CN105962876A - Capsule controller of endoscope - Google Patents
Capsule controller of endoscope Download PDFInfo
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- CN105962876A CN105962876A CN201610255993.6A CN201610255993A CN105962876A CN 105962876 A CN105962876 A CN 105962876A CN 201610255993 A CN201610255993 A CN 201610255993A CN 105962876 A CN105962876 A CN 105962876A
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- magnet
- swing arm
- rotary table
- arm
- principal arm
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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
-
- 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
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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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- 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)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a capsule controller of an endoscope. The capsule controller comprises a magnet used for controlling the movement of a capsule, a magnet universal rotation device used for controlling the rotation and rolling of the magnet, a swing arm being capable of swinging along the horizontal direction and being used for hanging the magnet universal rotation device, a main arm being capable of swinging along the vertical direction, being used for adjusting the height of the magnet, and being hinged with the swing arm, a rotary table being used for mounting the main arm, being capable of rotating along the horizontal direction, and being hinged with the main arm, and a horizontal retaining rod being hinged to the rotary table and being used for controlling the swing arm to be positioned in the horizontal state. According to the capsule controller, through the arrangement of the parts including the magnet universal rotation device, the swing arm, the main arm, the rotary table and the like, the control in five degrees of freedom over the magnet is realized, meanwhile, the size of the capsule controller is reduced, in addition, through the arrangement of the horizontal retaining rod, the position precision of the swing arm can be guaranteed, the arrangement of a horizontal motor is also saved, therefore, the processing cost of the controller is reduced, and further, the market competitiveness is effectively improved.
Description
Technical field
The present invention relates to capsule endoscope and control apparatus field, particularly relate to a kind of capsule endoscope control
Device processed.
Background technology
The active drive of oral capsule endoscope has become of Wicresoft or noinvasive Clinics with control
Study hotspot and forward position, be effectively reduced the misery of diagnosis and treatment cycle and patient.Capsule endoscope is in vivo
The active accommodation of attitude and the active of walking control to solve this difficult problem of vision dead zone of intervention diagnosis,
Therefore significant to clinical diagnosis technology.
Currently for the control of capsule endoscope mainly by external magnet formula Non-follow control, but hands
Moving controls in clinical practice, and effect is undesirable, positioning precision is the highest in control, and operator's training
Time is longer, and the inspection of capsule exists bigger blind area.
In prior art, for the mobile control effect preferably robot controller of capsule endoscope,
The mobile accuracy of robot controller is high, precise control, and existing robot controller includes that X-axis is sliding
The structures such as rail, Y-axis slide rail, Z axis slide rail, the design of its slide rail causes mechanism the hugest, needs relatively
Big room could accommodate, in-convenience in use.
Therefore, how to reduce the volume of capsule endoscope controller, improve its operating flexibility, be this
Skilled person is presently required and solves the technical problem that.
Summary of the invention
It is an object of the invention to provide a kind of capsule endoscope controller, this capsule endoscope controller energy
Enough effectively reduce the volume of self, convenient operation.
For solving above-mentioned technical problem, the present invention provides following technical scheme:
A kind of capsule endoscope controller, including for controlling the Magnet that capsule moves, also includes:
For controlling the Magnet Universal rotary device of described magnet rotors and rolling；
Can swing in the horizontal direction, for hanging the swing arm of described Magnet Universal rotary device；
Can vertically swing, for adjusting the principal arm of the height of described Magnet, described principal arm and institute
State swing arm hinged；
Preferably, also include for installing described principal arm and the rotary table that can rotate in the horizontal direction,
Described rotary table is hinged with described principal arm；
The level holding bar being in level for controlling described swing arm it is hinged with on described rotary table.
Preferably, motor rack, described motor rack and described master it are provided with between described swing arm and described principal arm
Between arm and be hinged between described motor rack and described swing arm, and described level keeps bar remote
Hinged with described motor rack from one end of described rotary table.
Preferably, described motor rack and the center of rotation of described principal arm, described principal arm and described rotary table
Center of rotation, described level keep the junction point of bar and described rotary table and described level to keep bar
Junction point parallelogram structure with described motor rack.
Preferably, described swing arm forms swing arm swinging joint, and institute with the junction of described motor rack
State the swing being provided with at swing arm swinging joint for swinging offer power in the horizontal direction for described swing arm
Motor.
Preferably, described rotary table forms principal arm pitching joint, described master with the junction of described principal arm
Arm pitching joint is provided with the pitching motor for vertically swinging offer power for described principal arm.
Preferably, the lower end of described rotary table is also associated with the revolution for driving described rotary table to rotate
Platform rotary part.
Preferably, described rotary table rotary part include decelerator fixed disk, decelerator power transmission shaft and
For carrying the pull back device of moment of flexure.
Preferably, described pull back device includes being set in described decelerator power transmission shaft peripheral part with described
Decelerator fixed disk fixes the hollow rotating shaft of connection；It is set in the bearing block of described hollow rotating shaft peripheral part；
Between described hollow rotating shaft and described bearing block, for supplying described bearing block along described hollow rotating shaft
The bearing rotated.
Preferably, described Magnet Universal rotary device is provided with the decelerator frame for suspending described Magnet,
And the mobile motor for the mobile offer power for described Magnet；Described mobile motor is arranged on institute
State in swing arm.
Capsule endoscope controller provided by the present invention, including for controlling the Magnet that capsule moves,
Also include the Magnet Universal rotary device for controlling described magnet rotors and rolling；Can be in the horizontal direction
Swing, for hanging the swing arm of described Magnet Universal rotary device；Can vertically swing, be used for
Adjusting the principal arm of the height of described Magnet, described principal arm is hinged with described swing arm；For installing described master
Arm and the rotary table that can rotate in the horizontal direction, described rotary table is hinged with described principal arm；Described
The level holding bar being in level for controlling described swing arm it is hinged with on rotary table.This endoscope
Capsule controller is by arranging described Magnet Universal rotary device, described swing arm, described principal arm, described
The structures such as rotary table, it is achieved the control of five degree of freedom of described Magnet so that the movement of described Magnet
Controlling more accurate, meanwhile, this controller, without arranging sliding track mechanism, can effectively reduce self
Volume, the scope of application significantly widens, it addition, this controller keeps bar also by arranging described level,
Ensureing that described swing arm is in level all the time, described level keeps the setting of bar, is possible not only to ensure
The precision of described swing arm position, and save the setting of horizontal motor, save adding of this controller
Work cost, can effectively improve the market competitiveness.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below by right
In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that,
Accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art
From the point of view of, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
Fig. 1 is that the structure of a kind of detailed description of the invention of capsule endoscope controller provided by the present invention is shown
It is intended to；
Fig. 2 is the enlarged drawing of the principal arm of capsule endoscope controller described in Fig. 1；
Fig. 3 is the enlarged drawing of the Magnet Universal rotary device of capsule endoscope controller shown in Fig. 1；
Fig. 4 is the structural simulation schematic diagram of capsule endoscope controller shown in Fig. 1；
Fig. 5 is the simulation trial result schematic diagram of capsule endoscope controller shown in Fig. 1；
Wherein: 1-pedestal rotary joint, 2-principal arm pitching joint, 3-swing arm flapping articulation, 4-swing arm pendulum
Movable joint, 5-Magnet rotary joint, 6-Magnet upset joint, 7-pedestal, 8-rotary table, 9-principal arm,
10-level keep bar, 11-motor cabinet, 12-swing arm, 13-mobile motor, 14-Magnet Universal rotary device,
15-Magnet.
Detailed description of the invention
The core of the present invention is to provide a kind of capsule endoscope controller, this capsule endoscope controller energy
Enough volumes significantly reducing self, convenient operation, cost of manufacture is low.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawings and tool
The present invention is described in further detail for body embodiment.
Refer to Fig. 1 to Fig. 3, Fig. 1 is that capsule endoscope controller provided by the present invention is a kind of concrete
The structural representation of embodiment, Fig. 2 is the amplification of the principal arm of capsule endoscope controller described in Fig. 1
Figure, Fig. 3 is the enlarged drawing of the Magnet Universal rotary device of capsule endoscope controller shown in Fig. 1.
In this embodiment, capsule endoscope controller includes Magnet 15, Magnet Universal rotary device
14, the structure such as swing arm 12, principal arm 9.
Wherein, Magnet 15 is used for controlling capsule and moves, and capsule moves at the moving process of Magnet 15
Dynamic, complete therapist is detected, the mobile accuracy of Magnet 15 is most important for the movement of capsule；
Magnet Universal rotary device 14 is used for controlling Magnet 15 and rotates and roll, i.e. drive magnet 15 enters
The rolling of row vertical direction and the rotation of horizontal direction, it is achieved the all-around mobile of Magnet 15；
Swing arm 12 is used for hanging Magnet Universal rotary device 14, and can swing in the horizontal direction；
Principal arm 9, for adjusting the height of Magnet 15, can vertically swing, i.e. principal arm 9 can be carried out
Elevating movement, principal arm 9 is hinged with swing arm 12, and swing arm 12 can be entered with one end of principal arm 9 for the center of circle
Row swings.
This capsule endoscope controller also includes that rotary table 8, rotary table 8 are used for installing principal arm 9 and energy
Enough rotating in the horizontal direction, rotary table 8 is hinged with principal arm 9, and rotary table 8 is hinged with for controlling
Swing arm 12 is in the level of level and keeps bar 10.
Concrete, be provided with motor cabinet 11 between swing arm 12 and principal arm 9, motor cabinet 11 and principal arm 9 it
Between and motor cabinet 11 and swing arm 12 between be hinged, the junction shape of motor cabinet 11 and principal arm 9
Becoming swing arm flapping articulation 3, one end of level holding bar 10 is hinged with rotary table 8, the other end and motor
Seat 11 is hinged.
Meanwhile, motor cabinet 11 and the center of rotation of principal arm 9, the center of rotation of principal arm 9 and rotary table 8,
Level keeps bar 10 and the junction point of rotary table 8 and level to keep the connection of bar 10 and motor cabinet 11
Point parallelogram structure, as in figure 2 it is shown, the i.e. center of rotation of motor cabinet 11 and principal arm 9 and master
Arm 9 is parallel to prolonging of level holding bar 10 with the line of two centers of rotation of center of rotation of rotary table 8
Stretch direction.
When principal arm 9 occurs pitching motion, under level keeps the effect of bar 10, motor cabinet 11 turns
Dynamic so that swing arm 12 is in level all the time, it is therefore not necessary to install at swing arm flapping articulation 3
Horizontal motor, cost-effective.
This capsule endoscope controller by arrange Magnet Universal rotary device 14, swing arm 12, principal arm 9,
The structures such as rotary table 8, it is achieved the control of five degree of freedom of Magnet 15 so that the movement of Magnet 15
Controlling more accurate, meanwhile, this controller, without arranging sliding track mechanism, can effectively reduce self
Volume, the scope of application significantly widens, it addition, this controller keeps bar 10 also by arranging level,
Ensureing that swing arm 12 is in level all the time, level keeps the setting of bar 10, is possible not only to ensure pendulum
The precision of arm 12 position, and save the setting of horizontal motor, save being processed into of this controller
This, can effectively improve the market competitiveness.
Further, swing arm 12 forms swing arm swinging joint 4, and swing arm with the junction of motor cabinet 11
Oscillating motor for swinging offer power in the horizontal direction for swing arm 12 is installed at swinging joint 4.
On the other hand, rotary table 8 forms principal arm pitching joint 2, principal arm pitching with the junction of principal arm 9
Pitching motor for vertically swinging offer power for principal arm 9 is installed at joint 2.
Concrete, the lower end of rotary table 8 is also associated with the rotary table rotation for driving rotary table 8 to rotate
Rotation member, forms pedestal rotary joint 1, it is achieved the rotation of whole cantilever at rotary table rotary part.
More specifically, rotary table rotary part includes decelerator fixed disk, decelerator and for carrying
The pull back device of moment of flexure.Pull back device includes being set in decelerator peripheral part and decelerator fixed disk is solid
The fixed hollow rotating shaft connected；It is set in the bearing block of hollow rotating shaft peripheral part；It is positioned at hollow rotating shaft and axle
Between bearing, for the bearing rotated along hollow rotating shaft for bearing block.
The bending resistance square structure that above-mentioned pull back device is made up of bearing, bearing block and hollow rotating shaft setting,
Moment of flexure from cantilever is passed to hollow rotating shaft through bearing by bearing block, and decelerator no longer accepts big
Moment of flexure, main transmission moment of torsion so that this decelerator only need to select, according to moment of torsion, the model being suitable for
, the volume of this decelerator is effectively reduced, and saves space, reduces cost.
Further, Magnet Universal rotary device 14 is provided with the decelerator frame for suspending Magnet 15,
And for the mobile motor 13 of mobile offer power for Magnet 15, mobile motor 13 include for
Control the electric rotating machine that Magnet rotates and the rolling motor being used for controlling Magnet rolling；Two kinds of Magnet 15
Mobile motor 13 is installed in swing arm 12.
Define two joints in Magnet Universal rotary device 14, electric rotating machine the Magnet controlled rotates
Joint 5 and the Magnet rolling joint 6 controlled by rolling motor.
Above-mentioned arrange, after increasing drive mechanism, mobile motor 13 is mounted remotely from Magnet 15
In swing arm 12, can effectively reduce or eliminate the magnetic field interference to motor produced by Magnet 15,
Ensure that the normal of motor effectively uses, improve the precision that Magnet 15 is moved control.
It addition, this controller also includes the pedestal 7 supporting whole device, the fixing peace of rotary table rotary part
It is contained on pedestal 7.Certainly, the movement of the most whole controller, the bottom of pedestal 7 is all right
Roller is set.
As it is shown in figure 1, the capsule endoscope controller that the present embodiment is provided uses tandem multi-joint
Structure designs, it is achieved 5 degree of freedom motions, comprises pedestal 7, and the pedestal being installed on pedestal 7 rotates
Joint 1, the principal arm pitching joint 2 being articulated with on pedestal rotary joint 1, hinged in series is in principal arm pitching
The quickly regulation swing arm flapping articulation 3 in joint 2, swing arm swinging joint 4 is serially connected with swing arm flapping articulation 3,
Magnet rotary joint 5 is serially connected with the end of swing arm swinging joint 4, and Magnet rolling joint 6 is embedded in Magnet
In rotary joint 5, Magnet 15 is installed in Magnet rolling joint 6.
Above-mentioned each joint uses servomotor independently to drive, totally 5 servomotors.
Concrete, the work process of this capsule endoscope controller is:
Pedestal rotary joint 1 is driven by motor, makes mechanism's entirety in five joints being on pedestal 7
Rotate；
Principal arm pitching joint 2 is hinged on pedestal rotary joint 1, pitching motor drive and control principal arm 9
Pitching, thus control the height change of end magnets 15；
Swing arm flapping articulation 3 is serially connected with principal arm pitching joint 2, by level-ling mechanism (such as Fig. 2 institute
Show), it is not necessary to motor drives；
Swing arm swinging joint 4 is serially connected with swing arm flapping articulation 3, oscillating motor drive, and controls swing arm water
Square to rotation；
Aforementioned four joint, is driven by three motors, associated movement, can control to make end magnets 15X,
Y, the Z tri-position on axle, controls the locus of Magnet 15；
Magnet rotary joint 5 is serially connected with the end of swing arm 12, Magnet electric rotating machine drive, control
The horizontal direction of Magnet 15 rotates；
Magnet rolling joint 6 is embedded in Magnet rotary joint 5, an external Magnet rolling motor drive
Controlling the vertical direction rolling of Magnet 15, Magnet rotary joint 5 collectively constitutes with Magnet rolling joint 6
Magnet Universal rotary device 14, as shown in Figure 3.
Pedestal rotary joint 1, principal arm pitching joint 2, swing arm swinging joint 4, Magnet rotary joint 5
And Magnet rolling joint 6 is driven by single motor respectively, pedestal rotary joint 1, principal arm pitching are closed
The joint 2 and associated movement of swing arm swinging joint 4, completes controller X, Y, Z tri-control of shaft position
System, adds the Magnet Universal rotary device 14 of the controller front end gesture stability to Magnet 15, real
The rotation of existing Magnet 15 adds rolling, and then reaches to control all degree of freedom needed for Magnet 15.
The five degree of freedom series connection capsule endoscope controller architecture that the present embodiment is provided is simulated such as Fig. 4 institute
Showing, below emulate its working range, it includes 3 sections of mechanical arms, principal arm 9OA length l, swing arm 12AC
Length m, from swing arm 12 end to Magnet 15 end CB length h, the pitching angle beta of principal arm 9OA,
Pedestal 7 angle of revolution α, swing arm 12 angle of revolution γ, and Magnet 15 end B location (x, y, z).
B space of points coordinate can be expressed by following formula with joint angles relation:
(1) x=lcos β cos α+mcos (α+γ)
(2) y=lcos β sin α+msin (α+γ)
(3) z=lsin β-h
From above formula, be correlated with in Jin Yuβ angle, B point Z-direction position.As B point X, Y-direction position is solid
Fixed, when only changing Z axis coordinate, the expression formula at γ, α angle is as follows:
Wherein,
A=lcos β+mcos γ
B=msin γ
Simulation trial result as it is shown in figure 5, be the most all the scope that can reach of Magnet 15, thus
Visible, this Design of Mechanical Structure, the Magnet 15 working range above examiner is widely, complete
The inspection requirements of full up sufficient capsule internal diameter.
Use five degree of freedom structure to realize the universal full gesture stability to end effector, utilize parallel four
Limit shape structure, substitution level gesture stability motor, while keeping horizontal attitude more accurately, subtract
Lack the complexity of system, decreased the volume of controller, be beneficial to operation.
In this specification, each embodiment uses the mode gone forward one by one to describe, and each embodiment stresses
Being all the difference with other embodiments, between each embodiment, identical similar portion sees mutually i.e.
Can.
Above capsule endoscope controller provided by the present invention is described in detail.Herein should
By specific case, principle and the embodiment of the present invention are set forth, the explanation of above example
It is only intended to help to understand method and the core concept thereof of the present invention.It should be pointed out that, and this technology is led
For the those of ordinary skill in territory, under the premise without departing from the principles of the invention, it is also possible to the present invention
Carrying out some improvement and modification, these improve and modify the protection domain also falling into the claims in the present invention
In.
Claims (10)
1. a capsule endoscope controller, including for controlling the Magnet (15) that capsule moves,
It is characterized in that, also include:
For controlling Magnet Universal rotary device (14) that described Magnet (15) rotates and rolls；
Can swing in the horizontal direction, for hanging the pendulum of described Magnet Universal rotary device (14)
Arm (12)；
Can vertically swing, for adjusting the principal arm (9) of the height of described Magnet (15),
Described principal arm (9) is hinged with described swing arm (12).
Capsule endoscope controller the most according to claim 1, it is characterised in that also
Including:
For installing described principal arm (9) and the rotary table (8) that can rotate in the horizontal direction,
Described rotary table (8) is hinged with described principal arm (9)；
Being hinged with on described rotary table (8) is in horizontal for controlling described swing arm (12)
The level of state keeps bar (10).
Capsule endoscope controller the most according to claim 2, it is characterised in that institute
State and between swing arm (12) and described principal arm (9), be provided with motor cabinet (11), described motor cabinet (11)
And between described principal arm (9) and between described motor cabinet (11) and described swing arm (12) all
For hinged, and described level keeps bar (10) away from one end of described rotary table (8) and institute
State motor cabinet (11) hinged.
Capsule endoscope controller the most according to claim 3, it is characterised in that institute
State motor cabinet (11) with the center of rotation of described principal arm (9), described principal arm (9) with described
The center of rotation of rotary table (8), described level keep bar (10) and described rotary table (8)
Junction point and described level keep bar (10) and the connection point-shaped of described motor cabinet (11)
Become parallelogram sturcutre.
Capsule endoscope controller the most according to claim 3, it is characterised in that institute
State junction formation swing arm swinging joint (4) of swing arm (12) and described motor cabinet (11),
And described swing arm swinging joint (4) place be provided with for for described swing arm (12) along level side
To swinging the oscillating motor providing power.
Capsule endoscope controller the most according to claim 2, it is characterised in that institute
State junction formation principal arm pitching joint (2) of rotary table (8) and described principal arm (9), institute
State principal arm pitching joint (2) place to be provided with for vertically swinging for described principal arm (9)
The pitching motor of power is provided.
Capsule endoscope controller the most according to claim 6, it is characterised in that institute
The lower end stating rotary table (8) is also associated with the revolution for driving described rotary table (8) to rotate
Platform rotary part.
Capsule endoscope controller the most according to claim 7, it is characterised in that institute
State rotary table rotary part and include decelerator fixed disk, decelerator power transmission shaft and curved for carrying
The pull back device of square.
Capsule endoscope controller the most according to claim 8, it is characterised in that institute
State pull back device and include that being set in described decelerator power transmission shaft peripheral part fixes with described decelerator
The hollow rotating shaft of connection fixed by dish；It is set in the bearing block of described hollow rotating shaft peripheral part；It is positioned at
Between described hollow rotating shaft and described bearing block, for supplying described bearing block along described hollow rotating shaft
The bearing rotated.
10. according to the capsule endoscope controller described in claim 1 to 9 any one, its
Being characterised by, described Magnet Universal rotary device (14) is provided with for suspending described Magnet (15)
Decelerator frame, and for the mobile motor of mobile offer power for described Magnet (15)
(13)；Described mobile motor (13) is arranged in described swing arm (12).
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| CN201610255993.6A CN105962876B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller |
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| CN201610255993.6A CN105962876B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller |
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| CN105962876B CN105962876B (en) | 2018-10-19 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106580240A (en) * | 2016-11-15 | 2017-04-26 | 深圳市资福技术有限公司 | Magnetic control system for capsule gastroscope |
| CN107307839A (en) * | 2017-07-05 | 2017-11-03 | 上海楠青自动化科技有限公司 | A kind of external guider of capsule endoscopic |
| CN107307838A (en) * | 2017-07-05 | 2017-11-03 | 上海楠青自动化科技有限公司 | A kind of external guider of capsule endoscopic |
| CN107981830A (en) * | 2017-12-12 | 2018-05-04 | 重庆财玺科技有限公司 | A kind of capsule endoscope detector |
| CN109129442A (en) * | 2018-10-27 | 2019-01-04 | 泉州苗亿自动化机械有限公司 | A kind of automatic manipulator for transplanting no dead angle |
| WO2019228533A1 (en) | 2018-06-02 | 2019-12-05 | Ankon Medical Technologies (Shanghai) Co., Ltd | Control device for capsule endoscope |
| CN111319970A (en) * | 2018-12-13 | 2020-06-23 | 北京华文永康科技有限公司 | Sucking disc bowl taking device |
| CN113524257A (en) * | 2021-09-10 | 2021-10-22 | 深圳市资福医疗技术有限公司 | Gravity balance supporting arm and magnetic anchoring equipment applying same |
| WO2021259320A1 (en) * | 2020-06-23 | 2021-12-30 | 上海安翰医疗技术有限公司 | Suspension device and capsule endoscope magnetic control system |
| US11426059B2 (en) | 2018-06-02 | 2022-08-30 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Control system for capsule endoscope |
| WO2023216356A1 (en) * | 2022-05-13 | 2023-11-16 | 北京善行医疗科技有限公司 | Control device for controllable superfine endoscope |
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| CN106580240A (en) * | 2016-11-15 | 2017-04-26 | 深圳市资福技术有限公司 | Magnetic control system for capsule gastroscope |
| CN106580241A (en) * | 2016-11-15 | 2017-04-26 | 深圳市资福技术有限公司 | Capsule gastroscope magnetic control system and method |
| CN106963325A (en) * | 2016-11-15 | 2017-07-21 | 深圳市资福技术有限公司 | A kind of capsule type endoscope control system |
| CN106580240B (en) * | 2016-11-15 | 2018-05-22 | 深圳市资福医疗技术有限公司 | A kind of capsule gastroscope magnetic control system |
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| CN111319970A (en) * | 2018-12-13 | 2020-06-23 | 北京华文永康科技有限公司 | Sucking disc bowl taking device |
| CN111319970B (en) * | 2018-12-13 | 2021-11-02 | 北京华文永康科技有限公司 | Sucking disc bowl taking device |
| WO2021259320A1 (en) * | 2020-06-23 | 2021-12-30 | 上海安翰医疗技术有限公司 | Suspension device and capsule endoscope magnetic control system |
| CN113524257A (en) * | 2021-09-10 | 2021-10-22 | 深圳市资福医疗技术有限公司 | Gravity balance supporting arm and magnetic anchoring equipment applying same |
| WO2023216356A1 (en) * | 2022-05-13 | 2023-11-16 | 北京善行医疗科技有限公司 | Control device for controllable superfine endoscope |
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