GB2437339A

GB2437339A - Controllable microcapsule type robot endoscope

Info

Publication number: GB2437339A
Application number: GB0701790A
Authority: GB
Inventors: Fizuli Akber Oglu Nasirov; Farida Mugbilevna Novruzova; Olga Golberg; Igor Golberg
Original assignee: Individual
Current assignee: Individual
Priority date: 2006-04-21
Filing date: 2007-01-31
Publication date: 2007-10-24
Anticipated expiration: 2027-01-31
Also published as: RU2008141608A; GB2437339B; WO2007128084A3; WO2007128084A2; WO2007128084B1; GB0701790D0

Abstract

A capsule type endoscope has limbs 8 that can control the motion of the endoscope whilst passing through a body. The arms 8 are actuated to project outside the body of the capsule and vibration causes it to move forwards and further arms 9 operate in the reverse direction to cause the capsule to move backwards. Alternatively the capsule may be stopped. The capsule contains cameras, lights, transmitting and receiving circuitry for communicating with a control system, and may contain equipment to inject medicines.

Description

ThE CONTROLLABLE MICROCAPSULE TYPE ROBOT-ENDOSCOPE

FIELD OF THE INVENTION

The present invention relates to an endoscope in diagnostics, and in particular, to the microcapsule type robot-endoseope, equipped with a color video camera for examining the internal organs of a human body or another tubular object in accordance with a signal of management, input from outside.

BACKGROUND OF THE INVENTION

The endoscope is used for examining or treating a disease of the tubular internal organs of a human body without performing surgery [1-4). It is known that the large intestine is curved at a steep angle, in performing of an endoscopy in the large intestine a patient may feel much pain and a lesion judgment are largely influenced by experience and skill of a doctor.

Colonoscopy methods have been developed in order to solve the above-mentioned problem of an endoscopy in the large intestine [5-8]. However, it is regarded as indirect methods because a doctor can not directly measure an affected part or perform a biopsy by the method.

Swallowable microcapsule type endoscopy is a new method for diagnosing diseases of the gastrointestinal tract, in particular, in the upper sections of the small intestine [9-131. This permits a patient-friendly, painless investigation of the entire region of the small intestine without physical exposure to radiation. This method of investigation has the advantage that it is possible to inspect areas in which conventional radiological and endoscopy methods achieve only inadequate diagnostic results.

In this case, the patient swallows a microcapsule type endoscope that is equipped with a miniature colour video camera, supplies endoscopic images from the small intestine, and permits painless non-invasive diagnostics.

Because moving in human internal organs of the known microcapsule type endoscope [9-13], including the wireless camera unit, only depends on natural peristalsis of the internal organs, it is impossible to move or to stop the microcapsute type endoscope at a certain position of the internal organs even a doctor wants to examine a specific portion.

In order to solve the above mentioned problems, invention [143 provides a microcapsule type robot, having a camera for examining the internal organs of hwnan body, which is capable of stopping or delaying its movement at a certain examination position according to a stop signal input from outside.

It means the known microcapsule type endoscope for examining the internal organs of a human body has an image infoimation transmission function, is capable only of stopping or delaying its movement at a certain examination position, but it is not capable to onward or return motion and therefore it is not fully controllable.

In accordance with the invention [15], there is provided a wireless (in another embodiment is not wireless and is connected to an electrical wire cable), remote-controllable, micro-scale device adapted for use inside a patient's body, for moving inside patients body a motion mechanism comprising an air propeller, a liquid propeller, a gas assisted propeller, snail motion means, snake motion means, micro tractor treads, and multiple wheels.

This method has disadvantage that it is not capable to an effective onward or return motion of micro-scale device in patient's internal body and in the case of moving the weak intestine walls can be damaged.

A micro robot that can move for itself is provided in invention [16]. The micro robot moves by moving a plurality of legs with a plurality of cams driven by a driven device, which comprises a micro robot body, a rotational shaft installed in the body and connected to driving device for generating rotational force, a plurality of cams positioned sequentially and connected to the rotational shaft having a certain phase difference centering around the rotational shaft, a plurality of legs installed in the body capable of moving by rotation of the cams, said legs being abutted to the respective cams at one end portion thereof and protruding outwardly from the body at the other end portion thereof, respectively and a locomotion device for moving the body.

Therefore, this micro robot has disadvantages such as non-efficient structure, its manufacturing is very difficult and is very expensive, and it moves by moving the plurality of legs by the plurality of cams driven by the driven device in a small space such as the large intestine using only a driving apparatus in the internal body, and weak intestine walls can be damaged.

SUMMARY OF THE INVENTION

Therefore, an object of the present invention is to provide the controllable microcapsule type robot-endoscope, equipped with color video camera for examining the internal organs of a human body or another tubular object, which is capable to the onward or return motion and stopping at a certain examination position of the internal organs of a human body according to a signal input from outside.

To achieve the above-mentioned object, the controllable microcapsule type robot-endoscope, having a camera for examining the internal organs of a human body, foi onward or return motion or stopping of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body, includes a vibrator, installed to the body of a microcapsule type robot-endoscope and the "antennas" of special configuration, installed on the body of a microcapsule type robot-endoscope, which together make a inicrocapsule type robot-endoscope controllable.

The controllable microcapsule type robot-endoscope of the present invention includes: a controllable microcapsule type robot-endoscope body; the color video camera units installed on the front unit and the rear unit of the controllable mcrocapsule type robot-endoscope body in order to observe the internal organs of a human body; the lighting units installed on the front unit and the rear unit of the controllable microcapsule type robot-endoscope body and throwing a light on the internal organs so as to capture images inside the internal organs by the color video camera units; a vibrator installed to the body of the controllable microcapsule type robot-endoscope and the "antennas" of special configuration installed on the body of the controllable microcapsule type robot-endoscope for onward or return motion and stopping of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body; a transceiver installed to the controllable microcapsule type robot-endoscope body, transmitting image information of the color video camera unit to outside and receiving a control signal input from outside of a human body; a control unit installed to the controllable microcapsule type robot-endoscope body and controlling operation of the color video camera units, the lighting units, a vibrator, the "antennas", the transceiver and the injection mechanism; the power supply units installed on the front unit and the rear unit of the controllable microcapsule type robot-endoscope body and supplying power to the color video camera units, the lighting units, a vibrator, the "antennas", a transceiver, a control unit and an injection mechanism; an injection mechanism, the reservoirs and the holes for the injection of medicines.

The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

In the drawings: Fig. I -the general view illustrating a first embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention before operating of an onward or return motion and stopping means;; Fig. 2 -the side view illustrating a first embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention before operating of an onward or return motion and stopping means; Fig. 3 -the front view illustrating a first embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention before operating of an onward or return motion and stopping means; Fig. 4 -the sectional view illustrating a first embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention before operating of an onward or return motion and stopping means; Fig. 5 -a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 1-4 in accordance with the first embodiment of the present invention; Fig. 6 -the general view illustrating a second embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in an onward motion or stopping means; Fig. 7 -the side view illustrating a second embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in an onward motion or stopping means; Fig. 8 -the front view illustrating a second embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in an onward motion or stopping means; Fig. 9 -is a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 6-8 in accordance with the second embodiment of the present invention; Fig. 10 -the general view illustrating a third embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in return motion or stopping means; Fig. 11 -the side view illustrating a third embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in return motion or stopping means; Fig. 12 -the rear view illustrating a third embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in return motion or stopping means; Fig. 13 -a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 10-12 in accordance with the third embodiment of the present invention; Fig. 14-a perspective view illustrating the fourth embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention during the injection of medicines to the internal organs of the human body; Fig. 15 -a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 14;

DETAILED DESCRIPTiON OF THE PREFERRED EMBODIMENTS

Preferred embodiments of the present invention will be described with reference made in detail to accompanying drawings.

Fig. 1-4 is a perspective view illustrating a first embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention before operating of an onward or return motion and stopping means; Fig.5 is a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 1-4 in accordance with the first embodiment of the present invention; Fig. 6-8 is a perspective view illustrating a second embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in an onward motion or stopping means; Fig.9 is a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 6-8 in accordance with the second embodiment of the present invention; As depicted in Figs. 1-9, the controllable microcapsule type robot-endoscope in accordance with a first embodiment of the present invention includes: a body (1); the color video camera units (2) and (3) installed on the front unit and the rear unit of the body (1) for examining the internal organs of a human body; the lighting units (4) and (5) installed on the front unit and the rear unit of the body (1) for throwing a light on the internal organs of a human body; a vibrator (6) installed to the body (1) and the "antennas" of special configuration (8) and (9) installed on the plurality of grooves (7) on the body (1) for a onward or return motion and stopping means of the controllable microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body; a transceiver (10) installed to the body (I), for transmitting image information received from the color video camera units (2) and (3) to outside and receiving a control signal input from outside; a control unit (11) installed to the body (1) and controlling the operation of the color video camera units (2) and (3), the lighting units (4) and (5), a vibrator (6), the "antennas" (8) and (9), a transceiver (10) and an injection mechanism (13); the power supply units (12) installed on the front unit and the rear unit of the body (I) and supplying power to the color video camera units (2) and (3) the lighting units (4 and (5); vibrator (6), the "antennas" (8) and (9), a transceiver (10), a control unit (11) and an injection mechanism (13); an injection mechanism (13) with reservoirs and the holes for the injection of medicines.

A body (1) is constructed with a hemispheric front unit, a hemispheric rear unit and a cylinder unit. A body 1 has a capsule shape in whole and its size is suitable for swallow. Herein, a size of the body (1) is about l0-15x20-30 mm and the body (1) is made of materials having a biocompatibility (for exc., polyurethane).

The color video camera units (2) and (3), includes the external lenses and the camera elements (CCD or CMOS) directly connected to the lenses, and are installed to the front unit and rear unit of the body (1). It is preferable for the camera units (2) and (3) to have a function for zooming in or out on the internal organs, or changing the imaging direction.

In the meantime, the lighting units (4) and (5) are the light source system providing a light required for capturing images of the internal organs, are the white Light Emitting Diode (LED) and are installed to the front unit and rear unit of the body (1) with the camera units (2) and (3). The number and the direction of the white LEDs can be adjusted by a required illumination.

A vibrator (6) is installed to the body (1) of the controllable microcapsule type robot-endoscope and may have various types of constructions.

As described in Figs. 1-4, a plurality of grooves (7) are radially placed on the cylinder unit of a body (1) in a length direction, the "antennas" units (8) and (9) includes a plurality (each 3, 4 or 6 pears) of thin bars members of special configuration, one end is respectively fixed to each of the plurality of grooves (7).

When the controllable microcapsule type robot-endoscope is swallowing, each bridging member of "antennas" (8) and (9) is placed inside each groove (7).

In the first embodiment of the present invention, the "antennas" (8) and (9) are actuators with specific configuration made of EAP (Electroactive Polymer) such as IPMC (Ionic Polymer Metal Composite), or EP (Electrostrictive Polymer).

In addition, when the controllable microcapsule type robot-endoscope swallows by patient, in order to prevent a rejection symptoms of a human body, a body (1) of the microcapsule type robot-endoscope is made of polymer having a biocompatibility such as urethane, etc., and by forming as one body with the "antennas" (8) and (9), which arc installed on the plurality of grooves (7) on the body (1), a structure of the robot can be simplified.

An external control system (14) processes image information of the internal organs and transmits a control signal to the controllable microcapsule type robot-endoscope. For that, an external control system (14) has two-way transmission and reception functions and includes command generation unit for controlling the robot-endoscope. In addition, a wireless transmission frequency and a wireless reception frequency have not to affect aftuliates and have to be harmless for the human body.

In the meantime, the operation of the microcapsule type robot-endoscope in accordance with the first embodiment of the present invention will be described.

For an endoscopy, the patient swallows a controllable microcapsule type robot-endoscope that is equipped with a miniature color video camera.

In the swallowing of robot-endoscope each member of "antennas" (8) and (9) as functional polymer is placed inside the each groove (7). In more detail, when the controllable microcapsule type robot-endoscope is swallowing, each member of "antennas" (8) and (9) uniformly ananged on the surface of the cylinder unit of the body (1).

The operation of the microcapsule type robot-endoscope in accordance with the second embodiment of the present invention will be described.

As depicted in Fig. 6-9, in the second embodiment of the present invention, the onward motion means moving of a body (1), when after receiving the onward motion signal input from outside of a human body the voltage is applied to a vibrator (6) and vibrator (6) begins to vibrate. In the meantime, the voltage is applied also to the "antennas" (8) (actuators), the "antennas" (8) projects as an umbrella in the circwnferential direction of the cylinder unit of the body (1) and hanging on the internal wall of the internal organs the "antennas" (8) begin to vibrate. It forced the moving to the forward the controllable microcapsule type robot-endoscope in the internal organs. In the meantime, the color video camera unit (2) of the robot-endoscope can produces images at a rate of two images per second of certain portions of the internal organs as a video film.

In the meantime, as depicted in Figs. 6-9, image information of the internal organs recording by a camera unit (2) is wirelessly transmitted to the external control system (14), when the controllable microcapsule type robot-endoscope reaches a certain examination position, a user wirelessly transmits a "stop" control signal to a transceiver (10) through an external control system (14) while observing the image on a monitor. A transceiver (10) receiving the "stop" signal transmits the signal to a control unit (11), and control unit (11) stops the transmitting a voltage to a vibrator (6) and the "antennas" (8), after it vibrator (6) and "antennas" (8) stop to vibrate, the "antennas" are retracted to the grooves (7), and the robot-endoscope stops its motion.

The doctor responsible has the option of viewing this video film in real time, of tracking the position of the imaging microcapsule type robot-endoscope during its passage through the gastrointestinal tract, and inspecting individual images exactly in freeze mode and processing and archiving them. The gastroenterologist can then locate any pathologies of the small intestine with the aid of the visual information obtained in this way.

Fig. 10-12 is a perspective view illustrating a third embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention in a return motion or stopping means; Fig. 13 is a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig.l0-12 in accordance with the third embodiment of the present invention; The operation of the controllable microcapsule type robot-endoscope in accordance with the third embodiment of the present invention will be described.

As depicted in Figs. 10-13, in the third embodiment of the present invention, the return motion means moving of the body (I) to back, when after receiving the return motion signal input from outside of a human body the voltage is applied to a vibrator (6) and the vibrator (6) begins to vibrate. In the meantime, the voltage is applied also to the "antennas" (9) (actuators), the "antennas" (9) projects as an umbrella in the circumferential direction of the cylinder unit of a body and hanging on the internal wall of the internal organs the "antennas" (9) begin to vibrate. It forced the moving to the back the controllable microcapsule type robot-endoscope in the internal organs. In the meantime, a camera unit (3) of the robot-endoscope also can produce images at a rate of two images per second of certain portions of the internal organs as a video film.

Figs. 14 are a perspective view illustrating the fourth embodiment of the controllable microcapsule type robot-endoscope in accordance with the present invention during the injection of medicines to the internal organs of the human body; Fig. 15 is a block diagram illustrating a construction of the controllable microcapsule type robot-endoscope of Fig. 14; The operation of the controllable microcapsule type robot-endoscope in accordance with the fourth embodiment of the present invention will be described.

As depicted in Figs. 14-15, on the body (1) of the controllable robot-endoscope there are the holes (lOb) for the injection of medicines. There are installed to a body (1) an injection mechanism (13) with reservoirs and holes for the injection of medicines. When the moving of a body (I) of robot-endoscope is stopped, after receiving the injection signal inputted from outside of a human body an injection mechanism (13) begin to act, the holes open and begin to inject the medicines to the internal organs of the human body. Micro pomp, or other pomp unit may use as an injection mechanism (13).

As described above, in accordance with the present invention, the controllable microcapsule type robot-endoscope, having the color video camera units for examining the internal organs of a human body, for onward or return motion or stopping of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body, includes a vibrator, installed to the body of a microcapsule type robot endoscope and the "antennas", instalied on the body of a microcapsule type robot-endoscope, which together make robot-endoscope controllable, and an external control unit processing the image information received through a transceiver and controlling the controllable microcapsule type robot-endoscope, accordingly it is possible to construct an endoscopy system using the controllable microcapsule type robot-endoscope.

Therefore, the controllable microcapsule type robot-endoscope, which can be used for endoscopy the large and small intestines, permits painless non-invasive diagnostics, has very simple and efficient construction, its size can be miniaturized, it easy to be manufactured.

As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, unless otherwise specified, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the metes and bounds of the claims, or equivalence of such metes and bounds are therefore intended to be embraced by the appended claims.

REFERENCES CITED

1. M.A.Talamini, S.Chapman, S.Horgan, W.S.Melvin. A prospective analysis of 211 robotic-assisted surgical procedures. Surg.Endosc. (2003), 17, p.1521-1524.

2. US 6,835,173 B2. Robotic endoscope / SciMed Life Systems, Inc.(US). Dec 28, 2004.

3. US 6,837,846 B2. Endoscope having a guide tube / Neo Guide Systems, Inc. (US). Jan 4, 2005.

4. US 5,662,587. Robotic endoscopy /Cedars Sinai Medical Center, Los Angeles; California Institute of Technology, Pasadena (USO. Sep.2, 1997.

5. US 6,648,814 B2. Micro-robot for colonoscopy with motor locomotion and system for colonoscopy using the same /Korean Institute of Science and Technology (KR). Nov 18, 2003.

6. US 6,071,234. Self-Propelled Colonoscopy / Masazumi Takada, Takatsukashinden, Matsudo-Shj, Chiba-ken, Japan. Jun 6, 2000.

7. AU2003202865. Endoscope sheath assemblies having an attached biopsy sampling device IVision sciences inc. Jul 24, 2003.

8. US 6,402,686 B!. Fully-swallowable endoscopic system /Asahi Kogaku Kogyo Kabushiki Kaisha, Tokyo (IF). Jun.11, 2002.

9.3. a) US 2005020880. Capsule endoscope I Miyake Kiyoshi [Jp]; Obata Mitsuo [Jp]. Jan 27, 2005 10. US 20050020880 Al. Capsule endoscope / Ostrolenk Faber Gerb & Soffen (US). Jan 27, 2005.

11. US 20050010083 Al. Electronic endoscope apparatus I Greenbium and Bernstein, P.L.C. (US). Jan 13, 2005 12. US 20040264754 Al. Imaging method for a capsule-type endoscope unit / Harness, Dickey & Pierce, P.L.C. (US). Dec 30, 2004.

13. US 5,604,531. In vivo video camera system / State of Israel, Ministry of Defence, Armament Development Autority (Israel). Feb 18, 1997.

14. US 6,719,684 B2. Micro Capsule type robot IKorea Institute of Science and Technology (KR). Apr.13, 2004.

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Nov.30, 2004 (Prototipe).

Claims

CLAIMS

1. The controllable microcapsule type robot-endoscope, comprising: a micro capsule type robot-endoscope body; a color video camera units for examining the tubular internal organs of a human body or another tubular objects; a vibrator and the "antennas", together allowing the onward or return motion and stop the niicrocapsule type robot-endoscope in internal organs of the human body or another object according to a signal of management, input from outside, that provides qualitative and fast diagnostics of internal organs of the person or another object without causing inconveniences.

2. The controllable tnicrocapsule type robot-endoscope of claim I, wherein the body is constructed with a hemispheric front unit, a hemispheric rear unit and a cylinder unit and is made of materials having a biocompatibility (for exc., polyurethane).

The body has a capsule shape in whole; its size is suitable for swallow.

3. The controllable microcapsule type robot-endoscope of claim 1, wherein the camera units are installed to the front unit and the rear unit of the body and include the external lenses and camera elements (CCD or CMOS) directly connected to the lenses.

4. The controllable microcapsule type robot-endoscope of claim 1, wherein the lighting units are installed to the front unit and rear unit of the body with the camera units, are the light source system providing a light required for capturing images of the internal organs and are the white Light Emitting Diode (LED). The number and the direction of the white LEDs can be adjusted by a required illumination.

5. The controllable microcapsule type robot-endoscope of claim 1, wherein a vibrator installed to the body of microcapsule type controlled robot-endoscope and may have various types of constnictions.

6. The controllable microcapsule type robot-endoscope of claim 1, wherein pluralities of grooves are radially placed on the cylinder unit of the body in a length direction; the "antennas" unit includes a plurality of thin bars members of specific configuration (each of 3, 4 or 6 pears), one end is respectively fixed to each of the I) plurality of grooves. When the controllable microcapsule type robot-endoscope is swallowing each bridging member of "antennas" is placed inside each groove.

7. The controllable microcapsule type robot-endoscope of claim 6, wherein the "antennas" are actuators of specific configuration and made of EAP (Electro Active Polymer) such as IPMC (Ionic Polymer Metal Composite), or EP (Electrosirictive Polymer).

8. For an endoscopy, the patient swallows a controllable microcapsule type robot-endoscope that is equipped with a miniature color video camera, vibrator and "antennas".

9. The onward motion means moving of a body, when after receiving the onward motion signal input from outside of a human body the voltage is applied to a vibrator and vibrator begins to vibrate. In the meantime, the voltage is applied also to the "antennas" (actuators), the "antennas" projects as an umbrella in the circumferential direction of the cylinder unit of the body and hanging on the internal wall of the internal organs the "antennas" begin to vibrate. It forced the moving to the forward the controllable microcapsule type robot-endoscope in the internal organs.

10. The color video camera unit of the robot-endoscope can produces images at a rate of two images per second of certain portions of the internal organs as a video film.

Image information of the internal organs recording by a camera unit is wirelessly transmitted to the external control system, when the controllable microcapsule type robot-endoscope reaches a certain examination position, a user wirelessly transmits a "stop" control signal to a transceiver through an external control system while observing the image on a monitor.

11. Stopping of the controllable microcapsule type robot-endoscope is achieved when after receiving the stopping signal a transceiver transmits the signal to a control unit, and control unit stops the transmitting a voltage to a vibrator and the "antennas", after it vibrator and "antennas" stop to vibrate, the "antennas" are retracted to the grooves, and the robot-endoscope stops its motion.

12. Before the return motion of the controllable microcapsule type robot-endoscope after receiving the signal input from outside of a human body the "antennas" are placed inside each groove of body. "p

13. The return motion of the controllable microcapsule type robot-endoscope of claim 1 means moving back of a body, when after receiving the return motion signal input from outside of a human body the voltage is applied to a vibrator and the vibrator begins to vibrate. In the meantime, the voltage is applied also to the "antennas" (actuators), the "antennas" projects as an umbrella in the circumferential direction of the cylinder unit of a body and hanging on the internal wall of the internal organs the "antennas" begin to vibrate. It forced the moving to the back the controllable microcapsule type robot- endoscope in the internal organs. In the meantime, a camera unit of the robot-endoscope also can produce images at a rate of two images per second of certain po tions ofthe internal organs as avideofilm.

14. The controllable microcapsule type robot-endoscope of claim 1, where are installed to the body the mechanism, reservoirs and holes for the injection of medicines.

When the moving of the body of robot-endoscope is stopped, after receiving the iiection signal inputted from outside of a human body the injection mechanism begins to act, the holes open and begin to inject the medicines to the intal organs of the human body 15. The controllable microcapsule type robot-endoscope includes: a controllable microcapsule type robot-endoscope body; the color video camera units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body in order to observe the internal organs of a human body or another objects; the lighting units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body and throwing a light on the internal organs so as to capture images inside the internal organs by the camera unit; a vibrator installed to the body of the controllable microcapsule type robot-endoscope and the "antennas" installed on the body of the controllable microcapsule type robot-endoscope providing together an onward or a return motion and the stopping means of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body; a transceiver installed to the controllable microcapsule type robot-endoscope body, transmitting image information of the camera units to outside and receiving a control signal input from outside of a human body; a control unit installed to the controllable microcapsule type robot-endoscope body and controlling operation of the I1 camera units, the lighting units, a transceiver, a vibrator, the "antennas" and an injection mechanism; the power supply units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body and supplying power to a camera unit, the lighting units, a transceiver, a vibrator, the "antennas", a control unit and an injection mechanism; an injection mechanism, the reservoirs and the holes for the medicines.

16. An endoscopy system, using the controllable microcapsule type robot-endoscope, comprising: -The controllable microcapsule type robot-endoscope, which has: a controllable microcapsule type robot-endoscope body; the color video camera units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body in order to observe the internal organs of a human body; the lighting units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body and throwing a light on the internal organs so as to capture images inside the internal organs by the camera units; a vibrator installed to the body of the controllable microcapsule type robot-endoscope; and the "antennas" installed on the body of the controllable microcapsule type robot-endoscope for an onward or a return motion and the stopping means of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input fim outside of a human body; a transceiver installed to the controllable microcapsule type robot-endoscope body, transmitting image information of the camera unit to outside and receiving a control signal input from outside of a human body; a control unit installed to the controllable microcapsule type robot-endoscope body and controlling operation of the camera unit, the lighting unit, the transceiver, the vibrator, the "antennas", the injection mechanism; a power supply units installed to the front unit and rear unit of the microcapsule type controlled robot-endoscope body and supplying power to the camera units, the lighting units, a transceiver, a vibrator, the "antennas", a control unit, and an injection mechanism; an injection mechanism, reservoirs and holes for the injection of medicines to the intaI organs of the human body; -The computer system for the processing of infonuation receiving from the controllable microcapsule type robot-endoscope, which has: an external control system; a Personnel Computer (PC).

Amendments to the claims have been filed as follows

CLAIMS

I. A controllable microcapsule type robot-endoscope, comprising: a micro capsule type robot-endoscope body; color video camera units for examining the tubular internal organs of a human body or another tubular objects; a vibrator and a plurality of "antennas", together allowing the onward or return motion and stop the microcapsule type robot-endoscope in internal organs of the human body or another object according to a signal of management, input from outside, that provides qualitative and fast diagnostics of internal organs of the person or other object without causing inconveniences.

2. The controllable microcapsule type robot-endoscope of claim 1, wherein the body is constructed with a hemispheric front unit, a hemispheric rear unit and a cylinder unit and is made of materials having a biocompatibility (for example, polyurethane) and its size is suitable for swallow.

3. The controllable microcapsule type robot-endoscope of claim 2, wherein the camera units are installed to the front unit and the rear unit of the body and include external lenses and camera elements (CCD or CMOS) directly connected to the lenses.

4. The controllable microcapsule type robot-endoscope of claim 2, wherein lighting units are installed to the front unit and rear unit of the body with the camera units, are light source system providing a light required for capturing images of the internal organs and are white Light Emitting Diode (LED), which number and the direction can be adjusted to give a required illumination.

5. The controllable microcapsule type robot-endoscope of claim 1, wherein six grooves are placed on the cylinder unit of the body in a length direction; a plurality of "antennas" includes 2 sets of three antennas with each set hinged in grooves either towards the front or rear of the capsule and when the controllable microcapsule type robotendoscope is swallowing each bridging member of "antennas" is placed inside each groove.

6. The controllable microcapsule type robot-endoscope of claim 5, wherein the "antennas" are actuators of specific configuration and made of EAP (Electro Active Polymer) such as IPMC EP (E1.tosiiiiwPolymei). 2o

7. The controllable microcapsule type robot-endoscope of claim 1, where are installed to the body mechanism, reservoirs and holes for the injection of medicines and when the moving of the body of robot-endoscope is stopped, after receiving the injection signal inputted from outside of a human body, the injection mechanism begins to act, the holes open and begin to inject the medicines to the internal organs of the human body 8. The controllable microcapsule type robot-endoscope includes: a controllable microcapsule type robot-endoscope body; color video camera units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body in order to observe the internal organs of a human body or other objects; lighting units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body for giving a required illumination on the internal organs so as to capture images inside the internal organs by the camera unit; a vibrator installed to the body of the controllable microcapsule type robot-endoscope and a plurality of "antennas" installed on the body of the controllable microcapsule type robot-endoscope providing together an onward or a return motion and the stopping means of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body; transceiver installed to the controllable microcapsule type robot-endoscope body, transmitting image information of the color video camera units to outside and receiving a control signal input from outside of a human body; control unit installed to the controllable microcapsule type robot-endoscope body and controlling operation of the color video camera units, the lighting units, a transceiver, a vibrator, a plurality of "antennas" and an injection mechanism; power supply units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body and supplying power to the camera units, the lighting units, a transceiver, a vibrator, a plurality of "antennas", the control unit and an injection mechanism; injection mechanism, reservoirs and holes for the medicines.

9. An endoscopy system, using the controllable microcapsule type robot-endoscope, comprising: The controllable microcapsule type robot-endoscope, which has: a controllable microcapsule type robot-endoscope body; the color video camera units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body in order to observe the internal organs of a human body; the lighting units installed to the front unit and rear unit of the controllable microcapsule type robot-endoscope body for giving a required illumination on the internal organs so as to capture images inside the internal organs by the camera units; a vibrator installed to the body of the controllable microcapsule type robot-endoscope; and a plurality of "antennas" installed on the body of the controllable microcapsule type robot-endoscope for an onward or a return motion and the stopping means of the microcapsule type robot-endoscope at a certain examination position of the internal organs of a human body according to a signal input from outside of a human body; a transceiver installed to the controllable microcapsule type robot-endoscope body, transmitting image information of the camera unit to outside and receiving a control signal input from outside of a human body; a control unit installed to the controllable microcapsule type robot-endoscope body and controlling operation of the color video camera units, the lighting units, the transceiver, the vibrator, the "antennas", the injection mechanism; a power supply units installed to the front unit and rear unit of the microcapsule type controlled robot-endoscope body and supplying power to the color video camera units, the lighting units, a transceiver, a vibrator, a plurality of "antennas", a control unit and an injection mechanism; an injection mechanism, reservoirs and holes for the injection of medicines to the internal organs of the hwnan body; -A computer system for the processing of information receiving from the controllable microcapsule type robot-endoscope, which has: an external control system; a Personnel Computer (PC).