1285542 九、發明說明： 【發明所屬之技術領域】 本發明係有關於一種醫療裝置，其特別有關於一種可自 由操控之主動式膠囊内試鏡。 【先前技術】 自從I960年纖維内視鏡發明後，經由内視鏡的檢查醫師 可以很清楚的診斷消化道的疾病，並藉以擬定最適合的治療 方針。因為可以清楚的觀察到消化道疾病的位置與狀況，醫 師不只可以縮短手術的難度與時間，更進一步減少了很多不 必要的手術。1980年起，隨著工業科技進步，内視鏡治療 術得以突飛猛進。今天，内視鏡不只可以準確的診斷絕大多 數的食道、胃、十二指腸、與大腸的疾病，治療性内視鏡也 可以成功治療95%的上消化道，使病人免於開刀之苦。近 年來，内視鏡胃黏膜切除術更能完全切除七成的早期胃癌病 灶。不過，雖然内視鏡數十年來的發展已經完完全全改變了 我們對消化道疾病的認識、診斷、與治療的方式。然而，習 知的内視鏡仍然有明顯的不足與缺點，譬如： 1. 小腸是消化道内視鏡檢查的盲點··因人體的小腸有5公 尺之長且相當彎曲，又因位於腸道的中段，以習知的内視 鏡做完整的檢查不只病人相當痛苦，在技術上也相當的困 難。所以因小腸出血、潰瘍、或腫瘤而需開刀的比率就相 當的高，開刀的結果也常不能在術前預期。 2. 大腸内視鏡檢查相當的痛苦：相對於胃鏡檢查，因大腸的 彎曲度較大且長度也較長，所以不只檢查之困難度較高且 1285542 花費的時間較長’病人也較為疼痛。因而’檢查時常需給 予嗎啡類止痛劑，甚至於麻醉藥物。然而，病人於麻醉下 接受大腸鏡檢並不會表示疼痛，醫師為了使大腸鏡通過較 彎曲的腸道，常會不小心而多用些推力而使腸道破裂的機 會增加。 為了改善第一項的缺失’而有近代膠囊内視鏡的發明。 經過幾年來的發展改進，膠囊内視鏡已經實際應用臨床上。 目前市面上已經有兩家相關的應用產品；一為日本公司（RF System Lab)，另一為以色列公司（Given Imaging Ltd·)。1285542 IX. Description of the Invention: [Technical Field] The present invention relates to a medical device, and more particularly to an active capsule endoscope that is freely controllable. [Prior Art] Since the invention of the I960 fiber endoscope, the examiner through the endoscope can clearly diagnose the disease of the digestive tract and use it to formulate the most appropriate treatment policy. Because the location and condition of the digestive tract disease can be clearly observed, the doctor can not only shorten the difficulty and time of the operation, but also further reduce the unnecessary surgery. Since 1980, with the advancement of industrial technology, endoscopic treatment has been able to advance by leaps and bounds. Today, endoscopes not only accurately diagnose most of the esophagus, stomach, duodenum, and large intestine, but therapeutic endoscopy can also successfully treat 95% of the upper digestive tract, freeing patients from surgery. In recent years, endoscopic gastric mucosal resection has been able to completely remove 70% of early gastric cancer lesions. However, although the development of endoscopes for decades has completely changed the way we know, diagnose, and treat digestive diseases. However, the conventional endoscope still has obvious shortcomings and shortcomings, such as: 1. The small intestine is the blind spot of the digestive tract endoscopy. · Because the small intestine of the human body is 5 meters long and quite curved, and because it is located in the intestine In the middle section, a complete examination with a conventional endoscope is not only painful for the patient, but also technically quite difficult. Therefore, the rate of surgery required for small bowel bleeding, ulcers, or tumors is quite high, and the results of the surgery are often not expected before surgery. 2. Intestinal endoscopy is quite painful: compared to gastroscopy, because the curvature of the large intestine is large and the length is long, not only is the difficulty of examination high, but the time spent on 1285542 is longer, and the patient is also more painful. Therefore, it is often necessary to give morphine analgesics, even anesthetic drugs. However, patients undergoing colonoscopy under anesthesia do not show pain. In order for the colonoscopy to pass through the curved bowel, the physician often accidentally uses more thrust to increase the chance of rupture of the intestine. In order to improve the absence of the first term, there is an invention of a modern capsule endoscope. After several years of development and improvement, capsule endoscopes have been clinically applied. There are currently two related applications on the market; one is the Japanese company (RF System Lab) and the other is the Israeli company (Given Imaging Ltd.).
Given Imaging Ltd·的無線内視鏡係採用CMOS景多像感測 器。但是其解析度只有9萬像素，更新速率也僅達每秒2 個圖框(2-frame/sec)。其電源供應器為内載於無線内視鏡 的電池。當無線内視鏡無法順利排除人體時，内載的電池所 含的銀化物有傷害患者的顧慮。RF System Lab的無線内 視鏡係採用CCD影像感測器，其解析度達41萬像素，且 其更新速率達每秒30個圖框3〇-frame/sec。然而由於其影 像感測器是採用傳統的CCD影像感測器，並不利於數位影 像與後置影像處理的整合發展。另一方面，該膠囊内視鏡在 人體内部行進的方式係藉由腸胃的自然蠕動。不利於對病灶 做更進一步的檢驗。 雖然現存的習知膠囊内視鏡的晝質與清晰度仍需改進，不 過已能正確的診斷7〇〜嶋的小腸出Α病灶。雖然、可見的未 來’膠囊内視鏡的晝質與電池的續航力方面預期有空間再做 改進。不過’現存的膠囊内視鏡仍然有些尚未克服的缺點， ⑧ 1285542 ,. 例如： … （1)無法在病灶處做反覆詳細的觀察：現有的膠囊内視鏡是 由病人吞下，讓它隨著腸道蠕動前進而排出體外， 為被動式膠囊内視鏡。在這過程巾，膠囊内視鏡每隔幾 秒鐘打閃光照相，再以這些照片組成連續的動晝。因而， 病灶處的影像常常只是驚鴻-瞥，於判讀時不小心报容 易被遺漏，更可能沒有照到。 (2) 無法從病灶處取得檢體或做治療：因膠囊内視鏡如自由 _ 落體般的隨腸蠕動而下，無法控制速度與方向，自然不 能做治療或採取檢體。 (3) 化費的時間相當的長：一般而言，膠囊内視鏡由吞服而 下到進入大腸約需8個小時，之後還需醫師花’〜？小時 聚精會神的判讀。 • (4)在腸道狹窄處有阻塞的危險：膠囊内視鏡的體積目前還 ▲ 稍大，對腸道狹窄處常無法通過而有阻塞之疑慮，因而 列為谬囊内視鏡的臨床禁忌症。 馨（5)費用太高、無法重覆使用··因膠囊内視鏡的電池用完後 無法打開更換或重新充電，所以不能重覆使用，目前需 病人自行付極高費用。 (6)無法連續性的攝影：因電池電力的限制，膠囊内視鏡無 法於八小時中持續發出光線以進行動態攝影。不只使影 像α貝…、去有效提升’若腸螺動太快時也容易遺漏重要 的部位。 基於上述幾點傳統内視鏡與目前被動式膠囊内視鏡的缺 ⑧ 1285542 點，該技術領域需要一種新的可三維操控、有無線充電與即 時影像處理之膠囊内視鏡，其可克服或改善先前技術之缺 【發明内容】 本發明之一目的在於提供一種主動式膠囊内視鏡，不只可 大幅改善目前被動式膠囊内視鏡的缺點，更有潛力取代部分 傳統内視鏡的角色，進行無痛式的消化系器官的檢查。 本發明之另一目的在於提供一種膠囊内視鏡，其前進或後 退與其速度是由人為控制，可於病灶處做反覆的觀察與攝影 且節省大量之檢測時間，故稱為主動式膠囊内視鏡。 本發明之再一目的在於提供一種膠囊内視鏡，藉由其可三 維操控的功能，因此無腸道狹窄的禁忌症。 本發明之又一目的在於提供一種膠囊内視鏡，其可經無線 電充電，無電池耗盡的問題，因此本發明之膠囊内視鏡可以 滅菌後重覆使用以減少病患的花費。 本發明之又一目的在於提供一種膠囊内視鏡，其可持續無 線充電，因此該膠囊内視鏡可以持續發出各種波長的光線進 行動態攝影，有效提升影像品質。 本發明之又一目的在於提供一種膠囊内視鏡，其中因減少 了電池的需求，節省的空間可容納未來發展的微型器械，藉 以採取檢體或給予藥物治療。 本發明之三維操控、有無線充電與即時影像處理之膠囊内 視鏡不只可以如上的臨床應用，若連接攜帶一條充氣線進入 1285542 大腸，更可以把大腸充氣撐開以進行觀察，來取代目前需麻 醉的大腸鏡檢查與治療。 為達本發明之上述目的，本發明提供一種可三維操控之膠 囊内視鏡，並具有無線充電與即時影像處理的功能。該膠囊 内視鏡包括一感測單元，其係用於感測該膠囊内視鏡的一位 置信號，並輸出該位置信號；一影像處理單元，其係用於感 測該膠囊内視鏡的一外部影像信號，並輸出該外部影像信 號；一無線傳輸單元，其用於接收與傳送來自該感測單元之 該位置信號與來自該影像處理單元之該外部影像信號至該 膠囊内視鏡外的一外部處理系統；以及一控制單元，其係用 於接收來自該膠囊内視鏡外的該外部控制系統的控制信號 以調整該膠囊内視鏡的位置。 根據本發明之膠囊内視鏡之一特徵，其中該影像處理單元 包含複數個可發光二極體，藉由發出不同之波長之光波以照 明該膠囊内視鏡外部；一影像感測器，藉由複數個可發光二 極體之照明，可感測到該膠囊内視鏡外部之影像作為一外部 影像信號；以及一對焦迴路，由電磁感應線圈所組成，係用 於該影像感測器感測該外部影像信號時之聚焦。 根據本發明之膠囊内視鏡之一特徵，其中該影像感測器係 為使用互補式金氧半導體技術之一互補式金氧半場效電晶 體(CMOS)影像感測器。 根據本發明之膠囊内視鏡之一特徵，其中該無線傳輸單元 包含一無線通訊單元，係用於接收與傳送來自該感測單元之 該位置信號與來自該影像處理單元之該外部影像信號至該 1285542 膠囊内視鏡外的一控制系統；以及一無線充電單元，係用於 接收來自該膠囊内視鏡外部之外部無線功率單元之一射頻 充電信號或磁力變動信號以提供該膠囊内視鏡之電力。 根據本發明之膠囊内視鏡之一特徵，其中該膠囊内視鏡更 包含一微幫浦，其係用於當膠囊内視鏡被定位於每一位置 時，可提供藥物與檢測。 如申請專利範圍第1項之該膠囊内視鏡，其中該微幫浦 係為利用微機電製程的微形幫浦。 為達本發明之另一目的，本發明提供一種用於控制一醫療 載具之控制系統，其中該醫療載的表面上具有磁性的物質， 該控制系統包含一内部回授電路，接收來自該醫療載具發出 的一位置信號；一磁性單元，藉由該内部回授電路所接收之 該位置信號，控制其磁力以使得該醫療載具能作三維之定 位；以及一霍爾感應器，用於感測該醫療載具的磁浮移動與 該磁性單元所產生的磁力對霍爾感測器的輸出電壓的影 響，以達到真正的輸出磁力的控制。 為了讓本發明之上述和其他目的、特徵、和優點能更明 顯，下文特舉本創作較佳實施例，並配合所附圖示，作詳細 說明如下。 【實施方式】 本發明係有關於一種三維操控、有無線充電與即時影像 處理之膠囊内視鏡。以下先說明該膠囊内視鏡之結構，再說 明利用該膠囊内視鏡之使用方法。現請參考第1圖，其顯 示本發明之一較佳實施例之膠囊内視鏡之構成圖。該膠囊内 1285542 經由一個CMOS所製成的微小電容，可以轉換這些微小的 電荷變化為電壓的訊號。進而"K相鄰的放大器將訊號檢出’ 透過平行的列放大器450及列多工器440，可以輸出像素 的影像訊號。該影像感測器320所產生的訊號極為微弱， 些微的雜訊都很容易使光電效應所產生的訊號失真。分析以 及設計深次微米製程所適用的該影像感測器320之讀取電 路藉以降低、消除固定圖案雜訊(fixed pattern noise)及重 置雜訊等等所帶來的影響。利用交連雙重取樣電路(CDS、 correlated double sampling)與微小雙重取樣電路(DDS、 delta double sampling)來消除像素重置噪音及減低、消除 固疋圖案雜可以誕南該影像感測器32 0之局動態範圍。 現請參考第4圖’其為根據第1圖之無線傳輸單元40 之一實施例之結構圖。該無線傳輸單元40包含一無線通訊 單元510及一無線充電單元520。該無線通訊單元510，係 用於接收與傳送來自該感測單元之該位置信號與來自該影 像處理單元之該外部影像信號至該膠囊内視鏡的一控制系 統’以及該無線充電單元520，係用於接收來自該膠囊内視 鏡外部之外部無線功率單元之一射頻充電信號或磁力變動 化魂以提供該膠囊内視鏡之電力。 該無線通訊單元510,更包含一低速無線通訊單元530 向速無線通手元540。該感測單元20之該位置信號 16 ⑧ 1285542 &像彳。旒之頻寬之資料量相當驚人，所以該影像信號須經由 影像壓縮技術減少。現今影像壓縮最先進的技術的為 MPEG4。藉由利肖MPEG4的技術壓縮影像十倍，該影像 仏旎之傳輸頻寬可以低於1〇M bps以下。因此，該高速無 線通訊單元540之晶片傳輸頻寬定為1〇jV| bps，其消耗功 率邛分會依據無線功率傳輸系統所能提供之能量和内視鏡 中的可容納的電池能量來設計。在設計上’高速無線通訊單 起該低絲線通訊單元53Q在各電路特性要求更 嚴了般而g ’该高速無線通訊單元54 設計在射頻通帶以上m錢之中、頻率皆 高於_Z信號頻率來:=::Γ係祕^^ 該外部影像信號接收與傳4自該影像處理單元之 至4%囊内視鏡外的一控制系統。 於設計該無線诵― 530與該高速矣線早^ 〜低速無線通訊單元 傳輪距離、消耗功=單元54。時’所傳輸的信號的頻寬、 操作頻率、要# “等條件係決定系統所採用的調變方式、 \ 的製程等。至於無線接收端，可以用幾^ 热線天線，分佈在 乂用成個 率。 轉囊内視賴飛行路徑上，以提高接收功 現明參考第5圖，其為 第4 疒實施例之結構圖。該無線充電單元二： 自—外部之發射器之-射頻::::= 18 ⑧ 1285542 - 該膠囊内視鏡10之電力。 - 使用無線功率傳輸的無線充電系統包含兩個主要部 分，一為位於該膠囊内視鏡10與人體外部的微波發射器， 二為位於該膠囊内視鏡10之該無線充電單元520。在微波 發射器的部分的要求是要能將電波以束狀儘量減少不必要 的發散朝單一目標發射。在各式各樣的天線中，以號角式天 線(Horn antenna)、抛物面反射式天線（Reflector antenna) 籲或八目天線(Yagi-Udaantenna)適合使用，其中又以號角式 天線較為適合，因為其方向性增益佳，半功率波束寬度最 小’且會隨著頻率的增高而有更好的集中度。在接上天線前 的功率發射器端，是要能控制其發射功率大小及開關的功率 放大為。在特定距離使用無線功率傳輸，該發射功率需調整 到安全驅動以提供該膠囊内視鏡1〇使用。 位於該膠囊内視鏡10内之該無線充電單元52〇較佳係The wireless endoscope of Given Imaging Ltd. uses a CMOS multi-image sensor. However, its resolution is only 90,000 pixels, and the update rate is only 2 frames per second (2-frame/sec). Its power supply is a battery that is carried inside the wireless endoscope. When the wireless endoscope cannot smoothly exclude the human body, the silver contained in the internal battery may cause concern to the patient. The RF System Lab's wireless endoscopes feature a CCD image sensor with a resolution of 410,000 pixels and an update rate of 30 frames per second of 3 frames per second. However, since the image sensor uses a conventional CCD image sensor, it is not conducive to the integration of digital image and post image processing. On the other hand, the manner in which the capsule endoscope travels inside the human body is caused by natural peristalsis of the gastrointestinal tract. It is not conducive to further testing of the lesion. Although the enamel and clarity of the existing conventional capsule endoscopes still need to be improved, it is possible to correctly diagnose the intestinal tract lesions of 7〇~嶋. Although, the visible future of the capsule endoscope and the battery's endurance are expected to have room for improvement. However, 'existing capsule endoscopes still have some shortcomings that have not been overcome, 8 1285542,. For example: ... (1) It is impossible to repeat detailed observations at the lesion: the existing capsule endoscope is swallowed by the patient, let it follow The intestines move forward and are excreted, which is a passive capsule endoscope. In this process towel, the capsule endoscope flashes a picture every few seconds, and then these photos form a continuous movement. Therefore, the image of the lesion is often just a stunned sputum. It is easy to be missed when it is read, and it is more likely that it will not be photographed. (2) It is impossible to obtain the specimen from the lesion or to treat it: because the capsule endoscope is free to fall with the intestines, it is impossible to control the speed and direction, and naturally it is impossible to treat or take the specimen. (3) The time for the chemical fee is quite long: in general, it takes about 8 hours for the capsule endoscope to be swallowed down into the large intestine. After that, the doctor needs to spend ~~? Hours Concentrate on the interpretation of the gods. • (4) There is a risk of obstruction in the intestinal stenosis: the volume of the capsule endoscope is still ▲ slightly larger, and the intestinal stenosis often fails to pass and there is suspicion of obstruction, so it is classified as the clinical manifestation of the hernia sac endoscope. Contraindications. Xin (5) is too expensive to be reused. · Because the battery of the capsule endoscope cannot be used for replacement or recharging after it has been used up, it cannot be reused. At present, the patient has to pay a very high fee. (6) Unable continuous photography: Due to battery power limitations, the capsule endoscope cannot continuously emit light for eight hours for dynamic photography. It is not only to make the image α-be... to improve effectively. If the bowel is too fast, it is easy to miss important parts. Based on the above-mentioned traditional endoscopes and the current passive capsule endoscopes lacking 8 1285542 points, the technical field requires a new three-dimensional control, wireless charging and instant image processing capsule endoscopes, which can overcome or improve SUMMARY OF THE INVENTION [Invention] It is an object of the present invention to provide an active capsule endoscope that not only greatly improves the shortcomings of the current passive capsule endoscope, but also has the potential to replace the role of some conventional endoscopes for painlessness. Examination of digestive organs. Another object of the present invention is to provide a capsule endoscope with advance or retreat and its speed controlled by human beings, which can be repeatedly observed and photographed at the lesion and save a large amount of detection time, so it is called active capsule endoscope. mirror. Still another object of the present invention is to provide a capsule endoscope which has a function of three-dimensional manipulation and thus has no contraindications for intestinal stenosis. It is still another object of the present invention to provide a capsule endoscope which can be wirelessly charged without the problem of battery exhaustion, and thus the capsule endoscope of the present invention can be repeatedly used after sterilization to reduce the cost of the patient. It is still another object of the present invention to provide a capsule endoscope that can be continuously wirelessly charged, so that the capsule endoscope can continuously emit light of various wavelengths for dynamic photography, thereby effectively improving image quality. It is still another object of the present invention to provide a capsule endoscope in which the space saved can accommodate future development of miniature instruments by taking down the need for the battery, thereby taking a sample or administering a medication. The three-dimensional manipulation of the invention, the wireless endoscope with wireless charging and instant image processing can not only be used for the above clinical application, if the connection carries an inflatable line into the 1285542 large intestine, the large intestine can be inflated for observation to replace the current need. Colonoscopy and treatment of anesthesia. In order to achieve the above object of the present invention, the present invention provides a three-dimensionally controllable capsule endoscope with wireless charging and instant image processing. The capsule endoscope includes a sensing unit for sensing a position signal of the capsule endoscope and outputting the position signal; and an image processing unit for sensing the capsule endoscope An external image signal and outputting the external image signal; a wireless transmission unit for receiving and transmitting the position signal from the sensing unit and the external image signal from the image processing unit to the capsule endoscope An external processing system; and a control unit for receiving a control signal from the external control system outside the capsule endoscope to adjust the position of the capsule endoscope. According to one feature of the capsule endoscope of the present invention, the image processing unit includes a plurality of light-emitting diodes for emitting light of different wavelengths to illuminate the exterior of the capsule endoscope; an image sensor The illumination of the plurality of illuminable diodes senses an image external to the capsule endoscope as an external image signal; and a focus loop composed of an electromagnetic induction coil for the image sensor sense Focus when measuring the external image signal. According to one feature of the capsule endoscope of the present invention, the image sensor is a complementary metal oxide half field effect electric crystal (CMOS) image sensor using complementary MOS technology. According to one feature of the capsule endoscope of the present invention, the wireless transmission unit includes a wireless communication unit for receiving and transmitting the position signal from the sensing unit and the external image signal from the image processing unit to a control system outside the 1285542 capsule endoscope; and a wireless charging unit for receiving a radio frequency charging signal or a magnetic fluctuation signal from an external wireless power unit external to the capsule endoscope to provide the capsule endoscope Electricity. In accordance with one feature of the capsule endoscope of the present invention, the capsule endoscope further includes a micro-pump for providing medication and detection when the capsule endoscope is positioned at each location. The capsule endoscope of claim 1, wherein the micro-pull is a micro-pull using a micro-electromechanical process. For another object of the present invention, the present invention provides a control system for controlling a medical vehicle, wherein the medical carrier has a magnetic substance on its surface, and the control system includes an internal feedback circuit for receiving the medical device. a position signal emitted by the carrier; a magnetic unit, the position signal received by the internal feedback circuit controls the magnetic force to enable the medical vehicle to be positioned in three dimensions; and a Hall sensor for The effect of the maglev movement of the medical vehicle and the magnetic force generated by the magnetic unit on the output voltage of the Hall sensor is sensed to achieve true output magnetic force control. The above and other objects, features, and advantages of the present invention will become more apparent from the <RTIgt; [Embodiment] The present invention relates to a capsule endoscope with three-dimensional manipulation, wireless charging, and instant image processing. The structure of the capsule endoscope will be described below, and the method of using the capsule endoscope will be described. Referring now to Figure 1, there is shown a block diagram of a capsule endoscope in accordance with a preferred embodiment of the present invention. The 1285542 in the capsule converts these tiny changes in charge into voltage signals via a tiny capacitor made in CMOS. Furthermore, the 'K adjacent amplifier detects the signal' through the parallel column amplifier 450 and the column multiplexer 440, and can output the image signal of the pixel. The signal generated by the image sensor 320 is extremely weak, and some of the noise is easily distorted by the signal generated by the photoelectric effect. The analysis and design of the read circuit of the image sensor 320 to which the deep micron process is applied reduces or eliminates the effects of fixed pattern noise and reset noise. Using the double sampling circuit (CDS, correlated double sampling) and the micro double sampling circuit (DDS, delta double sampling) to eliminate the pixel reset noise and reduce and eliminate the solid pattern, the image sensor can be used. Dynamic Range. Reference is now made to Fig. 4, which is a block diagram of an embodiment of a wireless transmission unit 40 according to Fig. 1. The wireless transmission unit 40 includes a wireless communication unit 510 and a wireless charging unit 520. The wireless communication unit 510 is configured to receive and transmit the position signal from the sensing unit and the external image signal from the image processing unit to the capsule endoscope and the wireless charging unit 520. The utility model is configured to receive a radio frequency charging signal or a magnetic variability soul from an external wireless power unit external to the capsule endoscope to provide power of the capsule endoscope. The wireless communication unit 510 further includes a low speed wireless communication unit 530. The position signal of the sensing unit 20 is 16 8 1285542 & The amount of data in the bandwidth is quite amazing, so the image signal must be reduced by image compression technology. The most advanced technology for image compression today is MPEG4. By compressing the image ten times by Leisho MPEG4 technology, the transmission bandwidth of the image can be less than 1〇M bps. Therefore, the high-speed wireless communication unit 540 has a chip transmission bandwidth of 1 〇 jV| bps, and its power consumption is designed according to the energy that the wireless power transmission system can provide and the battery energy that can be accommodated in the endoscope. In the design of 'high-speed wireless communication single, the low-wire communication unit 53Q is more stringent in the characteristics of each circuit. g 'The high-speed wireless communication unit 54 is designed to be above the RF passband, the frequency is higher than _Z The signal frequency comes from:=::Γ系秘^^ The external image signal is received and transmitted from the image processing unit to a control system outside the 4% capsule endoscope. In the design of the wireless 诵 530 and the high-speed 早 line early ~ low-speed wireless communication unit transmission distance, power consumption = unit 54. When the frequency of the transmitted signal, the operating frequency, the required condition, etc. determine the modulation method used by the system, the process of \, etc. As for the wireless receiving end, you can use several hot-wire antennas to distribute them. The rate of formation is determined by the transfer path in the airbag to improve the receiving power. Referring to Figure 5, it is the structural diagram of the fourth embodiment. The wireless charging unit 2: the external transmitter - the radio ::::= 18 8 1285542 - The power of the capsule endoscope 10. - The wireless charging system using wireless power transmission consists of two main parts, one for the microwave transmitter located inside the capsule endoscope 10 and the outside of the human body. The second is the wireless charging unit 520 located in the capsule endoscope 10. The requirement in the portion of the microwave transmitter is to be able to transmit the electric wave in a bundle shape to minimize unnecessary divergence and to emit toward a single target. Among them, the Horn antenna, the Reflector antenna or the Yagi-Udaantenna are suitable, and the horn antenna is more suitable because of its good directional gain. The half-power beam width is the smallest 'and will have better concentration with the increase of the frequency. Before the antenna is connected to the power transmitter, it is necessary to control the transmission power and the power amplification of the switch. The wireless power transmission is used, and the transmission power needs to be adjusted to a safe driving to provide the capsule endoscope. The wireless charging unit 52 located in the capsule endoscope 10 is preferably
_ 使用整流天線（Rectenna、rectify antenna)來做 RF 轉 DC 的功能，其更包含一天線610 ; —匹配電路62〇及一整流 電路630。 該天線制於接收來自外部發射器之該射頻充電 信號。該天線61G _擇便與發射端相反，較佳係採用的 疋低方向性為圓形極化或無極化的天線’目的是因為内視 鏡膠囊在人體内並無固定的方位性。為了能在任何方向均能 ⑧ 1285542 • 有效的接收到訊號與能量，該天線610的低方向性的設計 ， 旎避免内视鏡偏轉的影響，而該天線610的無極化設計能 減少極化不匹配的損耗，增加能擷取到的能量。適用於該天 線61〇主要為環狀天線（Loop antenna)、搞極天線(Dipole antenna)或螺旋天線(叩丨旧丨抓丨印⑽），然而較佳係採用環 狀天線’其能環繞在整個電路旁而不另外占電路面積。 須注意的是，該無線充電單元520與該高速無線通訊單 鲁元 相同，其中心頻率皆在射頻通帶以上，因此可以與 忒冋速無線通訊單元54〇整合於同一晶片。因此，在到整 /瓜電路630之前’一耦合器（c〇叩丨e「或稱p〇we「div|de「)須 將所接收信號分給該高速無線通訊單元540與該無線充電 單元520。 該匹配電路620,係用於將該天線61〇所接收之該射頻 充電信號作阻抗之匹配且具備有濾、波的功能。該匹配電路 • ㈣係一射頻帶通濾波電路(Band pass filter)，其具有使特 定的無線電頻率的通過及濾、除雜訊的功能。該匹配電路咖 同時具有將後級電路造成的諧波反彈⑽級電路的功能，避 免掉因為咼功率射頻信號進入後極電路所產生高能量第二 及第三諧波的反彈回該天線61〇再發送出去對外界的干擾 以及能量的浪費。 夂 — 織流電路63。，係用於將以匹配之該射頻充電信號 20 ⑧ 1285542 - 整流為直流信號以提供該膠囊内視鏡10之電力。該整流電 - 路630係選擇蕭基位障二極體(Schottky-Barrier diode)，其 是金屬與中等摻雜的retype半導體所構成，具有高切換速 度與低順偏電壓的特性，所以適於被拿來在高頻段的功率檢 測（power detector)或混頻（rT1ixer)使用。藉由該整流電路 630的功能，包含來自該影像處理單元30所感測與拍攝之 該外部影像信號與用於無線充電的該射頻充電信號可由射 _ 頻信號轉換成直流信號。 除了上述射頻無線充電之外，本發明又提供另一種無 線充電技術’就是’在膠囊内視鏡移動期間，由於磁通量發 生改變’就會產生電壓，只要在膠囊内視鏡外圍繞些線圈， 就可以感應電壓充電，提供額外的磁力充電，可以減少射頻 充電的負擔。 藉由磁力相吸或相斥特性將可使三維定位無線膠囊内 • 視鏡1〇能夠在三維自由的空間中被控制，而不需要任何的 支撐物。磁’予產生的方式主要可分為下列三種不同方式： ⑴洲反磁性材料：其特性是顧材質相對於真空導磁 率小於1 ’在磁動勢下誘導出反磁，所以又稱被動式 懸浮。 (2) W用永久磁鐵·永久磁鐵產生磁力的方式有兩種:分別 纟及力及斥力。然而利用吸力的方式來產生磁浮力， 1285542_ Rectenna (Rectenna, rectify antenna) is used for RF to DC function, which further includes an antenna 610; a matching circuit 62A and a rectifying circuit 630. The antenna is adapted to receive the RF charging signal from an external transmitter. The antenna 61G is preferably opposite to the transmitting end, and is preferably a circularly polarized or non-polarized antenna used because the endoscope capsule has no fixed orientation in the human body. In order to be able to receive signals in any direction 8 1285542 • The signal and energy are effectively received, the low directivity of the antenna 610 is designed to avoid the influence of the deflection of the endoscope, and the non-polarized design of the antenna 610 can reduce the polarization. Matching losses increase the amount of energy that can be extracted. Applicable to the antenna 61 is mainly a loop antenna, a Dipole antenna or a spiral antenna. However, a loop antenna is preferred. The entire circuit is adjacent to the circuit area. It should be noted that the wireless charging unit 520 is the same as the high-speed wireless communication unit, and its center frequency is above the RF passband, so it can be integrated with the idle wireless communication unit 54〇 on the same chip. Therefore, before the whole/gut circuit 630, a coupler (c〇叩丨e "or p〇we "div|de") must distribute the received signal to the high-speed wireless communication unit 540 and the wireless charging unit. 520. The matching circuit 620 is configured to perform impedance matching on the RF charging signal received by the antenna 61〇 and has a function of filtering and wave. The matching circuit (4) is an RF band pass filter circuit (Band pass Filter), which has the function of passing and filtering and removing noise of a specific radio frequency. The matching circuit has the function of the harmonic rebound (10) level circuit caused by the latter circuit, and avoids the entry of the 射频 power RF signal. The high-energy second and third harmonics generated by the rear pole circuit bounce back to the antenna 61〇 and then send out interference to the outside world and waste of energy. 夂 - the weaving circuit 63. is used to match the RF Charging signal 20 8 1285542 - rectified to a DC signal to provide power to the capsule endoscope 10. The rectifying circuit 630 selects a Schottky-Barrier diode which is metal and moderately doped Re The type semiconductor is characterized by high switching speed and low forward voltage, so it is suitable for use in power detection or mixing (rT1ixer) in a high frequency band. By the function of the rectifier circuit 630, The radio frequency charging signal including the external image signal sensed and photographed from the image processing unit 30 and used for wireless charging can be converted into a direct current signal by the radio frequency signal. In addition to the radio frequency wireless charging described above, the present invention provides another The wireless charging technology 'is ' during the movement of the capsule endoscope, due to the change of the magnetic flux', the voltage will be generated. As long as the coil is surrounded by the capsule, the voltage can be induced to charge, providing additional magnetic charging, which can reduce the RF. The burden of charging. By magnetic attraction or repulsive characteristics, the three-dimensional positioning wireless capsule can be controlled in a three-dimensional free space without any support. Mainly can be divided into the following three different ways: (1) Continental diamagnetic material: its characteristics are based on the material relative to the vacuum guide The rate is less than 1 'induced diamagnetic under the magnetomotive force, so it is also called passive suspension. (2) W uses permanent magnets and permanent magnets to generate magnetic force in two ways: respectively, force and repulsion. However, the way of using suction To generate magnetic buoyancy, 1285542
其系統在吸引方向是不穩定的，因此必須用外來控制 的方法來達成穩定，此稱為主動式磁浮。至於利用排 斥力的控制過程中，因其方向的不穩定，所以必須利 用另外的磁浮方式或機械的限制方式才可達到穩定 的結果。若鐵磁性物質原本未帶有磁性，在受到外加 磁場的作用之後，會產生磁性。隨著外加磁場的增 加，鐵磁性物質感應的磁化磁場也會變大。但感應磁 場增加到某個極限值之後，會達到飽和、，無法再變 大。此時逐漸減小外加磁場，則感應磁場也會慢慢變 小。當外加磁場減少至零，鐵磁性物質仍會保有少許 的感應磁場，此即磁滯現象。 (3)利用電磁鐵：其產生磁浮力的方式有兩種：感應的方 式，與直接驅動的方式。感應的方式是當交流電通過 電磁鐵時’在懸浮物上有滿電流產生。根據愣次原 理，其渦電流將產生反斥力來抵抗電磁鐵。由於此種 方式將會消耗相當能量，而產生的力亦不大。因此較 不被廣泛應用。直接驅動的方式則是利用直接控制通 過電磁鐵的電流來控制磁場大小與方向。該方法可產 生較大懸浮的力，因此也較常被運用在精密的控制 中。 該控制單元50係為一磁浮控制單元，藉由該外部控制 22 ^85542 / 系統的控制信號，控制其磁力分布以使得該膠囊内視鏡能做 _·，維之定位。現請參考第6圖，其顯示根據第彳圖之控制 單元5〇與外部控制系統830的外部磁性單元92〇(配合第9 圖）相對位置之示意圖。第7圖為使用本發明之膠囊内視鏡 之外。I3糸統之結構圖。§亥外部控制系統83Q的外部磁性單 元920分別於如圖所顯示的第一外部磁性物質η。、第二 外。卩磁性物質720與第三外部磁性物質730之位置，而該 馨 膠屣内視鏡1〇周圍也置放相對應的磁性的控制單元§〇。該 磁性的控制單元50,舉例來說，係為第一内部磁性物質 740、第二内部磁性物質75〇與第三内部磁性物質7如。其 動作原理為第一外部磁性物質71〇與第一内部磁性物質 740相互排斥’·第二外部磁性物質720與第二内部磁性物 質750相互排斥；但第三外部磁性物質730與第三内部磁 性物質750相吸使該膠囊内視鏡]〇向上第一外部磁性物質 • 7你第二外部磁性物質720與第三外部磁性物磁73〇之所 產生的作用力將可使該膠囊内視鏡1Q向上飄浮，再使用第 、，外部磁性物質710與第三外部磁性物磁電磁力的不 平衡去控制左右的相對位置，當然亦可使用可變動之第一外 口P磁性物質710、第二外部磁性物質72Q與第三外部磁性 物磁730之之位置做為改變三維定位無線膠囊内視鏡，◦的 _ ^立置。在本發明中，第一外部磁性物質710、第二外部磁性 ⑧ 1285542 物貝720與弟二外部磁性物磁730較佳係以電磁鐵原理之 電磁線圈來實現。而第一内部磁性物質740、第二内部磁性 物質75◦與第三内部磁性物磁760較佳係以永久磁鐵來 成。 現請參考第8圖，其顯示根據第7圖之外部The system is unstable in the direction of attraction, so it must be stabilized by external control. This is called active maglev. As for the control process using the repulsive force, because of the unstable direction, it is necessary to use another magnetic floating mode or mechanical limitation to achieve stable results. If the ferromagnetic material is not magnetic, it will be magnetic after being subjected to an external magnetic field. As the applied magnetic field increases, the magnetizing magnetic field induced by the ferromagnetic substance also becomes larger. However, after the induced magnetic field increases to a certain limit, it will reach saturation and cannot grow larger. At this time, the applied magnetic field is gradually reduced, and the induced magnetic field is gradually reduced. When the applied magnetic field is reduced to zero, the ferromagnetic material will still retain a small amount of induced magnetic field, which is hysteresis. (3) Using electromagnets: There are two ways to generate magnetic buoyancy: the way of sensing, and the way of direct driving. The way of sensing is that when the alternating current passes through the electromagnet, a full current is generated on the suspended matter. According to the principle, the eddy current will generate an anti-repulsion force to resist the electromagnet. Since this method will consume considerable energy, the resulting force will not be large. Therefore, it is less widely used. The direct drive method uses direct control of the current through the electromagnet to control the magnitude and direction of the magnetic field. This method produces a large suspension force and is therefore often used in sophisticated controls. The control unit 50 is a maglev control unit, and the magnetic control is controlled by the external control 22 ^ 85542 / system control signal so that the capsule endoscope can be positioned. Referring now to Figure 6, there is shown a schematic diagram of the relative position of the control unit 5A according to the second diagram to the external magnetic unit 92 of the external control system 830 (in conjunction with Figure 9). Fig. 7 is a view showing the use of the capsule endoscope of the present invention. The structure diagram of the I3 system. The outer magnetic unit 920 of the outer control system 83Q is respectively the first outer magnetic substance η as shown. Second. The magnetic material 720 and the third outer magnetic substance 730 are positioned, and a corresponding magnetic control unit § 也 is placed around the enamel endoscope 1 〇. The magnetic control unit 50 is, for example, a first internal magnetic substance 740, a second internal magnetic substance 75A, and a third internal magnetic substance 7. The principle of operation is that the first outer magnetic substance 71 and the first inner magnetic substance 740 repel each other'. The second outer magnetic substance 720 and the second inner magnetic substance 750 repel each other; but the third outer magnetic substance 730 and the third internal magnetic substance Substance 750 phase suction causes the capsule endoscope] 〇 upwards the first outer magnetic substance • 7 your second external magnetic substance 720 and the third external magnetic substance magnetic 73 〇 will produce the capsule endoscope 1Q floats upward, and then uses the imbalance between the external magnetic substance 710 and the third external magnetic object to control the relative positions of the left and right. Of course, the first outer port P magnetic substance 710 and the second can be used. The position of the external magnetic substance 72Q and the third external magnetic material 730 is used as a change of the three-dimensional positioning wireless capsule endoscope. In the present invention, the first outer magnetic substance 710, the second outer magnetic material 8 1285542, and the outer magnetic material 730 are preferably realized by an electromagnet-based electromagnetic coil. The first internal magnetic substance 740, the second internal magnetic substance 75A and the third internal magnetic substance 760 are preferably made of permanent magnets. Please refer to Figure 8 for the external view according to Figure 7.
83〇 ·的架構圖。該外部控制單元830包含_内卜部P 910，外部磁性單兀92〇 ;以及一霍爾感應器咖。如前 • 所述’該感測單元20所感測到的該位置信號，經由該無線 傳輸單元40,傳送至該膠囊内視鏡1〇外的—外部處理系統 800 〇 在該外部控制單元830的勒部回授電路_，接收 了來自該膠囊内視鏡的該無線傳輸單元4Q之該位置信號， 並藉由該位置信號的訊息控制該外部磁性單元咖的:力 分布以使得該膠囊内視鏡能1〇作三維之定位。 當該膠囊内視鏡與該外部磁性單元92〇所產生的磁隙 增加時’磁浮力將使得磁隙減少，即此磁浮 π和磁隙平方成反比’和電流平方成正比，表姻: 小時，磁浮力變大；當電流增大時，磁浮力增加。若不改變 “ ’當磁隙變小時，磁浮力增加，此增加的磁浮力會使得 =隙繼_小’三較位無線__視鏡1Q將與腸胃碰 匕。另-方面當磁隙變大時’磁浮力變小，此磁浮力不足以 ⑧ 1285542 平衡車體的重里，致使磁隙變大，導致三 内視鏡1 〇與腸胃碰撞。83〇 · Architecture diagram. The external control unit 830 includes an internal portion P 910, an external magnetic unit 92, and a Hall sensor. The position signal sensed by the sensing unit 20 is transmitted to the outside of the capsule endoscope 1 via the wireless transmission unit 40, and the external processing system 800 is disposed at the external control unit 830. The feedback circuit _ receives the position signal of the wireless transmission unit 4Q from the capsule endoscope, and controls the force distribution of the external magnetic unit by the message of the position signal to make the capsule internal view Mirror energy can be used for three-dimensional positioning. When the magnetic gap generated by the capsule endoscope and the external magnetic unit 92 increases, the magnetic buoyancy will reduce the magnetic gap, that is, the magnetic π and the square of the magnetic gap are inversely proportional to the square of the current, and the expression is: The magnetic buoyancy becomes larger; when the current increases, the magnetic buoyancy increases. If you do not change "When the magnetic gap becomes small, the magnetic buoyancy increases, this increased magnetic buoyancy will make the = gap followed by _ small 'three more wireless __ mirror 1Q will touch the stomach. Another aspect when the magnetic gap becomes When the time is large, the magnetic buoyancy becomes smaller. This magnetic buoyancy is not enough to balance the weight of the car body with 8 1285542, which causes the magnetic gap to become larger, causing the three endoscopes to collide with the stomach.
艰陈變大，导欽三維定位無線的膠囊 。其結果顯示磁浮系統為一不穩定的 必須加上該外部控制迴 830穩疋，該外部控制單元830 ’去達成真正輸出磁力的控制。 為了於使外部控制單元830穩定， 更加入一個霍爾感測器93〇,去遠成直 由於磁浮間距與來自外部控制系統的線圈電流兩者對該霍 ❿ 爾感測器93◦輸出電壓的影響是線性可加成 (Superposition)，表示成 w w+ ^ ，其中 w ㈨ 代表該膠囊内視鏡10與外部磁浮單元92〇之電磁線圈的磁 浮間距對霍爾電壓的影響函數，關代表外部磁浮單元92〇 之電磁線圈的線圈電流對霍爾電壓的影響函數，…代表兩 者影響同時存在時的霍爾電壓值。將W減掉⑽即精確地 得到進而得到距離x的資訊。舉例來說，將致動線 • 圈串接一設定0值的電阻，以缓衝電路940擷取其跨電壓 值。因為使用電阻已知其設定Ω值，由歐姆定理即可得到 相對之電流值，經過緩衝電路94〇後，該線圈電流對霍爾 電壓的影響函數，經由運算電路950與霍爾電壓… 相減’即可得到位置訊號W (X)，作為該内部回授電路910 的依據。因此，該霍爾感應器930,用於感測該膠囊内視鏡 ， 的磁浮移動與該外部磁性單元920所產生的磁力對霍爾感 25 12沒5542 測斋930的輪屮恭厭从旦，雜 珣出私壓的影響，以達到真正的輸出磁力的控 _ -制 〇 工 在製作該第一外部磁性物質710、第二外部磁性物質 720與第三外部磁性物磁73()之電磁線圈時，其鐵芯材料 、、、擇有兩…占考塁’分別為南飽和磁通密度⑹)*低保磁力 (Hc)，如此可產生較大磁力和降低磁滞效應，使系統快速有 放地反應這樣的軟磁性材料實用上通常以々鋼片沖壓疊成 #兼具抑制電流祕的效果。但是在本發明中屬於軸對稱造 型，較難採用培成方法製作，故採用具有相似特性的材料-純鐵’其切削加工性質佳適合較複雜造型的設計。在非導磁 材料上，選擇黃銅(相料磁係數"产巧也具有優良的切削加 工性質。在線圈設計上有幾點必須考量：線圈時間常數不可 太高，否則頻寬窄，反應速率慢;線圈發熱功率不可太高， 否則熱飄移嚴重會改變系統參數而影響效能，甚至導致線圈 • 燒毀；線圈繞線匝數不可太低，否則產生磁力有限。 磁性吸附技術，是一種非接觸性可用於人體内部的可停 留手法’再使用電磁浮技術以更進一步的針對不同膠囊内視 鏡做控制信號處理，並在加速移動膠囊内視鏡至診斷位置做 病理檢驗。在使用上不需要麻醉處理，可控制式内視鏡便可，， 更不引起痛苦，，，，，更易操作，，等方面來改良，使它更能為人 — 類服務。使用直流電磁浮其不會破壞生物細胞分子，也不會 ⑧ 1285542 產生溫度變化，由於此電磁波輻射能量較低，不會使物質發 生游離現象，也不會直接破壞環境物質，另外其所使用的時 間應該也並不長，所以對於電磁對人體可能產生的電磁傷害 應該也沒有關係。Difficult to become bigger, Guiqin three-dimensional positioning wireless capsules. The result shows that the maglev system is unstable and the external control unit 830 must be stabilized, and the external control unit 830's to achieve control of the true output magnetic force. In order to stabilize the external control unit 830, a Hall sensor 93A is further added to go far into the output voltage of the Holler sensor 93 due to both the magnetic float spacing and the coil current from the external control system. The effect is a linear superposition, expressed as w w+ ^ , where w (9) represents the function of the influence of the magnetic float spacing of the electromagnetic mirror of the capsule endoscope 10 and the external magnetic floating unit 92 on the Hall voltage, and the representative represents the external magnetic float. The function of the influence of the coil current of the electromagnetic coil of the unit 92 on the Hall voltage, ... represents the Hall voltage value when both of them are present at the same time. By subtracting (10) from W, the information of the distance x is obtained accurately. For example, the actuation line • is connected in series with a resistor of zero value to draw the voltage across the snubber circuit 940. Since the resistance is known to set the Ω value, the relative current value can be obtained by the ohm theorem. After the buffer circuit 94 is turned on, the influence function of the coil current on the Hall voltage is subtracted from the Hall voltage by the arithmetic circuit 950. 'The position signal W (X) can be obtained as the basis of the internal feedback circuit 910. Therefore, the Hall sensor 930 is configured to sense the magnetic mirror movement of the capsule endoscope, and the magnetic force generated by the external magnetic unit 920 is opposite to the sense of the Hall. , the influence of the private pressure of the chowder to achieve the real output magnetic force control - the fabrication of the first external magnetic substance 710, the second external magnetic substance 720 and the third external magnetic material magnetic 73 () electromagnetic When the coil is used, its core material, and the choice of two...according to the test is 'Southern saturation flux density (6)) * low magnetic force (Hc), which can generate large magnetic force and reduce hysteresis effect, making the system fast Soft magnetic materials such as a ground-reacting reaction are generally used in the form of a stamped steel sheet which is combined with a steel sheet to suppress the current. However, in the present invention, it is an axisymmetric shape, and it is difficult to be produced by a culture method. Therefore, a material having a similar property - pure iron, has a good cutting property suitable for a complicated design. On non-magnetic materials, choose brass (phase magnetic coefficient " also has excellent cutting processing properties. There are several points in the coil design must be considered: the coil time constant can not be too high, otherwise the bandwidth is narrow, the reaction rate Slow; the heating power of the coil should not be too high, otherwise the thermal drift will change the system parameters and affect the performance, and even lead to the coil • burnout; the coil winding turns should not be too low, otherwise the magnetic force is limited. Magnetic adsorption technology is a non-contact It can be used in the human body to stay in the 'reuse of electromagnetic floating technology to further control signal processing for different capsule endoscopes, and to accelerate the movement of the capsule endoscope to the diagnostic position for pathological examination. No need for anesthesia in use The treatment, the controllable endoscope can be, and it does not cause pain, and,, is easier to operate, and so on, so that it can be more human-like service. It can not damage biological cell molecules by using DC electromagnetic floating. And it will not produce temperature changes in 8 1285542. Because this electromagnetic wave has low radiant energy, it will not cause the material to become free. Also it does not directly damage the environment substances, in addition to the time they use should not be long, so for electromagnetic solenoid bodily harm that may arise should not matter.
本發明之膠囊内視鏡採用的無線通訊單元510及無線 充電單元520這兩種技術有兩個優點：第一是減小電路的 晶片及耗電量，第二是提昇使用的時間。該無線通訊單元 510及無線充電單元520可以整合成於單一晶片，此技術 的重點是利用單一製程技術來製作晶片。透過這顆晶片我們 可把所需的資料從膠囊傳出來供醫生診斷，而無線充電技術 是利用功率發射器或磁力感應方式提供能量給體内的膠囊 内視鏡10，提供其所須的電源，以便延長系統在人體内的 有效操作時間，另一方面，因減少了電池的需求，節省的空 間可容納其他微型器械，藉以採取檢體或給予藥物治療。 另一方面，為了更進一步降低膠囊内視鏡10的耗電 量，系統的功率分配必須要有一個整體的考量。所有的元件 都必須操作在低功率的模式下，以延長系統在人體内的有效 操作時間。而作為該影像感測器320之CMOS元件具有低 功率的操作特性，不論是其感光元件、或是其後續的訊號處 理元件皆然。更直得注意的是，該影像感測器320與該無 線傳輸單元40係可以以積體電路製程整合於單一個晶片 27 1285542 上，因此節省的空間可容納其他微型器械，藉以採取檢體或 給予藥物治療。因此，再參考第彳圖，膠囊内視鏡1Q之後 面部分可以包含一微幫浦60，其具有一乘載的空間可以放 置藥物或微小機械，其係用於當膠囊内視鏡1〇被定位於每 一位置時’可提供藥物與進一步檢測。該微幫浦6〇使該膠 囊内視鏡1 〇具有攜帶藥物及收集腸胃檢驗樣品之功能。該 微幫浦60係攜帶藥物在適當的部位由膠囊内視鏡1 〇内被 釋放出來與腸液混合產生氣體來撑開腸壁。藉此，該膠囊内 視鏡10能有足夠的空間作適度的活動，而影像處理單元3〇 可以順利的拍攝到所要部位的照片。此外，微型幫浦可用來 收集腸胃之檢驗樣品以有助於醫生對病因的診斷。 該微幫浦60可以是一閥式整流幫浦、擴散孔/喷嘴式幫 浦（Diffuser/nozzle pumps)、太斯拉式幫浦（Tesla/ Valvular conduit pump)、螺動式幫浦（Peristaltic pumps)、超音波 幫浦（Ultrasonic pumps)、輪轉式幫浦（Rotary pumps)、 表面張力式幫浦（Surface-Tension Driven/ Electro wetting Micropumps)、電化學幫浦（Electrochemical)或氣泡幫浦 (Phase transfer / Bubble pumps) ° 該微幫浦60可以是一閥式整流幫浦，其主要有三部 分：致動器元件（含致動器與振動薄膜）、幫浦流室（Pump chamber)、兩個整流閥（check valves)。該微幫浦60可 28 1285542 以是一擴散孔/喷嘴式幫浦（Diffuser/nozzkPumPs)，同樣 主要結構有三部分：致動器元件（含致動器與振動薄膜）、 幫浦流室、兩個整流裝置。該微幫浦6◦可以是一太斯拉式 幫浦（Tesla/Valvular conduit pump)，其與擴散孔/喷嘴式 幫浦同是無活動閥門幫浦，其設計仍依賴致動元件産生致動 強度來代動流體流入及排出幫浦流室，但使用太斯拉式整流 結構設計之不同方式來取代活動閥門。該微幫浦60可以是 一蠕動式幫浦（Peristaltic pumps)，其由三個或以上之致 動元件與幫浦流室所組成。該微幫浦60可以是一超音波幫 浦（Ultrasonic pumps)，超音波具有集中或擴散能量之特 性，藉此可帶動流體往特定方向流動之特性。超音波幫浦有 多種不同之設計方式，最常見的有彎曲平板波（f|exura| plate waves)及表面聲波法（surface ac〇ustjcwaves)之 應用。該被幫潘60可以是一輪轉式幫浦（R〇ta「y pUmps)， 其利用一個或多個微渦輪機（mjcro-turbine)的轉動，來帶 動流體之抽入及流入幫浦流室，藉以達到幫浦的功能。該微 幫满㈤可以疋一表面張力式幫浦（Surface-TensionThe two technologies of the wireless communication unit 510 and the wireless charging unit 520 of the capsule endoscope of the present invention have two advantages: the first is to reduce the chip and power consumption of the circuit, and the second is to increase the time of use. The wireless communication unit 510 and the wireless charging unit 520 can be integrated into a single wafer. The focus of this technology is to fabricate the wafer using a single process technology. Through this chip, we can send the required information from the capsule for the doctor to diagnose. The wireless charging technology uses the power transmitter or magnetic induction to provide energy to the capsule endoscope 10 in the body to provide the required power. In order to extend the effective operating time of the system in the human body, on the other hand, due to the reduction of the battery demand, the space saved can accommodate other micro-devices, thereby taking a sample or giving medication. On the other hand, in order to further reduce the power consumption of the capsule endoscope 10, the power distribution of the system must have an overall consideration. All components must be operated in a low power mode to extend the effective operating time of the system in the human body. The CMOS component as the image sensor 320 has low power operation characteristics, whether it is a photosensitive element or a subsequent signal processing element. It is more straightforward to note that the image sensor 320 and the wireless transmission unit 40 can be integrated into a single wafer 27 1285542 in an integrated circuit process, thereby saving space for other micro-devices to take a sample or Give medication. Therefore, referring to the second drawing, the rear face portion of the capsule endoscope 1Q may include a micro pump 60 having a space for loading a drug or a micromachine, which is used when the capsule endoscope 1 is Drugs and further testing are available at each location. The micro-pump 6 〇 enables the capsule endoscope 1 to carry the drug and collect the gastrointestinal test sample. The micro-pump 60 line carries the drug at a suitable location and is released from the capsule endoscope 1 to mix with the intestinal fluid to generate gas to open the intestinal wall. Thereby, the capsule endoscope 10 can have sufficient space for moderate activities, and the image processing unit 3 can smoothly take a picture of the desired part. In addition, the micro pump can be used to collect test samples from the stomach to help the doctor diagnose the cause. The micro-pump 60 can be a valve rectifying pump, a Diffuser/nozzle pump, a Tesla/Valvular conduit pump, or a Peristaltic pump. ), Ultrasonic pumps, Rotary pumps, Surface-Tension Driven/ Electro wetting Micropumps, Electrochemical or Phase Transfer (Phase transfer) / Bubble pumps) ° The micro-pump 60 can be a valve rectifier pump, which has three main parts: actuator components (including actuators and diaphragm), pump chamber, and two rectifiers. Check valves. The micro-push 60 can be 28 1285542 as a diffuser/nozzle pump (Diffuser/nozzkPumPs), and the main structure has three parts: actuator component (including actuator and diaphragm), pump flow chamber, two Rectifiers. The micro-push 6 ◦ can be a Tesla/Valvular conduit pump, which is the same as the diffusion hole/nozzle pump, and the design still relies on the actuating element to actuate. The strength is used to actuate the fluid into and out of the pump flow chamber, but the active valve is replaced by a different approach to the design of the Taisla rectification structure. The micro-pump 60 can be a peristaltic pump consisting of three or more actuation elements and a pump flow chamber. The micro-pump 60 can be an Ultrasonic pump, and the ultrasonic wave has the characteristic of concentrating or diffusing energy, thereby driving the fluid to flow in a specific direction. Ultrasonic pumps are available in a variety of different designs, the most common of which are curved plate waves (f|exura| plate waves) and surface acoustic wave methods (surface ac〇ustjcwaves). The gang 60 can be a rotary pump (R〇ta "y pUmps", which utilizes the rotation of one or more micro-turbine to drive the fluid into and into the pump flow chamber. In order to achieve the function of the pump. The micro-help full (five) can be a surface tension pump (Surface-Tension
Driven/ Electro wetting Micropumps)，其利用一滴水銀置 於充滿電解水之微渠道中，在微渠道的兩侧各置一白金電 極’當改變電極之正負電場的同時將驅動帶正電之水銀滴流 向白金負電極，並帶動渠道中之電解水也擠進帶負電場之幫 29 1285542 浦流室中，如此將可改變左和右幫浦流室的容積。該微幫浦 60可以是一電化學幫浦（Electrochemical)或氣泡幫浦 (Phase transfer / Bubble pumps)，此種幫浦利用電化學 的分式使液態水轉變成氫氣及氧氣，體積擴大後之氫氧氣會 形成氣泡往上升，順勢帶動流體運動向上。Driven/ Electro wetting Micropumps), which uses a drop of mercury in a microchannel filled with electrolyzed water, and a platinum electrode on each side of the microchannel. When the positive and negative electric fields of the electrode are changed, the positively charged mercury droplets are driven to flow. The negative electrode of platinum and the electrolyzed water in the channel are also squeezed into the pump chamber with a negative electric field, which will change the volume of the left and right sluice chambers. The micro-pump 60 can be an electrochemical chemical or a phase transfer / bubble pump. The pump uses an electrochemical fraction to convert liquid water into hydrogen and oxygen. Hydrogen and oxygen will form bubbles and rise, and the fluid will move upwards.
綜上所述，本發明之主要優點係提供一種膠囊内視鏡， 不只可大幅改善目前被動式膠囊内視鏡的缺點，更有潛力取 代部分傳統内視鏡的角色，進行無痛式的消化系器官的檢 查0 本發明之另一優點在於提供一種膠囊内視鏡，其前進或 後退與其減是*人為㈣，可於病灶處做反覆的觀察與攝 影且節省大奠之檢測吩間，也因此無腸道狹窄的禁忌症。 本發明之又-優點在於提供一種膠囊内視鏡，其可經無 線電充電，無電池耗盡的問題，因此本發明謂囊内視鏡; 以滅菌後重覆使用以減少病患的花費，另一方面，該膠囊内 視鏡得以_發出各錢長的树進行動賴影，有效提升 影像品質。 本發明之又一優點在於提供— ^ 祝供種骖囊内視鏡，其中因減 少了電池的需求’卽省的空間可交細土卡改ρ 』』奋納未來發展的微型器械， 藉以採取檢艨或給予藥物治療。 本發明之三維顧、有鱗充電與即時影像處理之膠囊 ⑧ 1285542 •内視鏡不只可以如上的臨床躺，若連接卿-條充氣綠、* 〜入大腸，更可以把大腸充氣撐開以進行觀察，來取代目 麻醉的大腸鏡檢查與治療。 則而 雖然本發明已以前述較佳實施例揭示，缺 2發:’任何熟習此技藝者，在不脫離本二:=限 圍内，，可作各種之更動與修改。該結構等皆有多種 式之皆化。因此本發明之保護範圍當 =核 所界定者為準。 ㈣專利範圍 【圖式簡單說明】 第1圖為酬本發明之賴内概之構成方塊圖； 第2圖為根據第1圖之影像處理單元之 謂為根據第2圖之崎_g♦湖Γ構圖； 據第彳圖之無線傳輸單元之_實施. 單元 相對位㈣㈣物吻線卜部磁性 ί使用本發明之輸視鏡之外部系統之結構圖； 。·^據第7圖之料控鮮元之_實賴之結構圖。 【主要元件符號說明】 30影像處理單元 60微幫浦 10膠囊内視鏡 20感測單元 4〇無線傳輸單元 50控制單元 31 ⑧In summary, the main advantage of the present invention is to provide a capsule endoscope which not only greatly improves the shortcomings of the current passive capsule endoscope, but also has the potential to replace the role of some conventional endoscopes for painless digestive organs. Checking 0 Another advantage of the present invention is to provide a capsule endoscope whose advancement or retreat is reduced by *manual (four), which can be repeatedly observed and photographed at the lesion and saves the detection of the horn, and thus no A contraindication to intestinal stenosis. Yet another advantage of the present invention is to provide a capsule endoscope that can be charged by radio without the problem of battery exhaustion, and thus the present invention is a capsule endoscope; it is reused after sterilization to reduce the cost of the patient, and On the one hand, the capsule endoscope can be used to send out a tree with long money to effectively improve the image quality. Another advantage of the present invention is that it provides a ^ 内 内 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , 减少 减少 减少 减少 减少 减少Check or give medication. The three-dimensional, scaly charging and instant image processing capsule of the invention 8 1285542 • The endoscope can not only be clinically lying as above, but if the joint-inflated green, *~ into the large intestine is connected, the large intestine can be inflated for carrying out Observe to replace the colonoscopy and treatment of the anesthesia. </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; The structure and the like are all in a variety of ways. Therefore, the scope of protection of the present invention is subject to the definition of the core. (4) Patent Scope [Simple Description of the Drawings] Figure 1 is a block diagram of the structure of the invention; Figure 2 is a diagram of the image processing unit according to Figure 1 according to Figure 2 Γ Γ ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; · According to the structure diagram of the material control fresh element of Figure 7. [Main component symbol description] 30 image processing unit 60 micro-pull 10 capsule endoscope 20 sensing unit 4〇 wireless transmission unit 50 control unit 31 8