CN112089395A - Device for moving capsule type endoscope - Google Patents

Device for moving capsule type endoscope Download PDF

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Publication number
CN112089395A
CN112089395A CN202011126250.1A CN202011126250A CN112089395A CN 112089395 A CN112089395 A CN 112089395A CN 202011126250 A CN202011126250 A CN 202011126250A CN 112089395 A CN112089395 A CN 112089395A
Authority
CN
China
Prior art keywords
platform
motor
moving
connecting piece
type endoscope
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.)
Pending
Application number
CN202011126250.1A
Other languages
Chinese (zh)
Inventor
阴慧娟
董晓曦
杜庆喆
张健
李宏霄
李迎新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institute of Biomedical Engineering of CAMS and PUMC
Original Assignee
Institute of Biomedical Engineering of CAMS and PUMC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Institute of Biomedical Engineering of CAMS and PUMC filed Critical Institute of Biomedical Engineering of CAMS and PUMC
Priority to CN202011126250.1A priority Critical patent/CN112089395A/en
Publication of CN112089395A publication Critical patent/CN112089395A/en
Pending legal-status Critical Current

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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
    • A61B1/273—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
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Abstract

The invention discloses a device for moving a capsule type endoscope, which comprises an intelligent moving magnetic force platform and a remote controller for remotely controlling the intelligent moving magnetic force platform; the intelligent mobile magnetic force platform comprises a bottom plate and a control panel, wherein the bottom plate is provided with a Z-direction lifting platform, an electric push rod for driving the Z-direction lifting platform to lift and at least three walking units; the Z direction lift platform is last to be provided with rotary platform and to drive rotary platform around Z axle pivoted first motor, the last second connecting piece that has set firmly of rotary platform, be provided with the clamping piece that is used for pressing from both sides tight control magnet on the second connecting piece and can drive the clamping piece around self horizontal axis pivoted second motor, the clamping piece level sets up, first motor, the second motor, turn to steering wheel and in-wheel motor and be connected with the control panel electricity respectively, the control panel still electricity is connected with the bluetooth receiver, the remote controller includes the casing, the circuit board, first Wi-Fi module and control button. The invention can realize the accurate control of the capsule type endoscope.

Description

Device for moving capsule type endoscope
Technical Field
The invention relates to the technical field of medical instruments, in particular to a device for moving a capsule type endoscope.
Background
With the development of science and technology, capsule endoscopes have been widely researched and rapidly developed as an effective method for gastroscopy. At present, the research of the magnetic control capsules at home and abroad has mature products. The control of the existing capsule type endoscope is realized by a handle type magnet or a fixed single magnetic force control device.
The handle type magnet control is manual magnetic control equipment which places permanent magnets (generally bar magnets) or electromagnets in a handheld device, and a detection person holds the handle to control the movement of the magnetron capsule and the rotation posture in the stomach space in a manual control mode. The hand-held magnetic control has the advantages that the magnetic field is controlled by manually moving the magnetic ball, so that the moving and rotating control precision of the magnetic control capsule is low, the manual operation is easy to make mistakes, and the discomfort of a patient is easy to cause due to improper operation.
The fixed single-magnetic-force control device controls the magnetic control capsule by using a magnetic field of single magnetic force, a suspension system is established, the magnetic control capsule has X, Y, Z degrees of freedom in total in rotation around an X axis and rotation around a Y axis through X, Y, Z three-axis guide rails and a mechanical device for controlling the rotation of the spherical magnet, so that the stomach surface of a patient is scanned, the stomach of the patient is filled with water during examination, when the device controls the rotation of the magnetic ball, the generated upward single magnetic force can enable the magnetic control capsule to horizontally displace, so that the positioning accuracy is reduced, the fixed single-magnetic-force control device can only manually control the examination by a doctor, and the labor cost is high. The fixed single magnetic control device also has the defects of large volume, large occupied area, high manufacturing cost, low utilization rate and the like.
Disclosure of Invention
The present invention is directed to a device for moving a capsule endoscope, which solves the above problems of the prior art and realizes precise control of the capsule endoscope.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a device for moving a capsule type endoscope, which comprises an intelligent moving magnetic force platform and a remote controller for remotely controlling the intelligent moving magnetic force platform; the intelligent mobile magnetic force platform comprises a bottom plate and a control panel, wherein a Z-direction lifting platform, an electric push rod for driving the Z-direction lifting platform to lift and at least three walking units are arranged on the bottom plate, each walking unit comprises a steering engine, a first connecting piece, a wheel hub motor and a wheel, the steering engine can drive the first connecting piece to rotate around a Z axis, the wheel is rotatably arranged on the first connecting piece, and the wheel hub motor is fixedly arranged on the first connecting piece and can drive the wheel to rotate; the Z-direction lifting platform is provided with a rotating platform and a first motor capable of driving the rotating platform to rotate around a Z axis, a second connecting piece is fixedly arranged on the rotary platform, a clamping piece used for clamping the control magnet and a second motor capable of driving the clamping piece to rotate around the horizontal axis of the second connecting piece are arranged on the second connecting piece, the clamping piece is horizontally arranged, the first motor, the second motor, the steering engine and the hub motor are respectively and electrically connected with the control panel, the control panel is also electrically connected with a Bluetooth receiver and a second Wi-Fi module, the remote controller comprises a shell, a circuit board, a first Wi-Fi module and a plurality of control buttons arranged on the circuit board, the first Wi-Fi module is in wireless connection with the second Wi-Fi module, and the Bluetooth receiver can be connected with a Bluetooth transmitter arranged on a sickbed in a matching mode.
Preferably, two vertical telescopic rods are further connected between the Z-direction lifting platform and the bottom plate.
Preferably, the edge of the top surface of the bottom plate is also provided with a plurality of obstacle avoidance sensors electrically connected with the control board.
Preferably, the Z-direction lifting platform is further provided with a plurality of distance measuring sensors electrically connected with the control board.
Preferably, a battery is further arranged on the bottom plate, and the first motor, the second motor, the steering engine, the hub motor and the control panel are respectively electrically connected with the battery.
Preferably, the first Wi-Fi module and the circuit board are respectively disposed within the housing.
Compared with the prior art, the invention has the following technical effects:
the device for moving the capsule type endoscope can accurately control the capsule type endoscope. The device for moving the capsule type endoscope has flexible movement and small volume, and can enter the bed bottom for detection without occupying the space outside the bed; the automatic switching device has a manual function and an automatic function, and an operator can switch operation modes at will according to specific conditions; the intelligent degree is high, the sickbeds can be automatically found, and single or multiple sickbeds are supported; low cost, simple operation and labor saving. The device for moving the capsule type endoscope has high detection precision and small error.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic configuration view of a device for moving a capsule type endoscope of the present invention;
FIG. 2 is a block diagram showing the construction of an apparatus for moving a capsule type endoscope of the present invention;
FIG. 3 is a schematic view showing an application of the apparatus for moving a capsule type endoscope of the present invention;
FIG. 4 is a magnetic force control diagram of the apparatus for moving a capsule type endoscope of the present invention;
FIG. 5 is a partial structural view of the apparatus for moving a capsule type endoscope of the present invention;
FIG. 6 is a schematic configuration view of a remote controller of the apparatus for moving a capsule type endoscope of the present invention;
FIG. 7 is a flowchart showing the operation of the apparatus for moving a capsule type endoscope of the present invention;
wherein: 1. a base plate; 2. a first connecting member; 3. a wheel; 4. an obstacle avoidance sensor; 5. a steering engine; 6. a battery; 7. an electric push rod; 8. a telescopic rod; 9. a Z-direction lifting platform; 10. a Bluetooth receiver; 11. a ranging sensor; 12. rotating the platform; 13. a first motor; 14. a second connecting member; 15. a second motor; 16. a control magnet; 17. a clamping member; 18. a hub motor; 19. a control panel; 20. a hospital bed; 21. intelligently moving the magnetic force platform; 22. the stomach; 23. magnetically controlling the capsule; 24. a controlled magnet; 25. a target area; 26. a connecting plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The present invention is directed to a device for moving a capsule endoscope, which solves the above problems of the prior art and realizes precise control of the capsule endoscope.
The invention provides a device for moving a capsule type endoscope, which comprises an intelligent moving magnetic force platform and a remote controller for remotely controlling the intelligent moving magnetic force platform; the intelligent mobile magnetic force platform comprises a bottom plate and a control panel, wherein a Z-direction lifting platform, an electric push rod for driving the Z-direction lifting platform to lift and at least three walking units are arranged on the bottom plate, each walking unit comprises a steering engine, a first connecting piece, a wheel hub motor and a wheel, the steering engine can drive the first connecting piece to rotate around a Z axis, the wheel is rotatably arranged on the first connecting piece, and the wheel hub motor is fixedly arranged on the first connecting piece and can drive the wheel to rotate; the Z-direction lifting platform is provided with a rotating platform and a first motor capable of driving the rotating platform to rotate around a Z axis, a second connecting piece is fixedly arranged on the rotary platform, a clamping piece used for clamping the control magnet and a second motor capable of driving the clamping piece to rotate around the horizontal axis of the second connecting piece are arranged on the second connecting piece, the clamping piece is horizontally arranged, the first motor, the second motor, the steering engine and the hub motor are respectively and electrically connected with the control panel, the control panel is also electrically connected with a Bluetooth receiver and a second Wi-Fi module, the remote controller comprises a shell, a circuit board, a first Wi-Fi module and a plurality of control buttons arranged on the circuit board, the first Wi-Fi module is in wireless connection with the second Wi-Fi module, and the Bluetooth receiver can be connected with a Bluetooth transmitter arranged on a sickbed in a matching mode.
The device for moving the capsule type endoscope can accurately control the capsule type endoscope.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 7: the embodiment provides a device for moving a capsule type endoscope, which comprises an intelligent moving magnetic force platform 21 and a remote controller for remotely controlling the intelligent moving magnetic force platform 21.
Wherein, intelligent movement magnetic force platform 21 includes bottom plate 1 and control panel 19, is provided with Z direction lift platform 9 on the bottom plate 1, is used for driving electric push rod 7 and four walking units that Z direction lift platform 9 goes up and down, still is connected with two vertical telescopic links 8 between Z direction lift platform 9 and the bottom plate 1. The walking unit is including turning to steering wheel 5, first connecting piece 2, in-wheel motor 18 and wheel 3, turns to steering wheel 5 and can drive first connecting piece 2 around Z axle rotation, is provided with the ring flange on turning to steering wheel 5's the output shaft, and the ring flange links firmly with first connecting piece 2 through connecting plate 26, and wheel 3 rotates and sets up on first connecting piece 2, and in-wheel motor 18 sets firmly on first connecting piece 2 and can drive wheel 3 and rotate.
The Z-direction lifting platform 9 is provided with a rotary platform 12 and a first motor 13 capable of driving the rotary platform 12 to rotate around the Z-axis, in this embodiment, the rotary platform 12, the first motor 13 and a transmission mechanism therebetween are purchased in a matched manner from the market, and the specific model is Y200RA 100. The rotary platform 12 is fixedly provided with a second connecting piece 14, the second connecting piece 14 is provided with a clamping piece 17 for clamping the control magnet 16 and a second motor 15 capable of driving the clamping piece 17 to rotate around a horizontal axis of the second connecting piece, and the clamping piece 17 is horizontally arranged.
The Z-direction lifting platform 9 is further provided with a plurality of distance measuring sensors 11 electrically connected with the control board 19, and the edge of the top surface of the bottom board 1 is further provided with a plurality of obstacle avoiding sensors 4 electrically connected with the control board 19. The first motor 13, the second motor 15, the steering engine 5 and the hub motor 18 are electrically connected with a control board 19 respectively. The bottom plate 1 is further provided with a battery 6, and the first motor 13, the second motor 15, the steering engine 5, the hub motor 18 and the control panel 19 are respectively electrically connected with the battery 6.
Control panel 19 still electricity is connected with bluetooth receiver 10 and second Wi-Fi module, the remote controller includes the casing, the circuit board, first Wi-Fi module and a plurality of control button of setting on the circuit board, the model of circuit board is stm32 in control panel 19 and the remote controller, first Wi-Fi module and second Wi-Fi module wireless connection, and second Wi-Fi module and control panel signal connection, thereby realize the signal transmission between remote controller and the device main part, first Wi-Fi module and circuit board set up respectively in the casing, bluetooth receiver 10 can pair respectively with the bluetooth transmitter that sets up on different sick beds and be connected. Referring to fig. 6, the control buttons include a power-on key, a power-off key, a first bed call key, a second bed call key, a third bed call key, a fourth bed call key, a fifth bed call key, a sixth bed call key, an automatic operation key, an X key, -Y key, a Z +90 degree key, and a Z-90 degree key. A start-up key: pressing the power-on key to start the device, and turning off the power-on key: pressing the power-off key to turn off the device, and pressing the sickbed call key: pressing the call bed key device moves to the designated position of the designated bed 20, and the return key: pressing the return key returns the device to the initial position. Automatic run key: the intelligent mobile magnetic platform 21 with the automatic operation key pressed controls the magnetic control capsule 23 to scan and check the stomach 22 according to the appointed program. And (4) moving key positions: the device can be moved (X, -X, Y, -Y) by pressing the corresponding key position by the moving key position. Rotating key position of the rotary table: the Z + 90-degree rotary table is pressed down to rotate 90 degrees around the positive direction of the Z axis, and the Z-90-degree rotary table is pressed down to rotate 90 degrees around the negative direction of the Z axis. Rotating the button: the rotation knob controls the control magnet 16 to rotate around the X, Y axis, with a negative left rotation and a positive right rotation.
The remote controller control is divided into two modes: (1) manual mode: the remote controller is pressed to select the key position of the sickbed, the intelligent mobile platform moves to the position below the corresponding sickbed 20, and the operator moves the intelligent mobile magnetic platform 21 to a proper position through a visual screen (an image in the stomach sent by the magnetic control capsule 23), so that the magnetic control capsule 23 is controlled. The magnet 16 is controlled to move in the X or Y direction by the direction key on the remote controller, and the control magnet 16 is rotated in the X or Y plane by the rotation key on the remote controller. (2) Automatic mode: the remote controller is pressed to select a key position of a sickbed, the Bluetooth receiver 10 can be connected with a Bluetooth transmitter on a corresponding sickbed 20 in a matching way, the Bluetooth receiver 10 transmits a received instruction signal of the corresponding Bluetooth transmitter to the control panel 19 for information processing, then the control panel sends an instruction to each steering engine 5 and the hub motor 18, the steering engines 5 and the hub motor 18 drive the wheels 3 to rotate, so that the intelligent mobile magnetic force platform 21 is driven to move towards the direction close to the corresponding Bluetooth transmitter to realize automatic alignment, in the process, the distance between the intelligent mobile magnetic force platform 21 and an obstacle is detected through the Bluetooth ranging module, the distance signal is received through the receiving module and then transmitted to the analysis module, the analysis module analyzes the positioning position of the intelligent mobile magnetic force platform through the distance signal and plans a walking route avoiding the obstacle and feeds back the positioning position to the Bluetooth positioning module, and finally, the instruction is sent out through the sending module according to the Bluetooth positioning module so as to control the power device to be positioned and walk in an automatic mode or positioned and suspended in a remote control mode. The intelligent mobile magnetic force platform 21 moves to a position below the corresponding sickbed 20, and an operator moves the intelligent mobile magnetic force platform 21 to a proper position through a visual screen (an intragastric image sent by the magnetic control capsule 23), so that the magnetic control capsule 23 is controlled (the gastroscope image changes along with the movement, namely is controlled). When the automatic detection button is pressed, the intelligent mobile magnetic platform 21 starts to scan the stomach 22 according to the set program.
The use method of the device for moving the capsule type endoscope of the embodiment is as follows:
(1) the manual mode comprises the following specific operation steps of scanning the stomach 22: the patient drinks enough water and wears the magnetic control capsule 23, lies on the sickbed 20 flatly → installs the Bluetooth signal transmitting end at a proper position of the sickbed 20 → presses the call key of the remote controller → the intelligent mobile magnetic control platform moves to the lower part of the sickbed 20 → passes through the observation screen, and the intelligent mobile magnetic control platform is finely adjusted by the remote controller, so that the controlled magnet 24 and the magnetic control capsule 23 are completely controlled (the gastroscope image changes along with the movement) → through the direction key and the rotation key on the remote controller, the visible screen is matched to complete the scanning detection of the upper part and the side image of the target area 25 → the patient turns over and lies on the sickbed 20 → the inner surface of the lower part of the target area 25 is scanned and detected → the scanning is completed → the return key on the remote controller is pressed → the intelligent mobile magnetic control platform.
(2) The automatic mode comprises the following specific operation steps of scanning the stomach 22: the patient drinks enough water and wears the magnetic control capsule 23, the patient lies on the sickbed 20 flatly → the Bluetooth signal transmitting end is installed at a proper position of the sickbed 20 → the call key of the remote controller is pressed → the intelligent mobile magnetic control platform moves to the position below the sickbed 20 → the intelligent mobile magnetic control platform is finely adjusted by the remote controller, so that the controlled magnet 24 and the magnetic control capsule 23 are completely controlled (the gastroscope image changes along with the movement) → the automatic operation key of the remote controller is pressed → the intelligent mobile magnetic control platform performs image scanning detection on the upper part of the target area 25 and the inner surface of the side wall according to the set action → the intelligent mobile magnetic control platform performs image scanning detection → sends prompt tone after the detection is finished → the patient turns over and lies on the sickbed 20 → performs scanning detection on the inner surface of the lower part of the target area 25 → the scanning is finished → the intelligent mobile magnetic control platform.
In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (6)

1. An apparatus for moving a capsule type endoscope, characterized in that: the remote control system comprises an intelligent mobile magnetic force platform and a remote controller for remotely controlling the intelligent mobile magnetic force platform; the intelligent mobile magnetic force platform comprises a bottom plate and a control panel, wherein a Z-direction lifting platform, an electric push rod for driving the Z-direction lifting platform to lift and at least three walking units are arranged on the bottom plate, each walking unit comprises a steering engine, a first connecting piece, a wheel hub motor and a wheel, the steering engine can drive the first connecting piece to rotate around a Z axis, the wheel is rotatably arranged on the first connecting piece, and the wheel hub motor is fixedly arranged on the first connecting piece and can drive the wheel to rotate; the Z-direction lifting platform is provided with a rotating platform and a first motor capable of driving the rotating platform to rotate around a Z axis, a second connecting piece is fixedly arranged on the rotary platform, a clamping piece used for clamping the control magnet and a second motor capable of driving the clamping piece to rotate around the horizontal axis of the second connecting piece are arranged on the second connecting piece, the clamping piece is horizontally arranged, the first motor, the second motor, the steering engine and the hub motor are respectively and electrically connected with the control panel, the control panel is also electrically connected with a Bluetooth receiver and a second Wi-Fi module, the remote controller comprises a shell, a circuit board, a first Wi-Fi module and a plurality of control buttons arranged on the circuit board, the first Wi-Fi module is in wireless connection with the second Wi-Fi module, and the Bluetooth receiver can be connected with a Bluetooth transmitter arranged on a sickbed in a matching mode.
2. The apparatus for moving a capsule type endoscope according to claim 1, wherein: and two vertical telescopic rods are connected between the Z-direction lifting platform and the bottom plate.
3. The apparatus for moving a capsule type endoscope according to claim 1, wherein: and a plurality of obstacle avoidance sensors electrically connected with the control panel are further arranged at the edge of the top surface of the bottom plate.
4. The apparatus for moving a capsule type endoscope according to claim 1, wherein: and the Z-direction lifting platform is also provided with a plurality of distance measuring sensors electrically connected with the control panel.
5. The apparatus for moving a capsule type endoscope according to claim 1, wherein: the bottom plate is further provided with a battery, and the first motor, the second motor, the steering engine, the hub motor and the control panel are respectively electrically connected with the battery.
6. The apparatus for moving a capsule type endoscope according to claim 1, wherein: the first Wi-Fi module and the circuit board are respectively arranged in the shell.
CN202011126250.1A 2020-10-20 2020-10-20 Device for moving capsule type endoscope Pending CN112089395A (en)

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CN202011126250.1A CN112089395A (en) 2020-10-20 2020-10-20 Device for moving capsule type endoscope

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114916898A (en) * 2022-07-20 2022-08-19 广州华友明康光电科技有限公司 Automatic control inspection method, system, equipment and medium for magnetic control capsule

Citations (4)

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Publication number Priority date Publication date Assignee Title
KR100735863B1 (en) * 2006-10-16 2007-07-06 한국항공대학교산학협력단 Position measurement system for capsule type endoscope
CN204950979U (en) * 2015-04-30 2016-01-13 深圳迈瑞生物医疗电子股份有限公司 X -ray bedside machine and remote control equipment and portable X -ray bedside machine system thereof
CN105852783A (en) * 2016-04-22 2016-08-17 重庆金山科技（集团）有限公司 Capsule endoscope control system
CN111568349A (en) * 2020-06-04 2020-08-25 中国医学科学院生物医学工程研究所 Portable control device and method for capsule endoscope products

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100735863B1 (en) * 2006-10-16 2007-07-06 한국항공대학교산학협력단 Position measurement system for capsule type endoscope
CN204950979U (en) * 2015-04-30 2016-01-13 深圳迈瑞生物医疗电子股份有限公司 X -ray bedside machine and remote control equipment and portable X -ray bedside machine system thereof
CN105852783A (en) * 2016-04-22 2016-08-17 重庆金山科技（集团）有限公司 Capsule endoscope control system
CN111568349A (en) * 2020-06-04 2020-08-25 中国医学科学院生物医学工程研究所 Portable control device and method for capsule endoscope products

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114916898A (en) * 2022-07-20 2022-08-19 广州华友明康光电科技有限公司 Automatic control inspection method, system, equipment and medium for magnetic control capsule

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