CN105919542B - A kind of capsule endoscope controller and its magnet Universal rotary device - Google Patents
A kind of capsule endoscope controller and its magnet Universal rotary device Download PDFInfo
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- CN105919542B CN105919542B CN201610256060.9A CN201610256060A CN105919542B CN 105919542 B CN105919542 B CN 105919542B CN 201610256060 A CN201610256060 A CN 201610256060A CN 105919542 B CN105919542 B CN 105919542B
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- 239000002775 capsule Substances 0.000 title claims abstract description 26
- 238000005096 rolling process Methods 0.000 claims abstract description 74
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000003745 diagnosis Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229940100691 oral capsule Drugs 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
-
- 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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a kind of magnet Universal rotary devices, including speed reducer base, speed reducer base is connect with magnet rotors, and magnet is mounted on the one end of speed reducer base far from swing arm, further include the electric rotating machine for controlling magnet horizontal rotation, the first retarder is connected between electric rotating machine and speed reducer base；Rolling motor for controlling magnet rolling rolls and is connected with the second retarder between motor and magnet；Electric rotating machine is installed in rolling motor in swing arm.Magnet Universal rotary device provided by the present invention realizes rotation and the rolling control to magnet by electric rotating machine with rolling motor respectively, realize the full angle movement of magnet, simultaneously, by the way that electric rotating machine and rolling motor are installed in swing arm, it is mounted remotely from the position of magnet, interference of the magnetic field to motor is effectively reduced or eliminated, ensures the normal reliable operation of the device.The invention also discloses a kind of capsule endoscope controllers including above-mentioned magnet Universal rotary device.
Description
Technical field
The present invention relates to capsule endoscope control device fields, more particularly to a kind of magnet Universal rotary device.In addition,
The invention further relates to a kind of capsule endoscope controllers including above-mentioned magnet Universal rotary device.
Background technology
The active drive of oral capsule endoscope has become a research hotspot of minimally invasive or noninvasive Clinics with control
And forward position, it can significantly reduce diagnosis and treatment period and the pain of patient.The capsule endoscope active accommodation of posture and walking in vivo
Active control can solve this problem of the vision dead zone of intervention diagnosis, therefore it is significant to clinical diagnosis technology.
Currently, the control for capsule endoscope, may be used external magnet formula and manually controls, but in clinic, hand
Dynamic control there are positioning accuracies it is not high, operator's training time is longer the problems such as, and there are larger blind areas for the inspection of capsule.Cause
This, generally use robot arm is accurately positioned control capsule endoscope in stomach instead of manual operation by robot arm
In movement, capsule endoscope robot guides it to be moved in human body using magnet.
The components such as capsule endoscope controller, including motor, retarder, magnet and control device in the prior art,
And motor is typically mounted on retarder, however, since retarder is closer at a distance from magnet, motor is mounted on retarder
On, magnet can be caused to generate interference to motor, influence the normal use of motor.
In addition, in order to realize that the all-around mobile of capsule endoscope, capsule endoscope controller should also full gesture stabilities
The universal continuous movement of magnet is realized in the movement of magnet.
Therefore, the reliability for how improving magnet Universal rotary device realizes the universal continuous movement of magnet, is this field
The current technical issues that need to address of technical staff.
Invention content
The object of the present invention is to provide a kind of magnet Universal rotary device, which is revolved by combined type
Turn arrangement, reduces or eliminates interference of the magnet to motor, use reliability is strong.It is a further object of the present invention to provide a kind of packets
Include the capsule endoscope controller of above-mentioned magnet Universal rotary device.
In order to solve the above technical problems, the present invention provides the following technical solutions：
A kind of magnet Universal rotary device, connect, including speed reducer base with the swing arm of capsule endoscope controller, described to subtract
Fast device seat is connect with magnet rotors, and the magnet is mounted on the one end of the speed reducer base far from the swing arm, further includes：
The electric rotating machine rotated horizontally for controlling the magnet, connects between the electric rotating machine and the speed reducer base
There is the first retarder；
Rolling motor for controlling the magnet rolling, is connected with second between the rolling motor and the magnet and subtracts
Fast device；
The electric rotating machine is installed in the rolling motor in the swing arm.
Preferably, first retarder and second retarder are harmonic speed reducer.
Preferably, belt wheel connection, the rotation are inputted by rotation between the electric rotating machine and first retarder
Input belt wheel is fixedly connected with the input terminal of first retarder；It is set between the electric rotating machine and rotation input belt wheel
It is useful for changing the transition wheel of the rotation input belt wheel mounting height.
Preferably, further include slip ring for acquiring the magnet rotation angle, one end of the slip ring and the swing arm
It is fixedly connected, the other end is fixedly connected with the speed reducer base.
Preferably, further include for installing the magnet mounting base of magnet, being connect with the output end of second retarder
Rolling output shaft and the rolling input shaft being connect with the magnet mounting base, the rolling output shaft and the rolling input shaft
It is connected by belt.
Preferably, it is described rolling motor and second retarder between be connected with for by it is described rolling motor rotation
The input shaft of second retarder is passed to, the input shaft is engaged with the input terminal of second retarder；
The input shaft runs through the inside of first retarder.
Preferably, the extending direction of the rolling input shaft is vertical with the transmission direction of the second retarder.
Preferably, further include for the rotation of the rolling motor to be passed to the rolling input tape of the input shaft
Wheel.
Preferably, it is connected by expansion sleeve between the input shaft and rolling input belt wheel.
The present invention also provides a kind of capsule endoscope controllers, including the magnet Universal rotary dress described in above-mentioned any one
It sets.
Magnet Universal rotary device provided by the present invention, including speed reducer base, the speed reducer base turn with the magnet
Dynamic connection, the magnet are mounted on the one end of the speed reducer base far from the swing arm, further include for controlling the magnet water
The electric rotating machine of flat rotation, is connected with the first retarder between the electric rotating machine and the speed reducer base；It is described for controlling
The rolling motor of magnet rolling, the second retarder is connected between the rolling motor and the magnet；The electric rotating machine with
The rolling motor is installed in the swing arm.The magnet Universal rotary device is turned over by the electric rotating machine with described respectively
It rolls motor and realizes and the rotation of the magnet and rolling are controlled, realize the full angle movement of magnet, meanwhile, by by the rotation
Motor and the rolling motor are installed in the swing arm, that is, are mounted remotely from the position of the magnet, effectively reduce or
Interference of the magnetic field to motor is eliminated, ensures the normal reliable operation of the device.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of specific implementation mode of capsule endoscope controller provided by the present invention；
Fig. 2 is a kind of structural schematic diagram of specific implementation mode of magnet Universal rotary device provided by the present invention；
Wherein：1- electric rotating machines, 2- rollings motor, 3- rolling inputs belt wheel, 4- input shafts, 5- rotate input tape
Wheel, the first retarders of 6-1- input terminal, the first retarders of 6-2 fixing end, the first retarders of 6-3- output end, 7- swing arms, 8- rotations
Transfer shaft, 9- slip rings, 10- speed reducer bases, 11- input gears, 12- output gears, the second retarders of 13-1- input terminal, 13-
The second retarders of 2- fixing end, the second retarders of 13-3- output end, 14- bearing blocks, 15- rolling input shaft, 16- driving pulleys,
17- bearings, 18- synchronous belts, 19- rolling output shaft, 20- driven pulleys, 21- right-hand rotations seat, 22- magnet mounting base, 23- magnet,
24- left-hand rotation seats.
Specific implementation mode
Core of the invention is to provide a kind of magnet Universal rotary device, which is revolved by combined type
Turn arrangement, can effectively reduce or eliminate interference of the magnet to motor, use reliability significantly increases.Another core of the present invention
It is to provide a kind of capsule endoscope controller including above-mentioned magnet Universal rotary device.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
It please refers to Fig.1 and Fig. 2, Fig. 1 is a kind of specific implementation mode of capsule endoscope controller provided by the present invention
Structural schematic diagram, Fig. 2 are a kind of structural schematic diagram of specific implementation mode of magnet Universal rotary device provided by the present invention.
In this embodiment, magnet Universal rotary device includes for installing magnet 23 and subtracting with what moving magnet 23 rotated
Fast device seat 10, and the electric rotating machine 1 for controlling the horizontal rotation of magnet 23 and the rolling motor for controlling the rolling of magnet 23
2。
Wherein, speed reducer base 10 is rotatablely connected with magnet 23, and magnet 23 is mounted on one of speed reducer base 10 far from swing arm 7
End, specifically, further including magnet mounting base 22, magnet 23 is mounted in magnet mounting base 22, and the both ends of magnet mounting base 22 are outstanding
It is located on speed reducer base 10, is rotatablely connected between magnet mounting base 22 and speed reducer base 10.The setting of magnet mounting base 22 is not only
Magnet 23 can be protected from ectocine, and the magnetic pole that can ensure magnet 23 facilitates magnet 23 to capsule towards outside
Control.
In addition, being connected with the first retarder between electric rotating machine 1 and speed reducer base 10；It rolls between motor 2 and magnet 23
It is connected with the second retarder；Electric rotating machine 1 is installed in rolling motor 2 in swing arm 7.
The magnet Universal rotary device to the rotation of magnet 23 and is turned over by electric rotating machine 1 and the realization of rolling motor 2 respectively
The full angle movement of magnet 23 is realized in rolling control, meanwhile, by the way that electric rotating machine 1 and rolling motor 2 are installed in swing arm 7,
It is mounted remotely from the position of magnet 23, effectively reduces or eliminates interference of the magnetic field to motor, ensure the normal of the device
Reliability service.
Specifically, the first retarder and the second retarder are harmonic speed reducer, harmonic speed reducer is not only small, weight
Gently, and precision is high, and parts are few, are easily installed.
Further, between electric rotating machine 1 and the first retarder by rotation input belt wheel 5 connect, rotation input belt wheel 5 with
First retarder input terminal 6-1 is fixedly connected, for the rotation of electric rotating machine 1 to be passed to the first retarder, specifically, rotation
Screw connection may be used between input belt wheel 5 and the first retarder input terminal 6-1.
It is equipped with for changing the transition of rotation input 5 mounting height of belt wheel between electric rotating machine 1 and rotation input belt wheel 5
Wheel, as shown in Figure 1, rolling input belt wheel 3 can be facilitated by increasing transition wheel between electric rotating machine 1 and rotation input belt wheel 5
Installation.
In addition, the device further includes pacifying with the second retarder output end 13-3 rolling input shafts 15 connecting and with magnet
The rolling output shaft 19 that seat 22 connects is filled, rolling output shaft 19 is connect with rolling input shaft 15 by belt.
The peripheral part of second retarder is equipped with bearing block 14, and 14 inner circumferential of bearing block is equipped with bearing 17, for undertaking moment of flexure, protects
Protect the second retarder.
Further, it rolls and is connected between motor 2 and the second retarder for the rotation for the motor 2 that rolls to be passed to second
The input shaft 4 of retarder, input shaft 4 are engaged with the second retarder input terminal 13-1；Input shaft 4 runs through first
The inside of retarder forms combined type hollow structure.
Specifically, passing through input gear 11 and output gear between input shaft 4 and the second retarder input terminal 13-1
The 12 gear pair connections formed, input gear 11 are fixedly connected with input shaft 4, and output gear 12 and the second retarder input
End 13-1 is fixedly connected, and input gear 11 is engaged with output gear 12.
Meanwhile the extending direction of input shaft 4 is vertical with the transmission direction of the second retarder, realizes turning for transmission direction
Become, and then realize that the rolling to magnet 23 controls, i.e., the sum of input gear 11 and the angle of inclination of output gear 12 are 90 °.
Certainly, roll and be equipped with rolling input belt wheel 3 between motor 2 and input shaft 4, that is, the rotation of the motor 2 that rolls by
Transition wheel is transmitted to rolling input belt wheel 3, and then rotation is passed to input shaft 4 by rolling input belt wheel 3.
Preferably, input shaft 4 and rolling input belt wheel 3 between connected by expansion sleeve, expansion sleeve connection relative to
For pin connection or key connection, gapless, transmission accuracy higher.
On the other hand, due to apparatus structure complexity, difficulty is observed for the rotation angle of magnet 23, therefore, in order to just
In the rotation angle of acquisition magnet 23, which further includes the slip ring 9 for acquiring 23 rotation angle of magnet, one end of slip ring 9
It is fixedly connected with swing arm 7, the other end is fixedly connected with speed reducer base 10.Certainly, it is connected on slip ring 9 for acquiring rotational angle
Detection device.
23 rotating device of universal magnet that the present embodiment is provided includes the control of the rotation to magnet 23 and rolling control.
Wherein, rotary drive principle is：
Electric rotating machine 1 is fixed in swing arm 7, and electric rotating machine 1 is transferred to rotation input belt wheel 5 by rotation synchronization belt, leads to
It crosses screw to tighten together with the first retarder input terminal 6-1, the first retarder fixing end 6-2 is fixed by screws in swing arm 7
On, rotating output shaft 8 is connect with the first retarder output end 6-3 with screw, and rotating output shaft 8 is fixed with speed reducer base 10 to be connected
It connects, magnet 23 is connected to by magnet mounting base 22 on speed reducer base 10；Electric rotating machine 1 is transferred to first by rotation synchronization belt
On the input shaft of retarder, rotating output shaft 8 is transferred to after deceleration, rotating output shaft 8 drives speed reducer base 10 to rotate, to
Rotation with moving magnet 23.
Rolling transmission principle be：The motor 2 that rolls is inputted to rolling on belt wheel 3 by the toothed belt transmission that rolls, rolling input
Belt wheel 3 is fixed on by expansion sleeve on input shaft 4, and the other end and the input gear 11 of input shaft 4 fasten, and input tooth
Wheel 11 constitutes gear auxiliary driving with output gear 12, and output gear 12 is fixedly connected with the second retarder input terminal 13-1, and second
Retarder fixing end 13-2 is screwed on speed reducer base 10, and the second retarder output end 13-3 screws are inputted with rolling
Axis 15 is secured together to, and bearing 17 is mounted on bearing block 14, and bearing block 14 is fastened on screw on speed reducer base 10, main belt
Wheel 16 is fixed on rolling input shaft 15, and 16 synchronized band 18 of driving pulley links together with driven pulley 20, driven pulley
20 are fixed on rolling output shaft 19, and rolling output shaft 19 is fastened in magnet mounting base 22, and magnet 23 is fixed on magnet installation
In seat 22, right-hand rotation seat 21 is fastened on screw on bearing block 14, and left-hand rotation seat 24 is equally fixed on speed reducer base 10, and magnet 23 is outstanding
It hangs between right-hand rotation seat 21 and left-hand rotation seat 24；The rotation of rolling motor 2 is transmitted to through the synchronous belt that rolls on input shaft 4, is inputted
Input gear 11 on transmission shaft 4 and the output gear 12 on the input shaft of the second retarder constitute gear auxiliary driving, then through the
Two retarders slow down after be transferred to rolling input shaft 15, roll input shaft 15 on driving pulley 16 be transferred to driven pulley 20 into
And it is transmitted to rolling output shaft 19, rolling output shaft 19 is fixedly connected with magnet mounting base 22, magnet 23, to moving magnet 23
Rolling.
Capsule endoscope controller disclosed in the present embodiment uses hollow harmonic wave composite structure, and motor is arranged in far
On mechanical arm from magnet 23, it is possible to prevente effectively from strong magnetic disturbance.Meanwhile being rolled and being arranged using combined type, realize magnet 23
Pitch angle and azimuth two-freedom control, also, capsule endoscope controller using combined type rolling arrangement it is vertical
Intersect axle construction, two-way power source can be provided simultaneously, realizes two-freedom independent control.
Include that above-mentioned magnet Universal rotary fills the present invention also provides one kind other than above-mentioned magnet Universal rotary device
The capsule endoscope controller set, refer to the prior art for other Each parts of the capsule endoscope controller, herein not
It repeats again.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Magnet Universal rotary device provided by the present invention is described in detail above.It is used herein specifically a
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
Protection domain in.
Claims (9)
1. a kind of magnet Universal rotary device is connect with the swing arm (7) of capsule endoscope controller, including speed reducer base (10),
The speed reducer base (10) is rotatablely connected with magnet (23), and the magnet (23) is mounted on the speed reducer base (10) far from described
One end of swing arm (7), which is characterized in that further include：
Electric rotating machine (1) for controlling the magnet (23) horizontal rotation, the electric rotating machine (1) and the speed reducer base
(10) the first retarder is connected between；
Rolling motor (2) for controlling the magnet (23) rolling, connects between the rolling motor (2) and the magnet (23)
It is connected to the second retarder；
The electric rotating machine (1) is installed in the rolling motor (2) in the swing arm (7)；
It is connected between the rolling motor (2) and second retarder for transmitting the rotation of the rolling motor (2)
To the input shaft (4) of second retarder, the input shaft (4) and the second retarder input terminal (13-1)
Engagement；The input shaft (4) runs through the inside of first retarder.
2. magnet Universal rotary device according to claim 1, which is characterized in that first retarder and described second
Retarder is harmonic speed reducer.
3. magnet Universal rotary device according to claim 2, which is characterized in that the electric rotating machine (1) and described the
Belt wheel (5) is inputted between one speed reducer by rotation to connect, the rotation input belt wheel (5) and the first retarder input terminal
(6-1) is fixedly connected；It is equipped between the electric rotating machine (1) and rotation input belt wheel (5) defeated for changing the rotation
Enter the transition wheel of belt wheel (5) mounting height.
4. magnet Universal rotary device according to claim 3, which is characterized in that further include for acquiring the magnet
(23) one end of the slip ring (9) of rotation angle, the slip ring (9) is fixedly connected with the swing arm (7), the other end and the deceleration
Device seat (10) is fixedly connected.
5. magnet Universal rotary device according to claim 1, which is characterized in that further include for installing magnet (23)
Magnet mounting base (22), the rolling output shaft (19) being connect with the second retarder output end (13-3) and with the magnet
The rolling input shaft (15) of mounting base (22) connection, the rolling output shaft (19) pass through belt with the rolling input shaft (15)
Connection.
6. magnet Universal rotary device according to claim 5, which is characterized in that the extension of the rolling input shaft (15)
Direction is vertical with the transmission direction of the second retarder.
7. magnet Universal rotary device according to claim 1, which is characterized in that further include for by the rolling motor
(2) rotation passes to the rolling input belt wheel (3) of the input shaft (4).
8. magnet Universal rotary device according to claim 7, which is characterized in that the input shaft (4) with it is described
It is connected by expansion sleeve between rolling input belt wheel (3).
9. a kind of capsule endoscope controller, including magnet Universal rotary device, which is characterized in that the magnet Universal rotary dress
It is set to the magnet Universal rotary device described in claim 1 to 8 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256060.9A CN105919542B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller and its magnet Universal rotary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256060.9A CN105919542B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller and its magnet Universal rotary device |
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| Publication Number | Publication Date |
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| CN105919542A CN105919542A (en) | 2016-09-07 |
| CN105919542B true CN105919542B (en) | 2018-09-18 |
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| CN201610256060.9A Active CN105919542B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller and its magnet Universal rotary device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307838B (en) * | 2017-07-05 | 2023-06-27 | 楠青医疗技术(上海)有限公司 | External navigation device of capsule type endoscope |
| CN107374572A (en) * | 2017-07-05 | 2017-11-24 | 上海楠青自动化科技有限公司 | A kind of magnet Universal rotary device to be navigated in vitro for capsule endoscopic |
| JP7183499B2 (en) * | 2018-06-02 | 2022-12-06 | アンコン メディカル テクノロジーズ （シャンハイ） カンパニー リミテッド | Capsule endoscope control equipment |
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| CN101001563A (en) * | 2004-06-21 | 2007-07-18 | 韩国科学技术研究院 | Capsule type endoscope control system |
| CN103222842A (en) * | 2013-04-18 | 2013-07-31 | 安翰光电技术（武汉）有限公司 | Device and method for controlling movement of capsule endoscope in human alimentary canal |
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| KR100540758B1 (en) * | 2003-06-17 | 2006-01-10 | 한국과학기술연구원 | Capsule type robot system |
| JP4542326B2 (en) * | 2003-09-30 | 2010-09-15 | オリンパス株式会社 | Capsule type medical device guidance system |
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| EP2347699B1 (en) * | 2010-01-22 | 2018-11-07 | Novineon Healthcare Technology Partners Gmbh | Capsule type endoscope including magnetic drive |
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|---|---|---|---|---|
| CN101001563A (en) * | 2004-06-21 | 2007-07-18 | 韩国科学技术研究院 | Capsule type endoscope control system |
| CN104302224A (en) * | 2012-05-07 | 2015-01-21 | 奥林巴斯医疗株式会社 | Guide device |
| CN103222842A (en) * | 2013-04-18 | 2013-07-31 | 安翰光电技术（武汉）有限公司 | Device and method for controlling movement of capsule endoscope in human alimentary canal |
| CN103637803A (en) * | 2013-11-14 | 2014-03-19 | 上海交通大学 | Permanent magnet and induction coil based capsule endoscopy space positioning system and positioning method |
| CN205729294U (en) * | 2016-04-22 | 2016-11-30 | 重庆金山科技（集团）有限公司 | A kind of capsule endoscope controller and Magnet Universal rotary device thereof |
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| Publication number | Publication date |
|---|---|
| CN105919542A (en) | 2016-09-07 |
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