CN106264427B - Capsule endoscope and its control device, system and detection method - Google Patents
Capsule endoscope and its control device, system and detection method Download PDFInfo
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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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- 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
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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
- A61B1/045—Control thereof
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Abstract
The present invention relates to capsule endoscope system, discloses capsule endoscope and its control device, system and detection method, is provided with the shell of capsule endoscope：First image sensing module, positioned at the inner end of shell, and the first view data when capsule endoscope is advanced in collection detected body；Second image sensing module, positioned at the inside portion of the shell, and the second view data in capsule endoscope stop motion in collection detected body；Posture position measurement module, detect the posture and positional information of capsule endoscope；Motion control drive module, capsule endoscope motion is driven under outside magnetic fields and/or changes posture；Central control module control motion control drive module driving capsule endoscope motion and/or change posture, when the first image sensing module is in running order or during off working state, the second image sensing module is in off working state or working condition.With the effect improved to the ocean weather station observation operating efficiency in detected body.
Description
Technical field
The present invention relates to capsule endoscope system, in particular it relates to a kind of capsule endoscope, capsule endoscope control dress
Put, capsule endoscope system and capsule endoscope detection method.
Background technology
Capsule endoscope system is that one kind can enter human intestines and stomach as vivo inserted inspection and treatment medical technology
The intelligent mini-medical instrument of medical science observation is carried out in the detected bodys such as road.In the prior art, capsule endoscope is for quilt
Detecting internal image data acquisition modality generally includes two kinds：One kind is peeped by the way that image capture module is arranged in capsule
The end of mirror, to be gathered picture number on a large scale for the front region on capsule endoscope direct of travel or rear area
According to；Another kind is the sidepiece by the way that image capture module to be arranged in capsule endoscope, and by by capsule endoscope along axis
The mode that direction rotates obtains 360 ° of view data of detected body inner tubal wall, is thus adapted to a certain area in detected body
Realize ocean weather station observation in domain.For the first image data acquisition modality, in the case of the focal area in discovery detected body,
Because capsule endoscope has itself development length, and image capture module is arranged in the end on the bearing of trend of capsule endoscope
Portion, therefore position and the posture of adjustment capsule endoscope are not easily accomplished in portion's narrow space in detected body, it is especially difficult
Positive focal area can be directed to be adjusted to image capture module, thus this image acquisition modality is not suitable for ocean weather station observation.
For second of image data acquisition modality, the focus in detected body is being detected due to the position of image capture module
During region, image capture module and target vessel wall are at a distance of relatively small compared near and visual angle during due to side view, for a certain
The detected body inner tubal wall in fixed-area region needs to be spliced after carrying out multiple IMAQ, therefore once complete realizing
The activity duration of ground observation detected body inner tubal wall is relatively long, and its operating efficiency is low.
The content of the invention
Problem to be solved by this invention is to provide a kind of glue improved to the ocean weather station observation operating efficiency in detected body
Intracapsular sight glass, capsule endoscope control device, capsule endoscope system and capsule endoscope detection method.
To achieve these goals, according to an aspect of the present invention, the present invention provides a kind of capsule endoscope, the capsule
Endoscope-use in importeding into detected body the view data that gathers in the detected body, the capsule endoscope can with it is tested
Survey external capsule endoscope control device and carry out radio communication, the capsule endoscope has the shell of capsule shape, and should
It is provided with shell：First image sensing module, described first image sensing module are located at the inner end of the shell, and in institute
State when capsule endoscope is advanced for gathering the first view data in detected body；Second image sensing module, described second
Image sensing module is located at the inside portion of the shell, and in the capsule endoscope stop motion for gathering detected body
The second interior view data；Posture position measurement module, for detecting the capsule endoscope relative to the appearance in detected body
State and positional information；Motion control drive module, for driven under outside magnetic fields the capsule endoscope motion and/or
Change posture；Central control module, for controlling the work shape of described first image sensing module and the second image sensing module
State, come from the posture and positional information of the posture position measurement module for analyzing and processing, and from the capsule
Endoscope control device receive control instruction with control the motion control drive module drive the capsule endoscope motion and/
Or change posture, wherein, when described first image sensing module is in running order, second image sensing module is in
Off working state；When second image sensing module is in running order, described first image sensing module is in non-work
Make state.
Alternatively, the motion control drive module includes：Motion-control module, come from the center control for receiving
The control instruction of molding block, to control the size and Orientation for the control electric current to be exported, and output control electric current；Armature winding
Module, for receiving the control electric current and can produce corresponding electromagnetic torque under the effect of outside static magnetic field, with driving
The capsule endoscope motion and/or change posture.
Alternatively, the armature winding module is three armature axis windings, and the three armature axis winding receives three independences respectively
The control electric current that can change polarity and size.
Alternatively, the motion control drive module is permanent magnet, the permanent magnetism under outside controllable time-varying magnetic field effect
Body drives the capsule endoscope motion and/or changes posture.
Alternatively, the posture position measurement module includes 3-axis acceleration sensor.
Alternatively, the working condition of described first image sensing module and second image sensing module includes figure
As the beginning, end and frequency acquisition of data acquisition.
Alternatively, the capsule endoscope also includes：First lighting module, for entering in described first image sensing module
Illumination needed for being provided during row IMAQ；Second lighting module, for carrying out IMAQ in second image sensing module
When provide needed for illumination.
Alternatively, described first image sensing module and first lighting module are located at described the inner of the shell
Portion, second image sensing module and second lighting module are located at the inside portion of the shell, the shell
Inner end and the inside portion have transparent end cap respectively.
Alternatively, the central control module is additionally operable to control first lighting module and the second lighting module respectively
Open and close.
Alternatively, the central control module is additionally operable to control first lighting module and the second lighting module respectively
Brightness of illumination.
Alternatively, the capsule endoscope also includes cache module, for caching described first image data, described second
View data and the posture and positional information, the central control module extracted from the cache module posture and
Positional information.
Alternatively, the capsule endoscope also includes the first wireless communication module, for by described first image data,
Two view data and the posture and positional information are sent to the capsule endoscope control device, and are used for from the capsule
Endoscope control device receives the control instruction.
Alternatively, the capsule endoscope also includes power supply module.
Alternatively, the power supply module is micro button cell.
Alternatively, printed circuit board (PCB) is provided with the shell, described first image biography is integrated with the printed circuit board (PCB)
Feel module, the second image sensing module, posture position measurement module, central control module and the motion control drive module.
According to another aspect of the present invention, the present invention also provides a kind of capsule endoscope control device, the capsule endoscope
Control device is used cooperatively with capsule endoscope as described above, and the capsule endoscope control device includes：Magnetic field produces mould
Block, for producing the external magnetic field；Second wireless communication module, refer to for sending the control to the central control module
Order, and for receiving the described first image data, the second view data and the analyzing and processing that are sent from the capsule endoscope
The posture and positional information afterwards；The aobvious control work station of data, for the control instruction of input operation personnel, and record and show
The posture of the capsule endoscope and position and the first image and the second image gathered.
Alternatively, the aobvious control work station of the data is used for the intensity for controlling magnetic field caused by the magnetic field generating module.
Alternatively, in the case that the motion control drive module includes the armature winding module, the magnetic field production
Raw module produces static magnetic field；In the case that the motion control drive module is permanent magnet, the magnetic field generating module production
Raw controllable time-varying magnetic field.
According to another aspect of the invention, the present invention also provides a kind of capsule endoscope system, the capsule endoscope system
Including capsule endoscope as described above and capsule endoscope control device, the central control module is controlled first figure
As the posture and positional information after data, the second view data and analyzing and processing are sent to second radio communication mold
Block, the magnetic field generating module provide the external magnetic field for the motion control drive module.
In accordance with a further aspect of the present invention, the present invention also provides a kind of capsule endoscope detection method, and methods described uses
Capsule endoscope system as described above, this method comprise the following steps：S1：The aobvious control work station of the data is controlled to the center
Molding block sends control instruction, to control capsule endoscope to be advanced in the detected body, described first image sensing module
In running order and described second image sensing module is in off working state, and described first image passes during traveling
Feel module and described first image number is gathered to the front region on the direct of travel in the detected body with the first fixed frequency
According to the posture position measurement module detects the capsule endoscope relative to posture and positional information in detected body, institute
Central control module is stated to analyze and process the posture and positional information that detect；S2：It is every by what is collected in step S1
Posture and positional information after individual described first image data and analyzing and processing are sent to the aobvious control work station of the data in real time；
S3：Each described first image data that the aobvious control work station of the data receives to step S2 are entered with the focal zone pattern to prestore
Row matching, when the view data with the focal zone pattern match in described first image data be present, matched by calculating
Position of the view data in whole described first image data, and corresponding to matching view data posture and position
Information, calculate the capsule endoscope and be moved to described second from the current pose of second image sensing module and position
Posture knots modification and displacement knots modification needed for the posture of image sensing module alignment focal zone and position；Work as described first image
When the view data with the focal zone pattern match being not present in data, the capsule endoscope continues on；S4：According to step
The posture knots modification and displacement knots modification that rapid S3 is obtained, the aobvious control work station of the data send corresponding to the central control module
Control instruction, to control the motion control drive module to drive the capsule endoscope that posture and change in displacement occurs, make
Obtain the second image sensing module alignment focal zone；S5：The aobvious control work station of the data is sent to the central control module
Control instruction, to control the capsule endoscope to be maintained at by the posture after step S4 adjustment and position, and described in control
Second image sensing module is in running order, described first image sensing module is in off working state, second image
Sensing module gathers multiple second view data with the second fixed frequency to the focal zone in the detected body；S6：Weight
Step S1-S5 is performed again, until the capsule endoscope is discharged outside the detected body.
Pass through above-mentioned technical proposal, capsule endoscope pass through the first image sensing module and the second image in detected body
Sensing module intersects the view data ordinatedly gathered in detected body, and central control module control motion drive module is in outside
Capsule endoscope motion is driven under magnetic fields and/or changes posture, wherein capsule endoscope passes through the first image when advancing
First view data of the front region on the bearing of trend of the capsule endoscope in sensing module collection detected body, in capsule
Sight glass stop motion and gathered by the second image sensing module when needing a certain region in ocean weather station observation detected body tested
Second view data in the side view region surveyed on the bearing of trend of internal capsule endoscope, so as to more comprehensively accurately to tested
Survey is observed in vivo, is which thereby enhanced to the ocean weather station observation operating efficiency in detected body, is shortened and utilize capsule endoscope
Once be detected the time of vivo detection.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the structural representation according to the capsule endoscope of the specific embodiment of the present invention；
Fig. 2 is the structural representation according to the capsule endoscope of the another embodiment of the present invention；
Fig. 3 is the structural representation according to the capsule endoscope of the another embodiment of the present invention；
Fig. 4 is the structural representation according to the capsule endoscope of the another embodiment of the present invention；
Fig. 5 is the structural representation according to the capsule endoscope of the another embodiment of the present invention；
Fig. 6 is the structural representation according to the capsule endoscope of the another embodiment of the present invention；
Fig. 7 is the structural representation according to the capsule endoscope system of an embodiment of the invention；
Fig. 8 is the state to be worked according to the first image sensing module of the capsule endoscope of an embodiment of the invention
Schematic diagram；
Fig. 9 is the state to be worked according to the second image sensing module of the capsule endoscope of an embodiment of the invention
Schematic diagram；
Figure 10 is the flow chart according to the capsule endoscope detection method of an embodiment of the invention；
Figure 11 is motion control drive module and the magnetic field production for showing to use in the capsule endoscope detection method in Figure 10
The structural representation of the working condition of raw module, wherein motion control drive module include three armature axis windings, and magnetic field produces dress
It is set to static magnetic field generation device；
Figure 12 is the flow chart according to the capsule endoscope detection method of another embodiment of the invention.
Figure 13 is motion control drive module and the magnetic field production for showing to use in the capsule endoscope detection method in Figure 12
The structural representation of the working condition of raw module, wherein, motion control drive module is permanent magnet, and magnetic field generation device is three axles
Helmholtz coil magnetic field generation device.
Description of reference numerals
The capsule endoscope control device of 1 capsule endoscope 2
The image sensing module of 100 shell 101 first
The posture position measurement module of 102 second image sensing module 103
The central control module of 104 motion control drive module 105
The lighting module of 106 first lighting module 107 second
The 108 transparent cache modules of end cap 109
The wireless communication module of 110 power supply module 111 first
The motion-control module of 112 armature winding module 113
The wireless communication module of 201 magnetic field generating module 202 second
The aobvious control permanent magnet of work station 1041 of 203 data
1121 3 armature axis windings
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
According to an aspect of the present invention, as shown in figure 1, the present invention provides a kind of capsule endoscope 1, the capsule endoscope
1 is used to imported into the view data gathered in detected body in the detected body, and the capsule endoscope 1 can be with detected body
Outer capsule endoscope control device carries out radio communication, and the capsule endoscope 1 has the shell 100 of capsule shape, and should
It is provided with shell 100：First image sensing module 101, described first image sensing module 101 are located at the shell 100
Inner end, and when the capsule endoscope 1 is advanced for gathering the first view data in detected body；Second image sensing
Module 102, second image sensing module 102 are located at the inside portion of the shell 100, and stop in the capsule endoscope 1
For gathering the second view data in detected body when only moving；Posture position measurement module 103, for detecting the capsule
Endoscope 1 is relative to the posture and positional information in detected body；Motion control drive module 104, for making in external magnetic field
Posture is moved and/or changes with the lower driving capsule endoscope 1；Central control module 105, for controlling described first image
The working condition of the image sensing module 102 of sensing module 101 and second, come from the posture position measurement for analyzing and processing
The posture and positional information of module 103, and control instruction is received to control from the capsule endoscope control device
Stating motion control drive module 104 drives the capsule endoscope 1 to move and/or change posture, wherein, work as described first image
When sensing module 101 is in running order, second image sensing module 102 is in off working state；When second figure
When picture sensing module 102 is in running order, described first image sensing module 101 is in off working state.
Wherein, capsule endoscope control device of the central control module 105 outside detected body receive control instruction (such as
For capsule endoscope 1 to be moved into a certain position or changes the control instruction of posture), in the traveling process of capsule endoscope 1
In, central control module 105 controls the bearing of trend of capsule endoscope 1 in the first image sensing module 101 collection detected body
During the first view data of the front region on (being often referred to the direct of travel of capsule endoscope 1), at the second image sensing module 102
In off working state, and when 1 stop motion of capsule endoscope, central control module 105 controls the second image sensing module 102
The second view data in detected body is gathered, now, the first image sensing module 101 is in off working state.In addition, motion
Control drive module 104 can be driven based on the control instruction that central control module 105 is received under outside magnetic fields
Capsule endoscope 1 moves and/or changed posture so that capsule endoscope 1, which is in, enables to the second image sensing module 102 right
The posture and location status in the accurate region to be observed, so as to which the second image sensing module 102 is in the stop motion of capsule endoscope 1
In the state of gather detected body in the bearing of trend of capsule endoscope 1 on side view region the second view data.As above institute
State, capsule endoscope 1 is intersected in detected body by the first image sensing module 101 and the second image sensing module 102 matches somebody with somebody
The view data in ground collection detected body is closed, so as to more comprehensively accurately to being observed in detected body, which thereby enhance
To the ocean weather station observation operating efficiency in detected body, shorten and be once detected vivo detection using capsule endoscope 1
Time.
Alternatively, as shown in Fig. 2 the motion control drive module 104 includes：Motion-control module 113, for receiving
Come from the control instruction of the central control module 105, to control the size and Orientation for the control electric current to be exported, and it is defeated
Go out control electric current；Armature winding module 112, for receiving the control electric current and can be produced under the effect of outside static magnetic field
Corresponding electromagnetic torque, to drive the capsule endoscope 1 to move and/or change posture.Wherein, the external static magnetic field can
To be provided by capsule endoscope control device, or the magnetic for producing external static magnetic field can also be separately provided in outside
Field generation device.It is used to control the electric current to be exported such as PID controller in addition, motion-control module 113 can use
The device of size and Orientation, the control instruction based on central control module 105 is (such as that will be moved by endoscope 1
To a certain ad-hoc location or the control instruction changed to particular pose), export correspondingly sized and direction to armature winding module 112
Control electric current, armature winding module 112 outside static magnetic field effect under produce corresponding electromagnetic torque so that capsule
Endoscope 1 moves and/or changed posture.
Alternatively, as shown in figure 11, the armature winding module 112 is three armature axis windings 1121, three armature axis around
Group 1121 receives three independent control electric currents that can change polarity and size respectively.Here, three armature axis windings
1121 refer to there is independent closed-loop path and respective three groups of electricity being arranged in mutual vertically in same mounting bracket respectively
Pivot coil.Specifically, sat for winding the center of the mounting bracket of three groups of armature coils respectively as the xyz of the origin of coordinates
On parameter, respectively along three groups of x-y plane, x-z-plane and y-z plane winding with independent closed-loop path in mounting bracket
Armature coil, motion-control module 113 can export in real time to three groups of armature coils of armature winding module 112 respectively to be passed through
Calculate three control electric currents adjusting out, thus capsule endoscope 1 by by each three groups of armature coils in outside static magnetic field
The lower power caused by difference synthesized by electromagnetic torque of effect, so as to drive capsule endoscope 1 to move and/or change posture.
Alternatively, as shown in figure 13, the motion control drive module 104 is permanent magnet 1041, in outside controllable time-varying
The permanent magnet 1041 drives the capsule endoscope 1 to move and/or change posture under magnetic fields.Here, when outside controllable
Varying magnetic field can by detected body outside three axle Helmholtz coil magnetic field generation devices provide, by controlling the three axles last of the twelve Earthly Branches
The intensity of the controllable time-varying magnetic field of Mu Huozi coil magnetic field generation devices and direction, motion control drive module 104 drive capsule
Endoscope 1 moves and/or changed posture.
Alternatively, the posture position measurement module 103 includes 3-axis acceleration sensor, the 3-axis acceleration sensor
The acceleration information of each component on 3-D walls and floor can be detected, so as to all-sidedly and accurately reflect capsule endoscope 1
Kinetic property.Here, central control module 105 divides the acceleration information detected by 3-axis acceleration sensor
Analysis handles (such as being calculated by integrated form to obtain speed or displacement information), so as to which the control of central control module 105 will divide
Posture and positional information after analysis processing are sent to outside in real time.But the present invention is not limited to this, posture position measurement mould
Block 103 can also use the other sensors such as three-axis gyroscope or 3-axis acceleration sensor and three-axis gyroscope etc. other
The combining form of sensor detects the posture of capsule endoscope 1 and positional information.
Alternatively, the working condition of the image sensing module 102 of described first image sensing module 101 and second includes
Beginning, end and the frequency acquisition of image data acquiring.Wherein, the first image sensing module 101 and the second image sensing mould
Block 102 can be ccd image sensor or MOS image sensor, before IMAQ
Can be to being illuminated in detected body, the first image sensing module 101 or the second image sensing module 102 are received to being detected
The reflected light of internal exposure and opto-electronic conversion is carried out to it, so as to generate the first view data or the second image in detected body
Data.When capsule endoscope 1 is directed to and advanced in detected body, central control module 105 controls the first image sensing mould
Block 101 with first frequency start gather detected body in the first view data, when the first image sensing module 101 collect by
When detecting internal some region of lesion image data, capsule endoscope 1 is moved to required position and changes predetermined posture
Under state, central control module 105 controls the first image sensing module 101 to terminate the collection of the first view data, and controls
Second image sensing module 102 starts to gather the second view data in detected body with second frequency.Thus, the first figure is passed through
The second view data that the first view data gathered as sensing module 101 and the second image sensing module 102 gather so that doctor
Business personnel can obtain sufficient view data, thus improve accuracy rate of diagnosis.
Alternatively, as shown in figure 3, the capsule endoscope 1 also includes：First lighting module 106, for described first
Image sensing module 101 carries out illumination needed for offer during IMAQ；Second lighting module 107, in second image
Sensing module 102 carries out illumination needed for offer during IMAQ.Wherein, the first lighting module 106 and the second lighting module 107 can
Think LED illumination array module, it can launch the illumination lights such as incandescence.First lighting module 106 is in the first image sensing
The region that view data can be gathered before the first view data of collection of module 101 into detected body in a flashing manner carries
For illumination.Accordingly, the second lighting module 107 can also be with before the second image sensing module 102 gathers the second view data
The region that the mode of flicker to be gathered view data into detected body provides illumination.
Alternatively, as shown in Figures 1 to 7, the first image sensing module 101 and the first lighting module 106 are positioned at described outer
The inner end of shell 100, the second image sensing module 102 and the second lighting module 107 are located at the described interior of the shell 100
Sidepiece, the inner end of the shell 100 and the inside portion have transparent end cap 108 respectively.As shown in Figure 8 and Figure 9, first shines
The light of the bright lighting module 107 of module 106 and second transmitting and the light returned from detected body internal reflection can be passed through on shell 100
Each self-corresponding transparent end lid 108, make it that the first image sensing module 101 and the second image sensing module 102 are respective respectively
The the first view data A and the second view data B in detected body are accordingly collected, wherein, the first view data A is located at glue
Front region on the bearing of trend of intracapsular sight glass 1, the second view data B are located at the side view region of capsule endoscope 1.Here,
First image sensing module 101 can also be provided with two, the number of the first lighting module 106 and the first image sensing module 101
Amount is corresponding, and each corresponding first image sensing module 101 and corresponding first lighting module 106 are located at shell respectively
100 both ends, so as to which capsule endoscope 1 can collect capsule endoscope 1 optionally or respectively during traveling
The front region of (direct of travel for being often referred to capsule endoscope 1 herein) and the first picture number of rear area on bearing of trend
According to while so as to further improve the operating efficiency of capsule endoscope 1, additionally it is possible to improve accuracy rate of diagnosis.It is in addition, right
Can also be provided with the second image sensing module 102 and the second lighting module 107 it is multiple, can be according to the reality of operating personnel
Need to be rationally designed.
Alternatively, the central control module 105 is additionally operable to control first lighting module 106 and second to illuminate respectively
The opening and closing of module 107.For example, central control module 105 controls the first lighting module 106 in the first image sensing module
101 collections are opened, gathered per closing after the view data of frame first before per the view data of frame first.Accordingly, center control
Module 105 control the second lighting module 107 opened before the second image sensing module 102 gathers every view data of frame second,
Collection is closed afterwards per the view data of frame second.But the present invention is not limited to this, for example, the control of central control module 105 the
One lighting module 106 is interior during the work of the first image sensing module 101 to remain unlatching, and central control module
105 the second lighting modules 107 of control are interior during the work of the second image sensing module 102 to remain unlatching.
Alternatively, the central control module 105 is additionally operable to control first lighting module 106 and second to illuminate respectively
The brightness of illumination of module 107, outside operator can illuminate mould according to the first lighting module of adjustment 106 and second is actually needed
The brightness of illumination of block 107.As a result, the image tool obtained after handling the first view data and the second view data
There is fine definition, in order to the diagnosis of medical worker.
Alternatively, as shown in figure 4, the capsule endoscope 1 also includes cache module 109, for caching first figure
As data, second view data and the posture and positional information, the central control module 105 is from the caching mould
The posture and positional information are extracted in block 109.Here, central control module 105 controls the first image sensing module 101 respectively
The first view data collected and the second view data are accordingly each cached to caching with the second image sensing module 102
In module 109, and control posture position measurement module 103 that the posture detected and positional information are cached into cache module
In 109.Central control module 105 can extract posture and positional information from cache module 109 and it is analyzed and processed.
But the present invention is not limited to this, central control module 105 itself can have store function, by by the first image sensing mould
The second view data and posture position that the first view data that block 101 collects, the second image sensing module 102 collect
The posture and positional information that measurement module 103 detects are stored into central control module 105, now, central control module 105
After being analyzed and processed to posture and positional information, by the posture after analyzing and processing and positional information and the first view data and the
Two view data are together sent to outside.
Alternatively, as shown in figure 5, the capsule endoscope 1 also includes the first wireless communication module 111, for by described in
First view data, the second view data and the posture and positional information are sent to the capsule endoscope control device,
And for receiving the control instruction from the capsule endoscope control device.Specifically, the first wireless communication module 111 is postponed
Extract the first view data and the second view data in storing module 109, and to first view data and the second view data, logical
Cross the posture after central control module 105 analyzes and processes and positional information the signal transacting such as be modulated to generate wireless signal,
So as to which the wireless signal is sent into capsule endoscope control device.In addition, the first wireless communication module 111 is peeped out of capsule
After mirror control device receives control instruction, the control instruction is sent to central control module 105, to cause center control mould
Block 105 controls such as the first image sensing module 101, the second image sensing module 102, the illumination of the first lighting module 106, second
The working condition of the corresponding modules such as module 107, motion control drive module 104 and posture position measurement module 103.
Alternatively, as shown in fig. 6, the capsule endoscope 1 also includes power supply module 110, the power supply module 110 can divide
Do not driven to the first image sensing module 101, the second image sensing module 102, posture position measurement module 103, motion control
Module 104, central control module 105, the first lighting module 106, the second lighting module 107, the nothing of cache module 109 and first
Line communication module 111 is powered.
Alternatively, the power supply module 110 is micro button cell, and there is the micro button cell switch can distinguish
Power or stop power supply to corresponding module as described above.Here, power supply module 110 can also be other electric power storages such as capacitor
Part.
Alternatively, printed circuit board (PCB) is provided with the shell 100, described first image is integrated with the printed circuit board (PCB)
Sensing module 101, the second image sensing module 102, posture position measurement module 103, central control module 105 and the motion
Control drive module 104.In addition, it is also integrated with the first lighting module 106, the second lighting module 107, cache module 109, first
Wireless communication module 111, power supply module 110 etc..Wherein, printed circuit board (PCB) can be flexible PCB or hard circuit board, this
Invention is not particularly limited to this.Thus capsule endoscope 1 has the excellent of overall structure miniaturization, low energy consumption and high reliability
Point.
As shown in fig. 7, according to another aspect of the present invention, a kind of capsule endoscope control device 2 is also provided, in the capsule
Sight glass control device 2 is used cooperatively with capsule endoscope 1 as described above, and the capsule endoscope control device 2 includes：Magnetic field
Generation module 201, for producing the external magnetic field；Second wireless communication module 202, for the central control module
105 send the control instruction, and for receiving the described first image data sent from the capsule endoscope 1, the second figure
As the posture and positional information after data and analyzing and processing；The aobvious control work station 203 of data, for input operation personnel's
Control instruction, and record and show the posture and position and the first image and the second figure that are gathered of the capsule endoscope 1
Picture.
Wherein, after the aobvious control work station 203 of data receives the control instruction of operating personnel, control instruction is sent in capsule
In the central control module 105 of sight glass 1, motion control drive module 104 is referred to based on the control that central control module 105 is received
Order, under the effect of the external magnetic field that magnetic field generating module 201 provides capsule endoscope 1 can be driven to move and/or change posture.
In addition, the aobvious control work station 203 of data can be by by the first view data received by the second wireless communication module 202 and in advance
The focal area view data deposited is matched, and corresponding control is sent to central control module 105 when matching entries be present
Instruction so that after capsule endoscope 1 is moved to precalculated position and/or changes and arrive predetermined posture, the control of central control module 105 the
One image sensing module 101 terminates the first view data of collection, and opens the second image sensing module 102 and start to gather the second figure
As data.Thus, by capsule endoscope control device 2 as described above capsule endoscope 1 can be controlled to collect in capsule
The view data of forward vision areas and side view region on the bearing of trend of sight glass 1, it is detected so as to more fully observe
Internal image.
In addition, the aobvious control work station 203 of data can include being used for capsule to the control instruction that central control module 105 is sent
Endoscope 1 starts to advance, stops advancing, changes the posture of capsule endoscope 1 and the instruction of position, for controlling the first image to pass
The instruction of the working condition such as beginning, end and the frequency acquisition of the first image data acquiring of module 101 is felt, for controlling the
The instruction of the working conditions such as beginning, end and the frequency acquisition of the second image data acquiring of two image sensing modules 102, use
In unlatching, closing and instruction of brightness of illumination for controlling the first lighting module 106 and the second lighting module 107 etc..But this hair
It is bright to be not limited to this, for example, the aobvious control work station 203 of data can also be sent for controlling the power supply mould in capsule endoscope 1
The control instruction that block 110 starts or closed, refer to for controlling magnetic field generating module 201 to start or stop to produce the control in magnetic field
Order.But the present invention is not only defined in the above.
Alternatively, the aobvious control work station 203 of the data is used to control the strong of magnetic field caused by the magnetic field generating module 201
Degree.Specifically, before the aobvious control work station 203 of data sends control instruction to capsule endoscope 1, according to being actually needed control magnetic
Field generation module 201 wants the intensity in caused magnetic field.Thus, it is directed in detected body and carries out in capsule endoscope 1
During image data acquiring, by motion control drive module 104 under the magnetic fields that magnetic field generating module 201 is provided
Capsule endoscope 1 can be neatly driven to move and/or change posture.
Alternatively, it is described in the case that the motion control drive module 104 includes the armature winding module 112
Magnetic field generating module 201 produces static magnetic field；In the case that the motion control drive module 104 is permanent magnet 1041, institute
State magnetic field generating module 201 and produce controllable time-varying magnetic field.Here, when the motion control drive module 104 includes the armature
During winding module 112, glue is driven by the control electric current for controlling motion-control module 113 to be exported to armature winding module 112
Intracapsular sight glass 1 moves and/or changed posture；When the motion control drive module 104 is permanent magnet 1041, by controlling magnetic
Controllable time-varying magnetic field caused by generation module 201 drives capsule endoscope 1 to move and/or change posture.Due in capsule
The course of work of sight glass 1 in both cases described in the above, will not be repeated here.
According to another aspect of the invention, a kind of capsule endoscope system is also provided, the capsule endoscope system is included such as
Upper described capsule endoscope 1 and capsule endoscope control device 2, the central control module 105 are controlled first figure
As the posture and positional information after data, the second view data and analyzing and processing are sent to second radio communication mold
Block 202, the magnetic field generating module 201 are that the motion control drive module 104 provides the external magnetic field.Pass through as above institute
The capsule endoscope 1 stated and capsule endoscope control device 2 are used cooperatively, and capsule endoscope 1 passes through in detected body
One image sensing module 101 and the second image sensing module 102 intersect the view data ordinatedly gathered in detected body, i.e., logical
Cross motion state, the first image sensing module 101 and the second image that capsule endoscope control device 2 controls capsule endoscope 1
The working condition of sensing module 102 and bearing of trend (the traveling side for including some region of capsule endoscope 1 can be collected
To) on the first view data of forward vision areas and second view data in side view region, so as to more comprehensively accurately to tested
Survey is observed in vivo, is which thereby enhanced to the ocean weather station observation operating efficiency in detected body, is shortened and utilize capsule endoscope 1
Once be detected the time of vivo detection.
In accordance with a further aspect of the present invention, a kind of capsule endoscope detection method is also provided, methods described is using as above institute
The capsule endoscope system stated, this method comprise the following steps：S1：The aobvious control work station 203 of data is sent out to central control module 105
Send control instruction, to control capsule endoscope 1 to be advanced in detected body, the first image sensing module 101 it is in running order
And the second image sensing module 102 is in off working state, the first image sensing module 101 is solid with first during traveling
Determine frequency f1First view data { g is gathered to the front region on the direct of travel in detected body1,g2,…,gi(wherein gi
Represent the view data of the ith of the first image sensing module 101 collection), posture position measurement module 103 detects capsule endoscope
1 is carried out relative to the posture and positional information in detected body, central control module 105 to the posture and positional information that detect
Analyzing and processing；S2：The each first view data { g that will be collected in step S11,g2,…,giAnd analyzing and processing after
Posture and positional information are sent to the aobvious control work station 203 of data in real time；S3：The aobvious control work station 203 of data receives to step S2
Each first view data { g1,g2,…,giWith the focal zone pattern { G that prestores1,G2,…,Gn(wherein GnRepresent n-th
Focal zone pattern) matched, as the first view data { g1,g2,…,giIn exist and focal zone pattern { G1,G2,…,Gn}
In k-th of focal zone pattern GkThe view data g of matchingjWhen, by the view data g for calculating matchingjIn whole first image
Data { g1,g2,…,giIn position, and the view data g corresponding to matchingjPosture and positional information, resolve plastic emitting
Intracapsular sight glass 1 is moved to the second image sensing module 102 from the current pose of the second image sensing module 102 and position and is directed at disease
Posture knots modification and displacement knots modification needed for the posture in stove area and position；As the first view data { g1,g2,…,giIn do not deposit
With the focal zone pattern { G1,G2,…,GnMatching view data when, capsule endoscope 1 continues on；S4：According to step
The posture knots modification and displacement knots modification that rapid S3 is obtained, the aobvious control work station 203 of data are sent accordingly to central control module 105
Control instruction, to control motion control drive module 104 to drive capsule endoscope 1 that posture and change in displacement occurs so that second
Image sensing module 102 is directed at focal zone；S5：The aobvious control work station 203 of data sends control instruction to central control module 105,
To control capsule endoscope 1 to be maintained at by the posture after step S4 adjustment and position, and control the second image sensing module
102 is in running order, the first image sensing module 101 is in off working state, and the second image sensing module 102 is solid with second
Determine frequency f2M the second view data is gathered to the focal zone in detected body；S6：Step S1-S5 is repeated, until capsule
Endoscope 1 is discharged outside detected body.
Wherein, for example, the first fixed frequency f of the first image sensing module 10112-5 frames/second can be used, second is solid
Determine frequency f25 frames/second, or the first fixed frequency f can be used1With the second fixed frequency f2Image data samples can be used
Sampling time interval between the form at interval, i.e. two adjacent view data is respectively 1/f1Second, 1/f2Second.In step S5
In, the image width number M for for the focal area in detected body pinpoint the second image sensing module 102 of IMAQ can
Set, or can passed through with being input in advance in the aobvious control work station 203 of data according to particular exam situation by medical worker
Second fixed frequency f2Frame/second and acquisition time Δ t product determines.
In addition, specifically described for step S4 by two embodiments.
As shown in Figure 10, when motion control drive module 104 include armature winding module 112 and motion-control module 113,
And in the case that magnetic field generating module 201 is static magnetic field generation device, step S4 includes：The posture obtained according to step S3
Knots modification and displacement knots modification, the aobvious control work station 203 of data send corresponding control instruction to central control module 105, controlled
Motion-control module 113 exports the control electric current of corresponding size and Orientation to armature winding module 112, according to armature winding module
112 control electric currents received, armature winding module 112 produce corresponding under the static magnetic field effect of static magnetic field generation device
Electromagnetic torque, so as to drive capsule endoscope 1 that posture and change in displacement occurs so that the second image sensing module 102 is aligned
Focal zone.
As shown in figure 12, when motion control drive module 104 is permanent magnet 1041 and magnetic field generating module 201 is three
In the case of axle Helmholtz coil magnetic field generation device, step S4 includes：According to the step S3 posture knots modifications obtained and position
Knots modification is moved, the aobvious control work station 203 of data sends corresponding control instruction to central control module 105, to control three axle last of the twelve Earthly Branches nurses
Hereby coil magnetic field generation device produces intensity and the direction of controllable time-varying magnetic field suddenly, so as to drive capsule endoscope 1 that posture occurs
And change in displacement so that the second image sensing module 102 is directed at focal zone.
Capsule endoscope detection method as described above employs capsule endoscope and its control device and system, therefore has
There is same beneficial effect.
In summary, according to the mutual cooperation of capsule endoscope 1 and the capsule endoscope control device 2 of the present invention, due to
First image sensing module 101 of capsule endoscope 1 is located at the inner end of the shell 100 of capsule endoscope 1, and the second image
Sensing module 102 is located at the inside portion of shell 100, so as to the first image sensing module 101 advance when mainly gather it is detected
Front region on internal direct of travel and the collection of the first view data that big angular field of view can be realized, and the second figure
The side view region on the direct of travel in detected body is mainly gathered when stopping and advancing as sensing module 102 and can realize and determine
The careful observation of point.It is tested that ordinatedly collection is intersected by this image sensing module 102 of first image sensing module 101 and second
The acquisition mode of internal view data is surveyed, the traveling side for including a certain region (such as same focal area) can be collected
First view data of upward forward vision areas and second view data in side view region, so as to more comprehensively accurately to quilt
Detection is observed in vivo, is which thereby enhanced to the ocean weather station observation operating efficiency in detected body, is shortened and peeped using in capsule
Mirror 1 is once detected the time of vivo detection.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the present invention, a variety of letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (12)
1. a kind of capsule endoscope, the capsule endoscope is used to imported into the picture number gathered in detected body in the detected body
According to the capsule endoscope can carry out radio communication with the capsule endoscope control device outside detected body, it is characterised in that
The capsule endoscope has the shell of capsule shape, and is provided with the shell：
First image sensing module, described first image sensing module are located at the inner end of the shell, and in the capsule
For gathering the first view data in detected body when sight glass is advanced；
Second image sensing module, second image sensing module are located at the inside portion of the shell, and in the capsule
For gathering the second view data in detected body during sight glass stop motion；
Posture position measurement module, for detecting the capsule endoscope relative to the posture and positional information in detected body；
Motion control drive module, for driving the capsule endoscope motion under outside magnetic fields and/or changing posture；
Central control module, for controlling the working condition of described first image sensing module and the second image sensing module, use
Come from the posture and positional information of the posture position measurement module in analyzing and processing, and from the capsule endoscope
Control device receives control instruction to control the motion control drive module to drive the capsule endoscope motion and/or change
Posture,
Wherein, when described first image sensing module is in running order, second image sensing module is in inoperative
State；
When second image sensing module is in running order, described first image sensing module is in off working state,
The motion control drive module includes：Motion-control module, the control of the central control module is come from for receiving
System instruction, to control the size and Orientation for the control electric current to be exported, and output control electric current；Armature winding module, is used for
Receive the control electric current and can produce corresponding electromagnetic torque under the effect of outside static magnetic field, to drive in the capsule
Sight glass moves and/or changed posture, and the armature winding module is three armature axis windings, and the three armature axis winding receives three respectively
The individual independent control electric current that can change polarity and size.
2. capsule endoscope according to claim 1, it is characterised in that alternatively, the motion control drive module is
Permanent magnet, the permanent magnet drives the capsule endoscope motion and/or changes posture under outside controllable time-varying magnetic field effect.
3. capsule endoscope according to claim 1, it is characterised in that described first image sensing module and described second
The working condition of image sensing module includes beginning, end and the frequency acquisition of image data acquiring.
4. capsule endoscope according to claim 1, it is characterised in that the capsule endoscope also includes：
First lighting module, for the illumination needed for offer when described first image sensing module carries out IMAQ；
Second lighting module, for the illumination needed for offer when second image sensing module carries out IMAQ.
5. capsule endoscope according to claim 4, it is characterised in that described first image sensing module and described first
Lighting module is located at the inner end of the shell, and second image sensing module and second lighting module are located at institute
The inside portion of shell is stated, the inner end of the shell and the inside portion have transparent end cap respectively.
6. capsule endoscope according to claim 5, it is characterised in that the central control module is additionally operable to control respectively
Unlatching, closing and the brightness of illumination of first lighting module and the second lighting module.
7. capsule endoscope according to claim 1, it is characterised in that the capsule endoscope also includes cache module,
For caching described first image data, second view data and the posture and positional information, the center control
Module extracts the posture and positional information from the cache module.
8. capsule endoscope according to claim 1, it is characterised in that the capsule endoscope also include power supply module and
First wireless communication module, first wireless communication module are used for described first image data, the second view data and institute
State posture and positional information is sent to the capsule endoscope control device, and for being connect from the capsule endoscope control device
Receive the control instruction.
A kind of 9. capsule endoscope control device, it is characterised in that the capsule endoscope control device with according to claim 1-8
Any one of capsule endoscope be used cooperatively, the capsule endoscope control device includes：
Magnetic field generating module, for producing the external magnetic field；
Second wireless communication module, for sending the control instruction to the central control module, and for receiving from described
The posture and position letter after described first image data, the second view data and analyzing and processing that capsule endoscope is sent
Breath；
The aobvious control work station of data, for the control instruction of input operation personnel, and records and shows the appearance of the capsule endoscope
State and position and the first image and the second image gathered.
10. capsule endoscope control device according to claim 9, it is characterised in that the aobvious control work station of the data is used
In the intensity for controlling magnetic field caused by the magnetic field generating module.
11. capsule endoscope control device according to claim 9, it is characterised in that
In the case that the motion control drive module includes the armature winding module, the magnetic field generating module produces quiet
State magnetic field；
In the case that the motion control drive module is permanent magnet, the magnetic field generating module produces controllable time-varying magnetic field.
12. a kind of capsule endoscope system, it is characterised in that the capsule endoscope system includes appointing according in claim 1-8
Capsule endoscope described in one and the capsule endoscope control device according to any one of claim 9-11, in described
Control module control is entreated to believe the posture after described first image data, the second view data and analyzing and processing and position
Breath is sent to second wireless communication module, and the magnetic field generating module provides described outer for the motion control drive module
Portion magnetic field.
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| US11918343B2 (en) * | 2017-03-16 | 2024-03-05 | Given Imaging Ltd. | System and method for position detection of an in-vivo device |
| CN107260110B (en) * | 2017-05-26 | 2019-06-14 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope motion control method and system |
| CN107669236B (en) * | 2017-10-19 | 2019-04-30 | 安翰科技(武汉)股份有限公司 | The adaptive wireless capsule endoscope system of image frame per second and frame per second adaptive approach |
| CN107886503A (en) * | 2017-10-27 | 2018-04-06 | 重庆金山医疗器械有限公司 | A kind of alimentary canal anatomical position recognition methods and device |
| CN107860778B (en) * | 2017-11-20 | 2022-12-13 | 深圳市资福医疗技术有限公司 | Capsule endoscope dirt detection device and detection method |
| CN108460820B (en) * | 2018-01-29 | 2022-05-10 | 北京理工大学 | Micro mobile device control device and method based on image feedback |
| CN109118522B (en) * | 2018-10-22 | 2023-03-21 | 首都医科大学附属北京同仁医院 | Respiratory tract cilium movement characteristic analysis method and device |
| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
| CN110507276A (en) * | 2019-08-26 | 2019-11-29 | 珠海维尔康生物科技有限公司 | A kind of capsule endoscope system of twin-lens panoramic imagery |
| CN111956168A (en) * | 2020-07-22 | 2020-11-20 | 上海安翰医疗技术有限公司 | Capsule endoscope system and distance measuring method for capsule endoscope |
| CN117378987A (en) * | 2022-07-04 | 2024-01-12 | 安翰科技(武汉)股份有限公司 | Quantitative control method, system and storage medium for first visual angle of capsule endoscope |
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