CN103784228B - Based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications - Google Patents
Based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications Download PDFInfo
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- CN103784228B CN103784228B CN201410026234.3A CN201410026234A CN103784228B CN 103784228 B CN103784228 B CN 103784228B CN 201410026234 A CN201410026234 A CN 201410026234A CN 103784228 B CN103784228 B CN 103784228B
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Abstract
The invention discloses a kind of slimming capsule robot based on motor straight line mechanism and wireless telecommunications, be made up of chemically expansible module, mechanical hardware module and wireless communication control module, chemically expansible module produces harmless carbon dioxide by acetic acid and sodium bicarbonate powder haptoreaction expanding baloon is expanded; Mechanical hardware module, based on the straight line output mechanism of stepping lead screw motor, is equipped with the syringe needle triggering reaction blade and realize expanding baloon venting; Wireless communication control module is that wireless module by arranging in slimming capsule robot and external base station are carried out the corner of the mode control step lead screw motor of communication and control the displacement of straight-line mechanism, thus controls the Swelling and contraction of expanding baloon.Size of the present invention is little, and mechanism arrangement is novel, and energy supply control mode is unique, safe and reliable, and it is very convenient to take in and discharge; Implantation process does not injure substantially to health.
Description
Technical field
The present invention relates to a kind of miniature slimming capsule robot controlled based on motor straight line mechanism and wireless telecommunications, be the Medical Equipment for the treatment of obesity disease, belong to the technical field that mechano-electronic subject combines with biomedical sector.
Background technology
According to the data display that world health organization (WHO) is up-to-date, the whole world has 1,600,000,000 adult's healths overweight, 400000000 adult's obesities, and obesity disease can bring out the diseases such as such as hypertension, coronary heart disease, apoplexy, causes each association area and more and more payes attention to.
Nineteen eighty-two; Neiben proposes the certain space that intragastric balloon occupies stomach; thus minimizing hunger sensation; reduce the concept of the intake of food; see reference document [1]: NeibenOG, HarboeH.Intragastricballoonasanartificialbezoarfortreatm entofobesity.Lancet1982; I:198-9, this proposes the effective therapy being proved to be short term therapy obesity.Theoretical based on this, some devices being full of liquid or gas are invented, as GEGB, Ballobes, Wilson-Cook, Tremco, TaylorandDow-Corning etc.See reference document [2]: ForestieriP, DePalmaGD, FormatoA, etal.Heliosphere
baginthetreatmentofsevereobesity:preliminaryexperience [J] .Obesitysurgery, 2006,16 (5): 635-637.But the life-span of these products is not long, easily leaks gas, and desired expansion volume and required optimum expansion time can not get effective control.
At present, that deposits commercially the treatment of obesity of commercial use the most mainly contains BioentricsIntragastricBalloon (BIB) and HeliosphereBag two kinds of products, and these two kinds of devices are equally based on intragastric balloon art principle.Although these two kinds of device achievements are remarkable in treatment is fat, but at the end for the treatment of starts and treats, all need go deep into patient's stomach by gastroscope, bring uncomfortable and painful greatly thus to obese patient, these defects limit its further commercialization process to a certain extent.
In the recent period, the researcher of Singapore achieves the Bariatric device controlling intragastric balloon based on wireless communication technique in the lab, see reference document [3]: KencanaAP, RasouliM, HuynhVA, etal.Aningestiblewirelesscapsulefortreatmentofobesity [C] //EngineeringinMedicineandBiologySociety (EMBC), 2010AnnualInternationalConferenceoftheIEEE.IEEE, 2010:963-966, and preliminary experiment has been done in pig body.But by the restriction of device for mechanical scheme, this device volume size can not make more greatly human normal take.And balloon expansion volume is excessive, can not ignore the impact that person function causes.
Therefore, based on the mechanical conceptual of intragastric balloon art principle modifying device, namely based on motor straight line mechanism, theory of mechanics design is carried out, wireless telecommunications control mode is adopted to carry out information communication and control, the device to reach edible level that research and development volume size is less, and improving device performance to reach better therapeutic effect and to reduce device to the side effect of human body, these seem particularly urgent and important.
Summary of the invention
The present invention proposes a kind of miniature slimming capsule robot controlled based on motor straight line mechanism and wireless telecommunications, object be not easy to take in solve current Bariatric device, the importing of auxiliary facilities brings the problem such as considerable distress, weight reducing treatments DeGrain to patient.
Miniature slimming capsule robot of the present invention, primarily of chemically expansible module, mechanical hardware module, the large module composition of wireless communication control module three, cooperatively interacts between each module and possesses easy assembleability.Chemically expansible module produces harmless carbon dioxide by acetic acid and sodium bicarbonate powder haptoreaction expanding baloon is expanded; Mechanical hardware module, based on the straight line output mechanism of stepping lead screw motor, is equipped with the syringe needle triggering reaction blade and realize expanding baloon venting; Wireless communication control module is that wireless module by arranging in slimming capsule robot and external base station are carried out the corner of the mode control step lead screw motor of communication and control the displacement of straight-line mechanism, thus controls the Swelling and contraction of expanding baloon.
Described miniature slimming capsule robot, specifically comprise main shell, secondary shell, expanding baloon, end cap of giving vent to anger, buffering sponge sheet, sealing film, wireless receiving and dispatching plate, panel, power supply, stepping lead screw motor, trigger reaction blade, sleeve, syringe needle, blade slideway, threaded screw rod, guide rail and slide plate, described time shell is positioned at main shell inside, and interference fit connects therebetween; The inner surface of main shell forms annular sodium bicarbonate powder chambers with the outer surface of time shell, secondary enclosure forms four working chambers, outside the right side of described main shell, arrange wireless receiving and dispatching plate, panel and power supply, power supply is connected for it is powered with stepping lead screw motor by main shell rear end face upward wiring hole.Expanding baloon inflation inlet and sealing film are pressed on end cap of giving vent to anger and realize sealing by the left end of described main shell and interference fit between end cap of giving vent to anger, and are also provided with buffering sponge sheet described giving vent to anger between end cap and sealing film.Described expanding baloon is communicated with sodium bicarbonate powder chamber by carbon dioxide passage on main shell right side.The right side of described shell is arranged motor installing hole, described stepping lead screw motor and described motor installing hole interference fit, realize fixing stepping lead screw motor.The output shaft of described stepping lead screw motor is positioned at time enclosure, described output shaft is threaded screw rod, and described threaded screw rod is threaded slide plate, fixed muffle on described slide plate, sleeve surrounding arranges that three triggering reaction blade, and sleeve free end face arranges syringe needle.Syringe needle is coaxial with sleeve.Below described threaded screw rod, be provided with guide rail, guide rail passes slide plate, for ensureing slide plate threadingly screw mandrel long axis direction rectilinear motion.Guide rail two ends are fixed on motor shaft end baffle plate, and described motor shaft end baffle plate is fixed on motor housing.
Described time inner space is divided into down " П " shape space by dividing plate by enclosure, comprise three acetic acid bag chambeies and a machine operation chamber, described dividing plate is processed with blade slideway, through whole the shell long axis direction of described blade slideway, in each blade slideway both sides, near the right side of time shell, be processed with boss, boss is not less than along the thickness of time shell long axis direction the blade width triggering reaction blade.The quantity of described blade slideway is identical with triggering the quantity of reacting blade.Described boss is positioned at the bulkhead sides of described left working chamber, right working chamber and lower working chamber.
Described shell wall is provided with acetic acid liquid passage, is convenient to acetic acid liquid and enters sodium bicarbonate powder intracavity.Described main shell right side is provided with carbon dioxide passage, for being communicated with sodium bicarbonate powder chamber and expanding baloon.
New theory of mechanics scheme and control mode, make device volume size very little, reach edible level; Expanding volume is moderate can reduce the side effect of gastric expanding baloon to human body, can possess more preferably therapeutic effect.
The invention has the advantages that:
(1) slimming capsule robot of the present invention size is little, and mechanism arrangement is novel, and energy supply control mode is unique, safe and reliable, and it is very convenient to take in and discharge;
(2) slimming capsule robot of the present invention is without the need to putting into or discharge human body by means such as operations, and implantation process does not injure substantially to health;
(3) traditional water pocket method of weight-reducing is very complicated owing to taking in and discharging, often to need to be detained in body more than half a year, therefore likely side effect is more or less caused to health, and this capsule robot is owing to taking in and discharging easily, every capsules holdup time in vivo can be shortened (be such as detained and discharge for two weeks, rest for a few days and then take in), to eliminate or to reduce the side effect to health;
(4) slimming capsule robotic mechanism of the present invention is simple, and processing and fabricating is convenient, and cost is lower, possesses very high economy, provides possibility for realizing its marketization.
Accompanying drawing explanation
Fig. 1 is the overall assembling section of the present invention;
Fig. 2 A and Fig. 2 B is main shell and the working chamber schematic diagram coordinating figure and formed of time shell;
Fig. 3 is the mounting structure figure of motor and cutter;
Fig. 4 A and Fig. 4 B is the give vent to anger structural representation of end cap and sectional view thereof.In Fig. 1
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The invention provides a kind of miniature slimming capsule robot based on motor straight line mechanism and wireless telecommunications, it is a kind of Mechatronic device, used intragastric balloon art principle, described miniature slimming capsule robot mainly comprises chemically expansible module, mechanical hardware module and wireless communication control module three parts.Wherein chemically expansible module mainly comprises end cap 1 of giving vent to anger, buffering sponge sheet 2, sealing film 3 and expanding baloon 8; Mechanical hardware module comprises main shell 4, secondary shell 5, stepping lead screw motor 12, triggers reaction blade 13, sleeve 14, syringe needle 15 and blade slideway 16; Wireless communication control module comprises wireless receiving and dispatching plate 9, panel 10, power supply 11.Wherein expanding baloon 8 inflation inlet, sealing film 3 are tightly pressed in the air-tightness of the assurance device that comes up of end cap 1 of giving vent to anger by chemically expansible module and mechanical hardware module mainly through the interference fit of giving vent to anger between end cap 1 and main shell 4, the cavity structure of secondary shell 5 inside is for depositing the acetic acid bag of chemically expansible module, and the annular gap between main shell 4 and secondary shell 5 is for depositing the sodium bicarbonate powder of chemically expansible module and producing the reaction chamber of carbon dioxide as device; Wireless communication control module is used for mechanical hardware module for power supply and receives and dispatches control signal and control whole device, and described wireless receiving and dispatching plate 9, panel 10 and power supply 11 are deposited in the vestibule of mechanical hardware module main shell 4.
Below in conjunction with Fig. 1 ~ Fig. 3, the intraware of modules in the present invention, connected mode and function are described in detail.
Chemically expansible module is the functional module that intragastric balloon expands and shrinks, and is the primary module that device produces the fat effect for the treatment of.The inflation part that it mainly comprises acetic acid bag chamber 6, sodium bicarbonate powder chamber 7 and expanding baloon 8 are formed and end cap 1 of giving vent to anger, buffering sponge sheet 2 and sealing film 3 form venting buffer portion.Acetic acid liquid is wrapped in acetic acid bag, acetic acid bag is deposited in three working chambers (left working chamber 601, right working chamber 602, lower working chamber 603) of time shell 5, sodium bicarbonate powder leaves in the annular gap between main shell 4 and secondary shell 5, and ring-shape distribution spreads out the contact area increasing sodium bicarbonate powder and acetic acid liquid and react.When reaction starts, acetic acid bag is scratched by the triggering of movement in blade slideway 16 reaction blade 13, acetic acid liquid flows out from acetic acid bag, acetic acid liquid passage 502 via secondary shell 5 wall flows in sodium bicarbonate powder chamber 7, react with sodium bicarbonate powder and produce carbon dioxide, it is inner that carbon dioxide enters expanding baloon 8 by carbon dioxide passage 401, and the expanding baloon 8 of initial contraction is expanded.After the treatment phase, sealing film 3 is punctured by the syringe needle 15 on motor straight line mechanism, and carbon dioxide directly discharges capsule through buffering sponge sheet 2 and the venthole 101 of giving vent to anger on end cap 1, and expanding baloon 8 shrinks.As illustrated in figures 4 a and 4b, described in give vent to anger on end cap 1 there is gas outlet 101, buffering sponge sheet 2 is set between gas outlet 101 and sealing film 3.In buffering sponge sheet 2, the sodium bicarbonate powder of absorption had both possessed the effect of " gas washing " to the carbon dioxide of discharging capsule, can prevent again the slimming capsule robot described in gastric acid corrosion, play cushioning effect.
Mechanical hardware module based on stepping lead screw motor 12, and coordinates main shell 4, secondary shell 5, sleeve 14, triggers the parts such as reaction blade 13, syringe needle 15, blade slideway 16.The outfan of stepping lead screw motor 12 is accurate thread screw mandrel 17 structures, and stepping lead screw motor 12 receives the control impuls sent by singlechip chip, thus makes the slide plate 19 that threaded screw rod 17 is threaded along guide rail 18 direction straight-line displacement; The hollow-core construction of secondary shell 5 forms 3 acetic acid bag chambeies 6 and a machine operation chamber 605, as Fig. 2 A and Fig. 2 B, namely left working chamber 601, right working chamber 602, lower working chamber 603 and 605, four, machine operation chamber working chamber disconnect with dividing plate 604, dividing plate 604 have blade slideway 16; The endoporus of secondary shell 5 right side and main shell 4 right side forms interference fits and is connected and fixed; Preferred further, process two boss pins in the right side of secondary shell 5, realize being connected with the endoporus interference fits on main shell 4 right side by two boss pins.The annular gap that inner surface and the outer surface of time shell 5 of main shell 4 are formed forms sodium bicarbonate powder chamber 7, there is circular port in region, main shell 4 left side corresponding to annular gap, as carbon dioxide passage 401, be communicated with sodium bicarbonate powder chamber 7 and expanding baloon 8, the carbon dioxide reacting generation in sodium bicarbonate powder chamber 7 is enable to be filled with expanding baloon 8 in sodium bicarbonate powder chamber 7, for make acetic acid bag be not triggered when failed call reacts reaction blade 13 scratch, inner space is divided into down " П " shape space by dividing plate 604 by secondary shell 5 inside, comprise 3 acetic acid bag chambeies 6 and a machine operation chamber 605, as shown in Figure 2 A, described dividing plate 604 is processed with blade slideway 16, through whole shell 5 long axis direction of described blade slideway 16, in each blade slideway 16 both sides, near the right side of time shell 5, be processed with boss 501, boss 501 is not less than along the thickness of secondary shell 5 long axis direction the blade width triggering reaction blade 13.The quantity of described blade slideway 16 is identical with triggering the quantity of reacting blade 13.Described boss 501 is positioned at dividing plate 604 side of described left working chamber 601, right working chamber 602 and lower working chamber 603.
What stepping lead screw motor 12 adopted is stepping screw mandrel micromachine, its outfan is threaded screw rod 17 structure, as shown in Figure 3, stepping lead screw motor 12 is fixed among the motor installing hole 503 on time shell 5 right side by the mode of interference fit, and the outfan of described stepping lead screw motor 12 and threaded screw rod 17 are positioned at working chamber 605; Described threaded screw rod 17 is as the output shaft of stepping lead screw motor 12, described threaded screw rod 17 is threaded slide plate 19, slide plate 19 is fixedly connected with sleeve 14, described sleeve 14 is positioned at below threaded screw rod 17, and sleeve 14 long axis direction is parallel to threaded screw rod 17.Below described threaded screw rod 17, arrange guide rail 18, described guide rail 18 is positioned at same vertical plane with described threaded screw rod 17, and is parallel to each other, and described guide rail 18, through slide plate 19, makes slide plate 19 keep axially-movable in threaded screw rod 17 motor process.Described guide rail 18 two ends are fixed on motor shaft end baffle plate 20, and motor shaft end baffle plate 20 is fixed on motor housing.An end face of sleeve 14 is connected on the slide plate 19 of stepping lead screw motor 12, coaxial fixed needle 15 on another end face; Circumferentially arrange three at the outer wall of described sleeve 14 and trigger reaction blade 13, for cutting three the acetic acid bags be positioned in acetic acid bag chamber 6, thus triggering reaction realizes gas replenishment process; Described triggering reacts the outer wall of blade 13 perpendicular to sleeve 14, and blade direction is parallel to sleeve 14 axis, and each triggering reaction blade 13 initial position is positioned at respective blade slideway 16, and is positioned at corresponding boss 501 position.For the described radical length triggering reaction blade 13, meet following condition:
If described sleeve 14 axis is L1 to triggering the distance of reacting blade 13 blade, the distance outside sleeve 14 axis to relevant work chamber dividing plate is L2, and sleeve 14 axis is L3 to the distance of boss 501 outer rim, so there is L1 and is greater than L2, be less than L3.
The tip of described syringe needle 15 is just to sealing film 3 on end cap 1 of giving vent to anger, and after the treatment phase, by the quantity of control impuls, thus realize the length travel of syringe needle 15, thus puncture sealing film 3, the aerofluxus of implement device, concrete structure is as Fig. 3.
Wireless receiving and dispatching plate 9, panel 10 and power supply 11 is mainly comprised in wireless communication control module.Wireless receiving and dispatching plate 9 is responsible for carrying out radio communication by transmitting and receiving 433Mhz radiofrequency signal and external control station; The microcontroller CC430 of singlechip chip and corresponding interface and TI company on panel 10, the wireless signal that responsible process receives also drives stepping lead screw motor 12 to carry out corresponding sports; Power supply 11 is that volume size is little and the button cell that accumulation of energy is large, is responsible for powering to stepping lead screw motor 12, wireless receiving and dispatching plate 9, panel 10.In the course of the work, wireless receiving and dispatching plate 9 receives the command signal of external work station, control impuls is produced through single-chip microcomputer, stepping lead screw motor 12 is carried out to the control of the anglec of rotation, leading screw on outfan changes into the rectilinear motion of slide plate, according to the difference of the number of pulse, thus realize the different displacements of slide plate 19, thus realize the inflation of expanding baloon 8 and the process of venting.It is inner that described wireless receiving and dispatching plate 9, panel 10 and power supply 11 are arranged on the cylindrical structure processed outside main shell 4 right side, described main shell 4 right side is processed with cable hole 504, be convenient to the cabling between power supply 11 and stepping lead screw motor 12, for described stepping lead screw motor 12 is powered.
Whole system mode of operation is as follows:
Slimming capsule robot enters human stomach by normally oral mode; reach its original state; namely acetic acid liquid is wrapped in sour bag in the acetic acid bag chamber 6 being placed on time shell 5; sodium bicarbonate powder is evenly distributed in sodium bicarbonate powder chamber 7; three are triggered protection boss 501 inside that reaction blade 13 rests in time shell 5; acetic acid bag is damaged when original state to prevent triggering reaction blade 13; the inflation inlet of sealing film 3 and expanding baloon 8 is tightly attached on end cap 1 of giving vent to anger and realizes sealing, and expanding baloon 8 is in contraction state.After external base station sends signal, by equipment in emission of radio frequency signals donor, after processing, singlechip chip produces pulse, stepping lead screw motor 12 is controlled, the slide plate 19 that rotarily drives of threaded screw rod 17 produces rectilinear motion, and boss 501 is left in triggering reaction blade 13 motion be thereupon fixed on slide plate 19, is scratched by acetic acid bag.The acetic acid liquid flowed out is reacted with sodium bicarbonate powder via the acetic acid liquid passage 502 of secondary shell 5, produces carbon dioxide and enters expanding baloon 8 by carbon dioxide passage 401, expanding baloon 8 is expanded.When the umber of pulse that single-chip microcomputer sends reaches the number of initial setting, slide plate 19 drives and triggers the stop motion of reaction blade 13, and the syringe needle 15 namely on sleeve 14 has certain distance apart from sealing film 3, does not contact.At the end of the treatment phase, the high-frequency signal of external base station makes single-chip microcomputer produce trigger impulse again, slide plate 19 moves forward, sealing film 3 is punctured by the syringe needle 15 on sleeve 14, it is outward human stomach that expanding baloon 8 inner high voltage gas is slowly discharged to capsule through buffering sponge sheet 2 and the gas outlet 101 of giving vent to anger on end cap 1, therefore the process of discharging carbon dioxide is free from side effects substantially to human body.Whole process modules parts cooperatively interact, and the device that aerofluxus terminates is extremely small because of volume size, can directly excrete, and a therapeutic process terminates completely.
Claims (6)
1. based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications, comprise main shell, expanding baloon, buffering sponge sheet, sealing film, power supply, wireless receiving and dispatching plate and panel, it is characterized in that: described miniature slimming capsule robot, also comprise time shell, end cap of giving vent to anger, stepping lead screw motor, trigger reaction blade, sleeve, syringe needle, threaded screw rod, guide rail and slide plate, described time shell is positioned at main shell inside, and interference fit connects therebetween; The inner surface of main shell forms annular sodium bicarbonate powder chambers with the outer surface of time shell, secondary enclosure forms four working chambers, outside the right side of described main shell, arrange wireless receiving and dispatching plate, panel and power supply, power supply is connected with stepping lead screw motor for it is powered by main shell rear end face upward wiring hole; Expanding baloon inflation inlet and sealing film are pressed on end cap of giving vent to anger and realize sealing by the left end of described main shell and interference fit between end cap of giving vent to anger, and described expanding baloon is communicated with sodium bicarbonate powder chamber by carbon dioxide passage on main shell right side; The right side of described shell is arranged motor installing hole, described stepping lead screw motor and described motor installing hole interference fit, realize fixing stepping lead screw motor; The output shaft of described stepping lead screw motor is positioned at a working chamber of time shell, described output shaft is threaded screw rod, described threaded screw rod is threaded slide plate, fixed muffle on described slide plate, sleeve surrounding arranges that three triggering reaction blade, sleeve free end face arranges syringe needle, and syringe needle is coaxial with sleeve; Below described threaded screw rod, be provided with guide rail, guide rail passes slide plate, for ensureing slide plate threadingly screw mandrel long axis direction rectilinear motion; Guide rail two ends are fixed on motor shaft end baffle plate, and described motor shaft end baffle plate is fixed on motor housing; Described time inner space is divided into down " П " shape space by dividing plate by enclosure, comprise three acetic acid bag chambeies and a machine operation chamber, described dividing plate is processed with blade slideway, through whole the shell long axis direction of described blade slideway, in each blade slideway both sides, near the right side of time shell, be processed with boss, boss is not less than along the thickness of time shell long axis direction the blade width triggering reaction blade; The quantity of described blade slideway is identical with triggering the quantity of reacting blade; Described shell wall is provided with acetic acid liquid passage, for being communicated with acetic acid bag chamber and sodium bicarbonate powder chamber; Described main shell left side is provided with carbon dioxide passage, for being communicated with sodium bicarbonate powder chamber and expanding baloon.
2. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: cover in described outlet side and set out QI KOU, be provided with buffering sponge sheet between gas outlet and sealing film.
3. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: described boss is positioned at three described acetic acid bag intracavity, processes in bulkhead sides.
4. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, it is characterized in that: process two boss pins in the right side of described shell, realized the connection of main shell and time shell by the endoporus interference fits on two boss pins and main shell right side.
5. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: described guide rail and described threaded screw rod are positioned at same vertical plane, and are parallel to each other.
6. the slimming capsule robot based on motor straight line mechanism and wireless telecommunications according to claim 1, is characterized in that: the described radical length triggering reaction blade, meets following condition:
If described sleeve axis is L1 to triggering the distance of reacting blade cutting edge, the distance outside sleeve axis to relevant work chamber dividing plate is L2, and sleeve axis is so there is L1 and be greater than L2, be less than L3 to the distance of boss outer rim.
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| CN201410026234.3A CN103784228B (en) | 2014-01-21 | 2014-01-21 | Based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications |
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| CN201410026234.3A CN103784228B (en) | 2014-01-21 | 2014-01-21 | Based on the slimming capsule robot of motor straight line mechanism and wireless telecommunications |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104799987B (en) * | 2015-04-21 | 2017-03-29 | 北京航空航天大学 | A kind of compact electromagnetic switch drives capsule robot |
| CN110384468B (en) * | 2019-06-04 | 2022-05-10 | 聚融医疗科技(杭州)有限公司 | Capsule endoscope |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0460327A1 (en) * | 1990-07-06 | 1991-12-11 | Miyarisan Kabushiki Kaisha | Medical capsule and apparatus for activating the same |
| CN101669809A (en) * | 2009-09-24 | 2010-03-17 | 上海交通大学 | Active controllable type capsule endoscope robot system |
| CN103083049A (en) * | 2012-12-20 | 2013-05-08 | 北京航空航天大学 | Modularization miniature weight-losing capsule robot based on wireless power supply and communication |
| CN103330608A (en) * | 2013-06-26 | 2013-10-02 | 汉斯·葛根森 | Air balloon device used for lightening body weight and symptoms |
-
2014
- 2014-01-21 CN CN201410026234.3A patent/CN103784228B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0460327A1 (en) * | 1990-07-06 | 1991-12-11 | Miyarisan Kabushiki Kaisha | Medical capsule and apparatus for activating the same |
| CN101669809A (en) * | 2009-09-24 | 2010-03-17 | 上海交通大学 | Active controllable type capsule endoscope robot system |
| CN103083049A (en) * | 2012-12-20 | 2013-05-08 | 北京航空航天大学 | Modularization miniature weight-losing capsule robot based on wireless power supply and communication |
| CN103330608A (en) * | 2013-06-26 | 2013-10-02 | 汉斯·葛根森 | Air balloon device used for lightening body weight and symptoms |
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