1284027 九、發明說明： » 【發明所屬之技術領域】 本發明係有關於一種吞入式内視鏡之結構，尤指〆棘 具有雙層殼體設計之吞入式内視鏡，將内視鏡本體^於〆 具有可膨脹尾部之外殼體中，内視鏡本體可與外殼體作相 對旋轉運動，可大幅降低腸道摩檫力，且該外殼體膨脈之 尾部，有助於控制内視鏡行進方向及速度以執行消^系統 或腸道之觀察或治療。 / 【先前技術】 按，傳統内視鏡裝置，其係將一微型影像擷取裝^， 如 CCD(Charge Coupled Device，電荷耦合元件）或"cM〇s (Complementary Metal Oxide Semiconductor，互補式氧 化金屬半導）設置於一具有光纖之管體末端，將管體詨有 影像擷取裝置之一端伸入人體内，可藉由光纖照亮人^器 I® 官内部，並由影像擷取裝置擷取器官内部影像並將訊號傳 回一控制主機，再由控制主機將訊號轉換為影像顯示於〆 螢幕上，藉此觀測器官内部狀況；惟傳統插管式内視鏡對 ^ 於路徑複雜且長度長（約七公尺）之小腸而言，其操作围難 度極咼，且會造成患者極不舒適感，甚有可能對腸道造成 ， 傷害，因此，近年來發展出一種吞入式内視鏡（又稱膠囊 内視鏡），其外型有如膝囊（一般尺寸約為直徑I〗丽X長度 26mm左右），將影像擷取裝置、照明裝置、訊號處理裝置 等裝置設置於其内，患者吞服内視鏡後，即可拍攝腸胃消 6 (8 1284027 化系統之影像，並將訊號傳至一無線傳輸接受器儲存，而 '膠囊狀之内視鏡則會順著腸胃之蠕動而排出體外。 : 惟’吞入式内視鏡係依罪腸道螺動而前進，當腸道停 止蠕動或腸道阻塞時，常會發生内視鏡被卡在腸道内之情 況，基於電力供應之限制，一般吞入式内視鏡之拍攝時間 約為八小時，若膠囊式内視鏡被卡住而無法前進時，往往 造成電力耗盡而無法完成檢查；其次，一般吞入式内視鏡 之外型對稱， I# 針對與吞入式内視鏡結構相關之專利而言，較具代表 性之專利如，美國專利第4278077號「Medical camera system」（如圖一所示）、第 6776165 號「Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles」（如圖二所示）、早期公開第 20030167000 號「Miniature ingestible capsule」（如圖 三所示），中國專利申請號第0310009δ·3號「膠囊内視鏡」 (如圖四所示），中華民國專利申請號第〇92214583號「具 >9 可旋轉之影像感測模組之膠囊内視鏡」（如圖五所示）、第 093216785號「具多晶片模組之膠囊内視鏡」（如圖六所 示）、第092214586號「具活動鰭板之膠囊内視鏡」（如圖 七所示），綜觀前述各習知專利所提供之技術手段可知，其 ’重點大多係針對影像擷取、影像對焦等技術作改良 ，至於 '其結構，則僅具有單-殼體，且該殼體之外型係為一兩端 對稱之膠囊狀，其中，結構較為特殊的，如圖七所示之第 092214586諕「具活動鰭板之膠囊内視鏡」，其係於膠囊殼 110外没有活動鰭板150 ,藉由控制磁性區153、磁化區112 71284027 IX. Description of the invention: » [Technical field to which the invention pertains] The present invention relates to a structure of a swallowable endoscope, in particular to a swallowing endoscope with a double-shell design The mirror body is in the outer casing of the expandable tail portion, and the inner mirror body can rotate relative to the outer casing body to greatly reduce the intestinal friction force, and the outer portion of the outer casing expands the vein to help control the inner portion. The direction and speed of the mirror travel to perform observation or treatment of the system or the intestine. / [Prior Art] Press, the traditional endoscope device, which is a miniature image capture device, such as CCD (Charge Coupled Device) or "cM〇s (Complementary Metal Oxide Semiconductor) The metal semi-conductor is disposed at the end of a tube having an optical fiber, and extends one end of the tube body with the image capturing device into the human body, and can illuminate the inside of the I® official by the optical fiber, and the image capturing device The internal image of the organ is captured and the signal is transmitted back to a control host, and then the control host converts the signal into an image displayed on the screen to observe the internal condition of the organ; however, the traditional intubated endoscope has a complex path and For the long intestine (about seven meters), the operation is extremely difficult, and it will cause extremely uncomfortable feelings for the patient. It may cause damage to the intestines. Therefore, in recent years, a swallowing type has been developed. Sight glass (also known as capsule endoscope), its appearance is like a knee sac (the general size is about diameter I is about 26 mm long), and the image capturing device, lighting device, signal processing device, etc. are set. In this case, after the patient swallows the endoscope, the image of the gastrointestinal tract 6 (8 1284027 system) is transmitted, and the signal is transmitted to a wireless transmission receiver for storage, and the 'capsule-shaped endoscope is followed. The gastrointestinal motility is excreted. : However, the swallowed endoscope is advanced according to the sin of the intestine. When the intestine stops squirming or the intestinal tract is blocked, the endoscope is often caught in the intestine. Based on the limitation of power supply, the shooting time of the general swallowing endoscope is about eight hours. If the capsule endoscope is stuck and cannot advance, the power is often exhausted and the inspection cannot be completed. Secondly, the swallowing is generally performed. The type of endoscope is symmetrical, I# is a patent for the structure of the swallowed endoscope, such as the US Patent No. 4278077 "Medical camera system" (shown in Figure 1). ), 6776165 "Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles" (shown in Figure 2), early publication No. 20030167000 "Miniature ingestible capsule" (shown in Figure 3), China Application No. 0310009δ·3 "Capsule Endoscope" (as shown in Figure 4), Republic of China Patent Application No. 〇92214583 "Capsule Endoscope with >9 Rotatable Image Sensing Module" ( As shown in Figure 5, No. 093216785 "Capsule endoscope with multi-chip module" (as shown in Figure 6), No. 092214586 "Capsule endoscope with movable fins" (as shown in Figure 7) In view of the technical means provided by the aforementioned conventional patents, it is known that most of the emphasis is on image capture, image focus and other techniques. As for the structure, there is only a single-shell, and the shell The outer shape is a symmetrical capsule shape, wherein the structure is relatively special, as shown in Figure VII, the 092214586 諕 "capsule endoscope with movable fins", which is attached to the capsule shell 110 without moving fins The board 150 is controlled by the magnetic zone 153 and the magnetized area 112 7
(S 1284027 :電流方向’可控制活動鰭板150之開合，藉此達控制該 /囊内視鏡100行進方向之目的，然即使如此，該膠囊内 視鏡100仍係依罪腸道罐動而前進，而其活動鰭板尖 銳之尾端，反而對腸道壁存在潛在性之傷害，甚或對膠囊 内視鏡100之移動造成阻礙。 【發明内容】(S 1284027: Current direction 'controls the opening and closing of the movable fin 150, thereby achieving the purpose of controlling the direction of travel of the capsule endoscope 100, but even then, the capsule endoscope 100 is still guilty of the intestinal canister Moving forward, and the sharp end of the moving fin, there is potential damage to the intestinal wall, or even hindering the movement of the capsule endoscope 100. [Summary]
有鐘於習知技術之缺失，本發明之主要目的在於提出 =種呑人式内錢之結構，其雙層殼體設計可大幅降低腸 道摩擦力，且該外殼體膨脹之尾部，有助於控制内視鏡行 進方向及速度讀行消化系統或腸道之觀察或治療。 為達到上述目的，本發明提[種吞人式内 構，其包含： " 一外殼體； 内視鏡本冑&置於外殼體内’係用以擷取影像； -旋轉驅動f置’設置於外殼體内，可驅動内視本 體與外殼體作相對之旋轉運動。 本 較佳地L具有—可顧之尾^ 較佳地膨脹之尾部係為吸水高分子材質。 較佳地，該旋轉驅動骏詈铉 、 控制旋轉。由—控制及訊號傳輪裝置 較佳地，該旋轉驅動裝置係* 較佳地，該旋轉驅動展置】：一微型旋轉馬達。 外殼體靜止。 本體旋轉而 1284027 較佳地’該旋轉驅動裝置係可驅動内視鏡本體與外殼 ί 體反向旋轉。 - 較佳地，該内視鏡本體更包括一照明裝置。 • 較佳地，該内視鏡本體包括一殼體，於該殼體内設有· 至少一觀察裝置，係供擷取影像； 至少一治療裝置，係供將藥物喷出内視鏡本體外； 至少一控制及訊號傳輸裝置，係用以接收並處理訊 號’以驅動觀察裳置擷取影像或治療裝置喷出藥物。 較佳地’該控制及訊號傳輸裝置包括一電訊輸出裝 置，其具有一電訊輸出端可輸出訊號以刺激或抑制腸道蠕 動。 較佳地’該觀察裝置包括： 一影像擷取裝置，其具有一影像觀察路徑，藉由該控 制及訊號傳輸裝置驅動可擷取影像； 一反射鏡，其反射面與該影像擷取裝置之影像觀察路 _ 徑係呈一定角度之夾角，係供改變該影像觀察路徑。 較佳地，該反射面與該影像擷取裝置之影像觀察路徑 之夾角係為45度。 較佳地，該治療裝置包括： 一藥物儲放裝置，其内部填充有治療用之藥物； 一喷嘴，係連通該藥物儲放裝置，藉由該控制及訊號 傳輸裝置驅動可將藥物喷出内視鏡本體之殼體外。 較隹地，該内視鏡本體之殼體係凸出於該外殼體一長 度，使該反射鏡所反射之影像觀察路徑、該治療裝置之喷 9 @ !284〇27 嘴、該電訊輸出裝置之電訊輸出端可外露於朴體外 進查委員!轉明之結構目的:功效有更 步之了解與涊同，茲配合圖示詳細說明如产 【資施方式】The main purpose of the present invention is to propose a structure of the money in the human type, the double-shell design can greatly reduce the intestinal friction, and the tail of the outer casing expands, which helps The observation or treatment of the digestive system or the intestine is performed by controlling the direction and speed of the endoscope. In order to achieve the above object, the present invention provides a kind of swallowing internal structure, which comprises: " an outer casing; an endoscope body& is placed in the outer casing to capture images; - a rotary drive 'Set in the outer casing, can drive the inner view body and the outer casing to rotate relative to each other. Preferably, L has a tail which is preferably expanded to be a water-absorbent polymer material. Preferably, the rotation drives the spring and controls the rotation. Preferably, the rotary drive unit is preferably: the rotary drive unit: a micro-rotary motor. The outer casing is stationary. The body rotates and 1284027 preferably the rotary drive drives the endoscope body to rotate in opposite directions to the housing. Preferably, the endoscope body further comprises a lighting device. Preferably, the endoscope body comprises a casing, and at least one observation device is provided in the casing for capturing images; at least one treatment device is for discharging the medicine out of the endoscope body At least one control and signal transmission device is configured to receive and process the signal 'to drive the observation device to capture the image or the treatment device to eject the drug. Preferably, the control and signal transmission means includes a telecommunications output device having a telecommunications output for outputting signals to stimulate or suppress intestinal peristalsis. Preferably, the viewing device comprises: an image capturing device having an image viewing path, wherein the image can be captured by the control and signal transmission device; a reflecting mirror, a reflecting surface thereof and the image capturing device Image observation path _ The angle of the path is at an angle to change the image observation path. Preferably, the angle between the reflecting surface and the image viewing path of the image capturing device is 45 degrees. Preferably, the treatment device comprises: a drug storage device filled with a therapeutic drug; a nozzle connected to the drug storage device, and the drug can be ejected by the control and signal transmission device Outside the housing of the mirror body. More generally, the housing of the endoscope body protrudes from the length of the outer casing, so that the image observation path reflected by the mirror, the nozzle of the therapeutic device, and the telecommunication output device The output of the telecommunication can be exposed to the outside of the Park. The purpose of the structure is clear: the effect has a better understanding and the same, and the detailed description of the production is as follows:
=將參職附之圖絲料本發料達成目的所使 =技術手段與功效，而以τ圖式所列舉之實施例僅為= 說明’以利貴審查委員瞭解，伸本窣 ‘、、、 於所列舉圖式。㈣解丄本案之技術手段並不限 請參閱圖八及圖九所示，本發明提供之—種 :㈣之結構，其主要係由一外殼I、一内=入二内2 凝轉驅動裝置3所構成，該内視鏡本體2、旋轉驅動 裝置3均係設置於外殼體丨内，藉由該旋轉驅動裝置3 結^殼體1及内視鏡本體2，該外殼體丨具有一可膨脹之 ，部11(圖九顯示該尾部π膨脹之狀態），該可膨脹之尾 π 11係為吸水高分子材質，水分進入會使體積膨脹，加熱 可使水分排出恢復原狀。 “、、 該内視鏡本體2包括一殼體21，該殼體21係凸出於 該外殼體1 一長度，於該殼體21内設有至少一觀察裝置 22、至少一治療裝置23及至少一控制及訊號傳輸裝置24， 該控制及訊號傳輸裝置24係為一種無線收發裝置，可用以 接收或傳輸處理訊號，以驅動觀察裝置22擷取影像或治療 裝置23噴出藥物，並可將觀察裝置22所擷取之影像訊號 =送至才目對應之無線接收裝置以顯示或儲存影像；該觀 ”裝置22係供榻取影像，其係由一影像擷取裝置221，其 1284027= The attached documentary wire will be used to achieve the purpose = technical means and efficacy, and the examples listed in the τ pattern are only = description 'Eli review by the review committee, Shinbend 窣',,, As shown in the figure. (4) The technical means for solving the present invention are not limited to those shown in FIG. 8 and FIG. 9 . The present invention provides the structure of (4), which mainly consists of a casing I, an inner=into two inner 2 condensing driving device. In the third embodiment, the endoscope main body 2 and the rotary driving device 3 are disposed in the outer casing body, and the outer casing body 2 is formed by the rotary driving device 3, and the outer casing body has a The expanded portion 11 (shown in FIG. 9 shows the state in which the tail portion is π-expanded), and the expandable tail π 11 is a water-absorbent polymer material, and the moisture enters to expand the volume, and the heat can discharge the water to restore the original state. The inner mirror body 2 includes a housing 21 protruding from the length of the outer casing 1. The housing 21 is provided with at least one viewing device 22, at least one treatment device 23, and At least one control and signal transmission device 24, the control and signal transmission device 24 is a wireless transceiver device for receiving or transmitting a processing signal for driving the observation device 22 to capture an image or the treatment device 23 to eject a drug, and may observe The image signal captured by the device 22 is sent to the wireless receiving device corresponding to the target to display or store the image; the viewing device 22 is for the image capturing, which is controlled by an image capturing device 221, 1284027
具有一影像觀察路徑W1，該影像擷取裝置221藉由該控制 及訊號傳輸裝置24驅動可擷取影像，於該影像擷取裝置 221之影像觀察路徑W1外設有一反射鏡222,該反射鏡222 之反射面223與該影像擷取裝置221之影像觀察路徑W1係 呈45度夾角0，藉由該反射鏡222可改變該影像觀察路徑 W1為影像觀察路徑W2 ;該治療裝置23包括一藥物儲放裝 置231，其内部填充有治療用之藥物，於該藥物儲放裝置 231頂部設有一喷嘴232,該喷嘴232連通該藥物儲放裝置 231内部，藉由該控制及訊號傳輸裝置24可驅動喷嘴232 將藥物由藥物儲放裝置231内喷出内視鏡本體23之殼體 21外；另者，於該内視鏡本體2内更設有一電訊輸出裝置 25,其頂部具有一外露於該内視鏡本體2之殼體21之電訊 輸出端251，該電訊輸出裝置25係電性連接該控制及訊號 傳輸裝置24，藉由該控制及訊號傳輸裝置24可驅動該電 訊輸出裝置25由電訊輸出端251輸出訊號以刺激或抑制腸 道神經，達到加速或減緩螺動。 必須說明的是，該内視鏡本體2另包括一照明裝置及 電源裝置（圖中未示出），藉由該控制及訊號傳輸裝置24可 控制该照明裝置發出亮光以辅助該觀察裝置22觀測器官 内部或擷取影像，至於該照明裝置可設置於外殼體丨或内 視鏡本體2之殼體21之適當位置，數量亦可依實際所需而 叹置’藉由該電源裝置可提供本發明作動所需之電力，此 係為習知技術且非本發明主張之重點，故圖中未示出，且 在此不予詳述。 再请翏閱圖八及圖九所示，於外殼體1及内視鏡本體An image viewing path W1 is provided. The image capturing device 221 drives the image captureable by the control and signal transmission device 24, and a mirror 222 is disposed on the image viewing path W1 of the image capturing device 221. The reflection surface 223 of the 222 is at an angle of 45 degrees with the image observation path W1 of the image capturing device 221, and the image observation path W1 can be changed by the mirror 222 to be the image observation path W2; the treatment device 23 includes a drug The storage device 231 is filled with a medicine for treatment, and a nozzle 232 is disposed on the top of the medicine storage device 231. The nozzle 232 is connected to the inside of the medicine storage device 231, and is driven by the control and signal transmission device 24. The nozzle 232 sprays the medicine from the inside of the housing 21 of the endoscope main body 23 from the medicine storage device 231. In addition, a telecommunication output device 25 is further disposed in the endoscope main body 2, and the top portion thereof has an exposed portion. The telecommunication output device 25 of the housing 21 of the endoscope body 2 is electrically connected to the control and signal transmission device 24, and the telecommunication output device 24 can be driven by the control and signal transmission device 24. 5 The signal is output from the telecommunication output terminal 251 to stimulate or suppress the intestinal nerve to accelerate or slow down the sway. It should be noted that the endoscope body 2 further includes an illumination device and a power supply device (not shown). The control and signal transmission device 24 can control the illumination device to emit bright light to assist the observation device 22 to observe. The inside of the organ can capture the image, and the illumination device can be disposed at the appropriate position of the outer casing or the casing 21 of the endoscope body 2, and the number can also be sighed according to actual needs. The power required for the invention is a prior art and is not the focus of the present invention, and is not shown in the drawings and will not be described in detail herein. Please refer to Figure 8 and Figure 9 for the outer casing 1 and the inner mirror body.
(S 11 1284027 ‘ 2之間設有一旋轉驅動裝置3,該旋轉驅動裝置3可為一微 ' 型旋轉馬達，其係貫穿並連接該外殼體1及内視鏡本體2 ·: 之殼體21，該旋轉驅動裝置3具有一驅動轴31連接該控 : 制及訊號傳輸裝置24，藉由該控制及訊號傳輸裝置24可 驅動旋轉驅動裝置3轉動，再由該旋轉驅動裝置3驅動内 視鏡本體2與外殼體1作相對之旋轉運動，至於該相對旋 轉運動之型態’可為該内視鏡本體2旋轉而外殼體1靜止， 或内視鏡本體2與外殼體1反向旋轉，但以内視鏡本體2 »# 旋轉而外殼體1靜止之方式為佳。 請參閱圖十所示，該吞入式内視鏡10於進入患者之胃 部4之前，其外殼體1之尾部u尚未膨脹，當其進入患者 之胃部4後，該外殼體1之尾部n膨脹形成一外徑較大之 氣囊，使得該吞入式内視鏡1〇相對於該膨脹尾部丨1之一 端，亦即外露於外殼體1之該内視鏡本體2之一端，可自 然朝向行進方向之前方（亦即胃部4之幽門41)進入腸道 _ 5，請參閱圖十一所示，當該吞入式内視鏡1〇進入狹窄之 _馨腸道5時，藉由腸道5之蠕動可推送其前進，由於該内視 鏡本體2與外殼體1係為分離式設計，故當内視鏡本體2 $旋轉驅動裝置3驅動旋轉之同時，該外殼體丨仍可保持 . 靜止狀態，可大幅降低與腸道5之摩擦力，有利於該内視 鏡本體2進行觀察或治療之行為，再藉由特殊之電訊輸出 裝置25輸出可刺激或抑制腸道5蠕動之電訊，以操控該吞 入式内視鏡10之行進逮度，同時可藉由該膨脹之尾部11 使該吞入式内視鏡10停留於腸道5内，可針對其停留之位 置進行影像擷取或喷塗藥物等醫療。 12 ⑧ 1284027 膨脹可知’本發明所提供之雙層殼倾計以及可 時之雜Γ吞人式内視鏡’確可降低其於腸道内行進 寻之摩擦力，利於進行觀察及治療。 处以所述者，僅為本發明之最佳實施例而已，當不 :犷二：本發明所實施之範圍。即大凡依本發明申請專 嘗2-®之均等變化與修飾，皆應仍屬於本發明專利涵 ^之把圍内，謹請貴審查委員日膝，並祈惠准，是所至 【圈式簡單說明】 圖一至圖七係習知七款不同呑入式内視鏡專利之代表 結構圖。 圖八係本發明較佳實施例之外觀立體圖。 圖九係本發明較佳實施例之剖視圖。 圖十係本發明較佳實施例進入胃部之狀態示意圖。 圖十一係本發明較佳實施例進入腸道之狀態示意圖。 I» 【主要元件符號說明】 10- 吞入式内視鏡 卜外殼體 11- 可膨脹之尾部 2-内視鏡本體 2卜殼體 22-觀察裝置 22卜影像擷取裝置 13 1284027 222- 反射鏡 223- 反射面 23- 治療裝置 231- 藥物儲放裝置 232- 噴嘴 24- 控制及訊號傳輸裝置(S 11 1284027 ' 2 is provided with a rotary drive device 3, which can be a micro'-type rotary motor, which is connected through and connects the outer casing 1 and the inner mirror body 2: the housing 21 The rotary drive device 3 has a drive shaft 31 connected to the control and signal transmission device 24, and the control and signal transmission device 24 can drive the rotary drive device 3 to rotate, and then the rotary drive device 3 drives the endoscope The body 2 and the outer casing 1 rotate relative to each other, and the type of the relative rotational motion 'can rotate the inner mirror body 2 while the outer casing 1 is stationary, or the inner mirror body 2 and the outer casing 1 rotate in opposite directions. However, it is preferable that the inner mirror body 2 »# rotates and the outer casing 1 is stationary. Referring to FIG. 10, the swallowing endoscope 10 is at the tail end of the outer casing 1 before entering the stomach portion 4 of the patient. Not yet inflated, when it enters the stomach 4 of the patient, the tail portion n of the outer casing 1 expands to form a balloon having a larger outer diameter, such that the swallowed endoscope 1〇 is opposite to one end of the expanded tail 丨1, That is, one end of the endoscope body 2 exposed to the outer casing 1 However, the intestine _ 5 is entered in the direction of the front of the traveling direction (that is, the pylorus 41 of the stomach 4), as shown in FIG. 11 , when the swallowing endoscope 1 〇 enters the narrow _ 馨 肠 5, The advancement of the intestine 5 can be pushed forward. Since the endoscope body 2 and the outer casing 1 are separated, the outer casing body 2 is rotated while the rotary driving device 3 is driven to rotate. Still able to maintain. Static state, can greatly reduce the friction with the intestine 5, is conducive to the observation or treatment of the endoscope body 2, and then output through the special telecommunication output device 25 can stimulate or inhibit the intestinal tract 5 Peristaltic telecommunications to manipulate the travel visibility of the swallowable endoscope 10, while the swallowable endoscope 10 can be retained in the intestine 5 by the expanded tail 11 for the position to stay Medical treatment such as image capture or spraying of drugs. 12 8 1284027 Expansion shows that the double-layered shell tilting meter and the versatile swallowing endoscope provided by the present invention can reduce the travel in the intestine. Friction, which is good for observation and treatment. The preferred embodiment of the invention is not: 犷二: The scope of the invention is implemented. That is, the equivalent variation and modification of the application of the invention in accordance with the invention should still belong to the patent of the invention. Inside, I would like to ask your review board members to kneel and pray for it. It is a simple description of the circle. Figure 1 to Figure 7 show the representative structure of seven different intrusive endoscope patents. BRIEF DESCRIPTION OF THE DRAWINGS Figure 9 is a cross-sectional view of a preferred embodiment of the present invention. Figure 10 is a schematic view showing a state in which the preferred embodiment of the present invention enters the stomach. Figure 11 is a preferred embodiment of the present invention. Schematic diagram of the state. I» [Description of main component symbols] 10- Swallowing endoscope b shell 11 - swellable tail 2 - endoscope body 2 b housing 22 - viewing device 22 image capturing device 13 1284027 222- Mirror 223 - Reflector 23 - Treatment device 231 - Drug storage device 232 - Nozzle 24 - Control and signal transmission
25- 電訊輸出裝置 251-電訊輸出端 3- 旋轉驅動裝置 31 -驅動轴 4- 胃部 41-幽門 5- 腸道25- Telecommunications output device 251-Telecom output 3- Rotary drive 31 - Drive shaft 4- Stomach 41-Pingular 5- Intestine
Wl、W2-影像觀察路徑 Θ -夾角Wl, W2-image observation path Θ - angle