CN103040426A - System and method for controlling running orbit of capsule endoscope - Google Patents
System and method for controlling running orbit of capsule endoscope Download PDFInfo
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- CN103040426A CN103040426A CN2012105589460A CN201210558946A CN103040426A CN 103040426 A CN103040426 A CN 103040426A CN 2012105589460 A CN2012105589460 A CN 2012105589460A CN 201210558946 A CN201210558946 A CN 201210558946A CN 103040426 A CN103040426 A CN 103040426A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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Abstract
The invention relates to a system and a method for controlling the running orbit of a capsule endoscope, wherein the control system comprises a plurality of magnetic coils, a magnet power supply system, a microprocessor and a handle control system; the handle control system is electrically connected with the magnet power supply system through the microprocessor; the magnet power supply system is electrically connected with the magnetic coils on different planes; the handle control system is pushed through hand holding so as to generate coordinate information; the coordinate information is converted into a current amplitude value associated with corresponding magnetic coil through the microprocessor; the current amplitude value is output to the corresponding magnetic coil, so that the magnetic coils generate magnetic field attraction consistent with thrust force of the handle, the capsule endoscope with magnet is controlled to run vertically or horizontally in intestines and stomach of human body through the handle control system, and the purposes of shooting the walls of the intestines and stomach in particular orientation and obtaining more clear and accurate images are achieved.
Description
Technical field
The present invention relates to capsule endoscope, refer to especially a kind ofly can control control system and control method with conversion to running orbit in the intestines and stomach of capsule endoscope.
Background technology
Capsule endoscopic is the High Tech Products of medical development, it day by day is widely used in the medically clinical diagnosis of various diseases, adopt painless AT monitoring, diagnosing, enter after oral in human stomach or the intestinal, by its inner stomach of its lens assembly shooting at close range or intestinal wall situation, to carry out clinical diagnosis, alleviate patient's clinical misery.
After capsule endoscope enters in the body, need to carry out image to the stomach of human body, capsule endoscope is in free state, free-floating in body fluid, because its position is uncertain, captured image has too large randomness, people are difficult to judge the orientation of the image of taking the photograph sometimes, be difficult to judge the integral status in the stomach, or institute's tumor of taking the photograph is in its position where, image that how to confirm is taken the photograph under one's belt the orientation and to carry out the controllability shooting be a major issue that needs to be resolved hurrily.
Therefore, be necessary to provide a kind of control system and the control method that can control the 3 D stereo running orbit of capsule endoscope in the intestines and stomach, controllably the intestines and stomach wall is clearly taken, improve the accuracy and precision of medical diagnosis.
Summary of the invention
Based on the deficiencies in the prior art, it is a kind of by handle controlling magnetic field direction and size, with control system and the method that the 3 D stereo running orbit of the capsule endoscope in the human body is controlled and adjusted that main purpose of the present invention is to provide.
The invention provides a kind of control system of capsule endoscope running orbit, it comprises several solenoids, the electric magnet electric power system, microprocessor and handle controlling system, described handle controlling system is electrically connected with the electric magnet electric power system by microprocessor, described electric magnet electric power system is electrically connected with several solenoids, by hand-held driving handle control system, produce coordinate information, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid through microprocessor, export corresponding solenoid to, so that the generation of the solenoid of energising is identical with the handle thrust direction, the magnetic attraction of the correspondence that is in proportion is with the running orbit of capsule endoscope in the human body the intestines and stomach of control carry magnet.
Preferably, described several solenoids can not on same level, vertically or abreast move in the human body the intestines and stomach with the capsule endoscope by handle controlling system control carry magnet.
Preferably, described microprocessor comprises the coordinate transformation module, wherein be provided with the coordinate axes of handle controlling system and the coordinate axes of electric magnet power supply amplitude, described coordinate transformation module receives described handle controlling system and produces the first coordinate information that comprises handle thrust and export on the coordinate axes of handle controlling system, be translated into the coordinate axes that the second coordinate information that comprises the current amplitude value exports to electric magnet power supply amplitude, feed back to the electric magnet electric power system to power to solenoid, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.Handle thrust is converted into electromagnetic force, to produce magnetic field the running orbit of capsule endoscope in the intestines and stomach is positioned directed quantitative control and adjustment.
Wherein, be provided with the coordinate axes of the solenoid that comprises the solenoid positional information in the described electric magnet electric power system, wherein, the sensing of the coordinate axes of the coordinate axes of described solenoid, electric magnet power supply amplitude and the coordinate axes of handle controlling system is identical.Under "on" position, the magnetic resultant direction that solenoid produces is identical with the direction of current amplitude, and the correspondence that is in proportion is so that the capsule endoscope of the carry magnet in the human body the intestines and stomach moves along the handle thrust direction.
Preferably, described solenoid has three at least, is electrically connected with the electric magnet electric power system respectively, and wherein at least two solenoids carry out level run to drive capsule endoscope in gastric juice on same level; One of them solenoid be arranged at two solenoids in addition under, drive it and move vertically.
Preferably, described solenoid is provided with five, wherein four solenoids are arranged on the same level, the capsule endoscope that is used for the control carry magnet is done horizontal movement at gastric juice, another solenoid is located at the below of described four solenoids, is used for the control capsule endoscope and vertically moves at gastric juice.
The present invention also provides a kind of control method of capsule endoscope running orbit, and it may further comprise the steps:
Step 1) allows the patient swallow the capsule endoscope of carry magnet, and capsule endoscope enters in patient's the intestines and stomach;
Step 2) by the electric magnet electric power system solenoid is switched on, make it to produce magnetic field, human body enters and carries out the coat of the stomach detection in the described magnetic field;
The handle of step 3) driving handle control system, produce the in the same way electric current of equivalent with the DM electric power system, make a concerted effort with the magnetic of controlling the in the same way equivalent that corresponding solenoid produced, drive the capsule endoscope horizontal or vertical operation under the effect that magnetic is made a concerted effort in the human body the intestines and stomach.
In a preferred embodiment of the invention, can further include following steps:
Step 31) handle in the described handle controlling system is promoted and is produced the first coordinate information that comprises handle pushing direction value.When driving handle flatly, drive respective electrical magnetic coil energising on the same level and also produce magnetic and make a concerted effort, with capsule endoscope level run in gastric juice of rotating band Magnet; When downward driving handle, drive the solenoid energising of below and produce magnetic and make a concerted effort, with capsule endoscope vertically operation in gastric juice of rotating band Magnet.
Step 32) in, in the coordinate transformation module of microprocessor, be translated into the second coordinate information that comprises the current amplitude value, feed back to the electric magnet electric power system to power to solenoid, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
Compared with prior art, the control system of capsule endoscope operation attitude of the present invention, control by handle orientations and application of force size to handle controlling system, characterize out the first coordinate information of handle thrust at the coordinate axes of the handle controlling system of microprocessor, described the first coordinate information is converted to the second coordinate information of the current amplitude value that characterizes the electric magnet power supply by coordinate transferring, and to corresponding solenoid output current, to produce the magnetic field of specific direction, magnetic is made a concerted effort identical with the direction of handle thrust, correspondence is in proportion, handle thrust is converted to the size of the supply current of corresponding solenoid, be converted to again the big or small magnetic force of special angle, and then reach by handle magnetic direction and the big or small purpose of controlling.In addition, the present invention is by being arranged at the plurality of electromagnetic coil of Different Plane, formation is to the pull strength vector of the 3 D stereo of capsule endoscope, thereby can carry out multidirectional control to its 3 D stereo movement locus at gastric juice, to reach the intestines and stomach wall of taking particular orientation, obtain the purpose of more clear accurately image, help to make a definite diagnosis quickly, the accuracy and precision that has greatly improved diagnosis or detected.
Description of drawings
Fig. 1 is the structural representation of capsule endoscope of the present invention;
Fig. 2 is the floating state figure of capsule endoscope of the present invention in gastric juice;
Fig. 3 is that capsule endoscope of the present invention is attracted and running status figure by solenoid in gastric juice;
Fig. 4 is the system block diagram of the control system of capsule endoscope running orbit of the present invention;
Fig. 5 is the coordinate diagram of solenoid of the control system of capsule endoscope running orbit of the present invention;
Fig. 6 is the coordinate diagram of handle controlling system of the control system of capsule endoscope running orbit of the present invention;
Fig. 7 is the coordinate diagram of solenoid power supply amplitude of the control system of capsule endoscope running orbit of the present invention;
Fig. 8 is the magnetic line of force coordinate diagram of the control system of capsule endoscope running orbit of the present invention.
The specific embodiment
Referring to figs. 1 through shown in Figure 3, the invention provides a kind of control system 100 of capsule endoscope running orbit, it comprises several solenoids 10, electric magnet electric power system 20, microprocessor 30 and handle controlling system 40, described handle controlling system 40 is electrically connected with electric magnet electric power system 20 by microprocessor 30, described electric magnet electric power system 20 is electrically connected with several solenoids 10, by hand-held driving handle control system 40, produce coordinate information, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid 10 through microprocessor 30, export corresponding solenoid 10 to, so that the solenoid 10 of energising produces identical with the handle thrust direction, the magnetic attraction of the correspondence that is in proportion is with the running orbit of capsule endoscope 50 in the human body the intestines and stomach of control carry magnet.
In the present invention, described control system 100 is in conjunction with handle controlling system 40, come the DM electric power system to produce with it the in the same way current amplitude value of equivalent by driving handle, transfer to the solenoid 10 on the corresponding coordinate position, to produce the make a concerted effort operation of capsule endoscope 40 in the human body the intestines and stomach of rotating band Magnet of correspondingly magnetic.By controlling the direction of the magnetic line of force that produces, drive the operation of capsule endoscope, reach and control its in vivo purpose of running orbit.
In the present invention, described solenoid 10 has three at least, is electrically connected with electric magnet electric power system 20 respectively.Described several solenoids can not on same level, vertically or abreast move in the human body the intestines and stomach with the capsule endoscope by handle controlling system 40 control carry magnets.Wherein, at least two solenoids carry out level run to drive capsule endoscope in gastric juice on same level; In conjunction with the solenoid on same level not with it, drive it and move vertically again.
In a preferred embodiment of the invention, described solenoid 10 is provided with five, wherein four solenoids 10 are arranged on the same level, described solenoid 10 is provided with four, be arranged on the same level, symmetrical in twos, and form right angle between the two adjacent solenoids 10, the capsule endoscope that is used for the control carry magnet is done horizontal movement at gastric juice, also have a solenoid to be located at the below of described four solenoids, be used for the control capsule endoscope and vertically move at gastric juice.
With reference to shown in Figure 5, by the orientation of solenoid 10 coordinate axes is set, on the coordinate axes of this solenoid, establishing lateral coordinates is T1-T2 direction, along slope coordinate is U1-U2 direction, is the U3 direction perpendicular to the extended vertical coordinate in above-mentioned plane.Solenoid A is located on the U1 direction of coordinate axes, solenoid B is located on the U2 direction of coordinate axes, solenoid C is located on the T1 direction of coordinate axes, solenoid D is located on the T2 direction of coordinate axes, solenoid E is located at the Z1 direction of coordinate axes, and corresponding sign is carried out in the position to each solenoid on coordinate axes.Solenoid is appreciated that described coordinate axes can arrange according to position and the number of solenoid, so that can controlledly produce magnetic field in the specific direction of coordinate axes.
In the present invention, described microprocessor 30 comprises the coordinate transformation module, in described coordinate transformation module, be provided with the coordinate axes of handle controlling system and the coordinate axes of electric magnet power supply amplitude, when driving handle, the coordinate transformation module receives described handle controlling system 40 the first coordinate information that comprises handle pushing direction value that produces, be translated into the second coordinate information that comprises the current amplitude value, feed back to electric magnet electric power system 20 to power to solenoid 10, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
With reference to shown in Figure 6, among described coordinate transformation module, on the coordinate axes of handle controlling system, this coordinate axes X1 is corresponding with the T1 of solenoid coordinate axes, coordinate axes X2 is corresponding with the T2 of solenoid coordinate axes, coordinate axes Y1 is corresponding with the U1 of solenoid coordinate axes, coordinate axes Y2 is corresponding with the U2 of solenoid coordinate axes, on the coordinate axes of handle controlling system, to X1 and Y1 direction driving handle, the coordinate information of handle thrust is (X0, Y0), the angle between thrust direction and the coordinate axes X1 is the θ angle, has set thus the first coordinate information (X0 of handle thrust, Y0), the unit of coordinate is newton.With reference to shown in Figure 7, on the coordinate axes of electric magnet power supply amplitude, this coordinate axes A1 is corresponding with the X1 of handle controlling system coordinate axes, coordinate axes A2 is corresponding with the X2 of handle controlling system coordinate axes, coordinate axes B1 is corresponding with the Y1 of handle controlling system coordinate axes, coordinate axes B2 is corresponding with the Y2 of handle controlling system coordinate axes, process through the coordinate transformation module, the first coordinate information (X0 of handle thrust vectoring information will be characterized, Y0), be converted into the sign electric magnet for the second coordinate information (A0, B0) of electrical information, the unit of coordinate is ampere, and the angle between the sense of current and the coordinate axes A1 also is the θ angle.Be provided with the coordinate axes of solenoid in the electric magnet electric power system, characterize the relative position of each solenoid and size and the angle that magnetic is made a concerted effort.Because the coordinate axes of described solenoid, the sensing of the coordinate axes of electric magnet power supply amplitude and the coordinate axes of handle controlling system is identical, transform by electromagnetism, to solenoid A output current B0, to solenoid C output current A0, on the coordinate axes of solenoid, coordinate unit is Gauss, solenoid A produces magnetic force U0, solenoid C produces magnetic force T0, corresponding with minute supply current of electric magnet, the magnetic of the three-dimensional information that magnetic force U0 and magnetic force T0 produce with joint efforts (T0, U0) is suitable with the second coordinate information (A0, B0) of the supply current of electric magnet.Under "on" position, through the conversion of the coordinate axes between the variant Vector Message, control of azimuth information with handle, be converted to the information of supply current amount, export corresponding solenoid to, so that the magnetic resultant direction that solenoid produces is identical with the direction of current amplitude, the correspondence that is in proportion, the capsule endoscope that drives the carry magnet in the human body the intestines and stomach moves along the handle pushing direction.
With reference to shown in Figure 8, swim in the capsule endoscope in the gastric juice, magnetic force by five groups of solenoids and gastric juice form whole control system to the pull strength vector of capsule endoscope 3 D stereo, thereby can control capsule endoscope 3 D stereo movement locus under one's belt its buoyancy.
Shown in seeing figures.1.and.2, described capsule endoscope 50 comprises capsule housing 1 and is packaged in wherein light source 2, camera lens 3, antenna 4, battery 5, main control board 6 and Magnet 7, camera lens 3 is arranged at the one or both ends of battery 5, it is other that light source 2 is installed in camera lens 3, antenna 4 is sheathed on the camera lens 3, main control board 6 and battery 5 are electrically connected with each module respectively, described Magnet 7 is sheathed on the periphery of battery 5, produce interaction with the magnetic field with outside hot-wire coil generation, change capsule endoscope running orbit under one's belt.Wherein, with reference to Fig. 2 and shown in Figure 3, described Magnet 7 is arranged on battery one end at capsule endoscope middle part, so that the two ends counterweight of capsule endoscope is unequal, axle center and the center of gravity of capsule endoscope do not coincide, and make it can be kept upright to float in the gastric juice and take.Capsule endoscope is under the action of a magnetic field of energising solenoid, capsule endoscope in gastric juice buoyancy F1 and the magnetic field gravitation F2 of solenoid act on the capsule endoscope, make it vertically to move towards the direction of magnetic field gravitation F2, direction and size by the external magnetic field that produces of energising solenoid, with the running orbit of control capsule endoscope in the human body the intestines and stomach, reach the purpose that control is taken.
Preferably, described capsule endoscope 50 is provided with two camera lenses 3 being located at its two ends, can absorb the wall situation of two side in the stomach by two camera lenses 3, and can change by the control rotation operation attitude of capsule endoscope, optionally required coat of the stomach is taken.
The number of turn of solenoid is larger, and energising intensity is larger, and the electromagnetic field intensity that produces is larger, and is larger to the magnetic force of capsule endoscope, and is higher to the sensitivity of its running orbit control.In the present invention, the number of turn of described solenoid is between the 300-2000 circle.Described capsule endoscope is built in the magnetic field that the solenoid of energising produces, and perpendicular in the draw direction of solenoid.Like this, when capsule endoscope enters in the human stomach, it is free-running operation in gastric juice, in the time of in entering the magnetic field that solenoid produces, the magnetic line of force that solenoid produces parallels with the operation of capsule endoscope, makes it to produce graviational interaction to capsule endoscope and causes the change of its running orbit.
The present invention also provides a kind of control method of capsule endoscope running orbit, and it may further comprise the steps:
Step 1) allows the patient swallow the capsule endoscope of carry magnet, and capsule endoscope enters in patient's the intestines and stomach;
Step 2) by the electric magnet electric power system solenoid is switched on, make it to produce magnetic field, human body enters and carries out the coat of the stomach detection in the described magnetic field;
The handle of step 3) driving handle control system, produce the in the same way electric current of equivalent with the DM electric power system, make a concerted effort with the magnetic of controlling the in the same way equivalent that corresponding solenoid produced, drive the capsule endoscope horizontal or vertical operation under the effect that magnetic is made a concerted effort in the human body the intestines and stomach.
In a preferred embodiment of the invention, in the step 3), also further comprising the steps:
Step 31) handle in the described handle controlling system is promoted and is produced the first coordinate information that comprises handle pushing direction value; When driving handle flatly, drive respective electrical magnetic coil energising on the same level and also produce magnetic and make a concerted effort, with capsule endoscope level run in gastric juice of rotating band Magnet; When downward driving handle, drive the solenoid energising of below and produce magnetic and make a concerted effort, with capsule endoscope vertically operation in gastric juice of rotating band Magnet.
Step 32) in, in the coordinate transformation module of microprocessor, be translated into the second coordinate information that comprises the current amplitude value, feed back to the electric magnet electric power system to power to solenoid, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
Control by handle orientations and application of force size to handle controlling system, characterize out the first coordinate information of handle thrust at the coordinate axes of the handle controlling system of microprocessor, described the first coordinate information is converted to the second coordinate information of the current amplitude value that characterizes the electric magnet power supply by coordinate transferring, and to corresponding solenoid output current, to produce the magnetic field of specific direction, magnetic is made a concerted effort identical with the direction of handle thrust, correspondence is in proportion, handle thrust is converted to the size of the supply current of corresponding solenoid, be converted to again the big or small magnetic force of special angle, and then reach by handle magnetic direction and the big or small purpose of controlling, utilize this technology that the running orbit of the capsule endoscope in the human body is controlled in real time and adjusted, to reach the intestines and stomach wall of taking particular orientation, obtain the purpose of more clear accurately image, help to make a definite diagnosis quickly the accuracy and precision that has greatly improved diagnosis or detected.In the present invention, not only can control the level run track of capsule endoscope, and running orbit that can its vertical direction, reach the purpose of it being carried out the control of 3 D stereo movement locus.
Claims (10)
1. the control system of a capsule endoscope running orbit, it is characterized in that: comprise several solenoids, the electric magnet electric power system, microprocessor and handle controlling system, described handle controlling system is electrically connected with the electric magnet electric power system by microprocessor, described electric magnet electric power system is electrically connected with several solenoids, by hand-held driving handle control system, produce coordinate information, described coordinate information is converted to the current amplitude value that is associated with corresponding solenoid through microprocessor, export corresponding solenoid to, so that the generation of the solenoid of energising is identical with the handle thrust direction, the magnetic attraction of the correspondence that is in proportion is with the running orbit of capsule endoscope in the human body the intestines and stomach of control carry magnet.
2. the control system of capsule endoscope running orbit according to claim 1, it is characterized in that: described several solenoids can not on same level, vertically or abreast move in the human body the intestines and stomach with the capsule endoscope by handle controlling system control carry magnet.
3. the control system of capsule endoscope running orbit according to claim 2, it is characterized in that: described microprocessor comprises the coordinate transformation module, wherein be provided with the coordinate axes of handle controlling system and the coordinate axes of electric magnet power supply amplitude, described coordinate transformation module receives described handle controlling system and produces the first coordinate information that comprises handle thrust and export on the coordinate axes of handle controlling system, be translated into the coordinate axes that the second coordinate information that comprises the current amplitude value exports to electric magnet power supply amplitude, feed back to the electric magnet electric power system to power to solenoid, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
4. the control system of capsule endoscope running orbit according to claim 3, it is characterized in that: the coordinate axes that is provided with the solenoid that comprises the solenoid positional information in the described electric magnet electric power system, wherein, the sensing of the coordinate axes of the coordinate axes of the coordinate axes of described solenoid, electric magnet power supply amplitude and handle controlling system is identical.
5. the control system of capsule endoscope running orbit according to claim 4, it is characterized in that: under "on" position, the magnetic resultant direction that solenoid produces is identical with size with the direction of current amplitude, so that the capsule endoscope of the carry magnet in the human body the intestines and stomach moves along the handle thrust direction.
6. the control system of each described capsule endoscope running orbit according to claim 1-5, it is characterized in that: described solenoid has three at least, be electrically connected with the electric magnet electric power system respectively, wherein at least two solenoids are arranged on the same plane, one of them solenoid be arranged at described two solenoids under.
7. the control system of the capsule endoscope running orbit described in according to claim 6, it is characterized in that: described solenoid is provided with five, wherein four solenoids are arranged on the same level, the capsule endoscope that is used for the control carry magnet is done horizontal movement at gastric juice, another solenoid be located at described four solenoids under, be used for the control capsule endoscope and vertically move at gastric juice.
8. the control method of a capsule endoscope running orbit is characterized in that may further comprise the steps:
Step 1) allows the patient swallow the capsule endoscope of carry magnet, and capsule endoscope enters in patient's the intestines and stomach;
Step 2) by the electric magnet electric power system solenoid is switched on, make it to produce magnetic field, human body enters and carries out the coat of the stomach detection in the described magnetic field;
The handle of step 3) driving handle control system, produce the in the same way electric current of equivalent with the DM electric power system, make a concerted effort with the magnetic of controlling the in the same way equivalent that corresponding solenoid produced, drive the capsule endoscope horizontal or vertical operation under the effect that magnetic is made a concerted effort in the human body the intestines and stomach.
9. the control method of capsule endoscope running orbit according to claim 8 is characterized in that: in the step 3), further comprise:
Step 31) handle in the described handle controlling system is promoted and is produced the first coordinate information that comprises handle pushing direction value;
Step 32) in, in the coordinate transformation module of microprocessor, be translated into the second coordinate information that comprises the current amplitude value, feed back to the electric magnet electric power system to power to solenoid, described the first coordinate information is identical with the second coordinate information direction, and correspondence is in proportion.
10. the control method of capsule endoscope running orbit according to claim 9, it is characterized in that: in step 31) in, when driving handle flatly, drive the respective electrical magnetic coil energising on the same level and produce magnetic and make a concerted effort, with capsule endoscope level run in gastric juice of rotating band Magnet; When downward driving handle, drive the solenoid energising of below and produce magnetic and make a concerted effort, with capsule endoscope vertically operation in gastric juice of rotating band Magnet.
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| CN2012105589460A CN103040426A (en) | 2012-12-20 | 2012-12-20 | System and method for controlling running orbit of capsule endoscope |
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| CN2012105589460A CN103040426A (en) | 2012-12-20 | 2012-12-20 | System and method for controlling running orbit of capsule endoscope |
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| CN107997734A (en) * | 2017-11-29 | 2018-05-08 | 重庆金山医疗器械有限公司 | A kind of control method of capsule endoscope, apparatus and system |
| CN111956170A (en) * | 2020-07-31 | 2020-11-20 | 上海安翰医疗技术有限公司 | Motion control system and motion control method for capsule endoscope |
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| CN203122345U (en) * | 2012-12-20 | 2013-08-14 | 深圳市资福技术有限公司 | Controlling system of running track of capsule endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2014071822A1 (en) * | 2012-11-07 | 2014-05-15 | 深圳市资福技术有限公司 | Capsule endoscope |
| CN107997734A (en) * | 2017-11-29 | 2018-05-08 | 重庆金山医疗器械有限公司 | A kind of control method of capsule endoscope, apparatus and system |
| CN111956170A (en) * | 2020-07-31 | 2020-11-20 | 上海安翰医疗技术有限公司 | Motion control system and motion control method for capsule endoscope |
| CN111956170B (en) * | 2020-07-31 | 2023-11-10 | 上海安翰医疗技术有限公司 | Motion control system and motion control method for capsule endoscope |
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