CN215914503U - Capsule endoscope with water bag mark - Google Patents
Capsule endoscope with water bag mark Download PDFInfo
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- CN215914503U CN215914503U CN202121924038.XU CN202121924038U CN215914503U CN 215914503 U CN215914503 U CN 215914503U CN 202121924038 U CN202121924038 U CN 202121924038U CN 215914503 U CN215914503 U CN 215914503U
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Abstract
The utility model provides a capsule endoscope with a water bag mark, wherein an arc-shaped transparent cover is 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, an antenna is arranged on one side of the radio frequency module, and the radio frequency module is electrically connected with the antenna. A spherical shell is arranged in the transparent cover, liquid is arranged in the spherical shell, and bubbles are left between the liquid and the spherical shell; a gravity ball or a magnetic ball is also arranged; the pitch angle and the roll angle are obtained according to the positions of the gravity ball and the magnetic ball in the ball shell; therefore, the pitch angle and the roll angle of the capsule endoscope can be conveniently acquired, and the posture of the capsule endoscope can be accurately acquired through the different postures of the bubbles in the spherical shell by a simpler structure.
Description
Technical Field
The utility model relates to the field of capsule endoscopes, in particular to a capsule endoscope with a water bag mark.
Background
A capsule endoscope is a capsule-shaped endoscope that has a battery, an imaging device, a communication device, and the like integrated therein, and can be orally taken into the body via a subject to take a picture of tissues, organs, and the like in the body and transmit the picture to an external display device. In the prior art, in order to acquire the attitude information of the capsule endoscope, at least a magnetic field sensor is generally required to perform attitude positioning on the capsule endoscope so as to acquire the attitude information of the capsule endoscope. Specifically, a magnetic field sensor is integrated inside the capsule endoscope, an external magnetic field is provided at a position outside the body of the subject corresponding to the capsule endoscope, and the direction of the external magnetic field needs to be kept horizontal in the attitude positioning process of the capsule endoscope. However, since it is necessary to change the direction of the capsule endoscope at the time of performing the capsule endoscopy, it is difficult to maintain the external magnetic field horizontal, and the acquired attitude information has a large error from the actual attitude of the capsule endoscope. To this end, we propose a capsule endoscope having a water pocket mark to solve the above problems.
Chinese patent document CN 103347431B describes a position detection device of a capsule endoscope and a capsule endoscope system, and the position detection device of the capsule endoscope includes: a receiving antenna unit that receives a radio signal transmitted from a capsule endoscope in a subject through a plurality of receiving antennas; a storage unit that stores theoretical electric field intensities of the radio signals received by the receiving antennas according to a position or a position and a direction of the capsule endoscope in the subject; an electric field strength comparing unit that compares a predetermined value calculated using a difference between a reception electric field strength of the radio signal received by each reception antenna and the theoretical electric field strength stored in the storage unit; and a position specifying unit that specifies the position or the position and the orientation of the capsule endoscope, which has captured the image data, based on the comparison result of the electric field strength comparing unit. However, the system is complex, and because the capsule is in the human body, the human body has certain impedance, the electric field intensity possibly has larger error relative to the human body, the measurement result is inaccurate, the position and the posture of the capsule are inaccurate, the use is defective, and improvement is needed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a capsule endoscope with a water bag mark, which can determine the posture of the capsule endoscope in a human body through the positions and postures of a gravity ball, a magnetic ball and air bubbles in a spherical shell, and has small volume and convenient realization.
In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: a capsule endoscope with a water bag mark is characterized in that an arc-shaped transparent cover is 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, an antenna is arranged on one side of the radio frequency module, and the radio frequency module is electrically connected with the antenna;
a spherical shell is arranged in the transparent cover, liquid is arranged in the spherical shell, and bubbles are left between the liquid and the spherical shell;
a gravity ball or a magnetic ball is also arranged; the pitch angle and the roll angle are obtained according to the positions of the gravity ball and the magnetic ball in the ball shell;
the connecting position of the spherical shell and the transparent cover is positioned between the center and the edge of the transparent cover.
In a 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 a 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 scheme, a magnet is arranged outside the capsule and acts on a magnetic ball in the ball shell;
the magnet is a permanent magnet or an electromagnet;
the magnetic force line direction of the magnet is the horizontal direction.
In a preferred embodiment, the magnetic sphere is used to derive the deflection angle in an externally applied horizontal magnetic field.
In a preferred scheme, the number of the spherical shells is one or more.
In the preferred scheme, the pitch angle and the roll angle are obtained according to the position of the bubbles in the spherical shell;
the magnetic ball is also used for obtaining a deflection angle in an external horizontal magnetic field;
the specific gravity of the magnetic ball is the same as that of the liquid in the ball shell, so that the magnetic ball is not influenced by gravity and is only influenced by magnetic force.
In the preferred scheme, an origin or a reference line is also arranged in the spherical shell;
the origin or reference line serves as a reference for the relative movement of the bubble.
The utility model has the beneficial effects that: the pitch angle and the roll angle of the magnetic ball and the gravity ball relative to the transparent cover are obtained through different postures of the magnetic ball or the gravity ball in the ball shell under the magnetic force and the gravity respectively, so that the pitch angle and the roll angle of the capsule endoscope can be conveniently obtained. In another optional scheme, the posture of the capsule endoscope can be accurately obtained by a simpler structure through arranging the magnetic ball at different postures under the action of magnetic force and different postures of bubbles in the ball shell.
Drawings
The utility model is further illustrated by the following figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the state of the gravity and magnetic balls in the magnetic and gravitational fields of the present invention;
FIG. 3 is a schematic view of the state of the air bubbles and magnetic balls in the magnetic field of the magnet and the gravitational field of the present invention;
FIG. 4 is a schematic view of the roll angle of the capsule endoscope of the present invention;
in the figure: the device comprises a gravity ball 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 bubble 13, a magnet 14, a spherical shell 15 and a cross line 16.
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 water sac 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, an antenna 8 is arranged on one side of the radio frequency module 7, and the radio frequency module 7 is electrically connected with the antenna 8;
a plurality of spherical shells 15 are arranged in the transparent cover 10, and the connecting positions of the spherical shells 15 and the transparent cover 10 are positioned between the center and the edge of the transparent cover 10.
A spherical shell 15 is arranged in the transparent cover 10, liquid is arranged in the spherical shell 15, and bubbles are left between the liquid and the spherical shell 15;
a gravity ball 1 or a magnetic ball 9 is also arranged; the pitch angle and the roll angle are obtained according to the positions of the gravity ball 1 and the magnetic ball 9 in the ball shell 15;
in the 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 the 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 preferable scheme, a magnet 14 is further arranged outside the capsule, and the magnet 14 acts on the magnetic ball 9 in the ball shell 15;
the magnet 14 is a permanent magnet or an electromagnet;
the magnetic lines of force of the magnet 14 are oriented in the horizontal direction.
In a preferable scheme, one or more spherical shells 15 are provided.
Example 2:
on the basis of the embodiment 1, a preferable scheme is as shown in fig. 2, wherein the orientation marker comprises a transparent spherical shell 15, 2-4 gravity balls or magnetic balls are arranged in the spherical shell 15, and each spherical shell is arranged with the center of the transparent cover as an origin and is arranged at a distance of 90 degrees along the circumference; preferably, two spherical shells are used, wherein one spherical shell 15 is provided with the gravity ball 1, the gravity ball 1 is made of a material which is not influenced by magnetic force, such as aluminum or titanium alloy material without iron element, and the other spherical shell 15 is provided with the magnetic ball 9.
The pitch angle and the roll angle are obtained from the position of the gravity ball 1 or the magnetic ball 9 in the ball shell 15; this position is also referenced to the connection circle 12 and the cross 16, which may or may not be marked. Because the two spherical shells 15 are spaced apart by 90 °, artificial intelligence can easily identify, if not mark, the location of the connecting circle 12 and the cross hair 16. For example, when the capsule endoscope is tilted up, the gravity ball 1 gradually deviates from the position of the edge of the ball shell 15, so that the elevation angle is calculated according to the deviated distance. When the capsule endoscope is bent downwards, the gravity ball 1 gradually deviates from the edge of the ball shell 15, and is visually reduced due to perspective, so that the state of lifting or bending is judged, and the calculation method of the bending angle is the same as that of the elevation angle.
The roll angle is calculated by the included angle between the center of the gravity ball 1, the center of the ball shell 15 and the cross line 16.
The magnetic ball 9 is used for obtaining a deflection angle in an external horizontal magnetic field; with the deflection of the capsule endoscope, the magnetic ball 9 gradually deviates from the edge of the spherical shell 15, a specific deflection angle is calculated according to the deviation distance, and whether the near magnetic field or the far magnetic field deflection angle is judged, wherein the magnetic ball 9 gradually deviates from the edge of the spherical shell 15, and the magnetic ball is visually reduced or unchanged due to perspective so as to judge the deflection direction relative to the magnetic field.
Example 3:
on the basis of the embodiment 1, a preferred scheme is as shown in fig. 3, wherein the orientation marker comprises a transparent spherical shell 15, a magnetic ball 9 is arranged in the spherical shell 15, liquid is also arranged in the spherical shell 15, and a bubble 13 is formed between the liquid and the spherical shell 15;
the pitch angle and the roll angle are obtained according to the position of the bubbles 13 in the spherical shell 15;
the magnetic ball 9 is used for obtaining a deflection angle in an external horizontal magnetic field;
the horizontal magnetic field is a magnet 14 which is positioned outside the body and has a magnetic line of force in the horizontal direction;
the magnet 14 is a permanent magnet or an electromagnet. The advantage of this example is that the attitude of the capsule endoscope can be derived by providing a spherical shell 15.
In a preferable scheme, an origin or a reference line is further arranged in the spherical shell 15;
the origin or reference line serves as a reference for the relative movement of the bubble 13.
Example 4:
on the basis of embodiments 2 and 3, a posture determining method of a capsule endoscope using the above-described method for facilitating posture determination, comprising the steps of: starting the magnet 14, shooting an image, identifying the position of the gravity ball 1 or the bubble 13 in the image, obtaining a pitch angle according to the position of the gravity ball 1 or the bubble 13 in the spherical shell 15, and obtaining a positive value and a negative value of the pitch angle according to the principle of the distance; the positive and negative values of the pitch angle are divided by a middle horizontal position. Obtaining a roll angle according to the circle center corner position of the spherical shell 15 relative to the transparent cover 10 in the image; obtaining a deflection angle relative to the magnet according to the position of the magnetic ball 9 in the spherical shell 15, and obtaining a positive value and a negative value of the deflection angle according to the principle of the size of the magnetic ball; the positive and negative values of the deflection angle are divided by the vertical position in the pair.
The posture of the capsule endoscope in the human body is determined through the steps.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention is defined by the claims, and equivalents including technical features described in the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the utility model.
Claims (8)
1. A capsule endoscope with a water bag mark is characterized in that: 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), an antenna (8) is arranged on one side of the radio frequency module (7), and the radio frequency module (7) is electrically connected with the antenna (8);
a spherical shell (15) is arranged in the transparent cover (10), liquid is arranged in the spherical shell (15), and air bubbles are left between the liquid and the spherical shell (15);
a gravity ball (1) or a magnetic ball (9) is also arranged; the pitch angle and the roll angle are obtained according to the positions of the gravity ball (1) and the magnetic ball (9) in the ball shell (15);
the connecting position of the spherical shell (15) and the transparent cover (10) is positioned between the center and the edge of the transparent cover (10).
2. The capsule endoscope with the water sac mark according to claim 1, which is characterized in that: 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 water sac mark according to claim 1, which is characterized in that: 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.
4. The capsule endoscope with the water sac mark according to claim 1, which is characterized in that: the exterior of the capsule is also provided with a magnet (14), and the magnet (14) acts on the magnetic ball (9) in the spherical shell (15);
the magnet (14) is a permanent magnet or an electromagnet;
the magnetic force line direction of the magnet (14) is the horizontal direction.
5. The capsule endoscope with the water sac mark according to claim 4, wherein: the magnetic ball (9) is used for obtaining a deflection angle in an external horizontal magnetic field.
6. The capsule endoscope with the water sac mark according to claim 1, which is characterized in that: the number of the spherical shells (15) is one or more.
7. The capsule endoscope with the water sac mark according to claim 1, which is characterized in that:
the pitch angle and the roll angle are obtained according to the position of the air bubbles (13) in the spherical shell (15);
the magnetic ball (9) is also used for obtaining a deflection angle in an external horizontal magnetic field;
the specific gravity of the magnetic ball (9) is the same as that of the liquid in the ball shell, so that the magnetic ball (9) is not influenced by gravity and is only influenced by magnetic force.
8. The capsule endoscope with the water sac mark according to claim 7, wherein: an origin or a datum line is also arranged in the spherical shell (15);
the origin or reference line serves as a reference for the relative movement of the bubble (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121924038.XU CN215914503U (en) | 2021-08-17 | 2021-08-17 | Capsule endoscope with water bag mark |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121924038.XU CN215914503U (en) | 2021-08-17 | 2021-08-17 | Capsule endoscope with water bag mark |
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| Publication Number | Publication Date |
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| CN215914503U true CN215914503U (en) | 2022-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121924038.XU Active CN215914503U (en) | 2021-08-17 | 2021-08-17 | Capsule endoscope with water bag 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
- 2021-08-17 CN CN202121924038.XU patent/CN215914503U/en active Active
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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