CN106264427A - Capsule endoscope and control device, system and detection method - Google Patents
Capsule endoscope and control device, system and detection method Download PDFInfo
- Publication number
- CN106264427A CN106264427A CN201610632998.6A CN201610632998A CN106264427A CN 106264427 A CN106264427 A CN 106264427A CN 201610632998 A CN201610632998 A CN 201610632998A CN 106264427 A CN106264427 A CN 106264427A
- Authority
- CN
- China
- Prior art keywords
- module
- capsule endoscope
- control
- image sensing
- attitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The present invention relates to capsule endoscope system, disclose capsule endoscope and control device, system and detection method, it is provided with the first image sensing module in the shell of capsule endoscope, is positioned at the inner end of shell, and gathers the first view data in detected body when capsule endoscope is advanced；Second image sensing module, is positioned at the medial part of described shell, and gathers the second view data in detected body when capsule endoscope stop motion；Posture position measurement module, the attitude of detection capsule endoscope and positional information；Motor control drives module, drives capsule endoscope motion and/or change attitude under outside the action of a magnetic field；Central control module controls motor control and drives module drive capsule endoscope motion and/or change attitude, when the first image sensing module is in running order or during off working state, the second image sensing module is in off working state or duty.There is the effect improved the ocean weather station observation working performance in detected body.
Description
Technical field
The present invention relates to capsule endoscope system, in particular it relates to a kind of capsule endoscope, capsule endoscope control dress
Put, capsule endoscope system and capsule endoscope detection method.
Background technology
Capsule endoscope system, as vivo inserted inspection and treatment Medical Technology, is that one can enter into human intestines and stomach
The intelligent mini-medical instrument of medical science observation is carried out in the detected bodys such as road.In prior art, capsule endoscope is for quilt
Image data acquisition modality in detection bodies generally includes two kinds: one is by peeping in image capture module is arranged in capsule
The end of mirror, to gather picture number on a large scale for the front region on capsule endoscope direct of travel or rear area
According to；Another kind is the sidepiece by image capture module is arranged in capsule endoscope, and by by capsule endoscope along axis
The mode that direction rotates obtains the view data of 360 ° of detected body inner tubal wall, is thus suitable for a certain district in detected body
Territory realizes ocean weather station observation.For the first image data acquisition modality, in the case of the focal area in finding detected body,
Owing to capsule endoscope has self development length, and image capture module is arranged in the end on the bearing of trend of capsule endoscope
Portion, is therefore not easily accomplished position and the attitude adjusting capsule endoscope in the portion's narrow space in detected body, especially difficult
Be adjusted to image capture module can alignment focal area, front, the most this image acquisition modality is not suitable for ocean weather station observation.
For the second image data acquisition modality, the focus in detection detected body due to the position of image capture module
During region, due to during side-looking image capture module and target vessel wall at a distance of compared with near and visual angle is relatively small, for a certain
The detected body inner tubal wall in fixed-area region splices after needing to carry out repeatedly image acquisition, therefore the most complete in realization
The activity duration of ground observation detected body inner tubal wall is relatively long, its inefficiency.
Summary of the invention
Problem to be solved by this invention is to provide a kind of raising glue to the ocean weather station observation working performance in detected body
Capsule endoscope, capsule endoscope control device, capsule endoscope system and capsule endoscope detection method.
To achieve these goals, according to an aspect of the present invention, the present invention provides a kind of capsule endoscope, this capsule
Endoscope-use gathers the view data in this detected body in importing to detected body, and described capsule endoscope can be with tested
Surveying external capsule endoscope control device and carry out radio communication, described capsule endoscope has the shell of capsule shape, and should
Being provided with the first image sensing module in shell, described first image sensing module is positioned at the inner end of described shell, and in institute
State the first view data in gathering detected body when capsule endoscope is advanced；Second image sensing module, described second
Image sensing module is positioned at the medial part of described shell, and is used for gathering detected body when described capsule endoscope stop motion
The second interior view data；Posture position measurement module, for detecting described capsule endoscope relative to the appearance in detected body
State and positional information；Motor control drives module, for drive under outside the action of a magnetic field described capsule endoscope motion and/or
Change attitude；Central control module, for controlling the work shape of described first image sensing module and the second image sensing module
State, comes from described attitude and the positional information of described posture position measurement module for analyzing and processing, and from described capsule
Endoscope control device receive control instruction with control described motor control drive capsule endoscope motion described in module drive and/
Or change attitude, wherein, when described first image sensing module is in running order, described second image sensing module is in
Off working state；When described second image sensing module is in running order, described first image sensing module is in non-work
Make state.
Alternatively, described motor control drives module to include: motion-control module, comes from the control of described central authorities for reception
The control instruction of molding block, to control the to be exported size and Orientation controlling electric current, and exports control electric current；Armature winding
Module, is used for receiving described control electric current and can producing corresponding electromagnetic torque under outside static magnetic field effect, to drive
Described capsule endoscope motion and/or change attitude.
Alternatively, described armature winding module is three armature axis windings, and this three armature axis winding receives three independences respectively
The described control electric current that can change polarity and size.
Alternatively, described motor control drives module to be permanent magnet, described permanent magnetism under outside controlled time-varying magnetic field effect
Body drives described capsule endoscope motion and/or changes attitude.
Alternatively, described posture position measurement module includes 3-axis acceleration sensor.
Alternatively, the described duty of described first image sensing module and described second image sensing module includes figure
As the beginning of data acquisition, end and frequency acquisition.
Alternatively, described capsule endoscope also includes: the first lighting module, for entering at described first image sensing module
Required illumination is provided during row image acquisition；Second lighting module, for carrying out image acquisition at described second image sensing module
Time required illumination is provided.
Alternatively, described first image sensing module and described first lighting module are positioned at described the inner of described shell
Portion, described second image sensing module and described second lighting module are positioned at the described medial part of described shell, described shell
Inner end and described medial part are respectively provided with transparent end cap.
Alternatively, described central control module is additionally operable to control respectively described first lighting module and the second lighting module
Open and close.
Alternatively, described central control module is additionally operable to control respectively described first lighting module and the second lighting module
Brightness of illumination.
Alternatively, described capsule endoscope also includes cache module, be used for caching described first view data, described second
View data and described attitude and positional information, described central control module extract from described cache module described attitude and
Positional information.
Alternatively, described capsule endoscope also includes the first wireless communication module, for by described first view data, the
Two view data and described attitude and positional information are sent to described capsule endoscope and control device, and for from described capsule
Endoscope control device receives described control instruction.
Alternatively, described capsule endoscope also includes supply module.
Alternatively, described supply module is micro button cell.
Alternatively, in described shell, it is provided with printed circuit board (PCB), this printed circuit board (PCB) is integrated with described first image and passes
Sense module, the second image sensing module, posture position measurement module, central control module and described motor control drive module.
According to a further aspect in the invention, the present invention also provides for a kind of capsule endoscope control device, this capsule endoscope
Control device and capsule endoscope as above with the use of, described capsule endoscope controls device and includes: magnetic field produces mould
Block, is used for producing described external magnetic field；Second wireless communication module, refers to for sending described control to described central control module
Order, and for receiving described first view data, the second view data and the analyzing and processing sent from described capsule endoscope
After described attitude and positional information；Data aobvious control work station, for the control instruction of input operation personnel, and records and display
The attitude of described capsule endoscope and position and the first image gathered and the second image.
Alternatively, described data show control work station for controlling the intensity in the magnetic field that described magnetic field generating module produces.
Alternatively, in the case of described motor control drives module to include described armature winding module, is produced from described magnetic field
Raw module produces static magnetic field；In the case of described motor control drives module to be permanent magnet, described magnetic field generating module produces
Raw controlled time-varying magnetic field.
According to another aspect of the invention, the present invention also provides for a kind of capsule endoscope system, this capsule endoscope system
Controlling device including capsule endoscope as above and capsule endoscope, described central control module controls described first figure
As the described attitude after data, the second view data and analyzing and processing and positional information are sent to described second radio communication mold
Block, described magnetic field generating module drives module to provide described external magnetic field for described motor control.
In accordance with a further aspect of the present invention, the present invention also provides for a kind of capsule endoscope detection method, and described method uses
Capsule endoscope system as above, the method comprises the following steps: S1: described data aobvious control work station is to the control of described central authorities
Molding block sends control instruction, to control capsule endoscope and advance in described detected body, described first image sensing module
In running order and described second image sensing module is in off working state, and during advancing, described first image passes
Sense module gathers described first picture number with the first fixed frequency to the front region on the direct of travel in described detected body
According to, described posture position measurement module detects described capsule endoscope relative to the attitude in detected body and positional information, institute
State the central control module attitude to detecting and positional information is analyzed processing；S2: every by collected in step S1
Attitude and positional information after individual described first view data and analyzing and processing send in real time to described data aobvious control work station；
S3: described data show control work station each described first view data that receives step S2 and enter with the focal zone pattern prestored
Row coupling, when there is the view data with described focal zone pattern match in described first view data, is mated by calculating
View data position in whole described first view data, and corresponding to the attitude of view data of coupling and position
Information, calculates described capsule endoscope and moves to described second from current pose and the position of described second image sensing module
Attitude knots modification needed for the attitude of image sensing module alignment focal zone and position and displacement knots modification；When described first image
When there is not the view data with described focal zone pattern match in data, described capsule endoscope continues on；S4: according to step
The attitude knots modification of rapid S3 acquisition and displacement knots modification, described data aobvious control work station sends corresponding to described central control module
Control instruction, drive capsule endoscope generation attitude and change in displacement described in module drive controlling described motor control, make
Obtain described second image sensing module alignment focal zone；S5: described data aobvious control work station sends to described central control module
Control instruction, to control the attitude after described capsule endoscope is maintained at by the adjustment of step S4 and position, and controls described
Second image sensing module the first image sensing module in running order, described is in off working state, described second image
Sensing module gathers multiple described second view data with the second fixed frequency to the focal zone in described detected body；S6: weight
Perform step S1-S5 again, until described capsule endoscope is discharged outside described detected body.
By technique scheme, capsule endoscope passes through the first image sensing module and the second image in detected body
Sensing module intersection gathers the view data in detected body ordinatedly, and central control module controls motion and drives module in outside
Driving capsule endoscope motion under the action of a magnetic field and/or change attitude, wherein capsule endoscope passes through the first image when advancing
Sensing module gathers the first view data of the front region on the bearing of trend of the capsule endoscope in detected body, in capsule
Sight glass stop motion and need to gather tested by the second image sensing module during a certain region in ocean weather station observation detected body
Survey second view data in side-looking region on the bearing of trend of internal capsule endoscope, thus the most accurately to tested
Survey internal being observed, which thereby enhance the ocean weather station observation working performance in detected body, shorten and utilize capsule endoscope
Once it is detected the time of vivo detection.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, with following tool
Body embodiment is used for explaining the present invention together, but is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the capsule endoscope according to a specific embodiment of the present invention；
Fig. 2 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 3 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 4 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 5 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 6 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 7 is the structural representation of the capsule endoscope system according to an embodiment of the invention；
Fig. 8 is the state of the first image sensing module work of the capsule endoscope according to an embodiment of the invention
Schematic diagram；
Fig. 9 is the state of the second image sensing module work of the capsule endoscope according to an embodiment of the invention
Schematic diagram；
Figure 10 is the flow chart of the capsule endoscope detection method according to an embodiment of the invention；
Figure 11 is to illustrate that the motor control used in the capsule endoscope detection method in Figure 10 drives module and magnetic field to produce
The structural representation of the duty of raw module, wherein motor control drives module to include three armature axis windings, and magnetic field produces dress
It is set to static magnetic field generator；
Figure 12 is the flow chart of the capsule endoscope detection method according to another embodiment of the invention.
Figure 13 is to illustrate that the motor control used in the capsule endoscope detection method in Figure 12 drives module and magnetic field to produce
The structural representation of the duty of raw module, wherein, motor control drives module to be permanent magnet, and magnetic field generation device is three axles
Helmholtz coil magnetic field generation device.
Description of reference numerals
1 capsule endoscope 2 capsule endoscope controls device
100 shell 101 first image sensing modules
102 second image sensing module 103 posture position measurement modules
104 motor controles drive module 105 central control module
106 first lighting module 107 second lighting modules
108 transparent end cap 109 cache modules
110 supply module 111 first wireless communication modules
112 armature winding module 113 motion-control modules
201 magnetic field generating module 202 second wireless communication modules
203 data aobvious control work station 1041 permanent magnet
1121 3 armature axis windings
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that this place is retouched
The detailed description of the invention stated is merely to illustrate and explains the present invention, is not limited to the present invention.
According to an aspect of the present invention, as it is shown in figure 1, the present invention provides a kind of capsule endoscope 1, this capsule endoscope
1 gathers the view data in this detected body in importing to detected body, and described capsule endoscope 1 can be with detected body
Outer capsule endoscope controls device and carries out radio communication, and described capsule endoscope 1 has the shell 100 of capsule shape, and should
Being provided with the first image sensing module 101 in shell 100, described first image sensing module 101 is positioned at described shell 100
Inner end, and the first view data in gathering detected body when described capsule endoscope 1 is advanced；Second image sensing
Module 102, described second image sensing module 102 is positioned at the medial part of described shell 100, and stops at described capsule endoscope 1
Only for gathering the second view data in detected body during motion；Posture position measurement module 103, is used for detecting described capsule
Endoscope 1 is relative to the attitude in detected body and positional information；Motor control drives module 104, for making in external magnetic field
Move with the described capsule endoscope of lower driving 1 and/or change attitude；Central control module 105, is used for controlling described first image
Sensing module 101 and the duty of the second image sensing module 102, come from described posture position for analyzing and processing and measure
The described attitude of module 103 and positional information, and control device reception control instruction to control institute from described capsule endoscope
Stating motor control drives module 104 to drive described capsule endoscope 1 move and/or change attitude, wherein, when described first image
When sensing module 101 is in running order, described second image sensing module 102 is in off working state；When described second figure
When picture sensing module 102 is in running order, described first image sensing module 101 is in off working state.
Wherein, the central control module 105 capsule endoscope from detected body controls device reception control instruction (such as
For capsule endoscope 1 being moved to a certain position or changing the control instruction of attitude), at capsule endoscope 1 traveling process
In, central control module 105 controls capsule endoscope 1 bearing of trend that the first image sensing module 101 gathers in detected body
During the first view data of the front region on (being often referred to capsule endoscope 1 direct of travel), at the second image sensing module 102
In off working state, and when capsule endoscope 1 stop motion, central control module 105 controls the second image sensing module 102
Gathering the second view data in detected body, now, the first image sensing module 101 is in off working state.It addition, motion
Control to drive the control instruction that received based on central control module 105 of module 104 can drive under outside the action of a magnetic field
Capsule endoscope 1 moves and/or changes attitude so that capsule endoscope 1 is in that to enable to the second image sensing module 102 right
The attitude in accurate region to be observed and location status, thus the second image sensing module 102 is in capsule endoscope 1 stop motion
State under gather second view data in side-looking region on capsule endoscope 1 bearing of trend in detected body.As above institute
Stating, capsule endoscope 1 is intersected by the first image sensing module 101 and the second image sensing module 102 in detected body joins
Close ground and gather the view data in detected body, thus be the most accurately observed in detected body, which thereby enhance
To the ocean weather station observation working performance in detected body, shorten and utilize capsule endoscope 1 to be once detected vivo detection
Time.
Alternatively, as in figure 2 it is shown, described motor control drives module 104 to include: motion-control module 113, it is used for receiving
Come from the control instruction of described central control module 105, to control the to be exported size and Orientation controlling electric current and defeated
Go out to control electric current；Armature winding module 112, is used for receiving described control electric current and can producing under outside static magnetic field effect
Corresponding electromagnetic torque, to drive described capsule endoscope 1 move and/or change attitude.Wherein, described external static magnetic field can
To be provided by capsule endoscope control device, or the magnetic for producing external static magnetic field can also be separately provided in outside
Field generator.It addition, motion-control module 113 can use such as PID controller etc. for controlling electric current to be exported
The device of size and Orientation, described control instruction based on central control module 105 is (such as will i.e. move by endoscope 1
To a certain ad-hoc location or change to the control instruction of particular pose), export correspondingly sized and direction to armature winding module 112
Control electric current, armature winding module 112 produces corresponding electromagnetic torque under outside static magnetic field effect, so that capsule
Endoscope 1 moves and/or changes attitude.
Alternatively, as shown in figure 11, described armature winding module 112 is three armature axis windings 1121, this three armature axis around
Group 1121 receives three independent described control electric currents that can change polarity and size respectively.Here, three armature axis windings
1121 refer to the three groups of electricity being respectively provided with independent closed-loop path and being each arranged in mutual vertically in same mounting bracket
Pivot coil.Specifically, for be wound around respectively three groups of armature coils mounting bracket center as zero xyz sit
On parameter, mounting bracket is wound around along x-y plane, x-z-plane and y-z plane three groups with independent closed-loop path respectively
Armature coil, motion-control module 113 can export in real time to three groups of armature coils of armature winding module 112 respectively and pass through
Calculating three the control electric currents adjusted, thus capsule endoscope 1 is subject to by each three groups of armature coils at outside static magnetic field
The power synthesized by electromagnetic torque produced respectively under effect such that it is able to drive capsule endoscope 1 move and/or change attitude.
Alternatively, as shown in figure 13, described motor control drives module 104 to be permanent magnet 1041, in outside controlled time-varying
Under the action of a magnetic field, described permanent magnet 1041 drives described capsule endoscope 1 move and/or change attitude.Here, outside controlled time
Varying magnetic field can by detected body outside three axle Helmholtz coil magnetic field generation devices provide, by controlling this three axles last of the twelve Earthly Branches
The intensity of the controlled time-varying magnetic field of Mu Huozi coil magnetic field generator and direction, motor control drives module 104 to drive capsule
Endoscope 1 moves and/or changes attitude.
Alternatively, described posture position measurement module 103 includes 3-axis acceleration sensor, this 3-axis acceleration sensor
The acceleration information of each component on 3-D walls and floor can be detected such that it is able to reflection capsule endoscope 1 all-sidedly and accurately
Kinetic property.Here, the acceleration information that central control module 105 is to detecting by 3-axis acceleration sensor is carried out point
Analysis processes (such as calculated by integrated form and obtain speed or displacement information), thus central control module 105 controls to divide
Attitude and positional information after analysis process are sent to outside in real time.But the present invention is not limited to this, posture position measures mould
Block 103 can also use other sensors such as three-axis gyroscope or 3-axis acceleration sensor and three-axis gyroscope etc. other
The combining form of sensor detects attitude and the positional information of capsule endoscope 1.
Alternatively, the described duty of described first image sensing module 101 and the second image sensing module 102 includes
The beginning of image data acquiring, end and frequency acquisition.Wherein, the first image sensing module 101 and the second image sensing mould
Block 102 can be ccd image sensor or MOS image sensor, before image acquisition
Can be illuminated in detected body, the first image sensing module 101 or the second image sensing module 102 receive detected
The reflection light of internal exposure and it is carried out opto-electronic conversion, thus generate the first view data in detected body or the second image
Data.When advancing in capsule endoscope 1 is directed to detected body, central control module 105 controls the first image sensing mould
Block 101 starts the first view data gathering in detected body with first frequency, when the first image sensing module 101 collect by
During some region of lesion image data in detection bodies, capsule endoscope 1 moves to desired location and changes predetermined attitude
Under state, central control module 105 controls the first image sensing module 101 and terminates the collection of the first view data, and controls
Second image sensing module 102 starts the second view data gathering in detected body with second frequency.Thus, by the first figure
The second view data that the first view data gathered as sensing module 101 and the second image sensing module 102 gather so that doctor
Business personnel are obtained in that sufficient view data, thus improve accuracy rate of diagnosis.
Alternatively, as it is shown on figure 3, described capsule endoscope 1 also includes: the first lighting module 106, for described first
Image sensing module 101 carries out providing during image acquisition required illumination；Second lighting module 107, at described second image
Sensing module 102 carries out providing during image acquisition required illumination.Wherein, the first lighting module 106 and the second lighting module 107 can
Thinking LED illumination array module, it can launch the illumination light such as incandescence.First lighting module 106 is at the first image sensing
Module 101 gather the first view data before can in a flashing manner in detected body the region of view data to be gathered carry
For illumination.Accordingly, the second lighting module 107 can also be with before the second image sensing module 102 gathers the second view data
The region of mode view data to be gathered in detected body of flicker provides illumination.
Alternatively, as shown in Figures 1 to 7, the first image sensing module 101 and the first lighting module 106 be positioned at described outside
The described inner end of shell 100, the second image sensing module 102 and the second lighting module 107 are positioned at the described of described shell 100
Sidepiece, the inner end of described shell 100 and described medial part are respectively provided with transparent end cap 108.As shown in Figure 8 and Figure 9, first shines
Light that bright module 106 and the second lighting module 107 are launched and the light returned from detected body internal reflection can be through shell 100
Each self-corresponding transparent end cap 108, so that the first image sensing module 101 and the second image sensing module 102 are the most each
Collecting the first view data A in detected body and the second view data B accordingly, wherein, the first view data A is positioned at glue
Front region on the bearing of trend of capsule endoscope 1, the second view data B is positioned at the side-looking region of capsule endoscope 1.Here,
First image sensing module 101 can also be provided with two, the first lighting module 106 and number of the first image sensing module 101
Amount is corresponding, and the first image sensing module 101 of each correspondence and the first corresponding lighting module 106 lay respectively at shell
The two ends of 100, thus capsule endoscope 1 can optionally or respectively collect capsule endoscope 1 during advancing
The front region (being often referred to the direct of travel of capsule endoscope 1 at this) on bearing of trend and the first picture number of rear area
According to such that it is able to while improving the work efficiency of capsule endoscope 1 further, additionally it is possible to improve accuracy rate of diagnosis.It addition, it is right
Can also be provided with multiple in the second image sensing module 102 and the second lighting module 107, can be according to the reality of operating personnel
Need to carry out appropriate design.
Alternatively, described central control module 105 is additionally operable to control described first lighting module 106 and the second illumination respectively
The opening and closing of module 107.Such as, central control module 105 controls the first lighting module 106 at the first image sensing module
Open before 101 every frame the first view data of collection, gather closedown after every frame the first view data.Accordingly, central authorities control
Module 105 control the second lighting module 107 opened before the second image sensing module 102 gathers every frame the second view data,
Close after gathering every frame the second view data.But the present invention is not limited to this, such as, central control module 105 controls
One lighting module 106 during the work of the first image sensing module 101 in remain unlatching, and central control module
105 control the second lighting modules 107 during the work of the second image sensing module 102 in remain unlatching.
Alternatively, described central control module 105 is additionally operable to control described first lighting module 106 and the second illumination respectively
The brightness of illumination of module 107, outside operator can adjust the first lighting module 106 and the second illumination mould according to actual needs
The brightness of illumination of block 107.Thus so that the image tool obtained after the first view data and the second view data are processed
There is fine definition, in order to the diagnosis of medical worker.
Alternatively, as shown in Figure 4, described capsule endoscope 1 also includes cache module 109, is used for caching described first figure
As data, described second view data and described attitude and positional information, described central control module 105 is from described caching mould
Block 109 extracts described attitude and positional information.Here, central control module 105 controls the first image sensing module 101 respectively
With the second image sensing module 102, the most accordingly the first view data collected and the second view data are cached to caching
In module 109, and control posture position measurement module 103 attitude detected and positional information are cached to cache module
In 109.Central control module 105 can extract attitude and positional information from cache module 109 and be analyzed processing to it.
But the present invention is not limited to this, central control module 105 self can have storage function, by by the first image sensing mould
The second view data that the first view data that block 101 collects, the second image sensing module 102 collect and posture position
Attitude and positional information that measurement module 103 detects store in central control module 105, now, and central control module 105
After being analyzed attitude and positional information processing, by the attitude after analyzing and processing and positional information and the first view data and the
Two view data are sent along to outside.
Alternatively, as it is shown in figure 5, described capsule endoscope 1 also includes the first wireless communication module 111, for by described
First view data, the second view data and described attitude and positional information are sent to described capsule endoscope and control device,
And receive described control instruction for controlling device from described capsule endoscope.Specifically, the first wireless communication module 111 is postponed
Storing module 109 extracts the first view data and the second view data, and to this first view data and the second view data, logical
Cross the attitude after central control module 105 analyzing and processing and positional information the signal processing such as be modulated to generate wireless signal,
Thus described wireless signal is sent to capsule endoscope and controls device.It addition, the first wireless communication module 111 is peeped in capsule
After mirror control device receives control instruction, this control instruction is sent to central control module 105, so that central authorities control mould
Block 105 controls such as first image sensing module the 101, second image sensing module the 102, first lighting module 106, second and illuminates
Module 107, motor control drive the duty of the corresponding module such as module 104 and posture position measurement module 103.
Alternatively, as shown in Figure 6, described capsule endoscope 1 also includes supply module 110, and this supply module 110 can divide
Do not drive to first image sensing module the 101, second image sensing module 102, posture position measurement module 103, motor control
Module 104, central control module the 105, first lighting module the 106, second lighting module 107, cache module 109 and the first nothing
Line communication module 111 is powered.
Alternatively, described supply module 110 is micro button cell, and this micro button cell has switch distinguishing
Power to corresponding module as above or stop power supply.Here, supply module 110 can also be other electric power storages such as capacitor
Parts.
Alternatively, in described shell 100, it is provided with printed circuit board (PCB), this printed circuit board (PCB) is integrated with described first image
Sensing module the 101, second image sensing module 102, posture position measurement module 103, central control module 105 and described motion
Control to drive module 104.It addition, be also integrated with first lighting module the 106, second lighting module 107, cache module 109, first
Wireless communication module 111, supply module 110 etc..Wherein, printed circuit board (PCB) can be flexible PCB or hard circuit board, this
This is not particularly limited by invention.Thus capsule endoscope 1 has the excellent of overall structure miniaturization, low energy consumption and high reliability
Point.
As it is shown in fig. 7, according to a further aspect in the invention, also provide for a kind of capsule endoscope and control device 2, in this capsule
Peep mirror control device 2 and capsule endoscope 1 as above with the use of, described capsule endoscope controls device 2 and includes: magnetic field
Generation module 201, is used for producing described external magnetic field；Second wireless communication module 202, for described central control module
105 send described control instruction, and for reception from described first view data of described capsule endoscope 1 transmission, the second figure
As the described attitude after data and analyzing and processing and positional information；Data aobvious control work station 203, for input operation personnel's
Control instruction, and record and show the attitude of described capsule endoscope 1 and position and the first image gathered and the second figure
Picture.
Wherein, after data show the control instruction that control work station 203 receives operator, control instruction is sent in capsule
In the central control module 105 of sight glass 1, the control that motor control drives module 104 to be received based on central control module 105 refers to
Order, can drive capsule endoscope 1 move and/or change attitude under the external magnetic field effect that magnetic field generating module 201 provides.
It addition, data show control work station 203 can by by the first view data received by the second wireless communication module 202 with pre-
The focal area view data deposited is mated, and sends corresponding control when there is matching entries to central control module 105
Instruction so that capsule endoscope 1 moves to precalculated position and/or changes to after predetermined attitude, central control module 105 controls the
One image sensing module 101 terminates to gather the first view data, and opens the second image sensing module 102 and start to gather the second figure
As data.Thus, capsule endoscope 1 can be controlled by capsule endoscope as above control device 2 to collect in capsule
Forward vision areas on the bearing of trend of sight glass 1 and the view data in side-looking region such that it is able to more fully observe detected
Internal image.
Can include for capsule it addition, data show the control control instruction that sends to central control module 105 of work station 203
Endoscope 1 starts to advance, stop traveling, the attitude changing capsule endoscope 1 and the instruction of position, passes for controlling the first image
The instruction of the duties such as the beginning of the first image data acquiring, end and frequency acquisition of sense module 101, for control the
The instruction of the duties such as the beginning of the second image data acquiring, end and the frequency acquisition of two image sensing modules 102, uses
Instruction etc. in unlatching, closedown and the brightness of illumination controlling the first lighting module 106 and the second lighting module 107.But this
Bright being not limited to this, such as, data show the power supply mould that control work station 203 can also send in controlling capsule endoscope 1
The control instruction that block 110 starts or closes, the control starting or stopping to produce magnetic field for controlling magnetic field generating module 201 refers to
Order.But the present invention is not only defined in foregoing.
Alternatively, described data show control work station 203 for controlling the strong of the magnetic field of described magnetic field generating module 201 generation
Degree.Specifically, at data aobvious control work station 203 before capsule endoscope 1 sends control instruction, magnetic is controlled according to actual needs
The intensity in the magnetic field that field generation module 201 is to be produced.Thus, carry out in capsule endoscope 1 is directed to detected body
During image data acquiring, drive module 104 under the action of a magnetic field that magnetic field generating module 201 is provided by motor control
Capsule endoscope 1 can be driven neatly to move and/or change attitude.
Alternatively, in the case of described motor control drives module 104 to include described armature winding module 112, described
Magnetic field generating module 201 produces static magnetic field；In the case of described motor control drives module 104 to be permanent magnet 1041, institute
State magnetic field generating module 201 and produce controlled time-varying magnetic field.Here, when described motor control drives module 104 to include described armature
During winding module 112, the control electric current exported to armature winding module 112 by controlling motion-control module 113 drives glue
Capsule endoscope 1 moves and/or changes attitude；When described motor control drives module 104 to be permanent magnet 1041, by controlling magnetic
The controlled time-varying magnetic field that field generation module 201 produces drives capsule endoscope 1 move and/or change attitude.Due in capsule
Sight glass 1 work process in both cases, described in the foregoing, does not repeats them here.
According to another aspect of the invention, also provide for a kind of capsule endoscope system, this capsule endoscope system include as
Upper described capsule endoscope 1 and capsule endoscope control device 2, and described central control module 105 controls described first figure
As the described attitude after data, the second view data and analyzing and processing and positional information are sent to described second radio communication mold
Block 202, described magnetic field generating module 201 drives module 104 to provide described external magnetic field for described motor control.By as above institute
The capsule endoscope 1 stated and capsule endoscope control device 2 with the use of, capsule endoscope 1 in detected body by the
One image sensing module 101 and the second image sensing module 102 intersect and gather the view data in detected body ordinatedly, the most logical
Cross capsule endoscope control device 2 and control the kinestate of capsule endoscope 1, the first image sensing module 101 and the second image
The duty of sensing module 102 and bearing of trend (the traveling side that includes some region of capsule endoscope 1 can be collected
To) on the first view data of forward vision areas and second view data in side-looking region, thus the most accurately to tested
Survey internal being observed, which thereby enhance the ocean weather station observation working performance in detected body, shorten and utilize capsule endoscope 1
Once it is detected the time of vivo detection.
In accordance with a further aspect of the present invention, also providing for a kind of capsule endoscope detection method, described method uses as above institute
The capsule endoscope system stated, the method comprises the following steps: S1: data aobvious control work station 203 is to central control module 105
Send control instruction, to control capsule endoscope 1 and advance in detected body, the first image sensing module 101 in running order
And the second image sensing module 102 is in off working state, during advancing, the first image sensing module 101 is solid with first
Determine frequency f1Front region on direct of travel in detected body is gathered the first view data { g1,g2,…,gi(wherein gi
Represent the view data that the first image sensing module 101 i & lt gathers), posture position measurement module 103 detects capsule endoscope
1 relative to the attitude in detected body and positional information, and the central control module 105 attitude to detecting and positional information are carried out
Analyzing and processing；S2: each first view data { g that will be collected in step S11,g2,…,giAnd analyzing and processing after
Attitude and positional information send in real time to data aobvious control work station 203；Step S2 is received by S3: data aobvious control work station 203
Each first view data { g1,g2,…,giWith the focal zone pattern { G prestored1,G2,…,Gn(wherein GnRepresent n-th
Focal zone pattern) mate, as the first view data { g1,g2,…,giExist and focal zone pattern { G in }1,G2,…,Gn}
In kth focal zone pattern GkView data g of couplingjTime, view data g mated by calculatingjAt whole first image
Data { g1,g2,…,giPosition in }, and view data g corresponding to couplingjAttitude and positional information, resolve plastic emitting
Capsule endoscope 1 moves to the second image sensing module 102 be directed at disease from current pose and the position of the second image sensing module 102
Attitude knots modification needed for the attitude in stove district and position and displacement knots modification；As the first view data { g1,g2,…,giDo not deposit in }
With described focal zone pattern { G1,G2,…,GnMate view data time, capsule endoscope 1 continues on；S4: according to step
The attitude knots modification of rapid S3 acquisition and displacement knots modification, data aobvious control work station 203 sends to central control module 105 accordingly
Control instruction, with control motor control drive module 104 drive capsule endoscope 1 that attitude and change in displacement occur so that second
Image sensing module 102 is directed at focal zone；S5: data aobvious control work station 203 sends control instruction to central control module 105,
To control the attitude after capsule endoscope 1 is maintained at by the adjustment of step S4 and position, and control the second image sensing module
102 in running order, the first image sensing module 101 is in off working state, and the second image sensing module 102 is solid with second
Determine frequency f2Focal zone in detected body is gathered M the second view data；S6: repeated execution of steps S1-S5, until capsule
Endoscope 1 discharges outside detected body.
Wherein, such as, the first fixed frequency f of the first image sensing module 1011Can use 2-5 frame/second, second is solid
Determine frequency f25 frames/second, or the first fixed frequency f can be used1With the second fixed frequency f2Image data samples can be used
The form at interval, the sampling time interval between i.e. two adjacent view data is respectively 1/f1Second, 1/f2Second.In step S5
In, the figure film size number M focal area in detected body being carried out pinpointing to the second image sensing module 102 of image acquisition can
To be input in advance data aobvious control work station 203 sets according to particular exam situation by medical worker, or can pass through
Second fixed frequency f2Frame/second determines with the product of acquisition time Δ t.
It addition, specifically described by two detailed description of the invention for step S4.
As shown in Figure 10, when motor control drive module 104 include armature winding module 112 and motion-control module 113,
And in the case of magnetic field generating module 201 is static magnetic field generator, step S4 includes: the attitude obtained according to step S3
Knots modification and displacement knots modification, data aobvious control work station 203 sends corresponding control instruction to central control module 105, controls
Motion-control module 113 exports the control electric current of corresponding size and Orientation to armature winding module 112, according to armature winding module
The control electric current that 112 are received, armature winding module 112 produces under the static magnetic field effect of static magnetic field generator accordingly
Electromagnetic torque, thus drive capsule endoscope 1 that attitude and change in displacement occur so that the second image sensing module 102 is directed at
Focal zone.
As shown in figure 12, module 104 is driven to be three for permanent magnet 1041 and magnetic field generating module 201 when motor control
In the case of axle Helmholtz coil magnetic field generation device, step S4 includes: the attitude knots modification obtained according to step S3 and position
Moving knots modification, data aobvious control work station 203 sends corresponding control instruction to central control module 105, to control three axle last of the twelve Earthly Branches nurses
The most hereby coil magnetic field generator produces intensity and the direction of controlled time-varying magnetic field, thus drives capsule endoscope 1 that attitude occurs
And change in displacement so that the second image sensing module 102 is directed at focal zone.
Capsule endoscope detection method as above have employed capsule endoscope and controls device and system, therefore has
There is same beneficial effect.
In sum, control cooperating of device 2 according to the capsule endoscope 1 of the present invention with capsule endoscope, due to
First image sensing module 101 of capsule endoscope 1 is positioned at the inner end of the shell 100 of capsule endoscope 1, and the second image
Sensing module 102 is positioned at the medial part of shell 100, thus the first image sensing module 101 mainly gathers detected when advancing
The internal front region on direct of travel and be capable of the collection of the first view data of big angular field of view, and the second figure
Mainly gather the side-looking region on the direct of travel in detected body as sensing module 102 when stopping and advancing and be capable of determining
The careful observation of point.Intersected by this first image sensing module 101 and the second image sensing module 102 gather ordinatedly tested
Survey the acquisition mode of internal view data, it is possible to collect the traveling side including a certain region (the most same focal area)
First view data of forward vision areas upwards and second view data in side-looking region such that it is able to the most accurately to quilt
It is observed in detection bodies, which thereby enhances the ocean weather station observation working performance in detected body, shorten in utilizing capsule and peep
Mirror 1 is once detected the time of vivo detection.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
Execute the detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple letter
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy illustrates the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it should be considered as content disclosed in this invention equally.
Claims (15)
1. a capsule endoscope, this capsule endoscope gathers the picture number in this detected body in importing to detected body
According to, described capsule endoscope can with detected body outside capsule endoscope control device and carry out radio communication, it is characterised in that
Described capsule endoscope is provided with in having the shell of capsule shape, and this shell
First image sensing module, described first image sensing module is positioned at the inner end of described shell, and in described capsule
For gathering the first view data in detected body when sight glass is advanced；
Second image sensing module, described second image sensing module is positioned at the medial part of described shell, and in described capsule
For gathering the second view data in detected body during sight glass stop motion；
Posture position measurement module, for detecting described capsule endoscope relative to the attitude in detected body and positional information；
Motor control drives module, for driving described capsule endoscope motion under outside the action of a magnetic field and/or changing attitude；
Central control module, for controlling described first image sensing module and the duty of the second image sensing module, uses
Described attitude and the positional information of described posture position measurement module is come from analyzing and processing, and from described capsule endoscope
Control device and receive control instruction to control capsule endoscope motion and/or change described in described motor control driving module drive
Attitude,
Wherein, when described first image sensing module is in running order, described second image sensing module is in inoperative
State；
When described second image sensing module is in running order, described first image sensing module is in off working state.
Capsule endoscope the most according to claim 1, it is characterised in that described motor control drives module to include:
Motion-control module, for receiving the control instruction coming from described central control module, to control control to be exported
The size and Orientation of electric current processed, and export control electric current；
Armature winding module, is used for receiving described control electric current and can producing corresponding electromagnetism under outside static magnetic field effect
Torque, to drive described capsule endoscope motion and/or to change attitude.
Capsule endoscope the most according to claim 2, it is characterised in that described armature winding module be three armature axis around
Group, this three armature axis winding receives three independent described control electric currents that can change polarity and size respectively.
Capsule endoscope the most according to claim 1, it is characterised in that described motor control drives module to be permanent magnet,
Under outside controlled time-varying magnetic field effect, described permanent magnet drives described capsule endoscope motion and/or changes attitude.
Capsule endoscope the most according to claim 1, it is characterised in that described first image sensing module and described second
The described duty of image sensing module includes the beginning of image data acquiring, end and frequency acquisition.
Capsule endoscope the most according to claim 1, it is characterised in that described capsule endoscope also includes:
First lighting module, for providing required illumination when described first image sensing module carries out image acquisition；
Second lighting module, for providing required illumination when described second image sensing module carries out image acquisition.
Capsule endoscope the most according to claim 6, it is characterised in that described first image sensing module and described first
Lighting module is positioned at the described inner end of described shell, described second image sensing module and described second lighting module and is positioned at institute
Stating the described medial part of shell, inner end and the described medial part of described shell are respectively provided with transparent end cap.
Capsule endoscope the most according to claim 7, it is characterised in that described central control module is additionally operable to control respectively
Described first lighting module and the unlatching of the second lighting module, closedown and brightness of illumination.
Capsule endoscope the most according to claim 1, it is characterised in that described capsule endoscope also includes cache module,
For caching described first view data, described second view data and described attitude and positional information, described central authorities control
Module extracts described attitude and positional information from described cache module.
Capsule endoscope the most according to claim 1, it is characterised in that described capsule endoscope also includes supply module
With the first wireless communication module, this first wireless communication module for by described first view data, the second view data and
Described attitude and positional information are sent to described capsule endoscope and control device, and for controlling device from described capsule endoscope
Receive described control instruction.
11. 1 kinds of capsule endoscopes control device, it is characterised in that this capsule endoscope controls device and according to claim 1-
Capsule endoscope according to any one of 10 controls device with the use of, described capsule endoscope and includes:
Magnetic field generating module, is used for producing described external magnetic field；
Second wireless communication module, for sending described control instruction to described central control module, and for receiving from described
Described attitude after described first view data, the second view data and analyzing and processing that capsule endoscope sends and position letter
Breath；
Data aobvious control work station, for the control instruction of input operation personnel, and records and shows the appearance of described capsule endoscope
State and position and the first image gathered and the second image.
12. capsule endoscopes according to claim 11 control device, it is characterised in that described data aobvious control work station is used
In the intensity controlling the magnetic field that described magnetic field generating module produces.
13. capsule endoscopes according to claim 11 control device, it is characterised in that
In the case of described motor control drives module to include described armature winding module, described magnetic field generating module produces quiet
State magnetic field；
In the case of described motor control drives module to be permanent magnet, described magnetic field generating module produces controlled time-varying magnetic field.
14. 1 kinds of capsule endoscope systems, it is characterised in that this capsule endoscope system includes appointing according in claim 1-10
One described capsule endoscope and according to according to any one of claim 11-13 capsule endoscope control device, described
Central control module control is by the described attitude after described first view data, the second view data and analyzing and processing and position
Information is sent to described second wireless communication module, and described magnetic field generating module drives module to provide described for described motor control
External magnetic field.
15. 1 kinds of capsule endoscope detection methods, it is characterised in that described method uses capsule according to claim 14
Endoscopic system, the method comprises the following steps:
S1: described data aobvious control work station sends control instruction to described central control module, to control capsule endoscope in institute
State in detected body advance, described first image sensing module is in running order and described second image sensing module is in
Off working state, advance during described first image sensing module with the first fixed frequency to the row in described detected body
Entering the front region on direction and gather described first view data, described posture position measurement module detects described capsule endoscope
Relative to the attitude in detected body and positional information, the described central control module attitude to detecting and positional information are carried out
Analyzing and processing；
S2: by the attitude after each described first view data collected in step S1 and analyzing and processing and positional information
Send in real time to described data aobvious control work station；
S3: described data show control work station each described first view data receiving step S2 and the focal zone mould prestored
Formula is mated,
When described first view data exists the view data with described focal zone pattern match, the figure mated by calculating
As data position in whole described first view data, and correspond to attitude and the position letter of the view data of coupling
Breath, calculates the described capsule endoscope current pose from described second image sensing module and position moves to described second figure
Attitude knots modification needed for the attitude of picture sensing module alignment focal zone and position and displacement knots modification；
When described first view data does not exist the view data with described focal zone pattern match, described capsule endoscope
Continue on；
S4: the attitude knots modification obtained according to step S3 and displacement knots modification, described data aobvious control work station is to the control of described central authorities
Molding block sends corresponding control instruction, to control capsule endoscope generation attitude described in described motor control driving module drive
And change in displacement so that described second image sensing module alignment focal zone；
S5: described data aobvious control work station sends control instruction to described central control module, to control described capsule endoscope
Be maintained at by step S4 adjust after attitude and position, and control described second image sensing module in running order,
Described first image sensing module is in off working state, described second image sensing module with the second fixed frequency to described quilt
Focal zone in detection bodies gathers multiple described second view data；
S6: repeated execution of steps S1-S5, until described capsule endoscope is discharged outside described detected body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610632998.6A CN106264427B (en) | 2016-08-04 | 2016-08-04 | Capsule endoscope and its control device, system and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610632998.6A CN106264427B (en) | 2016-08-04 | 2016-08-04 | Capsule endoscope and its control device, system and detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106264427A true CN106264427A (en) | 2017-01-04 |
| CN106264427B CN106264427B (en) | 2018-03-16 |
Family
ID=57665069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610632998.6A Active CN106264427B (en) | 2016-08-04 | 2016-08-04 | Capsule endoscope and its control device, system and detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106264427B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107260110A (en) * | 2017-05-26 | 2017-10-20 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
| CN107669236A (en) * | 2017-10-19 | 2018-02-09 | 安翰光电技术（武汉）有限公司 | The adaptive wireless capsule endoscope system of image frame per second and frame per second adaptive approach |
| CN107860778A (en) * | 2017-11-20 | 2018-03-30 | 深圳市资福技术有限公司 | A kind of dirty detection means of capsule endoscope and detection method |
| CN108460820A (en) * | 2018-01-29 | 2018-08-28 | 北京理工大学 | Mini mobile plant control unit based on image feedback and method |
| CN109091098A (en) * | 2017-10-27 | 2018-12-28 | 重庆金山医疗器械有限公司 | Magnetic control capsule endoscopic diagnostic and examination system |
| CN109118522A (en) * | 2018-10-22 | 2019-01-01 | 首都医科大学附属北京同仁医院 | A kind of respiratory tract ciliary movement characteristic analysis method and device |
| CN110381805A (en) * | 2017-03-16 | 2019-10-25 | 基文影像公司 | The system and method for position detection for vivo devices |
| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
| CN110507276A (en) * | 2019-08-26 | 2019-11-29 | 珠海维尔康生物科技有限公司 | A kind of capsule endoscope system of twin-lens panoramic imagery |
| CN111956168A (en) * | 2020-07-22 | 2020-11-20 | 上海安翰医疗技术有限公司 | Capsule endoscope system and distance measuring method for capsule endoscope |
| WO2024008042A1 (en) * | 2022-07-04 | 2024-01-11 | 安翰科技(武汉)股份有限公司 | Method for quantitatively controlling first viewing angle of capsule endoscope, system and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1976626A (en) * | 2004-07-08 | 2007-06-06 | 奥林巴斯株式会社 | Device introduced in subject and in-subject introduction system |
| US20070173691A1 (en) * | 2002-03-25 | 2007-07-26 | Olympus Corporation | Capsule-type medical device |
| JP2007185521A (en) * | 2007-03-12 | 2007-07-26 | Olympus Corp | Capsule type medical device |
| US20070255098A1 (en) * | 2006-01-19 | 2007-11-01 | Capso Vision, Inc. | System and method for in vivo imager with stabilizer |
| US20090278921A1 (en) * | 2008-05-12 | 2009-11-12 | Capso Vision, Inc. | Image Stabilization of Video Play Back |
| CN101594818A (en) * | 2007-02-02 | 2009-12-02 | 奥林巴斯医疗株式会社 | Capsule medical apparatus and body-cavity observation method |
| CN101744601A (en) * | 2008-12-05 | 2010-06-23 | 德昌电机(深圳)有限公司 | Capsule type imaging device and internal image capturing system |
| EP2294965A1 (en) * | 2008-06-17 | 2011-03-16 | FUJIFILM Corporation | Electronic endoscope |
| US20140128675A1 (en) * | 2008-06-09 | 2014-05-08 | Capso Vision, Inc. | Vivo CAMERA WITH MULTIPLE SOURCES TO ILLUMINATE TISSUE AT DIFFERENT DISTANCES |
| CN104105437A (en) * | 2012-02-24 | 2014-10-15 | 卡普索影像股份有限公司 | Power source control for medical capsules |
| CN104394754A (en) * | 2012-04-18 | 2015-03-04 | 昂科福禄尔有限公司 | Light emitting diode endoscopic devices for visualization of diseased tissue in humans and animals |
| CN104840176A (en) * | 2014-02-19 | 2015-08-19 | 光峰科技股份有限公司 | Digestive tract inspection system and control method thereof |
-
2016
- 2016-08-04 CN CN201610632998.6A patent/CN106264427B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070173691A1 (en) * | 2002-03-25 | 2007-07-26 | Olympus Corporation | Capsule-type medical device |
| CN1976626A (en) * | 2004-07-08 | 2007-06-06 | 奥林巴斯株式会社 | Device introduced in subject and in-subject introduction system |
| US20070255098A1 (en) * | 2006-01-19 | 2007-11-01 | Capso Vision, Inc. | System and method for in vivo imager with stabilizer |
| CN101594818A (en) * | 2007-02-02 | 2009-12-02 | 奥林巴斯医疗株式会社 | Capsule medical apparatus and body-cavity observation method |
| JP2007185521A (en) * | 2007-03-12 | 2007-07-26 | Olympus Corp | Capsule type medical device |
| US20090278921A1 (en) * | 2008-05-12 | 2009-11-12 | Capso Vision, Inc. | Image Stabilization of Video Play Back |
| US20140128675A1 (en) * | 2008-06-09 | 2014-05-08 | Capso Vision, Inc. | Vivo CAMERA WITH MULTIPLE SOURCES TO ILLUMINATE TISSUE AT DIFFERENT DISTANCES |
| EP2294965A1 (en) * | 2008-06-17 | 2011-03-16 | FUJIFILM Corporation | Electronic endoscope |
| CN101744601A (en) * | 2008-12-05 | 2010-06-23 | 德昌电机(深圳)有限公司 | Capsule type imaging device and internal image capturing system |
| CN104105437A (en) * | 2012-02-24 | 2014-10-15 | 卡普索影像股份有限公司 | Power source control for medical capsules |
| CN104394754A (en) * | 2012-04-18 | 2015-03-04 | 昂科福禄尔有限公司 | Light emitting diode endoscopic devices for visualization of diseased tissue in humans and animals |
| CN104840176A (en) * | 2014-02-19 | 2015-08-19 | 光峰科技股份有限公司 | Digestive tract inspection system and control method thereof |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110381805A (en) * | 2017-03-16 | 2019-10-25 | 基文影像公司 | The system and method for position detection for vivo devices |
| CN107260110A (en) * | 2017-05-26 | 2017-10-20 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
| CN107260110B (en) * | 2017-05-26 | 2019-06-14 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
| CN107669236A (en) * | 2017-10-19 | 2018-02-09 | 安翰光电技术（武汉）有限公司 | The adaptive wireless capsule endoscope system of image frame per second and frame per second adaptive approach |
| CN107669236B (en) * | 2017-10-19 | 2019-04-30 | 安翰科技(武汉)股份有限公司 | The adaptive wireless capsule endoscope system of image frame per second and frame per second adaptive approach |
| CN109091098A (en) * | 2017-10-27 | 2018-12-28 | 重庆金山医疗器械有限公司 | Magnetic control capsule endoscopic diagnostic and examination system |
| CN107860778A (en) * | 2017-11-20 | 2018-03-30 | 深圳市资福技术有限公司 | A kind of dirty detection means of capsule endoscope and detection method |
| CN107860778B (en) * | 2017-11-20 | 2022-12-13 | 深圳市资福医疗技术有限公司 | Capsule endoscope dirt detection device and detection method |
| CN108460820A (en) * | 2018-01-29 | 2018-08-28 | 北京理工大学 | Mini mobile plant control unit based on image feedback and method |
| CN108460820B (en) * | 2018-01-29 | 2022-05-10 | 北京理工大学 | Micro mobile device control device and method based on image feedback |
| CN109118522A (en) * | 2018-10-22 | 2019-01-01 | 首都医科大学附属北京同仁医院 | A kind of respiratory tract ciliary movement characteristic analysis method and device |
| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
| CN110507276A (en) * | 2019-08-26 | 2019-11-29 | 珠海维尔康生物科技有限公司 | A kind of capsule endoscope system of twin-lens panoramic imagery |
| CN111956168A (en) * | 2020-07-22 | 2020-11-20 | 上海安翰医疗技术有限公司 | Capsule endoscope system and distance measuring method for capsule endoscope |
| WO2024008042A1 (en) * | 2022-07-04 | 2024-01-11 | 安翰科技(武汉)股份有限公司 | Method for quantitatively controlling first viewing angle of capsule endoscope, system and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106264427B (en) | 2018-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106264427A (en) | Capsule endoscope and control device, system and detection method | |
| CN106667422A (en) | Capsule endoscope, and control device, system and detection method of same | |
| CN102405010B (en) | Subject internal examination system | |
| CN105942959B (en) | Capsule endoscope system and its three-D imaging method | |
| Dey et al. | Wireless capsule gastrointestinal endoscopy: Direction-of-arrival estimation based localization survey | |
| CN103637803B (en) | Based on capsule endoscope space positioning system and the localization method of permanent magnetism and induction coil | |
| CN104473611B (en) | Capsule endoscope system with ultrasonic wave positioning function | |
| CN101530326B (en) | Capsule guiding system | |
| CN106890025A (en) | A kind of minimally invasive operation navigating system and air navigation aid | |
| US9002434B2 (en) | Medical device position detecting system, medical device guiding system, and position detecting method for medical device | |
| CN105491936B (en) | Capsule-type endoscope system | |
| CN105916462B (en) | Optical tracking system | |
| EP1749473A1 (en) | Position information detecting device and position information detecting system | |
| EP3833007A1 (en) | Layered-type light-receiving sensor and electronic device | |
| US20130231530A1 (en) | Magnetic maneuvering system for capsule endoscope | |
| CN102361585B (en) | Image processing system, external apparatus and image processing method therefor | |
| US20090207246A1 (en) | Interactive image acquisition device | |
| CN211749480U (en) | Capsule endoscope system with three-dimensional modeling function | |
| CN109195499A (en) | Navigation device and air navigation aid and endoscopic system | |
| WO2016076217A1 (en) | Position detection system | |
| CN105358037B (en) | Position detecting device and position detecting system | |
| CN105962879A (en) | Pose control system and control method of capsule endoscope and capsule endoscope | |
| JPWO2012117816A1 (en) | Capsule endoscope position detection device, capsule endoscope system, and capsule endoscope position determination program | |
| CN103356150A (en) | Capsule endoscope magnetic field driving system under orientation tracking guide | |
| CN110088908A (en) | Sensor chip and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |