磁導式膠囊型內視鏡系統研究與製作

Abstract

由於現代人豐富的飲食內容、忙碌緊張的作息和飲食習慣的改變，加劇了消化系統的負擔，使得消化系統的疾病越來越常見。近年來隨著光學與電子技術的發展與進步，帶動醫療儀器的人性化發展，而其中，膠囊內視鏡的興起則為許多有消化系統疾病的患者帶來了福音。 然而現行應用於消化道診察之膠囊型內視鏡皆無法由體外控制其運動，端賴消化道本身蠕動以推動膠囊本體單向前進，而且人體消化道中的胃部對膠囊型內視鏡而言是一個相當大的空間，對此部位病徵進行檢查時可能需要多次來回或停駐於某等定位置。因為現行之膠囊型內視鏡無法定時定點地觀察，故對於體積較大且蠕動推力較小之胃部之診察現行膠囊型內視鏡仍力有未逮。 此外還有目前一般傳統推進式電子內視鏡檢查容易對病人造成非常不舒服與恐懼的感覺，為改善上述之缺點，在台灣大學劉志文教授和萬芳醫院連吉時副院長的指導下，本研究提出磁導式膠囊型內視鏡系統之理論與實驗。 首先藉由運用磁場導引控制理論與技術，使膠囊型內視鏡能充分為體外磁力牽引，以達成控制膠囊型內視鏡進退移動、旋轉及定位等動作，並透過膠囊內視鏡之光學影像模組擷取影像後，將影像傳回至監視器畫面，針對胃部做詳細完整之檢查工作。其次，本系統亦針對控制介面之組成技術進行研究與應用，使系統操作人員可以藉由簡便、低成本之體外磁場控制器以及電腦程式介面，對體內之膠囊型內視鏡進行操作及監控，期望達成舒適、安全且簡單快速之內視鏡檢查。 而本論文之內容將介紹磁導式膠囊型內視鏡所運用之磁場導引控制相關理論與方法，以及影像擷取之相關研究與技術應用，再者提出磁導式膠囊型內視鏡系統整體架構與設計理念，最後，藉由實驗系統之建構模擬，對實驗結果之分析與探討，進行理論之驗證，和評估系統整體之可行性與正確性，並且對系統未來之研究發展方向與目標進行探討。

Due to change of Dietary habits and lifestyle of modern people result in various digestive system diseases to arise.Digestive diseases have been already more and more common at the present day.In recent years,the progress in optical engineering and electronic techniques,however,promote the medical equipment to be humanistic development,as capsule endoscope brings good news to the patients who have disease in the digestive system. Capsule endoscopes now used in gastrointestinal tract are carried through the body only by the peristaltic movement of the stomach and the intestines,and the capsules can not be controlled outside the body. Moreover,the stomach can be regarded as a large space comparing to the capsule endoscope. When making a diagnosis in the stomach, we may need to move the capsule endoscope back and forth around some designated place in the stomach. Lacking of the ability of moving actively, it is still difficult to give us accurate diagnosis by capsule endoscope in the stomach. Besides,general electronical stomach endoscope examination now often make patients feel unwell and fearful. Accordingly,to resolve the shortcoming given above,we start the research of the body-outside magnetic control theory and experiment with the guidance of Dr. Chih-Wen Liu , Professor of National Taiwan University,and Dr. Gi-Shih Lien, vice Superintendent of Wan-Fang Medical Center. At first,by applying the theory and technique of magnetic guidance control, capsule endoscope inside human body can be controlled to move,whirl,and yaw by the drawing of magnetism outside body.This elevates the efficiency of the diagnosis especially in the stomach.Then the images of gastrointestinal tract can be taken by the optical device of the capsule endoscope and be transferred to monitor by dedicated driver. Second,we also establish the user interface of the capsule endoscope system. Our goal is to build an easy and low-cost control system that can be used to control the capsule endoscope inside human body more simply,quickly,comfortably,and safely. In this paper, we will introduce magnetic guidance control theories and methods concerned with the capsule endoscope system.Besides,we will also discuss image capture and processing researches and technologies.Then,we will explan the construction,design concept,and hardware scheme of the system.Finally,we will illustrate the experiment system and equipment,and also analyze the results of experiment to verify the theory proposed in this paper. Further, the performance and usability of whole system will be estimated,and the future work about the magnetic guidance control system of capsule endoscope will be discussed.