CN102085084A - Sampling capsule system based on wireless energy supply extracorporeal magnetic control - Google Patents
Sampling capsule system based on wireless energy supply extracorporeal magnetic control Download PDFInfo
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- CN102085084A CN102085084A CN 201110049165 CN201110049165A CN102085084A CN 102085084 A CN102085084 A CN 102085084A CN 201110049165 CN201110049165 CN 201110049165 CN 201110049165 A CN201110049165 A CN 201110049165A CN 102085084 A CN102085084 A CN 102085084A
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Abstract
The invention relates to a sampling capsule system based on wireless energy supply extracorporeal magnetic control in the technical field of medical instruments. The sampling capsule system comprises a sampling capsule, an extracorporeal magnetic driving device, an extracorporeal sampling operation control device, an extracorporeal wireless energy supply device and an extracorporeal image real-time processing device, wherein the sampling capsule is positioned in a digestive tract and is used for acquiring environment information of the digestive tract; the extracorporeal sampling operation control device is connected with the sampling capsule in a wireless way and is used for transmitting sampling control information; the extracorporeal image real-time processing device is connected with the sampling capsule in a wireless way, and is used for transmitting capsule video information and outputting the capsule video information in a graphics way; the extracorporeal wireless energy supply device is used for supplying energy to the sampling capsule in an alternating magnetic field way; and the extracorporeal magnetic driving device can be changed and the posture and the position of the sampling capsule can be regulated by the extracorporeal magnetic driving device and a permanent magnet device of the sampling capsule in a way that homopolar permanent magnetic fields are mutually exclusive. By the sampling capsule system, extracorporeal operation controllers can actively control the posture and the position of the sampling capsule.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically is a kind ofly to produce the sample capsule system based on the external magnetic control of wireless energy supply.
Background technology
The modern is owing to work rhythm quickening, diet inequality, cause the sickness rate of digestive tract disease to raise day by day, digestive tract disease becomes the common a kind of disease that influences modern's health, analyze to find that according to statistics digestive tract disease is to becoming younger and hiddenization direction develops.The visual detection of digestive tract disease has important effect for the prevention and the diagnosis and treatment of digestive tract disease, and 9 meters of human body all-digestive tract length overalls, because the digestive tract shape belongs to slender pipeline, be distributed between each organ of trunk, the irregular closure of all-digestive tract structure is to the detection and the sampling of digestive tract disease bring very big challenge clinically.
The visual detection of the digestive tract disease of Shi Shiing mainly contains two kinds clinically: gastrointestinal, intestinal mirror and capsule endoscope two big classes.Gastroscope, intestinal microscopy are surveyed and are belonged to active detecting, can realize all-digestive tract disease " fixed point " diagnosis, but may have the risk that causes stomach wound, intestinal wound in the gastroscope, intestinal microscopy survey process, understand in the testing process and bring huge misery to patient.Capsule endoscope detects and belongs to the noinvasive detection method, can implement the detection of digestive tract disease after patient's oral capsule endoscope, can not bring discomfort or painful sensation to the patient, but capsule endoscope can only be followed gastral wriggling and be carried out diagnosis in patient's digestive tract, the motion of capsule endoscope belongs to passive movement mode fully, capsule endoscope also belongs to " locality " and " randomness " diagnosis for the diagnosis of digestive tract disease, can not implement initiatively " fixed point " diagnosis to digestive tract disease, there is very big blind area in the capsule endoscopy diagnosis overall process, has greatly limited the clinical practice of capsule endoscope in the visual diagnosis of all-digestive tract disease.
On the other hand, find to have the disease focus by the capsule image, when further determining disease type, need determine disease type by the biological tissue's sample analysis around the digestive tract disease, realize the sampling requirement of digestive tract disease tissue, can finish sampling work with lower digestive tract with upper digestive tract and colon for stomach under the video image navigation of gastroscope and intestinal mirror, but still have the risk that causes stomach wound, intestinal wound in sampling process, needs of patients bears huge misery in the sampling process.For the pathological tissue sampling that the digestive tract at small intestinal place exists, can't adopt traditional gastroscope and intestinal mirror, need realize the pathological tissue sampling by operation method, this misery that causes for the patient is well imagined.Existing capsule endoscope only possesses the shoot function of digestive tract image, does not possess the sampled functions of digestive tract reason tissue fully, can't utilize capsule endoscope to carry out the sampling work of digestive tract pathology tissue.
Through being retrieved, prior art finds, paper on " electromechanical engineering technology " 2006 the 35th the 8th phases of volume " design and the experimental study of novel capsule-type gastrointestinal tract sampling MEMS; announced a kind of sampling capsule system of digestive tract gastric juice; this system utilizes external magnetic field to operate and control the sampling driving mechanism; but there are at least two shortcomings in this system; and at first do not have the image-guidance device, after the sampling capsule system enters digestive tract, can't determine to take a sample capsule system near the target location; Secondly attitude and the position that manipulation in vitro person can't ACTIVE CONTROL sampling capsule system can't carry out initiatively sampling operation control to the sampling capsule system, so the sampling capsule system that paper is announced can not be applied to clinical.
Existing capsule endoscope system is subject to restrictions such as motion mode, power supply mode, does not also reach external ACTIVE CONTROL capsule endoscopy diagnosis disease far away and realizes the requirement that pathological tissue is taken a sample.Though gastroscope and intestinal mirror possess the function that diagnoses the illness with lower digestive tract and carry out the pathology sampling at upper digestive tract and colon, but there is wound and brings very big misery in diagnosis and sampling process, the function that does not possess small bowel disease simultaneously and take a sample at small intestinal pathology to the patient.Therefore prior art can't satisfy the actual demand of clinical noinvasive or Wicresoft's diagnosis.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of and produce the sample capsule system, realize the ACTIVE CONTROL of manipulation in vitro effector take a sample capsular attitude and position based on the external magnetic control of wireless energy supply.
The present invention is achieved by the following technical solutions, the present invention includes: the sampling capsule, external magnetic drive unit, external sampling operation control device, external wireless energy supply device and the real-time blood processor of external image, wherein: the sampling capsule is positioned at digestive tract and gathers digestive tract environment information, external sampling operation control device is connected with wireless mode with the sampling capsule and transmits the control information of taking a sample, the real-time blood processor of external image is connected with wireless mode with the sampling capsule and transmits the capsule video information and export with graphics mode, external wireless energy supply device provides energy to the sampling capsule in the alternating magnetic field mode, and external magnetic drive unit realizes that with the mode that the capsular permanent magnetic device of sampling repels mutually by the same polarity permanent-magnetic field external magnetic drive unit changes and adjusting sampling capsule attitude and position.
Described sampling capsule comprises: the analog image pick off, illuminator and sampler and shell and be arranged at its inner master control system, the image wireless dispensing device, the digital signal wireless transmitter, fairing, the wireless energy receiving coil, memorizer and permanent magnetic device, wherein: analog image pick off and illuminator are installed in the outboard end of shell, sampler is installed in the outer surface of sampling capsule shell, memorizer is installed between sampling capsule shell and the permanent magnetic device, the wireless energy receiving coil receives the alternating magnetic field that is sent by external wireless energy supply device and is converted into AC electromotive force, fairing links to each other with the wireless energy receiving coil and AC electromotive force is converted into DC voltage, fairing respectively with the analog image pick off, illuminator, master control system, the image wireless dispensing device, sampler links to each other and dc source is provided, the image wireless dispensing device with the analog image sensor acquisition to video image be converted into electromagnetic wave directly to be sent to the patient external, master control system is realized the imaging parameters of analog image pick off is regulated, master control system is according to the external sampling control instruction that receives, the control sampler is carried out sampling to lesion tissue, and the pathological tissue that sampling obtains is saved in memorizer.The capsular permanent magnetic device of taking a sample connects without any electric with the capsular other parts of sampling, the direct permanent-magnetic field with external magnetic drive unit of the permanent-magnetic field that permanent magnetic device forms interacts, according to the permanent-magnetic field interaction principle: same polarity is repelled each other, heteropolarity is inhaled mutually, thereby guarantees the control of external magnetic drive unit to sampling capsule attitude and position.
Described shell is the capsule body shape, and both ends are near the smooth ball head.
Described external magnetic drive unit is the magnetic driving control device with permanent magnet, and wherein: magnetic driving control device is realized adjustment to take a sample capsule attitude and position by regulating displacement between permanent magnet and the sampling capsule and direction.
Described external sampling operation control device is the sampling control equipment with radio-cell, and wherein: sampling control equipment generates sampling control signal and exports the sampling capsule to by radio-cell.
Described external wireless energy supply device comprises: external wireless energy transmitting coil and power-supply controller of electric, wherein: power-supply controller of electric links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil of controlling signal to of sequential, and external wireless energy transmitting coil changes control signal alternating electromagnetic field into and exports the sampling capsule to.
The real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image receives in real time by the sampling capsule and sends to external photographic images and be sent to computer workstation, computer operation with pictorial display on computer screen, for operation effector realize taking a sample capsule attitude, Position Control and sampling operation provides the image-guidance function.
The present invention compared with prior art, realize the ACTIVE CONTROL of manipulation in vitro effector to take a sample capsular attitude and position, can finish " fixed point " diagnosis of digestive tract image, for sampling operation is realized " fixed point " operation control, the operation of simultaneously external ACTIVE CONTROL sampling capsule attitude and position is all carried out under the navigation of sampling capsule video image, do not find to utilize the attitude of capsule video image navigation development sampling capsule own at present, the technology of position adjustment and sampling work, under this patent achievement helps, realize the diagnostic imaging and the pathological tissue sampling of the digestive tract disease under the image-guidance truly.Than existing gastroscope, intestinal mirror and simple function image capsule, has tangible advantage.The present invention has very important actual application value aspect digestive tract disease diagnosis and the pathological tissue sampling.
Description of drawings
Fig. 1 is an operation principle sketch map of the present invention.
Fig. 2 is sampling capsule structure sketch map.
Fig. 3 is external magnetic drives structure sketch map.
The external sampling operation control device of Fig. 4 structural representation.
Fig. 5 is external wireless energy supply device sketch map.
Fig. 6 is the real-time blood processor sketch map of external image.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, this enforcement comprises: sampling capsule 1, external magnetic drive unit 2, external sampling operation control device 3, the real-time blood processor 5 of external wireless energy supply device 4 and external image, wherein: sampling capsule 1 is positioned at digestive tract and gathers digestive tract environment information, external sampling operation control device 3 is connected with wireless mode with sampling capsule 1 and transmits the control information of taking a sample, the real-time blood processor 5 of external image is connected with wireless mode with sampling capsule 1 and transmits the capsule video information and export with graphics mode of taking a sample, external wireless energy supply device 4 provides energy to sampling capsule 1 in the alternating magnetic field mode, external magnetic drive unit 2 is carried out the work according to the permanent-magnetic field interaction principle with sampling capsule 1, be that the same polarity permanent-magnetic field repels each other, the heteropolarity permanent-magnetic field is inhaled mutually, and permanent-magnetic field interphase interaction power and its distance dependent, distance and polarity between permanent-magnetic field polarity by changing external magnetic drive unit and the sampling capsule permanent-magnetic field, thus of the control of external magnetic drive unit guaranteed to sampling capsule attitude and position.
Described sampling capsule 1 comprises: analog image pick off 6, illuminator 7 and sampler 8 and shell 9 and be arranged at its inner master control system 10, image wireless dispensing device 11, digital signal wireless transmitter 12, fairing 13, wireless energy receiving coil 14, memorizer 15 and permanent magnetic device 16, wherein: analog image pick off 6 and illuminator 7 are installed in the outboard end of shell 9, sampler 8 is installed in the outer surface of sampling capsule 1 shell 9, memorizer 15 is installed between sampling capsule 1 shell 9 and the permanent magnetic device 16, wireless energy receiving coil 14 receives the alternating magnetic field that is sent by external wireless energy supply device 4 and is converted into AC electromotive force, fairing 13 links to each other with wireless energy receiving coil 14 and AC electromotive force is converted into DC voltage, fairing 13 respectively with analog image pick off 6, illuminator 7, master control system 10, image wireless dispensing device 11, sampler 8 links to each other and dc source is provided, the analog video that image wireless dispensing device 11 directly collects analog image pick off 6 is sent to external, master control system 10 can carry out the adjusting of imaging parameters to analog image pick off 6, permanent magnetic device 16 does not produce any electric connection with other parts, the permanent-magnetic field that permanent magnetic device 16 forms and the permanent-magnetic field of external magnetic drive unit 2 are followed the same polarity permanent-magnetic field and are repelled mutually, the heteropolarity permanent-magnetic field principle that attracts each other, realize the attitude and the position adjustments of the permanent magnetic device 16 of 2 pairs of samplings of external magnetic drive unit capsule 1, master control system 10 control samplers 8 are carried out the pathological tissue sampling, and sampler 8 links to each other with memorizer 15 and exports the pathological tissue sample.
Described shell 9 is the capsule body shape, and both ends are near the smooth ball head.
In the present embodiment this external magnetic drive unit 2 by with sampling capsule 1 in the same polarity permanent-magnetic field that forms of permanent magnetic device 16 attract each other, the principle that the heteropolarity permanent-magnetic field attracts each other is to realize the attitude and the position of control sampling capsule 1.
This wireless energy receiving coil 14 is by receiving the alternating electromagnetic field that external wireless energy supply device 4 produces in the present embodiment, and alternating electromagnetic field is converted into alternating electromotive force, thereby receives the energy of external transmission.
This digital signal wireless transmitter 12 receives the sampling control signal that external sampling operation control device 3 sends in the present embodiment, sampling control signal is sent to master control system 10, master control system 10 is carried out the pathological tissue sampling according to sampling control signal control startup sampler 8, and the pathological tissue that sampling obtains is sent to memorizer 15 and preserves.
This wireless energy receiving coil 14 receives the alternating electromagnetic field that external wireless energy supply device 4 sends in the present embodiment, alternating electromagnetic field is converted into alternating electromotive force, fairing 13 is converted into suitable dc source with alternating electromotive force, this direct-current power supply analog image pick off 6, illuminator 7, sampler 8 and shell 9 and be arranged at its inner master control system 10, image wireless dispensing device 11, digital signal wireless transmitter 12, fairing 13, wireless energy receiving coil 14, memorizer 15 and permanent magnetic device 16
The permanent-magnetic field that the permanent-magnetic field that this permanent magnetic device 16 produces in the present embodiment and the permanent magnetic device 18 of external magnetic drive unit 2 produce is followed the same polarity permanent-magnetic field and is repelled mutually, the principle that the heteropolarity permanent-magnetic field repels mutually, the permanent-magnetic field polarity that produces when permanent magnetic device 18 is identical with the permanent-magnetic field polarity that the permanent magnetic device 16 of sampling capsule 1 forms, and permanent magnetic device 18 is during near human body, according to the mutual exclusion principle in same polarity magnetic field, sampling capsule 1 in the digestive tract will be away from permanent magnetic device 18, and when the permanent-magnetic field polarity of permanent magnetic device 18 generations and the permanent-magnetic field polarity opposite sex of permanent magnetic device 16 formation of sampling capsule 1, and permanent magnetic device 18 is during near human body, according to the heteropolarity magnetic field principle that attracts each other, sampling capsule 1 in the digestive tract can be near permanent magnetic device 18, permanent-magnetic field polarity by continuous adjusting permanent magnetic device 18, position and direction, attitude and the position that can realize controlling the sampling capsule 1 in the digestive tract.
Described external magnetic drive unit 2 is for having the magnetic driving control device 17 of permanent magnetic device 18, wherein: magnetic driving control device 17 is realized adjustment to take a sample capsule 1 attitude and position by regulating distance between permanent magnetic device 18 and the sampling capsule 1 and direction.
External sampling operation control device 3 comprises in the present embodiment: radio-cell 19 and sampling control equipment 20, the sampling control signal that sampling control equipment 20 generates sends to sampling capsule 1 in the digestive tract by radio-cell 19, digital signal wireless transmitter 12 by sampling capsule 1 receives, and send master control system 10 to, main control 10 is according to sampling control signal, control sampler 8 is carried out the pathological tissue sampling, and the pathological tissue that sampling obtains is admitted to memorizer 15 and preserves.
Described external wireless energy supply device 4 comprises: external wireless energy transmitting coil 19 and power-supply controller of electric 20, wherein: power-supply controller of electric 20 links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil 21 of controlling signal to of sequential, and external wireless energy transmitting coil 21 changes control signal into alternating electromagnetic field and exports sampling capsule 1 to.
The real-time blood processor 5 of described external image comprises: real-time receiver module 23 of external image and computer workstation 24, wherein: the real-time receiver module 23 of external image receives in real time by sampling capsule 1 and sends to external photographic images and be sent to computer workstation 24, computer workstation 24 with pictorial display on computer screen, for operation effector realize taking a sample capsule 1 attitude, Position Control and sampling operation provides the image-guidance function.
This device carries out work in the following manner: the patient is by the sampling capsule 1 of swallowing, external wireless energy supply device 4 is started working, power-supply controller of electric 22 changes dc source the alternating signal of certain frequency into and is sent to external wireless energy transmitting coil 21, external wireless energy transmitting coil 21 changes electric energy in the alternating magnetic field of certain frequency, this alternating magnetic field is received by the wireless energy receiving coil 14 of 1 li of sampling capsule in the body, portion produces alternating electromotive force in coil, this alternating electromotive force is undertaken generating dc source behind the filter rectification by fairing 13, and this dc source is given illuminator 7, sampler 8, analog image pick off 6, master control system 10, image wireless dispensing device 11, digital signal wireless transmitter 12 provides power supply.Illuminator 7, imageing sensor 3, master control system 10 and image wireless dispensing device 11 are promptly started working.Analog image pick off 6 is sent to external by image wireless transporter 11 image of digestive tract wall, receive and be sent to computer workstation 24 by the real-time receiver module 23 of external image, computer workstation 24 with pictorial display on screen, the operator is according to image, control magnetic driving control device 17 changes the position and the direction of permanent magnetic device 18, position and attitude that the permanent magnetic device 16 of the interior sampling of body capsule 1 is followed external permanent magnetic device 18 change, changed attitude and the position of sampling capsule 1 in digestive tract, analog image pick off 6 can detect the image of diverse location and attitude situation lower digestive tract wall and be sent to external, thereby guarantee that the operator carries out the diagnosis of " fixed point " and " orientation " to digestive tract under image-guidance.In diagnostic procedure, when finding digestive tract disease is arranged, under the capsule image-guidance helps, the operator controls sampling capsule 1 near the focus pathological tissue, make the sampler 8 of sampling capsule 1 be close to pathological tissue, the operator utilizes the sampling operation device 20 of external sampling operation control device 3 to send the sampling operation control signal, this control signal transmits sampling capsule 1 by radio-cell 19, receive and be sent to master control system 10 by digital signal wireless transmitter 12, master control system 10 starts sampler 8 work, 8 pairs of pathological tissue samplings of sampler, and the pathological tissue sample that obtains of will taking a sample is sent into memorizer 15 preservations.In sampling process, can the operating body external magnetic region moving device 2 of operator changes the attitude and the position of sampling capsules 1, by means of the image-guidance on the computer workstation 24, to be implemented under the image-guidance sampling operation to pathological tissue.
Claims (7)
1. produce the sample capsule system based on the external magnetic control of wireless energy supply for one kind, it is characterized in that, comprise: the sampling capsule, external magnetic drive unit, external sampling operation control device, external wireless energy supply device and the real-time blood processor of external image, wherein: the sampling capsule is positioned at digestive tract and gathers digestive tract environment information, external sampling operation control device is connected with wireless mode with the sampling capsule and transmits the control information of taking a sample, the real-time blood processor of external image is connected with wireless mode with the sampling capsule and transmits the capsule video information and export with graphics mode, external wireless energy supply device provides energy to the sampling capsule in the alternating magnetic field mode, and external magnetic drive unit realizes that with the mode that the capsular permanent magnetic device of sampling repels mutually by the same polarity permanent-magnetic field external magnetic drive unit changes and adjusting sampling capsule attitude and position.
2. according to claim 1ly produce the sample capsule system based on the external magnetic control of wireless energy supply, it is characterized in that, described sampling capsule comprises: the analog image pick off, illuminator and sampler and shell and be arranged at its inner master control system, the image wireless dispensing device, the digital signal wireless transmitter, fairing, the wireless energy receiving coil, memorizer and permanent magnetic device, wherein: analog image pick off and illuminator are installed in the outboard end of shell, sampler is installed in the outer surface of sampling capsule shell, memorizer is installed between sampling capsule shell and the permanent magnetic device, the wireless energy receiving coil receives the alternating magnetic field that is sent by external wireless energy supply device and is converted into AC electromotive force, fairing links to each other with the wireless energy receiving coil and AC electromotive force is converted into DC voltage, fairing respectively with the analog image pick off, illuminator, master control system, the image wireless dispensing device, sampler links to each other and dc source is provided, the image wireless dispensing device directly with the analog image sensor acquisition to image be sent to external, master control system is realized the adjusting to analog image pick off imaging parameters, master control system control sampler is carried out sampling to pathological tissue, and sampler links to each other with memorizer and exports the pathological tissue sample.
3. according to claim 2ly produce the sample capsule system based on the external magnetic control of wireless energy supply, it is characterized in that described shell is the capsule body shape, both ends are near the smooth ball head.
4. according to claim 2ly produce the sample capsule system based on the external magnetic control of wireless energy supply, it is characterized in that, described external magnetic drive unit is the magnetic driving control device with permanent magnet, and wherein: magnetic driving control device is realized adjustment to take a sample capsule attitude and position by regulating displacement between permanent magnet and the sampling capsule and direction.
5. according to claim 2ly produce the sample capsule system based on the external magnetic control of wireless energy supply, it is characterized in that, described external sampling operation control device is the sampling control equipment with radio-cell, and wherein: sampling control equipment generates sampling control signal and exports the sampling capsule to by radio-cell.
6. according to claim 1ly produce the sample capsule system based on the external magnetic control of wireless energy supply, it is characterized in that, described external wireless energy supply device comprises: external wireless energy transmitting coil and power-supply controller of electric, wherein: power-supply controller of electric links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil of controlling signal to of sequential, and external wireless energy transmitting coil changes control signal alternating electromagnetic field into and exports the sampling capsule to.
7. according to claim 1ly produce the sample capsule system based on the external magnetic control of wireless energy supply, it is characterized in that, the real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image receives in real time by the sampling capsule and sends to external photographic images and be sent to computer workstation, computer operation with pictorial display on computer screen, for operation effector realize taking a sample capsule attitude, Position Control and sampling operation provides the image-guidance function.
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| CN 201110049165 CN102085084B (en) | 2011-03-02 | 2011-03-02 | Sampling capsule system based on wireless energy supply extracorporeal magnetic control |
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| CN 201110049165 CN102085084B (en) | 2011-03-02 | 2011-03-02 | Sampling capsule system based on wireless energy supply extracorporeal magnetic control |
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| CN108784633A (en) * | 2018-06-15 | 2018-11-13 | 安翰光电技术（武汉）有限公司 | Sampling capsule endoscope based on shape memory spring |
| CN109222874A (en) * | 2018-11-09 | 2019-01-18 | 安翰光电技术（武汉）有限公司 | Alimentary canal sampling capsule |
| WO2020102997A1 (en) * | 2018-11-20 | 2020-05-28 | 深圳华大智造科技有限公司 | Sampling device and digestive tract sampling capsule |
| CN112890743A (en) * | 2021-03-04 | 2021-06-04 | 山东大学齐鲁医院 | Magnetic suction type sampling device of capsule endoscope and working method |
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Cited By (10)
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| CN108471887A (en) * | 2015-12-30 | 2018-08-31 | 德沃特奥金有限公司 | Cushion and the sleep with cushion or dependence furniture |
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| WO2020102997A1 (en) * | 2018-11-20 | 2020-05-28 | 深圳华大智造科技有限公司 | Sampling device and digestive tract sampling capsule |
| CN113194807A (en) * | 2018-11-20 | 2021-07-30 | 深圳华大智造科技股份有限公司 | Sampling device and digestive tract sampling capsule |
| CN113194807B (en) * | 2018-11-20 | 2023-09-26 | 深圳华大智造科技股份有限公司 | Sampling device and alimentary canal sampling capsule |
| CN112890743A (en) * | 2021-03-04 | 2021-06-04 | 山东大学齐鲁医院 | Magnetic suction type sampling device of capsule endoscope and working method |
| CN112890743B (en) * | 2021-03-04 | 2021-09-24 | 山东大学齐鲁医院 | Formula sampling device is inhaled to capsule endoscope magnetism |
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