CN114886366A - Capsule endoscope and endoscope device provided with same - Google Patents

Abstract

A capsule endoscope comprises a shell and a core component arranged in the shell, wherein the core component comprises a front imaging module facing forwards along the axial direction of the shell and a side imaging module facing outwards along the radial direction of the shell, the side imaging module comprises at least two side camera groups arranged along the axial direction of the shell at intervals, each side camera group comprises at least two side cameras arranged along the circumferential direction of the shell, and visual fields are overlapped among the side cameras of different side camera groups so that the side imaging module forms a visual field range surrounding the shell in a circle; a plurality of side group of making a video recording set up along the axial interval of casing, there is the field of vision to overlap between the side camera of group of making a video recording through the different sides for side imaging module can form the field of vision scope around casing a week, when having realized capsule endoscope side direction field of vision scope increase, reduces the external diameter size of kernel subassembly, thereby reduces capsule endoscope's external diameter size, promotes patient's use and experiences.

Description

Capsule endoscope and endoscope device provided with same

Technical Field

The invention relates to the technical field of medical instruments, in particular to a capsule endoscope and an endoscope device with the same.

Background

The capsule type endoscope is a new technological product for medical development, and is a capsule-shaped endoscope, which is a medical instrument for examining intestinal tracts of human bodies. The capsule endoscope can enter the stomach or intestinal tract of a human body after being orally taken, and the camera of the capsule endoscope closely shoots the condition of the stomach or intestinal wall inside the capsule endoscope for spying the health condition of the stomach and esophagus of the human body so as to help doctors to diagnose patients.

In order to more clearly observe the conditions in the body of a patient, more cameras are often mounted on the core assembly of the capsule endoscope to obtain a larger field of view. Therefore, in order to ensure that the lateral visual field of the capsule endoscope in the prior art is wider, more side cameras are arranged on the inner core assembly, and after the side cameras are arranged around the circumferential direction of the inner core assembly, the outer diameter of the inner core assembly is larger, so that the outer diameter of the capsule endoscope is increased, and the use experience of a patient is poor.

Disclosure of Invention

The invention aims to provide a capsule endoscope with reduced outer diameter size and an endoscope device with the same.

In order to achieve one of the above objects, an embodiment of the present invention provides a capsule endoscope, which includes a housing and a core assembly disposed in the housing, where the core assembly includes a front imaging module facing forward in an axial direction of the housing and a side imaging module facing outward in a radial direction of the housing, the side imaging module includes at least two side camera groups disposed at intervals in the axial direction of the housing, each side camera group includes at least two side cameras disposed along a circumferential direction of the housing, and there is a visual field overlap between the side cameras of different side camera groups, so that the side imaging modules form a visual field around the housing.

As a further improvement of one embodiment of the present invention, the side imaging module includes a first side imaging group and a second side imaging group, a distance between the side camera of the first side imaging group and the axis of the housing is equal to a distance between the side camera of the second side imaging group and the axis of the housing, at least two side cameras of the first side imaging group are uniformly arranged around the axis of the housing, and at least two side cameras of the second side imaging group are uniformly arranged around the axis of the housing.

As a further improvement of the embodiment of the present invention, the number of side cameras of the first side image group is the same as the number of side cameras of the second side image group, and there is a visual field overlap between at least one side camera of the first side image group and an adjacent side camera of the second side image group.

As a further improvement of the embodiment of the present invention, the first side imaging group and the second side imaging group each include two side cameras, and a connection line between the two side cameras of the first side imaging group is perpendicular to a connection line between the two side cameras of the second side imaging group.

As a further improvement of the embodiment of the present invention, the first side camera group includes three side cameras, the second side camera group includes four side cameras, and one of the side cameras of the first side camera group and one of the side cameras of the second side camera group are arranged in a direction parallel to the axis of the housing.

As a further improvement of an embodiment of the present invention, the core component further includes a fixing base for mounting the side camera, and a distance measuring unit disposed on the fixing base and corresponding to the side camera, and the distance measuring unit and the side camera are disposed at an interval in a direction parallel to an axis of the housing.

As a further improvement of an embodiment of the present invention, the core component further includes a mounting member disposed on the fixing base and located between the front imaging module and the side imaging module, a plurality of front illuminating members disposed on a side of the mounting member facing the front imaging module, and a plurality of side illuminating members disposed on a side of the mounting member facing the side imaging module, wherein the plurality of front illuminating members and the plurality of side illuminating members are uniformly disposed circumferentially around an axis of the housing.

As a further improvement of an embodiment of the present invention, the front imaging module includes at least one front camera mounted on the fixing base, the viewing angles of the front camera and the side camera are both greater than or equal to 90 °, the housing includes a front shell accommodating the side camera and the front camera, and a rear shell connecting the front shell and mounting the fixing base, and the front shell is made of a transparent material.

As a further improvement of one embodiment of the invention, the capsule endoscope further comprises magnetic members disposed on the housing, the magnetic members being circumferentially disposed about the axis of the housing.

In order to achieve one of the above objects, an embodiment of the present invention provides an endoscope apparatus, which includes a traction assembly, and the endoscope apparatus further includes the capsule endoscope as described above, wherein the traction assembly includes a sleeve for adsorbing the capsule endoscope, a connection seat disposed in the sleeve and electrically connected to the capsule endoscope, and a traction tube connected to the sleeve and communicated with the interior of the sleeve.

As a further improvement of an embodiment of the present invention, the endoscope apparatus further includes a positioning module disposed on the core assembly or the sleeve, and the positioning module includes a magnetic sensor and an acceleration sensor.

Compared with the prior art, the side imaging groups in the embodiment of the invention are arranged at intervals along the axial direction of the shell, and the side imaging modules can form a visual field range surrounding the shell by the visual field overlapping among the side cameras of different side imaging groups, so that the lateral visual field range of the capsule endoscope is increased, the outer diameter of the inner core component is reduced, the outer diameter of the capsule endoscope is reduced, and the use experience of a patient is improved.

Drawings

FIG. 1 is a schematic cross-sectional view of a capsule endoscope in a preferred embodiment of the present invention;

FIG. 2 is a schematic plan view of the core assembly of FIG. 1, including a schematic plan view of the core assembly in the direction A and a cross-sectional view of the core assembly at B-B;

FIG. 3 is a schematic plan view of a preferred embodiment of the core assembly of the present invention, including a cross-sectional view of the core assembly at C-C and a cross-sectional view of the core assembly at D-D;

FIG. 4 is a schematic plan view of a preferred alternative embodiment of the core assembly of the present invention including cross-sectional views of the core assembly at E-E and F-F;

FIG. 5 is a schematic plan view of a capsule endoscope in another preferred embodiment of the present invention, including a sectional view of the capsule endoscope at G-G;

FIG. 6 is a schematic sectional view of an endoscopic apparatus in a preferred embodiment of the present invention, wherein the capsule endoscope is in a disengaged state from the sleeve.

Detailed Description

The present invention will be described in detail below with reference to specific embodiments shown in the accompanying drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.

It will be understood that terms such as "upper," "lower," "outer," "inner," and the like, used herein to denote relative spatial positions, are used for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

In the various drawings of the present invention, some dimensions of structures or portions are exaggerated relative to other structures or portions for convenience of illustration, and thus, are used only to illustrate the basic structure of the subject matter of the present invention.

Referring to fig. 1, a preferred embodiment of the present invention provides a capsule endoscope including a housing 10 and a core assembly 20 disposed within the housing 10. In this embodiment, the core assembly 20 is installed in the shell 10 to avoid being damaged by external force when entering the digestive tract. Moreover, the shell 10 has better sealing performance, and can block liquid from permeating into the shell, so that the normal operation of the core component 20 is ensured.

Referring to fig. 2, in particular, the core assembly 20 includes a front imaging module 21 facing forward in the axial direction of the housing 10, and a side imaging module 22 facing outward in the radial direction of the housing 10. In the present embodiment, the front imaging module 21 photographs forward in a direction parallel to the central axis of the housing 10, thereby acquiring the field of view on the front side of the capsule endoscope. The side imaging module 22 photographs toward the side in the direction perpendicular to the central axis of the housing 10, thereby acquiring the view of the side of the capsule endoscope. There is a field of view overlap between the front imaging module 21 and the side imaging module 22 so that the field of view of the capsule endoscope covers at least the forward and lateral directions of the housing 10, thereby obtaining a larger field of view.

Specifically, the side imaging module 22 includes at least two side camera groups 220 spaced apart from each other in the axial direction of the housing 10. In the present embodiment, the distance between adjacent side imaging groups 220 in the axial direction of the housing 10 is small, and is usually set to be within 10 mm.

Specifically, each side camera group 220 includes at least two side cameras 221 arranged along the circumferential direction of the housing. In this embodiment, the distance between each side camera 221 of the same side camera group 220 and the axis of the casing 10 is equal, so that the distance between each side camera 221 of the same side camera group 220 and the inner wall of the casing 10 is equal, and thus, each side camera 221 in the same side camera group 220 can be adjusted to have the same focal length or be provided with the same lens.

Specifically, there is a view overlap between the side cameras 221 of different side camera groups 220, so that the side imaging module 22 forms a view range around the housing 10. In this embodiment, the distance between the side imaging groups 220 in the axial direction of the housing 10 is small, and the visual field range of each side imaging group 220 is large, so that there is a large visual field overlap between the adjacent side imaging groups 220, and after the overlapped visual field ranges and the visual field range of the side camera 221 are overlapped, the visual field range of the whole side imaging module 22 is formed, and the visual field range of the periphery of the housing 10 is just formed, so that the side imaging module 22 has the visual field range of 360 ° around the axis of the housing 10. Thus, when the capsule endoscope is placed in a human body, the periphery of the shell 10 can be shot without rotating the capsule endoscope, 360-degree annular panoramic shooting is realized, and the imaging range of the capsule endoscope is enlarged.

Moreover, compare in the kernel subassembly 20 that has the equal quantity side camera, this scheme has still reduced the external diameter size of kernel subassembly 20 except can satisfying 360 ring panorama shots to the lateral direction to practiced thrift the inner space of casing 10, then can reduce the external diameter size of casing 10 or set up more components inside casing 10. When the outer diameter of the shell 10 is reduced, the capsule endoscope is more convenient for swallowing or excretion of a patient, and discomfort is not brought to the patient due to the overlarge outer diameter of the capsule endoscope.

The plurality of side image pickup groups 220 are arranged along the axial direction of the shell 10 at intervals, and the side cameras 221 of the different side image pickup groups 220 are overlapped in visual field, so that the side imaging module 22 can form a visual field range surrounding the shell 10 for one circle, the outside diameter of the inner core assembly 20 is reduced while the side visual field range of the capsule endoscope is increased, the outside diameter of the capsule endoscope is reduced, and the use experience of a patient is improved.

Further, the side imaging module 22 includes a first side imaging group 220a and a second side imaging group 220 b. In this embodiment, the side imaging module 22 is configured with two side cameras 220, so as to save the occupied space of the side imaging module 22 on the core assembly 20 along the axial direction of the shell 10, and further facilitate the manufacture of the capsule endoscope. Of course, the side imaging module 22 may be configured with more than two side cameras 220, so as to increase the visual field range of the side imaging module 22 in the axial direction of the housing 10.

Further, the distance between the side camera 221 of the first side camera group 220a and the axis of the housing 10 is equal to the distance between the side camera 221 of the second side camera group 220b and the axis of the housing 10. In the present embodiment, the diameters of the circumferences formed by the plurality of side cameras 221 in the different side imaging groups 220 are equal, so that each side camera 221 in the different side imaging groups 220 can be adjusted to have the same focal length or be provided with the same lens, thereby facilitating the manufacture of the side imaging groups 220 and reducing the manufacturing cost of the capsule endoscope.

Further, the at least two side cameras 221 of the first side camera group 220a are uniformly arranged around the axis of the housing 10, and the at least two side cameras 221 of the second side camera group 220b are uniformly arranged around the axis of the housing 10. In this embodiment, the plurality of side cameras 221 in each side camera group 220 are all circumferentially and uniformly arranged around the axis of the casing 10, that is, the distance between adjacent side cameras 221 in the same side camera group 220 is equal, so that the visual field range of the same side camera group 220 uniformly surrounds the lateral direction of the casing 10, thereby facilitating the manufacture of the side camera group 220 and further reducing the manufacturing cost of the capsule endoscope.

Referring to fig. 3, in the core assembly 20 according to a preferred embodiment of the present invention, specifically, the number of the side cameras 221 of the first side camera group 220a is the same as the number of the side cameras 221 of the second side camera group 220 b. In this embodiment, each side camera group 220 has the same number of side cameras 221, so that on one hand, the visual field ranges of different side camera groups 220 are the same, and the shooting visual field range of the side imaging module surrounding the shell 10 in one circle can be satisfied by adjusting the shooting ranges of the different side camera groups 220; on the other hand, the manufacture of the side imaging module 22 is facilitated, thereby reducing the manufacturing cost of the capsule endoscope.

Specifically, there is a field of view overlap between at least one side camera 221 of the first side camera group 220a and an adjacent side camera 221 of the second side camera group 220 b. In this embodiment, there is a visual field overlap between one of the side cameras 221 in the first side imaging group 220a and two adjacent side cameras 221 in the second side imaging group 220b, so as to ensure that the side imaging module 22 can form a visual field range around the casing 10 for one circle, and satisfy the circumferential panoramic shooting of 360 ° in the lateral direction. Moreover, a connecting line between any one side camera 221 in the first side camera group 220a and any one side camera 221 in the second side camera group 220b is arranged at a certain angle with the axis of the housing 10, so that repeated shooting contents among different side camera groups 220 are reduced.

Further, the first side image group 220a and the second side image group 220b each include two side cameras 221. In this embodiment, the two side cameras 221 in the first side imaging group 220a and the second side imaging group 220b are respectively disposed at two sides of the axis of the housing 10, so that the side imaging group 220 can be conveniently manufactured, and the manufacturing cost of the capsule endoscope can be reduced. Moreover, two side cameras 221 are arranged in each side camera group 220, so that the outer diameter of the core assembly 20 is reduced to the greatest extent while lateral panoramic shooting is met, the distance between the side cameras 221 and the inner wall of the shell 10 is increased, and the forming effect of the side cameras 221 in shooting a close shot is better.

Specifically, a line between the two side cameras 221 of the first side imaging group 220a and a line between the two side cameras 221 of the second side imaging group 220b are perpendicular to each other. In this embodiment, cross orthogonal arrangements in different planes are formed between the two side cameras 221 of the first side imaging group 220a and the two side cameras 221 of the second side imaging group 220b, and this arrangement mode not only satisfies the circumferential panoramic shooting of the side imaging module 22, but also simplifies the installation positions of the side cameras 221 in the side imaging module 22, so that the occupied space of the kernel component 20 is optimized. And a line between the two side cameras 221 of the first side imaging group 220a and a line between the two side cameras 221 of the second side imaging group 220b are perpendicular to the axis of the housing 10.

Referring to the core assembly 20 of another preferred embodiment of the present invention, shown in fig. 4, each side camera group 220 in this embodiment has a different number of side cameras.

Specifically, the first side camera group 220a includes three side cameras 221, and the second side camera group 220b includes four side cameras 221. In this embodiment, the first side imaging group 220a and the second side imaging group 220b each employ two or more side cameras 221, which increases the overlapping fields of view between adjacent side cameras 221, so that the field of view of the plurality of side imaging groups 220 is wider. Moreover, due to the increase of the overlapped view, the overlapped view is closer to the inner ring area of the side camera 221, so that the use of a wide-angle lens can be reduced, and the cost is reduced; on the other hand, the overlapping field of view covers the outer ring area of the side camera 221, so that the imaging effect of the side camera 221 is prevented from being affected by the distortion of the outer ring area after the wide-angle lens is used, and the annular panoramic shooting effect of the side imaging module 22 is improved.

Specifically, one of the side cameras 221 of the first side camera group 220a and one of the side cameras 221 of the second side camera group 220b are arranged in parallel with the axial direction of the housing 10. In the present embodiment, as shown in fig. 4, a connecting line between one of the side cameras 221 of the first side camera group 220a and one of the side cameras 221 of the second side camera group 220b is parallel to an axis of the housing 10, an overlapping field of view is formed between the two side cameras 221, and a three-dimensional image (binocular disparity method) of an inner wall of a chamber to be inspected can be constructed by using the overlapping field of view at the position, so as to meet the inspection requirement of an operator on the three-dimensional image.

Further, with reference to fig. 3, the core assembly 20 further includes a fixing base 23 for mounting the side camera 221, and a distance measuring unit 24 disposed on the fixing base 23 and corresponding to the side camera 221. In this embodiment, the fixing base 23 is configured as a tubular structure extending in the axial direction of the housing 10, wherein the axis of the fixing base 23 and the axis of the housing 10 are collinear with each other, and the side camera 221 is fixed on the outer circumference of the fixing base 23. The number of the distance measuring pieces 24 corresponds to the number of the side cameras 221, and provides depth measurement values for image information photographed by the side cameras 221, thereby satisfying different needs of operators. The distance measuring element 24 may be a point ToF distance measuring chip, a point laser VCSEL, or a binocular, structured light or line, or plane ToF camera, which may be selected according to the installation space and the power consumption of the core component 20.

Specifically, the distance measuring unit 24 and the side camera 221 are spaced apart from each other in a direction parallel to the axis of the housing 10. In this embodiment, the distance measuring unit 24 and the side camera 221 are spaced apart from each other in the axial direction of the housing 10, thereby reducing the outer diameter of the core assembly 20. Moreover, the distance measuring pieces 24 and the side cameras 221 are arranged oppositely along the direction parallel to the axis of the shell 10, so that the distance measuring pieces 24 corresponding to each side camera 221 can be confirmed conveniently during installation, and the depth value of the distance measuring pieces 24 during shooting by the corresponding side camera 221 can be accurately measured conveniently during use. As shown in fig. 3, the plurality of distance measuring parts 24 are circumferentially arranged around the axis of the housing 10 and are in one-to-one correspondence with the side cameras 221, and the plurality of distance measuring parts 24 are located between the adjacent side camera groups 220, so that the installation space on the outer circle of the fixing base 23 is reasonably utilized, and the manufacture of the core assembly 20 is facilitated.

With reference to fig. 2, further, the core assembly 20 further includes a mounting member 25 disposed on the fixing base 23 and located between the front imaging module 21 and the side imaging module 22, a plurality of front illuminators 26 disposed on a side of the mounting member 25 facing the front imaging module 21, and a plurality of side illuminators 27 disposed on a side of the mounting member 25 facing the side imaging module 22. In this embodiment, the front illuminating member 26 is provided for illuminating the front imaging module 21 during shooting, and the side illuminating member 27 is provided for illuminating the side imaging module 22 during shooting, so as to improve the imaging effect of the capsule endoscope and facilitate the doctor to clearly obtain the position to be examined. The front illuminating pieces 26 and the side illuminating pieces 27 are fixed on the same mounting piece 25, so that the mounting space on the fixing seat 23 can be saved, and the overall structure of the core component 20 can be reasonably optimized.

Specifically, the plurality of front illuminators 26 and the side illuminators 27 are all circumferentially and uniformly arranged around the axis of the housing 10. In this embodiment, the front illuminating part 26 and the side illuminating part 27 are uniformly arranged on the mounting frame 25 along the axial direction of the housing 10, so that the energy consumption is saved to the greatest extent while the illumination requirements of the front imaging module 21 and the side imaging module 22 are met.

Specifically, the front imaging module 21 includes at least one front camera 211 mounted on the fixing base 23. In this embodiment, the front camera 211 is arranged to provide a forward view for an operator, and on one hand, the front camera 211 cooperates with the side camera 221 to provide a sufficiently large view range for the capsule endoscope; on the other hand, the front camera 211 also provides the operator with intuitive information of the general orientation in which the capsule endoscope is located, as the scope-feed field to which the endoscope operator is accustomed. In order to save manufacturing costs, one front camera 211 is preferred. And, a distance measuring piece 24 may be further provided at the front camera 211 position as necessary.

Specifically, the field angles of the front camera 211 and the side camera 221 are both greater than or equal to 90 °. In this embodiment, when the side imaging module 22 is composed of the minimum number of side cameras 221, that is, when the number of side cameras 221 is four, even if the angle of view of each side camera 221 is 90 ° which is the minimum, the range of view formed by the four side cameras 221 can still reach 360 ° around the housing 10, so that it is not necessary to use a camera with a larger angle of view. The field angles of the front camera 211 and the side camera 221 are preferably set to be 120 ° to 170 °, and 360 ° panoramic view shooting can be performed without rotating the core assembly 20 or the housing 10.

Specifically, the housing 10 includes a front case 101 for accommodating the side camera 221 and the front camera 211, and a rear case 102 for connecting the front case 101 and mounting the fixing base 23, wherein the front case 101 is made of a transparent material. In this embodiment, the front shell 101 and the rear shell 102 are bonded and fixed by UV glue, so as to ensure the sealing of the inner space and prevent the core assembly 20 from being soaked by liquid during operation. The shell 10 is made of a biocompatible material, and can be directly exposed to internal organs of a human body for use, so that the health of a patient is ensured. The front camera 211 and the side camera 221 in the housing 10 can clearly photograph through the front case 101.

Referring to fig. 5 in combination, another preferred embodiment of the present invention provides a capsule endoscope further including a magnetic member 30 provided on the housing 10. In this embodiment, when the capsule endoscope is located inside the patient, the operator adjusts the position of the magnetic member 30 by means of an external magnetic control device or a handheld magnetic control device, so as to change the position of the capsule endoscope, and also adjust the posture of the capsule endoscope, thereby improving the inspection efficiency of the capsule endoscope.

Specifically, the magnetic members 30 are circumferentially arranged around the axis of the housing 10. In this embodiment, the magnetic member 30 is an integrally formed ring structure and is fixed on the outer wall of the rear shell 102, so as to more stably drive the housing 10 to move or rotate.

Referring to fig. 6, the present invention also provides an endoscopic device comprising a traction assembly 40 and a capsule endoscope as described above. In this embodiment, the capsule endoscope enters the body by oral administration of a patient, and the capsule endoscope is pulled by the external traction assembly 40, so that the shooting position and shooting angle of the capsule endoscope are adjusted, and an operator can better know the internal condition of the patient. After the inspection is completed, the traction assembly 40 can be controlled to be separated from the capsule endoscope, thereby respectively recovering the capsule endoscope and the traction assembly 40.

Specifically, the traction assembly 40 includes a sleeve 41 for absorbing the capsule endoscope, a connecting seat 42 disposed in the sleeve 41 and electrically connected to the capsule endoscope, and a traction tube 43 connected to the sleeve 41 and communicated with the interior of the sleeve 41.

In this embodiment, the sleeve 41 is sleeved on the capsule endoscope, and is adsorbed on the capsule endoscope by the negative air pressure formed between the housing 10 and the sleeve 41, so that the capsule endoscope is displaced along with the sleeve 41.

The connecting seat 42 and the capsule endoscope are in matched butt joint by adopting a Pogo pin connector, and the connecting seat and the capsule endoscope can stably transmit current after being matched with each other, or transmit control signals, data signals and the like. Therefore, when the capsule endoscope is in butt joint with the connecting seat 42, current can be obtained from the outside through the traction assembly 40, and shooting signals or feedback control signals are transmitted to the outside through the traction assembly 40 in real time, so that a battery or a wireless transmission device is omitted from being arranged in the capsule endoscope, the internal space of the capsule endoscope is saved, and the volume of the capsule endoscope is reduced.

The traction tube 43 is fixedly connected with the sleeve 41, and when the capsule endoscope is positioned in a human body, the capsule endoscope can be adjusted by operating the traction tube 43 outside the body. The traction tube 43 introduces external air into the sleeve 41 to pull out the capsule endoscope from the sleeve 41. That is, when the capsule endoscope needs to be detached from the sleeve 41, the injected gas acts to increase the gas pressure between the sleeve 41 and the housing 10 by injecting gas into the sleeve 41, thereby releasing the capsule endoscope in the axial direction of the housing 10. The lead wire connected with the connecting base 42 is inserted into the traction tube 43 and finally connected with an external power supply device or a communication device.

Further, the endoscope device also comprises a positioning module arranged on the inner core component 20 or the sleeve 41. In this embodiment, the positioning module is configured to obtain position and posture information of the capsule endoscope at the shooting time, and perform three-dimensional reconstruction of the inner cavity by matching with the distance measuring unit 24, the side camera 221, and the front camera 211, so as to facilitate diagnosis and treatment of a doctor.

Specifically, the positioning module comprises a magnetic sensor and an acceleration sensor. In this embodiment, the acceleration sensor may collect acceleration information to obtain the posture information of the capsule endoscope. The magnetic sensor is used for measuring the magnetic field information of a plurality of external magnetic field emission sources so as to acquire the position information of the capsule endoscope.

It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims (11)

1. The utility model provides a capsule endoscope, includes the casing and sets up the kernel subassembly in the casing, the kernel subassembly includes the preceding imaging module in the axial orientation the place ahead along the casing, along the radial side imaging module towards the outside of casing, its characterized in that, the side imaging module includes that the axial interval along the casing sets up two at least sides group of making a video recording, and every side group of making a video recording is including two at least side cameras that set up along casing circumference, and there is the field of vision to overlap between the side camera of the different side group of making a video recording to make the side imaging module form the field of vision scope around casing a week.

2. The capsule endoscope of claim 1, wherein the side imaging module comprises a first side camera group and a second side camera group, wherein a distance between a side camera of the first side camera group and the housing axis is equal to a distance between a side camera of the second side camera group and the housing axis, wherein at least two side cameras of the first side camera group are uniformly arranged around the housing axis, and wherein at least two side cameras of the second side camera group are uniformly arranged around the housing axis.

3. The capsule endoscope of claim 2, wherein the number of side cameras of the first side camera group is the same as the number of side cameras of the second side camera group, and wherein there is a field of view overlap between at least one side camera of the first side camera group and an adjacent side camera of the second side camera group.

4. The capsule endoscope of claim 3, wherein the first side camera group and the second side camera group each comprise two side cameras, and wherein a line between the two side cameras of the first side camera group is perpendicular to a line between the two side cameras of the second side camera group.

5. The capsule endoscope of claim 2, wherein the first side camera group comprises three side cameras and the second side camera group comprises four side cameras, and wherein one of the side cameras of the first side camera group and one of the side cameras of the second side camera group are arranged in a direction parallel to the axis of the housing.

6. The capsule endoscope of claim 1, wherein the core assembly further comprises a holder for mounting the side camera, and a distance measuring member disposed on the holder and corresponding to the side camera, the distance measuring member and the side camera being spaced apart in a direction parallel to the axis of the housing.

7. The capsule endoscope of claim 6, wherein the core assembly further comprises a mounting member disposed on the mounting base between the front imaging module and the side imaging module, a plurality of front illumination members disposed on a side of the mounting member facing the front imaging module, and a plurality of side illumination members disposed on a side of the mounting member facing the side imaging module, the plurality of front illumination members and the plurality of side illumination members being circumferentially and uniformly disposed about the axis of the housing.

8. The capsule endoscope of claim 6, wherein the front imaging module comprises at least one front camera mounted on a fixed base, the front camera and the side camera each have a field angle greater than or equal to 90 °, the housing comprises a front shell for accommodating the side camera and the front camera, and a rear shell for connecting the front shell and mounting the fixed base, and the front shell is made of a transparent material.

9. The capsule endoscope of claim 1, further comprising magnetic members disposed on the housing, the magnetic members being disposed circumferentially about an axis of the housing.

10. An endoscopic apparatus comprising a traction assembly, wherein the endoscopic apparatus further comprises a capsule endoscope according to any one of claims 1 to 9, the traction assembly comprising a sleeve for attracting the capsule endoscope, a connection socket disposed in the sleeve and electrically connected to the capsule endoscope, and a traction tube connected to the sleeve and communicating with the interior of the sleeve.

11. The endoscopic device of claim 10 further comprising a positioning module disposed on the core assembly or sleeve, the positioning module comprising a magnetic sensor and an acceleration sensor.

Images