CN106963326A - Stomach contour detecting and model generating method - Google Patents

Stomach contour detecting and model generating method Download PDF

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Publication number
CN106963326A
CN106963326A CN201710236756.XA CN201710236756A CN106963326A CN 106963326 A CN106963326 A CN 106963326A CN 201710236756 A CN201710236756 A CN 201710236756A CN 106963326 A CN106963326 A CN 106963326A
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Prior art keywords
capsule
stomach
magnetic field
generating method
magnet
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CN201710236756.XA
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Chinese (zh)
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梁东
李彦俊
徐登
曹烁
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Chongqing Jinshan Medical Appliance Co Ltd
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Chongqing Jinshan Medical Appliance Co Ltd
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Priority to CN201710236756.XA priority Critical patent/CN106963326A/en
Publication of CN106963326A publication Critical patent/CN106963326A/en
Priority to CN201810214394.9A priority patent/CN108420392A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • 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
    • A61B1/2736—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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Endoscopes (AREA)

Abstract

The present invention discloses a kind of stomach contour detecting and model generating method, comprises the following steps：S1, is moved, and send the data measured by capsule sensor in real time in one direction using external magnetic field source dragging capsule in the upper surface of stomach；Changes of magnetic field at the capsule posture detected in S2, dragging process by the sensor and capsule position judges whether to reach the border of stomach；S3, the data of the sensor measurement sent in real time according to capsule carry out computing to the capsule location point for reaching stomach border and recorded；S4, performs S1 S3, measures some groups of capsule location points for meeting stomach boundary condition repeatedly；S5, carries out track connection by effective capsule location point, obtains complete stomach outline data.

Description

Stomach contour detecting and model generating method
Technical field
The present invention relates to medicine equipment automation field, more particularly to a kind of stomach contour detecting and model generation side Method.
Background technology
In the capsule endoscope application of in the market, also actual stomach model measurement is not incorporated into detection process , such doctor does not have reference by location when active capsule is controlled, and causes the inefficiency of detection.
Although and existing layer scanning technology precision is very high, a certain degree of injury is had to human body, and take Use and also remain high.
If a kind of testing cost is low, the suitable body of stomach contour detecting technology of precision, to the practical application of capsule endoscope Effect will play very big castering action.This just needs those skilled in the art badly and solves corresponding technical problem.
The content of the invention
It is contemplated that at least solving technical problem present in prior art, a kind of stomach wheel is especially innovatively proposed Exterior feature detection and model generating method.
In order to realize the above-mentioned purpose of the present invention, the present invention discloses a kind of stomach contour detecting and model generating method, wraps Include following steps：
S1, is moved, and send in real time in capsule in one direction using external magnetic field source dragging capsule in the upper surface of stomach Data measured by portion's sensor；
Changes of magnetic field at the capsule posture detected in S2, dragging process by the sensor and capsule position is sentenced The disconnected border for whether reaching stomach；
S3, capsule location point of the data that the sensor sent in real time according to capsule is measured to arrival stomach border Carry out computing and record；
S4, performs S1-S3 repeatedly, measures some groups of capsule location points for meeting stomach boundary condition；
S5, carries out track connection by effective capsule location point, obtains complete stomach outline data.
Described stomach contour detecting and model generating method, it is preferred that the S2 comprises the following steps：
The gravity vector of magnetic field vector and capsule itself at S2-1, capsule sensor measurement capsule position；
S2-2, calculates the angle of the magnetic field vector and gravity vector；
S2-3, the angle and pre-set threshold value are compared, and judge whether capsule reaches the border of stomach.
Described stomach contour detecting and model generating method, it is preferred that the S4 comprises the following steps：
S4-1, capsule endoscope starts the position checked positioned at the dome position of stomach one end, and the dome position is capsule When being attracted to by magnet up to the upper surface of stomach, the position that the attitude vectors 6-1 of capsule is overlapped with magnetic field vector 6-2, according to glue Capsule movement locus sets the dome position of stomach one end to be the origin of coordinates, and the stomach other end is defined as X-axis maximum, magnet dragging Capsule is defined as Y-axis along stomach transverse movement direction；
S4-2, magnet drags capsule along origin to the positive polar motion of Y-axis, until capsule reaches the condition of stomach horizontal boundary side Set up, record the position, the condition set up refer to attitude vectors 6-3 of capsule when close to stomach horizontal boundary position with Magnetic field vector 6-4 angle exceedes threshold values；
S4-3, magnet dragging capsule is moved a certain distance towards X-axis positive pole；Magnet along Y-axis negative pole direction drag capsule until The condition that capsule reaches stomach horizontal boundary opposite side is set up, and records the position, and magnet drags capsule towards X-axis positive pole movement one Set a distance；
S4-4, repeats S4-2 and S4-3 until capsule moves to stomach other end X-axis maximum.
Described stomach contour detecting and model generating method, it is preferred that track connection is by by the capsule Locus point carries out corresponding interpolation and characteristics algorithm, sketches out the profile of stomach.
Described stomach contour detecting and model generating method, it is preferred that before track is connected, by the capsule Location point carries out noise reduction process.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
Stomach contour detecting and model generating method that the application is proposed, describe it is a kind of safely, have no side effect, cost it is low Honest and clean stomach contour detecting software and hardware system structure and method, can effectively fill up the related technology in capsule endoscope field empty In vain, and with very strong exploitativeness, there is very big contribution to the rate of finding of capsule endoscope.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined Substantially and be readily appreciated that, wherein：
Fig. 1 is capsule system environment schematic of the present invention；
Fig. 2 is capsule schematic diagram of the present invention；
Fig. 3 is capsule of the present invention in dome position and close to stomach horizontal boundary position and attitude contrast schematic diagram；
Fig. 4 is that capsule of the present invention contrasts signal in dome position and close to the acceleration transducer measured value of boundary position Figure；
When Fig. 5 A are that magnetic source dragging capsule of the present invention is located at dome position, the magnetic field sensor measured value signal at capsule Figure；
When Fig. 5 B are that magnetic source dragging capsule of the present invention is located at close to stomach horizontal boundary, the magnetic field sensor measured value at capsule Schematic diagram；
Fig. 6 is that capsule of the present invention is in dome position and in close to stomach horizontal boundary position brief acceleration vector sum magnetic field Vector angle contrast schematic diagram；
Fig. 7 A-7B are movement locus schematic diagrams of the present invention；
Fig. 8 is capsule movement locus schematic diagram of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear", The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply signified dress Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the limit of the present invention System.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection or the connection of two element internals, can To be to be joined directly together, it can also be indirectly connected to by intermediary, for the ordinary skill in the art, can basis Concrete condition understands the concrete meaning of above-mentioned term.
As shown in figure 1, capsule endoscope 1-1 in use environment represents to draw magnetic field sources, 1-2 represents tissue, 1-3 Represent capsule endoscope.
Among the application of capsule endoscope, if it is possible to measure the profile of patient's stomach, and directly show capsule with The relative position of body of stomach, has to the confidence of doctor and greatly helps.Prior, position can be helped by learning the profile of patient's stomach Path planning is carried out in external capsule attitude controller, the raising that rate is found to capsule endoscope is also quite helpful.
Therefore, in the practical application of capsule endoscope, a kind of harmless, cheap detection technique of exigence is come Go out the model of stomach.
As shown in Fig. 2 capsule endoscope is by 2-1 camera lenses, 2-2 illuminators, 2-3 acceleration transducers and gyroscope, 2-4 Magnetic field sensor, 2-5MCU, 2-6 battery, 2-7 radio-frequency communications module, 2-8 shells composition.2-3 adds among present context Velocity sensor and gyroscope, 2-4 magnetic field sensors are the objects that emphasis is inquired into.
The cross section of human stomach can approximately regard an ellipse, the scope of activities master of this measuring method capsule endoscope as Will be in the upper surface of stomach, and capsule needs the upper surface holding contact in stomach.
The present invention discloses a kind of stomach contour detecting and model generating method, comprises the following steps：
S1, is moved, and send in real time in capsule in one direction using external magnetic field source dragging capsule in the upper surface of stomach Data measured by portion's sensor；
Changes of magnetic field at the capsule posture detected in S2, dragging process by the sensor and capsule position is sentenced The disconnected border for whether reaching stomach；
The gravity vector of magnetic field vector and capsule itself at S2-1, capsule sensor measurement capsule position；
S2-2, calculates the angle of the magnetic field vector and gravity vector；
S2-3, the angle and pre-set threshold value are compared, and judge whether capsule reaches the border of stomach.
S3, capsule location point of the data that the sensor sent in real time according to capsule is measured to arrival stomach border Carry out computing and record；
S4, performs S1-S3 repeatedly, measures some groups of capsule location points for meeting stomach boundary condition；
S4-1, capsule endoscope starts the position checked positioned at the dome position of stomach one end, and the dome position is capsule When being attracted to by magnet up to the upper surface of stomach, the position that the attitude vectors 6-1 of capsule is overlapped with magnetic field vector 6-2, according to glue Capsule movement locus sets the dome position of stomach one end to be the origin of coordinates, and the stomach other end is defined as X-axis maximum, magnet dragging Capsule is defined as Y-axis along stomach transverse movement direction；
S4-2, magnet drags capsule along origin to the positive polar motion of Y-axis, until capsule reaches the condition of stomach horizontal boundary side Set up, record the position, the condition set up refer to attitude vectors 6-3 of capsule when close to stomach horizontal boundary position with Magnetic field vector 6-4 angle exceedes threshold values；
S4-3, magnet dragging capsule is moved a certain distance towards X-axis positive pole；Magnet along Y-axis negative pole direction drag capsule until The condition that capsule reaches stomach horizontal boundary opposite side is set up, and records the position, and magnet drags capsule towards X-axis positive pole movement one Set a distance；
S4-4, repeats S4-2 and S4-3 until capsule moves to stomach other end X-axis maximum.
S5, carries out track connection by effective capsule location point, obtains complete stomach outline data.
As shown in Figures 3 and 4, due to the dome structure of stomach upper wall, thus stomach upper wall at horizontal boundary coat of the stomach with The angle of horizontal direction is bigger, and the absolute value of slope is bigger, and capsule towards stomach upper wall horizontal boundary when moving, the inclination of itself Also can be more serious.So angle between attitude vectors and capsule Z axis that capsule acceleration transducer and gyroscope are measured It is bigger.
As shown in figure 8, be directed to the magneticaction of magnetic source according to capsule, no matter human body belong to lie on the back, prostrate or shape of lying on one's side State, its dome position is after always capsule is by magnet adhesive, and attitude vectors 6-1 and the capsule of the center of capsule setting are set Center magnetic field vector 6-2 overlap position.
At the same time, due to capsule closer to stomach horizontal boundary when, the resistance run into can be bigger, so outside magnetic The horizontal range of field source and capsule endoscope can be increasing.Because capsule endoscope can be closer to the side of external magnetic field Edge, so magnetic field vector change such as Fig. 5 that now capsule endoscope internal magnetic field sensor is measured.
So the measurement data for the horizontal centre position and horizontal boundary position that capsule is located at stomach integrates statement such as Fig. 6, its In, 6-1 represents attitude vectors of the capsule in center, and 6-2 represents magnetic field vector of the capsule in center, and 6-3 represents glue Attitude vectors of the capsule when being more nearly stomach horizontal boundary position, 6-4 represents capsule when being more nearly horizontal boundary position Magnetic field vector.
Understand, whether the angles of magnetic field vector and attitude vectors may be employed to judge capsule close to stomach horizontal boundary. And in engineering, the locus where each moment capsule can be drawn by some means.
The threshold values of angle between the attitude vectors and magnetic field vector that represent capsule arrival stomach border is set, when sensor is measured Two vectorial angles when exceeding threshold values, the capsule position data record now tried to achieve is got off, for later analysis.
In the practical application of capsule endoscope, often internal capsule endoscope is dragged using outside traction magnetic source Dynamic operation, generally, the smooth coefficients of coat of the stomach enough, can be such that capsule is moved freely close to coat of the stomach.
But it is due to that coat of the stomach has a little frictional force, can causes capsule endoscope not immediately below traction magnetic field sources, glue Resistance suffered by capsule is bigger, and the horizontal displacement difference of capsule endoscope and traction magnetic field sources is bigger.
Meanwhile, the angle of coat of the stomach and horizontal plane, which gets over conference, causes the dynamic balance point of capsule to change, and causes capsule to tilt more Seriously.
Measurement physical quantity comes from three factors：
Capsule endoscope and traction magnetic field sources horizontal displacement difference are bigger, and capsule endoscope is closer to traction magnetic field sources side Boundary.
Capsule endoscope more tends to level closer to traction magnetic field sources border, magnetic field vector.
The coat of the stomach of the location of capsule endoscope and horizontal plane angle are bigger, and its inclination is more serious.
When traction magnetic field sources traction capsule is continuously moved in the same direction, when horizontal boundary of the capsule closer to coat of the stomach When, three factors show simultaneously, and encourage mutually.The result ultimately resulted in is the folder of magnetic field vector and gravitational acceleration vector Angle is increasing.
So, the angle threshold values of a magnetic field vector and gravitational acceleration vector can be set in Practical Project.Work as capsule This angle measured is more than threshold values, you can judge that capsule is moved into the corresponding border of coat of the stomach.
Then by a series of algorithm, the relative position relation between capsule and traction magnetic field sources and traction magnetic field are obtained Source be located at space among position, posture, you can obtain the position of capsule in space.
As shown in figs. 7 a-b, a series of point that capsules are positioned in the space can be obtained by above method.Due to these Point is all the boundary point of stomach, by corresponding interpolation and characteristics algorithm, can sketch out the general profile of body of stomach,
The key point measured is screened, those do not meet the distinguished point of stomach physiological make-up, then at these Nurbs interpolation is carried out between key point so that be connected with each other between adjacent each point, and starting point is mutually interconnected with end point Connect, form the scope of a closure so that the curve of this face closure, is the general profile of stomach.
As shown in figure 8, the threshold values of angle between the attitude vectors and magnetic field vector that represent capsule arrival stomach border is set, when When the two vectorial angles that sensor is measured exceed threshold values, the capsule position data record now tried to achieve is got off, for Later analysis.
If attitude vectorsMagnetic field vectorAngle between two vectorsWhen θ is big When certain predetermined angle, judge that this point has been stomach horizontal boundary.
According to this principle, path examples, which are, to be planned to the traction path of external magnets：
Capsule endoscope starts the middle dome position that inspection department is located at stomach upper end.
Magnet drags capsule endoscope towards the direction of stomach horizontal boundary 1, until capsule reach the condition of stomach horizontal boundary 1 into It is vertical, record the position.
Magnet dragging capsule is moved a certain distance towards extreme direction under stomach.
The direction dragging capsule of magnet towards stomach horizontal boundary 2 returns to dome position.
The direction that magnet up walks motion continues to drag capsule, until capsule reaches stomach horizontal boundary 2.
Magnet dragging capsule is moved a certain distance towards extreme direction under stomach.
Process of the repeat step below 2 finishes whole stomachoscopy until capsule.
7-2 represents the direction of stomach horizontal boundary 1, and 7-1 represents the direction of stomach horizontal boundary 2.
The method of work of above-mentioned running orbit realizes more efficient measurement efficiency, and the position according to capsule under one's belt Configuration state realizes that the profile of stomach is portrayed, and is retraced one's steps without capsule, is completed along coat of the stomach one step is smooth.
A series of point that capsules are positioned in the space can be obtained by above method.
The present invention has the beneficial effect that：Stomach contour detecting and model generating method that the application is proposed, describe a kind of peace Entirely, have no side effect, stomach contour detecting software and hardware system structure and method with low cost, can effectively padding gum be intracapsular peeps The related technological gap in mirror field, and with very strong exploitativeness, have very big to the rate of finding of controlled capsule endoscope Contribution.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this The scope of invention is limited by claim and its equivalent.

Claims (5)

1. a kind of stomach contour detecting and model generating method, it is characterised in that comprise the following steps：
S1, is moved, and send capsule biography in real time in one direction using external magnetic field source dragging capsule in the upper surface of stomach Data measured by sensor；
Changes of magnetic field at the capsule posture detected in S2, dragging process by the sensor and capsule position judges The no border for reaching stomach；
S3, the data that the sensor sent in real time according to capsule is measured are carried out to the capsule location point for reaching stomach border Computing is simultaneously recorded；
S4, performs S1-S3 repeatedly, measures some groups of capsule location points for meeting stomach boundary condition；
S5, carries out track connection by effective capsule location point, obtains complete stomach outline data.
2. stomach contour detecting according to claim 1 and model generating method, it is characterised in that the S2 includes following Step：
The gravity vector of magnetic field vector and capsule itself at S2-1, capsule sensor measurement capsule position；
S2-2, calculates the angle of the magnetic field vector and gravity vector；
S2-3, the angle and pre-set threshold value are compared, and judge whether capsule reaches the border of stomach.
3. stomach contour detecting according to claim 1 or 2 and model generating method, it is characterised in that the S4 includes Following steps：
S4-1, capsule endoscope starts the position checked positioned at the dome position of stomach one end, and the dome position is that capsule passes through When magnet is attracted to up to the upper surface of stomach, the position that the attitude vectors (6-1) of capsule are overlapped with magnetic field vector (6-2), according to glue Capsule movement locus sets the dome position of stomach one end to be the origin of coordinates, and the stomach other end is defined as X-axis maximum, magnet dragging Capsule is defined as Y-axis along stomach transverse movement direction；
S4-2, magnet drags capsule along origin to the positive polar motion of Y-axis, until capsule reach the condition of stomach horizontal boundary side into It is vertical, record the position, the condition set up refer to attitude vectors (6-3) of capsule when close to stomach horizontal boundary position with The angle of magnetic field vector (6-4) exceedes threshold values；
S4-3, magnet dragging capsule is moved a certain distance towards X-axis positive pole；Magnet drags capsule until capsule along Y-axis negative pole direction The condition for reaching stomach horizontal boundary opposite side is set up, and records the position, and magnet drags capsule and moves a spacing towards X-axis positive pole From；
S4-4, repeats S4-2 and S4-3 until capsule moves to stomach other end X-axis maximum.
4. stomach contour detecting according to claim 3 and model generating method, it is characterised in that the track, which is connected, is By the way that the capsule location point is carried out into corresponding interpolation and characteristics algorithm, the profile of stomach is sketched out.
5. stomach contour detecting according to claim 4 and model generating method, it is characterised in that connect it in track Before, the capsule location point is subjected to noise reduction process.
CN201710236756.XA 2017-04-12 2017-04-12 Stomach contour detecting and model generating method Pending CN106963326A (en)

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CN107561462A (en) * 2017-09-05 2018-01-09 重庆金山医疗器械有限公司 The full attitude sensing system of capsule and space magnetic field detection means based on variation magnetic field
CN108420392A (en) * 2017-04-12 2018-08-21 重庆金山医疗器械有限公司 A kind of contour detecting and model generating method
CN112089389A (en) * 2019-06-17 2020-12-18 深圳硅基智控科技有限公司 Capsule endoscope system with three-dimensional modeling function

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CN110575203B (en) * 2019-09-20 2022-02-22 汕头市超声仪器研究所股份有限公司 Thyroid ultrasonic detection equipment and detection method thereof

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CN105942959B (en) * 2016-06-01 2018-08-24 安翰光电技术（武汉）有限公司 Capsule endoscope system and its three-D imaging method
CN106963326A (en) * 2017-04-12 2017-07-21 重庆金山医疗器械有限公司 Stomach contour detecting and model generating method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108420392A (en) * 2017-04-12 2018-08-21 重庆金山医疗器械有限公司 A kind of contour detecting and model generating method
CN107561462A (en) * 2017-09-05 2018-01-09 重庆金山医疗器械有限公司 The full attitude sensing system of capsule and space magnetic field detection means based on variation magnetic field
CN112089389A (en) * 2019-06-17 2020-12-18 深圳硅基智控科技有限公司 Capsule endoscope system with three-dimensional modeling function
CN113693544A (en) * 2019-06-17 2021-11-26 深圳硅基智控科技有限公司 Capsule endoscope system
CN113693544B (en) * 2019-06-17 2023-06-13 深圳硅基智控科技有限公司 Capsule endoscope system

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Application publication date: 20170721