CN113367640A - Wireless capsule robot - Google Patents
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- CN113367640A CN113367640A CN202110642920.3A CN202110642920A CN113367640A CN 113367640 A CN113367640 A CN 113367640A CN 202110642920 A CN202110642920 A CN 202110642920A CN 113367640 A CN113367640 A CN 113367640A
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- 239000002775 capsule Substances 0.000 title claims abstract description 95
- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 210000001035 gastrointestinal tract Anatomy 0.000 claims abstract description 51
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 13
- 230000029087 digestion Effects 0.000 claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims description 7
- 239000000919 ceramic Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000008855 peristalsis Effects 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 4
- 201000010099 disease Diseases 0.000 abstract description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 4
- 238000011160 research Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 210000000936 intestine Anatomy 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 239000004417 polycarbonate Substances 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000560 biocompatible material Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 239000006187 pill Substances 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 210000001635 urinary tract Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—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
- A61B1/00002—Operational features of endoscopes
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
-
- 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
- A61B1/00156—Holding or positioning arrangements using self propulsion
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Computer Networks & Wireless Communication (AREA)
- Gastroenterology & Hepatology (AREA)
- Endoscopes (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention provides a wireless capsule robot, which comprises a capsule shell, a microprocessor, a motion sensor, a temperature sensor, an air pressure sensor, a radio frequency antenna, a lithium battery and a power management module, wherein the radio frequency antenna, the motion sensor, the temperature sensor and the air pressure sensor are all electrically connected with the microprocessor, the lithium battery is electrically connected with the power management module, stable working voltage is provided for the capsule robot through the power management module, the microprocessor, the motion sensor, the temperature sensor, the air pressure sensor, the radio frequency antenna, the lithium battery and the power management module are all arranged in the capsule shell, and after the wireless capsule robot is orally taken, the wireless capsule robot moves along with the peristalsis of the gastrointestinal tract in the digestion process of a capsule in a human body, and the movement process of the gastrointestinal tract is detected. The wireless capsule robot provided by the invention researches digestive tract diseases from the perspective of motion detection, and compared with the existing wireless capsule endoscope, the wireless capsule robot has the advantages that the whole size can be smaller and the cost is lower, wherein the motion data is smaller than the image data, the transmission power consumption is low, and the duration is long.
Description
Technical Field
The invention relates to the technical field of sensor detection, in particular to a wireless capsule robot.
Background
Examination and diagnosis of digestive tract diseases are always a non-negligible problem, and currently, in medical treatment, endoscopy is the most effective way to diagnose digestive tract diseases, and traditional endoscopy mostly uses a flexible endoscope which needs to be inserted into a body cavity by a doctor to perform medical imaging on relevant parts in the body; since the invention, it has been effective in assisting physicians in viewing the gastrointestinal tract, respiratory tract, urinary tract and other cavities of the human body, but at the same time these endoscopes are associated with various problems such as risks of infection, perforation and tearing, which are complicated to operate.
With the development of networks and the progress of micro-electro-mechanical systems, the development of wireless endoscope technology is rapid, and various wireless capsule robots are in endless, have smaller and smaller volumes and lower power consumption; the wireless capsule endoscope has the advantages of being non-invasive, painless and easy to check, and is widely applied to clinical application, but the wireless capsule endoscope also has a lot of challenges in the aspects of cost, accuracy, volume size and the like. From 2001, the first capsule endoscope, PillCam, was marketed, and after entering the gastrointestinal tract, it passively operated with the peristaltic motion of the intestinal tract while taking pictures of the inside of the gastrointestinal tract, with no wound and pain, and convenient examination. With the continuous development and progress of the technology, the controllable capsule endoscope appears at present, including a push type capsule endoscope robot, a remote control capsule endoscope robot NaviCam and the like, which enable countless patients to experience the benefits of the wireless capsule endoscope, but the capsule endoscope still faces huge challenges, such as the large volume of functional modules, such as a motion module and a vision module, which make the system difficult to achieve the size of pills, and meanwhile, the image data is difficult to realize low power consumption and high cost in transmission, so that the practicability and universality of the system are relatively low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a wireless capsule robot which is used for detecting gastrointestinal tract power, namely detecting the motion process of the gastrointestinal tract, so as to solve the problems of large size and high cost of a wireless capsule endoscope in the prior art.
A wireless capsule robot comprises a capsule shell, a microprocessor, a motion sensor, a temperature sensor, an air pressure sensor, a radio frequency antenna, a lithium battery and a power management module, wherein the radio frequency antenna, the motion sensor, the temperature sensor and the air pressure sensor are all electrically connected with the microprocessor;
the motion sensor is used for detecting the real-time motion state of the gastrointestinal tract in the capsule digestion process and transmitting the collected motion state data to the microprocessor, wherein the motion state data comprises acceleration values, angular velocity values and magnetic force values of the gastrointestinal tract in an X axis, a Y axis and a Z axis;
the temperature sensor is used for detecting the real-time temperature in the gastrointestinal tract in the digestion process of the capsule and transmitting the acquired temperature data to the microprocessor;
the air pressure sensor is used for detecting the real-time air pressure in the gastrointestinal tract in the capsule digestion process and transmitting the acquired air pressure data to the microprocessor;
the radio frequency antenna is used for transmitting wireless signals;
the microprocessor is used for sending the received motion state data, the temperature data and the air pressure data to an external receiving end through the radio frequency antenna.
Further, wireless capsule robot still includes the circuit board, and in order to reduce wireless capsule robot's volume, microprocessor, motion sensor, temperature sensor, baroceptor, radio frequency antenna all integrate on the circuit board, and lithium cell, power management module install the lower extreme at the circuit board, and the lithium cell is connected with power management module's input electricity, and power management module's output is connected with the power input electricity on the circuit board, the circuit board is PCB board or FPC board.
The motion sensor adopts nine-axis inertial sensor, nine-axis inertial sensor integration has triaxial accelerometer, triaxial angular velocity meter and three-axis magnetometer, triaxial accelerometer is used for gathering the acceleration value of intestines and stomach at X axle, Y axle, Z axle, triaxial angular velocity is used for gathering the rotation angle value of intestines and stomach at X axle, Y axle, Z axle, three-axis magnetometer is used for gathering the magnetic force value of intestines and stomach at X axle, Y axle, Z axle.
The microprocessor supports at least one of an ANT protocol, a 2.4GHz application, and bluetooth 5.0.
The radio frequency antenna adopts a ceramic antenna, the power management module adopts a linear voltage stabilization chip to stabilize the 3.7V voltage output by the lithium battery to 3.3V, and the power supply is supplied to the robot through the connecting circuit board.
The oval capsule shell is made of a biocompatible PC material, the length of the long axis is 21.5mm, the diameter of a circular interface perpendicular to the long axis is 7-7.2 mm, and the thickness of the capsule shell is 0.6 mm.
The invention has the beneficial effects that:
the invention provides a wireless capsule robot which is used for detecting gastrointestinal tract power, the wireless capsule robot can move along with the peristalsis of the gastrointestinal tract after entering a gastrointestinal tract system, a motion sensor of the wireless capsule robot can detect the motion state of the gastrointestinal tract and record motion data in real time, a temperature sensor of the wireless capsule robot can detect the environmental temperature data in the gastrointestinal tract where the capsule robot is located, an air pressure sensor of the wireless capsule robot can detect the environmental air pressure data in the gastrointestinal tract where the capsule robot is located, the data information is wirelessly transmitted to an external receiving end through a 2.4G wireless network, and data support can be provided for the subsequent diagnosis of the gastrointestinal tract health condition. The wireless capsule robot provided by the invention researches digestive tract diseases from the perspective of motion detection, and compared with the existing wireless capsule endoscope, the wireless capsule robot has the advantages that the whole size can be smaller and the cost is lower, wherein the motion data is smaller than the image data, the transmission power consumption is low, and the duration is long.
Drawings
FIG. 1 is a system block diagram of a wireless capsule robot of the present invention;
FIG. 2 is a schematic view of the installation of the internal structure of the wireless capsule robot of the present invention;
FIG. 3 is a schematic diagram of the circuit wiring of the wireless capsule robot of the present invention, wherein (a) is a schematic diagram of the wiring of the power management module, (b) is a schematic diagram of the wiring of the motion sensor, (c) is a schematic diagram of the wiring of the environmental sensor, and (d) is a schematic diagram of the wiring of the microprocessor;
in the figure, the device comprises a circuit board 1, a circuit board 2, a capsule shell 3, a lithium battery 4, a patch LED 5, a motion sensor 6, an environment sensor (integrated with temperature and air pressure acquisition functions), a microprocessor 7, a radio frequency antenna 8, a 9 and a power management module.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
As shown in fig. 1-2, a wireless capsule robot includes a capsule housing 2, a microprocessor 7, a motion sensor 5, a temperature sensor, an air pressure sensor, a radio frequency antenna 8, a lithium battery 3, and a power management module 9, wherein the radio frequency antenna 8, the motion sensor 5, the temperature sensor, and the air pressure sensor are all electrically connected to the microprocessor 7, the lithium battery 3 is electrically connected to the power management module 9, and supplies a stable working voltage to the capsule robot system through the power management module 9, the microprocessor 7, the motion sensor 5, the temperature sensor, the air pressure sensor, the radio frequency antenna 8, the lithium battery 3, and the power management module 9 are all installed inside the capsule housing 2, and the wireless capsule robot moves along with the movement of the gastrointestinal tract in a human body after being orally taken;
the motion sensor 5 is used for detecting the real-time motion state of the gastrointestinal tract in the capsule digestion process and transmitting the collected motion state data to the microprocessor, wherein the motion state data comprises acceleration values, angular velocity values and magnetic force values of the gastrointestinal tract in an X axis, a Y axis and a Z axis;
the temperature sensor is used for detecting the real-time temperature in the gastrointestinal tract in the digestion process of the capsule and transmitting the acquired temperature data to the microprocessor;
the air pressure sensor is used for detecting the real-time air pressure in the gastrointestinal tract in the capsule digestion process and transmitting the acquired air pressure data to the microprocessor;
the radio frequency antenna 8 is used for transmitting wireless signals;
the microprocessor 7 is used for sending the received motion state data, temperature data and air pressure data to an external receiving end through the radio frequency antenna 8, and the receiving end can be a mobile phone end or a computer end supporting wireless communication.
Further, wireless capsule robot still includes Circuit Board 1, in order to reduce wireless capsule robot's volume, improves the integrated level of each part among the wireless capsule robot, and microprocessor 7, motion sensor 5, temperature sensor, baroceptor, radio frequency antenna 8 all integrate on the Circuit Board, and lithium cell 3, power management module 9 are installed at the lower extreme of Circuit Board 1, and lithium cell 3 is connected with power management module 9's input electricity, and power management module 9's output is connected with the power input electricity on the Circuit Board 1, Circuit Board 1 is PCB Board (Printed Circuit Board) or FPC Board (Flexible Printed Circuit, Flexible Circuit Board).
The motion sensor 5 adopts a nine-axis inertial sensor ICM20948, the nine-axis inertial sensor is integrated with a three-axis accelerometer, a three-axis angular velocity meter and a three-axis magnetometer, the three-axis accelerometer is used for collecting acceleration values of the gastrointestinal tract in an X axis, a Y axis and a Z axis, the three-axis angular velocity is used for collecting rotation angle values of the gastrointestinal tract in the X axis, the Y axis and the Z axis, and the three-axis magnetometer is used for collecting magnetic force values of the gastrointestinal tract in the X axis, the Y axis and the Z axis. Nine-axis inertial sensor using 3X 1mm3The QFN package (Quad Flat No-lead package) is integrated on the top layer of the PCB and connected with the microprocessor.
The motion state of the wireless capsule robot describes the peristalsis state of the gastrointestinal tract because the wireless capsule robot moves along with the peristalsis of the gastrointestinal tract; through the design of the motion sensor, the wireless capsule robot with the motion sensor 5 can acquire information of acceleration, angular velocity and magnetic force values, so that the accuracy of subsequent gastrointestinal tract motion state judgment is improved.
The microprocessor 7 supports at least one of ANT protocol, 2.4GHz application and bluetooth 5.0. The Chip model used here is NRF52832, and the Chip is packaged in a microminiature WLCSP (Wafer Level Chip Scale Packaging) manner, is 3mm long and 3.2mm wide, is positioned at the left position of the top layer of the PCB, and is used as a controller to keep communication connection with other components; the NRF52832 chip supports ANT, 2.4GHz applications and bluetooth 5.0 simultaneously.
The radio frequency antenna 8 adopts a ceramic antenna, the ceramic antenna has the advantages of small volume and good signal quality, and the adopted ceramic antenna is an omnidirectional antenna, so that the radiation is wide, and the signal receiving is facilitated. The ceramic antenna is arranged on the edge of the top layer of the PCB board so as to prevent signals from being blocked by other devices; the other side of the circuit board corresponding to the RF antenna 8 on the PCB board needs to be free, i.e. no functional device is disposed on the other side of the PCB board opposite to the RF antenna 8, so as to avoid interference to the 2.4G signal and ensure stable transmission of the signal, where RF in fig. 3 represents a connected RF antenna.
The power management module 9 adopts a linear voltage stabilization chip to stabilize the 3.7V voltage output by the lithium battery 3 to 3.3V, and the robot is powered by the connecting circuit board 1. The power management module 9 adopts an SOT-23-3L small-package LDO (Low Dropout Regulator), and is placed at the bottom layer of the PCB board, and the maximum output current can reach 250 mA. The current output by the miniature lithium battery firstly passes through the power management module 9 and then supplies power to the whole wireless capsule robot system. The power management module 9 can be arranged at the bottom layer of the PCB, so that the design can facilitate the connection of the power management module 9 and the lithium battery 3, and meanwhile, the interference to top layer signals of the PCB is avoided.
The elliptical capsule shell 2 is made of polycarbonate PC material with biocompatibility, the capsule shell 2 is provided with a long axis and a short axis, the length of the long axis is smaller than or equal to 22mm, the diameter of a circular section perpendicular to the long axis is 7-7.2 mm, the length of the long axis is 21.5mm, the thickness of the capsule shell is 0.6mm, and the capsule robot manufactured based on the size is only the size of a No. 0 capsule in the market, so that the capsule robot can move smoothly in the gastrointestinal tract, and the capsule shell is made of biocompatible materials and does not have any harm to a human body.
For debugging convenience, a patch LED4 is further integrated on the PCB for displaying the working state of the microprocessor and judging whether the system is operating normally, wherein the working state includes a broadcasting state and a connection state. In the broadcast state, the system is in a connection waiting state, and the patch LED4 is in a flashing state; after the connection is successful, the patch LED4 is off. The patch LED is packaged by 0402 and is integrated on the edge of the top layer of the PCB board and is close to the top of the capsule shell 2; the top of the capsule shell 2 can be provided with a transparent window, so that the working state of the capsule robot before entering the human body can be observed conveniently.
In this embodiment, the temperature sensor and the air pressure sensor are integrated together to form an environmental sensor 6, the environmental sensor 6 has the function of simultaneously adopting temperature and air pressure, and is a digital composite sensor with low power consumption and high precision, the environmental sensor 6 adopts a BME280 chip, and 2.5 multiplied by 0.93mm is applied3The LGA (land grid array) packaging mode, the temperature value and the air pressure value in the gastrointestinal tract environment output by the LGA packaging mode can be used for monitoring the temperature change and the air pressure change of the gastrointestinal tract, all the parts in the whole capsule robot are powered by a 50mA micro lithium battery 3, the lithium battery 3 is connected with a power management module 9, and 3.3V stable working voltage is provided for a PCB (printed circuit board) through the power management module 9. The PCB is a cuboid with chamfered edge, length of 15.14mm, width of 5mm, and maximum thickness of 2.9mm, and is placed in the upper half of the space surrounded by the capsule shell, and the lower half of the capsule shell is 20 × 7 × 3.5mm3The lithium micro-battery.
The main components and parts model is: the power management module is LN6206P332, the motion sensor is ICM20948, the environment sensor is BME280, the microprocessor is NRF52832, the specific wiring schematic is shown in FIG. 3, and the working principle is expressed as follows: when the wireless capsule robot is orally taken, after the wireless capsule robot enters a gastrointestinal tract system of a human body, the wireless capsule robot moves along with the peristalsis of the gastrointestinal tract, the motion state of the gastrointestinal tract is detected by the motion sensor controlled by the microprocessor, the temperature and air pressure information in the gastrointestinal tract is detected by the environment sensor, the acquired data is transmitted to a receiving end outside the body in real time through the radio frequency antenna, for example, the data is transmitted to a computer or a mobile phone, and whether the gastrointestinal tract is abnormal or not is judged according to the motion data acquired by the capsule in the digestion process of the gastrointestinal tract.
The whole wireless capsule robot for gastrointestinal tract dynamic detection has the advantages of low cost within 30 yuan, small size of 0# capsule, continuous working for 12 hours, simple required inspection equipment and capability of solving the problems of large size, complex inspection equipment and high cost of the capsule robot.
Claims (6)
1. A wireless capsule robot is characterized by comprising a capsule shell, a microprocessor, a motion sensor, a temperature sensor, an air pressure sensor, a radio frequency antenna, a lithium battery and a power management module, wherein the radio frequency antenna, the motion sensor, the temperature sensor and the air pressure sensor are all electrically connected with the microprocessor;
the motion sensor is used for detecting the real-time motion state of the gastrointestinal tract in the capsule digestion process and transmitting the collected motion state data to the microprocessor, wherein the motion state data comprises acceleration values, angular velocity values and magnetic force values of the gastrointestinal tract in an X axis, a Y axis and a Z axis;
the temperature sensor is used for detecting the real-time temperature in the gastrointestinal tract in the digestion process of the capsule and transmitting the acquired temperature data to the microprocessor;
the air pressure sensor is used for detecting the real-time air pressure in the gastrointestinal tract in the capsule digestion process and transmitting the acquired air pressure data to the microprocessor;
the radio frequency antenna is used for transmitting wireless signals;
the microprocessor is used for sending the received motion state data, the temperature data and the air pressure data to an external receiving end through the radio frequency antenna.
2. The wireless capsule robot of claim 1, further comprising a circuit board, wherein in order to reduce the size of the wireless capsule robot, the microprocessor, the motion sensor, the temperature sensor, the air pressure sensor and the radio frequency antenna are integrated on the circuit board, the lithium battery and the power management module are mounted at the lower end of the circuit board, the lithium battery is electrically connected with the input end of the power management module, the output end of the power management module is electrically connected with the power input end of the circuit board, and the circuit board is a PCB board or an FPC board.
3. The wireless capsule robot of claim 1, wherein the motion sensor is a nine-axis inertial sensor, the nine-axis inertial sensor is integrated with a three-axis accelerometer, a three-axis angular velocity meter and a three-axis magnetometer, the three-axis accelerometer is used for collecting acceleration values of the gastrointestinal tract in the X-axis, the Y-axis and the Z-axis, the three-axis angular velocity is used for collecting rotation angle values of the gastrointestinal tract in the X-axis, the Y-axis and the Z-axis, and the three-axis magnetometer is used for collecting magnetic force values of the gastrointestinal tract in the X-axis, the Y-axis and the Z-axis.
4. The wireless capsule robot of claim 1, wherein the microprocessor supports at least one of ANT protocol, 2.4GHz application, and bluetooth 5.0.
5. The wireless capsule robot of claim 1, wherein the rf antenna is a ceramic antenna, the power management module is a linear regulator chip, and the power management module regulates the voltage of 3.7V output from the lithium battery to 3.3V, and supplies power to the robot through the connection circuit board.
6. The wireless capsule robot of claim 1, wherein the elliptical capsule housing is made of a biocompatible PC material, the length of the long axis is 21.5mm, the diameter of the circular interface perpendicular to the long axis is 7-7.2 mm, and the thickness of the capsule housing is 0.6 mm.
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| CN202110642920.3A CN113367640A (en) | 2021-06-09 | 2021-06-09 | Wireless capsule robot |
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| CN202110642920.3A CN113367640A (en) | 2021-06-09 | 2021-06-09 | Wireless capsule robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115299886A (en) * | 2022-08-29 | 2022-11-08 | 电子科技大学 | Wireless capsule, preparation method thereof and wearable gastrointestinal biological signal sensing system |
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| CN107847392A (en) * | 2016-04-18 | 2018-03-27 | 上海安翰医疗技术有限公司 | Vivo devices and its control method |
| CN110799079A (en) * | 2017-05-12 | 2020-02-14 | 奥林巴斯株式会社 | Wireless endoscope |
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| CN111256692A (en) * | 2020-03-01 | 2020-06-09 | 中北大学 | Capsule robot attitude determination system and method based on sensor and one-dimensional coil |
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| CN115299886A (en) * | 2022-08-29 | 2022-11-08 | 电子科技大学 | Wireless capsule, preparation method thereof and wearable gastrointestinal biological signal sensing system |
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