CN215534201U - Capsule endoscope with vertical chain mark - Google Patents
Capsule endoscope with vertical chain mark Download PDFInfo
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- CN215534201U CN215534201U CN202121923661.3U CN202121923661U CN215534201U CN 215534201 U CN215534201 U CN 215534201U CN 202121923661 U CN202121923661 U CN 202121923661U CN 215534201 U CN215534201 U CN 215534201U
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Abstract
The utility model provides a capsule endoscope with a pendant chain mark, which comprises an arc-shaped transparent cover arranged at the front end of a shell, wherein an optical lens is arranged in the transparent cover, an image sensor is arranged behind the optical lens, an image processor is arranged behind the image sensor, a radio frequency module is arranged at one side of the image processor, and an antenna is arranged on the radio frequency module; an orientation marker influenced by gravity or magnetic force is arranged in the transparent cover, and the connecting position of the orientation marker and the transparent cover is positioned between the center and the edge of the transparent cover; the azimuth marker is a chain, one end of the chain is connected with the transparent cover, and the other end of the chain is a free end; after the optical lens shoots the orientation marker, the radio frequency module conducts an image of the orientation marker on the image sensor out through the antenna, and the posture of the capsule endoscope is determined through the position and the orientation of the orientation marker. Through the structure of the chain in the position of the transparent cover, the pitch angle and the roll angle of the capsule endoscope can be conveniently acquired.
Description
Technical Field
The utility model relates to the field of capsule endoscopes, in particular to a capsule endoscope with a catenary mark.
Background
Conventionally, in the field of endoscopes, there is known a capsule endoscope in which an imaging function, a radio communication function, and the like are incorporated in a capsule-shaped casing having a size that can be introduced into a digestive tract of a subject such as a patient. The capsule endoscope is swallowed from the mouth of the subject and then moves inside the subject such as the digestive tract in accordance with peristaltic movement or the like. Further, image data is generated by sequentially capturing the inside of the subject and is sequentially transmitted wirelessly, but when the capsule endoscope is located in the stomach or intestinal tract, it is difficult to determine the posture of the capsule endoscope, so that it is difficult to specify the specific position of the image captured by the capsule endoscope. To this end, we propose a capsule endoscope with catenary marker to solve the above problems.
Chinese patent document CN 106922121B describes a capsule endoscope system, a capsule endoscope, a wireless communication method for a capsule endoscope, and a program, and has a capsule endoscope and a receiving device. The capsule endoscope temporarily stores acceleration data when detecting degradation of a wireless communication environment. The capsule endoscope transmits the stored acceleration data to the receiving device upon detecting recovery of the communication environment. The receiving device receives the image data and the acceleration data from the capsule endoscope. The receiving device detects a position of the capsule endoscope from the image data and the acceleration data. However, this device is complicated in structure, and it is difficult for the communication environment detection unit to store and transmit acceleration data in the data storage unit when the wireless communication environment is deteriorated, and it is difficult for the operation instruction data to be output to the treatment operation unit at the same time, and the capsule position can be confirmed only by closely bonding the respective units, and the execution instruction transmission is not in place in the human body, and the confirmation position is simple in form, and the use is defective, and improvement is required.
SUMMERY OF THE UTILITY MODEL
The utility model provides a capsule endoscope with a catenary mark, which can determine the posture of the capsule endoscope in a human body through the position and the orientation of an orientation marker, and has small volume and convenient implementation.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: a capsule endoscope with a vertical chain mark comprises an arc-shaped transparent cover arranged at the front end of a shell, an optical lens is arranged in the transparent cover, an image sensor is arranged behind the optical lens, an image processor is arranged behind the image sensor, a radio frequency module is arranged on one side of the image processor, and an antenna is arranged on the radio frequency module;
an orientation marker influenced by gravity or magnetic force is arranged in the transparent cover, and the connecting position of the orientation marker and the transparent cover is positioned between the center and the edge of the transparent cover;
the azimuth marker is a chain, one end of the chain is connected with the transparent cover, and the other end of the chain is a free end;
after the optical lens shoots the orientation marker, the radio frequency module conducts an image of the orientation marker on the image sensor out through the antenna, and the posture of the capsule endoscope is determined through the position and the orientation of the orientation marker.
In the preferred scheme, a battery is arranged between the image processor and the radio frequency module;
the battery supplies power for the image sensor, the illuminating lamp, the image processor and the radio frequency module.
In the preferred scheme, the antenna is wound together and positioned at one end of the shell, one end of the antenna is communicated with the radio frequency module, and the radio frequency module is electrically connected with the antenna.
In the preferred scheme, an external attitude sensor is further arranged and attached to the human body for detecting the attitude of the human body.
In a preferred embodiment, the orientation marker is a plurality of chains, and the connecting position of the chains and the transparent cover is located between the center and the edge of the transparent cover.
In the preferred scheme, a magnetic ball is arranged at the free end of the chain and used for obtaining a deflection angle in an external horizontal magnetic field;
the horizontal magnetic field is a magnetic field generated by a magnet which is positioned outside the body and is approximately in the horizontal direction with the magnetic ball.
In the preferred scheme, the chains are even, and after grouping, each group has two chains;
in each group of chains, the free end of one chain is provided with a magnetic ball, the other chain is not provided with a magnetic ball, and the magnetic ball is used for obtaining a deflection angle in an external horizontal magnetic field;
the horizontal magnetic field is a magnetic field generated by a magnet which is positioned outside the body and is approximately in the horizontal direction with the magnetic ball.
Preferably, the magnet is a permanent magnet or an electromagnet.
In a preferred embodiment, the chains are provided with color rings of different colors or different positions for distinguishing each chain.
The utility model has the beneficial effects that: through the structure of the chain arranged at the position of the transparent cover, the pitch angle and the roll angle of the capsule endoscope can be conveniently acquired, in the preferred scheme, a horizontal magnetic field is formed through an external magnet, and the deflection angle of the capsule endoscope can be acquired by matching with a magnetic ball at the end of the chain, so that the posture of the capsule endoscope can be accurately acquired. The device has the advantages of simple structure, small size, low manufacturing cost, convenience in visualization through a monitor, capability of simply determining the position of the capsule through the relative position of the chain, and great popularization value.
Drawings
The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the chain with the capsule endoscope of the present invention in a horizontal position;
FIG. 3 is a schematic view of the chain with the capsule endoscope of the present invention in a down position;
FIG. 4 is a schematic view of the chain with the capsule endoscope of the present invention in a raised position;
FIG. 5 is a schematic view of the roll angle of the capsule endoscope of the present invention;
FIG. 6 is a schematic view of the deflection of the capsule endoscope of the present invention within the magnetic field of a magnet;
FIG. 7 is a schematic view of the capsule endoscope of the present invention deflected within the magnetic field of the magnet to close proximity to the magnet;
FIG. 8 is a schematic view of a capsule endoscope of the present invention deflected away from the magnet within the magnetic field of the magnet;
FIG. 9 is a schematic view showing a state of linkage in a magnetic field and a gravitational field of a magnet of the capsule endoscope of the present invention;
in the figure: the device comprises a chain 1, an optical lens 2, an image sensor 3, a lighting lamp 4, an image processor 5, a battery 6, a radio frequency module 7, an antenna 8, a magnetic ball 9, a transparent cover 10, a shell 11, a connecting circle 12, a cross line 13 and a magnet 14.
Detailed Description
Example 1:
the attitude of the capsule endoscope is determined by a pitch angle, a roll angle and a deflection angle, wherein the pitch angle is an included angle between the capsule endoscope and a horizontal plane in an xz plane. The roll angle is the rotation angle of the capsule endoscope relative to the axis of the capsule endoscope, and the deflection angle is the included angle between the xy plane and the vertical plane of the capsule endoscope. The position of the capsule endoscope can be quickly obtained by bedside CT. By the combination, the position and the posture of the capsule endoscope can be clear, and the specific corresponding position of the image shot by the capsule endoscope in the human body cavity can be determined according to the time relation between the position and the posture and the image shot by the capsule endoscope.
As shown in fig. 1, in a capsule endoscope with a catenary mark, an arc-shaped transparent cover 10 is arranged at the front end of a shell 11, an optical lens 2 is arranged in the transparent cover 10, an image sensor 3 is arranged behind the optical lens 2, an image processor 5 is arranged behind the image sensor 3, a radio frequency module 7 is arranged on one side of the image processor 5, and an antenna 8 is arranged on the radio frequency module 7;
an orientation marker influenced by gravity or magnetic force is arranged in the transparent cover 10, and the position of the orientation marker connected with the transparent cover 10 is positioned between the center and the edge of the transparent cover 10.
The azimuth marker is a chain 1, one end of the chain 1 is connected with the transparent cover 10, and the other end of the chain 1 is a free end;
after the radio frequency module 7 photographs the orientation marker through the optical lens 2, the image of the orientation marker on the image sensor 3 is conducted out through the antenna 8, and the posture of the capsule endoscope is determined through the position and the direction of the orientation marker. With this structure, the optical lens 2 is a zoom optical lens. The arranged zoom optical lens is helpful for converging the focal length on the chain 1 so as to obtain an accurate state image of the chain 1, and when the focal length is converged at the position of the inner cavity of the human body, the image of the chain 1 is almost ignored and the quality of the image is not influenced. Since the inner wall of the transparent cover 10 is curved, the inner wall of the transparent cover 10 interferes with the length of the chain 1, and for example, the ends of the chain 1 located at both sides fall on the inner surface of the transparent cover 10, so that the chain 1 is bent or the length thereof is changed, thereby determining whether the capsule endoscope is in a state of being tilted up or down. As for the completely vertical upward and downward states, there is also a large difference in the position and length of the chain 1 due to the interference of the transparent cover 10, as in fig. 3, when the capsule endoscope is directed vertically downward, the chain 1 falls on the inner face of the transparent cover 10, the chain 1 is bent, and the length is seen to be long in the image sensor 3, whereas as in fig. 4, the chain length is seen to be short in the image sensor 3 because the chain 1 is not interfered. Thereby being capable of easily judging the state of the capsule endoscope. As in fig. 5, the identification of the roll angle is easier.
In a preferred scheme, a battery 6 is arranged between the image processor 5 and the radio frequency module 7;
the battery 6 supplies power to the image sensor 3, the illuminating lamp 4, the image processor 5 and the radio frequency module 7.
In a preferred scheme, the antenna 8 is wound together and positioned at one end of the shell 11, one end of the antenna 8 is communicated with the radio frequency module 7, and the radio frequency module 7 is electrically connected with the antenna 8.
In a preferred scheme, an external attitude sensor is further arranged and attached to the human body for detecting the attitude of the human body. With this structure, the attitude sensor includes a gyroscope or a three-axis acceleration sensor. By the arrangement of the attitude sensor, after the person moves or changes the attitude, the relative relationship between the capsule endoscope and the magnet 14 changes, and the attitude of the capsule endoscope can still be jointly calculated by the attitude sensor outside the body.
In a preferred embodiment, the orientation marker is a plurality of chains 1, and the connecting position of the chains 1 and the transparent cover 10 is located between the center and the edge of the transparent cover 10.
An arc-shaped transparent cover 10 is arranged at the front end of the shell 11, an optical lens 2 is arranged in the transparent cover 10, an image sensor 3 is arranged behind the optical lens 2, an image processor 5 is arranged behind the image sensor 3, a radio frequency module 7 is arranged on one side of the image processor 5, and an antenna 8 is arranged on the radio frequency module 7;
an orientation marker influenced by gravity or magnetic force is arranged in the transparent cover 10, and the connecting position of the orientation marker and the transparent cover 10 is positioned between the center and the edge of the transparent cover 10;
after the optical lens 2 photographs the orientation marker, the radio frequency module 7 transmits the image of the orientation marker on the image sensor 3 through the antenna 8, and the posture of the capsule endoscope is determined according to the position and the orientation of the orientation marker.
The magnet 14 is a permanent magnet or an electromagnet. With this structure, in any picture, the state of the chain 1 can be observed, and the posture of the capsule endoscope can be calculated from the state of the chain 1.
Example 2:
the orientation marker is provided with at least one chain 1 in the transparent cover 10, and the connecting position of the chain and the transparent cover 10 is positioned between the center and the edge of the transparent cover 10. And obtaining part of attitude parameters of the capsule endoscope through a trigonometric function formula according to the swing angle of the chain and the length of the chain on the image.
The preferable scheme is as shown in figures 1-5, wherein 4 chains 1 are uniformly distributed along the circumference;
the connection position of the chain 1 and the transparent cover 10 is positioned between the center and the edge of the transparent cover 10;
the pitch angle is derived from the relative position between the free end of the chain 1 and a connecting circle 12 formed by the root of each chain 1, the connecting circle 12 being a circle concentric with the centre of the transparent cover 10 through the root of the chain 1. The roll angle is obtained by the included angle between the cross lines 13 formed by connecting lines between the chains 1 and the root parts of the chains 1, and the cross lines 13 are radial lines passing through the root parts of the chains 1 and the circle center of the transparent cover 10 and radial lines perpendicular to the radial lines. Or the roll angle is obtained according to the position of the root of the chain 1 relative to the center corner of the transparent cover 10. The connecting circle 12 and the cross line 13 are virtual, and do not need to be drawn in the transparent cover 10, and only need to be added to the image during operation, that is, the cross line intersection is the center of the transparent cover 10, and at least one straight line coincides with the vertical axis of the transparent cover 10. In fig. 2, the state of the chain 1 is shown when the capsule endoscope is approximately horizontal, when the pitch angle is 0, the length of the chain 1 is the largest, and when the pitch angle is inclined upwards or downwards, the length of the chain 1 changes correspondingly, and the pitch angle can be obtained through a trigonometric function formula. Since the inner wall of the transparent cover 10 is curved, the inner wall of the transparent cover 10 interferes with the length of the chain 1, and for example, the ends of the chain 1 located at both sides fall on the inner surface of the transparent cover 10, so that the chain 1 is bent or the length thereof is changed, thereby determining whether the capsule endoscope is in a state of being tilted up or down. As for the completely vertical upward and downward states, there is also a large difference in the position and length of the chain 1 due to the interference of the transparent cover 10, as in fig. 3, when the capsule endoscope is directed vertically downward, the chain 1 falls on the inner face of the transparent cover 10, the chain 1 is bent, and the length is seen to be long in the image sensor 3, whereas as in fig. 4, the chain length is seen to be short in the image sensor 3 because the chain 1 is not interfered. Thereby being capable of easily judging the state of the capsule endoscope. As in fig. 5, the identification of the roll angle is easier.
In a preferred embodiment, color rings of different colors or different positions are provided on the chains 1 to distinguish each chain 1. With this structure, the turning position of the capsule endoscope is assisted to be recognized.
The optical lens 2 is a zoom optical lens. The arranged zoom optical lens is helpful for converging the focal length on the chain 1 so as to obtain an accurate state image of the chain 1, and when the focal length is converged at the position of the inner cavity of the human body, the image of the chain 1 is almost ignored and the quality of the image is not influenced.
In the preferred scheme as shown in fig. 6-8, a magnetic ball 9 is arranged at the free end of the chain 1, and the magnetic ball 9 is used for obtaining a deflection angle in an external horizontal magnetic field; preferably, the chain 1 is made of a material that is not affected by a magnetic field, such as a non-ferrous chain made of aluminum or titanium alloy.
The horizontal magnetic field is a magnetic field generated by a magnet 14 which is positioned outside the body and approximately in the horizontal direction with the magnetic ball 9; that is, according to this configuration, the magnet 14 is used instead of the geomagnetism, and a calculation method substantially the same as the pitch angle is used, whereby the deflection angle of the capsule endoscope can be obtained.
The magnet 14 is a permanent magnet or an electromagnet.
Example 3:
on the basis of embodiment 2, a method for determining the posture of the capsule endoscope with the catenary marker comprises the following steps:
s1, as shown in figures 2-4, shooting a first image, identifying the position of the chain 1 in the first image, and obtaining a pitch angle by the length of the chain 1 and the relative position between the chain 1 and a connecting circle 12 formed by the root of each chain 1;
in the preferred scheme, if at least 1 free end of the chain 1 positioned at the top is positioned in the connecting circle 12, and the rest is positioned outside the connecting circle 12, the pitch angle of the capsule endoscope is between more than-90 degrees and less than 90 degrees, and the angle value of the pitch angle is calculated according to the length of the chain 1;
when the free ends of the chains 1 are all positioned in the connecting circle 12, if the imaging length of the chains 1 is greater than a certain value, the direction of the capsule endoscope is judged to be downward, if the imaging length of the chains 1 is less than a certain value, the direction of the capsule endoscope is judged to be upward, and the certain value is the maximum length of the chains 1 when the capsule endoscope is upward.
In fig. 2, the state of the chain 1 is shown when the capsule endoscope is approximately horizontal, when the pitch angle is 0, the length of the chain 1 is the largest, and when the pitch angle is inclined upwards or downwards, the length of the chain 1 changes correspondingly, and the pitch angle can be obtained through a trigonometric function formula. Since the inner wall of the transparent cover 10 is curved, the inner wall of the transparent cover 10 interferes with the length of the chain 1, and for example, the ends of the chain 1 located at both sides fall on the inner surface of the transparent cover 10, so that the chain 1 is bent or the length thereof is changed, thereby determining whether the capsule endoscope is in a state of being tilted up or down. As for the completely vertical upward and downward states, there is also a large difference in the position and length of the chain 1 due to the interference of the transparent cover 10, as in fig. 3, when the capsule endoscope is directed vertically downward, the chain 1 falls on the inner face of the transparent cover 10, the chain 1 is bent, and the length is seen to be long in the image sensor 3, whereas as in fig. 4, the chain length is seen to be short in the image sensor 3 because the chain 1 is not interfered. Thereby the posture of the capsule endoscope can be easily judged.
As shown in fig. 5, the roll angle is obtained from the angle between the cross 13 formed by the connecting line between the chain 1 and the root of each chain 1; as shown in fig. 5, the roll angle can be obtained by calculating the included angle between the chain 1 and the cross line 13, and the true top position of the image can be obtained by arranging color rings at different positions on each chain 1.
S2, as shown in figures 6-8, starting the magnet 14 to form a horizontal magnetic field relative to the capsule endoscope, enabling the magnetic ball 9 to drive the chain 1 to point to the direction of the magnet 14 under the influence of the horizontal magnetic field, shooting a second image, identifying the position of the chain 1 in the second image, and obtaining a deflection angle according to the length of the chain 1 and the relative position between the chain 1 and a connecting circle 12 formed by the root of each chain 1;
in a preferred scheme, as shown in fig. 7, if at least 1 free end of the chain 1 which is positioned away from the magnet 14 is positioned in the connecting circle 12, and the rest is positioned outside the connecting circle 12, the deflection angle of the capsule endoscope is between more than-90 degrees and less than 90 degrees, and the angle value of the deflection angle is calculated according to the length of the chain 1 at the top or bottom position;
when the free ends of the chains 1 are all positioned in the connecting circle 12, if the imaging length of the chains 1 is greater than a certain value, the axial direction of the optical lens 2 of the capsule endoscope is judged to be vertically directed to the magnet 14, and if the imaging length of the chains 1 is less than a certain value, the axial direction of the optical lens 2 of the capsule endoscope is judged to be far away from the magnet 14 and is vertical to the magnet 14;
the fixed value is the maximum length of the chain 1 when the capsule endoscope has no magnetic field upward.
When the first image and the second image are shot, the focal length of the optical lens 2 is a preset value and is focused on the chain 1;
the posture of the capsule endoscope in the human body is determined through the steps.
Example 4:
on the basis of the embodiments 2 and 3, the preferred scheme is as shown in fig. 9, wherein the chains 1 are even numbers, and after grouping, two chains are provided for each group; for example, preferably 8, circumferentially spaced around the center of the transparent cover 10.
The connection position of the chain 1 and the transparent cover 10 is positioned between the center and the edge of the transparent cover 10;
a pitch angle is obtained from the relative position between a connecting circle 12 formed by the free end of the chain 1 and the root of each chain 1, and a roll angle is obtained from the included angle between a cross line 13 formed by a connecting line between the chain 1 and the root of each chain 1;
in each group of chains 1, the free end of one chain 1 is provided with a magnetic ball 9, the other chain 1 is not provided with the magnetic ball 9, and the magnetic ball 9 is used for obtaining a deflection angle in an external horizontal magnetic field; the magnetic ball 9 in this example is a ball that is influenced by a magnetic field, for example a magnetic ball.
The horizontal magnetic field is a magnetic field generated by a magnet 14 which is positioned outside the body and is approximately in the horizontal direction with the magnetic ball 9.
Example 5:
on the basis of embodiment 3 or 4, a method for determining the posture of the capsule endoscope with the catenary marker comprises the following steps:
s1, as shown in figure 9, starting the magnet 14, shooting an image, identifying the position of the chain 1 in the image, and distinguishing the chain 1 with the magnetic ball 9 and the chain 1 without the magnetic ball in each group of chains 1 according to the direction of the magnet 14 and the human posture;
s2, obtaining a pitch angle according to the length of the magnetic ball chain 1 and the relative position between the chain 1 and a connecting circle 12 formed by the roots of each chain 1;
if at least 1 free end of the chain 1 at the top is positioned in the connecting circle 12 and the rest is positioned outside the connecting circle 12, the pitch angle of the capsule endoscope is between more than-90 degrees and less than 90 degrees, and the angle value of the pitch angle is calculated according to the length of the chain 1;
when the free ends of the chains 1 are all positioned in the connecting circle 12, if the imaging length of the chains 1 is greater than a certain value, the direction of the capsule endoscope is judged to be downward, if the imaging length of the chains 1 is less than a certain value, the direction of the capsule endoscope is judged to be upward, and the certain value is the maximum length of the chains 1 when the capsule endoscope is upward;
s3, obtaining a deflection angle relative to the magnet according to the length of the magnetic ball chain 1 and the relative position between the chain 1 and a connecting circle 12 formed by the root parts of the chains 1;
if at least 1 free end of the chain 1 which is positioned away from the magnet 14 is positioned in the connecting circle 12, and the rest free ends are positioned outside the connecting circle 12, the deflection angle of the capsule endoscope is between more than-90 degrees and less than 90 degrees, and the angle value of the deflection angle is calculated according to the length of the chain 1 at the top or bottom position;
when the free ends of the chains 1 are all positioned in the connecting circle 12, if the imaging length of the chains 1 is greater than a certain value, the axial direction of the optical lens 2 of the capsule endoscope is judged to be vertically directed to the magnet 14, and if the imaging length of the chains 1 is less than a certain value, the axial direction of the optical lens 2 of the capsule endoscope is judged to be far away from the magnet 14 and is vertical to the magnet 14;
the posture of the capsule endoscope in the human body is determined through the steps.
Claims (9)
1. A capsule endoscope with a vertical chain mark is characterized in that: the device comprises an arc-shaped transparent cover (10) arranged at the front end of a shell (11), an optical lens (2) is arranged in the transparent cover (10), an image sensor (3) is arranged behind the optical lens (2), an image processor (5) is arranged behind the image sensor (3), a radio frequency module (7) is arranged on one side of the image processor (5), and an antenna (8) is arranged on the radio frequency module (7);
an orientation marker influenced by gravity or magnetic force is arranged in the transparent cover (10), and the connecting position of the orientation marker and the transparent cover (10) is positioned between the center and the edge of the transparent cover (10);
the azimuth marker is a chain (1), one end of the chain (1) is connected with the transparent cover (10), and the other end of the chain is a free end;
after the optical lens (2) photographs the orientation marker, the radio frequency module (7) conducts an image of the orientation marker on the image sensor (3) through the antenna (8), and the posture of the capsule endoscope is determined through the position and the direction of the orientation marker.
2. The capsule endoscope with the catenary mark according to claim 1, wherein: a battery (6) is arranged between the image processor (5) and the radio frequency module (7);
the battery (6) supplies power for the image sensor (3), the illuminating lamp (4), the image processor (5) and the radio frequency module (7).
3. The capsule endoscope with the catenary mark according to claim 1, wherein: the antenna (8) is wound together and positioned at one end of the shell (11), one end of the antenna (8) is communicated with the radio frequency module (7), and the radio frequency module (7) is electrically connected with the antenna (8).
4. The capsule endoscope with the catenary mark according to claim 1, wherein: the human body posture detection device is also provided with an external posture sensor which is attached to the human body and used for detecting the posture of the human body.
5. The capsule endoscope with the catenary mark according to claim 1, wherein: the orientation marker is a plurality of chains (1), and the connecting position of the chains (1) and the transparent cover (10) is positioned between the center and the edge of the transparent cover (10).
6. The endoscopy capsule with catenary marker as claimed in claim 5, wherein: a magnetic ball (9) is arranged at the free end of the chain (1), and the magnetic ball (9) is used for obtaining a deflection angle in an external horizontal magnetic field;
the horizontal magnetic field is a magnetic field generated by a magnet (14) which is positioned outside the body and approximately in the horizontal direction with the magnetic ball (9).
7. The endoscopy capsule with catenary marker as claimed in claim 5, wherein: the chains (1) are even number, and after grouping, each group has two chains;
in each group of chains (1), the free end of one chain (1) is provided with a magnetic ball (9), the other chain (1) is not provided with the magnetic ball (9), and the magnetic ball (9) is used for obtaining a deflection angle in an external horizontal magnetic field;
the horizontal magnetic field is a magnetic field generated by a magnet (14) which is positioned outside the body and approximately in the horizontal direction with the magnetic ball (9).
8. An endoscopy capsule having a catenary marker as claimed in any one of claims 6 or 7, wherein: the magnet (14) is a permanent magnet or an electromagnet.
9. The endoscopy capsule with catenary marker as claimed in claim 5, wherein: the chains (1) are provided with color rings with different colors or different positions for distinguishing each chain (1).
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| CN202121923661.3U CN215534201U (en) | 2021-08-17 | 2021-08-17 | Capsule endoscope with vertical chain mark |
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| CN202121923661.3U CN215534201U (en) | 2021-08-17 | 2021-08-17 | Capsule endoscope with vertical chain mark |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113576381A (en) * | 2021-08-17 | 2021-11-02 | 湖北得康科技有限公司 | Capsule endoscope and method for determining shooting posture conveniently through image |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113576381A (en) * | 2021-08-17 | 2021-11-02 | 湖北得康科技有限公司 | Capsule endoscope and method for determining shooting posture conveniently through image |
| CN113576381B (en) * | 2021-08-17 | 2024-06-25 | 湖北得康科技有限公司 | Capsule endoscope and method convenient for determining shooting posture through image |
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