CN106667422A - Capsule endoscope, and control device, system and detection method of same - Google Patents
Capsule endoscope, and control device, system and detection method of same Download PDFInfo
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- CN106667422A CN106667422A CN201610631237.9A CN201610631237A CN106667422A CN 106667422 A CN106667422 A CN 106667422A CN 201610631237 A CN201610631237 A CN 201610631237A CN 106667422 A CN106667422 A CN 106667422A
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- capsule endoscope
- module
- attitude
- control
- positional information
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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
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- 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
- A61B1/00131—Accessories for endoscopes
-
- 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
- A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B1/051—Details of CCD assembly
-
- 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
- A61B1/06—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 with illuminating arrangements
-
- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
The invention relates to a capsule endoscope, and a control device, system and detection method of the same. The capsule endoscope is led into a detected body for collection of image data and can conduct wireless communication with the control device of the capsule endoscope outside the detected body. An image sensing module, a posture positioning and sensing module, a main controller module, a motion control module and an armature winding module are disposed inside a shell of the capsule endoscope, wherein the image sensing module is used to collect image data; the posture positioning and sensing module detects posture and position information of the capsule endoscope; the main controller module controls a working state of the image sensing module, analyzes and process the posture and positioning information and receives a control instruction from the controller of the capsule endoscope; the motion control module receives the control instruction of the main controller module so as to control size and direction of a control current to be output and outputs the control current; and the armature winding module receives the control current and can generate corresponding electromagnetic torque under an external static magnetic field so as to drive motion of the capsule endoscope and/or change a posture. External control operations of the capsule endoscope are simple, and working efficiency is high.
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 entered by the way that capsule endoscope is imported in the detected bodys such as such as human gastrointestinal tract
The image for photographing simultaneously is shown in external control device the system to realize diagnosis by row image taking.This capsule endoscope
System includes only depending on intestines peristalsis to drive filling by drive-type capsule endoscope system and by external control for capsule endoscope
Put the position of control capsule endoscope and the active controllable type capsule endoscope system of attitude.And external magnetic field is widely used at present
The active controllable type capsule endoscope system of type of drive, the system includes the permanent magnet being built in capsule endoscope or in glue
Permanent-magnet layer, and external magnetic field device are coated on capsule endoscope exterior surface, the external magnetic field device can be adopted can pass through people
The magnetic head arm of industry control, or three axle Helmholtz coils can also be adopted, by the universal equal of the three axles Helmholtz coil
Even rotating excitation field drives capsule endoscope to be rolled, pitching, driftage and advance etc. are moved.But this external magnetic field device
Control mode is more complicated, higher for the operation requirement of operating personnel, so as to carried out using above-mentioned capsule endoscope system
Operating efficiency is difficult to ensure that during diagnosis.
The content of the invention
It is simple to operate and carry that the technical problem to be solved is to provide a kind of external control to capsule endoscope
Capsule endoscope, capsule endoscope control device, the capsule endoscope system of high workload efficiency is with capsule endoscope detection method.
To achieve these goals, according to an aspect of the present invention, there is provided a kind of capsule endoscope, the capsule endoscope
For importing to the view data gathered in detected body in the detected body, the capsule endoscope can with detected body outside
Capsule endoscope control device carry out radio communication, the capsule endoscope has the shell of capsule shape, and the inside the shell
It is provided with：Image sensing module, for gathering the view data in detected body；Attitude orientation sensing module, for detecting
Capsule endoscope is stated relative to the attitude and positional information in detected body；Main controller module, passes for controlling described image
The working condition of sense module, and the attitude and position letter for coming from the attitude orientation sensing module for analyzing and processing
Breath, and receive control instruction from the capsule endoscope control device；Motion-control module, for receiving the master is come from
The control instruction of controller module, to control the size and Orientation of the control electric current to be exported, and exports the control electric current；
Armature winding module, turns for receiving the control electric current and can produce corresponding electromagnetism under the effect of outside static magnetic field
Square, to drive the capsule endoscope motion and/or change attitude.
Alternatively, the armature winding module is three armature axis windings, and the three armature axis winding receives respectively three independences
The control electric current that can change polarity and size.
Alternatively, the attitude orientation sensing module includes 3-axis acceleration sensor.
Alternatively, the working condition of described image sensing module includes that the view data of described image sensing module is adopted
The beginning of collection, terminate and frequency acquisition.
Alternatively, the capsule endoscope also includes lighting module, adopts for carrying out image in described image sensing module
Illumination needed for providing during collection.
Alternatively, described image sensing module and the lighting module are located at one end of the shell, and the shell
Described one end there is transparent end cap.
Alternatively, the main controller module is additionally operable to control the opening and closing of the lighting module.
Alternatively, the main controller module is additionally operable to control the brightness of illumination of the lighting module.
Alternatively, the capsule endoscope also includes cache module, for caching described image data and the attitude
And positional information, the main controller module extracts the attitude and positional information from the cache module.
Alternatively, the capsule endoscope also includes supply module.
Alternatively, the supply module is micro button cell.
Alternatively, described image sensing module is ccd image sensor or metal-oxide-semiconductor imaging
Sensor.
Alternatively, the capsule endoscope also includes the first wireless communication module, for by described image data and institute
State attitude and positional information is sent to the capsule endoscope control device, and for connecing from the capsule endoscope control device
Receive the control instruction.
Alternatively, the inside the shell is provided with printed circuit board (PCB), and described image sensing mould is integrated with the printed circuit board (PCB)
Block, attitude orientation sensing module, main controller module, motion-control module and the armature winding module.
According to a further aspect in the invention, a kind of capsule endoscope control device is also provided, the capsule endoscope control dress
Put and used cooperatively with capsule endoscope as above, the capsule endoscope control device includes：Static magnetic field generation module,
For producing static magnetic field；Second wireless communication module, for sending the control instruction to the main controller module, is used in combination
The attitude and positional information after the described image data and analyzing and processing that reception sends from the capsule endoscope；Figure
Shape work station, for the control instruction of input operation personnel, and record and show the capsule endoscope attitude and position with
And acquired image.
Alternatively, the graphics workstation is used to control the strong of the static magnetic field that the static magnetic field generation module is produced
Degree.
According to another aspect of the invention, a kind of capsule endoscope system is also provided, the capsule endoscope system include as
Upper described capsule endoscope and capsule endoscope control device, the main controller module control by described image data and
The attitude and positional information after analyzing and processing is sent to second wireless communication module, the static magnetic field generation module
The static magnetic field is provided for the armature winding module.
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, the method is comprised the following steps：S1：Gather in the capsule endoscope traveling process and be detected
Internal view data, detects the capsule endoscope relative to the attitude and positional information in detected body, and analyzes and processes
The attitude and positional information；S2：Attitude and positional information after described image data and analyzing and processing is sent to described
Graphics workstation；S3：The graphics workstation successively carries out described image data and the focal area view data for prestoring
Match somebody with somebody, when there is no the view data of matching, the capsule endoscope is continued on；When there is the view data of matching, base
In matching described image data and with the attitude and positional information corresponding to the view data, calculate and peeped in the capsule
Mirror moves to the attitude knots modification needed for being directed at the attitude of focal area and location status from current pose and location status
With displacement knots modification, the control for corresponding to size and Orientation is exported to the armature winding module so as to control the motion-control module
Electric current processed, the armature winding module produces corresponding electromagnetic torque under the effect of outside static magnetic field, to drive the capsule
There is attitude and change in displacement in endoscope so that keep attitude and location status not behind the capsule endoscope alignment focal area
Become；S4：Described image sensing module is to the focal area collection multiple images data in the detected body；S5：Repeat
Step S1-S4, until the capsule endoscope is discharged outside the detected body.
By above-mentioned technical proposal, the control instruction that sent based on main controller module in motion-control module and to electricity
When pivot winding module exports the control electric current in correspondingly sized and direction, armature winding module is produced under the effect of outside static magnetic field
Corresponding electromagnetic torque, so as to driving capsule endoscope motion and/or changing attitude.Thus, it is only necessary to outside in capsule
Sight glass is provided under conditions of static magnetic field, it becomes possible to is driven capsule endoscope motion and/or is changed attitude, so as to simplify outside
Operating personnel are used for control and drive capsule endoscope motion and change the operation of attitude, improve operating efficiency.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of specification, 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 of the capsule endoscope according to a specific embodiment of the present invention；
Fig. 2 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 3 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 4 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 5 is the structural representation of the capsule endoscope of the another embodiment according to the present invention；
Fig. 6 is the structural representation of the capsule endoscope system according to an embodiment of the invention；
Fig. 7 is the structure chart of the armature winding module of the capsule endoscope system according to an embodiment of the invention；
Fig. 8 is the schematic diagram of the capsule endoscope system according to an embodiment of the invention.
Description of reference numerals
The capsule endoscope control device of 1 capsule endoscope 2
The image sensing module of 10 shell 11
The main controller module of 12 attitude orientation sensing module 13
The armature winding module of 14 motion-control module 15
The cache module of 16 lighting module 17
The wireless communication module of 18 supply module 19 first
The wireless communication module of 20 static magnetic field generation module 21 second
22 graphics workstations
Specific embodiment
The specific 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 specific embodiment stated is merely to illustrate and explains the present invention, is not limited to the present 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 import to 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 10 of capsule shape, and this is outer
It is provided with shell 10：Image sensing module 11, for gathering the view data in detected body；Attitude orientation sensing module 12,
For detecting capsule endoscope 1 relative to the attitude and positional information in detected body；Main controller module 13, for control figure
As the working condition of sensing module 11, and the attitude and the position for coming from attitude orientation sensing module 12 for analyzing and processing
Information, and receive control instruction from the capsule endoscope control device；Motion-control module 14, for receiving master is come from
The control instruction of controller module 13, to control the size and Orientation of the control electric current to be exported, and exports the control electricity
Stream；Armature winding module 15, for receive the control electric current and outside static magnetic field effect under can produce corresponding electricity
Magnetic torque, to drive capsule endoscope 1 to move and/or change attitude.
Wherein, the attitude and positional information that main controller module 13 is detected to attitude orientation sensing module 12 is analyzed place
Reason, and the view data that control gathers the attitude and positional information and image sensing module 11 after analyzing and processing passes through nothing
Line is sent in the capsule endoscope control device of the outside for controlling the motion state of capsule endoscope 1, is peeped in the capsule
Mirror control device sends corresponding control and refers to according to described image data and attitude and positional information to main controller module 13
Make (such as capsule endoscope 1 to be moved into a certain ad-hoc location or the control instruction changed to particular pose), motion
The control instruction that control module 14 is received based on main controller module 13 and export corresponding big to armature winding module 15
The control electric current in little and direction, now, armature winding module 15 produces corresponding electromagnetic torque under the effect of outside static magnetic field,
So as to drive capsule endoscope 1 to move and/or change attitude.Thus, it is only necessary to the outside of detected body be capsule endoscope 1
There is provided static magnetic field, it becomes possible to drive capsule endoscope 1 to move and/or change attitude, use so as to simplify outside operator
Drive capsule endoscope 1 to move and change the operation of attitude in control, improve operating efficiency.
Wherein, the external static magnetic field can be provided by capsule endoscope control device, or can also be in outside
It is separately provided the magnetic field generation device for producing external static magnetic field.In addition, motion-control module 14 can adopt such as PID
Size of current and the device in direction that controller etc. to be exported for control, so as to the motion of precise control capsule endoscope 1
And/or attitude.
Alternatively, the armature winding module 15 is three armature axis windings, and the three armature axis winding receives respectively three solely
The vertical control electric current that can change polarity and size.Here, three armature axis windings is referred to have respectively independent closure
Loop and three groups of armature coils being each arranged in mutual vertically in same mounting bracket, specifically, as shown in fig. 7,
In xyz reference axis of the center as the origin of coordinates for the mounting bracket for winding three groups of armature coils respectively, installing
Respectively along x-y plane, x-z-plane and y-z plane three group armature coils of the winding with independent closed-loop path, motion control on frame
Molding block 14 is exported in real time by calculating the I for adjusting out respectively to the three of armature winding module 15 groups of armature coils1、I2、I3's
Control electric current, thus capsule endoscope 1 be subject to be produced respectively under the effect of outside static magnetic field by each three groups of armature coil
Power synthesized by electromagnetic torque, so as to drive capsule endoscope 1 to move and/or change attitude.
Alternatively, the attitude orientation sensing module 12 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, the motion of capsule endoscope 1 can be comprehensively accurately reflected
Property.Wherein, 13 pairs of acceleration informations detected by 3-axis acceleration sensor of main controller module are analyzed process
(for example the information such as speed or displacement being obtained by integral and calculating), thus, after the control of main controller module 13 will be analyzed and processed
Attitude and positional information be sent to outside in real time.But the present invention is not limited to this, attitude orientation sensing module 12 also may be used
To detect the attitude and positional information of capsule endoscope 1 using other sensors such as three-axis gyroscopes.
Alternatively, the working condition of described image sensing module 11 includes the picture number of described image sensing module 11
According to the beginning of collection, terminate and frequency acquisition.The control of main controller module 13 image is passed in the traveling process of capsule endoscope 1
Sense module 11 gathers view data with first frequency, and some region of disease in detected body is collected when image sensing module 11
During stove view data, main controller module 13 can control image sensing module 11 to gather more than the second frequency of first frequency
View data, to provide sufficient lesion image data as medical worker, thus improves accuracy rate of diagnosis.
Alternatively, as shown in Fig. 2 the capsule endoscope 1 also includes lighting module 16, in image sensing module 11
Illumination needed for carrying out being provided during IMAQ.Wherein, lighting module 16 can be LED illumination array module, and it can launch
The illumination lights such as incandescence, the lighting module 16 before image sensing module 11 carries out IMAQ can in a flashing manner to
The region that view data is gathered in detected body provides illumination.
Alternatively, as shown in Figures 2 to 5, described image sensing module 11 and the lighting module 16 are located at the shell
10 one end, and described one end of the shell 10 has transparent end cap.Lighting module 16 transmitting light and from be detected
The light being reflected back in vivo can pass through the transparent end cap on shell 10, so that the figure in the collection detected body of image sensing module 11
As data.Here, image sensing module 11 can also be provided with two, the quantity pair of lighting module 16 and image sensing module 11
Should, and each corresponding image sensing module 11 and corresponding lighting module 16 are respectively positioned at the two ends of shell 10, so as to glue
Intracapsular sight glass 1 can optionally or respectively collect the front on the bearing of trend of capsule endoscope 1 during traveling
Region and the view data of rear area such that it is able to while further improving the operating efficiency of capsule endoscope 1, additionally it is possible to
Improve accuracy rate of diagnosis.
Alternatively, main controller module 13 is additionally operable to control the opening and closing of the lighting module 16.For example, main control
The control lighting module 16 of device module 13 was opened before image sensing module 11 gathers every frame image data, gathered per two field picture number
Close according to after.But the present invention is not limited to this, it is also possible to be set to the control lighting module 16 of main controller module 13 in figure
As sensing module 11 gather view data whole work during the interior state for remaining at unlatching.
Alternatively, the main controller module 13 is additionally operable to control the brightness of illumination of the lighting module 16, so as to basis
The brightness of illumination for being actually needed adjustment lighting module 16 of outside operator, as a result, being adopted to image sensing module 11
The image that the view data of collection is obtained after being processed has fine definition.
Alternatively, as shown in figure 3, the capsule endoscope 1 also includes cache module 17, for caching described image data
And the attitude and positional information, the main controller module 13 extracts the attitude and position from the cache module 17
Information.Here, the view data for collecting is cached to cache module 17 by the control image sensing module 11 of main controller module 13
In, and control attitude orientation sensing module 12 attitude for detecting and positional information are cached in cache module 17.Now,
Main controller module 13 extracts attitude and information position and process is analyzed to it from cache module 17.Main controller module
13 by the attitude and positional information after analyzing and processing while be sent to outside, also sends the view data in cache module 17
To outside.But the present invention is not limited to this, for example, main controller module 13 has store function, by by image sensing mould
View data that block 11 is collected and the attitude and positional information that are detected by attitude orientation sensing module 12 are directly transmitted
After storing to main controller module 13, attitude and positional information are analyzed after process in main controller module 13, will be divided
Attitude and positional information after analysis process is together sent to outside with view data.
Alternatively, as shown in figure 4, the capsule endoscope 1 also includes supply module 18, the supply module 18 can be respectively
To image sensing module 11, attitude orientation sensing module 12, main controller module 13, motion-control module 14, armature winding mould
Block 15, lighting module 16, cache module 17, the first wireless communication module 19 are powered.
Here alternatively, the supply module 18 can be micro button cell, its there is switch portion with control respectively to
Corresponding module as above is powered or is stopped power supply.Here, the present invention is not limited to this, supply module 18 can also
For other electric power storage parts such as capacitor.
Alternatively, described image sensing module 11 is ccd image sensor or metal-oxide semiconductor (MOS) figure
As sensor.Before IMAQ, lighting module 16 can be to being illuminated in detected body, and image sensing module 11 passes through
The reflected light received to it carries out opto-electronic conversion and generates the view data in detected body.
Alternatively, as shown in figure 5, the capsule endoscope 1 also includes the first wireless communication module 19, for by the figure
As data and the attitude and positional information are sent to capsule endoscope control device, and for filling from capsule endoscope control
Put the reception control instruction.Specifically, the first wireless communication module 19 extracts view data and to this from cache module 17
View data the signal transacting next life such as is modulated with by the attitude and positional information after the analyzing and processing of main controller module 13
Into wireless signal, so as to the wireless signal is sent into capsule endoscope control device.In addition, the first wireless communication module 19
Receive after control instruction from capsule endoscope control device, the control instruction is sent into main controller module 13, so that
Main controller module 13 controls such as image sensing module 11, lighting module 16, motion-control module 14 and attitude orientation sensing
The working condition of the grade corresponding module of module 12.
Alternatively, printed circuit board (PCB) is provided with the shell 10, on the printed circuit board (PCB) image sensing module is integrated with
11st, attitude orientation sensing module 12, main controller module 13, motion-control module 14 and armature winding module 15.Wherein, print
Circuit board can be flexible PCB, or hard circuit board, this is not particularly limited.Thus, capsule endoscope 1 has
There are overall structure miniaturization, low energy consumption and high reliability.
In addition, the present invention also provides a kind of capsule endoscope control device 2, the capsule endoscope control device 2 with as above
Described capsule endoscope 1 is used cooperatively, and the capsule endoscope control device 2 includes：Static magnetic field generation module 20, is used for
Produce static magnetic field；Second wireless communication module 21, for sending the control instruction to the main controller module 13, is used in combination
The attitude and positional information after the described image data and analyzing and processing that reception sends from the capsule endoscope 1；
Graphics workstation 22, for the control instruction of input operation personnel, and records and shows attitude and the position of the capsule endoscope 1
Put and acquired image.
Wherein, graphics workstation 22 is received after the control instruction of operating personnel's input, and its control instruction is sent into capsule
The main controller module 13 of endoscope 1, the control instruction that motion-control module 14 is received based on main controller module 13
And correspondingly sized and direction control electric current is exported to armature winding module 15, in static magnetic field generation module 20 to detected body
Interior capsule endoscope 1 is provided in the state of static magnetic field, and armature winding module 15 produces corresponding electromagnetic torque, so as to drive
Capsule endoscope 1 moves and/or changes attitude.Thus, operating personnel can be by capsule endoscope as above control dress
Putting 2 easily controls drives capsule endoscope 1 to move and/or change attitude, drives capsule endoscope 1 to move with for control
Become effect that is simple and improving operating efficiency with the operation of attitude.
Wherein, graphics workstation 22 can include for control figure to the control instruction that main controller module 13 sends
The instruction of the working conditions such as beginning, end and frequency acquisition as the image data acquiring of sensing module 11, for controlling to shine
Unlatching, closing and the instruction of brightness of illumination of bright module 16, starts to advance, stops advancing, changes for controlling capsule endoscope 1
Become the attitude of capsule endoscope 1 and/or the instruction of position.But the present invention is not limited to this, for example, graphics workstation 22 may be used also
To send for controlling the control instruction that the supply module 18 in capsule endoscope 1 starts or closes, for controlling static magnetic field
Generation module 20 starts or stops producing the control instruction of static magnetic field.
Alternatively, the graphics workstation 22 is used to control the static magnetic field that the static magnetic field generation module 20 is produced
Intensity.Specifically, before graphics workstation 22 sends control instruction to capsule endoscope 1, control according to actual needs static
The intensity of the static magnetic field to be produced of magnetic field generating module 20.Thus, be directed in detected body in capsule endoscope 1 and
During carrying out image data acquiring, the energy by the produced electromagnetic torque under static magnetic field effect of armature winding module 15
It is enough neatly to drive capsule endoscope 1 to move and/or change attitude.
In addition, as shown in Figure 6 and Figure 8, according to a further aspect in the invention, a kind of capsule endoscope system is also provided, should
Capsule endoscope system includes capsule endoscope as above 1 and capsule endoscope control device 2, the main controller module
The attitude and positional information after described image data and analyzing and processing is sent to second radio communication by 13 controls
Module 21, the static magnetic field generation module 20 provides the static magnetic field for the armature winding module 15.By as above institute
The capsule endoscope 1 stated and capsule endoscope control device 2, armature winding module 15 is being provided by static magnetic field generation module 20
The lower produced electromagnetic torque of static magnetic field effect, drive capsule endoscope 1 to move and/or change attitude.Thus, in capsule
Sight glass control device 2 is more flexible to the control mode of capsule endoscope 1 and operating personnel are used in control driving capsule
Sight glass 1 moves and change the operation of attitude becomes simple.In addition, the capsule endoscope control device 2 in capsule endoscope system
Outside detected body can cruise of the intelligentized control method capsule endoscope 1 in detected body, so as to outside operator need not
The artificial operation of complexity is performed to capsule endoscope control device 2 just can simply realize capsule endoscope 1 whole tested
The collection of internal view data is surveyed, the operating efficiency of capsule endoscope system is which thereby enhanced.
Additionally, the present invention also provides a kind of capsule endoscope detection method, methods described is using in capsule as above
Endoscope system, the method is comprised the following steps：S1：The figure in detected body is gathered in the traveling process of the capsule endoscope 1
As data, the capsule endoscope 1 is detected relative to the attitude and positional information in detected body, and analyze and process the attitude
And positional information；S2：Attitude and positional information after described image data and analyzing and processing is sent to the graphical Work
Stand 22；S3：The graphics workstation 22 is successively matched described image data with the focal area view data for prestoring, when
When there is no the view data of matching, the capsule endoscope 1 is continued on；When exist matching view data when, based on
The described image data matched somebody with somebody and with the attitude and positional information corresponding to the view data, calculate the capsule endoscope 1
Move to from current pose and location status attitude knots modification needed for being directed at the attitude of focal area and location status and
Displacement knots modification, correspondence size and Orientation is exported so as to control the motion-control module 14 to the armature winding module 15
Control electric current, the armature winding module 15 produces corresponding electromagnetic torque under the effect of outside static magnetic field, described to drive
There is attitude and change in displacement in capsule endoscope 1 so that the alignment of the capsule endoscope 1 keeps attitude and position behind focal area
State is constant；S4：Focal area collection multiple images data in 11 pairs of detected bodys of described image sensing module；S5：
Step S1-S4 is repeated, until the capsule endoscope 1 is discharged outside the detected body.
Capsule endoscope detection method as above employs capsule endoscope and its control device and system, therefore has
There is same beneficial effect.
In sum, capsule endoscope of the invention 1 only needs to be carried for capsule endoscope 1 in the outside of detected body
For static magnetic field, it becomes possible to drive capsule endoscope 1 to move and/or change attitude, be used for so as to simplify outside operator
Control drives capsule endoscope 1 to move and change the operation of attitude.In addition, by capsule endoscope 1 and quilt in detected body
Cooperating for external capsule endoscope control device 2 is detected, capsule endoscope control device 2 being capable of intelligence outside detected body
Energyization controls cruise of the capsule endoscope 1 in detected body, so as to outside operator to capsule endoscope control without the need for filling
Putting the complicated artificial operation of 2 execution just can simply realize view data of the capsule endoscope 1 in whole detected body
Collection, which thereby enhances the operating efficiency of capsule endoscope system.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, 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, various 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 specific 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 is no longer separately illustrated.
Additionally, can also be combined between a variety of embodiments of the present invention, as long as it is without prejudice to this
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 import to 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 the inside the shell is provided with：
Image sensing module, for gathering the view data in detected body；
Attitude orientation sensing module, for detecting the capsule endoscope relative to the attitude and positional information in detected body；
Main controller module, for controlling the working condition of described image sensing module, and comes from described for analyzing and processing
The attitude of attitude orientation sensing module and positional information, and refer to from capsule endoscope control device reception control
Order；
Motion-control module, for receiving the control instruction for coming from the main controller module, to control the control to be exported
The size and Orientation of electric current processed, and export the control electric current；
Armature winding module, for receive the control electric current and outside static magnetic field effect under can produce corresponding electromagnetism
Torque, to drive the capsule endoscope motion and/or change attitude.
2. capsule endoscope according to claim 1, it is characterised in that the armature winding module be three armature axis around
Group, the three armature axis winding receives respectively three independent control electric currents that can change polarity and size.
3. capsule endoscope according to claim 1, it is characterised in that the working condition of described image sensing module
Beginning, end and frequency acquisition including the image data acquiring of described image sensing module.
4. capsule endoscope according to claim 1, it is characterised in that the capsule endoscope also includes lighting module,
For illumination needed for providing when described image sensing module carries out IMAQ.
5. capsule endoscope according to claim 4, it is characterised in that described image sensing module and the lighting module
Described one end positioned at one end of the shell, and the shell has transparent end cap.
6. capsule endoscope according to claim 4, it is characterised in that it is described that the main controller module is additionally operable to control
The unlatching of lighting module, close and brightness of illumination.
7. capsule endoscope according to claim 1, it is characterised in that the capsule endoscope also includes cache module,
For caching described image data and the attitude and positional information, the main controller module is carried from the cache module
Take the attitude and positional information.
8. capsule endoscope according to claim 1, it is characterised in that the capsule endoscope also include supply module and
First wireless communication module, first wireless communication module is used to send out described image data and the attitude and positional information
The capsule endoscope control device is given, and for receiving the control instruction from the capsule endoscope control device.
9. a kind of 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 use cooperatively, the capsule endoscope control device includes：
Static magnetic field generation module, for producing static magnetic field；
Second wireless communication module, for sending the control instruction to the main controller module, and for receiving from described
The attitude and positional information after the described image data and analyzing and processing of capsule endoscope transmission；
Graphics workstation, for the control instruction of input operation personnel, and record and show the capsule endoscope attitude and
Position and acquired image.
10. capsule endoscope control device according to claim 9, it is characterised in that the graphics workstation is used to control
Make the intensity of the static magnetic field that the static magnetic field generation module is produced.
11. a kind of capsule endoscope systems, 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 claim 9 or 10, the master controller
Module controls for the attitude and positional information after described image data and analyzing and processing to be sent to second channel radio
Letter module, the static magnetic field generation module provides the static magnetic field for the armature winding module.
12. a kind of capsule endoscope detection methods, it is characterised in that methods described adopts capsule according to claim 11
Endoscopic system, the method is comprised the following steps：
S1：The view data in detected body is gathered in the capsule endoscope traveling process, the capsule endoscope is detected
Relative to attitude and positional information in detected body, and analyze and process the attitude and positional information；
S2：Attitude and positional information after described image data and analyzing and processing is sent to the graphics workstation；
S3：The graphics workstation is successively matched described image data with the focal area view data for prestoring, when not
When there is the view data of matching, the capsule endoscope is continued on；When there is the view data of matching, based on matching
Described image data and with the attitude and positional information corresponding to the view data, calculate the capsule endoscope from current
Attitude and location status move to the attitude knots modification needed for being directed at the attitude of focal area and location status and displacement changes
Variable, so as to control the control electric current that the motion-control module exports correspondence size and Orientation to the armature winding module,
The armature winding module produces corresponding electromagnetic torque under the effect of outside static magnetic field, to drive the capsule endoscope to send out
Raw attitude and change in displacement so that keep attitude and location status constant behind the capsule endoscope alignment focal area；
S4：Described image sensing module is to the focal area collection multiple images data in the detected body；
S5：Step S1-S4 is repeated, until the capsule endoscope is discharged outside the detected body.
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| CN113440093A (en) * | 2021-07-19 | 2021-09-28 | 山东第一医科大学附属省立医院(山东省立医院) | Digestive tract secretion microscopic detection system |
| EP4159183A4 (en) * | 2020-06-01 | 2024-03-27 | Ankon Medical Tech Shanghai Co Ltd | Capsule apparatus and starting method therefor |
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