CN108742483B - Controllable capsule endoscope system - Google Patents
Controllable capsule endoscope system Download PDFInfo
- Publication number
- CN108742483B CN108742483B CN201810696940.7A CN201810696940A CN108742483B CN 108742483 B CN108742483 B CN 108742483B CN 201810696940 A CN201810696940 A CN 201810696940A CN 108742483 B CN108742483 B CN 108742483B
- Authority
- CN
- China
- Prior art keywords
- capsule
- module
- control module
- capsule endoscope
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- A61B1/00011—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
- A61B1/04—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
-
- 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
- A61B5/073—Intestinal transmitters
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Gastroenterology & Hepatology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Endoscopes (AREA)
Abstract
The invention provides a controllable capsule endoscope system, which comprises a capsule endoscope and a virtual reality observation helmet, wherein the capsule endoscope is arranged in a capsule body; the capsule endoscope comprises a first control module, a 3D image acquisition module, a posture sensing module, a capsule driving device and a first radio frequency transceiving module; the virtual reality observation helmet comprises a second control module, an image and posture information receiving unit, an acceleration sensor, a VR glasses display and a second radio frequency transceiving module. The controllable capsule endoscope system is simple in structure, convenient to operate and good in experience of the examinee.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a controllable capsule endoscope system.
Background
The controllable capsule endoscope system consists of capsule control equipment, a capsule endoscope and an image recorder, wherein the capsule endoscope consists of an optical front cover, a magnet, a rear shell, an antenna, a radio frequency module, a battery, a signal processing module and an image acquisition module. The image workstation software is installed on the PC, the image recorder is connected with the PC through a USB cable, and the image workstation software can access the image recorder, read and download stored picture information and display the picture information on a display screen of the PC.
Currently, a permanent magnet is disposed in a capsule of a conventional controllable capsule endoscope system, and an external control device is a large magnet, as disclosed in 2015100560065 entitled capsule endoscope control system and a detection device having the same, so that a subject can lie on an examination table after swallowing the capsule, and an operator manually operates the control device to control the movement and direction of the capsule through a magnetic effect.
However, this means of controlling the movement of the capsule by magnetic effect requires a large magnet in addition to the small magnet inside the capsule, by which the magnetic effect of the small magnet inside the capsule is controlled. The individual attitude controller is a large magnet that needs to be rotated close to the body to control the attitude and motion of the capsule. The attitude controller is large in size and has certain weight. Generally, a subject wears a vest-type receiving apparatus, which is heavy and uncomfortable to lie in bed because of the presence of a plurality of antenna units mounted on the vest and uneven surface, which is required after swallowing a capsule. Moreover, the examiner needs to use the attitude controller to move back and forth close to the body of the examinee, and sometimes the examinee can cling to or prop against the body, so that the examinee feels very compelling and experiences poor.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a controllable capsule endoscope system which is convenient to operate and high in comfort level.
In order to achieve the above object, the present invention provides a controllable capsule endoscopy system, which comprises a capsule endoscope and a virtual reality observation helmet;
the capsule endoscope comprises a first control module, a 3D image acquisition module, a posture sensing module, a capsule driving device and a first radio frequency transceiving module; the virtual reality observation helmet comprises a second control module, an image and posture information receiving unit, an acceleration sensor, a VR glasses display and a second radio frequency transceiving module;
the 3D image acquisition unit acquires 3D image information, the output end of the 3D image acquisition unit is connected with the image information input end of the first control module, the attitude sensing module detects the current position of the capsule endoscope, the output end of the attitude sensing module is connected with the capsule position information input end of the first control module, and the first control module transmits the image information through the first radio frequency transceiving module;
the image and posture information receiving unit receives image information and capsule endoscope posture information sent by the capsule endoscope through a second radio frequency transceiving module and sends the image information and the capsule endoscope posture information to the second control module, and the VR glasses display displays the image information and the capsule endoscope posture information received by the second control module;
the acceleration sensor collects head movement information of an observer, the output end of the acceleration sensor is connected with the corresponding information input end of the second control module, and the second control module transmits the movement information as a movement instruction through the second radio frequency transceiving module;
the first radio frequency transceiver module receives the motion instruction and sends the motion instruction to the first control module, and the first control module is connected with the capsule driving device and controls the capsule driving device to execute the motion instruction.
This controllable capsule endoscope system adopts the VR technique, gather the 3D image of examining the region and send to virtual reality observation helmet through 3D image acquisition unit, the inspector wears the virtual reality observation helmet, observes the 3D image, acceleration sensor in the virtual reality observation helmet gathers inspector head motion information, and send to in the capsule endoscope, first control module among the capsule endoscope is according to inspector head motion information control capsule drive arrangement work, thereby control capsule endoscope motion. The controllable capsule endoscope system is simple in structure, convenient to operate and good in experience of the examinee.
Further, the virtual reality observation helmet further comprises a voice module, the voice module comprises a voice recording unit and a voice recognition unit, the voice recording unit is connected with the second control module, the second control module sends voice information, the second control module is connected with the voice recognition unit, the second control module sends the voice information to the voice recognition unit, and the voice recognition unit recognizes the voice information into text information and sends the text information to the second control module. This makes recording of information easier during inspection.
Further, the capsule endoscope further comprises a first signal processing module, and the virtual reality observation helmet further comprises a second signal processing module;
the first signal processing module is connected with the first control module, and the second signal processing module is connected with the second control module; or the first signal processing module is integrated in the first control module, and the second signal processing module is integrated in the second control module.
The server is communicated with the second control module through a wireless communication unit, an image receiving module and a voice receiving module of the server receive image information and/or voice information from a virtual reality observation helmet, signal output ends of the image receiving module and the voice receiving module are connected to a third signal processing module, and an output end of the third signal processing module is connected with a storage module;
and/or the intelligent terminal is further included, and the intelligent terminal is communicated with the second control module.
The image information and/or the voice information are transmitted to a receiving server and/or an intelligent terminal through wireless signals for storage, viewing and the like. The intelligent terminal can be provided with application software for appointment guidance of a doctor, capsule endoscopy can be performed in a place where the examinee considers to be suitable, the doctor is guided to directly check the examination result on the intelligent terminal or download the examination result from the server without going to a hospital to receive the examination.
Further, the capsule driving device comprises a plurality of sub-driving parts with different driving directions, the driving force of the partial sub-driving parts or the direction of the extension line of the partial sub-driving parts passes through the mass center of the capsule endoscope, and the capsule driving device drives the capsule to move and/or turn autonomously in a plurality of directions.
The capsule driving device comprises a plurality of sub-driving parts with different driving directions, the moving direction of the capsule endoscope is changed through the operation of the sub-driving parts, the capsule endoscope can adjust the position and the direction of the capsule endoscope, the autonomous movement and the steering of a plurality of directions are realized, and an operator can conveniently observe the pathology.
Further, the capsule driving device comprises a gas injection device, the gas injection device comprises a plurality of injection ports which are opened outside the capsule body or the capsule body and have different opening directions, and the plurality of injection ports are connected with the gas storage bin in a break-and-break mode.
The capsule endoscope can be moved and steered in multiple directions independently by spraying the gas which is insoluble in water and harmless to human bodies in corresponding directions through the gas spraying device, so that an operator can conveniently perform pathological observation.
Furthermore, the gas storage bin stores compressed gas, the gas storage bin is of an integral structure or is divided into a plurality of sub storage bins, and each jet orifice is connected with the integral gas storage bin or at least connected with one sub storage bin. The use frequency is improved by adopting compressed gas; the gas storage bin is of an integral structure or is divided into a plurality of sub storage bins, and the flexibility of structural design is improved.
Further, the capsule driving device comprises a spiral power device, and the spiral power device comprises a plurality of propellers which are arranged outside the capsule endoscope and have different driving directions. Utilize spiral driving system's motor to drive different propellers and rotate, adjust capsule endoscope self position and direction, realize capsule endoscope at a plurality of directions autonomous movement and turn to, make things convenient for the operator to carry out pathological observation.
Further, when the gas injection device scheme is adopted, the capsule driving device further comprises a suction device, the suction device comprises a suction pump and an elastic containing cavity, the elastic containing cavity is expanded in a suction state and is retracted in a non-suction state;
when a screw power device scheme is adopted, at least one of the propellers is a suction propeller.
When in suction, the capsule suction position is relatively fixed under the action of suction force and is matched with other nozzles or propellers to work, so that the direction of the capsule endoscope is adjusted.
Furthermore, when a gas injection device scheme is adopted, a valve is arranged on a connecting line between the gas storage bin and the injection port, and the first control module controls the opening and closing of the valve to realize simultaneous or independent gas injection of different injection ports;
when the scheme of the spiral power device is adopted, the capsule driving device further comprises a plurality of driving motors which are arranged corresponding to the propellers, and the first control module controls the driving motors to run, so that the different propellers can rotate simultaneously or independently. The capsule can move and turn in multiple directions.
The invention has the beneficial effects that: by means of the virtual reality technology, the wireless transmission technology, the sensor technology and the capsule power technology, an operator can operate a detected person to check without manually operating a posture controller to control the movement of the capsule endoscope in the body, and can control the posture and the movement of the capsule by adjusting the posture of the head. And the patient does not need to wear the vest receiving device and is not connected with a computer through a USB line. More conveniently, the subject can be examined without going to a hospital. As long as the application software can be used for appointing and guiding a doctor, capsule endoscopy can be performed in a place where a detected person deems to be suitable, and the detected person does not need to go to a hospital to receive examination.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of the construction of a capsule endoscope of the present invention;
FIG. 2 is a block diagram of the virtual reality viewing helmet of the present invention;
FIG. 3 is a block diagram of a server architecture;
FIG. 4 is a schematic view of the structure of the examination table;
FIG. 5 is a schematic structural view of a capsule endoscope of the present invention;
FIG. 6 is a schematic structural view of a capsule endoscope in a preferred embodiment of the present invention, in which FIG. 6 (a) is an external structural view of the capsule endoscope, and FIG. 6 (b) is a sectional view taken along the direction A-A in FIG. 6 (a);
FIG. 7 is a schematic structural view of a capsule endoscope in a preferred embodiment of the present invention, in which FIG. 7 (a) is an external structural view of the capsule endoscope, and FIG. 7 (B) is a sectional view taken along the direction B-B in FIG. 7 (a).
Reference numerals:
a, examining a bed; b, a server; c, placing a board for the server;
101 a capsule body; 102 a sub-driving part; 1 an optical front cover; 2 horizontal ejection ports; 3 an obliquely upward injection port; 4 an obliquely downward jet orifice; 5, an image acquisition module; 6 a first signal processing module; 7 a first radio frequency transceiver module;
8 a first control module; 9 injecting gas; 10 gas storage bin; 11 left side jet port; 12 a capsule shell;
1-1 optical front cover; 1-2 grid protection covers; 1-3 of a propeller; 1-4 motors; 1-5 steering knuckles; 1-63D image acquisition module; 1-7 a first signal processing module; 1-8 a first control module; 1-9 a first radio frequency transceiver module; 1-10 capsule shells.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in FIG. 1, the invention provides a controllable capsule endoscopy system, which comprises a capsule endoscope and a virtual reality observation helmet.
The capsule endoscope comprises a first control module, a 3D image acquisition module, a posture sensing module, a capsule driving device and a first radio frequency transceiving module; the virtual reality observation helmet comprises a second control module, an image and posture information receiving unit, an acceleration sensor, a VR glasses display and a second radio frequency transceiving module.
The 3D image acquisition unit acquires 3D image information, the output end of the 3D image acquisition unit is connected with the image information input end of the first control module, the posture sensing module detects the current position of the capsule endoscope, the output end of the posture sensing module is connected with the capsule position information input end of the first control module, and the first control module transmits the image information through the first radio frequency transceiving module.
The image and posture information receiving unit receives image information and capsule endoscope posture information sent by the capsule endoscope through a second radio frequency transceiving module, and sends the image information and the capsule endoscope posture information to the second control module, and the VR glasses display displays the image information and the capsule endoscope posture information received by the second control module.
The acceleration sensor collects head movement information of an observer, the output end of the acceleration sensor is connected with the corresponding information input end of the second control module, and the second control module transmits the movement information as a movement instruction through the second radio frequency transceiving module.
The first radio frequency transceiver module receives the motion instruction and sends the motion instruction to the first control module, and the first control module is connected with the capsule driving device and controls the capsule driving device to execute the motion instruction.
The examiner swallows the capsule first, and as shown in fig. 4, lies down on the examination bed a, the operator wears the virtual reality observation helmet to perform the endoscopy, and the server B is placed on the server placing board C to receive the image information and/or the voice information. The capsule endoscope is provided with a 3D image acquisition module which can form a 3D image. The gesture perception module in the capsule endoscope can detect the current position and gesture of the capsule endoscope, the virtual reality observation helmet can directly observe images shot by the capsule in vivo by applying a virtual reality technology, and the visual angle is the visual angle of the 3D image acquisition module of the capsule endoscope. The virtual reality observation helmet is worn on the head of an operator, an acceleration sensor in the helmet senses the movement and rotation of the head of the operator, a movement direction signal is transmitted to the second control module, and the second control module transmits the same motion command to the capsule endoscope. When the capsule endoscope receives the command, the first control module controls the capsule driving device to execute the motion command, so that the capsule endoscope performs the same action as the head motion of an operator.
The 3D image acquisition module comprises two sets of image sensors and a lens. The virtual reality observation helmet further comprises a camera module, an antenna and a power module.
In this embodiment, as shown in fig. 5, the capsule endoscope includes a capsule body 101, the capsule driving device is disposed inside the capsule body 101 or outside the capsule body 101 and moves synchronously with the capsule body 101, the capsule driving device includes a plurality of sub-driving portions 102 with different driving directions, the driving force of a part of the sub-driving portions (the pushing force of the sub-driving portions toward the capsule) or the direction of the extension line thereof passes through the center of mass of the capsule endoscope, and the capsule driving device drives the capsule to move and/or turn autonomously in a plurality of directions.
The capsule driving device comprises a plurality of sub-driving parts 102 with different driving directions, and the movement direction of the capsule endoscope is changed through the operation of the sub-driving parts 102, so that the capsule endoscope can adjust the position and direction of the capsule endoscope, realize the autonomous movement and steering in a plurality of directions, and facilitate pathological observation of an operator.
In this embodiment, the capsule driving device has two preferred schemes:
the first method comprises the following steps: as shown in fig. 6 (a) and 6 (b), the capsule endoscope includes an optical front cover 1, a housing 12, an antenna, a first radio frequency transceiver module 7, a battery, a first signal processing module 6, a first control module, a 3D image acquisition module 5, and a capsule driving device. The capsule driving device comprises a gas injection device, the gas injection device comprises a plurality of injection ports 2, 3, 4 and 11 which are opened outside the capsule body or the capsule body and have different opening directions, and the plurality of injection ports are connected with the gas storage bin 10 in a break-and-break mode. The gas 9 (gas which is insoluble in water and harmless to human bodies) is sprayed in the corresponding direction through the gas spraying device, the position and the direction of the capsule are adjusted, the capsule can move and turn in multiple directions independently, and an operator can conveniently observe the pathology.
The gas storage bin is internally stored with compressed gas, the gas storage bin is of an integral structure or is divided into a plurality of sub storage bins, and each jet orifice is connected with the integral gas storage bin or at least connected with one sub storage bin. The use frequency is improved by adopting compressed gas; the gas storage bin is of an integral structure or is divided into a plurality of sub storage bins, so that the flexibility of structural design is improved.
And the second method comprises the following steps: as shown in fig. 7 (a) and 7 (b), the capsule endoscope of the present invention comprises an optical front cover 1-1, a capsule housing 1-10, an antenna, a first rf transceiver module 1-9, a battery, a first signal processing module 1-7, a first control module, a 3D image acquisition module 1-6, and a screw power device, wherein the screw power device comprises a plurality of propellers 1-3 disposed outside a capsule body 101 and driven in different directions. The motor of the spiral power system is utilized to drive different propellers 1-3 to rotate, the position and the direction of the capsule are adjusted, the capsule can move and turn automatically in multiple directions, and an operator can observe the pathology conveniently.
When the gas injection device scheme is adopted, the capsule driving device further comprises a suction device, the suction device comprises a suction pump and an elastic containing cavity, the elastic containing cavity expands in a suction state and retracts in a non-suction state;
when a screw power device scheme is adopted, at least one of the propellers is a suction propeller.
During suction, the capsule suction position is relatively fixed under the action of suction force and is matched with other nozzles or propellers to work, so that the direction of the capsule is adjusted. When not sucking, the elastic containing cavity retracts, so that the elastic containing cavity is emptied, and normal use is guaranteed next time.
When the scheme of the gas injection device is adopted, a valve is arranged on a connecting line between the gas storage bin and the injection port, and the first control module controls the valve to be opened and closed, so that the gas injection can be simultaneously or independently carried out through different injection ports.
The gas injection device comprises 12 injection ports, and each position is provided with a gas storage bin. The capsule shell is horizontally provided with a jet orifice at the front and the back, a jet position at the left and the right, and a jet position at each inclined angle.
If the capsule endoscope only needs to be moved, the first control module controls the valve corresponding to the jet orifice to work, and the acting force of the jet orifice passes through the mass center of the capsule.
If the capsule endoscope needs to be steered or moved and steered simultaneously, the first control module controls the valve corresponding to at least one corresponding jet orifice to be opened, and acting force of the jet orifice does not pass through the mass center of the capsule completely; or the first control module controls the suction device and the valves corresponding to the injection ports to work simultaneously, or the first control module controls the valves corresponding to the injection ports with two side surfaces and axial symmetry to open.
When the scheme of the spiral power device is adopted, the capsule driving device further comprises a plurality of driving motors 1-4 which are arranged corresponding to the propellers, and the first control module controls the driving motors to operate, so that the different propellers can rotate simultaneously or independently.
A grille guard 1-2 is arranged outside each propeller. Due to the existence of the grille protection cover, the rotation of the propeller cannot hurt human bodies.
In another preferred embodiment of the present invention, the injection port and the screw are provided at least in the front, rear, left, right, above, below of the capsule, and at least one of the left front upper, left front lower, right front upper, right front lower, left rear upper, left rear lower, right rear upper, right rear lower directions;
the directions of the acting forces of the front, the rear, the left, the right, the upper and the lower jet orifices and the propeller pass through the mass center of the capsule endoscope;
the directions of the acting forces of the jet orifices and the propeller at the left front upper part, the left front lower part, the right front upper part and the right front lower part, the left back upper part, the left back lower part, the right back upper part and the right back lower part do not pass through the mass center of the capsule endoscope. The capsule endoscope realizes multidirectional position movement and adjustment in multiple detection directions.
The spiral power module comprises 12 micro-propellers, and each propeller is controlled by a micro motor to rotate. The capsule shell is horizontally provided with one propeller at the front and the back, one propeller at the left and the right, and one propeller at each inclined angle.
If the capsule endoscope only needs to be moved, the first control module controls a rotating motor corresponding to the propeller to work, and the acting force of the propeller passes through the mass center of the capsule;
if the capsule endoscope needs to be steered or moved and steered simultaneously, the first control module controls the rotating motor corresponding to at least one corresponding propeller to work, and acting force of the propellers does not pass through the mass center of the capsule completely; or the first control module controls the rotary motors of the suction propeller and the corresponding injection propeller to work simultaneously, or the first control module controls the rotary motors of the two side surfaces and the corresponding injection propellers to work in an axisymmetric manner.
The capsule endoscope can be efficiently adjusted to move to a certain direction or posture angle in multiple modes.
In one embodiment, the subject ingests the capsule endoscope before ingesting it, which requires a large intake of water to enlarge the digestive tract organs and provide room for capsule examination. After entering a human body, the capsule endoscope is firstly soaked in the stomach, an operator sends a motion instruction to the capsule endoscope through the virtual reality observation helmet, the first control module of the capsule endoscope controls the small gas injection device to inject gas which is insoluble in water and harmless to the human body in a corresponding direction, or the first control module controls the motor in the corresponding direction, so that the corresponding micro propeller is rotated, the purpose is to ensure that the capsule endoscope needs to move towards a certain direction or adjust the posture angle, the position of the internal tissue is optimally observed, and the pathological observation of the operator is facilitated.
The injection scheme is as follows: if the capsule endoscope needs to move in the horizontal direction, after the capsule endoscope receives the instruction, the first control module can inform the corresponding horizontal jet orifice to jet gas, so that the aim of horizontal movement is fulfilled; if the angle needs to be adjusted, after the capsule endoscope receives the instruction, the first control module can inform the corresponding oblique jet orifice to jet gas, so that the aim of adjusting the posture is fulfilled.
Propeller scheme: if the capsule endoscope needs to move in the horizontal direction, after the capsule endoscope receives the instruction, the first control module can inform the corresponding motor to rotate so as to achieve the aim of horizontal movement; if the angle needs to be adjusted, after the capsule endoscope receives the instruction, the first control module can inform the corresponding motor to rotate the oblique propeller through the steering knuckle 1-5, and the purpose of adjusting the posture is achieved. Due to the existence of the grille protection cover, the rotation of the propeller cannot hurt human bodies.
As the preferred scheme of this embodiment, the virtual reality observation helmet further includes a voice module, the voice module includes a voice recording unit and a voice recognition unit, the voice recording unit is connected the second control module, to the second control module sends speech information, the second control module with the voice recognition unit is connected, the second control module to the voice recognition unit sends speech information, the voice recognition unit is with speech information recognition for text information and send to the second control module.
When the focus is found, an operator can input observation information through voice, when the operation is finished and the diagnosis result is summarized, the voice recording can automatically generate a piece of character information with time information, and the time information is consistent with the time information of the capsule when the capsule faces to take the picture, so that a reader can conveniently find the related observation result.
Meanwhile, the virtual reality helmet is also provided with a camera module, a mobile communication module and a communication module, and the modules can be used for carrying out video communication with a doctor.
As shown in fig. 3, the system further includes a server, the server communicates with the second control module through a wireless communication unit, an image receiving module and a voice receiving module of the server receive image information and/or voice information from the virtual reality observation helmet, signal output ends of the image receiving module and the voice receiving module are both connected to a third signal processing module, and an output end of the third signal processing module is connected to the storage module;
the system can also comprise an intelligent terminal, and the intelligent terminal is communicated with the second control module.
And the image information and/or the voice information are transmitted to a receiving server and/or an intelligent terminal through wireless signals for storage, viewing and the like. The intelligent terminal can be provided with application software for appointment guidance of a doctor, capsule endoscopy can be performed in a place where the examinee considers to be suitable, the doctor is guided to directly check the examination result on the intelligent terminal or download the examination result from the server without going to a hospital to receive the examination.
The capsule endoscope further comprises a first signal processing module, and the virtual reality observation helmet further comprises a second signal processing module; the first signal processing module is connected with the first control module, and the second signal processing module is connected with the second control module; or the first signal processing module is integrated in the first control module, and the second signal processing module is integrated in the second control module.
The first signal processing module processes the information acquired by the 3D image acquisition module and the attitude sensing module and processes the information received by the first radio frequency module; the second signal processing module processes the information received by the image and attitude information receiving unit, the information recorded by the voice recording module, the information collected by the acceleration sensor and the like.
By means of the virtual reality technology, the wireless transmission technology, the sensor technology and the capsule power technology, an operator can operate a detected person to check without manually operating a posture controller to control the movement of the capsule in the body, and can control the posture and the movement of the capsule by adjusting the posture of the head. And the patient does not need to wear the vest receiving device and is not connected with a computer through a USB line. More conveniently, the subject can be examined without going to a hospital. As long as the doctor can be guided by reservation through application software, the capsule endoscopy can be performed in the place where the examinee considers to be suitable, and the examinee does not need to go to a hospital to receive the examination.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (11)
1. A controllable capsule endoscope system comprises a capsule endoscope and is characterized by also comprising a virtual reality observation helmet;
the capsule endoscope comprises a first control module, a 3D image acquisition module, a posture sensing module, a capsule driving device and a first radio frequency transceiving module; the virtual reality observation helmet comprises a second control module, an image and posture information receiving unit, an acceleration sensor, a VR glasses display, a second radio frequency transceiving module, a camera module for carrying out video call with a doctor, a mobile communication module and a call module;
the 3D image acquisition unit acquires 3D image information, the output end of the 3D image acquisition unit is connected with the image information input end of the first control module, the attitude sensing module detects the current position of the capsule endoscope, the output end of the attitude sensing module is connected with the capsule position information input end of the first control module, and the first control module transmits the image information through the first radio frequency transceiving module;
the image and posture information receiving unit receives image information and capsule endoscope posture information sent by the capsule endoscope through a second radio frequency transceiving module and sends the image information and the capsule endoscope posture information to the second control module, and the VR glasses display displays the image information and the capsule endoscope posture information received by the second control module;
the acceleration sensor collects head movement information of an observer, the output end of the acceleration sensor is connected with the corresponding information input end of the second control module, and the second control module transmits the movement information as a movement instruction through the second radio frequency transceiving module;
the first radio frequency transceiver module receives the motion instruction and sends the motion instruction to the first control module, and the first control module is connected with the capsule driving device and controls the capsule driving device to execute the motion instruction;
the capsule driving device comprises a plurality of sub-driving parts with different driving directions, the driving force of partial sub-driving parts or the direction of the extension line of the partial sub-driving parts passes through the mass center of the capsule endoscope, and the capsule driving device drives the capsule to move and/or turn autonomously in a plurality of directions.
2. The controllable capsule endoscopy system of claim 1, wherein the virtual reality observation helmet further comprises a voice module, the voice module comprises a voice input unit and a voice recognition unit, the voice input unit is connected to the second control module and sends voice information to the second control module, the second control module is connected to the voice recognition unit, the second control module sends voice information to the voice recognition unit, and the voice recognition unit recognizes the voice information as text information and sends the text information to the second control module.
3. The controllable capsule endoscopy system of claim 1 or 2, further comprising a server, wherein the server communicates with the second control module via a wireless communication unit, an image receiving module and a voice receiving module of the server receive image information and/or voice information from a virtual reality observation helmet, signal output ends of the image receiving module and the voice receiving module are both connected to a third signal processing module, and an output end of the third signal processing module is connected to a storage module;
and/or the intelligent terminal is further included, and the intelligent terminal is communicated with the second control module.
4. A controllable capsule endoscopic system according to claim 1, wherein said capsule endoscope further comprises a first signal processing module, said virtual reality observation helmet further comprises a second signal processing module;
the first signal processing module is connected with the first control module, and the second signal processing module is connected with the second control module; or the first signal processing module is integrated in the first control module, and the second signal processing module is integrated in the second control module.
5. A controllable capsule endoscopy system according to claim 1, wherein the capsule driving device comprises a gas injection device, the gas injection device comprises a plurality of injection ports which are opened at the capsule body or outside the capsule body and have different opening directions, and the plurality of injection ports are connected with the gas storage chamber in a switchable manner.
6. A controllable capsule endoscopy system according to claim 5, wherein the gas storage chamber is configured to store compressed gas therein, the gas storage chamber is configured as a single unit or is divided into a plurality of sub-storage chambers, and each of the injection ports is connected to the single unit or at least to one of the sub-storage chambers.
7. A controllable capsule endoscopy system according to claim 1, wherein the capsule driving device comprises a screw power device, the screw power device comprising a plurality of propellers disposed outside the capsule endoscope and driven in different directions.
8. A controllable capsule endoscopic system according to claim 5, wherein said capsule driving device further comprises a suction device comprising a suction pump and an elastic containing chamber, said elastic containing chamber being expanded in a suction state and retracted in a non-suction state.
9. A controllable capsule endoscopic system according to claim 7, wherein at least one of said propellers is a suction propeller.
10. A controllable capsule endoscope system according to claim 8, characterized in that a valve is arranged on the connection line between the gas storage chamber and the injection port, said first control module controls the opening and closing of the valve to realize the simultaneous or independent gas injection from different injection ports.
11. The controllable capsule endoscopy system of claim 9, wherein the capsule driving device further comprises a plurality of driving motors corresponding to the propellers, and the first control module controls the driving motors to rotate the different propellers simultaneously or independently.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696940.7A CN108742483B (en) | 2018-06-29 | 2018-06-29 | Controllable capsule endoscope system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810696940.7A CN108742483B (en) | 2018-06-29 | 2018-06-29 | Controllable capsule endoscope system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108742483A CN108742483A (en) | 2018-11-06 |
| CN108742483B true CN108742483B (en) | 2022-05-17 |
Family
ID=63974974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810696940.7A Active CN108742483B (en) | 2018-06-29 | 2018-06-29 | Controllable capsule endoscope system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108742483B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3753521A1 (en) | 2019-06-19 | 2020-12-23 | Karl Storz SE & Co. KG | Medical handling device for controlling a handling device |
| CN110432867B (en) * | 2019-08-12 | 2021-11-02 | 中国医学科学院生物医学工程研究所 | Integrative capsule scope is diagnose to photodynamic |
| CN110652274A (en) * | 2019-10-31 | 2020-01-07 | 南京工业职业技术学院 | Intestines and stomach inspection device and intestines and stomach detecting system |
| CN117357045A (en) * | 2020-04-23 | 2024-01-09 | 深圳硅基智控科技有限公司 | Signal transmission device for capsule endoscope |
| CN112472009A (en) * | 2020-12-04 | 2021-03-12 | 深圳市资福医疗技术有限公司 | Detection system and method of capsule endoscope |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005501630A (en) * | 2001-09-05 | 2005-01-20 | ギブン・イメージング・リミテッド | System and method for three-dimensional display of body lumen |
| CN101224102A (en) * | 2007-01-24 | 2008-07-23 | 重庆特奥科技有限公司 | Inner-driving encapsulated endoscopic system |
| CN101862174A (en) * | 2010-05-24 | 2010-10-20 | 清华大学 | Multi-view image collection and storage system and method for use in cavity of organism |
| CN102302357A (en) * | 2011-06-22 | 2012-01-04 | 清华大学 | Saccade endoscope and attitude sensing system used for same |
| CN104720735A (en) * | 2014-12-02 | 2015-06-24 | 上海理鑫光学科技有限公司 | Visual reality capsule endoscope |
| KR20180004346A (en) * | 2016-07-01 | 2018-01-11 | 가천대학교 산학협력단 | Steering method of externally powered wireless endoscope system with improved user intuition by HMD |
| CN107669239A (en) * | 2017-10-31 | 2018-02-09 | 西安市中心医院 | Capsule-type bronchoscope |
-
2018
- 2018-06-29 CN CN201810696940.7A patent/CN108742483B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005501630A (en) * | 2001-09-05 | 2005-01-20 | ギブン・イメージング・リミテッド | System and method for three-dimensional display of body lumen |
| CN101224102A (en) * | 2007-01-24 | 2008-07-23 | 重庆特奥科技有限公司 | Inner-driving encapsulated endoscopic system |
| CN101862174A (en) * | 2010-05-24 | 2010-10-20 | 清华大学 | Multi-view image collection and storage system and method for use in cavity of organism |
| CN102302357A (en) * | 2011-06-22 | 2012-01-04 | 清华大学 | Saccade endoscope and attitude sensing system used for same |
| CN104720735A (en) * | 2014-12-02 | 2015-06-24 | 上海理鑫光学科技有限公司 | Visual reality capsule endoscope |
| KR20180004346A (en) * | 2016-07-01 | 2018-01-11 | 가천대학교 산학협력단 | Steering method of externally powered wireless endoscope system with improved user intuition by HMD |
| CN107669239A (en) * | 2017-10-31 | 2018-02-09 | 西安市中心医院 | Capsule-type bronchoscope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108742483A (en) | 2018-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108742483B (en) | Controllable capsule endoscope system | |
| CN108523823B (en) | Capsule endoscope and autonomous mobile steering control system thereof | |
| US7601119B2 (en) | Remote manipulator with eyeballs | |
| JP3863839B2 (en) | Microcapsule robot and endoscope system | |
| US20050043583A1 (en) | Endoscopy apparatus | |
| CN211749478U (en) | Magnetic control device | |
| KR20160135271A (en) | Systems and methods for control of imaging instrument orientation | |
| US20170245741A1 (en) | Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings | |
| WO2006013977A1 (en) | System for acquiring image in subject and device to be introduced into subject | |
| CN110575119A (en) | Control method and control system of capsule endoscope based on multiple radio frequency modules | |
| US11202558B1 (en) | Interactive magnetically controlled capsule endoscope automatic cruise examination system | |
| WO2010140126A2 (en) | Ultrasonic capsule with rotatable reflector | |
| CN209301085U (en) | Controllable capsule endoscopy system based on virtual reality technology | |
| CN110269580A (en) | Robot system is peeped in a kind of micro radio | |
| JP6473266B1 (en) | Capsule endoscope | |
| CN102085084A (en) | Sampling capsule system based on wireless energy supply extracorporeal magnetic control | |
| CN209301084U (en) | Capsule endoscope and its autonomous steering control system | |
| CN109259715B (en) | Capsule endoscope magnetic guide control device integrating interaction function | |
| CN104027060A (en) | Capsule type endoscopic robot for gastrointestinal tracts | |
| CN108460820B (en) | Micro mobile device control device and method based on image feedback | |
| CN207506552U (en) | A kind of capsule endoscopic and endoscopy system | |
| CN218738879U (en) | Controllable capsule gastroscope of angle and capsule scope control system | |
| Rasouli et al. | Wireless capsule endoscopes for enhanced diagnostic inspection of gastrointestinal tract | |
| CN202191263U (en) | Capsule-shaped endoscope system | |
| CN209826663U (en) | Multi-angle imaging system of thoraco-laparoscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210924 Address after: 401120 1-1, 2-1, 3-1, building 5, No. 18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Applicant after: Chongqing Jinshan Medical Technology Research Institute Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Applicant before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |