CN108175368A - A kind of control system of capsule endoscopic - Google Patents
A kind of control system of capsule endoscopic Download PDFInfo
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- CN108175368A CN108175368A CN201711211796.5A CN201711211796A CN108175368A CN 108175368 A CN108175368 A CN 108175368A CN 201711211796 A CN201711211796 A CN 201711211796A CN 108175368 A CN108175368 A CN 108175368A
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- 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
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- 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
- A61B1/00131—Accessories for endoscopes
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- 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
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- 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
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- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention discloses a kind of control system of capsule endoscopic, which includes control terminal and robot body, and the magnet for drawing capsule endoscopic is fixed on robot body；Control terminal, using robot multi-axis interpolation control algolithm, generates control instruction, and send control instruction to robot body according to default test position point parameter；Robot body parses control instruction, obtains path curves, and according to path curves, automatic capsule endoscopic to each predeterminated position point that draws carries out multi-angled shooting.As it can be seen that the system is realized automatic traction capsule endoscopic, is scanned comprehensively by controlling robot body.Robot body is drawn automatically, and long-play will not generate fatigue problem, and be drawn according to path curves, is avoided that the trueness error introduced during hand traction, improves kinematic accuracy；It can also make robot body rest on Ideal adsorption position.
Description
Technical field
The present invention relates to field of medical technology, more particularly to a kind of control system of capsule endoscopic.
Background technology
With making constant progress for medical science and technology, the application of capsule endoscopic is also more and more extensive.
At present, capsule endoscopic is usually artificial traction, specifically, doctor hold permanent magnet carry out magnetic field transformation with
Capsule is drawn, to shoot position as much as possible.Artificial traction capsule can have the disadvantage that：The cooperation completion of human brain and human hand is led
Draw, have scanning missed areas or multiple scanning region；Human hand also inevitably shakes the error caused in precision；Operation
Person can also generate fatigue after how long drawing；Doctor needs to check the figure of capsule endoscopic shooting while drawing
Picture, it is very inconvenient；When hand magnet is drawn, the ideal position of uncontrollable capsule and magnet, if capsule and magnet
It is distant, capsule can lose magnetic field traction and drop.
Invention content
The object of the present invention is to provide a kind of control systems of capsule endoscopic, and capsule is adsorbed in ideal bit to realize
It puts, improves capsule traction precision and kinematic accuracy, stomach is scanned comprehensively, long-play will not generate fatigue problem.
To achieve the above object, the present invention provides a kind of control system of capsule endoscopic, including control terminal and machine
Human body is fixed with the magnet for drawing capsule endoscopic on the robot body；
The control terminal is used to, according to default test position point parameter, utilize robot multi-axis interpolation control algolithm, generation
Control instruction, and the control instruction is sent to the robot body；
The robot body obtains path curves, and according to the movement rail for parsing the control instruction
Trace curve draws the capsule endoscopic to each predeterminated position point and carries out multi-angled shooting automatically.
Optionally, the control terminal includes terminal, communication module and motion-control module；
The communication module is used for as the data forwarding medium between the terminal and the capsule endoscopic；
The terminal is used for according to the default test position point parameter, using the multi-axis interpolation control algolithm, is calculated
Go out motion track information, and the motion track information is transmitted to the motion-control module；
The motion-control module generates the control instruction, and the control is referred to according to the motion track information
Order is sent to the robot body.
Optionally, the terminal further includes display module and capsule attitude angle adjustment module；
The display module is used to receive the attitude angle data of the capsule endoscopic feedback, according to the attitude angle number
According to establishing the 3D models of the capsule endoscopic, and show the 3D models；
Capsule attitude angle adjustment module is for receiving attitude angle adjust instruction, according to the attitude angle adjust instruction,
Adjust the attitude angle of the capsule endoscopic.
Optionally, the terminal further includes CRC check module, for after the attitude angle data is received, establishing institute
Before stating 3D models, CRC check is carried out to the attitude angle data.
Optionally, the motion-control module specifically includes motion control card and switch board, and the switch board includes terminal
Plate and electrical equipment.
Optionally, the robot body is five-axle linkage mechanical arm；The multi-axis interpolation control algolithm is at least three
Axis INTERPOLATION CONTROL OF PULSE algorithm.
Optionally, the terminal further includes human-computer interaction interface, and the human-computer interaction interface includes multiple and different equipment
Administration interface.
Optionally, the system also includes manual control equipment, described in before draw automatically, controlling manually
Robot body draws the capsule endoscopic to default initial position.
Optionally, the system also includes alarm module, for when meeting preset alarm condition, alert.
The control system of capsule endoscopic provided by the present invention, the system include control terminal and robot body, machine
The magnet for drawing capsule endoscopic is fixed on device human body；Control terminal is utilized according to default test position point parameter
Robot multi-axis interpolation control algolithm generates control instruction, and sends control instruction to robot body；Robot body parses
Control instruction obtains path curves, and according to path curves, the automatic capsule endoscopic that draws is to each default position
Put a progress multi-angled shooting.As it can be seen that the system, by controlling robot body, realization is automatic to draw capsule endoscopic, into
Row scanning comprehensively.Robot body is drawn automatically, and long-play will not generate fatigue problem, and according to path curves into
Row traction, is avoided that the trueness error introduced during hand traction, can improve kinematic accuracy；It can also rest on robot body
Ideal adsorption position.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the structural schematic block diagram of the control system of capsule endoscopic provided in an embodiment of the present invention；
Fig. 2 is robot body path curves schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of specific embodiment schematic diagram of host computer man-machine interface provided in an embodiment of the present invention；
Fig. 4 is a kind of system frame of specific embodiment of capsule type endoscope control system provided in an embodiment of the present invention
Figure；
Fig. 5 is five-axle linkage mechanical arm schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without making creative work shall fall within the protection scope of the present invention.
It please refers to Fig.1, Fig. 1 is the structural representation frame of the control system of capsule endoscopic provided in an embodiment of the present invention
Figure, the system can include control terminal 11 and robot body 12, be fixed with to draw in capsule-type on robot body 12
The magnet of sight glass；
Control terminal is used for according to default test position point parameter, utilizes robot multi-axis interpolation control algolithm, generation control
Instruction, and control instruction is sent to robot body；
Robot body obtains path curves, and according to path curves, lead automatically for parsing control instruction
Draw capsule endoscopic to each predeterminated position point and carry out multi-angled shooting.
It is to be appreciated that predeterminated position point parameter can refer to each default test position point in predetermined detection area
Parameter.That is, the region detected needed for Yu Xianxuanding, selectes n test position point in the region, for convenience of description and follow-up control
System needs, and assigns this n specific parameter information of test position point.
The parameter information can be specially coordinate value, at this time, it may be necessary to space coordinates are established in area to be tested, the coordinate
System can be cartesian coordinate system, then can obtain the coordinate value of selected each location point.
Predeterminated position point can refer to that capsule endoscopic carries out the location point of shot detection.It is carried out in a location point more
After the completion of angle shot, it can just draw to next location point and carry out shot detection.This way it is possible to avoid some area of multiple scanning
Domain or some region of missed scans happen, as long as selected location point is reasonable, stomach can be carried out comprehensive
Shot detection.
In the present embodiment, above-mentioned control terminal can include terminal, communication module and motion-control module；Communication module is used for
As the data forwarding medium between terminal and capsule endoscopic；Terminal is used for according to default test position point parameter, using more
Axis INTERPOLATION CONTROL OF PULSE algorithm calculates motion track information, and motion track information is transmitted to motion-control module；Motion control
Module generates control instruction, and control instruction is sent to robot body according to motion track information.
The terminal can be specially PC, can also be specially other intelligent terminal.The communication module can be specially but not
Be limited to recorder, primarily as data forwarding medium, i.e., capsule endoscopic by the communication module and terminal into line number
According to interaction, terminal carries out data interaction also by the communication module and capsule endoscopic.The motion-control module can include
Motion control card and switch board, the switch board include terminal board and other required electrical equipments.
Further, terminal can also include display module and capsule attitude angle adjustment module；Display module is used to receive
The attitude angle data of capsule endoscopic feedback, the 3D models of capsule endoscopic is established according to attitude angle data, and show 3D
Model；Capsule attitude angle adjustment module, according to attitude angle adjust instruction, is adjusted in capsule-type for receiving attitude angle adjust instruction
The attitude angle of sight glass.
According to attitude angle data, the 3D models of capsule endoscope are established, in this way, user can then be visually known capsule
In stomach relative to the attitude angle of the earth.
Above-mentioned attitude angle adjust instruction can be input by user, that is, user can be according to capsule 3D models, to capsule
Attitude angle is adjusted；It can also be system automatically generated, be not limited thereto.
Further, terminal can also include CRC check module, for after attitude angle data is received, establishing 3D
Before model, CRC check is carried out to attitude angle data.At this point, six-axle acceleration sensor, terminal can be previously added in capsule
The attitude angle data of capsule feedback is received, to avoid the situation of data transmission fault, before 3D models are established, first carries out CRC schools
It tests, the foundation of 3D models is just carried out after having inspected.
For example, capsule attitude angle data is multinomial x5+x3+x2During+x+1, code 101111 can be converted into and give terminal
Processing, at this point, user wants to adjust capsule attitude angle, thus it is possible to vary the angle binary data of magnet, you can magnetic deflection field, it is real
The adjustment of existing capsule attitude angle.
Data transmission inevitably will appear difference, can reduce error probability to a certain extent using CRC check.
In the present embodiment, robot body can be specially five-axle linkage mechanical arm, specifically include 5 axis driving and
Mechanical joint, containing analog sensor and switch sensor.More specifically, wherein 3 axis realize the positioning movement of space coordinate,
Other two axis realize pitch angles and yaw compared with rotation.Multi-axis interpolation control algolithm is at least three axis INTERPOLATION CONTROL OF PULSE algorithms.
Referring to Fig. 2 shows robot body path curves schematic diagram.Three axis INTERPOLATION CONTROL OF PULSE algorithms are specific as follows：
The movement locus of joint of robot is generally not straight line, needs to construct one section of movement locus, as above there are multiple for figure
Point, obtained track are not necessarily uniquely, but each result is symmetrical with center time point thWith position midpoint θh.Wherein cross
Cross domain [t0,tb] speed of terminal is necessarily equal to the speed of linear domain, thereforeθbFor terminal t in excessive domainbPlace
Joint angles.WithRepresent the acceleration in transition domain, θbValue can obtain：
Enable t=2th, can be obtained according to above-mentioned two formula：Wherein, t is the motion continuation of requirement
Time, in this way for any given θf、θ0And t, it can be by formulaSelection is correspondingAnd tb, obtain outbound path
Curve.
It is appreciated that INTERPOLATION CONTROL OF PULSE algorithms more than three axis, details are not described herein.
Robot body movement locus path is generated according to control algolithm, compared to artificial traction, traction road can be optimized
Line, and then increase considerably its kinematic accuracy.
In the present embodiment, above-mentioned terminal can also include human-computer interaction interface, and human-computer interaction interface includes multiple and different set
Standby administration interface.It is the administration interfaces of multiple and different equipment is unified to same human-computer interaction interface, that is, can be by the of periphery
Tripartite's device data and the unified display under man-machine interface, it is convenient that each peripheral equipment is adjusted, without to individual equipment
It is debugged, improves the scalability of system.
A kind of specific embodiment schematic diagram of host computer man-machine interface shown in specific visible Fig. 3, in the interface, packet
Include the capsule attitude angle page, alarm page of text, the robot 3D pages, the permanent magnet coordinate position page, robot hand control
The page, the equipment state page, the encoder for servo motor page, robot automatically control the page and third party's Medical Devices page.
In the present embodiment, above system can also include manual control equipment, for carry out automatically draw before, manually
Robot body is controlled, capsule endoscopic is drawn to default initial position.The manual control equipment can be specially hand
Robot body can be moved to default initial position, and then complete by dynamic operating lever, user by operating manual lever
The preliminary traction of capsule endoscopic, then can start automatic traction.
It is appreciated that if robot body just at default initial position, does not have to set using the manual control
It is standby.And the manual control equipment can not only realize the preliminary traction of capsule endoscopic, it when necessary, can be with manual control machine device
Human body.
In the present embodiment, which can also include alarm module, for when meeting preset alarm condition, sending out alarm
Information.Above-mentioned preset alarm condition can be specially when robot body is in some non-default location point.The warning message
It can embody especially by alarm or be embodied by warning light.
The control system of capsule endoscopic provided by the present invention, the system include control terminal and robot body, machine
The magnet for drawing capsule endoscopic is fixed on device human body；Control terminal is utilized according to default test position point parameter
Robot multi-axis interpolation control algolithm generates control instruction, and sends control instruction to robot body；Robot body parses
Control instruction obtains path curves, and according to path curves, the automatic capsule endoscopic that draws is to each default position
Put a progress multi-angled shooting.As it can be seen that the system, by controlling robot body, realization is automatic to draw capsule endoscopic, into
Row scanning comprehensively.Robot body is drawn automatically, and long-play will not generate fatigue problem, and according to path curves into
Row traction, is avoided that the trueness error introduced during hand traction, can improve kinematic accuracy；It can also rest on robot body
Ideal adsorption position.
Preferably to introduce the control system of capsule endoscopic provided in an embodiment of the present invention, show below in conjunction with Fig. 4
A kind of system block diagram of specific embodiment of the capsule type endoscope control system gone out.
Referring to Fig. 4, which includes capsule endoscopic, recorder, doctor's operation console, switch board, robot body.
Wherein, doctor's operation console includes host computer and motion control card, and switch board includes terminal board and other electrical equipments,
Robot body can be specially five-axle linkage mechanical arm as shown in Figure 5, and the driving and machinery for mainly including 5 axis are closed
Section, containing analog sensor and Boolean value output sensor.More specifically, axis 1 therein, axis 2, axis 3 mainly realize space coordinate
Positioning movement, axis 4 and axis 5 mainly carry out the permanent magnet lifted the rotation of pitch angle and yaw angle.
Recorder is mainly as the data communication medium between capsule endoscopic and host computer.Multiaxis is run on host computer
Motion control card is written in the result obtained by interpolation algorithm, and motion control card control terminal daughter board sends analog signals to driving
Device, then driver can be converted according to the analog signals and obtain movement locus, and then capsule endoscopic drawn successively to
Each preset location point is shot in all directions.
Host computer can receive the attitude angle data of capsule endoscopic return, establish the 3D models of capsule endoscopic,
In this way, user can then be visually known the attitude angle of capsule in real time.Meanwhile user can also adjust glue by host computer
Capsule attitude angle can also make ± 90 ° of capsule progress, ± 180 ° of rotation, clapped in all directions with further realizing in some location point
It takes the photograph.
It is shot in mechanical arm traction capsule endoscopic to each location point, as long as current location spot scan finishes
Afterwards, it can just draw to next location point and be shot, complete the shooting of all location points according to this.
In the present embodiment, which can be to avoid multiple scanning and the problems such as omit, and can be with real-time display capsule posture
Angle, and capsule attitude angle can be adjusted.And permanent magnet is lifted using mechanical arm, capsule endoscopic is drawn, is improved
Draw precision and kinematic accuracy.
Each embodiment is described by the way of progressive in specification, the highlights of each of the examples are with other realities
Apply the difference of example, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with the combination of electronic hardware, computer software or the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is performed actually with hardware or software mode, specific application and design constraint depending on technical solution.Profession
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
It can directly be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The control system of capsule endoscopic provided by the present invention is described in detail above.It is used herein
Specific case is expounded the principle of the present invention and embodiment, and the explanation of above example is only intended to help to understand this
The method and its core concept of invention.It should be pointed out that for those skilled in the art, this hair is not being departed from
Under the premise of bright principle, can also to the present invention some improvement and modification can also be carried out, these improvement and modification also fall into power of the present invention
In the protection domain of profit requirement.
Claims (9)
1. a kind of control system of capsule endoscopic, which is characterized in that including control terminal and robot body, the robot
The magnet for drawing capsule endoscopic is fixed on ontology；
The control terminal is used for according to default test position point parameter, utilizes robot multi-axis interpolation control algolithm, generation control
Instruction, and the control instruction is sent to the robot body；
The robot body obtains path curves, and according to movement locus song for parsing the control instruction
Line draws the capsule endoscopic to each predeterminated position point and carries out multi-angled shooting automatically.
2. the system as claimed in claim 1, which is characterized in that the control terminal includes terminal, communication module and motion control
Module；
The communication module is used for as the data forwarding medium between the terminal and the capsule endoscopic；
The terminal is used for according to the default test position point parameter, using the multi-axis interpolation control algolithm, calculates fortune
Dynamic trace information, and the motion track information is transmitted to the motion-control module；
The motion-control module generates the control instruction, and the control instruction is sent out according to the motion track information
It send to the robot body.
3. system as claimed in claim 2, which is characterized in that the terminal further includes display module and the adjustment of capsule attitude angle
Module；
The display module is used to receive the attitude angle data of the capsule endoscopic feedback, is built according to the attitude angle data
The 3D models of the capsule endoscopic are found, and show the 3D models；
The capsule attitude angle adjustment module is for receiving attitude angle adjust instruction, according to the attitude angle adjust instruction, adjustment
The attitude angle of the capsule endoscopic.
4. system as claimed in claim 3, which is characterized in that the terminal further includes CRC check module, for receiving institute
It after stating attitude angle data, establishes before the 3D models, CRC check is carried out to the attitude angle data.
5. system as claimed in claim 4, which is characterized in that the motion-control module specifically includes motion control card and control
Cabinet processed, the switch board include terminal board and electrical equipment.
6. system as claimed in claim 2, which is characterized in that the robot body is five-axle linkage mechanical arm；It is described
Multi-axis interpolation control algolithm is at least three axis INTERPOLATION CONTROL OF PULSE algorithms.
7. such as claim 2 to 6 any one of them system, which is characterized in that the terminal further includes human-computer interaction interface, institute
State the administration interface that human-computer interaction interface includes multiple and different equipment.
8. system as claimed in claim 7, which is characterized in that the system also includes manual control equipment, for carrying out
Before automatic traction, the robot body is controlled manually, the capsule endoscopic is drawn to default initial position.
9. system as claimed in claim 7, which is characterized in that the system also includes alarm module, for default when meeting
During alert if, alert.
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| CN201711211796.5A CN108175368A (en) | 2017-11-28 | 2017-11-28 | A kind of control system of capsule endoscopic |
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| CN109044250A (en) * | 2018-08-28 | 2018-12-21 | 深圳市资福医疗技术有限公司 | A kind of capsule endoscope motion control method, device and terminal device |
| CN112089389A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Capsule endoscope system with three-dimensional modeling function |
| CN112372635A (en) * | 2020-10-15 | 2021-02-19 | 北京航空航天大学 | Control method and device of capsule robot, storage medium and terminal |
| CN113520275A (en) * | 2021-08-13 | 2021-10-22 | 元化智能科技(深圳)有限公司 | Trajectory tracking system, apparatus and medium for wireless capsule endoscope |
| CN113647893A (en) * | 2021-08-13 | 2021-11-16 | 元化智能科技(深圳)有限公司 | Autonomous navigation system, device and medium for wireless capsule endoscope |
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Cited By (7)
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| CN109044250A (en) * | 2018-08-28 | 2018-12-21 | 深圳市资福医疗技术有限公司 | A kind of capsule endoscope motion control method, device and terminal device |
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| CN112372635A (en) * | 2020-10-15 | 2021-02-19 | 北京航空航天大学 | Control method and device of capsule robot, storage medium and terminal |
| CN112372635B (en) * | 2020-10-15 | 2022-04-01 | 北京航空航天大学 | Control method and device of capsule robot, storage medium and terminal |
| CN113520275A (en) * | 2021-08-13 | 2021-10-22 | 元化智能科技(深圳)有限公司 | Trajectory tracking system, apparatus and medium for wireless capsule endoscope |
| CN113647893A (en) * | 2021-08-13 | 2021-11-16 | 元化智能科技(深圳)有限公司 | Autonomous navigation system, device and medium for wireless capsule endoscope |
| CN113647893B (en) * | 2021-08-13 | 2022-06-10 | 元化智能科技(深圳)有限公司 | Autonomous navigation system, device and medium for wireless capsule endoscope |
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