CN206880655U - A kind of controllable capsule endoscopy system - Google Patents
A kind of controllable capsule endoscopy system Download PDFInfo
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- CN206880655U CN206880655U CN201621369351.0U CN201621369351U CN206880655U CN 206880655 U CN206880655 U CN 206880655U CN 201621369351 U CN201621369351 U CN 201621369351U CN 206880655 U CN206880655 U CN 206880655U
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Abstract
This application discloses a kind of controllable capsule endoscopy system, including examination couch, the capsule endoscope of doctor's operation bench and interior magnet, the examination couch is used in supporting body the patient with the capsule endoscope, also include the first motion and the second motion for being located at the above and below of the examination couch respectively, wherein, controllable the first magnet being arranged on of first motion moves freely in three dimensions and rotation and rolling, controllable the second magnet being arranged on of second motion moves freely at least two dimensions, first magnet and second magnet cooperate, apply magnetic force to the capsule endoscope jointly, the capsule endoscope is controlled to move and rotate.Above-mentioned controllable capsule endoscopy system, realize that double magnetic fields multiple degrees of freedoms jointly control, multi-faceted the motion of capsule endoscope under one's belt can be controlled, movement and the gesture stability of capsule are realized in each position that also can be under one's belt, greatly strengthen control effect.
Description
Technical field
The utility model belongs to technical field of medical instruments, more particularly to a kind of controllable capsule endoscopy system.
Background technology
In the prior art, capsule endoscope due to it is painless, without cross-infection, normal work life etc. is not influenceed during inspection
Advantage, it is widely applied in digestive tract examining.Wherein, small intestine capsule endoscope passively checks, by stomach and intestine
Spontaneous wriggling makes capsule complete to check.Controllable capsule for treating gastropathy scope was have also appeared in recent years, and glue is controlled by external magnetic field
Intracapsular sight glass completes the inspection of stomach.For example, a kind of existing capsule endoscope control system, passes through a heavy mechanical equipment control
The movement of magnet processed, so as to control the movement of capsule endoscope, but when capsule endoscope is located at the lower surface of stomach, distance is outer
Farther out, the magnetic force being at this moment subject to is smaller, and controling power is limited for portion's magnet, can not effectively drag capsule and walk under one's belt, when some
Time can make capsule out of hand, in addition, also a kind of utilization method that two magnet controls capsule endoscope up and down, but the second magnetic
Field generator only has two-freedom, and control effect is also very limited.
Utility model content
To solve the above problems, the utility model provides controllable capsule endoscopy system, double magnetic fields multiple degrees of freedom connection is realized
Control is closed, multi-faceted the motion of capsule endoscope under one's belt can be controlled, capsule is realized in each position that also can be under one's belt
Movement and gesture stability, greatly strengthen control effect.
A kind of controllable capsule endoscopy system provided by the utility model, including examination couch, doctor's operation bench and interior magnet
Capsule endoscope, the examination couch is used in supporting body the patient with the capsule endoscope, in addition to is located at the inspection respectively
The first motion and the second motion of the above and below of bed are looked into, wherein, first motion is controllable to be set
The first magnet thereon moves freely in three dimensions and rotation and rolling, and second motion is controllable to set it
On the second magnet moved freely at least two dimensions, first magnet and second magnet cooperate, jointly
Apply magnetic force to the capsule endoscope, control the capsule endoscope to move and rotate.
Preferably, in above-mentioned controllable capsule endoscopy system, second motion can control second be arranged on
Magnet moves freely in three dimensions and rotation and rolling.
Preferably, in above-mentioned controllable capsule endoscopy system, first motion is provided with along X-axis including upper surface
The first base of first slide rail in direction, the upper surface for the second base being slidably connected with first slide rail are provided with along Y-axis
Second slide rail in direction, the upper surface for the first slide plate being slidably connected with second slide rail are provided with the along Z-direction the 3rd
Base, the 3rd slide rail is provided with the opposite face of the 3rd base, the 3rd slide rail slidably connects the first rotating base,
The first rotating base upper surface sets and can fixed along the first turntable of its axial-rotation, the first turntable upper surface
Two support bars between be rotatably connected to the first swingle, first magnet is fixed with first swingle.
Preferably, in above-mentioned controllable capsule endoscopy system, second motion includes：
Can rotation vertically the first rotating disk, the upper surface of the rotating disk is rotatably connected to connecting rod, the top of the connecting rod
Be connected with can rotation vertically the second rotating disk；
The top of second rotating disk is fixed with cross bar, and the lower surface of the cross bar is rotatablely connected close to the position of the other end
There is the 3rd rotating disk；
The lower surface of 3rd rotating disk is fixed with magnet holder, and the second swingle, institute are rotatably connected in the magnet holder
State and the second magnet is fixed with the second swingle.
Preferably, in above-mentioned controllable capsule endoscopy system, the first base and first rotating disk are connected to electricity
Machine driving part.
Preferably, in above-mentioned controllable capsule endoscopy system, first magnet and second magnet are permanent magnet
Or electromagnet.
Preferably, in above-mentioned controllable capsule endoscopy system, first magnet and second magnet are cylinder
Magnet or square magnet.
Preferably, in above-mentioned controllable capsule endoscopy system, the sensing capsule endoscope is provided with the capsule endoscope
In magnet and external magnets between distance magnetic field sensor and determine that the gravity of lens direction of the capsule endoscope accelerates
Spend sensor.
By foregoing description, controllable capsule endoscopy system provided by the utility model, by including being located at institute respectively
The first motion and the second motion of the above and below of examination couch are stated, wherein, first motion can control
The first magnet being arranged on moves freely in three dimensions and rotation and rolling, and second motion is controllable to be set up
The second magnet put thereon moves freely at least two dimensions, and first magnet and second magnet cooperate,
Apply magnetic force to the capsule endoscope jointly, control the capsule endoscope to move and rotate, therefore double magnetic fields can be realized
Multiple degrees of freedom jointly controls, and multi-faceted the motion of capsule endoscope under one's belt can be controlled, each position that also can be under one's belt
The movement for realizing capsule and gesture stability are put, greatly strengthen control effect.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is embodiment of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawings can be obtained according to the accompanying drawing of offer.
Fig. 1 is the schematic diagram for the first controllable capsule endoscopy system that the embodiment of the present application provides；
Fig. 2 is the schematic diagram moved left and right using the first magnet and the second magnet control capsule endoscope；
Fig. 3 is to control the inclined schematic diagram of capsule endoscope using the first magnet and the second magnet；
Fig. 4 is to control capsule endoscope rotation and the schematic diagram rolled using the first magnet and the second magnet；
Fig. 5 is the schematic diagram that capsule endoscope fixed point rotary is controlled using the first magnet and the second magnet.
Embodiment
Core concept of the present utility model is to provide a kind of controllable capsule endoscopy system, the double magnetic fields multiple degrees of freedom connection of realization
Control is closed, multi-faceted the motion of capsule endoscope under one's belt can be controlled, capsule is realized in each position that also can be under one's belt
Movement and gesture stability, greatly strengthen control effect.
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
The first controllable capsule endoscopy system that the embodiment of the present application provides is as shown in figure 1, Fig. 1 carries for the embodiment of the present application
The schematic diagram of the first the controllable capsule endoscopy system supplied.The controlled capsule system includes examination couch 1, doctor's operation bench 2 and interior
The capsule endoscope 3 of magnet is put, the examination couch 1 is used in supporting body the patient with the capsule endoscope 3, the capsule endoscope
Including：For gathering the camera lens of capsule image information, the analog signal of capsule image is converted to the image sensing of data signal
Device, to the image processing module of image digitazation processing, locating module, the information transfer after image processing module is handled is outside
The radio-frequency module of the receiver in portion, shown over the display by receiver, capsule shell, for the battery module of power supply, light
Protecgulum is learned, by being acted on the first magnet and the second magnet, controls the built-in permanent magnet of the movement of capsule endoscope, wherein, electricity
Pond module is connected with locating module, and imaging sensor is connected with image processing module, and radio-frequency module is by the picture signal after processing
The reception of external record instrument is sent to, built-in permanent magnet is connected with battery module；
Also include the first motion 4 and the second motion 6 for being located at the above and below of the examination couch 1 respectively,
Wherein, controllable the first magnet 5 being arranged on of first motion 4 move freely in three dimensions and rotation and
Roll, controllable the second magnet 7 being arranged on of second motion 6 moves freely at least two dimensions, described
First magnet 5 and second magnet 7 cooperate, and apply magnetic force to the capsule endoscope 3 jointly, control the capsule endoscope
3 move and rotate.
It should be noted that in the embodiment of the present application, the first motion with five frees degree is set below examination couch
Mechanism, the second motion with least two frees degree is up set, how is specifically as the two motions
Connection, it is not intended to limit herein, any mode that can implement.In the present embodiment, the first magnet below examination couch
With five frees degree, and the second magnet of top at least has two frees degree, is cooperated using the two magnets, to control
Capsule endoscope processed, more preferable control effect can be reached.
Specifically, with reference to figure 2, Fig. 2 is to be shown using what the first magnet and the second magnet control capsule endoscope moved left and right
It is intended to, when capsule is by upper table wall of second magnet absorption in stomach, if driving the first magnet and the second magnet simultaneously toward left or right
Mobile, capsule endoscope, which can follow, turns left or moves right, and controls the inspection in the X-direction of capsule under one's belt well, if on only
One magnet in side, then capsule is difficult to follow movement, equally, if capsule can also reach such effect in the following table wall of stomach.
With reference to figure 3, Fig. 3 is to control the inclined schematic diagram of capsule endoscope using the first magnet and the second magnet, when the first magnetic
In the opposite direction movement toward same level, capsule can produce angle of inclination for body and the second magnet, according to two magnets away from
From distance, the angle value of capsule changes between 30 ° to 90 °, so as to make inspection of the capsule at fixed point angle of inclination, passes through
The distance of two magnet distances can easily extrapolate the inclined angle of capsule, reach the purpose for being precisely controlled angle, if only
There is one magnet in top, then the error of the inclined angle of capsule is with regard to bigger.
With reference to figure 4, Fig. 4 is to control capsule endoscope rotation and the schematic diagram rolled using the first magnet and the second magnet, if
Examiner is more fat, and belly is larger, then the second magnet and stomach is in larger distance, causes magnetic force smaller, rotation or rolling for capsule
Dynamic control effect is bad, easily out of hand.And the embodiment of the present application utilizes the first magnet, then can preferably complete above-mentioned dynamic
Make because less in human body back fat content, the distance of stomach lower wall and human body back is not influenceed by fat content, distance compared with
For fixation, if the first magnet rotation, capsule follow opposite direction rotation, if the first magnet rolls, capsule is followed toward phase negative side
To rolling.
With reference to figure 5, Fig. 5 is the schematic diagram that capsule endoscope fixed point rotary is controlled using the first magnet and the second magnet, second
After magnet adsorbs capsule on the table wall of Weishang, the first magnet of control is rotated with tilting certain angle, and capsule is then in Weishang table
The adsorption site fixed point angle of inclination rotation of wall, because bottom is attracted by the second magnet, will not deviate, can so realize glue
The multi-faceted inspection of fixed point of capsule.Similarly, the first magnet absorption capsule tilts certain angle rotation in stomach following table wall, the second magnet,
Also same effect can be reached.If only one magnet in top, when being rotated due to angle of inclination, the magnetic force that capsule is subject to is uneven
Weighing apparatus, will not spin in fixed position, there is the phenomenon of sideslip.
The effect above is only a part, and also other control effects, here is omitted.
The first controllable capsule endoscopy system provided by foregoing description, the embodiment of the present application, due to including dividing
Not Wei Yu the examination couch above and below the first motion and the second motion, wherein, first fitness machine
Controllable the first magnet being arranged on of structure moves freely in three dimensions and rotation and rolling, second motion
Controllable the second magnet being arranged on moves freely at least two dimensions, first magnet and the second magnet phase
Mutually coordinate, apply magnetic force to the capsule endoscope jointly, control the capsule endoscope to move and rotate, therefore can realize
Double magnetic field multiple degrees of freedoms jointly control, and multi-faceted the motion of capsule endoscope under one's belt can be controlled, also can be under one's belt
Movement and the gesture stability of capsule are realized in each position, greatly strengthen control effect.
Second of controllable capsule endoscopy system that the embodiment of the present application provides, is in the first above-mentioned controllable capsule endoscopy system
On the basis of system, in addition to following technical characteristic：
Controllable the second magnet being arranged on of second motion moves freely in three dimensions and rotation
And rolling.
In this case, the second motion is also provided with five frees degree, is cooperated with the first motion, energy
Enough reach more preferable control effect, enable capsule endoscope that there are more forms of motion, ensure that inspection is more thorough.
The third controllable capsule endoscopy system that the embodiment of the present application provides, is in the first above-mentioned controllable capsule endoscopy system
On the basis of system, in addition to following technical characteristic：
With continued reference to Fig. 1, first motion is provided with along the first slide rail 102 of X-direction including upper surface
First base 101, the upper surface for the second base 103 being slidably connected with first slide rail 102 are provided with along Y direction
Two slide rails 104, the upper surface for the first slide plate 105 being slidably connected with second slide rail 104 are provided with the along Z-direction the 3rd
Base 106, the 3rd slide rail 107 is provided with the opposite face of the 3rd base 106, the 3rd slide rail 107 slidably connects
First rotating base 108, the upper surface of the first rotating base 108 is set can be along the first turntable 109 of its axial-rotation, institute
State and be rotatably connected to the first swingle 111 between two support bars 110 of the upper surface of the first turntable 109 fixation, described first
First magnet 5 is fixed with swingle 111.
Utilize said structure, it becomes possible to control the first magnet to carry out X-axis, any movement on three directions of Y-axis and Z axis,
And can also rotation and rolling, control effect is good, and simple in construction, easy to maintain.
The 4th kind of controllable capsule endoscopy system that the embodiment of the present application provides, is in the third above-mentioned controllable capsule endoscopy system
On the basis of system, in addition to following technical characteristic：
Second motion includes：
Can rotation vertically the first rotating disk 201, the upper surface of the rotating disk 201 is rotatably connected to connecting rod 202, the company
The top of bar 202 be connected with can rotation vertically the second rotating disk 203；
The top of second rotating disk 203 is fixed with cross bar 204, and the lower surface of the cross bar 204 is close to the position of the other end
Put and be rotatably connected to the 3rd rotating disk 205；
The lower surface of 3rd rotating disk 205 is fixed with magnet holder 206, and second is rotatably connected in the magnet holder 206
Swingle 207, the second magnet 7 is fixed with second swingle 207.
As can be seen that in this case, the second motion can also make fortune of second magnet with five frees degree
It is dynamic, linked with the first motion, preferably capsule endoscope is controlled, makes more actions, specifically, doctor is sitting in behaviour
Before controlling platform, the image of capsule endoscope and the running status of two motions can be watched by display, it is controllable by action bars
The motion of two motions is made, when being in an emergency, doctor can be reminded by alarm lamp.
The 5th kind of controllable capsule endoscopy system that the embodiment of the present application provides, is in above-mentioned 4th kind of controllable capsule endoscopy system
On the basis of system, in addition to following technical characteristic：
The first base and first rotating disk are connected to motor driving part part, in this case, pass through motor
The first magnet and the second magnet are controlled respectively in X, Y, the movement of Z-direction, itself rotation and rolling, it is more easy to control.
The 6th kind of controllable capsule endoscopy system that the embodiment of the present application provides, is in above-mentioned 5th kind of controllable capsule endoscopy system
On the basis of system, in addition to following technical characteristic：
First magnet and second magnet are permanent magnet or electromagnet, that is to say, that using permanent magnet or
Person's electromagnet can realize effective control to capsule endoscope, can have corresponding magnetic force parameter according to selection is actually needed
Magnet.
The 7th kind of controllable capsule endoscopy system that the embodiment of the present application provides, is in above-mentioned 6th kind of controllable capsule endoscopy system
On the basis of system, in addition to following technical characteristic：
First magnet and second magnet are cylindrical magnet or square magnet, specifically, can basis
The magnet of selection correspondingly-shaped is actually needed, the magnet of each shape has respective advantage.
The 8th kind of controllable capsule endoscopy system that the embodiment of the present application provides, be it is above-mentioned the first to the 7th kind of controllable glue
In capsule endoscope system it is any on the basis of, in addition to following technical characteristic：
The magnetic field of distance between the magnet and external magnets that are provided with the capsule endoscope in the sensing capsule endoscope
The gravity accelerometer of the lens direction of sensor and the determination capsule endoscope.
It should be noted that magnetic field sensor passes through the magnet outside detection to tri- directions of X, Y, Z of magnetic field sensor
Magnetic force size and direction vector, so as to draw the distance of the magnet outside capsule distance, and gravity by formula of magnetic field algorithm
Acceleration transducer is then the posture for detecting capsule, determines the direction of capsule lens, the two comprehensive sensors, it becomes possible to accurate
Learn the state of capsule, and show, realize preferably control.
In summary, the scheme for the above-mentioned magnets double up and down that the embodiment of the present application provides, can be than single magnet scheme more
The movement of capsule, the change at angle of inclination, rolling and rotation of capsule etc. are stably controlled, there are a variety of magnet combinations, bring
The control effect of a variety of capsule endoscopes.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or new using this practicality
Type.A variety of modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments in the case where not departing from spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (8)
1. a kind of controllable capsule endoscopy system, include the capsule endoscope of examination couch, doctor's operation bench and interior magnet, the inspection
Bed is used in supporting body the patient with the capsule endoscope, it is characterised in that also includes being located under the examination couch respectively
Side and the first motion and the second motion of top, wherein, first motion is controllable be arranged on the
One magnet moves freely in three dimensions and rotation and rolling, and second motion can control second be arranged on
Magnet moves freely at least two dimensions, and first magnet and second magnet cooperate, jointly to the glue
Intracapsular mirror applies magnetic force, controls the capsule endoscope to move and rotate.
2. controllable capsule endoscopy system according to claim 1, it is characterised in that second motion is controllable to be set up
The second magnet put thereon moves freely in three dimensions and rotation and rolling.
3. controllable capsule endoscopy system according to claim 1, it is characterised in that first motion includes upper table
Face is provided with the first base along the first slide rail of X-direction, the upper table for the second base being slidably connected with first slide rail
Face is provided with the second slide rail along Y direction, and the upper surface for the first slide plate being slidably connected with second slide rail is provided with along Z
3rd base of direction of principal axis, the 3rd slide rail is provided with the opposite face of the 3rd base, the 3rd slide rail slidably connects
First rotating base, the first rotating base upper surface is set can be along the first turntable of its axial-rotation, first rotation
The first swingle is rotatably connected between two support bars that turntable upper surface is fixed, is fixed with first swingle described
First magnet.
4. controllable capsule endoscopy system according to claim 3, it is characterised in that second motion includes：
Can rotation vertically the first rotating disk, the upper surface of the rotating disk is rotatably connected to connecting rod, the top connection of the connecting rod
Have can rotation vertically the second rotating disk；
The top of second rotating disk is fixed with cross bar, and the lower surface of the cross bar is rotatably connected to close to the position of the other end
Three rotating disks；
The lower surface of 3rd rotating disk is fixed with magnet holder, is rotatably connected to the second swingle in the magnet holder, and described
The second magnet is fixed with two swingles.
5. controllable capsule endoscopy system according to claim 4, it is characterised in that the first base and described first turn
Disk is connected to motor driving part part.
6. controllable capsule endoscopy system according to claim 5, it is characterised in that first magnet and second magnetic
Body is permanent magnet or electromagnet.
7. controllable capsule endoscopy system according to claim 6, it is characterised in that first magnet and second magnetic
Body is cylindrical magnet or square magnet.
8. according to the controllable capsule endoscopy system described in claim any one of 1-7, it is characterised in that set in the capsule endoscope
The magnetic field sensor and the determination capsule endoscope of distance between the magnet and external magnets that are equipped with the sensing capsule endoscope
Lens direction gravity accelerometer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621369351.0U CN206880655U (en) | 2016-12-13 | 2016-12-13 | A kind of controllable capsule endoscopy system |
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| CN201621369351.0U CN206880655U (en) | 2016-12-13 | 2016-12-13 | A kind of controllable capsule endoscopy system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670681A (en) * | 2018-06-04 | 2018-10-19 | 潘仲民 | A kind of medical capsule scope auxiliary examination bed |
| CN108720793A (en) * | 2018-03-02 | 2018-11-02 | 重庆金山医疗器械有限公司 | A kind of control system and method for capsule endoscope |
| CN108992031A (en) * | 2018-09-04 | 2018-12-14 | 丁国成 | A kind of knee joint cavity scope |
| CN109171616A (en) * | 2018-08-07 | 2019-01-11 | 重庆金山医疗器械有限公司 | Obtain the system and method for 3D shape inside measured object |
| CN110151323A (en) * | 2019-06-05 | 2019-08-23 | 北京理工大学 | A kind of isolating device of capsule endoscope operating platform |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN111528772A (en) * | 2020-04-16 | 2020-08-14 | 上海长海医院 | Magnetic control capsule gastroscopy vehicle and control method thereof |
| 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 |
| CN111671381A (en) * | 2020-06-04 | 2020-09-18 | 中国医学科学院生物医学工程研究所 | Double-magnetic-force control system of capsule endoscope products |
| CN112089385A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Magnetic control device |
| WO2021120464A1 (en) * | 2019-12-20 | 2021-06-24 | 深圳市资福医疗技术有限公司 | Under-bed magnetic control device for minimally invasive surgery |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108720793A (en) * | 2018-03-02 | 2018-11-02 | 重庆金山医疗器械有限公司 | A kind of control system and method for capsule endoscope |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN108670681B (en) * | 2018-06-04 | 2019-10-18 | 青岛大学附属医院 | A kind of working method of medical capsule scope auxiliary examination bed |
| CN108670681A (en) * | 2018-06-04 | 2018-10-19 | 潘仲民 | A kind of medical capsule scope auxiliary examination bed |
| CN109171616A (en) * | 2018-08-07 | 2019-01-11 | 重庆金山医疗器械有限公司 | Obtain the system and method for 3D shape inside measured object |
| CN108992031A (en) * | 2018-09-04 | 2018-12-14 | 丁国成 | A kind of knee joint cavity scope |
| CN110151323A (en) * | 2019-06-05 | 2019-08-23 | 北京理工大学 | A kind of isolating device of capsule endoscope operating platform |
| CN112089385A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Magnetic control device |
| CN112089385B (en) * | 2019-06-17 | 2022-03-29 | 深圳硅基智控科技有限公司 | Magnetic control device |
| WO2021120464A1 (en) * | 2019-12-20 | 2021-06-24 | 深圳市资福医疗技术有限公司 | Under-bed magnetic control device for minimally invasive surgery |
| CN111528772A (en) * | 2020-04-16 | 2020-08-14 | 上海长海医院 | Magnetic control capsule gastroscopy vehicle and control method thereof |
| 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 |
| CN111671381A (en) * | 2020-06-04 | 2020-09-18 | 中国医学科学院生物医学工程研究所 | Double-magnetic-force control system of capsule endoscope products |
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