WO2008092376A1 - Inner-driven capsule endoscope system - Google Patents

Inner-driven capsule endoscope system Download PDF

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Publication number
WO2008092376A1
WO2008092376A1 PCT/CN2008/000176 CN2008000176W WO2008092376A1 WO 2008092376 A1 WO2008092376 A1 WO 2008092376A1 CN 2008000176 W CN2008000176 W CN 2008000176W WO 2008092376 A1 WO2008092376 A1 WO 2008092376A1
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WO
WIPO (PCT)
Prior art keywords
capsule
means
drive
tool
driving
Prior art date
Application number
PCT/CN2008/000176
Other languages
French (fr)
Chinese (zh)
Inventor
Yunlong Chen
Qingqiang Chen
Yunkai Chen
Haitao Li
Qian Zhang
Mingqiang Chen
Yunlang Chen
Original Assignee
Yunlong Chen
Qingqiang Chen
Yunkai Chen
Haitao Li
Qian Zhang
Mingqiang Chen
Yunlang Chen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CN 200710078136 priority Critical patent/CN101011234A/en
Priority to CN200710078136.4 priority
Priority to CN 200810000148 priority patent/CN101224102B/en
Priority to CN200810000148.X priority
Application filed by Yunlong Chen, Qingqiang Chen, Yunkai Chen, Haitao Li, Qian Zhang, Mingqiang Chen, Yunlang Chen filed Critical Yunlong Chen
Publication of WO2008092376A1 publication Critical patent/WO2008092376A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041Capsule endoscopes for imaging
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00156Holding or positioning arrangements using self propulsion

Abstract

An inner-driven capsule endoscope system, includes a capsule and an endoscope apparatus. The endoscope apparatus includes a medical photographic device (1), an image processing device (2), a microprocessor (3), a transceiver (4), a driving means and an exterior remote device (16). The driving means includes a driving power supply (10), a driving switch circuit (11), a driving motor (12) and a driving device (14). The driving switch circuit (11) is connected to the microprocessor (3), and connected in series between the driving power supply (10) and the driving motor (12). The driving motor (12) drives the driving device (14) to cause the capsule moving forwards or backwards. The exterior remote device (16) transmits the instructions to the microprocessor (3) via the transceiver (4), so as to control the driving means to finish the movement or stop the motion.

Description

BACKGROUND endoscopic system driven inner capsule

The present invention relates to a capsule-type endoscope within the system, and particularly relates to a method of driving the capsule-type endoscopic system. Background technique

The birth of the eighties of the last century brought a major breakthrough capsule endoscopy for the diagnosis of gastrointestinal diseases. Currently used in clinical capsule endoscopy, by a miniature camera, a digital processing system, a wireless transmission system, etc., in combination with image analysis processing system, complete gastrointestinal tract (particularly the small intestine) of imaging. Endoscopes to overcome the traditional bulky, painful inspection process, does not apply to the elderly, patients delicate and critical defects; with small size, light weight, easy to check, non-invasive, painless, no cross-infection, the subject does not affect advantage by normal work. But there are also disadvantages: Capsule endoscopy Captured images are randomly taken, and the limited field of view there is a certain rate of misdiagnosis; capsules can send out image information, which working state can not be controlled in vitro, can not be achieved with a focused inspection object; not accurate positioning.

Chinese Patent No. ZL 200410021933.5 discloses a medical capsule endoscopic system within the radio, the system may be called wireless transmitting digital image information outside, but also wirelessly receive control commands to achieve control of the operating state of the capsule and mode of operation. But still can not control the speed and direction of the capsule endoscope moves, the focus can not be achieved with a check object, it does not guarantee the endoscopic capsule can be smoothly excreted.

Patent ZL200580027391.5 discloses a capsule endoscope system is an in vitro control speed and direction, and is provided by setting the capsule in vitro permanent magnet complete control of the speed and traveling direction of the capsule in vitro. This means complicated structure, large size, the use limitation by the surrounding environment, extremely inconvenient.

Within the above-described capsule endoscope system administration functions are not sampled and not preclude complete sample, staining and administration in the inspection process. Therefore, a capsule endoscopic system, the imaging can be completed at the same time, according to the in vitro manipulation, complete control of the speed and direction of the capsule under the effect of the inner drive, and according to the inspection, the sample embodiment, the dyeing treatment and administration . SUMMARY

In view of this, the object of the present invention is to provide a method of driving the capsule endoscope system, the system having full functionality of the endoscopic capsule general, while, according to the remote operation vitro, including drive means under the action speed of the capsule to complete and orientation control, adjusted in real time the direction of the capsule endoscope moves in the digestive tract; retention of slow moving or guiding capsule endoscopy, so that in the whole digestive tract smooth passage; suspected lesion by repeated observation, real-time imaging, photography; convenient and simple to use, it is not restricted environment, simple and compact structure, small volume.

Driven inner capsule endoscope system according to the present invention, the capsule comprises at least one end of the transparent and disposed within the capsule endoscopic apparatus, endoscopic imaging apparatus comprising a medical device, an image processing device, a microprocessor within the transmitter and the receiver, further and drive means including extracorporeal wireless remote control, the driving means comprises a driving power source, a switch drive circuit, a drive motor and drive device, the drive switching circuit associated with the microprocessor, the switch driving circuit connected in series with the drive motor driving power source between the drive motor drives the drive device to complete the capsule forward or reverse;

The in vitro remote controller issues a command to the microprocessor by receiving transmitter to control the drive means perform motion or stopped.

Further, the driving device comprises a circular cross section spin shell, an outer circumference of a spin rotation casing housing at least one protruding tooth, tooth longitudinal helical screw shell to expand; a driving motor fixed to the capsule, the driving motor shaft extension the capsule shell is fixedly connected with the rotation; the motor shaft, the spin axis of the motor housing and the capsule is provided overlapped portion;

Further, the rotation of the shell as part of the capsule, the capsule barrel positioned longitudinally fixed, rotating shell rotatably fitted on the outer circumference of its positioning tub; drive power, the drive circuit and the drive motor off Jian provided for positioning the tub;

Further, provided on an outer circumference of the drive motor of the capsule is provided projecting stationary teeth, the fixed teeth longitudinal helical deployment, deployment direction of rotation opposite to the deployment direction of the housing teeth;

Further, the rotary shell is tooth helix angle 45 °;

Further, the positioning between the tub and the spin-rotation of the housing through a rolling bearing fitted;

Further, the apparatus further comprising a tool, said tool means disposed within the capsule, including power tools, tools circuit switching, power tools and the tool, the tool switching circuit associated with the microprocessor, the switching circuit means connected in series with the power tools between the power tool, the power tool driving tool for administration and collection work; vitro microprocessor issues a command to the remote receiver by the transmitter, control means and means to complete the collection work applicator;

Further, the endoscopic apparatus, tool combination of any two devices share the same power supply and drive means or endoscopic devices, tools and devices share the same power drive means;

Further, the endoscopic apparatus is provided in the capsule A, the tool means disposed within the capsule in drive B, C means disposed within the capsule, is also provided motion and operation state imaging device of the capsule A, and the operating state of motion and the imaging apparatus The image processing apparatus is associated, medical imaging equipment and operating state of motion and the imaging apparatus are disposed at both ends of the capsule A, the transparent capsule is provided at both ends of A; capsules A, B between the capsule and the capsule C completion signal is passed through cable boxes and D;

Further, the endoscopic apparatus is provided in the capsule A, the tool drive means and means disposed within the capsule B, but sets the motion image pickup apparatus and the operating state of the capsule A, the motion of the imaging apparatus and the operating state associated with the image processing apparatus , medical imaging equipment and operating state of motion and the imaging apparatus are provided at both ends of the capsule A, provided at both ends of the transparent capsule A; between the capsule and the capsule A and B boxes completion signal transmitted through the cable D;

Further, the endoscopic apparatus, the tool means and drive means is provided in the same capsule, is also provided motion and operation state imaging device within the capsule, and the motion image pickup apparatus operating state associated with the image processing apparatus, a medical image pickup apparatus provided in capsule left, the movement and the working state image pickup apparatus provided in the beneficial effects of tool means the left of the present invention are: the present invention is driven capsule endoscopic system using an endoscopic apparatus and drive means combination of structure, having endoscope general capsule all the functionality of the system, while, in vitro remote control, including complete control of the drive speed and direction of the capsule under the action of the apparatus, the moving direction of the capsule endoscope adjusted in real time in the digestive tract; or slowly moving retention of capsule endoscopy guide, so in the whole digestive tract smooth passage; suspected lesion by repeated observation, real-time imaging, photography, simple and compact structure, small volume, simple and easy to use, from environmental constraints; drive means using motor driven rotary spiral tooth shell rotating structure, the operating speed of the capsule Li, not to cause pain to a user; fixed teeth and rotary shell expanding direction opposite to the direction of deployment tooth structure is conducive to the capsule without fixing the rotation with the rotary housing, to ensure operation of the capsule; the present invention can be driven by a variety of tools to complete the treatment, detection, etc. ; means all share the same power supply, or any combination of two share the same power, further cost savings, reduced size, easy to use of the capsule; endoscopic device, the tool means and drive means are provided in different capsules, each capsule of small volume, increased a capsule endoscopic system flexibility, and sets the motion image pickup operation state running at bending apparatus can be monitored at any time and the operation state of the capsule motion, facilitate manipulation; endoscopic device, the tool device and the driving device are disposed in the same capsule , the inner structure of the entire capsule endoscope system compact and reduce the size, cost, while increasing the flexibility of the capsule-type endoscope system of reciprocating operation. BRIEF DESCRIPTION OF DRAWINGS Examples and embodiments of the present invention will be further described.

FIG schematic diagram of a configuration of an embodiment of the present invention;

FIG 2 a schematic structural diagram of a second embodiment of the present invention;

FIG 3 according to a third embodiment of a schematic structure of the present invention;

Fig 4 a schematic block diagram of the present invention;

FIG 5 is a schematic structure of the driving apparatus of the present invention;

Driving the capsule of the present invention FIG. 6 outline in FIG. detailed description

FIG schematic diagram of a configuration of an embodiment of the present invention, as shown: in conjunction with FIG. 5, the driving of the capsule-type endoscopic system according to the present embodiment includes a capsule A, B of the capsule and a capsule C, the capsule A, B, and capsules Capsules C between the boxes and the completion signal is passed through cable D. Means disposed within the capsule endoscope A, the endoscopic apparatus 1, 2, 4, the image pickup apparatus 1 and the state of the microprocessor 3 and the image processing apparatus further includes a motion receiver and transmitter operating state of the imaging apparatus 101, the medical device comprising a medical imaging the imaging apparatus 101 and the associated image processing apparatus 2, the medical imaging apparatus 1 and the operating state of motion and the imaging apparatus 101 are provided at both ends of the capsule A, A capsule is provided at both ends of a transparent, medical imaging medical image pickup apparatus 1, the motion and the working state the imaging device 101 for image pickup operation state and motion, and the motion of the capsule may be monitored at any operating state, facilitates control; FIG, further comprising a drive means and in vitro wireless remote control 16, drive means disposed within the capsule C, comprising a driving power source 10, the switch driving circuit 11, the drive motor 12 and the drive apparatus 14, the drive switch circuit 11 3 and the microprocessor is associated, the switch driving circuit 11 connected in series between the driving power supply 10 and the driving motor 12, driving motor 12 is driven complete the driving apparatus B, the capsule forward or backward; drive apparatus comprises a circular cross section rotating housing 14, housing 14 is screwed gum Part of the capsule mounting the motor portion to form a complete capsule shape, holding the capsule rounded shape, conducive to the operation; inside the capsule longitudinally fixed positioning the tub 17, rotary housing 14 sleeve 17 outer circumferential positioning of the tub and rotation of fitting by a rolling bearing 20 therewith ensure smaller rotational friction; a driving motor 12 fixed to the positioning of the capsule barrel 17 B, the driving motor and the rotary shaft 13 projecting the capsule casing 14 is fixedly connected; driving power supply 10 and the driving switch circuit 11 is provided to be positioned within the tub 17; 14 outer circumference of the rotation housing uniform provided with four projections rotary housing tooth 18, rotating shell tooth 18 a longitudinal helical expand, driving, rotary shell tooth 18 rotates with the rotary housing 14, in accordance with principles spiral travel, driving the capsule operation, in vitro remote control 16 emitted by the transmitter 4 to the receiver command the microprocessor 3 controls the switching circuit 11 turns the driving mode, thereby controlling the driving motor reversing performed capsule forward or reverse; spin shell tooth helix angle 18 is 45 °, of course, other angles may be, object of the invention can be implemented; B outer circumference of the capsule is provided a driving motor fixing projection is provided Teeth 19, 19 fixed to the longitudinal helical teeth expand, expanding direction and rotation direction to expand the housing 18 opposite to the tooth, since the tooth helix angle rotating shell 18 is 45 °, the rotation angle between the housing 18 and the teeth 19 of the fixed teeth 90 °, when the capsule is conducive to maintaining stable drive B; and the motor shaft 13, and a capsule housing 14 spin axis disposed coincident driving of the motor section 12, help to ensure smooth vibration during driving, reduce user's pain.

Driven inner capsule endoscope system according to the present embodiment further includes a tool means, said tool means disposed within the capsule B, incl power tool 9, the tool switching circuit 8, the power tool 6 and the tool 7, the switching circuit 8 and the tool linked to the microprocessor 3, the tool switching circuit 8 connected in series between the tool 9 and the tool power supply 7, a power tool driving tool 7 6 administration and collection.

Second Embodiment

FIG 2 a schematic structural diagram of a second embodiment of the present invention, as shown: B according to the present embodiment of the capsule inner drive capsule endoscopic system according to the embodiment of the tool means and drive means is provided a difference between the present embodiment of this embodiment, capsule C is omitted, and the tool drive means and a common power supply, not only the capsule endoscope system compact further cost savings.

Third Embodiment

FIG 3 according to a third embodiment of a schematic structure of the present invention, as shown: the above embodiment drives the capsule endoscope system according to the present embodiment is different from embodiment endoscopic device, the tool means and drive means is provided in the same capsule, two capsules omitted, and endoscopic devices, tools and a drive means share one power source, the further capsule endoscopic system compact, cost savings; medical imaging apparatus 1 is provided on the left end of the capsule, and the working motion state imaging apparatus 101 means disposed at the left side of the tool, and the capsule medical apparatus 1 and the image pickup operation state and motion of the imaging apparatus 101 is provided at a corresponding transparent.

Of course, endoscopic devices, tools and a drive device may also be a combination of two random, not in a manner limited to the disclosed embodiment embodiment, for example, endoscopic devices and tools provided in the same capsule means, drive means disposed on the other capsule , the same invention can be attained.

Fig 4 a schematic block diagram of the present invention, the operation principle of the present invention, as shown: a medical imaging apparatus and the operating state of motion and the imaging apparatus 101 of the image signal to the image processing apparatus 2, the image processing device 2 outputs to the microprocessor 3 is output from the receiver to the transmitter 4 vitro; administration or operator to determine the work of medical image acquisition apparatus 1 capturing medical imaging, diagnosis; operation state and motion of the image pickup operation state and motion the medical imaging apparatus 101 can be and any time to monitor the operating state of the capsule motion, facilitate manipulation; vitro wireless remote control operation 16, the transmitter through the receiver 43 sends an instruction to the microprocessor, the microprocessor 3 commands the switching circuit control means 8 and the tool device driving apparatus driving the switch circuit 11 to complete the required work;

Driving switch circuit 11 is turned on, according to the running direction, the driving switch circuit 11 is turned forward and reverse driving motor 12 is decided; a driving power source 10 driving operation of the motor 14 driving the driving device 12, the capsule endoscope system is completed forward or reverse , such as the need to stop, in vitro wireless remote control 3 sends an instruction to the microprocessor 16, the switch driving circuit 11 is turned off by receiving the transmitter 4, the system stops movement of the capsule endoscope formula.

FIG 5 is a schematic structural apparatus of the invention the drive, the drive of the present invention, FIG. 6 FIG capsule shape, as shown: driving means includes a driving power supply 10, the switch driving circuit 11, the drive motor 12 and the drive apparatus 14, the drive switch circuit 11 and associated microprocessor 3 drives the switching circuit 11 in series with the drive motor 10 and the driving power source 12 between the driving motor 12 driving the driving device 14 to complete the forward or reverse capsule B; drive apparatus comprises a circular cross section rotating housing 14, rotary housing 14 is part of the capsule, the capsule fitting machine portion to form a complete capsule shape, holding the capsule rounded shape, conducive to the operation; inside the capsule longitudinally fixed positioning the tub 17, rotating shell 14 sets of circumferentially positioning the tub 17 outside and by rotation thereof with the rolling bearing 20, to ensure a smaller rotational friction; a driving motor 12 fixed to the positioning of the barrel B of the capsule 17, the driving motor 14 is fixedly connected to shaft 13 projecting to spin the capsule shell; driving power supply 10 and the drive switch circuit 11 is provided in the positioning tub 17; an outer circumference of the rotation housing 14 is provided with four uniformly distributed projections tooth rotary housing 18, the housing rotating helical teeth 18 longitudinally expand,f When driving, rotary housing 18 rotates with the rotary gear housing 14, in accordance with principles spiral travel, the driving operation of the capsule, reversing control of the drive motor, forward or backward to complete the capsule; spin shell tooth helix angle 18 is 45 °, of course, other angles may be, object of the invention can be implemented; teeth 19 B of the capsule holding section is provided an outer circumference of the driving motor is provided projecting, longitudinal teeth 19 fixed helical deployment, the deployment direction of tooth rotation housing 18 opposite the deployment direction, when the capsule is conducive to maintaining stable drive B; and the motor shaft 13, and a capsule housing 14 spin axis disposed coincident driving of the motor section 12, it helps to ensure smooth vibration during driving, reduce user's pain.

Finally, be noted that the above embodiments are intended to illustrate and not limit the present invention, although the present invention has been described in detail with reference to preferred embodiments, those of ordinary skill will appreciate, may be made to the present invention modifications or equivalent replacements without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the present invention as claimed in which the required range.

Claims

Claims
A drive within the capsule endoscopic system, comprising at least one end disposed in the transparent capsule and the capsule endoscopic apparatus, endoscopic imaging apparatus comprising a medical device (1), the image processing apparatus (2), within the microprocessor (3) a transmitter and a receiver (4), characterized by: drive means further comprising a wireless remote control and in vitro (16), the drive means comprises a power source (10) drives the switching circuit (11), driving the drive motor ( 12) and a drive device, the drive switch circuit (11) and a microprocessor (3) is associated, the switch driver circuit (11) connected in series between the driving power supply (10) and the drive motor (12), a drive motor ( 12) driven by the drive device (14) to complete the capsule forward or backward;
The in vitro remote controller (16) issues a command to the microprocessor (3) by receiving a transmitter (4), the drive control means perform motion or stopped.
Inner drive according to claim capsule endoscopic system of claim 1, wherein: said driving device comprises a rotating circular cross section casing (14), rotating the housing (14) provided an outer circumference of the at least one protrusion rotary tooth shell (18), rotating the tooth shell (18) longitudinal helix Jian; the drive motor (12) fixed to the capsule, a drive motor shaft (13) projects with rotation of the capsule housing (14) is fixedly connected; the said motor shaft (13), rotating the housing (14) and coincides with the axis of the capsule is provided a drive motor (12) portion.
3. The system of the inner drive endoscopic capsule according to claim 2, wherein: said rotary housing (14) is part of the capsule, the capsule is positioned longitudinally fixed to the tub (17), rotating shell (14) sets an outer circumference of the rotation thereof fitted in the positioning tub (17); driving power source (10) drives the switching circuit (11) and the drive motor (12) is provided in the positioning tub (17).
4. The endoscope capsule system of the inner drive of claim 3, wherein: the protrusion is provided on the outer circumference arranged a drive motor (12) of fixed teeth (19) in the capsule, the fixed teeth (19) longitudinal spiral expanded, expand rotation direction of the housing teeth (18) opposite to the deployment direction.
The system according to claim endoscopic driven inner capsule 4, characterized in that: said rotary housing teeth (18) of the helix angle is 45 °.
6. The capsule endoscope system of the inner drive Formula 3, 4 or according to claim 5, wherein: the positioning by rotation of the rolling bearing fitting (20) between the tub (17) and the rotating shell (14).
7. A capsule endoscopic system of the inner drive of the formula 1-5 according to claim, characterized in that: further comprising a tool means, said tool means disposed within the capsule, comprising a power tool (9), switching circuit means (8) , power tools (7) and the tool (6), said switching circuit means (8) and a microprocessor (3) is associated, the switch circuit means (8) connected in series with the power tool (9) with the power tool (7) between the power tool (7) drive means (6) for collection and administration work;
Vitro remote controller (16) issues a command to the microprocessor (3) by receiving a transmitter (4), control means and means to complete administration collection.
8. The driven inner capsule endoscope system according to claim 6, characterized in that: further comprising a tool means, said tool means disposed within the capsule, comprising a power tool (9), switching circuit means (8), the tool power (7) and the tool (6), said switching circuit means (8) and a microprocessor (3) is associated, the switch circuit means (8) connected in series between a power tool (9) with the power tool (7) , power tools (7) drive means (6) for collection and administration work;
Vitro remote controller (16) issues a command to the microprocessor (3) by receiving a transmitter (4), control means and means to complete administration collection.
The system according to claim inner driving the capsule endoscope according to formula 7, wherein: said endoscopic device within the tool combination of any two devices share the same power supply and drive means or the endoscopic device, the common drive means and the tool means the same power.
The system according to claim inner driving the capsule endoscope according to formula 8, wherein: said endoscopic device within, any combination of two tools and devices share the same power drive means or the endoscopic device, the common drive means and the tool means the same power.
According to claim 9 or claim 10 for driving the capsule-type endoscopic system, comprising: means disposed in the endoscope capsule A within the inner tool means disposed within the capsule in drive B, C means disposed within the capsule, A motion provided within the capsule and the operating state of the imaging apparatus (101), the motion and operation state imaging apparatus
(101) and the image processing apparatus (2) is associated, the medical imaging apparatus (1) and the operating state of motion and the imaging device (101) provided at both sides of the capsule A, provided at both ends of the transparent capsule A; capsules A, B, and capsules C between the capsule and the completion signal is passed through cable boxes D.
12. The capsule endoscope system of the inner drive of formula 9 or claim 10, wherein: the capsule endoscope A means is provided within the inner tool means and drive means disposed within the capsule B, but disposed within the capsule A moving the imaging apparatus and the operating state (101), the operating state of motion and the imaging device (101) and the image processing apparatus (2) is associated, the medical imaging apparatus (1) and the operating state of motion and the imaging device (101) are provided in capsules ends A, A capsule is provided at both ends of the transparent; capsule A and capsule B between the completion signal is passed through cable boxes and D.
13. The capsule endoscope system of the inner drive of formula 9 or claim 10, wherein: said endoscopic means, tool means and drive means is provided in the same capsule, is also provided motion and operation state imaging device of the capsule (101), the operating state of motion and the imaging device (101) and the image processing apparatus (2) is associated, the medical imaging apparatus (1) is provided at a left end of the capsule, and the operating state image pickup movement apparatus (101) is provided on the left tool means side.
PCT/CN2008/000176 2007-01-24 2008-01-24 Inner-driven capsule endoscope system WO2008092376A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN 200710078136 CN101011234A (en) 2007-01-24 2007-01-24 Regulating and controlling technique of capsule endoscope
CN200710078136.4 2007-01-24
CN 200810000148 CN101224102B (en) 2007-01-24 2008-01-04 Inner-driving encapsulated endoscopic system
CN200810000148.X 2008-01-04

Publications (1)

Publication Number Publication Date
WO2008092376A1 true WO2008092376A1 (en) 2008-08-07

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Family Applications (1)

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PCT/CN2008/000176 WO2008092376A1 (en) 2007-01-24 2008-01-24 Inner-driven capsule endoscope system

Country Status (1)

Country Link
WO (1) WO2008092376A1 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05212093A (en) * 1992-02-07 1993-08-24 Olympus Optical Co Ltd Automatic traveling capsule device
CN2603657Y (en) * 2003-01-28 2004-02-18 王北田 Medical capsule type radio endoscopic pick-up device
JP2004275358A (en) * 2003-03-14 2004-10-07 Olympus Corp Capsule type medical device
JP2004298561A (en) * 2003-04-01 2004-10-28 Olympus Corp Capsule ultrasonic endoscope
US20050154277A1 (en) * 2002-12-31 2005-07-14 Jing Tang Apparatus and methods of using built-in micro-spectroscopy micro-biosensors and specimen collection system for a wireless capsule in a biological body in vivo
US6951536B2 (en) * 2001-07-30 2005-10-04 Olympus Corporation Capsule-type medical device and medical system
CN1976631A (en) * 2004-02-17 2007-06-06 韩国科学技术研究院 Teleoperated endoscopic capsule equipped with active locomotion system
CN101011234A (en) * 2007-01-24 2007-08-08 重庆特奥科技有限公司 Regulating and controlling technique of capsule endoscope

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05212093A (en) * 1992-02-07 1993-08-24 Olympus Optical Co Ltd Automatic traveling capsule device
US6951536B2 (en) * 2001-07-30 2005-10-04 Olympus Corporation Capsule-type medical device and medical system
US20050154277A1 (en) * 2002-12-31 2005-07-14 Jing Tang Apparatus and methods of using built-in micro-spectroscopy micro-biosensors and specimen collection system for a wireless capsule in a biological body in vivo
CN2603657Y (en) * 2003-01-28 2004-02-18 王北田 Medical capsule type radio endoscopic pick-up device
JP2004275358A (en) * 2003-03-14 2004-10-07 Olympus Corp Capsule type medical device
JP2004298561A (en) * 2003-04-01 2004-10-28 Olympus Corp Capsule ultrasonic endoscope
CN1976631A (en) * 2004-02-17 2007-06-06 韩国科学技术研究院 Teleoperated endoscopic capsule equipped with active locomotion system
CN101011234A (en) * 2007-01-24 2007-08-08 重庆特奥科技有限公司 Regulating and controlling technique of capsule endoscope

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