TW200920301A - Capsular endoscope for intestine inspection with functions of movement forward and backward - Google Patents

Abstract

The present invention relates to a capsular endoscope for intestine inspection with functions of movement forward and backward, which essentially consists of a first control unit for three-dimensional, magnetive-levitated attitudes, a second control unit for far-distant displacement, a wireless power supplying unit and a wireless bluetooth transmitting unit. The first control unit for three-dimensional, magnetive-levitated attitudes can be used to control the attitudinal angles of the capsular endoscope by means of the external magnetic field in such a manner that a diagnostician may observe the suspicious spots in intestine with proper attitudinal angles presented by the capsular endoscope and check the spots repeatedly by means of the second control unit for far-distant displacement. Still, the capsular endoscope can be stopped on somewhere to adjust the lens thereof to an optimum location of observation in coordination with control of attitudes. Accordingly, it can make a diagnostician to diagnose the possible symptoms or suspicious spots in detail.

Description

200920301 IX. Description of the Invention: [Technical Field] The present invention relates to a winch capsule endoscope structure with forward and backward functions, and more particularly to an attitude angle of a capsule endoscope that can be controlled by an external magnetic field. Make the posture of the doctor to observe the angle, the inflammation is repeated at the suspected lesions, and can also be stopped somewhere, for the healer to examine in detail the intestines with the function of the disease The innovative design of the tunnel capsule endoscope structure. [Prior Art] According to the disease, the diseases that must be examined by endoscopy are mainly digestive system, including: gastrointestinal bleeding, ulceration, injury and tumor, intestinal inflammation, Crohn, s disease, colitis, and large intestinal urgency. The overall structure of the human digestive system is 27 meters long, including the mouth, esophagus, stomach, small intestine, large intestine and anus. In the field of gastroenterology, endoscopes can observe many places, from the mouth, to the esophagus, stomach and duodenum, and even the W segment of the intestine. It can also go from the anus to the rectum, the colon (large or even to the end of the small intestine. Therefore, many diseases of the gastrointestinal tract can be known), and it is found by endoscopy. The traditional endoscopy is easy to use. Push Endoscopy. Since the push-in endoscope needs to be a signal source for providing light and lens to watch diseases, when the fiber green enters the esophagus and the stomach from the anterior fiber, it will touch the mouth and the bee of the subject. It is very uncomfortable to cause vomiting and pain in the subject. 邠 闺 闺 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统 传统It can be used to relieve the pain of the subject, but the middle part of the small intestine is still not easy to diagnose and treat the symptoms of the patient. It is also the most headache for gastroenterologists.卩 Only 5 匕’ 200920301 Capsule endoscopes became another option. Capsule endoscopes were first proposed by Iddan and Swain. In 1999, Given Imaging developed the first capsule endoscope prototype M2A, and many research teams have been involved in research and development. Among them, 'Given Imaging' developed the first capsule endoscope prototype in 1999, with CMOS as the image sensor with 190, ΟΟΟ-pixel resolution, 2 images/second shooting rate, filming by wireless The transmission is transmitted to the external receiver at a frequency of 433 MHz. The power required for shooting and lighting is provided by the battery inside the capsule and can be used for approximately 6-8 hours. This type has been approved by the US FDA. Capsule endoscope Norika3 developed by RF System Lab., Japan in 2002. It replaces CMOS cameras with CCDs, with 410, ΟΟΟ-pixel resolution, better resolution but relatively power-hungry. There are two special grooves in it, one for tissue sampling and the other for drug release, filming and illumination. The system is still in development and still not commercialized. The Korea Intelligent Microsystems Center (IMC) and Japan's 01ympus developed the Miro#l passive capsule to observe the endoscope. The IMC program is expected to launch commercial products in Korea in the near future, and Olympus is also undergoing clinical testing in the fall of 2004. The two companies are working to improve the ability of capsule endoscopes to actively move through the digestive system. Another example is Mosse et al., which proposes an electronic simulation to push the capsule and push the capsule to move by simulating the contraction of the muscle. The wireless capsule endoscope double-direction telemetry module developed by Park et al. enables the capsule and the operator to have bidirectional communication. 'This wins the capsule to receive the externally given commands wirelessly' automatically switches the LEDs and the camera. The power supply, so that you can observe the part to be diagnosed, you don't have to shoot all the way and waste unnecessary power. In addition, Xie et al. 200920301 designed a low-power ic that can be used in a capsule endoscope, integrating a central processing unit and a wireless transmission module to form a single wafer, but the capsule endoscopes are still in development. As for the study of capsule endoscopes in only a few scholars and research institutes in China, the more famous ones are Zhongshan Institute of Science and Central China University Medical Institute. In addition, the ITRI Health Centre has developed the "Micro-Activity Control Micro-Activity System" to develop micro-actuation modules and signal/power transmission modules for applications such as drug delivery and sample sampling. However, there are many defects in the above-mentioned capsule endoscopes that need to be improved urgently, such as: 1. Until now, the capsule endoscopes on the market are not actively controlled, and there is no possibility of lesions under the professional judgment of the physician. Carry out a detailed inspection. 2. The current capsule endoscope can be described as “going back and forth”, that is, moving forward in the digestive system without aim, and can only move forward and not back, unable to examine the possible symptoms in detail and effectively. 3. Traditional capsule endoscopes require a battery to be installed in the capsule, which is not only very space-consuming, but may also have a dilemma of insufficient power or insufficient power (not enough lighting). 4. As soon as the current capsule endoscope enters the stomach, it immediately falls to the bottom of the stomach. It is impossible to monitor the upper part of the stomach, and it is not possible to check the lesions in detail. 5. Traditional capsule endoscopes cannot be sampled in the intestines, causing physicians to refer to pictures only when they find intestinal abnormalities, and cannot be diagnosed more correctly. 6. Because the traditional capsule endoscope is a passive and continuous camera, the gastroenterologist must use 1 to 2 hours to view the image and be exhausted. SUMMARY OF THE INVENTION 200920301 Now, the inventor is in view of the fact that the existing endoscopes still have multiple defects in practical implementation, so it is a tireless spirit, and with its rich professional knowledge and years of practical experience. The invention was assisted and improved, and the present invention was created accordingly. The main purpose of the enteric capsule endoscope structure with the forward and backward functions of the present invention is to provide an attitude angle of the capsule endoscope that can be controlled by an external magnetic field, so that the posture is presented to the angle that the medical practitioner wants to observe, and Repeat observations at suspected lesions, and also stop somewhere, for the examiner to examine in detail where the disease may occur. The purpose and function of the enteric capsule endoscope structure with the forward and backward functions of the present invention are achieved by the following techniques: The enteric capsule endoscope structure with forward and backward functions mainly includes: three-dimensional magnetic float An attitude control unit, a mobile remote control unit, a wireless power supply unit, and a Bluetooth wireless transmission unit. The capsule endoscope can control the attitude angle of the capsule endoscope by the three-dimensional maglev attitude control unit, so that the attitude of the capsule endoscope presents the angle that the clinician wants to observe, and then cooperates with the mobile remote control unit, and the diagnosis and treatment can be suspected to have a lesion. Repeat the observation at the back and forth, or stop the capsule endoscope at a certain position, and adjust the lens of the capsule to the best observation position with the attitude control, so that the medical examiner can examine in detail the possible diseases. At the same time, the use of wavelet with frequency-dividing characteristics for image data compression can increase the amount of data transmitted and the high-frequency data will not be distorted. [Embodiment] For a more complete and clear disclosure of the technical content, the purpose of the invention and the effects thereof achieved by the present invention, the following is a detailed description, and please refer to the drawings and drawings: The "intestinal capsule endoscope junction 200920301 structure with front and back functions" of the present invention comprises: a three-dimensional maglev attitude control unit (1), a mobile remote control unit (2), and a wireless power supply unit ( 3) and a Bluetooth wireless transmission unit (4). Wherein: The concept of the three-dimensional maglev attitude control unit (1) is as shown in the first figure. The permanent magnet (11) is disposed in the capsule endoscope (5) to generate a fixed magnetic field, and a magnetic field is built outside the body to make the external magnetic field and the permanent magnet in the capsule endoscope (5) (11) The interaction creates a Magnetic Dipole Moment to control the attitude of the capsule endoscope (5). The control system (14) is combined with the three-dimensional attitude measurement technology of the sensor (13) to realize the three-dimensional active attitude control of the capsule endoscope (5), and the function of arbitrarily examining the suspected lesion is achieved; wherein, the control The system (14) uses a smart fuzzy proportional-integral-derivative controller, while the sensor (13) uses miniature magnetoresistive sensing. First, a dynamic analysis of the capsule endoscope (5) is required. The dynamic equation is the process of describing the angular velocity and attitude changes of the capsule endoscope (5), by which analysis can be used as the basis for designing the control system (14). The dynamic equation of the capsule endoscope (5) is described by the Euler equation: = hCOb [1] ~rh =7L + x4 [2] at where Λ is the inertial tensor matrix of the capsule endoscope (5), The angular velocity vector of the capsule endoscope (5) body coordinate, h is the angular momentum of the capsule endoscope (5), and the interference force distance and control force distance acting on the capsule endoscope (5) respectively . Expanding [2] gives: K = Tdi + TeI - (I3 -12 )c〇b 2cob 3 [ 3a] 200920301 [3b] K=Td3+h-(l2- DU [3 c ] where /; Λ and 八 are the Moments of Inertia of the X, Y and Z of the capsule endoscope (5). Next, the relationship between the Euler angle and the angular velocity is derived, so that the body coordinates are fixed relative to each other. The angular velocity of the coordinates can be expressed by the Euler angular velocity: —.— Φ ~〇~ ~ο~ <=Α(φ)Α(Φ)Α(Φ) 0 + Α( ψ)Α(Φ) θ + Α ( ψ) 0 [4] 0 0 Φ_ Multiply the above formula to get: ab()3 = -cos(p)cos(e)j> + sin{p)9 [5 】 ωύ03 = -sin(ff&gt ;)cos(9)j) + cos(p)6 [6] ω'03 = sin{6)j) + φ [7 】 The body coordinates used in the dynamic equation of the capsule endoscope (5) are relative The conversion relationship is fixed at the fixed coordinates: ωύ = ω\ =ab0+ Ab0w- [8] where the fixed coordinate is converted to the body coordinate rotation matrix,

[9] Finally, the velocity of the Euler angle and the Euler angle can be expressed as: 10 [10] 200920301 · • two—cos( φ) cos( θ)φ~\· sin( φ )θ 咚= (0b,2 = A sin( φ ) cos( θ ) the seventh cos( φ 5人 3ίη(θ) φ + φ COS((p)COS(e) ~Βΐη(φ)ο〇8(φ) sin( θ ) ΰ〇5 (φ)$ΐη(θ)8ίη(φ) - cos( φ) sin(e )cos( φ ) ^ sin( φ) sin( φ) -8ΐη(φ)8ϊη(θ)8ΐη(φ) sin( φ ) sin( θ ) cos( φ )cos( φ ) sin( φ ) -cos(0)sin(<!>) cos(0)cos(<p) After finishing [10], you can get:

φ (pcos((p)—qsin(<p))/cos(Q) θ psin( φ ) + qcos( φ ) φ _r—(pc〇s(<P)-qsin(<p ))tan(<l>) [11] where Ρ abl+ (cos( φ ) sin( φ) + sin( φ ) sin( Θ ) cos( φ ) )ω0 Q z= ωΚ2 七(—sin(φ ) sin(θ)sin(φ) + cos(φ)cos(φ))ω0 r . ab3+(-cos(9)sm(<^))m〇_ [12] [12] is the capsule The attitude dynamic equation of the mirror (5). If the Euler angle is small, the formula [10] can be reduced to: 'Φ 1 φ -Θ 0 · - Ψ~φω〇〇>b = °h.2 = Θ JP_ + φ 1 φ β -Φ ι_ ~ωο 0 Φ + Φω^ [13] Further, the differential of the above formula can be obtained: </' Φ~φω0 = <2 = θ Φ+φω0 [14] 】Substituting [14] into [3], and ignoring the high-order term, we can get the second-order linear governing equation as: I, ^ + - /5; - , |ζ>+- /5 - - hw2 y> =τ dI +TCI [15a] /^'+5〇V/y+rc, [15b] Ι3φ + [ωΐ (I2 c〇〇hw2 ^Ai〇〇(li-l2-I3)-K^j>=T d3+ TC3 [15c] [15] is the attitude motion equation of the capsule endoscope (5). 200920301 Reuse the magnetic dipole moment The attitude of the capsule endoscope (5) is mainly generated by controlling the current direction of the external electromagnetic coil (12) to generate a directional magnetic field (as shown in the second figure), which is placed in the capsule endoscope ( 5) The neodymium iron boron (NdFeB) permanent magnets interact to generate a magnetic dipole moment, thereby controlling the attitude angle of the capsule endoscope (5). The directional magnetic dipole moment M (Magnetic Dipole Moment) can be Expressed as: Μ = nIA [16] where /? is the number of turns of the electromagnetic coil (12), / is the current supplied to the electromagnetic coil (12), and J is the effective cross-sectional area of the electromagnetic coil (12). The interaction with the permanent magnet (11) of the capsule endoscope (5) produces a magnetic distance 7; the formula for the magnetic distance is:

Tc = MxB [Π] where 5 is the magnetic field of the permanent magnet (11) in the capsule endoscope (5). From the relationship of the above formula, the attitude angle of the capsule endoscope (5) can be arbitrarily controlled by the external magnetic field. In addition, the present invention applies the electromagnetic coil (12) and the micro-magnetoresistive sensor (13) to achieve three-dimensional positioning and navigation of the capsule endoscope (5), which has the advantage that the capsule endoscope can be performed without using a gyroscope or an acceleration gauge. (5) The three-dimensional positioning not only reduces the cost but also makes the overall structure of the capsule endoscope (5) more compact. That is, the present invention applies the concept of a magnetic couple to measure the attitude angle of the capsule endoscope (5) in the body. The external electromagnetic coil (12) is shown in the fourth figure, and the three-axis electromagnetic coils (12) are arranged perpendicular to each other. The induced magnetic field generated by a single electromagnetic coil (12) is shown in Figure 5, and its mathematical equation is expressed as follows:

_ μ〇ι ζ 1 2π [(R+Py+zip- R2+p2+z2 + (R2-p2)2+z2 12 [18] [19] 200920301 Βθ=〇

R2 + ρ2 +ζ2 (R2-ρ2 )2 +ζ2 [20] where Κ and Ε are the elliptic integrals of the first type and the second type. The sensor (13) of the present invention is a miniature magnetoresistive sensor (Magnetoresistive Sensor, which has extreme sensitivity to magnetic field changes' and is placed in the capsule endoscope (5) as a capsule endoscope ( 5) Sensing sensor. The original king of the sensing is to measure the magnetic field change of the three-dimensional electromagnetic coil (12) in vitro, and the attitude angle of the capsule endoscope (5) can be known by mathematics. If the human body digestive system: meaning a little / Χχ, γ, ζ), the induced magnetic field strength is: 5 = / [Ρ (...)] [21] Since the three-dimensional transmitting electromagnetic coil (12) is perpendicular to each other, the three directions The magnetic fields are independent of each other and the direction of the magnetic field follows the Ampere right hand rule. From the magnetic field structure of the single-electrode and the coil (12), it is easy to obtain the enthalpy induction intensity of any direction in the space.

By=AP{

Bz=f[P{x,yiZ)] ^^2)-7;(9〇°)j.7;(-900) [22] [23] Βχ , [24] /, medium 1 and 1 are magnetic fields The relationship between the X-axis and the Y-axis rotation y and Βζ all contain the components d of the three main Korean directions, you, 槐), (muscle muscle, orphan) and (like Ί, inflammation). The relationship is respectively 'capsule The three-dimensional posture of the endoscope (5) can be described by the transmitting electromagnetic coil (the reference lens is described. When the capsule endoscope (5) is moved to the household point, the attitude angle is rotated by the angle/w/axis according to the reference coordinate/axis rotation. 6 angle, around the rotation c angle, can be expressed as (see and c), then the magnetic induction can be expressed as · x = Tx (-a) · Ty (-b) · Tz (a c) [25] 13 200920301 B y — By*Tx(~a).Ty(—b).Tz( c) c) [26] [27] B ζ=β2·Τχ(~a).Ty(—b).Tz(listed above (Extraordinary 岑a, 么c) is state $

Furthermore, the peripheral hardware for controlling the attitude of the capsule endoscope (5) includes a control system (14), a microprocessor and an I/Q interface (15), a power amplifier (10) and a receiving system (#17), etc. The figure shows. Since the magnetic force generated by the electromagnetic coil (10) controls the glue mirror (5) through the human body in a super-distance manner, it is necessary to amplify the power of the magnet wire (2) through the power amplifier (16) to generate sufficient magnetic control capsule endoscope (5) ) gesture. The control system (14) adopts the intelligent fuzzy proportional_integral-differential controller because the most important feature of its fuzzy control is to bring the expert's experience into the controller design', so that the designed controller has the characteristics of artificial intelligence and the system. Has better robustness (Robustness). In the seventh figure, r is the reference signal [that is, the attitude angle that the capsule endoscope (5) is to reach], e is the error value [that is, the difference between the reference signal and the feedback signal], and y is the control input [ie, Through the control current of the electromagnetic coil (12), y is the measurement signal [that is, the attitude angle of the capsule endoscope (5)] 'heart ^ is the proportional gain (Proportional Gain), Γ / is the integral gain (Integral Gain) , i? / is the differential gain (DerivativeGain). Then the control input of the intelligent fuzzy proportional-integral-derivative controller is: . T, de(t) u{t) = KPe(t) + Kt J; e(r)dr + ^[28] 14 200920301 ♦曰The design parameters of the hysteresis fuzzy ratio ~ integral-differential control ( (where, // and !« m _ (Fuzzy) material method. The environment may be very different in different locations in the digestive system (10) such as stomach and small intestine) The intelligent fuzzy proportional and integral-differential controller can adjust the control gain by expert experience with the change of the system, and has excellent adaptability to the time-varying system. The microprocessor of the present invention and the 1/〇 interface (15) include Real_Time

Interface (RTI) [immediate interface] and c〇ntr〇iDesk [manipulation panel]. KTI is the interface software between the main $dSPAGE real-time system and MmAB/Simul(10). m not only provides a 17(10) block function database (1/〇Block Library) with hardware. It allows all algorithms to be used to make input and output settings under the simui interface. It can also be used by Real- in MATLAB. Time Workshop [instant mechanism] automatically translates the calculation process designed in Simulink into ANSI c program, and then directly loads the DS1104 Power PC board (PPC) for operation. The circuit diagram of the power amplifier G6) is as shown in the eighth figure. In the figure, the control signal is terminated by the analog control signal generated by the D/A converter, and the signal is amplified by the operational amplifier (161) to drive the power crystal (162) to achieve power amplification. The power amplifier (16) also includes a flyback circuit (163) design that has the following features: ^ Provides sufficient drive current. 2. Allows rapid and large changes in current in the coil. 3. Noise interference is low. 4. The linear operation range is large. 5. Not easy to ruin. Connect this power amplifier (16) to the entire control system (14) circuit 15 200920301. The two must know the power amplification gain, so the voltage value at the control signal terminal of the circuit is measured through the current sensing terminal of the circuit. Electromagnetic wire, electric /; IL value, its calibration curve is shown in the ninth figure. It can be seen from the figure that the linear amplification of the power amplification (10) is quite good in the operating range, and the relationship between voltage and current can be expressed as: 1 = f(v)==2. 3595v~〇. 12581 [4] where 7 is the current output from the power amplifier (16) and F is the control voltage of the input power amplifier (16). ^ The mobile remote control unit (2), because the capsule endoscope (5) is loaded with a micro-photographing device, an image capturing system and a wireless transmission system, the propulsion mechanism must make the capsule endoscope without damaging the colon wall. The mirror (5) is unobstructed in the digestive system. The tenth figure is an architectural diagram of the movement mechanism of the capsule endoscope (5) of the present invention, which comprises a control circuit board (21), a robot arm (22) and a drug release provided inside the capsule endoscope (5). Control slot (23). The control circuit board (21) has a COMS control circuit for controlling the robot arm (22) to perform forward or backward movement. The robot arm (22) is divided into a forward arm (221) and a backward arm (222), and the forward arm (221) and the backward arm (222) are correspondingly arranged. The forward arm (221) and the backward arm (222) At the end of each of the ends, there are scraping portions (2211) and (2221) which are convex hooks, so that the sampling portions of the digestive organs are taken by the scraping portions (2211) and (2221); and the forward arm (221) The material used in the receding arm (222) is an ion-conducting molecular film (ICPF, Ionic Conductive Polymer Film) or ipmc [Ionomeric Polymer-Metal Composite]. The film is a perfluorosulfonic acid film [Perfluorosulfonic Acid], and its structural formula is as follows. 16 200920301 下: Γ—CF,-CF-{CFrCF.-) n — ,

I (O-CFrCF ) ra ^:)-{CF2)^ SCVNa" I _ CF]

ViM -- 0 〇.r 1 The working principle is to use the mobility of ions to deform the vibration of the film to achieve the effect of driving the fluid. That is, the control of the voltage can make the arm reciprocate to achieve the function of advancing and retreating (such as Figure--no). As shown in Figure 12, the surface of the perfluorosulfonic acid film (A) is first coated with a layer of |L (or other conductor) (B) and a pair of gold electrodes (c). If a voltage (D) is applied to both ends, the negative ions of S〇3 in the film (A) will be bent toward the anode. When the alternating current is applied, the film (A) can be reciprocated to achieve the driving fluid. The effect. The drug release control slot (23) is disposed at two ends of the capsule endoscope (5), and the drug release control slot (23) is provided with an internal mirror special foaming agent, and is disposed in the drug release control slot (23) The notch is sealed with a gold film, so that the special foaming agent for the endoscope does not leak out of the drug release control groove when the gold film is not applied. (23) This structure is designed because the intestines of the human body are often wrinkled. Together, there are many dead ends in the image shooting, and many important messages are often missed; therefore, the gold film is electrolyzed at an appropriate timing so that the notch of the drug release control groove (23) is no longer closed. The special foaming agent for the endoscope in the tank will be released locally into the intestine, and the intestine will be stretched accordingly. At this time, the part with possible pathology can be photographed more clearly, which is convenient for analysis and sampling. The wireless power supply unit (3) is produced by the primary side coil 17 200920301 (31) of the external body; the micro secondary side coil inside the can field and the capsule endoscope (5) can be generated. The voltage difference (as shown in Figure 13), this induced voltage m is the source of power for all systems within the capsule endoscope (5). First, the phase transformer module can be regarded as the energy conversion between the primary side and the human side of the wireless power supply system, and the air gap of the wireless power supply system (the distance between the magnetic poor generating coil and the induction coil, that is, the power transmission) The distance) is not * can be characterized by small magnetization induction (Raynetage Inductance) and large leakage inductance (Leakage Inductance). Therefore, the conventional transformer module can be simplified and can be applied to the wireless power supply unit (3) representing the present invention. 'All parameters of the secondary side are replaced by the voltage of the primary side, the leakage inductance and the resistance of the pass and the ideal current source. The equivalent circuit is shown in Figure 14. The Bluetooth wireless transmission unit (4) is used for transmitting the image data of the capsule endoscope (5), and the image obtained by capturing the capsule endoscope (5) in the digestive organ is transmitted by means of Bluetooth wireless transmission. Transfer to an external system. The Bluetooth wireless transmission unit (4) includes an image processing module (41) and a Bluetooth wheel module (42) [refer to the fifteenth figure]; since the capsule endoscope (5) is photographed in the digestive organ The amount of data obtained is quite large, so the captured image must be compressed and then transmitted. The image processing module (41) is the execution unit for image compression processing, and the image compression technology used. For discrete wavelet transform, one of the most important functions of discrete wavelet transform is frequency division. The frequency division is to effectively separate the energy of the signal according to the frequency. Then the sub-signal obtained by frequency division can be used. The characteristics of the signal waveform are signal processed. Because the energy of the general signal ^ ^ is at the low frequency, in the process of decomposing the signal, it is usually only decomposed for the low g part, in order to make the energy of the low frequency band more 18 200920301. In the compression or transmission application of data, Subband Coding Algorithm is used, that is, encoding according to different frequency bands. In the hierarchy of wavelet transform, given a coefficient of a low frequency band, which has a high correlation with a coefficient set of the same spatial direction position in the next high frequency band, according to this characteristic, defining a tree structure is called A spatial orientation tree is used to indicate the corresponding relationship between frequency bands in wavelet transform. And for a given low-band coefficient, called the parent, the coefficient of the same high-frequency band in the same spatial direction is its offspring; and the same spatial direction related to the low-band coefficient The coefficients of all high frequency bands are its descendants. For an image with a two-layer wavelet decomposition, the parent-child relationship of the wavelet coefficients is as shown in Fig. 16. Before encoding the wavelet coefficients of the entire image, the appropriate scanning method must be used to determine the order and relative relationship of the coefficients. The scanning method is to arrange the wavelet coefficients according to the characteristics of the tree [tree] and the importance of the coefficients. This scanning method has some basic principles, that is, no one descendant coefficient is scanned before its parent coefficient, and In the scan order of (9), the coefficients of L, H, V, and finally the D band are scanned out. The Bluetooth transmission module (42) adopts Bluetooth micro-network (Piconet). Because of its feature of distributable network (gcatternet), the construction of the Bluetooth network is more convenient, and the cost is saved. It is more competitive. Through the above implementation description, it can be seen that the capsule endoscope (5) of the present invention changes the conventional push-in endoscope (Push Endoscopy) observation mode to 19 200920301, and only needs to swallow a capsule to complete the examination of the digestive system. The disease prevents the patient from being invaded by traditional methods. Moreover, the movement and attitude control mechanism of the capsule endoscope (5) of the present invention utilizes wireless power supply and Bluetooth wireless transmission to process illumination and image interception required by the capsule endoscope (5) in the digestive system. The attitude control is applied to control the attitude angle of the capsule endoscope (5), and the effect of observing a particularly problematic portion can be surely achieved. In addition, the robotic arm (22) of the capsule endoscope (5) of the present invention is freely advanced and retracted in the intestine, but also in the forward arm (221) and the retracted arm (222) of the robot arm (22). The scraping portions (2211) and (2221) having the protruding hook shape are provided at the distal end of the tube, so that the sampling portions of the digestive organs can be sampled by the scraping portions (2211) and (2221). Moreover, the capsule endoscope (5) of the present invention integrates the mechanism of the micro-dosing system on the surface of the capsule casing to release the foaming agent when necessary to open the wrinkled intestine and facilitate shooting.俾 Effectively assists physicians in further analysis and judgment, thereby reducing the chances of misjudging the condition. In summary, the embodiments of the present invention can achieve the expected use efficiency, and the specific structure disclosed therein has not been seen in similar products, nor has it been disclosed before the application, and has completely complied with the provisions of the Patent Law. And the request, the application for the invention of a patent in accordance with the law, please forgive the review, and grant the patent, it is really sensible. 20 200920301 [Simple description of the diagram] First diagram: Schematic diagram of the magnetic mirror of the capsule endoscope of the present invention. Second diagram: Schematic diagram of the external directional magnetic field of the present invention. Third diagram: Schematic diagram of the directional magnetic field of the capsule endoscope of the present invention FIG. 4 is a schematic view of a single-coil magnetic induction of the present invention. FIG. 6 is a schematic diagram of a control system of the present invention. FIG. 7 is a schematic diagram of a fuzzy mirror control of a capsule endoscope of the present invention. 8: FIG. 9 is a power amplifier circuit diagram of the present invention: FIG. 10 is a calibration diagram of a power amplifier circuit of the present invention. FIG. 11 is a schematic diagram showing the structure of a capsule endoscope movement mechanism according to the present invention. FIG. 11 is a perspective view of the capsule endoscope of the present invention. Schematic diagram of the movement mechanism for walking. Twelfth diagram: The principle of operation of the capsule endoscope movement mechanism of the present invention. 7F is intended to be the thirteenth diagram: the magnetic field mutual inductance wireless power supply schematic diagram of the present invention. Figure 14: Equivalent of the present invention Fig. 15 is a schematic diagram of a wireless power supply circuit. Fig. 16 is a schematic diagram of a Bluetooth wireless transmission unit of the present invention: parent-ch of wavelet coefficients i Id diagram [main component symbol description] <present invention> (1) three-dimensional maglev attitude control unit (11) permanent magnet (12) electromagnetic coil (13) sensor (14) control system (15) micro Processor and I/O Interface (16) Power Amplifier (161) Operational Amplifier 21 200920301 (162) Power Crystal (163) (17) Receiving System (2) Mobile Remote Control Unit (21) Control Board (22) ( 221) Forward arm (2211) (222) Back arm (2221) (23) Drug release control slot (5) (3) Wireless power supply unit (31) Primary side coil (32) (4) Bluetooth wireless transmission unit ( 41) Image Processing Module (42) (A) Film (B) (C) Gold Electrode (D) Flyback Circuit • Robotic Scraper Scraper Capsule Endoscope Secondary Side Coil Bluetooth Transfer Module Aluminum Voltage 22

Claims (1)

200920301 X. Patent application scope: 1. An enteric capsule endoscope structure with forward and backward functions, comprising: a three-dimensional magnetic floating attitude control unit having a permanent magnet and disposed in the capsule endoscope to generate Fixing the magnetic field, and constructing a magnetic field formed by a three-axis electromagnetic coil in vitro, so that the magnetic field outside the body interacts with the permanent magnet in the capsule endoscope to generate a magnetic dipole moment, and is matched with the peripheral hardware to control the capsule. a posture of the mirror; a mobile remote control unit comprising a control circuit board and a robot arm disposed inside the capsule endoscope, the control circuit board having a control circuit for controlling the forward or backward movement of the robot arm; The supply unit is obtained by generating a magnetic field between the primary side coil of the external body and a mutual inductance of the secondary side coil inside the capsule endoscope; a Bluetooth wireless transmission unit transmits the image taken by the capsule endoscope to the outside system. 2. The enteric capsule endoscope structure with the forward and backward functions as described in the first paragraph of the patent application, wherein the permanent magnet placed in the capsule endoscope is a permanent magnet of the iron shed. 3. The enteric capsule endoscope structure having the forward and backward functions as described in claim 1 of the patent scope, wherein the peripheral hardware for controlling the posture of the capsule endoscope includes a control system, a microprocessor and an I/ O interface, power amplifier and receiving system. 4. The enteric capsule endoscope structure with forward and reverse functions as described in item 3 of the patent application scope, wherein the control system adopts a smart fuzzy ratio 23 200920301 - integral-differential controller. 5. The enteric capsule endoscope structure having the forward and reverse functions as described in claim 3, wherein the power amplifier is composed of an operational amplifier and a power crystal to amplify the signal by the operational amplifier to drive the power crystal to reach Power amplification effect. 6. The enteric gel endoscope structure having the forward and reverse functions as described in claim 5, wherein the power amplifier further comprises a flyback circuit. 7. The enteric capsule endoscope structure with forward and reverse functions as described in claim 1 of the patent scope, wherein the three-dimensional positioning and navigation of the capsule endoscope is achieved by applying an electromagnetic coil and a sensor. 8. The enteric capsule endoscope structure having the forward and reverse functions as described in claim 7 of the patent application, wherein the sensing is micromagnetoresistive sensing. 9. The enteric capsule endoscope structure with forward and backward functions as described in claim 1 of the patent scope, wherein the robot arm is divided into a forward arm and a backward arm, and the forward arm and the backward arm are correspondingly arranged. . 10. The enteric capsule endoscope structure having the forward and reverse functions as described in claim 9 wherein the forward arm has a scraping portion at the end. 11. The enteric capsule endoscope structure having the forward and reverse functions as described in claim 9 wherein the receding arm has a scraping portion at the end. 12. The enteric capsule endoscope structure having the forward and reverse functions as described in claim 10 or 11, wherein the scraping portion has a convex hook shape. 13. The enteric capsule endoscope structure with forward and backward functions as described in claim 9 of the patent scope, wherein the advancing arm and the receding arm are used for the membrane of the ion-conducting molecule and are on both end surfaces of the film. A layer of conductor and a pair of gold electrodes are plated and an alternating voltage is applied across the ends. 14. The enteric capsule endoscope structure having the function of advancement and retreat according to claim 13 of the patent application, wherein the film is a perfluorosulfonic acid film, and the structural formula is: CF2-CF-(CF,- GF?-)n — ) I (G-CF.-CF) ra -0-(CF^h- SCVNa" I CF" VJVi TM 0 or i ^ O 15. As described in claim 13 The enteric capsule endoscope structure of the line and the retreat function, wherein the conductor is made of aluminum. 16. The enteric capsule endoscope structure having the forward and backward functions as described in claim 1 of the patent scope, wherein The mobile remote control unit further includes a drug release control slot disposed at the two ends of the capsule endoscope, and the slot is provided with a special foaming agent for the endoscope, and is sealed by a film at the notch. The enteric capsule endoscope structure having the function of advancement and retreat as described in claim 16 of the patent application, wherein the material of the film is gold. 18. The forward and backward functions as described in claim 1 Intestinal capsule endoscope structure, wherein the Bluetooth wireless transmission unit includes an image processing module and a Bluetooth transmission The module compresses the image data captured by the capsule endoscope in the digestive organ by using the image processing module, and then transmits the image data by the Bluetooth transmission module. 19. As described in claim 18 The enteroscope capsule endoscope structure of the line and the back function, wherein the image processing module uses the shadow 25 200920301 image compression technique as a discrete wavelet transform method. 20. As described in claim 18, The intestinal capsule endoscope structure of the receding function, wherein the compression or transmission of the data is performed using the sub-band coding nasal method. 21. The enteric capsule end view with the forward and backward functions as described in claim 18 The mirror structure, wherein the Bluetooth transmission module uses a Bluetooth micro network.