CN103815858A - Capsular endoscope with multiple built-in sensors - Google Patents
Capsular endoscope with multiple built-in sensors Download PDFInfo
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- CN103815858A CN103815858A CN201410078961.4A CN201410078961A CN103815858A CN 103815858 A CN103815858 A CN 103815858A CN 201410078961 A CN201410078961 A CN 201410078961A CN 103815858 A CN103815858 A CN 103815858A
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Abstract
The invention provides a capsular endoscope with multiple built-in sensors. The capsular endoscope comprises an image shooting module, a shooting control module, an image processing module, a power supply module and a wireless transmission module which are arranged in a sealed shell; the capsular endoscope also comprises a gravity sensor module arranged at the central area of the shell; the image processing module is used for splicing continuously-shot image pictures according to rotation angles detected by the gravity sensor module. The capsular endoscope with the multiple built-in sensors further comprises a temperature sensor and a pressure sensor, wherein the temperature sensor is arranged at the part, which is adjacent to a second shell, in the shell and used for detecting internal temperature changes of an alimentary tract; the pressure sensor is arranged in the part, which is adjacent to the second shell, in the shell and used for detecting internal pressure changes of the alimentary tract. The capsular endoscope with the multiple built-in sensors is stronger in image processing capability and can output multi-element parameters which are more suitable for comprehensive study and treatment of complex diseases.
Description
Technical field
The present invention relates to capsule endoscope technical field, relate in particular to a kind of capsule endoscope of built-in multisensor.
Background technology
As shown in Figure 1, for without wound check the body cavity organ in animal or human's body, especially digestive tract body cavity, adopt at present swallowing type capsule endoscope to obtain detected person's body internal information.The volume of capsule endoscope is all less than 11 × 26mm conventionally, person to be detected swallows capsule endoscope from oral cavity, capsule endoscope for example, moves along with the wriggling of organ (stomach, intestinal) after entering in body, finally discharge from human body natural, in the meantime, capsule endoscope obtains each organ information successively, and sends to external information to receive and blood processor the information of obtaining by radio communication, completes whole testing process.
Described capsule endoscope comprises image taking module, data processing module, memory module, control module, lighting module power module and wireless transport module etc., described image taking module is for taking picture or the video of each organ, obtain each organ information, the picture that described image taking module is taken or video send to external information to receive and blood processor by described wireless transport module after described data processing module is processed, picture or video that described memory module is taken for preserving described image taking module, described driver module is used for driving described lighting module work, described lighting module provides light source for the shooting of described image taking module, described power module is each functional module power supply.
Existing capsule endoscope is all devoted to solve the technical problems such as clear picture degree and power supply, not yet be combined with the many indexes parameter of other field, for example gravity direction, temperature and pressure etc., and the comprehensive analysis of related data has great significance in academic research field, for example, in the emerging heating therapy of field of cancer, thereby by heating body local position, cancerous cell is eliminated in the time for the treatment of, the key of thermotherapy is temperature control, and cancerous cell observation comprehensive study, if can accurately measure temperature in body, heating therapy just can be brought into play maximum effect, the multiple parameters research of visible capsule endoscope has great significance.
Summary of the invention
The object of the present invention is to provide a kind of capsule endoscope of built-in multisensor, can better export photographic images, and can detect and export the multiple parameters in human body alimentary canal.
To achieve the above object, the invention provides a kind of capsule endoscope of built-in multisensor, be included in image taking module, shooting control and image processing module, supply module and the wireless transport module in airtight housing, settled, described capsule endoscope also comprises the gravity sensor module that is arranged on housing central area, the image frame that the anglec of rotation splicing that described image processing module detects according to described gravity sensor module is taken continuously.
Preferably, the capsule endoscope of built-in multisensor of the present invention, described housing comprises the first transparent housing, and nontransparent the second housing, described image taking module is arranged on the end near the first described housing, is made up of LED light source, imageing sensor and lens.
Further, the capsule endoscope of built-in multisensor of the present invention, also comprises and is arranged on the temperature sensor of pressing close to described the second housing parts in described housing, for detection of the variations in temperature in digestive tract.
Further, the capsule endoscope of built-in multisensor of the present invention, also comprises and is arranged on the pressure transducer of pressing close to described the second housing parts in described housing, changes for detection of the pressure in digestive tract.
Further, the capsule endoscope of built-in multisensor of the present invention, also comprises and is arranged on the permanent magnet near described the second shell end in described housing, for relying on external magnetic field to guide moving direction and the anglec of rotation of described capsule endoscope.
Further, the capsule endoscope of built-in multisensor of the present invention, the weight of described permanent magnet is greater than the summation of other device weight in described housing, described capsule endoscope is preserved under action of gravity vertical mobile.
Further, the capsule endoscope of built-in multisensor of the present invention, described wireless transport module is made up of high frequency antenna and high frequency transmitter.
Further, the capsule endoscope of built-in multisensor of the present invention, described wireless transport module is the treated image information of transmission, acceleration of gravity signal, temperature signal and pressure signal outwards.
Compared with the conventional capsules endoscope of image in simple shooting digestive tract, the capsule endoscope image-capable of built-in multisensor of the present invention is stronger, and the multiple parameters of output is suitable for comprehensive study and the treatment of complex disease more.
Accompanying drawing explanation
The capsule endoscope of built-in multisensor of the present invention is provided by following embodiment and accompanying drawing.
After Fig. 1 is human body oral capsule endoscope, the schematic diagram detecting in digestive tract;
Fig. 2 is the structure cutaway view of the capsule endoscope of built-in multisensor of the present invention.
Reference numeral in figure is: 11, the first housing; 12, the second housing; 21, imageing sensor; 22, lens; 23, LED light source; 3, take and control and image processing module; 4, supply module; 5, wireless transport module; 6, gravity sensor module; 7, temperature sensor module; 8, pressure sensor module; 9, permanent magnet.
The specific embodiment
Below with reference to Fig. 2, the capsule endoscope of built-in multisensor of the present invention is described in further detail.
Embodiment mono-
The invention provides a kind of capsule endoscope of built-in multisensor, being included in image taking module, the shooting in airtight housing, settled controls and image processing module 3, supply module 4 (the present embodiment is 2 button cells) and wireless transport module 5, described housing comprises the first transparent housing, with nontransparent the second housing, described image taking module is arranged on the end near the first described housing 11, is made up of LED light source 23, imageing sensor 21 and lens 22.Described wireless transport module is made up of high frequency antenna and high frequency transmitter.After capsule endoscope enters human body alimentary canal; can under action of gravity, wriggle from top to bottom; for fear of capsule direction and angle is out of control takes nugatory inefficacy image in vivo; conventionally the permanent magnet 9 of meeting close described second housing 12 ends in described housing, for relying on external magnetic field to guide moving direction and the anglec of rotation of described capsule endoscope.Preferably, the weight of described permanent magnet 9 should be greater than the summation of other device weight in described housing, makes described capsule endoscope can preserve vertical movement under action of gravity as far as possible.
But, due to resistance and the reaction of Digestive tract content and Digestive system, capsule endoscope still inevitably rotates, an important improvement of the present invention is, in described capsule endoscope inner housing central area, gravity sensor module 6 is set, the three-dimensional rotation angle that capsule endoscope detected that can be in real time sensitive, and export by acceleration of gravity signal, the image frame that the anglec of rotation splicing that described image processing module detects according to described gravity sensor module 6 is taken continuously, the shooting angle that the magneticaction that doctor also can use external magnetic field to pass through permanent magnet 9 is accordingly corrected capsule, can greatly improve quality and the effective percentage of pictures taken.
Embodiment bis-
Be that with the difference of embodiment mono-capsule endoscope of built-in multisensor of the present invention can also comprise the temperature sensor 7 that is arranged on to press close in described housing described the second housing parts, for detection of the variations in temperature in digestive tract.
Temperature data is for some heating therapy research medically, and in digestive tract, the research such as temperature and disease relationship has great significance.
Embodiment tri-
Be with above-mentioned two embodiment differences, the capsule endoscope of built-in multisensor of the present invention, can also comprise and be arranged on the pressure transducer of pressing close to described the second housing parts in described housing, changes for detection of the pressure in digestive tract.In the present embodiment, the wireless transport module of capsule endoscope can outwards transmit treated image information, acceleration of gravity signal, temperature signal and pressure signal.
In clinical medicine application, usually need to carry out cooperative and the research of multiparameter, current existing capsule endoscope cannot be realized multiparameter output.Compared with the conventional capsules endoscope of image in simple shooting digestive tract, the capsule endoscope image-capable of built-in multisensor of the present invention is stronger, and the multiple parameters of output is suitable for comprehensive study and the treatment of complex disease more.
The above is the preferred embodiments of the present invention, is not limited to the present invention, to one skilled in the art, can have various modifications and variations.Within the spirit and scope of the present invention all, any modification of making and be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. the capsule endoscope of a built-in multisensor, be included in image taking module, shooting control and image processing module, supply module and the wireless transport module in airtight housing, settled, it is characterized in that, described capsule endoscope also comprises the gravity sensor module that is arranged on housing central area, the image frame that the anglec of rotation splicing that described image processing module detects according to described gravity sensor module is taken continuously.
2. the capsule endoscope of built-in multisensor as claimed in claim 1, it is characterized in that, described housing comprises the first transparent housing, with nontransparent the second housing, described image taking module is arranged on the end near the first described housing, is made up of LED light source, imageing sensor and lens.
3. the capsule endoscope of built-in multisensor as claimed in claim 2, is characterized in that, also comprises and is arranged on the temperature sensor of pressing close to described the second housing parts in described housing, for detection of the variations in temperature in digestive tract.
4. the capsule endoscope of built-in multisensor as claimed in claim 3, is characterized in that, also comprises and is arranged on the pressure transducer of pressing close to described the second housing parts in described housing, changes for detection of the pressure in digestive tract.
5. the capsule endoscope of built-in multisensor as claimed in claim 3, it is characterized in that, also comprise and be arranged on the permanent magnet near described the second shell end in described housing, for relying on external magnetic field to guide moving direction and the anglec of rotation of described capsule endoscope.
6. the capsule endoscope of built-in multisensor as claimed in claim 4, is characterized in that, the weight of described permanent magnet is greater than the summation of other device weight in described housing, described capsule endoscope is preserved under action of gravity vertical mobile.
7. the capsule endoscope of built-in multisensor as claimed in claim 3, is characterized in that, described wireless transport module is made up of high frequency antenna and high frequency transmitter.
8. the capsule endoscope of built-in multisensor as claimed in claim 7, is characterized in that, described wireless transport module is the treated image information of transmission, acceleration of gravity signal, temperature signal and pressure signal outwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410078961.4A CN103815858A (en) | 2014-02-26 | 2014-02-26 | Capsular endoscope with multiple built-in sensors |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410078961.4A CN103815858A (en) | 2014-02-26 | 2014-02-26 | Capsular endoscope with multiple built-in sensors |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104042177A (en) * | 2014-06-20 | 2014-09-17 | 乐虹信息科技(上海)有限公司 | Telescopic capsule endoscope |
| CN104146677A (en) * | 2014-08-13 | 2014-11-19 | 上海电机学院 | Capsule endoscope and capsule endoscope system |
| CN105852783A (en) * | 2016-04-22 | 2016-08-17 | 重庆金山科技（集团）有限公司 | Capsule endoscope control system |
| CN108121064A (en) * | 2018-01-19 | 2018-06-05 | 北京中安易胜医疗科技有限公司 | Capsule endoscope |
| CN108392165A (en) * | 2017-01-30 | 2018-08-14 | 卡普索影像公司 | Method and utensil for the introscope with the range measurement scaled for object |
| CN109938680A (en) * | 2019-03-18 | 2019-06-28 | 北京理工大学 | A kind of capsule robot rolling deviation angle estimation method |
| CN111248860A (en) * | 2020-01-14 | 2020-06-09 | 北京联合大学 | Touch sensing system and touch sensing method for capsule robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104042177A (en) * | 2014-06-20 | 2014-09-17 | 乐虹信息科技(上海)有限公司 | Telescopic capsule endoscope |
| CN104146677A (en) * | 2014-08-13 | 2014-11-19 | 上海电机学院 | Capsule endoscope and capsule endoscope system |
| CN105852783A (en) * | 2016-04-22 | 2016-08-17 | 重庆金山科技（集团）有限公司 | Capsule endoscope control system |
| CN108392165A (en) * | 2017-01-30 | 2018-08-14 | 卡普索影像公司 | Method and utensil for the introscope with the range measurement scaled for object |
| CN108121064A (en) * | 2018-01-19 | 2018-06-05 | 北京中安易胜医疗科技有限公司 | Capsule endoscope |
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| CN109938680A (en) * | 2019-03-18 | 2019-06-28 | 北京理工大学 | A kind of capsule robot rolling deviation angle estimation method |
| CN109938680B (en) * | 2019-03-18 | 2020-07-28 | 北京理工大学 | Method for estimating rolling offset angle of capsule robot |
| CN111248860A (en) * | 2020-01-14 | 2020-06-09 | 北京联合大学 | Touch sensing system and touch sensing method for capsule robot |
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Application publication date: 20140528 |