WO2008125529A1

WO2008125529A1 - Navigable endoscopy capsule

Info

Publication number: WO2008125529A1
Application number: PCT/EP2008/054133
Authority: WO
Inventors: Sven-Martin Sutter; Rainer Graumann
Original assignee: Siemens Aktiengesellschaft
Priority date: 2007-04-13
Filing date: 2008-04-07
Publication date: 2008-10-23
Also published as: DE102007017517B4; DE102007017517A1

Abstract

The invention relates to a navigable endoscopy capsule for investigation and/or treatment of the interior of the human body, in particular, the gastrointestinal tract, comprising at least one control nozzle (3) by means of which propellant can be ejected to achieve a pneumatic or hydraulic drive.

Description

description

Navigable endoscopy capsule

The invention relates to a navigable endoscopy capsule for the examination and / or treatment of the interior of the human body, in particular of the gastrointestinal tract.

Swallowable endoscopy capsules that traverse the gastrointestinal tract of a patient to be diagnostic or therapeutic there are well known. Capsules without their own drive can usually be used only in limited areas of application, for example in the small intestine area, so that externally navigable endoscopy capsules have been proposed in order to be able to expand the usefulness in diagnosis and therapy.

For this purpose, it has been proposed to provide a permanent magnet or an electromagnet in the endoscopy capsule so that the endoscopy capsule can be navigated via an external magnetic field which has a corresponding direction and a corresponding gradient. In order to actually move the capsule, very large magnetic fields are necessary. A navigation device necessary for this purpose is therefore relatively expensive, heavy and involves a very complex control of the magnetic fields and gradients.

Another disadvantage of the magnetically navigated endoscopy capsules is that the location by electromagnetic position detection systems by the superposition of the used

Magnetic fields is disturbed, so that often large errors occur. The possibility of imaging is also severely restricted by the large-volume navigation systems.

Finally, it is disadvantageous that the use of magnetic fields for navigation of the capsule excludes certain groups of persons, for example patients with a cardiac pacemaker, from the application. The invention is therefore based on the object of specifying an easily navigable endoscopy capsule which does not have the disadvantages indicated above.

To solve this problem is provided according to the invention in an endoscopy capsule of the type mentioned that it comprises at least one control nozzle, via which for the realization of a pneumatic and / or hydraulic drive drive medium is ejected.

In a pneumatic and / or hydraulic drive realized in this way, no more magnet system is required in a navigation device. The endoscopy capsule is moved directly by controlled ejection of the drive means and can thus be brought to areas to be diagnosed and / or treated. The drive means output of the at least one control nozzle is externally controllable, so that the required movements of the capsule, for example floating, sliding, turning, etc., can be carried out in a targeted manner from the outside. This has quite a number of advantages over the known endoscopy capsules.

By dispensing with the external magnetic fields and thus also the voluminous navigation device, the direct combination with a radiological imaging can be realized. Then, during an examination or during an intervention, for example, an X-ray check or simultaneous recording of computed tomography data sets can be made possible. In particular, if the capsule is expediently made of non-ferromagnetic materials, it is possible to combine such an endoscopy device with magnetic resonance imaging, which is particularly advantageous. In this way, an interventional, minimally invasive workplace can be realized for many applications. By way of example, the combination of a two-dimensional or three-dimensional vessel representation, as can be recorded by the endoscopy capsule, with a digital one Subtraction angiography may be the cause, as more bleeding may occur, especially in the removal of polyps, which can be predicted by digital subtraction angiography. If an endoscopy capsule is used which is radiation-opaque or otherwise visible in the external image, it is also possible, for example, to dispense with a position-determining system. A position-determining system is also unnecessary if the capsule is directly visually controlled, for example by the image directly recorded by it.

With particular advantage, however, a commercially available, electromagnetic position determination system can be used in the embodiment according to the invention, since no large navigation magnetic fields that could disturb the position determination, more are needed. A position determination of the capsule is particularly useful if, for example, a spatial connection to previously recorded image data is to take place. Something like this can be realized, for example, via image fusion. Position detection can also serve to generate three-dimensional images of the hollow organs traversed by the capsule. For this purpose, it can be provided, for example, that the endoscopy capsule comprises two image recording devices that are at an angle to one another (so-called stereo arrangement). Also, the capsule may include a projection device which projects line structures onto the surface of the hollow organ, which are then received by an image pickup device also provided in the capsule. The endoscopy capsule may also comprise more than one image recording device, for example, front and rear image recording devices may be provided. Expediently, the endoscopy capsule can also comprise a light source for infrared light, with which, for example, locally fluorescent substances, such as, for example, contrast agents, can be detected, possibly followed by therapy. If the capsule also includes an OCT device (optical coherence tomography), the examination of the first tissue layers, for example, to quantify the depth of pathological tissue, since the image recording method OCT has a penetration depth of a few millimeters.

A particular advantage of the hydraulic and / or pneumatic drive provided according to the invention is that the simultaneous use of several such endoscopy capsules is made possible in order, for example, to visually observe and control a therapeutic activity. Such a parallel use of several endoscopy capsules is unthinkable in electromagnetically controlled systems because the capsules would all react to the same external magnetic field. With the endoscopy capsule according to the invention, it is conceivable, for example, to bring the endoscopy capsule intended for the treatment to the examination and treatment site, where the connection between the endoscopy capsules is then separated and both capsules can be controlled independently It is also possible to use the endoscopy capsule in combination with external instruments, such as laparoscopes or devices for stereotactic irradiation, if the position of the endoscopy capsule is determined and transmitted to the external instrument.

In addition, the endoscopy capsule according to the invention can also be used in patients who can not be exposed to large magnetic fields, for example in pacemaker patients. Therefore, there are no restrictions on applicability.

Overall, therefore, a significantly cheaper and easier-to-implement endoscopy device is created, whose application possibilities are expanded.

The aim of the specific design of the hydraulic or pneumatic drive is to navigate the endoscopy capsule as comfortable as possible and on a fast path to certain positions and / or in certain orientations. One Another Auslegekriterium may be to keep the capsule as stable as possible in their position. It can be assumed that an elongated cylindrical endoscopy capsule.

For this purpose, ten control nozzles can be provided in an advantageous embodiment of the present invention, wherein each control nozzle is arranged facing one end of the endoscopy capsule in the longitudinal direction of the endoscopy capsule and four control nozzles at different angles substantially perpendicular to the longitudinal direction of the endoscopy capsule aligned substantially in a plane in the front and rear of the endoscopy capsule are arranged. Via the control nozzles arranged at the longitudinal ends of the elongated endoscopy capsule, a movement along the longitudinal directions of the endoscopy capsule is made possible. The eight further nozzles, which are arranged around the circumference in the front and rear of the endoscopy capsule, serve to move in the other spatial directions and to rotate the endoscopy capsule. In particular, it is advantageous if the four control nozzles in the front area and the four

Control nozzles in the rear area are mutually perpendicular to each other, that is, each two adjacent of the four control nozzles form an angle of 90 ° with each other. Rotations about the longitudinal axis of the endoscopy capsule are not possible in this configuration, however, most endoscopy capsules are anyway rotationally symmetrical with respect to the longitudinal axis, so that such a rotation is not required. If rotation about the longitudinal axis is also to be enabled, further control nozzles can, for example, be provided. Overall, in this embodiment, a stable, comfortable and easy to navigate navigation of the endoscopy capsule allows.

In order to enable stable controllable endoscopy capsules with a smaller required number of control nozzles, in a further embodiment of the invention, the ejection direction of at least one control nozzle can be changed. Then it is possible that the driving force by the corresponding Control nozzle is generated to point in different directions, so that different types of movements can be generated. The change in the ejection direction of the control nozzle is of course designed to be controllable, for example via a provided in the endoscopy capsule control unit, which also takes over the control of the other pneumatic and / or hydraulic drive. By changing the ejection direction, it is possible, as already described, to realize a stable, comfortable and short-distance navigation of the endoscopy capsule even with a smaller number of control nozzles. In this case, the control unit or an external control device provided for controlling the drive can be designed to convert directional or rotary hubs into a corresponding control in an intelligent way.

Expediently, the change in the ejection direction can be realized by at least one adjusting device assigned to a control nozzle and designed to move the control nozzle in order to change the ejection direction. Such an adjusting device may for example comprise a nanomotor and / or piezoelectric elements, which are then driven accordingly.

One way of changing the ejection direction is to swivel the control nozzle itself. For this purpose, it may be provided that a control nozzle in at least one direction, in particular two directions, is pivotable. A pivotability in two directions can be realized, for example, by means of a ball joint, but also by a correspondingly extendable contraction of the control nozzle, for example by means of piezo elements, inwards. With particular advantage, a pivotability is not only given about an axis, but at least two axes, in particular mutually perpendicular. For example, two adjustment means may be provided for this purpose, for example two piezo elements or stacks of piezo elements. In order to use as much flexibility as possible and to keep the navigation of the endoscopy capsule as accurate as possible. lent to realize the control nozzle by 90 to 130 °, in particular 120 °, be pivoted. Larger swiveling angles are desirable but usually difficult to realize.

If nozzles are provided whose ejection direction is changeable, it is possible to realize a stable control of the endoscopy capsule with four control nozzles arranged in a longitudinal plane of the endoscopy capsule, two of which are arranged substantially opposite one another in the front and rear regions of the endoscopy capsule. In this way, fewer control nozzles are needed. It can be shown in particular that when using control nozzles which are pivotable in two directions by 120 °, a particularly comfortable navigation of the endoscopy capsule is achieved.

In the case of movable control nozzles, it is essential to ensure that the inside of the endoscopy capsule remains as hermetically sealed as possible to the outside. To achieve this goal, for example, rubber seals can be used.

The driving force that generates a control nozzle is essentially determined by the pressure of the drive means ejected by it. In order to determine this adjustable, it can be provided that a controllable valve is assigned to a control nozzle. This control can be done for example electrically or electromechanically or directly via the drive means itself. Thus, valves are known which open or close mechanically, but also those which respond, for example, reacting to a certain current flow or close. In the simplest embodiment, such a valve can be easily opened or closed. When the valve is open, the drive means is then ejected at a predetermined pressure. Advantageously, however, the opening degree of the valve can also be determined to be controllable, so that different driving forces can be generated. The control of the valve or valves can be provided via a provided in the capsule control unit or take place via an external control device, which controls in particular the entire drive, so in the case of variable in their ejection direction control nozzles and these and other functions of the drive.

In order to realize a permanent operation of the endoscopy capsule, a sufficient supply of drive means must be ensured. For this purpose, according to a first embodiment of the present invention may be provided that a thin tube is provided for the supply of the drive means. In this case, the drive means - possibly already under the necessary pressure - the endoscopy capsule via a thin tube supplied from the outside. The outstanding navigability of the endoscopy capsule with all its advantages remains intact. The capsule pulls behind only the thin, even non-rigid hose behind it, which does not affect the mobility on the hydraulic and / or pneumatic drive, since the hose slides along the walls of the hollow organ and can be tightened. Conveniently, the tube can be made highly flexible at least in the region of its capsule-side end, so that no obstruction of the navigation of the endoscopy capsule occurs as far as possible. The tube, which preferably consists of an inelastic, that is flexible, but non-stretchable, material such as polypropylene or polytetrafluoroethylene, so that it does not stretch elastically upon supply of the drive means, can be very thin-walled and made very small in diameter. The wall thickness of the hose can be between 0.1 to 0.5 mm, preferably 0.2 mm, while the outer diameter of the hose can be between 2 and 6 mm, in particular 3 to 4 mm. The net weight of the hose is extremely low and is in the range of a few grams, even if the hose is made very long. Lengths of more than 2 m are readily feasible, conceivable is also a length of up to 8 m, so that the hose can be tightened lengthwise, for example, through the entire gastrointestinal tract. If more than one control nozzle is provided, then each control nozzle may be assigned a supply line for drive means within the tube or a channel of the tube divided into several separate channels. The corresponding drive means can be supplied simultaneously via the several feed paths. The channels are of course sealed against each other.

As already mentioned, it is possible to retighten the tube solely by the movement of the capsule. Should it come to difficulties, for example by friction of the hose on the walls of the hollow organ or by its weight, it may be provided in an advantageous embodiment of the endoscopic capsule, that further control nozzles are provided on the hose in the direction of the capsule away. About these control nozzles, the hose itself can be tracked easily. The drive means supply lines to these further control nozzles can, as described above, be provided separately from the drive means or supply lines to the capsule.

Sometimes it is expedient to be able to decouple the tube from the capsule if necessary, so that in a further embodiment of the invention, a separation device for selective separation of the tube may be provided by the endoscopy capsule. This can for example be realized by a coupling element to which the hose is attached, and that allows a rotation of the capsule relative to the hose. The decoupling of the tube from the capsule can take place, for example, via an electrical signal given by a capsule-side control unit, which selectively opens a holder at the connection of the tube with the capsule, but it is also possible to decouple by defined mechanical tension on the tube so that a connection mechanism between hose and capsule is thereby opened in a defined manner. The tube can then be pulled out, while the capsule, which, for example, no further supply of drive means more needed, continue the Traversed through the gastrointestinal tract and eventually excreted naturally. When using tubes shorter than the entire length of the gastrointestinal tract, the ability to decouple offers the possibility of painless removal of the tube during oral examinations (gastroscopy) after decoupling via the mouth or nose, while the capsule is moved by natural peristalsis and recovered anal ,

With particular advantage, at least one further supply and communication line, in particular a data line for image and / or sensor data and / or a power supply and / or a control line for intervention tools and / or a medicament or rinsing liquid line, can be provided in the hose , in particular in the hose wall, be guided. In particular, in the case of electrical lines which are expediently inserted into the tube wall, the communication between the external control device and the capsule-side control unit can also take place, that is to say that image or other measurement data, which are recorded on the capsule side, can be sent to the external control device to be transmitted or control commands from external to capsule-internal functional devices, in particular the pneumatic and / or hydraulic drive, are given. Electrical connections can, for example, be supplied and controlled: the data transfer of the image data, the power supply of a camera and image processing, the power supply of therapeutic systems (for example a biopsy forceps or irrigation), systems for ablating tissue or haemostasis and / or other therapeutic systems (eg medication, local parameter measurements, brachytherapy, etc.). As a result, a multiplicity of components previously provided within the capsule can be omitted there, for example the internal power supply, transmission devices for radio communication, the permanent magnet for magnetic navigation, etc. Advantageously, the endoscopy capsule can thereby be substantially smaller and be made lighter, so that applications in smaller hollow organs are possible.

In an alternative to the supply of the drive means via the hose, the endoscopy capsule may comprise at least one inlet opening for receiving body fluid and / or body gas as drive means and at least one pump, wherein the body fluid is usable by means of the pump for driving the capsule. In particular, it is expedient to provide filtering devices for filtering the body fluid and / or the body gas in order to prevent blockages or restrictions due to stuck-on, more solid components. In this case, therefore, not externally supplied drive means is used, but the drive means is drawn directly from the environment of the endoscopy capsule. In this case, body fluid or body gas can be used. In the stomach, for example, liquid and gas are present, while in the colon only gas is available. It is advantageous if inlet openings are provided distributed over the surface of the endoscopy capsule. Then, the suction force is distributed, so that only a small change in position and orientation of the capsule is generated. Essentially, two embodiments are conceivable in this case.

Once it can be provided that each control nozzle is associated with a pump. The operation of the pump then controls how much driving power the corresponding control nozzle generates. Alternatively, however, it can also be provided that via the pump body gas can be sucked into a container arranged in the interior of the capsule to produce a predetermined pressure. Then only one pump is required and the control nozzles, for example, valves can be assigned.

In general, it is expedient if at least one therapeutic and / or diagnostic pneumatically and / or hydraulically operable instrument can be operated with the drive means. The drive means is in this case doubled uses, so that, for example, eliminates an electric drive for the corresponding instrument.

In addition, the invention also relates to an endoscopy device which comprises an endoscopy capsule according to the invention and an external control device, which communicates with the endoscopy capsule, for controlling the endoscopy capsule. Within the endoscopy capsule, for example, a less complex designed control unit can be provided, which forwards the corresponding control commands to the individual components. The endoscopy capsule of the endoscopy device can be configured as described in the previous sections, so that the corresponding advantages can also be achieved with the endoscopy device according to the invention.

The endoscopy device can be advantageously further configured if a thin tube for supplying the drive means and a drive means supply are provided. It can then be provided with particular advantage that in each case one control nozzle associated feed lines or channels for the drive means, the supply to each nozzle by means of the drive means supply is separately controllable. Valves or the like on the control nozzles on the capsule are then no longer necessary, the entire navigation of the endoscopy capsule can be controlled completely externally by the drive means of a certain pressure of the control nozzle or the control nozzles is supplied. In this way it is possible to make the endoscopy capsule even smaller and more compact. Preferably, therefore, the pressure of the drive means can be adjusted via the drive means supply.

For example, carbon dioxide can be used as the drive means to be supplied externally, which is already known today for expanding the large intestine. However, other drive means, in particular air or water, conceivable. The only important thing is that the drive means is biocompatible. Further advantages and details of the present invention will become apparent from the embodiments described below and with reference to the drawings. Showing:

1 is a perspective view of an endoscopy capsule in a first embodiment of the present invention,

FIG. 2 is a front view of the endoscopy capsule of FIG. 1; FIG.

3 is a plan view of the endoscopy capsule of Fig. 1,

4 shows a cross section through the endoscopy capsule from FIG. 1, FIG.

5 shows an embodiment of a hose for supplying drive means,

Fig. 6 shows an alternative embodiment of a

Hose for the supply of drive means, and

7 shows the cross-sectional view of an endoscopy capsule in a second embodiment.

Figures 1 to 3 show various views of a first endoscopy capsule 1 according to the present invention. The endoscopy capsule 1 is elongated, cylindrical and has a diameter of, for example, 10 mm. It comprises a capsule housing 2, which may also be partially or completely transparent when imaging or measurements are to be made. In addition, the endoscopy capsule 1 comprises ten control nozzles 3, via which drive means can be ejected for realizing a pneumatic and / or hydraulic drive. The ten control nozzles are arranged so that a comfortable and stable navigation of the endoscopy capsule 1 by the hydraulic and / or pneumatic drive can be realized. There are two opposite ones Control nozzles 3 provided at the front and at the rear end of the capsule. Two groups of four control nozzles 3 are arranged in a front region and in a rear region perpendicular to the longitudinal axis 4 of the endoscopy capsule 1 in a plane at different angles. The front and the rear control nozzle 3 are parallel to the longitudinal axis 4. Two adjacent control nozzles 3 of the group in the front and rear each include an angle of 90 ° with each other, which means there are two control nozzles 3 opposite each other, wherein the connecting axes opposite control nozzles 3 at a right angle on the longitudinal axis 4 intersect. The control nozzles 3 of the group in the front and in the rear of the capsule are each equidistant from a median plane of the endoscopy capsule 1. Thus, a symmetrical structure is realized, which allows virtually all types of movement required. Thus, for example, rotations about the longitudinal axis 4 of the endoscopy capsule perpendicular axes are possible, the capsule can slide or float.

The capsule housing 2 may also have further openings, for example for medical instruments or for receiving and dispensing substances and electrodes, which are not shown here for reasons of clarity.

The endoscopy capsule 1 further comprises a highly flexible, non-rigid tube 5 or is connected to the highly flexible, non-rigid tube 5 via a separation device 6. The hose 5 serves mainly to supply drive means for the control nozzles 3. It consists of polypropylene (PP) or polytetrafluoroethylene (PTFE), ie of an inelastic material that does not expand in the interior when pressurized, and is extremely thin in diameter as well in terms of wall thickness. The latter is preferably about 0.2 mm, the diameter is preferably between 3 and 4 mm. This tube 5, two or more

Meters long, is introduced together with the endoscopy capsule 1 in the patient. The actively forward-moving endoscopy capsule pulls the tube behind it, the outside should be designed extremely smooth, so that it can slide along the wall of the hollow organ practically without resistance and can understand any bending, so as not to endanger the navigation of the endoscopy capsule 1, after he is extremely thin-walled and highly flexible. In order nevertheless to relieve the control nozzles 3 of the endoscopy capsule, further control nozzles 7 are provided on the tube 5, which are aligned in the direction away from the endoscopy capsule 1. Thus, a separate drive for tracking the tube 5 can be realized.

4 shows, in the form of a cross section, the inner workings of the endoscopy capsule 1. Only the components relevant for the present invention are shown here. Due to the cross-sectional view, six of the ten control nozzles 3 can be seen here.

As can be seen, the tube 5 is connected to the endoscopy capsule 1 via the separation device 6. In order to make solvability of the tube 5 possible from the endoscopy capsule, the separation device 6 can be actuated, for example via the control unit 8 provided in the endoscopy capsule 1, in such a way that an opening mechanism (not shown in more detail) integrated on the separation device side actuates the tube 5 is decoupled. For example, this may be a simply designed, electrically controllable mechanism. This makes it possible, if necessary, to detach the tube 5 from the capsule 1, whereupon the tube 5 can be pulled out and the capsule 1 is moved on by the natural peristalsis.

As already mentioned, the endoscopy capsule 1 comprises a control unit 8, which serves to control the hydraulic and / or pneumatic drive. In addition, it can also control other systems of the endoscopy capsule, not shown here in detail, for example an image recording device, a sensor, medical instruments, the transmission of data to and from the capsule 1 and the like. The tax For example, unit 8 can be designed as a microcontroller.

The supplied via the hose 5 drive means is continued via corresponding lines 9 with uniform pressure to all control nozzles 3. The hose 5 therefore comprises a single supply line which supplies all the control nozzles 3. However, it is also conceivable that each control nozzle 3 is associated with a supply line for drive means within the tube 5 or a channel of the divided into several separate channels tube 5. This will be discussed in more detail below. Each of the control nozzles 3 is preceded by a valve 10 which can be controlled by the control unit 8 via corresponding communication lines 11. In this case, the control is carried out electrically, with an electromechanical control is conceivable. If each control nozzle 3 is assigned its own supply line, the control of the valve 10 can also take place via the drive means itself. In the illustrated embodiment, therefore, determines the degree of opening of the valves 10, how much drive means is ejected, so ultimately the driving force of the corresponding control nozzle 3. Depending on which movement shape is desired, controls the control unit 8 accordingly the valves 10 of the individual control nozzles 3 accordingly. Of course, to generate certain movements, it is of course also possible to open a plurality of valves 10 at the same time over certain, even different amounts. By appropriate control of the valves 10 of the ten control nozzles 3, a stable and simple control of the movement of the endoscopy capsule 1 is therefore possible.

As can also be seen from FIG. 4, a drive means feed line 12 to a medical instrument 13, in this case gripping tongs, is provided, which can be operated hydraulically and / or pneumatically. This means that the drive means, which is used for the realization of the hydraulic and / or pneumatic drive, also becomes the operation of the instrument 13 used. The operation of the instrument 13 is also controlled by the control unit 8.

An endoscopy device 14 according to the invention comprising the endoscopy capsule 1 comprises further components communicating with the endoscopy capsule 1 from outside the body. Thus, the tube 5 is connected distally to a drive means supply 15 which provides the corresponding drive means, for example carbon dioxide or water. As can be seen, an external control device 16 is also provided which serves to control the hydraulic and / or pneumatic drive and the other components of the endoscopy capsule 1. In addition, data recorded by the endoscopy capsule 1 is received here. The necessary communication connection is performed in the form of a communication line 17 along the tube wall of the tube 5 through the tube 5 to the endoscopy capsule. The communication line 17 can simultaneously serve as a supply line for the power supply of the endoscopy capsule 1 or it can be provided a further line for power supply. In this way, it is possible that the endoscopy capsule 1 can do without internal power supply (apart from, for example, an auxiliary power supply) and without a communication unit. It can accordingly be dimensioned in a smaller format. Overall, a multiplicity of data can be transmitted via the supply and / or communication line 17, for example image and / or sensor data and control commands for intervention tools, for example the instrument 13. Further supply lines (not shown here) can also be supplied with Medicines or rinsing liquid serve. These can also be passed through the tube 5.

Incidentally, the external control device 16 is also designed to control the drive means supply 15 in such a way that the drive means is supplied with a specific pressure, that is, the pressure at the valves 10 can be preset accordingly. In an embodiment in which each control nozzle 3 is assigned its own supply line for drive means, the control device 16 can directly determine the corresponding pressure and thus the driving force which is generated via the corresponding control nozzle 3 by actuating the drive means supply 15 without Signals must be sent to the endoscopy capsule 1. In such a case, the control unit 8 is not designed to control the hydraulic and / or pneumatic drive, but the

Control takes place completely via the control device 16.

Basically, it should be noted that the drive means does not have to be supplied via the tube 5, but also for example in the form of body fluid and / or body gas can be sucked through inlet openings via corresponding pumps and can be ejected to the drive via the control nozzles 3 again.

Fig. 5 shows a possible embodiment of a tube 5a for supplying the endoscopy capsule 1 with drive means. The tube wall 18 is made of a highly flexible, non-elastic material. On the inner wall of the hose, a communication line 17a and a supply line 17b leads, which are sealed by a sealing layer 19 against the drive means.

FIG. 6 shows a further embodiment of a tube 5b for an endoscopy capsule 1 with four control nozzles 3. The interior of the tube 5b is divided by partition walls 20 into four channels 21, which are sealed against each other and supply drive means to a control nozzle 3, respectively. The communication line 17a and the power supply line 17b are integrated here in the highly flexible material of the hose wall 18.

FIG. 7 shows a further endoscopy device 14 'according to the invention with an endoscopy capsule 1', wherein all of them similar components are provided with the same reference numerals. In the endoscopy capsule 1 'is a stable control realized with only four control nozzles 3, which lie in one plane. Each two control nozzles 3 are provided opposite one another in the front and in the rear region of the endoscope capsule 1 ', which is likewise elongated and cylindrical. Again, a symmetrical arrangement has been chosen. However, the control nozzles 3 are designed to be pivotable in two directions, as indicated by the arrows A and B. Each of the control nozzles 3 can be pivoted in the two directions by 120 °. As a result, the ejection direction of the control nozzles 3 can be changed so that, despite the use of only four control nozzles 3, all the movements required for navigating the endoscopy capsule 1 'can be performed.

To realize the pivoting movement of each control nozzle 3 is associated with an adjustment 22. The adjusting device 22 may comprise, for example, a nanomotor and / or piezoelectric elements, in particular also stacks of piezoelectric elements. The seal is achieved by rubber seals 30. In a further difference from the endoscopy capsule 1, in the endoscopy capsule 1 ', the various control devices 3 are associated with pumps 23, via which the drive means in the form of body fluid and / or body gas aspirated through inlet openings 24 can be supplied to the control nozzles 3 through corresponding supply lines 25. The inlet openings 24 are arranged opposite each other, so that no drive is achieved by the suction itself. In order to further reduce disturbances caused by the suction process, the supply line 25 is formed in the region of the intake openings 24 with a larger cross section. Accordingly, the driving force is determined via the operation of the pumps 23, the ejection direction via the adjusting devices 22. In order to enable a controlled drive, the adjusting devices 22 and the pumps 23 can be correspondingly activated by a control unit 8 via corresponding communication lines 26, 27, with control commands for specific movements. gen by a Steuerintelligencez be automatically converted into a suitable control of the hydraulic and / or pneumatic drive. No tube is provided on the endoscopy capsule 1 ', so that the communication with the external control device 16, which is part of the endoscopy device 14', is realized via corresponding transmitting and receiving devices 28 of the endoscopy capsule 1 'and the control device 16, for example via Wireless. In addition, the endoscopy capsule 1 'in this case includes a power supply indicated at 29.

Of course, the endoscopy capsule 1 '- as known - include other components, such as image recording devices, sensors, medical instruments and the like. These are not shown for the sake of clarity.

As an alternative to the embodiment shown in FIG. 7, in which each control nozzle 3 is assigned a pump 23, it is also conceivable to use only one pump which fills a reservoir for the drive means provided in the endoscopy capsule and places it under a predetermined pressure. The control nozzles 3 are assigned in this case valves, which are then controlled accordingly and allow the drive via the pressure of the drive means in the container. Such an embodiment would have to be considered in particular in an application in the colon, where there is only gas that can be compressed well.

It should also be noted that a tube can be connected to the endoscopy capsule 1 ', which supplies the drive means. In particular, in this case the tube 5b described with reference to FIG. 6 would be suitable, in which case each of the channels 21 could be assigned to a control nozzle 3. Then, instead of the body fluid and / or the body gas, a drive means supplied from the outside via a drive means supply can be used, wherein the pressure ejected by the respective control nozzle 3 is also unobjectionable. can be controlled indirectly on the drive means supply 15 via the external control device 16. Of course, it is also conceivable, as in the case of the endoscopy capsule 1, to provide a supply line for all the control nozzles 3 and to allocate valves to the control nozzles 3.

Both the endoscopy capsule 1 and the endoscopy capsule 1 'and the tube 5 are made of non-ferromagnetic materials. This makes it possible to use the endoscopy devices 14 and 14 'simultaneously with a magnetic resonance imaging. In particular, it is also possible to use a position detection system based on electromagnetic signals, since the endoscopy capsules 1 and 1 'can be navigated completely without magnetic fields.

Claims

claims

1. navigable endoscopy capsule for examination and / or treatment of the interior of the human body, in particular of the gastrointestinal tract, characterized in that it comprises at least one control nozzle (3) via which for the realization of a pneumatic and / or hydraulic drive drive means is ejected.

2. endoscopy capsule according to claim 1, characterized in that ten control nozzles (3) are provided, wherein each one control nozzle (3) at each end of the endoscopy capsule (1, 1 ') in the longitudinal direction of the endoscopy capsule (1, 1') is arranged facing and each four control nozzles (3) are arranged at different angles substantially perpendicular to the longitudinal direction of the endoscopy capsule (1, 1 ') aligned substantially in a plane in the front and rear regions of the endoscopy capsule (1, 1').

3. Endoscopy capsule according to claim 1 or 2, characterized in that the ejection direction of at least one control nozzle (3) is variable.

4. endoscopy capsule according to claim 3, characterized in that it comprises at least one control nozzle (3) associated, for moving the control nozzle (3) designed to change the ejection direction adjusting device (22).

5. endoscopy capsule according to claim 4, characterized in that the adjusting device (22) comprises a nanomotor and / or piezoelectric elements.

6. Endoscopy capsule according to claim 4 or 5, characterized in that a control nozzle (3) in at least one direction, in particular two directions, is pivotable.

7. endoscopic capsule according to claim 6, characterized in that the control nozzle (3) by 90 to 130 degrees, in particular 120 degrees, is pivotable.

8. Endoscopy capsule according to one of claims 3 to 7, characterized in that four in a longitudinal plane of the endoscopy capsule (1, 1 ') arranged control nozzles (3) are provided, of which two each substantially opposite to the front and rear of the endoscopy capsule ( 1, 1 ') are arranged.

9. endoscopy capsule according to one of the preceding claims, characterized in that a control nozzle (3) is associated with a controllable valve (10).

10. Endoscopy capsule according to claim 9, characterized in that the valve (10) can be actuated electronically or electromechanically or directly via the drive means.

11. Endoscopy capsule according to one of the preceding claims, characterized in that a thin tube (5, 5a, 5b) is provided for the supply of the drive means.

12. Endoscopy capsule according to claim 11, characterized in that at least two control nozzles (3) are provided, each control nozzle (3) a supply line for drive means within the tube (5b) or a channel (21) of the divided into several separate channels (21) Hose (5b) is assigned.

13. Endoscopy capsule according to claim 11 or 12, characterized in that the tube (5, 5a, 5b) is configured highly flexible at least in the region of its capsule-side end.

14. Endoscopy capsule according to one of claims 11 to 13, characterized in that the tube (5, 5a, 5b) in Rieh- tion of the endoscopy capsule (1, 1 ') directed away further control nozzles (7) are provided.

15. Endoscopy capsule according to one of claims 11 to 14, characterized in that a separation device (6) for selectively separating the tube (5, 5a, 5b) from the endoscopy capsule (1, 1 ') is provided.

16. The endoscopy capsule according to claim 11, characterized in that at least one further supply and communication line (17, 17a, 17b), in particular a data line for image and / or sensor data and / or a power supply and / or or a control line for engagement tools and / or a medication or Spülflüs- sigkeitsleitung, in the hose (5, 5a, 5b), in particular in or on the hose wall (18) is guided.

17. Endoscopy capsule according to one of claims 1 to 10, characterized in that it comprises at least one inlet opening (24) for receiving body fluid and / or body gas as a drive means and at least one pump (23), wherein the body fluid by means of the pump (23) for Drive the endoscopy capsule (1, 1 ') is usable.

18. Endoscopy capsule according to claim 17, characterized in that each control nozzle (3) is associated with a pump (23).

19. Endoscopy capsule according to claim 17, characterized in that via the pump (23) body gas can be sucked into a container inside the endoscopy capsule (1, 1 ') arranged to produce a predetermined pressure.

20. Endoscopy capsule according to one of the preceding claims, characterized in that at least one therapeutic and / or diagnostic pneumatically and / or hydraulically operable instrument (13) is operable with the drive means.

21. Endoscopy capsule according to one of the preceding claims, characterized in that it is made of non-ferromagnetic materials.

22. An endoscopy device, comprising an endoscopy capsule according to one of the preceding claims and an external, with the endoscopy capsule (1, 1 ') communicating control means (16) for controlling the endoscopy capsule (1, 1').

23. Endoscopy device according to claim 22, characterized in that a thin tube (5, 5a, 5b) for the supply of the drive means and a drive means supply (15) are provided.

24. Endoscopy device according to claim 23, characterized in that in each case a control nozzle (3) associated supply lines or channels (21) for the drive means, the supply to each control nozzle (3) by means of the drive means supply (15) is separately controllable.

25. Endoscopic device according to claim 23 or 24, characterized in that via the drive means supply (15), the pressure of the drive means is adjustable.