CN101224102A - Inner-driving encapsulated endoscopic system - Google Patents
Inner-driving encapsulated endoscopic system Download PDFInfo
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- CN101224102A CN101224102A CNA200810000148XA CN200810000148A CN101224102A CN 101224102 A CN101224102 A CN 101224102A CN A200810000148X A CNA200810000148X A CN A200810000148XA CN 200810000148 A CN200810000148 A CN 200810000148A CN 101224102 A CN101224102 A CN 101224102A
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Abstract
The invention discloses an inner-driving capsule type endoscopy system, including a capsule and an endoscopy device, the endoscopy device includes a medical camera equipment, an image processing equipment, a microprocessor and a receiving and transmitting device, which further includes a driving device and an in vitro wireless remote controller, the driving device includes a driving power supply, a driving switch circuit, a driving motor and a driving equipment, the driving switch circuit is linked with the microprocessor, the driving switch circuit is connected in series between the driving power supply and the driving motor, the driving motor drives the driving equipment to complete the going forward or backward, the in vitro wireless remote controller sends the command to the microprocessor by the receiving and transmitting device to control the driving device to complete the motion or stop the motion; the invention has all functions of the ordinary capsule type endoscopy system, which can real-time regulate the moving direction of the capsule in the digestive tract, guide the capsule to pass through the overall digestive tract smoothly, carry out repeated observation, real-time video and photography of a suspected lesion; the size of the invention is small and the usage is convenient, simple and unrestricted by the environment.
Description
Technical field
The present invention relates to a kind of encapsulated endoscopic system, particularly a kind of inner-driving encapsulated endoscopic system.
Background technology
The capsule endoscope that last century, the eighties was born is that gastral medical diagnosis on disease has brought important breakthrough.Be used for clinical capsule endoscope at present, form, combine, finish the image check of gastrointestinal tract (particularly small intestinal) with the image analysing computer processing system by a miniature camera, digital processing system, wireless transmission system etc.It is big to have overcome the conventional endoscope volume, and the checking process misery is not suitable for defectives such as old man, slim and frahile and critical patient; Have volume little, in light weight, check convenience, no wound, no pain, no cross infection, do not influence advantage such as person under inspection's operate as normal.But also exist not enough: image that capsule endoscope is clapped is random uptake, makes the visual field limited and have certain rate of missed diagnosis; Capsule can only outwards send image information, and its duty can not can not realize the inspection of purpose emphasis in external control; Can't accurately locate etc.
Chinese patent ZL 200410021933.5 discloses a kind of medical radio capsule formula endoscope system, claims that this system both can wireless outside transmission digital image information, again can the wireless receiving control instruction realizes the control to capsule duty and working method.But still peep capsular mobile speed and direction in can not controlling, and can not realize the inspection of purpose emphasis, peeping capsule in can not guaranteeing can excrete smoothly.
Patent ZL200580027391.5 discloses the encapsulated endoscopic system of a kind of external control rate and direction, finishes the control of capsule being carried out speed and direction of travel external by permanent magnet is set in external setting and the capsule.This apparatus structure complexity, volume is big, uses limited by surrounding, and is extremely inconvenient.
Above-described encapsulated endoscopic system does not all have sampling and dispenser function, can't finish sampling, dyeing and dispenser in checking process.
Therefore, need a kind of encapsulated endoscopic system, when can finish shooting,, under the effect of interior driving, finish control, and, implement sampling, dyeing and dispenser treatment according to the inspection situation to the capsule speed of service and direction according to manipulation in vitro.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of inner-driving encapsulated endoscopic system, repertoire with general encapsulated endoscopic system, simultaneously, according to external remote manipulation, under the effect of inner driving device, finish control, the direction that the real-time monitoring capsule endoscope moves in digestive tract to the capsule speed of service and direction; To being detained or moving capsule endoscope channeling conduct slowly, make it current smoothly in all-digestive tract; To suspected abnormality observe repeatedly, real-time photography, photography; Simple and easy to use, be not subjected to environmental limitations, simple and compact for structure, volume is little.
Inner-driving encapsulated endoscopic system of the present invention, comprise the transparent capsule of at least one end and be arranged at the interior endoscope and image processing device of capsule, described endoscope and image processing device comprises medical picture pick-up device, image processing equipment, microprocessor and reception emitter, also comprise driving device and external Digiplex, described driving device comprises driving power, the driving switch circuit, drive motors and driving arrangement, described driving switch circuit and microprocessor link, the driving switch circuit is serially connected between driving power and the drive motors, and drive motors drives driving arrangement and finishes and capsularly advance or retreat;
Described external remote controller sends instruction by receiving emitter to microprocessor, and accessory drive is finished motion or stopped action.
Further, described driving arrangement comprises that cross section is the circular shell that revolves, and what revolve that the shell excircle is provided with at least one projection revolves the shell tooth, revolves shell tooth longitudinal spiral and launches; Described drive motors is fixedly set in the capsule, and the drive motors shaft extension goes out capsule and revolves shell and fixedly connected; Described motor shaft, revolve the dead in line that shell and capsule are provided with the motor part;
Further, the described shell that revolves is a capsular part, and capsule vertically fixedly installs the location bucket, revolves valve jacket and is rotatably assorted with it at location bucket excircle; Driving power, driving switch circuit and drive motors are arranged in the bucket of location;
Further, the fixed teeth that projection is set on the excircle of drive motors is set at described capsule, the fixed teeth longitudinal spiral launches, and expansion direction is with to revolve shell tooth expansion direction opposite;
Further, described lead angle of revolving the shell tooth is 45 °;
Further, described location bucket and revolving between the shell is rotatably assorted by rolling bearing;
Further, also comprise tool device, described tool device is arranged in the capsule, comprise instrument power supply, tool switch circuit, tool's power and instrument, described tool switch circuit and microprocessor link, the tool switch circuit is serially connected between instrument power supply and the tool's power, and the tool's power driven tool is carried out dispenser and collecting work;
External remote controller sends instruction by receiving emitter to microprocessor, and the control tool device is finished dispenser and collecting work;
Further, any two shared same power supplys of combination of described endoscope and image processing device, tool device and driving device or the shared same power supply of endoscope and image processing device, tool device and driving device;
Further, described endoscope and image processing device is arranged in the capsules A, tool device is arranged in the capsule B, driving device is arranged in the capsule C, motion and duty picture pick-up device also are set in the capsules A, described motion and duty picture pick-up device and image processing equipment link, and medical picture pick-up device and motion and duty picture pick-up device are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A, capsule B and the capsule C;
Further, described endoscope and image processing device is arranged in the capsules A, tool device and driving device are arranged in the capsule B, motion and duty picture pick-up device also are set in the capsules A, described motion and duty picture pick-up device and image processing equipment link, medical picture pick-up device and motion and duty picture pick-up device are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A and the capsule B;
Further, described endoscope and image processing device, tool device and driving device are arranged in the same capsule, motion and duty picture pick-up device also are set in the capsule, described motion and duty picture pick-up device and image processing equipment link, medical picture pick-up device is arranged at the capsule left end, and motion and duty picture pick-up device are arranged at the tool device left side.
The invention has the beneficial effects as follows: inner-driving encapsulated endoscopic system of the present invention, adopt endoscope and image processing device and driving device structure combining, repertoire with general encapsulated endoscopic system, simultaneously, according to external remote manipulation, under the effect of inner driving device, finish control, the moving direction of real-time monitoring capsule endoscope in digestive tract to the capsule speed of service and direction; To being detained or moving capsule endoscope channeling conduct slowly, make it current smoothly in all-digestive tract; To suspected abnormality observe repeatedly, real-time photography, photography, simple and compact for structure, volume is little, and is simple and easy to use, is not subjected to environmental limitations; Driving device adopts the driven by motor helix to revolve the structure that the shell tooth rotates, and makes the capsule speed of service reasonable, user is not caused suffering; Adopt the fixed teeth expansion direction and revolve shell tooth expansion direction opposite configuration, helping fixedly, capsule guarantees the capsule operation with revolving the shell rotation; The present invention can drive various tool and finish work such as treatment, detection; All the shared same power supply of device or any two shared same power supplys of combination are further saved cost, reduce volume, are convenient to capsule and use; Endoscope and image processing device, tool device and driving device are arranged at respectively in the different capsules, each capsule volume is little, has increased the motility of encapsulated endoscopic system in the crook operation, and motion and duty picture pick-up device are set, can monitor capsular motion and duty at any time, be beneficial to and control; Endoscope and image processing device, tool device and driving device are arranged at respectively in the same capsule, make whole encapsulated endoscopic system compact conformation, reduce volume, save cost, have increased the back and forth motility of operation of encapsulated endoscopic system simultaneously.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described.
Fig. 1 is the structural representation of the embodiment of the invention one;
Fig. 2 is the structural representation of the embodiment of the invention two;
Fig. 3 is the structural representation of the embodiment of the invention three;
Fig. 4 is a principle of the invention block diagram;
Fig. 5 is a driving device structure sketch map of the present invention;
Fig. 6 drives capsule appearance figure for the present invention.
The specific embodiment
Fig. 1 is the structural representation of the embodiment of the invention one, and as shown in the figure: in conjunction with Fig. 5, the inner-driving encapsulated endoscopic system of present embodiment comprises capsules A, capsule B and capsule C, finishes towing and signal transmission by cable D between capsules A, capsule B and the capsule C.Endoscope and image processing device is set in the capsules A, endoscope and image processing device comprises medical picture pick-up device 1, image processing equipment 2, microprocessor 3 and reception emitter 4, also comprise motion and duty picture pick-up device 101, described medical picture pick-up device 1 and state picture pick-up device 101 link with image processing equipment 2, medical picture pick-up device 1 and motion and duty picture pick-up device 101 are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends, medical picture pick-up device 1 picked-up medical imaging, motion and duty picture pick-up device 101 are used for picked-up motion and duty image, can monitor capsular motion and duty at any time, be beneficial to and control; As figure, also comprise driving device and external Digiplex 16, driving device is arranged in the capsule C, comprise driving power 10, driving switch circuit 11, drive motors 12 and driving arrangement 14, described driving switch circuit 11 links with microprocessor 3, driving switch circuit 11 is serially connected between driving power 10 and the drive motors 12, and drive motors 12 drive driving arrangements are finished advancing of capsule B or retreated; Driving arrangement comprises that cross section is the circular shell 14 that revolves, and revolves shell 14 and is a capsular part, with capsule motor section is installed and is grouped into complete capsule appearance, keeps the capsule rounded profile, is beneficial to operation; Capsule vertically fixedly installs location bucket 17, revolves shell 14 and is enclosed within location bucket 17 excircles and is rotatably assorted with it by rolling bearing 20, guarantees less pivoting friction resistance; Drive motors 12 is fixedly set in the location bucket 17 of capsule B, and drive motors axle 13 stretches out capsule and revolves shell 14 and fixedly connected; Driving power 10 and driving switch circuit 11 are arranged in the location bucket 17; Revolve shell 14 excircles uniform 4 projections are set revolve shell tooth 18, revolving shell tooth 18 longitudinal spirals launches, during driving, revolve shell tooth 18 and rotate,, drive the capsule operation according to the spiral principle of advancing with revolving shell 14, external remote controller 16 sends instruction by receiving emitter 4 to microprocessor 3, the getting type of control driving switch circuit 11, thereby the rotating of control drive motors are finished and are capsularly advanced or retreat; The lead angle of revolving shell tooth 18 is 45 °, certainly, also can be other angles, can realize goal of the invention; The excircle that described capsule B is provided with drive motors is provided with the fixed teeth 19 of projection, fixed teeth 19 longitudinal spirals launch, expansion direction is with to revolve shell tooth 18 expansion directions opposite, because revolving the lead angle of shell tooth 18 is 45 °, the angle that then revolves between shell tooth 18 and the fixed teeth 19 is 90 °, helps keeping stablizing of capsule B when driving; Described motor shaft 13, revolve the dead in line that shell 14 and capsule are provided with drive motors 12 parts, help guaranteeing in the driving process steadily shockproof, reduce the misery of user.
The inner-driving encapsulated endoscopic system of present embodiment also comprises tool device, described tool device is arranged in the capsule B, comprise instrument power supply 9, tool switch circuit 8, tool's power 7 and instrument 6, described tool switch circuit 8 links with microprocessor 3, tool switch circuit 8 is serially connected between instrument power supply 9 and the tool's power 7, and tool's power 7 driven tool 6 are carried out dispenser and collecting work.
Embodiment two
Fig. 2 is the structural representation of the embodiment of the invention two, as shown in the figure: the difference of the inner-driving encapsulated endoscopic system of present embodiment and embodiment one is that the tool device and the driving device of present embodiment is arranged in the capsule B, save capsule C, and the shared power supply of tool device and driving device not only makes the encapsulated endoscopic system compact conformation also save use cost.
Embodiment three
Fig. 3 is the structural representation of the embodiment of the invention three, as shown in the figure: the difference of the above embodiment of inner-driving encapsulated endoscopic system of present embodiment is that endoscope and image processing device, tool device and driving device are arranged in the same capsule, save two capsules, and the shared power supply of endoscope and image processing device, tool device and driving device, further make the encapsulated endoscopic system compact conformation, save use cost; Medical picture pick-up device 1 is arranged at the capsule left end, and motion and duty picture pick-up device 101 are arranged at tool device left side, capsule and medical picture pick-up device 1 and motion and the transparent setting in duty picture pick-up device 101 corresponding positions.
Certainly, all right random two combinations of endoscope and image processing device, tool device and driving device are not limited to disclosed mode among the embodiment, such as, endoscope and image processing device and tool device are arranged at same capsule, and driving device is arranged in another capsule, can reach goal of the invention equally.
Fig. 4 is a principle of the invention block diagram, operation principle of the present invention is described, as shown in the figure: medical picture pick-up device 1 and motion and duty picture pick-up device 101 reach image processing equipment 2 with picture signal, and image processing equipment 2 exports microprocessor 3 to and exports to external by receiving emitter 4; The medical imaging that the operator takes according to medical picture pick-up device 1, diagnosis is to determine dispenser or collecting work; According to the motion and the duty image of medical motion and 101 shootings of duty picture pick-up device, can monitor capsular motion and duty at any time, be beneficial to and control; The outer Digiplex 16 of operating body sends instruction by receiving emitter 4 to microprocessor 3, and microprocessor 3 is finished required work according to the tool switch circuit 8 of instruction control tool device and the driving switch circuit 11 of driving device;
Fig. 5 is a driving device structure sketch map of the present invention, Fig. 6 drives capsule appearance figure for the present invention, as shown in the figure: driving device comprises driving power 10, driving switch circuit 11, drive motors 12 and driving arrangement 14, described driving switch circuit 11 links with microprocessor 3, driving switch circuit 11 is serially connected between driving power 10 and the drive motors 12, and drive motors 12 drive driving arrangements 14 are finished advancing of capsule B or retreated; Driving arrangement comprises that cross section is the circular shell 14 that revolves, and revolves shell 14 and is a capsular part, with capsule motor section is installed and is grouped into complete capsule appearance, keeps the capsule rounded profile, is beneficial to operation; Capsule vertically fixedly installs location bucket 17, revolves shell 14 and is enclosed within location bucket 17 excircles and is rotatably assorted with it by rolling bearing 20, guarantees less pivoting friction resistance; Drive motors 12 is fixedly set in the location bucket 17 of capsule B, and drive motors axle 13 stretches out capsule and revolves shell 14 and fixedly connected; Driving power 10 and driving switch circuit 11 are arranged in the location bucket 17; Revolve shell 14 excircles uniform 4 projections are set revolve shell tooth 18, revolve shell tooth 18 longitudinal spirals and launch, during driving, revolve shell tooth 18 and rotate,, drive the capsule operation according to the spiral principle of advancing with revolving shell 14, the rotating of control drive motors is finished and is capsularly advanced or retreat; The lead angle of revolving shell tooth 18 is 45 °, certainly, also can be other angles, can realize goal of the invention; The part excircle that described capsule B is provided with drive motors is provided with the fixed teeth 19 of projection, and fixed teeth 19 longitudinal spirals launch, and expansion direction helps keeping stablizing of capsule B with to revolve shell tooth 18 expansion directions opposite when driving; Described motor shaft 13, revolve the dead in line that shell 14 and capsule are provided with drive motors 12 parts, help guaranteeing in the driving process steadily shockproof, reduce the misery of user.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (13)
1. inner-driving encapsulated endoscopic system, comprise the transparent capsule of at least one end and be arranged at the interior endoscope and image processing device of capsule, described endoscope and image processing device comprises medical picture pick-up device (1), image processing equipment (2), microprocessor (3) and reception emitter (4), it is characterized in that: also comprise driving device and external Digiplex (16), described driving device comprises driving power (10), driving switch circuit (11), drive motors (12) and driving arrangement, described driving switch circuit (11) links with microprocessor (3), driving switch circuit (11) is serially connected between driving power (10) and the drive motors (12), and drive motors (12) drives driving arrangement (14) and finishes and capsularly advance or retreat;
Described external remote controller (16) sends instruction by receiving emitter (4) to microprocessor (3), and accessory drive is finished motion or stopped action.
2. inner-driving encapsulated endoscopic system according to claim 1, it is characterized in that: described driving arrangement comprises that cross section is the circular shell (14) that revolves, what revolve that shell (14) excircle is provided with at least one projection revolves shell tooth (18), revolves shell tooth (18) longitudinal spiral and launches; Described drive motors (12) is fixedly set in the capsule, and drive motors axle (13) stretches out capsule and revolves shell (14) and fixedly connected; Described motor shaft (13), revolve the dead in line that shell (14) and capsule are provided with drive motors (12) part.
3. inner-driving encapsulated endoscopic system according to claim 2 is characterized in that: the described shell (14) that revolves is for a capsular part, and capsule vertically fixedly installs location bucket (17), revolves shell (14) and is enclosed within location bucket (a 17) excircle and is rotatably assorted with it; Driving power (10), driving switch circuit (11) and drive motors (12) are arranged in the location bucket (17).
4. inner-driving encapsulated endoscopic system according to claim 3, it is characterized in that: the fixed teeth (19) that projection is set on the excircle of drive motors (12) is set at described capsule, fixed teeth (19) longitudinal spiral launches, and expansion direction is with to revolve shell tooth (18) expansion direction opposite.
5. inner-driving encapsulated endoscopic system according to claim 4 is characterized in that: described lead angle of revolving shell tooth (18) is 45 °.
6. according to claim 3,4 or 5 described inner-driving encapsulated endoscopic systems, it is characterized in that: described location bucket (17) and revolving between the shell (14) is rotatably assorted by rolling bearing (20).
7. according to the described inner-driving encapsulated endoscopic system of claim 1 to 5, it is characterized in that: also comprise tool device, described tool device is arranged in the capsule, comprise instrument power supply (9), tool switch circuit (8), tool's power (7) and instrument (6), described tool switch circuit (8) links with microprocessor (3), tool switch circuit (8) is serially connected between instrument power supply (9) and the tool's power (7), and tool's power (7) driven tool (6) is carried out dispenser and collecting work;
External remote controller (16) sends instruction by receiving emitter (4) to microprocessor (3), and the control tool device is finished dispenser and collecting work.
8. inner-driving encapsulated endoscopic system according to claim 6, it is characterized in that: also comprise tool device, described tool device is arranged in the capsule, comprise instrument power supply (9), tool switch circuit (8), tool's power (7) and instrument (6), described tool switch circuit (8) links with microprocessor (3), tool switch circuit (8) is serially connected between instrument power supply (9) and the tool's power (7), and tool's power (7) driven tool (6) is carried out dispenser and collecting work;
External remote controller (16) sends instruction by receiving emitter (4) to microprocessor (3), and the control tool device is finished dispenser and collecting work.
9. inner-driving encapsulated endoscopic system according to claim 7 is characterized in that: any two shared same power supplys of combination of described endoscope and image processing device, tool device and driving device or the shared same power supply of endoscope and image processing device, tool device and driving device.
10. inner-driving encapsulated endoscopic system according to claim 8 is characterized in that: any two shared same power supplys of combination of described endoscope and image processing device, tool device and driving device or the shared same power supply of endoscope and image processing device, tool device and driving device.
11. according to claim 9 or 10 described inner-driving encapsulated endoscopic systems, it is characterized in that: described endoscope and image processing device is arranged in the capsules A, tool device is arranged in the capsule B, driving device is arranged in the capsule C, motion and duty picture pick-up device (101) also are set in the capsules A, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) and motion and duty picture pick-up device (101) are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A, capsule B and the capsule C.
12. according to claim 9 or 10 described inner-driving encapsulated endoscopic systems, it is characterized in that: described endoscope and image processing device is arranged in the capsules A, tool device and driving device are arranged in the capsule B, motion and duty picture pick-up device (101) also are set in the capsules A, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) and motion and duty picture pick-up device (101) are arranged at the capsules A two ends respectively, the transparent setting in capsules A two ends; Finish towing and signal transmission by cable D between capsules A and the capsule B.
13. according to claim 9 or 10 described inner-driving encapsulated endoscopic systems, it is characterized in that: described endoscope and image processing device, tool device and driving device are arranged in the same capsule, motion and duty picture pick-up device (101) also are set in the capsule, described motion and duty picture pick-up device (101) link with image processing equipment (2), medical picture pick-up device (1) is arranged at the capsule left end, and motion and duty picture pick-up device (101) are arranged at the tool device left side.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810000148XA CN101224102B (en) | 2007-01-24 | 2008-01-04 | Inner-driving encapsulated endoscopic system |
| PCT/CN2008/000176 WO2008092376A1 (en) | 2007-01-24 | 2008-01-24 | Inner-driven capsule endoscope system |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710078136.4 | 2007-01-24 | ||
| CN 200710078136 CN101011234A (en) | 2007-01-24 | 2007-01-24 | Regulating and controlling technique of capsule endoscope |
| CN200810000148XA CN101224102B (en) | 2007-01-24 | 2008-01-04 | Inner-driving encapsulated endoscopic system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101224102A true CN101224102A (en) | 2008-07-23 |
| CN101224102B CN101224102B (en) | 2011-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710078136 Pending CN101011234A (en) | 2007-01-24 | 2007-01-24 | Regulating and controlling technique of capsule endoscope |
| CN200810000148XA Active CN101224102B (en) | 2007-01-24 | 2008-01-04 | Inner-driving encapsulated endoscopic system |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200710078136 Pending CN101011234A (en) | 2007-01-24 | 2007-01-24 | Regulating and controlling technique of capsule endoscope |
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| Country | Link |
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| CN (2) | CN101011234A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103393389A (en) * | 2013-08-16 | 2013-11-20 | 哈尔滨工业大学深圳研究生院 | Endoscope microcapsule robot |
| CN105852778A (en) * | 2016-04-05 | 2016-08-17 | 苏州佳像视讯科技有限公司 | Multi-shell capsule endoscopy |
| CN108742483A (en) * | 2018-06-29 | 2018-11-06 | 重庆金山医疗器械有限公司 | A kind of controllable capsule endoscopy system |
| CN109730622A (en) * | 2019-01-25 | 2019-05-10 | 陈嘉浩 | A kind of spiral gastroscope |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008092376A1 (en) * | 2007-01-24 | 2008-08-07 | Yunlong Chen | Inner-driven capsule endoscope system |
| CN101342067B (en) * | 2007-07-11 | 2010-08-25 | 重庆特奥科技有限公司 | Medical tool capsule |
| CN102949168B (en) * | 2011-08-23 | 2014-09-10 | 中国科学院沈阳自动化研究所 | Multi-chamber wireless capsule robot |
| CN102397052B (en) * | 2011-11-30 | 2014-01-15 | 西交利物浦大学 | Image-recognition-technology-based shooting-speed-adjustable wireless capsule endoscope system and method |
| CN102551643B (en) * | 2012-02-16 | 2014-03-19 | 金纯� | Self-assembling type medical serpentiform endoscopic capsule |
| CN117224171A (en) * | 2018-10-19 | 2023-12-15 | 安翰科技(武汉)股份有限公司 | Sampling capsule, sampling capsule system and control method |
| CN109009247B (en) * | 2018-10-19 | 2023-09-08 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
-
2007
- 2007-01-24 CN CN 200710078136 patent/CN101011234A/en active Pending
-
2008
- 2008-01-04 CN CN200810000148XA patent/CN101224102B/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103393389A (en) * | 2013-08-16 | 2013-11-20 | 哈尔滨工业大学深圳研究生院 | Endoscope microcapsule robot |
| CN105852778A (en) * | 2016-04-05 | 2016-08-17 | 苏州佳像视讯科技有限公司 | Multi-shell capsule endoscopy |
| CN108742483A (en) * | 2018-06-29 | 2018-11-06 | 重庆金山医疗器械有限公司 | A kind of controllable capsule endoscopy system |
| CN108742483B (en) * | 2018-06-29 | 2022-05-17 | 重庆金山医疗技术研究院有限公司 | Controllable capsule endoscope system |
| CN109730622A (en) * | 2019-01-25 | 2019-05-10 | 陈嘉浩 | A kind of spiral gastroscope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101224102B (en) | 2011-02-09 |
| CN101011234A (en) | 2007-08-08 |
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