CN209301084U - Capsule endoscope and its autonomous steering control system - Google Patents
Capsule endoscope and its autonomous steering control system Download PDFInfo
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- CN209301084U CN209301084U CN201821016836.0U CN201821016836U CN209301084U CN 209301084 U CN209301084 U CN 209301084U CN 201821016836 U CN201821016836 U CN 201821016836U CN 209301084 U CN209301084 U CN 209301084U
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Abstract
The utility model discloses a kind of capsule endoscope and its autonomous steering control systems, the capsule endoscope includes capsule ontology, the capsule driving device with capsule ontology synchronizing moving is provided in capsule ontology or outside capsule ontology, capsule driving device includes the different sub- driving portion of multiple driving directions, the mass center of capsule endoscope is passed through in the driving force of the sub- driving portion in part or the direction of its extension line, and capsule driving device drives capsule can be to multiple directions autonomous and/or steering.The capsule driving device of the utility model includes the different sub- driving portion of multiple driving directions, changes the direction of motion of capsule by the operation of sub- driving portion, and capsule is made to realize multiple directions autonomous and steering, and operator is facilitated to carry out pathological observation.
Description
Technical field
The utility model relates to endoscopic technique fields, in particular to one kind being capable of any direction autonomous and steering
Capsule endoscope and its autonomous steering control system.
Background technique
Controlled capsule endoscopic system controls equipment by capsule, can form by capsule endoscopic and image recorder,
Capsule endoscopic is generally adopted by optics front cover, magnet, rear shell, antenna, radio-frequency module, battery, signal processing module and image
Collect module composition.On the controller, image recorder is connect by USB line with controller image workstation software installation, image
Workstation software can access images recorder, read and downloading storage pictorial information, be shown in the display screen of controller
On.
Currently, having a small magnet in general controlled capsule in terms of controlling capsule movement, external control equipment has one
The big magnet of block.Such as Publication No. CN105615817B, in entitled " a kind of medical capsule scope magnetic control navigation device "
As disclosing in state's patent, subject can lie in above examination couch for capsule, and control equipment is manually operated by operator, leads to
Cross movement and the direction of magnetic effect control capsule.Since the mode of this control capsule is controlled by magnetic effect, in addition to
Outside the small magnet of capsule, external control devices also need a big magnet, by big magnet to capsule small magnet
Magnetic effect controlled.Individual attitude controllers are a big magnet, need to rotate close to human body to control the posture of capsule
And movement.Attitude controller volume is big, there is constant weight.Usual situation, subject need to dress vest type receiving device, this sets
Standby heavier, and since there are mutiple antennas units to be mounted on vest, surface irregularity needs after swallowable capsule, lies in bed
On, people can feel ill.And examiner needs to move back and forth using attitude controller close to subject's body, can also sometimes
Close to or withstand body, allow subject to have very much constriction, experience sense is poor.
There are also other capsule control technologies, such as a kind of self-driving capsule (CN201227267), by capsule peripheral hardware
The rotation shell tooth for setting driving rotation shell and at least one protrusion is turned by rotation shell tooth spiral, realizes the forward or backward of capsule.This technology
Although position that scheme can be realized capsule is mobile, but needs that additional structure is arranged outside capsule, increases additional structure gesture
It must be especially narrow intestinal regions on human body and cause uncomfortable influence, it is possible to human body can be scratched；In addition, above technical scheme
The moving direction of middle capsule is relatively simple, can only forward or backward, can not achieve the adjustment and detection direction of any direction
Adjustment.
Utility model content
The utility model aims to solve at least the technical problems existing in the prior art, especially innovatively proposes a kind of glue
Intracapsular sight glass and its autonomous steering control system.
In order to realize the above-mentioned purpose of the utility model, first aspect according to the present utility model, the utility model is mentioned
A kind of capsule endoscope is supplied comprising capsule ontology is provided with and the glue in the capsule ontology or outside capsule ontology
The capsule driving device of capsule ontology synchronizing moving, the capsule driving device include the different sub- driving portion of multiple driving directions,
The mass center of capsule endoscope, the capsule driving device driving are passed through in the driving force of the sub- driving portion in part or the direction of its extension line
Capsule can be to multiple directions autonomous and/or steering.
The capsule driving device of the utility model includes the different sub- driving portion of multiple driving directions, passes through sub- driving portion
Operation changes the direction of motion of capsule, and capsule is enable to adjust the position and direction of itself, realize multiple directions autonomous and
It turns to, operator is facilitated to carry out pathological observation.
In a kind of preferred embodiment of the utility model, the capsule driving device includes gas injection apparatus, institute
Stating gas injection apparatus includes being opened on capsule ontology or capsule sheet is external and opening direction is different multiple jet ports, described more
A jet port and gas save storehouse can on-off connection.It is not soluble in water and right in the injection of corresponding direction by gas injection apparatus
The harmless gas of human body adjusts the position and direction of capsule itself, and realization capsule is in multiple directions autonomous and steering, conveniently
Operator carries out pathological observation.
In another preferred embodiment of the utility model, the gas saves in storehouse and is stored with compressed gas, institute
It states gas and saves storehouse and be structure as a whole or be divided into multiple sub- preservation storehouses, each jet port is connected with the gas of one preservation storehouse
Or storehouse at least is saved with a son and is connected.Using compressed gas, access times are improved；Gas saves storehouse and is structure as a whole or divides
Multiple sub- preservation storehouses are divided into, the flexibility of structure design is improved.
In another preferred embodiment of the utility model, the capsule driving device includes screw power device,
The screw power device includes being set to multiple propellers that capsule sheet is external and driving direction is different.Utilize spiral dynamical system
The motor of system drives different propeller rotationals, adjusts the position and direction of capsule itself, realizes that capsule is autonomous in multiple directions
Mobile and steering, facilitates operator to carry out pathological observation.
In another preferred embodiment of the utility model, when using gas injection apparatus scheme, the capsule
Driving device further includes suction unit, and the suction unit includes suction pump and elastic accommodating chamber, and the elasticity accommodating chamber is being taken out
It expands when suction state, bounces back in non-suction state；
When using screw power device scheme, at least one in the propeller is drawing-in type propeller.
Capsule suction position can be relatively fixed by the effect of suction force when suction, and other spouts or propeller cooperating,
Realize the adjustment in capsule direction.
In another preferred embodiment of the utility model, when using gas injection apparatus scheme, the capsule
Driving device further includes control unit, and valve is provided in the connection line that gas saves storehouse and jet port, and the control is single
The opening and closing of first control valve realizes that different jet ports simultaneously or independently carries out gas injection；
When using screw power device scheme, the capsule driving device further includes control unit and corresponding with propeller
The multiple driving motors being arranged, described control unit control the operation of driving motor, realize that different propellers are simultaneously or only
Vertical rotation.Realize capsule in multiple directions autonomous and steering.
In another preferred embodiment of the utility model, grid protective cover is provided with outside each propeller.By
Human body will not be hurt in the rotation of the presence for having grid protective cover, propeller.
In another preferred embodiment of the utility model, before jet port and propeller are at least set to capsule
Side, rear, left, right, top, lower section and left anterior-superior part, left front lower section, front upper right, right front lower side, left back top,
Left back lower section, right back upper place, at least one direction in the right back lower place；
The front, rear, left, right, top, the jet port of lower section and propeller the direction of active force pass through glue
The mass center of intracapsular sight glass；
The left anterior-superior part, left front lower section, front upper right, right front lower side, left back top, left back lower section, right back upper place, the right side
The direction of the active force of the jet port and propeller of the back lower place without capsule endoscope mass center.Realize the multidirectional position of capsule
Mobile and more detection directions adjustment.
In order to realize the above-mentioned purpose of the utility model, the second aspect according to the present utility model, the utility model is mentioned
A kind of control system of capsule endoscope is supplied comprising capsule console and the capsule posture control for being set to capsule ontology
System processed；Command reception module, control module, signal processing module and radio-frequency receiving-transmitting mould are provided on the capsule console
Block, operation handle or movement directive key are provided on described instruction receiving module, and described instruction receiving module receives instruction simultaneously
It is transferred to control module, includes motion information and direction information in described instruction, the control module instructs corresponding operation
It is converted into electric signal, signal processing module is modulated the electric signal, becomes radiofrequency signal hair by RF receiving and transmission module
It is shot out；The signal of the RF receiving and transmission module reception capsule console sending of capsule endoscope transmits after restoring received signal
Capsule attitude control system is given, when using gas injection apparatus scheme, capsule attitude control system controls corresponding jet port
Valve is opened；When using screw power device scheme, capsule attitude control system controls the rotating electric machine work of corresponding propeller
Make.Control capsule moves or adjusts attitude angle to one party, to reach the position of optimal viewing in-vivo tissue, facilitates operation
Person carries out pathological observation.
In another preferred embodiment of the utility model, when using gas injection apparatus scheme, if only needed
Keep capsule mobile, capsule attitude control system controls the valve working of corresponding jet port, and the active force of the jet port passes through
Capsule mass center；
When using gas injection apparatus scheme, when making capsule steering or mobile steering if necessary while carrying out, glue
The corresponding valve of at least one corresponding jet port of capsule attitude control system control is opened, and the active force of the jet port is not whole
By capsule mass center；Perhaps the valve of capsule attitude control system control suction unit and corresponding jet port work at the same time or
Capsule attitude control system controls two sides and the corresponding valve of axisymmetric jet port is opened；
When using screw power device scheme, if only needing to keep capsule mobile, the control pair of capsule attitude control system
The rotating electric machine of propeller is answered to work, the active force of the propeller passes through capsule mass center；
When using screw power device scheme, when making capsule steering or mobile steering if necessary while carrying out, glue
The corresponding rotating electric machine work of at least one corresponding propeller of capsule attitude control system control, the active force of the propeller is not
All by capsule mass center；Or the rotating electric machine of capsule attitude control system control suction propeller and corresponding injection propeller
It works at the same time or capsule attitude control system controls two sides and the corresponding rotating electric machine work of axisymmetric injection propeller
Make.
Various ways efficiently realize that capsule moves or the adjustment of attitude angle to one party.
The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description
In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of the utility model capsule endoscope；
Fig. 2 (a) is the external structure of capsule endoscope in a kind of preferred embodiment of the utility model；
Fig. 2 (b) is in Fig. 2 (a) along the cross-sectional view in the direction A-A；
Fig. 3 (a) is the external structure of capsule endoscope in the utility model another kind preferred embodiment；
Fig. 3 (b) is in Fig. 3 (a) along the cross-sectional view in the direction B-B；
Fig. 4 is the structural schematic diagram of the control system of capsule endoscope in a kind of preferred embodiment of the utility model.
Appended drawing reference:
101 capsule ontologies；102 sub- driving portions；1 optics front cover；2 horizontal-jet mouths；3 oblique upper jet ports；4 obliquely downward
Jet port；5 image capture modules；6 signal processing modules；7 RF receiving and transmission modules；8 attitude control systems；9 injection gases；10
Gas saves storehouse；11 left side jet ports；12 capsule shells；1-1 optics front cover；1-2 grid protective cover；1-3 propeller；1-4 electricity
Machine；1-5 knuckle；1-6 image capture module；1-7 signal processing module；1-8 attitude control system；1-9 RF receiving and transmission module；
1-10 capsule shell.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the company being also possible to inside two elements
It is logical, it can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art, it can
To understand the concrete meaning of above-mentioned term as the case may be.
The utility model provides a kind of capsule endoscope, as shown in Figure 1 comprising capsule ontology 101, in capsule ontology
The capsule driving device with the capsule ontology synchronizing moving is provided with outside interior or capsule ontology, capsule driving device includes multiple drives
The different sub- driving portion 102 in dynamic direction, the driving force (thrust to capsule that sub- driving portion issues) of the sub- driving portion in part or its
The mass center of capsule endoscope is passed through in the direction of extension line, and the capsule driving device driving capsule can be to multiple directions autonomous
And/or it turns to.
The capsule driving device of the utility model includes the different sub- driving portion of multiple driving directions, passes through sub- driving portion
Operation enables capsule to adjust the position and direction of itself to change the direction of motion of capsule, realizes that multiple directions are independently moved
Dynamic and steering, facilitates operator to carry out pathological observation.
In a kind of preferred embodiment of the utility model, as shown in Fig. 2 (a) and Fig. 2 (b), which contains light
Learn front cover 1, shell 12, antenna, RF receiving and transmission module 7, battery, signal processing module 6, motion-control module, Image Acquisition mould
Block 5 and capsule driving device.Capsule driving device includes gas injection apparatus, and the gas injection apparatus includes being opened on capsule
Ontology or multiple jet ports 2,3,4,11 that capsule sheet is external and opening direction is different, multiple jet ports and gas save storehouse 10 can
The connection of on-off.Gas 9 (gas not soluble in water and harmless) is sprayed in corresponding direction by gas injection apparatus,
The position and direction of capsule itself are adjusted, realize that capsule in multiple directions autonomous and steering, facilitates operator to carry out pathology
Observation.
In the present embodiment, gas saves and is stored with compressed gas in storehouse, and gas saves storehouse and is structure as a whole or separates
For multiple sub- preservation storehouses, each jet port is connected with the gas of one preservation storehouse or at least saves storehouse with a son and is connected.It adopts
With compressed gas, access times are improved；Gas saves storehouse and is structure as a whole or is divided into multiple sub- preservation storehouses, improves structure
The flexibility of design.
In another preferred embodiment of the utility model, as shown in Fig. 3 (a) and Fig. 3 (b), the utility model institute
It states capsule and contains optics front cover 1-1, capsule shell 1-10, antenna, RF receiving and transmission module 1-9, battery, signal processing module
1-7, motion-control module, image capture module 1-6 and screw power device, the screw power device include being set to capsule sheet
External and different driving direction multiple propeller 1-3.Different propeller 1-3 is driven using the motor of spiral dynamical system
Rotation adjusts the position and direction of capsule itself, realizes that capsule in multiple directions autonomous and steering, facilitates operator to carry out
Pathological observation.
In another preferred embodiment of the utility model, when using gas injection apparatus scheme, capsule driving
Device further includes suction unit, and the suction unit includes suction pump and elastic accommodating chamber, and the elasticity accommodating chamber is in suction shape
It expands when state, bounces back in non-suction state；
When using screw power device scheme, at least one in the propeller is drawing-in type propeller.
Capsule suction position can be relatively fixed by the effect of suction force when suction, and other spouts or propeller cooperating,
Realize the adjustment in capsule direction.When not aspirating, elastic accommodating chamber retraction makes emptying in elastic accommodating chamber, guarantees that next time can be just
It is often used.
In another preferred embodiment of the utility model, when using gas injection apparatus scheme, capsule driving
Device further includes control unit, is provided with valve, described control unit control in the connection line that gas saves storehouse and jet port
The opening and closing of valve processed realizes that different jet ports simultaneously or independently carries out gas injection；
When using screw power device scheme, capsule driving device further includes control unit and is correspondingly arranged with propeller
Multiple motor 1-4, control unit control driving motor operation, realize that different propellers simultaneously or independently rotates.It is real
Existing capsule is in multiple directions autonomous and steering.
In another preferred embodiment of the utility model, grid protective cover 1-2 is provided with outside each propeller.
Due to there is the presence of grid protective cover, the rotation of propeller will not hurt human body.
In another preferred embodiment of the utility model, before jet port and propeller are at least set to capsule
Side, rear, left, right, top, lower section and left anterior-superior part, left front lower section, front upper right, right front lower side, left back top,
Left back lower section, right back upper place, at least one direction in the right back lower place；
The front, rear, left, right, top, the jet port of lower section and propeller the direction of active force pass through glue
The mass center of intracapsular sight glass；
The left anterior-superior part, left front lower section, front upper right, right front lower side, left back top, left back lower section, right back upper place, the right side
The direction of the active force of the jet port and propeller of the back lower place without capsule endoscope mass center.Realize the multidirectional position of capsule
Mobile and more detection directions adjustment.
In a preferred embodiment, gas injection apparatus includes 12 jet ports, and each position is owned by a gas
Body saves storehouse.Each jet port of anterior-posterior horizontal on capsule shell, each injection of left and right horizontal position, each rake angle position are each
One injection position.
In another preferred embodiment, spiral power plant module includes 12 Mini-type spiral paddles, and each propeller is by one
A micromotor controls its rotation.Each propeller of anterior-posterior horizontal on capsule shell, each propeller of left and right horizontal, each
Each propeller in rake angle position.
As shown in figure 4, the utility model provides a kind of control system of capsule endoscope comprising capsule console,
And it is set to the capsule attitude control system of capsule ontology；Be provided on capsule console command reception module, control module,
Signal processing module and RF receiving and transmission module are provided with operation handle in command reception module or movement directive key, instruction connect
It receives module and receives to instruct and be simultaneously transferred to control module, include motion information and direction information in instruction, the control module is by phase
The operational order answered is converted into electric signal, and signal processing module is modulated the electric signal, is become by RF receiving and transmission module
It goes out at emission of radio frequency signals；The RF receiving and transmission module of capsule endoscope receives the signal that capsule console issues, by received letter
It is transferred to capsule attitude control system 8,1-8 after number reduction, when using gas injection apparatus scheme, capsule attitude control system
The valve for controlling corresponding jet port is opened；When using screw power device scheme, capsule attitude control system controls corresponding spiral shell
Revolve the rotating electric machine work of paddle.Control capsule moves or adjusts attitude angle to one party, to reach group in optimal viewing body
The position knitted facilitates operator to carry out pathological observation.
In another preferred embodiment of the utility model, when using gas injection apparatus scheme, if only needed
Keep capsule mobile, capsule attitude control system controls the valve working of corresponding jet port, and the active force of the jet port passes through
Capsule mass center；
When using gas injection apparatus scheme, when making capsule steering or mobile steering if necessary while carrying out, glue
The corresponding valve of at least one corresponding jet port of capsule attitude control system control is opened, and the active force of the jet port is not whole
By capsule mass center；Perhaps the valve of capsule attitude control system control suction unit and corresponding jet port work at the same time or
Capsule attitude control system controls two sides and the corresponding valve of axisymmetric jet port is opened；
When using screw power device scheme, if only needing to keep capsule mobile, the control pair of capsule attitude control system
The rotating electric machine of propeller is answered to work, the active force of the propeller passes through capsule mass center；
When using screw power device scheme, when making capsule steering or mobile steering if necessary while carrying out, glue
The corresponding rotating electric machine work of at least one corresponding propeller of capsule attitude control system control, the active force of the propeller is not
All by capsule mass center；Or the rotating electric machine of capsule attitude control system control suction propeller and corresponding injection propeller
It works at the same time or capsule attitude control system controls two sides and the corresponding rotating electric machine work of axisymmetric injection propeller
Make.
Various ways efficiently realize that capsule moves or the adjustment of attitude angle to one party.
In a specific embodiment, it needs to take in a large amount of water before scrutineer's swallowable capsule, digestive organ is supportted
Greatly, space is provided for capsule inspection.Capsule is to impregnate under one's belt first after entering human body, if operator wants to change the position of capsule
It sets or angle, by operation handle or movement directive key, corresponding operation is converted electric signal, signal processing by control module
Module is again modulated the signal, becomes radiofrequency signal by radio-frequency module and launches again.The life of gesture stability platform transmitting
After order is received by capsule, it is baseband signal by the radiofrequency signal frequency reducing, which is restored by signal processing module, by posture
Control module control small gas injection apparatus sprays gas not soluble in water and harmless in corresponding direction, or by appearance
State control module controls the motor of respective direction, to rotate corresponding Mini-type spiral paddle, purpose be exactly allow capsule need to
One party movement or adjustment attitude angle facilitate operator's progress pathology sight to reach the position of optimal viewing in-vivo tissue
It examines.
Ejection schemes: capsule is then emitted to capsule by handle or control button and is moved if necessary to which horizontal direction is mobile
Order, after capsule receives the order, attitude control system can notify corresponding horizontal-jet mouth injection gas, reach horizontal shifting
Dynamic purpose；It if necessary to adjust the angle, and is adjusted and is ordered to capsule launch angle by handle or control button, capsule is received
To after the order, attitude control system can notify corresponding angular injection mouth injection gas, achieve the purpose that adjust posture.
Propeller scheme: capsule is then emitted to capsule by handle or control button and is moved if necessary to which horizontal direction is mobile
Dynamic order, after capsule receives the order, attitude control system can notify corresponding motor to rotate, and reach the mesh moved horizontally
's；It if necessary to adjust the angle, and is adjusted and is ordered to capsule launch angle by handle or control button, capsule receives the life
After order, attitude control system can notify corresponding motor to make slanting propeller rotational by knuckle 1-5, reach adjustment appearance
The purpose of state.Due to there is the presence of grid protective cover, the rotation of propeller will not hurt human body.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It can be combined in any suitable manner in any one or more embodiment or examples.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that:
These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principles of the present invention and objective
And modification, the scope of the utility model are defined by the claims and their equivalents.
Claims (11)
1. a kind of capsule endoscope, which is characterized in that including capsule ontology, be arranged in the capsule ontology or outside capsule ontology
There is the capsule driving device with the capsule ontology synchronizing moving, the capsule driving device includes that multiple driving directions are different
The mass center of capsule endoscope is passed through in sub- driving portion, the driving force of the sub- driving portion in part or the direction of its extension line, and the capsule drives
Dynamic device driving capsule can be to multiple directions autonomous and/or steering.
2. capsule endoscope according to claim 1, which is characterized in that the capsule driving device includes gas injection dress
It sets, the gas injection apparatus includes being opened on capsule ontology or capsule sheet is external and opening direction is different multiple injections
Mouthful, the multiple jet port and gas save storehouse can on-off connection.
3. capsule endoscope according to claim 2, which is characterized in that the gas saves in storehouse and is stored with compressed gas
Body, the gas save storehouse and are structure as a whole or are divided into multiple sub- preservation storehouses, and the gas of each jet port and one saves
Storehouse is connected or at least saves storehouse with a son and is connected.
4. capsule endoscope according to claim 1, which is characterized in that the capsule driving device includes spiral power dress
It sets, the screw power device includes being set to multiple propellers that capsule sheet is external and driving direction is different.
5. capsule endoscope according to claim 2, which is characterized in that described when using gas injection apparatus scheme
Capsule driving device further includes suction unit, and the suction unit includes suction pump and elastic accommodating chamber, the elasticity accommodating chamber
It expands in aspiration phases, bounces back in non-suction state.
6. capsule endoscope according to claim 4, which is characterized in that described when using screw power device scheme
At least one in propeller is drawing-in type propeller.
7. capsule endoscope according to claim 2 or 4, which is characterized in that when using gas injection apparatus scheme, institute
Stating capsule driving device further includes control unit, is provided with valve in the connection line that gas saves storehouse and jet port, described
The opening and closing of control unit control valve realizes that different jet ports simultaneously or independently carries out gas injection；
When using screw power device scheme, the capsule driving device further includes control unit and is correspondingly arranged with propeller
Multiple driving motors, described control unit control driving motor operation, realize that different propellers simultaneously or independently revolves
Turn.
8. capsule endoscope according to claim 4, which is characterized in that be provided with grid protection outside each propeller
Cover.
9. capsule endoscope according to claim 2 or 4, which is characterized in that jet port and propeller are at least set to glue
Front, rear, left, right, top, lower section and the left anterior-superior part of capsule, left front lower section, front upper right, right front lower side, it is left
Back upper place, left back lower section, right back upper place, at least one direction in the right back lower place；
The front, rear, left, right, top, the jet port of lower section and propeller active force direction by capsule
The mass center of sight glass；
The left anterior-superior part, left front lower section, front upper right, right front lower side, left back top, left back lower section, right back upper place, it is right after under
Side jet port and propeller active force direction without capsule endoscope mass center.
10. a kind of control system for capsule endoscope described in one of claim 1-9, which is characterized in that including capsule
Console and the capsule attitude control system for being set to capsule ontology；
Command reception module, control module, signal processing module and RF receiving and transmission module, institute are provided on the capsule console
It states and is provided with operation handle or movement directive key in command reception module, described instruction receiving module, which receives, to be instructed and be transferred to
Control module, includes motion information and direction information in described instruction, and the control module is by corresponding operation is instruction morphing
Electric signal, signal processing module are modulated the electric signal, are launched by RF receiving and transmission module；
The signal of the RF receiving and transmission module reception capsule console sending of capsule endoscope is transferred to glue after restoring received signal
Capsule attitude control system, when using gas injection apparatus scheme, capsule attitude control system controls the valve of corresponding jet port
It opens；When using screw power device scheme, capsule attitude control system controls the rotating electric machine work of corresponding propeller.
11. the control system of capsule endoscope according to claim 10, which is characterized in that when using gas injection apparatus
When scheme, if only needing to keep capsule mobile, capsule attitude control system controls the valve working of corresponding jet port, the injection
The active force of mouth passes through capsule mass center；
When using gas injection apparatus scheme, when making capsule steering or mobile steering if necessary while carrying out, capsule appearance
The corresponding valve of at least one corresponding jet port of state control system control is opened, and the active force of the jet port does not pass through all
Capsule mass center；Perhaps the valve of capsule attitude control system control suction unit and corresponding jet port works at the same time or capsule
Attitude control system controls two sides and the corresponding valve of axisymmetric jet port is opened；
When using screw power device scheme, if only needing to keep capsule mobile, capsule attitude control system controls corresponding spiral shell
The rotating electric machine work of paddle is revolved, the active force of the propeller passes through capsule mass center；
When using screw power device scheme, when making capsule steering or mobile steering if necessary while carrying out, capsule appearance
The corresponding rotating electric machine work of at least one corresponding propeller of state control system control, the active force of the propeller be not whole
By capsule mass center；Or capsule attitude control system control suction propeller and the corresponding rotating electric machine for spraying propeller are simultaneously
Work or capsule attitude control system control two sides and the corresponding rotating electric machine work of axisymmetric injection propeller.
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| CN201821016836.0U CN209301084U (en) | 2018-06-29 | 2018-06-29 | Capsule endoscope and its autonomous steering control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108523823A (en) * | 2018-06-29 | 2018-09-14 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope and its autonomous steering control system |
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2018
- 2018-06-29 CN CN201821016836.0U patent/CN209301084U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108523823A (en) * | 2018-06-29 | 2018-09-14 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope and its autonomous steering control system |
| CN108523823B (en) * | 2018-06-29 | 2024-02-13 | 重庆金山医疗技术研究院有限公司 | Capsule endoscope and autonomous mobile steering control system thereof |
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