroscopy.

According to the statistics of the national cancer center, the number of colorectal cancer incidences in 2016 China is 40.8 ten thousand, the death rate is 19.8 ten thousand, and the number of colorectal cancer incidences in 2016 is 2. Colorectal cancer mortality is closely related to colorectal cancer screening of people over 50 years old, and incidence and mortality of colorectal cancer can be remarkably reduced by receiving enteroscopy after fecal occult blood and genetic examination. The Chinese colorectal cancer is screened by about 3.6 hundred million of normal risk groups, namely, the examinees over 50 years old, at least 1 hundred million of the examinees should be accepted, and the number of the intestinal endoscopes per year is less than 1000 ten thousand, and 9000 ten thousand of the examinees cannot accept the intestinal endoscopes.

In the case of large gaps in gastroscopy and enteroscopy, purchasing a large number of gastroscopies and enteroscopies also fails to solve this problem, which is not a capital and equipment problem, but rather makes it impossible to cultivate so many digestive endoscopy operating doctors in a short period of time.

To solve this troublesome problem, global digestive endoscopists, physicists, and endoscope design engineers have made diligent efforts. The robotic system that handles conventional digestive endoscopes is: the RS-ALC system is adaptive to a master-slave endoscope operation system of a traditional colonoscope, the front end of the machine control is bent, the front end of the machine control is axially moved back and forth and rotated, and the system has the functions of navigation and automatic visual field centering, but is only useful for beginners; an EOR system for controlling the traditional colonoscope, a master-slave structure and a remote control function, has bidirectional tactile feedback, and successfully implements remote control digestive Endoscopy Submucosal Dissection (ESD) on animals, but has a huge structure and is difficult to deploy and disinfect indoors; and 3. The yunsrobot system comprises a master-slave controlled gastroscope auxiliary operation robot, a gastroscope conveying arm and an operation arm, wherein the operation coordination is difficult, the operation can not be performed like manual operation, the operation time is long, and the manual operation can not be replaced. Attempts to replace manually operated gastroscopy with a manipulator or robot have not been successful. In order to solve the problem, a global top expert designs a gastroscope enteroscopy system which is not universal at present, namely a robot system or a brand new intelligent endoscope system which is designed on the basis of the original digestive endoscope. Digestive endoscopy robotic system with autonomous locomotion capability: the Neoguide system is a multi-section endoscope robot with autonomous movement capability, a doctor is required to manually push and toggle a knob to complete operation, a scope body consists of 16 sections of sections which are independently driven, 3D navigation is performed, the bending form and the insertion depth of the endoscope are completed in real time, the gesture is adjusted in an active mode of a back section and a front section, the system provides a passive mode, a scope body can be restored to a common enteroscope, FDA approval is applied to clinic, and a large amount of head-to-head comparison clinical research is still required; the endotics system comprises a colonoscope robot with certain autonomous movement capability, a disposable probe and a workstation, wherein the colonoscope robot consists of a 110-degree visual angle camera, two directions are bent by 180 degrees, and an asynchronous clamping mechanism can accurately deliver the probe, so that the colonoscope robot has the advantage of relieving pain for a patient, but has a great gap in the aspects of inspection efficiency and inspection quality; the self-propelled air sac colonoscope consists of a workstation and a disposable endoscope, wherein the disposable endoscope consists of a shooting air sac, a panoramic camera, a closed air sac, an air supply and air exhaust pipeline and a rigid endoscope guide element, and colon inflation is used as the advancing power of the colonoscope, so that abdominal distension of a patient is obvious and is difficult to endure in the operation process.

In addition, in recent years, the mature magnetic control capsule endoscope is developed, so that the pains of patients such as nausea, abdominal pain, abdominal distention, fear discomfort and the like in gastroscopy are well solved, a large number of high-risk groups of stomach cancer accept the examination of comfort, but biopsy cannot be taken for suspicious lesions, and the wide clinical application of the magnetic control capsule endoscope is limited.

Disclosure of Invention

The invention provides a capsule endoscope and a universal digestive tract endoscope system suitable for screening digestive tract cancers, and aims to take biopsies for detected patients in real time under the condition of no need of professional operation.

The invention provides a capsule endoscope, which comprises: a capsule housing having a biopsy port at a head thereof; the magnetic induction module is arranged in the capsule shell and used for enabling the capsule endoscope to move in the alimentary canal of the detected patient under the action of an external magnetic field, and is electrically connected with a host positioned outside the detected patient and used for illuminating and an imaging system used for acquiring the alimentary canal image; the biopsy system is arranged in the capsule shell and is not electrically connected with the host machine and is used for taking biopsies of lesion tissues of each lesion part of the detected patient under the control of the host machine; the biopsy channel is arranged in the capsule shell and is not electrically connected with the host machine, and is used for sucking the pathological change tissue of each pathological change part to one end of the biopsy channel, which is opposite to the biopsy port, for the biopsy system to cut the pathological change tissue of each pathological change part, and guiding the pathological change tissue of each pathological change part cut by the biopsy system out to the host machine, so that the host machine guides the pathological change tissue out according to the pathological change part and stores the pathological change tissue into different specimen storage bottles.

Preferably, the biopsy system comprises: two blade blades which are respectively arranged at two sides of one end of the biopsy channel opposite to the biopsy port; the two air bags are respectively fixed on the two blades so as to drive the respectively fixed blades to move when the blades are inflated and deflated; the air inlet is connected with the host machine to provide an air source, and the first air outlet and the second air outlet are respectively connected with one air bag so as to control the inflation and deflation of the two air bags through the host machine; when the lesion part of the digestive tract is found, the host computer is communicated with the biopsy channel of the capsule endoscope and the first branch of the host computer, so that the host computer performs negative pressure suction through the first branch, the biopsy channel and the biopsy port, and thereby the lesion tissue of the lesion part, which is close to and contacted with the biopsy port, is sucked to the biopsy channel from the biopsy port; the host inflates the two air bags through the high-pressure air passage so that the two air bags drive the two blades to move towards the pathological tissues attracted into the biopsy channel and cut the pathological tissues attracted into the biopsy channel; the host computer collects the cut pathological tissue to a specimen storage bottle through the biopsy channel and the first branch; the main machine stops negative pressure suction, and deflates the two air bags through the high-pressure air channel so that the two air bags drive the two blade blades to return, and the two blade blades are restored to an open state.

Preferably, the capsule endoscope further has at least one function of cleaning the lesion tissue, sucking out excess gas or liquid in the digestive tract, cleaning the biopsy channel, and cleaning a CCD mirror of the imaging system.

Preferably, the host computer communicates only the biopsy channel with a third branch of the host computer, thereby supplying water to the lesion tissue via the third branch, the biopsy channel and the biopsy port for cleaning the lesion tissue prior to biopsy.

Preferably, the host computer communicates only with the biopsy channel and a fourth branch of the host computer, such that excess gas and/or liquid in the alimentary tract is aspirated via the biopsy port, the biopsy channel, and the fourth branch.

Preferably, the host communicates only with the biopsy channel and the third branch, thereby supplying water to the biopsy channel via the third branch to clean the biopsy channel.

Preferably, the capsule endoscope further comprises: the lens surface cleaning system is arranged in the capsule shell and is used for cleaning a CCD lens surface of the imaging system, wherein the imaging system comprises two CCDs which are distributed on two sides of the biopsy port; the mirror cleaning system includes: the two cleaning spray heads are respectively positioned beside the two CCDs and are used for spraying air or water to the mirror surfaces of the two CCDs so as to clean the mirror surfaces of the two CCDs; the mirror surface cleaning branch is provided with an inlet and at least two outlets, the inlet is communicated with the biopsy channel, and a cleaning spray head is arranged at each outlet; the main machine is communicated with the mirror surface cleaning branch circuit and the second branch circuit of the main machine, and closes a biopsy channel between an inlet of the mirror surface cleaning branch circuit and the biopsy port, so that air or water is supplied to the mirrors of the two CCD through the second branch circuit, the biopsy channel, the mirror surface cleaning branch circuit and the two cleaning spray heads, and mirror surface cleaning of the two CCD is guaranteed.

Preferably, the capsule endoscope further comprises: the direction control system is arranged in the capsule shell and is used for controlling the head direction of the capsule endoscope under the control of the host; the directional control system includes: two direction control chains positioned in the capsule shell, wherein four end surfaces of the two direction control chains are respectively arranged at four different positions on the inner surface of the lower part of the head of the capsule shell so as to enable the head of the capsule endoscope to turn left and right and/or up and down; the snake-shaped joint column is positioned in the capsule shell and is provided with a plurality of snake-shaped joints which are connected in series and movably along the axis of the snake-shaped joint column, four side wings which are uniformly distributed are arranged on the periphery of each snake-shaped joint, and two opposite side wings are fixed on a control chain in the same direction; two chain driving devices which are positioned in the capsule shell and respectively drive control chains in different directions, wherein each chain driving device comprises a motor and a gear which rotates under the drive of the motor; when the direction of the head of the capsule endoscope is required to be controlled, the motor of the chain driving device drives the gear of the chain driving device to rotate forward or reversely under the control of the host, and the gear of the chain driving device drives a direction control chain matched with the gear of the chain driving device to change the bending direction of the snake-shaped joint column, so that the head of the capsule endoscope is turned.

Preferably, the capsule endoscope has a tail with a diameter of 3mm and a length of 2000mm, the tail comprising the biopsy channel and the high pressure airway connecting the host, a cable connecting the illumination system and the host, a cable connecting the imaging system and the host.

The present invention also provides a general digestive endoscope system, comprising: a host and the capsule endoscope; a magnetic field generator located outside the body of the patient to be examined, for generating an external magnetic field so that the capsule endoscope entering the body of the patient to be examined moves along the alimentary canal of the patient to be examined under the action of the external magnetic field; and the remote controller is positioned outside the detected patient and is used for sending a control instruction to the host computer so that the host computer can control the capsule endoscope according to the control instruction.

In the capsule endoscope and the universal digestive endoscope system provided by the invention, in the process of moving along the digestive tract of a detected patient under the action of an in-vitro magnetic field generated by a magnetic field generator, if suspicious lesions are found, the lesion tissues can be attracted, cut and led out under the control of a host, and the led-out lesion tissues are stored independently according to the lesion parts, namely, multiple parts can be biopsied in one examination, the biopsies of the multiple parts are placed in different storage bottles, in addition, the biopsied parts can be accurately marked, accurate position information is provided for subsequent treatment, the operation of the digestive endoscope system does not need professional operation, the detection time is short, the pain of the detected patient is less, and the digestive tract cancer screening is suitable.

Drawings

FIGS. 1a and 1b are schematic views of first and second configurations, respectively, of a generic digestive endoscope system provided by the present invention;

FIG. 2 is a schematic view of the overall structure and dimensions of the capsule endoscope;

FIG. 3 is a schematic view of the head superstructure and directional control structure of the capsule endoscope;

FIG. 4 is a schematic view of CCD and mLED of the head of the capsule endoscope;

FIG. 5 is a schematic view of a biopsy system of a capsule endoscope;

FIG. 6 is a schematic illustration of the capsule endoscope being electrically disconnected from the host;

FIGS. 7a and 7b are front and top views, respectively, of a serpentine joint column;

FIG. 7c is a schematic view of the chain drive;

FIG. 8 is a schematic diagram of a patient position control system;

fig. 9 is a schematic diagram of a remote control structure.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

The invention discloses a capsule endoscope and a universal digestive endoscope system using the capsule endoscope, which can automatically complete the operation process of a gastroscope and a enteroscope without professional operation, take biopsies on a plurality of suspicious lesion parts of a digestive tract in real time, reduce the pain of a detected patient and are suitable for screening digestive tract cancers.

Referring to fig. 1a, the present invention provides a capsule endoscope and a general digestive endoscope system using the same, wherein the general digestive system may include a capsule endoscope (or cobra smart endoscope), and a magnetic field generator, a host computer and a remote controller located outside the body of a patient to be examined. Wherein:

the magnetic field generator is used for generating an external magnetic field so that the capsule endoscope entering the body of the detected patient moves along the alimentary canal of the detected patient under the action of the external magnetic field; the external magnetic field can be a variable strong magnetic field, and as an alternative to the magnetic field generator, a permanent magnet can also be used.

The remote controller is used for sending a control instruction to the host computer so that the host computer can control the capsule endoscope according to the control instruction, such as controlling the movement direction of a lens, taking a biopsy, flushing target tissues, cleaning a CCD mirror surface, sucking air and water in the gastrointestinal tract and the like.

The capsule endoscope is used for moving along the digestive tract of a detected patient under the action of an in-vitro magnetic field, and in the moving process of the digestive tract, the functions of lens steering, biopsy, target tissue flushing, CCD mirror surface cleaning, air and water suction in the gastrointestinal tract and the like are realized, taking biopsy as an example, the capsule endoscope collects digestive tract images, when a lesion part of the digestive tract is found according to the collected digestive tract images, the capsule endoscope attracts the lesion tissue of the lesion part to the inside of a shell of the capsule endoscope under the control of the host machine so as to cut the lesion tissue of the lesion part, and the cut lesion tissue of the lesion part is guided out of the detected patient and is respectively stored according to different lesion parts.

The forward and backward movement of the capsule endoscope is controlled by a variable strong magnetic field, so that the difficulty in power supply of the innovative endoscope and the capsule endoscope is solved, namely, the strong magnetic field generated by the permanent magnet or the magnetic field generator provides power for the capsule endoscope, on one hand, the forward direction and speed of the capsule endoscope can be controlled, for example, the forward speed (or relative speed) is 150mm/min, on the other hand, the capsule endoscope can be suspended and fixed at a certain position in the body, the intestinal tract examination of a general digestive endoscope system is completed in coordination with the change of the posture of a patient to be examined or the change of the position, taking the intestinal cavity as an example, if the image signal acquired by the capsule endoscope shows that the capsule endoscope is in a straight cavity, the capsule endoscope does not change direction under the power supplied by the magnetic field generator, and if the image signal acquired by the capsule endoscope shows that the capsule endoscope is in a bent position, the examined patient can be informed of changing the posture or the posture of the patient to be automatically or semi-automatically changed by designing a patient posture control system, so that the intestinal cavity of the patient to be examined can be bent, and the capsule endoscope can be continuously advanced in the intestinal cavity.

The capsule endoscope provided by the invention can be the same as the existing capsule endoscope in appearance, and can also be different from the existing capsule endoscope in appearance. Preferably, the invention provides a brand new appearance design which is cobra-shaped, has the characteristics of complete functions and flexible movement, and overturns the appearance designs of the traditional soft endoscope, the innovative endoscope and the existing capsule endoscope. As shown in fig. 2, the cobra-shaped capsule endoscope (also referred to as a smart endoscope for convenience of description) of the present invention includes a head, a neck, a body and a tail which are sequentially connected.

The shape of the head of the intelligent endoscope is that an upper cone, a middle cylinder and a lower round table are sequentially connected, and the maximum diameter of the head, namely the diameter of the cylinder, is 10-12 mm. In addition, the tip of the cone has a circular opening of 3mm diameter, which may be referred to as the opening of the biopsy device or the biopsy port.

The neck shape of intelligent endoscope is the cylinder, and the outside adopts scalable material, through the activity of neck, makes the head turn to.

The shape of the body of the intelligent endoscope is an upper round table, a middle cylinder and a lower cone which are connected in sequence. The maximum diameter of the body, namely the diameter of the cylinder, is 10-12 mm. In addition, the trailing end of the lower cone tapers to a diameter of 3mm, in particular, the cable connecting the illumination system and the host, the cable connecting the imaging system and the host, the biopsy channel and the high pressure airway taken together have a diameter of 3mm.

The tail of the intelligent endoscope is connected with the tail end of the body of the intelligent endoscope, the cable, the biopsy channel and the high-pressure gas channel of the intelligent endoscope are connected with the host, the diameter of the biopsy channel is 2.0mm, the diameter of the high-pressure gas channel is 1.0mm, the diameter of the cable is 1.0mm, and the cable, the biopsy channel, the high-pressure gas channel and the cable are bound together to form a main cable with the diameter controlled within 3.0mm and the length of 2000mm, namely the tail of the intelligent endoscope.

The surface of the outer surface of the intelligent endoscope is ultra-smooth, and the materials of the cable, the biopsy channel and the high-pressure air flow channel (or called high-pressure air channel) are light as much as possible, so that the forward resistance of the intelligent endoscope is reduced.

Referring to fig. 3 and 4, the cobra-shaped capsule endoscope of the present invention includes:

a capsule housing 1, the head of which has a biopsy port 2.

The magnetic induction module is arranged inside the capsule shell 1 and used for moving the capsule endoscope in the alimentary canal of the detected patient under the action of an external magnetic field, and can be arranged at least one proper position, preferably at the head or the body, of the capsule endoscope.

An imaging system for acquiring images of the digestive tract is provided inside the capsule housing 1, and is electrically connected with a host computer located outside the subject patient. Referring to fig. 3 and 4, the imaging system comprises two CCDs 3a, 3b connected with a host computer through cables, wherein the mirror surfaces of the two CCDs 3a, 3b are positioned on the outer surface of the head of the capsule shell 1, distributed on two sides of the biopsy port and separated by 180 degrees. The visual field of each CCD camera is 120-160 degrees, the visual angle of the two CCD cameras after being spliced is 240 degrees, and the visual angle of 240 degrees can be used for panoramic observation of the alimentary canal wall, especially the difficult-to-observe place of the colon bag. During the observation of the alimentary canal, the two CCDs 3a, 3b transmit the alimentary canal image to the host computer through the cable, the host computer integrates the alimentary canal images of the two CCDs 3a, 3b into a circle to be presented on the display screen, the image presented on the display screen is automatically centered, and the center of the image is provided with a 2mm blind area which is a biopsy opening or an opening of a biopsy device.

An illumination system for illumination provided inside the capsule housing 1 is electrically connected to a host located outside the subject patient. Specifically, the illumination system comprises two mLED lamps with automatically adjustable brightness, and the two mLED lamps are distributed at positions corresponding to the two CCDs at 90 degrees. Referring to fig. 4, on a certain circular cross section of the cone of the head of the capsule housing 1, two led lamps 4a, 4b and two CCDs 3a, 3b are uniformly distributed on the outer surface of the circular cross section and are staggered with each other, 1 CCD or led is arranged in each direction, and the two led lamps 4a, 4b are connected with a host through cables to provide conditions for the two CCDs 3a, 3b to acquire clear images of the digestive tract by using power illumination provided by the host.

The cobra-shaped capsule endoscope of the present invention further comprises:

a biopsy system arranged inside the capsule housing 1, which is not electrically connected with the host machine and is used for taking biopsies of lesion tissues of each lesion part of the detected patient under the control of the host machine;

the biopsy channel 20 is arranged in the capsule shell 1, one end of the biopsy channel is opposite to the biopsy port 2, the other end of the biopsy channel is not electrically connected with the host machine, and is a strong negative pressure channel and a recovery channel of a biopsy specimen, and is used for sucking (strong negative pressure suction) the lesion tissue of each lesion site to one end of the biopsy channel 20 opposite to the biopsy port 2 for the biopsy system to cut the lesion tissue of each lesion site after finding the lesion site of the digestive tract according to the acquired digestive tract image, and guiding the lesion tissue of each lesion site cut by the biopsy system to the host machine so that the host machine guides the lesion tissue according to the lesion site and stores the lesion tissue into different specimen storage bottles.

Referring to fig. 5 and 6, the biopsy system includes:

two blades 5a, 5b, i.e. bioptomes, are respectively arranged on both sides of one end of the biopsy channel 20 opposite to the biopsy port 2;

the two air bags 6a and 6b are respectively fixed with the two blades 5a and 5b so as to drive the respectively fixed blades to move when the air is inflated and deflated;

the high-pressure air channel 7, the air inlet is connected with the host to provide an air source (specifically, 200 to 250KPa high-pressure air source) by the host, the first air outlet is connected with the air bag 6a, the second air outlet is connected with the air bag 6b, and the high-pressure air provided by the host can be transmitted to the first air outlet and the second air outlet through the high-pressure air channel 7, so that the two air bags 6a and 6b are inflated and deflated;

when the lesion part of the digestive tract is found, the steps of taking the biopsy by the capsule endoscope are controlled by the host computer as follows:

step 1: the host controls the biopsy port 2 of the capsule endoscope to approach and contact the biopsy target tissue (or referred to as lesion tissue) of the lesion.

Step 2: the main machine opens the biopsy channel valve 20a of the biopsy channel 20 and the high negative pressure channel valve 9a of the first branch 9, and closes the other valves, i.e. opens only the biopsy channel 20 and the first branch 9 of the main machine, so that only the first branch 9 and the biopsy channel 20 are communicated between the capsule endoscope and the main machine.

Step 3: the host provides a strong negative pressure suction function, sucking the biopsy target tissue that is approaching and contacting the biopsy port 2 from the biopsy port 2 to the end of the biopsy channel 20 facing the biopsy port 2 via the first branch 9 and the biopsy channel 20.

Step 4: immediately after the biopsy target tissue is attracted to the biopsy channel 20, the host initiates a high pressure air flow to inflate the two air bags 6a, 6b via the high pressure air channel 7, and the two air bags 6a, 6b rapidly expand outwards during inflation, driving the two blades 5a, 5b to move towards the biopsy target tissue attracted to the biopsy channel 20, and cutting the biopsy target tissue attracted to the biopsy channel 20.

Step 5: the cut biopsy target tissue is attracted by negative pressure and enters a specimen recovery bottle of the host computer through the biopsy channel 20 and the first branch 9, so as to collect lesion tissues.

Step 6: after collecting the lesion tissue, the host stops the negative pressure suction, and simultaneously deflates the two air bags 6a, 6b via the high-pressure air passage 7 to enable the two air bags 6a, 6b to drive the two blades 5a, 5b to return, and the two blades 5a, 5b are restored to the open state.

It should be noted that the cut biopsy target tissue is sucked into the biopsy target tissue collecting sieve 9b in the main body rapidly, the sieve 9b and the biopsy target tissue on the sieve 9b are automatically put into the specimen storage bottle, and then the other sieve is automatically put into the position of the original sieve. In addition, 10 specimen storage bottles are arranged circumferentially in the host machine, and after the biopsy target tissue (namely the lesion tissue of the cut lesion part) is stored and sealed in the first specimen storage bottle, the first specimen storage bottle is removed and then the next empty specimen storage bottle is placed for preparing for the next biopsy. The biopsy sites are recorded on the specimen storage bottle and correspond to the serial numbers of the specimen storage bottle, so that the biopsy tissue of each biopsy site is stored and recorded independently, and the lesion condition of each biopsy site is favorable for definition and preparation for later treatment.

At present, the common capsule endoscope cannot adopt the scheme of needle biopsy or negative pressure cutting biopsy. Specifically, with the adoption of the scheme of needle biopsy, the needle biopsy has the advantages of less material, difficult pathological diagnosis, high false negative rate, smooth gastrointestinal wall and certain tension, even under anesthesia, the magnetic force can not provide enough force for biopsy, and the gastrointestinal wall can be avoided when the biopsy needle is pushed out by the magnetic force, so that the biopsy can not be performed. By adopting the scheme of negative pressure cutting biopsy, the capsule is small, a plurality of components are arranged in the capsule, a plurality of spaces are occupied, if negative pressure is generated in the capsule, the negative pressure is extremely small, the negative pressure cutting biopsy cannot be successfully performed at all, even if the negative pressure cutting biopsy is successfully performed, biopsy specimens of a plurality of parts are put together, the specific part of each biopsy cannot be distinguished, and the accurate position for taking the biopsy cannot be provided for the later treatment, so that the treatment is difficult. The invention provides a strong negative pressure for the biopsy channel 20 by the host, for example, provides a pressure of 20-40kpa for sucking tissue for cutting biopsy, and sucks the cut tissue to the host by the strong negative pressure, and the multi-part biopsy tissue is placed in different storage bottles, so that the marking of the material taking part is accurate, and an accurate position is provided for the subsequent treatment.

The cobra-shaped capsule endoscope of the present invention has at least one of the functions of cleaning the lesion tissue, sucking out the excessive gas or liquid in the digestive tract, cleaning the biopsy channel, and cleaning the CCD mirror surface of the imaging system, in addition to the first branch 9 providing the biopsy specimen collection function, a second branch 11 for cleaning the mirror surface, a third branch 12 for cleaning the target lesion, and a fourth branch 13 for attracting moisture in the gastrointestinal tract, in the host computer, as shown in fig. 6.

The method comprises the following steps:

1. target lesion cleaning function.

The procedure for washing the diseased tissue (i.e., rinsing the target lesion) is as follows:

step 1: when the target lesion needs to be cleaned, the host opens the biopsy channel valve 20a on the biopsy channel 20 and the cleaning target tissue channel valve 12a on the third branch 12 of the host, and closes the rest of the valves, namely only opens the biopsy channel 20 and the third branch 12 of the host, so that only the third branch 12 is communicated with the biopsy channel 20 between the capsule endoscope and the host.

Step 2: the host supplies water to the pathological tissues through the third branch 12, the biopsy channel 20 and the biopsy port 2, specifically, the host provides sterile water, the sterile water enters the biopsy channel 20 through the third branch 12 and is ejected through the biopsy port 2, the pathological tissues opposite to the biopsy port 2 are cleaned before biopsy, and the aim of cleaning target pathological changes is fulfilled.

2. The suction function of gas and liquid in the gastrointestinal cavity (gas-liquid suction function for short).

The procedure for drawing excess gas or liquid in the digestive tract is as follows:

step 1: when gas and/or liquid in the gastrointestinal tract are required to be sucked, the host opens the valve 20a on the biopsy channel 20 and the low negative pressure channel valve 13a on the fourth branch 13 of the host, and closes the other valves, namely only opens the biopsy channel 20 and the fourth branch 13, so that only the fourth branch 13 is communicated with the biopsy channel 20 between the capsule endoscope and the host.

Step 2: the host computer provides a low negative pressure (e.g., 40-50 kpa) to draw excess gas and/or liquid from the gastrointestinal tract through the biopsy port 2, biopsy channel 20, and fourth branch 13 to clean the field of view.

3. Biopsy channel cleaning function.

The steps for cleaning the biopsy channel 20 are as follows:

step 1: after the gas and/or liquid of the gastrointestinal tract is sucked, the biopsy channel 20 needs to be cleaned, at this time, the host opens the biopsy channel valve 20a on the biopsy channel 20 and the cleaning target tissue channel valve 12a on the third branch 12 of the host, and closes the rest of the valves, i.e. only opens the biopsy channel 20 and the third branch 12 of the host, so that only the third branch 12 and the biopsy channel 20 are communicated between the capsule endoscope and the host.

Step 2: the host computer supplies water to the biopsy channel 20 via the third branch 12, and cleans the biopsy channel 20 with positive pressure to clean the target lesion, leaving the biopsy channel 20 always in a clean state.

4. CCD mirror surface cleaning function.

The cobra-shaped capsule endoscope of the present invention further comprises:

and the mirror surface cleaning system is arranged inside the capsule shell 1 and is used for cleaning a CCD mirror surface of the imaging system.

Referring to fig. 6, the mirror cleaning system includes:

two cleaning nozzles 8a, 8b located beside the two CCDs 3a, 3b of the imaging system, respectively, and distributed at two positions 180 ° apart, specifically, the cleaning nozzle 8a is located beside the CCD3a, and the cleaning nozzle 8b is located beside the CCD3b, for jetting air or water to the mirrors of the two CCDs 3a, 3b, respectively, so as to clean the mirrors of the CCDs 3a, 3 b;

the mirror surface cleaning branch is provided with an inlet and at least two outlets, the inlet is communicated with the biopsy channel, and a cleaning spray head is arranged at each outlet.

The steps of cleaning the mirrors of the two CCDs 3a, 3b of the imaging system are as follows:

step 1: when the CCD mirror surface is required to be cleaned, the host opens the valve 14a on the mirror surface cleaning branch 14 and the valve 11a on the second branch 11 of the host to communicate the mirror surface cleaning branch 14 with the second branch 11, and closes the rest of the valves, so that only the second branch 11, the biopsy channel 20 and the mirror surface cleaning branch 14 are communicated between the capsule endoscope and the host

The biopsy channel valve 20a is arranged at a position close to the biopsy port 2 after the biopsy channel 20 branches off the mirror cleaning branch 14, and by closing the biopsy channel valve 20a, a biopsy channel between the entrance of the mirror cleaning branch and the biopsy port can be closed.

Step 2: the main machine supplies air or water to the mirrors of the two CCDs 3a, 3b via the second branch 11, the biopsy channel 20, the mirror cleaning branch 14 and the two cleaning heads 8a, 8b to ensure the mirror cleaning of the two CCDs 3a, 3 b.

The host provides continuous positive pressure, the valve is opened, air is supplied when the valve is slightly pressed (the valve is closed), distilled water is supplied when the valve is slightly pressed (the valve is closed and the water supply passage is communicated), so that the host provides distilled water to clean dirt on the CCD mirror surface through the second branch 11, the biopsy channel 20, the mirror surface cleaning branch 14 and the two cleaning spray heads 8a and 8b, and water drops and dirt on the CCD mirror surface are blown off through positive pressure air, so that clear observation conditions are provided for the digestive tract.

It should be noted that the mirror wash branch 14 of the mirror wash system is connected to the biopsy channel 20, and before connection, the wash branch is connected to form a common passage with the biopsy channel, which is also called a biopsy passage.

The distal end portions of the imaging system, the illumination system, the biopsy system, and the mirror cleaning system constitute the head of the capsule endoscope of the present invention.

Further, the capsule endoscope may further include:

the direction control system is arranged inside the capsule shell 1, is particularly positioned at the neck part and the body part of the capsule endoscope, and is used for controlling the head direction of the capsule endoscope under the control of the host. For example, before cleaning the lesion tissue, the direction control system controls the biopsy port 2 located at the head of the capsule endoscope to be directly opposite to the lesion tissue to be cleaned under the control of the host computer so that the sterile water sprayed from the biopsy port 2 can be cleaned to the lesion tissue. For another example, if the gastrointestinal lumen has not straightened after changing the patient's posture, the directional control system may control the head direction of the capsule endoscope under the control of the host computer so that the capsule endoscope passes through the curve by changing the head direction of the capsule endoscope.

The direction control system can adopt the lens steering system of the existing gastroscope enteroscope, and can also adopt the structure of figure 3.

Referring to fig. 3, the directional control system may include: two directional control chains 17, a serpentine joint column 15, and two chain drives. Wherein:

two direction control chains 17 (only 1 is shown in the figure, and the other 1 is perpendicular to the plane formed by the U-shaped chain) are positioned inside the capsule shell, and four end faces of the two direction control chains are respectively arranged at four different positions on the inner surface of the lower part of the head of the capsule shell so as to lead the head of the capsule endoscope to turn left and right and/or turn back and forth.

The snake-shaped joint column 15 is positioned inside the capsule shell, specifically positioned at the center of the neck of the capsule endoscope, one end of the snake-shaped joint column is fixed at the inner side of the lower part of the head of the capsule endoscope, the other end of the snake-shaped joint column is fixed at the inner side of the upper part of the body of the capsule endoscope, and fixing mechanisms such as a cross-shaped fixing bracket can be adopted. Wherein, the serpentine joint column 15 can include a plurality of serpentine joints in a ball-joint structure movably connected in series along its own axis, and the number of the serpentine joints can be set according to the length of the neck and the size of the serpentine joints, for example, 5 serpentine joints are set in fig. 3, and the serpentine joints are made of a hard metal alloy or a non-metal material. Referring to fig. 7a, 7b, each serpentine joint is an integral piece comprising a joint pestle 151, a joint neck 152, an acetabular cup 153 with a gap, a flank 154, the joint pestle 151, the joint neck 152 and the acetabular cup 153 being connected in sequence and coaxial. Four side wings 154 are uniformly distributed on the periphery of the joint socket 153, two opposite side wings are fixedly connected with the same direction control chain, and two adjacent side wings are fixedly connected with different direction control chains. Referring to fig. 3, a plurality of serpentine joints are sequentially arranged along their axes, and joint pestles 151 face in the same direction and face upwards, taking five serpentine joints as an example, each serpentine joint is respectively marked as a first serpentine joint, a second serpentine joint … and a fifth serpentine joint from top to bottom, when the joint pestles 151 of the latter serpentine joint are inserted into the joint pestles 153 of the former serpentine joint, the side wings 154 in the upper and lower two directions can form a plane, the side wings 154 in the left and right two directions can form another plane, and the two planes are perpendicular.

Two chain driving devices respectively driving different direction control chains 17 are positioned in the capsule shell, are specifically fixed on the body part of the capsule endoscope and are used for providing power for steering of the capsule endoscope and driving the steering movement of the head part of the capsule endoscope, and each chain driving device comprises a motor 162 fixed on the inner wall of the body part and a gear 161 driven by the motor to rotate. The gear 161 is located directly below the "cross-shaped" fixed support, at one end of the output shaft of the motor 162, for example the gear 161 is fixedly connected to the output shaft of said motor 162 and coaxial with the output shaft of said motor 162, see fig. 7c. In addition, the gears of the two chain driving devices can be placed one above the other, and the gear shafts of the two chain driving devices can be vertical, as shown in fig. 3.

When the head direction of the capsule endoscope needs to be controlled, the host controls the motor 162 of at least one chain driving device to drive the gear 161 of the chain driving device to rotate forward or reversely, and the direction control chain 17 matched with the gear 161 of the chain driving device moves to drive the flank 154 of the snake-shaped joint column 15 with one end fixed on the direction control chain 17 to move, so as to change the bending direction of the snake-shaped joint column 15 and further change the head steering direction of the capsule endoscope.

In the capsule endoscope, other structures except the biopsy channel, the air supply and water supply channel and the biopsy device are all sealed.

Further, referring to fig. 1b, the universal digestive endoscope system may further comprise:

a patient posture control system (patient posture control system or posture control system for short) 19 for changing the posture of the patient to be examined.

The operation of the digestive tract endoscope is required to be carried out with the cooperation of the patient to be examined, for example, if the intestinal cavity is straight, the endoscope can be directly advanced, if the intestinal cavity is curved, the patient to be examined is required to change the posture, and the current common practice is that an operator informs the patient to change the position or posture of the patient so as to straighten the curved intestinal cavity which the endoscope is about to pass through. Because of poor comfort of the enteron endoscope, and the patient's coordination of posture adjustment during enteroscopy may also further reduce patient comfort, a posture control system may be designed for this purpose, see fig. 8, which posture control system 19 may comprise:

a mounting base 191;

mounting brackets 192a, 192b, one end of which is fixed on the mounting base 191 and is perpendicular to the plane in which the mounting base 191 is located;

the rotary top is composed of an inner ring 193 and an outer ring 194, the outer ring 194 is fixedly connected with the other end of the mounting bracket 192a and the other end of the mounting bracket 192b, a connecting line between the other end of the mounting bracket 192a and the other end of the mounting bracket 192b can be used as a shaft for rotation, the inner ring 193 is fixed with the outer ring 194, a certain diameter of the outer ring 194 can be used as a shaft for rotation, and the rotating shafts of the inner ring and the outer ring are different;

A seat 195 fixed on the inner ring 193, on which a plurality of straps (or safety belts) for fixing the head and limbs of the patient to be tested and a safety compression bar for fixing the trunk are provided, so as to prevent the patient to be tested from being separated from the seat 195 when the rotary gyroscope rotates, thereby ensuring the personal safety of the patient to be tested;

when the posture of the patient to be detected needs to be changed, the inner ring 193 and/or the outer ring 194 are/is manually rotated, so that the human body automatically changes the posture along with the seat 195 fixed on the inner ring 193, and the turning of the intestinal cavity of the patient to be detected is promoted to be straightened, and the capsule endoscope is convenient to continuously advance.

As a preferred way, the inner ring 193 and the outer ring 194 may also be driven by a motor, that is, the attitude control system 19 may further include: the first motor for driving the inner ring to rotate and the second motor for driving the outer ring to rotate are controlled by the host computer to drive the inner ring 193 to rotate and/or control the second motor to drive the outer ring 194 to rotate, so that the human body automatically changes the posture along with the seat 195 fixed on the inner ring 193, thereby promoting the turning of the intestinal cavity of the examined patient to be straightened and facilitating the continuous advancement of the capsule endoscope.

After the attitude control system is adopted, a patient is comfortable and has no fear when sitting and fixed on a seat, in addition, the attitude control system can well straighten the intestinal cavity bending part of the patient to be detected when the capsule endoscope is used as an enteroscope, and the enteroscope operation is completed under the condition of no abdominal pain feeling.

In addition, two magnetic poles 196 of a magnetic field generator are fixedly installed on the inner ring 193, the two magnetic poles are positioned at two sides or front and back of a patient, and a strong magnetic field generated by the two magnetic poles provides power for the movement of the capsule endoscope.

To achieve the above functions, the remote controller of the present invention has a plurality of control areas, see fig. 9, specifically as follows:

the power control area is used for controlling the magnetic field generator and controlling the advancing speed and the advancing direction of the capsule endoscope;

a biopsy control zone for controlling the biopsy procedure, the retrieval of the specimen and the aspiration of the alimentary canal liquid gas, in addition, providing a cleaning function when the target lesions require cleaning;

the air supply and water supply control area is used for controlling the cleanliness of the CCD mirror surface and the expansion degree of the intestinal cavity so as to achieve the most ideal observation state;

an image storage control area for controlling the storage of images, generally set to be automatic storage;

Direction control area: the azimuth control of the capsule endoscope in four directions when the capsule endoscope advances or retreats is controlled;

in addition, if the universal digestive endoscope system further comprises the aforementioned attitude control system, the remote controller should also have the following control areas:

and the patient posture control area is used for controlling the initial state of the detected patient and the automatic posture control in the digestive tract endoscopy process by controlling the posture control system.

It should be noted that each control area has each key for implementing corresponding control, which is not described in detail herein.

The host machine of the invention can be provided with 2-4 capsule endoscopes, and under the control of a remote controller, each system in the capsule endoscopes and each realized function are integrated, so that the following functions are provided:

controlling the strong magnetic field provided by the magnetic field generator to control the advancing and retreating power of the capsule endoscope, wherein the advancing speed of the capsule endoscope is 150mm/min;

controlling illumination to provide illumination with proper distance and proper distance, wherein the illumination is variable in intensity, namely, the near is not too bright and the far is not too dark;

controlling the imaging, display, image stitching, automatic centering and image storage of the CCD;

controlling the cleaning of the lens and the air and water supply of the pipeline, and when the mirror surface is dirty, inflating or water supply to clean the mirror surface;

The direction of the lens of the capsule endoscope is controlled by controlling the direction control system, and when the capsule endoscope advances, the direction of the lens can be automatically adjusted at will, namely 120 degrees of no dead angle exists;

providing a control low negative pressure/strong negative pressure for a biopsy pipeline, controlling a negative pressure suction and biopsy process, sucking liquid or gas of an intestinal cavity at low negative pressure, sucking a target lesion for targeted biopsy at high negative pressure, and collecting a biopsy specimen;

in addition, when the universal digestive endoscope system comprises a posture control system, the posture of the detected patient can be automatically controlled.

The invention subverts the design of the traditional soft digestive tract endoscope, the innovative robot endoscope and the capsule endoscope, is completely a brand-new concept, and the cobra-shaped capsule endoscope replaces the conventional gastroscope enteroscope and capsule endoscope inspection, and has the advantages of simple structure, high automation degree, biopsy taking, no need of professional technician participation, 60-80% reduction of the workload of the digestive endoscope doctor, main energy of the digestive endoscope doctor for the treatment of early digestive tract cancers and precancerous lesions, and no diagnosis, and 3.5 hundred million patients needing gastroscope inspection worldwide can accept the equipment inspection to find digestive tract polyps and early digestive tract cancers and provide the digestive tract endoscope doctor with treatment, thereby achieving the early diagnosis and early treatment of the digestive tract cancers and reducing the incidence and death rate of the digestive tract cancers.

The working flow of the universal digestive endoscope system is as follows:

step 1, starting a general digestive endoscope system;

step 2, the patient swallows or inserts the capsule endoscope from the rectum, and the operator assists;

step 3, providing power for the capsule endoscope to advance by the variable strong magnetic field, wherein the advancing speed is 150mm/min;

step 4, providing illumination by the mLED with variable intensity, and observing that the light is darkened when the light is near and the light is lighten when the light is far;

step 5, providing a dynamic image with a visual angle of 240 degrees by the CCD, automatically adjusting or manually adjusting a lens by a direction control system, and providing an automatic image centering function by a host computer, so that the far distance of the intestinal cavity in the image of the capsule endoscope is in the center of the visual field;

step 6, when water or dirt exists in the CCD visual field, starting a CCD mirror surface cleaning function to wash the mirror surface;

step 7, when the gastrointestinal cavity has more air or liquid, starting a gas-liquid suction function by starting a low negative pressure system, sucking out air and water in the gastrointestinal cavity, and then starting a biopsy channel cleaning function to clean the biopsy channel;

step 8, when the target lesion is found, starting a target lesion cleaning function, after flushing the target tissue, adjusting the direction of a lens to approach and contact the target lesion, fully sucking the target lesion into a biopsy channel by starting a high negative pressure system, wherein a negative pressure meter shows that the negative pressure is obviously improved, rapidly starting a high pressure air bag to push a blade to cut the target tissue, rapidly sucking the target tissue into a biopsy tissue collecting filter screen in a host, automatically placing the filter screen and the cut target tissue into a biopsy tissue storage bottle (or a sample recovery bottle), automatically placing the other filter screen at the position of an original filter screen, removing the original storage bottle, then placing a new storage bottle for preparing for the next biopsy, and recording the position of the biopsy position and corresponding to the serial number of the storage bottle;

Step 9, when the intelligent endoscope finds that the curve or the stenosis exists in front of the gastrointestinal cavity, informing a patient to change the posture or automatically or semi-automatically adjusting the posture of the patient by designing a posture control system, so that the curve is changed into a straight cavity, and the capsule endoscope can continuously advance in the straightened intestinal cavity; if the patient cannot pass through the curve after the posture or the position of the patient is adjusted, the direction of the lens of the capsule endoscope can be adjusted, and the power provided by the strong magnetic field is increased, so that the capsule endoscope passes through the curve or the narrow position;

step 10, after all the parts to be detected are detected, the main machine automatically withdraws the capsule endoscope through the cable and the biopsy channel, and water and air in the gastrointestinal tract are sucked as much as possible in the retreating process of the capsule endoscope;

step 11, after the inspection, when the capsule endoscope exits through the mouth or anus, the assistance of staff is needed to avoid damaging the intelligent endoscope;

and 12, cleaning and sterilizing the capsule endoscope and then reusing the capsule endoscope.

The capsule endoscope and the universal digestive endoscope system using the capsule endoscope do not need the participation of professional technicians, namely do not need the participation of a digestive endoscopist, an operator can finish the operation of the gastroscope and the enteroscope after only short-term training, a patient does not have great pain, and the digestive doctor only treats a large number of gastrointestinal polyps and gastrointestinal early cancers screened by the system. Thus saving the labor cost of a large number of medical staff, solving the problem of early diagnosis and early treatment of secondary prevention of digestive tract cancer in China and the world, and remarkably reducing the incidence rate of esophageal cancer, gastric cancer and colorectal cancer in the world.

The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the present invention. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the present invention shall fall within the scope of the appended claims.

Claims

1. A capsule endoscope, the capsule endoscope comprising:

a capsule housing having a biopsy port at a head thereof;

the magnetic induction module is arranged in the capsule shell and used for enabling the capsule endoscope to move in the alimentary canal of the detected patient under the action of an external magnetic field, and is electrically connected with a host positioned outside the detected patient and used for illuminating and an imaging system used for acquiring the alimentary canal image;

the biopsy system is arranged in the capsule shell and is not electrically connected with the host machine and is used for taking biopsies of lesion tissues of each lesion part of the detected patient under the control of the host machine;

the biopsy channel is arranged in the capsule shell and is not electrically connected with the host machine, and is used for sucking the pathological change tissue of each pathological change part to one end of the biopsy channel, which is opposite to the biopsy port, for the biopsy system to cut the pathological change tissue of each pathological change part, and guiding the pathological change tissue of each pathological change part cut by the biopsy system out to the host machine, so that the host machine guides the pathological change tissue out according to the pathological change part and stores the pathological change tissue into different specimen storage bottles.

2. The capsule endoscope of claim 1, wherein the biopsy system comprises:

two blade blades which are respectively arranged at two sides of one end of the biopsy channel opposite to the biopsy port;

the two air bags are respectively fixed on the two blades so as to drive the respectively fixed blades to move when the blades are inflated and deflated;

the air inlet is connected with the host machine to provide an air source, and the first air outlet and the second air outlet are respectively connected with one air bag so as to control the inflation and deflation of the two air bags through the host machine;

when the lesion part of the digestive tract is found, the host computer is communicated with the biopsy channel of the capsule endoscope and the first branch of the host computer, so that the host computer performs negative pressure suction through the first branch, the biopsy channel and the biopsy port, and thereby the lesion tissue of the lesion part, which is close to and contacted with the biopsy port, is sucked to the biopsy channel from the biopsy port; the host inflates the two air bags through the high-pressure air passage so that the two air bags drive the two blades to move towards the pathological tissues attracted into the biopsy channel and cut the pathological tissues attracted into the biopsy channel; the host computer collects the cut pathological tissue to a specimen storage bottle through the biopsy channel and the first branch; the main machine stops negative pressure suction, and deflates the two air bags through the high-pressure air channel so that the two air bags drive the two blade blades to return, and the two blade blades are restored to an open state.

3. The capsule endoscope of claim 2, further having at least one of a function of cleaning the diseased tissue, aspirating excess gas or liquid in the alimentary canal, cleaning the biopsy channel, and cleaning a CCD mirror of the imaging system.

4. A capsule endoscope as in claim 3 wherein the host computer communicates only the biopsy channel with a third leg of the host computer to supply water to the diseased tissue via the third leg, the biopsy channel, and the biopsy port to clean the diseased tissue prior to biopsy.

5. A capsule endoscope according to claim 3 and wherein said host computer communicates only with said biopsy channel and with a fourth branch of said host computer, thereby aspirating excess gas and/or liquid in said alimentary canal via said biopsy port, said biopsy channel and said fourth branch.

6. A capsule endoscope as in claim 3 wherein the host computer communicates only with the biopsy channel and the third branch, thereby supplying water to the biopsy channel via the third branch to clean the biopsy channel.

7. A capsule endoscope according to claim 3, further comprising:

The lens surface cleaning system is arranged in the capsule shell and is used for cleaning a CCD lens surface of the imaging system, wherein the imaging system comprises two CCDs which are distributed on two sides of the biopsy port;

the mirror cleaning system includes:

the two cleaning spray heads are respectively positioned beside the two CCDs and are used for spraying air or water to the mirror surfaces of the two CCDs so as to clean the mirror surfaces of the two CCDs;

the mirror surface cleaning branch is provided with an inlet and at least two outlets, the inlet is communicated with the biopsy channel, and a cleaning spray head is arranged at each outlet;

the main machine is communicated with the mirror surface cleaning branch circuit and the second branch circuit of the main machine, and closes a biopsy channel between an inlet of the mirror surface cleaning branch circuit and the biopsy port, so that air or water is supplied to the mirrors of the two CCD through the second branch circuit, the biopsy channel, the mirror surface cleaning branch circuit and the two cleaning spray heads, and mirror surface cleaning of the two CCD is guaranteed.

8. The capsule endoscope of claim 1, further comprising:

the direction control system is arranged in the capsule shell and is used for controlling the head direction of the capsule endoscope under the control of the host;

The directional control system includes:

two direction control chains positioned in the capsule shell, wherein four end surfaces of the two direction control chains are respectively arranged at four different positions on the inner surface of the lower part of the head of the capsule shell so as to enable the head of the capsule endoscope to turn left and right and/or up and down;

the snake-shaped joint column is positioned in the capsule shell and is provided with a plurality of snake-shaped joints which are connected in series and movably along the axis of the snake-shaped joint column, four side wings which are uniformly distributed are arranged on the periphery of each snake-shaped joint, and two opposite side wings are fixed on a control chain in the same direction;

two chain driving devices which are positioned in the capsule shell and respectively drive control chains in different directions, wherein each chain driving device comprises a motor and a gear which rotates under the drive of the motor;

when the direction of the head of the capsule endoscope is required to be controlled, the motor of the chain driving device drives the gear of the chain driving device to rotate forward or reversely under the control of the host, and the gear of the chain driving device drives a direction control chain matched with the gear of the chain driving device to change the bending direction of the snake-shaped joint column, so that the head of the capsule endoscope is turned.

9. The capsule endoscope of any of claims 2-8, wherein the capsule endoscope has a tail of 3mm diameter and 2000mm length, the tail comprising a cable connecting the biopsy channel and the high pressure airway of the host, a cable connecting the illumination system and the host, a cable connecting the imaging system and the host.

10. A universal digestive endoscopy system, the system comprising:

a host and a capsule endoscope according to any of the preceding claims 1-9;

a magnetic field generator located outside the body of the patient to be examined, for generating an external magnetic field so that the capsule endoscope entering the body of the patient to be examined moves along the alimentary canal of the patient to be examined under the action of the external magnetic field;

and the remote controller is positioned outside the detected patient and is used for sending a control instruction to the host computer so that the host computer can control the capsule endoscope according to the control instruction.