WO2020009253A1

WO2020009253A1 - Capsule-type endoscope and control method thereof

Info

Publication number: WO2020009253A1
Application number: PCT/KR2018/007525
Authority: WO
Inventors: 김성욱
Original assignee: (주) 디오스파마
Priority date: 2018-07-03
Filing date: 2018-07-03
Publication date: 2020-01-09

Abstract

The present invention relates to a capsule-type endoscope and a control method thereof. One aspect of a capsule-type endoscope according to an embodiment of the present invention, with regard to a capsule-type endoscope for photographing tissue while moving inside a large intestine due to a bowel movement of the large intestine, comprises: a battery module for supplying power; a photographing module, which is coupled to one end of the battery module, for filming the outside by means of receiving power from the battery module; an expansion module coupled to the other end of the battery module, and of which the volume is expanded by means of a body fluid of the large intestine, wherein the expansion module is fixed to the other end of the battery module, and comprises: an outer shell member removed by the body fluid of the large intestine; an inner shell member, which is disposed inside the outer shell member, for delivering the body fluid of the large intestine to the outer shell member; and an expansion member embedded in the inner shell member and formed of a cellulose material of which the volume expands by means of absorbing the body fluid of the large intestine delivered through the inner shell member when the outer shell member is removed.

Description

Capsule type endoscope and its control method

The present invention relates to a capsule endoscope and a control method thereof.

Endoscopy is a medical device for imaging the digestive system of the human body, such as the stomach, large intestine or small intestine, mainly for medical purposes. In general, since the camera mounted at the tip of the cable inserted through the examiner's mouth or anus captures the digestive system such as the stomach or the large intestine, the scope of the photographing is limited and the pain of the inspector may be caused during the insertion process. In order to prevent this, the anesthesia is followed after the anesthesia is made.

In order to solve this problem, a capsule endoscope moving along the digestive system of the human body is used. By the way, the diameter of the small intestine is about 2 ~ 4cm while the diameter of the large intestine is about 5 ~ 8cm maximum. Is generated.

In the Republic of Korea Patent Publication No. 1545442 (hereinafter referred to as "prior patent document"), a technique for solving the problem of the capsule endoscope as described above is proposed. Referring to the prior patent document, conventionally, when the capsule membrane 140 is dissolved and removed by the body fluid of the large intestine having a relatively high pH, the volume expansion material 131 expands, thereby moving the capsule endoscope by the bowel movement of the large intestine. Done.

However, the following problems occur in the capsule endoscope according to the prior art.

First, in the related art, gelatin 141 is used as the capsule film 140. In general, however, gelatin is extracted from the skin, bone and muscle tissue of an animal. Therefore, by using gelatin extracted from the skin of an animal contaminated by a disease or the like, there is a risk of harm to the human body. In particular, when using gelatin extracted from the skin of a cow infected with BSE (Bovine Spongiform Encephalopathy), which is of recent concern, there is a possibility of infection by Transmissible Spongiform Encephalopathy (TSE).

In addition, it is conventionally described to use a hydro-gel component, for example, Favor PAC 300 manufactured by Ekonik, as the volume expanding material 131. However, Favor PAC 300 is a super absorbent polymer, and polyacrylic acid (polyAcrylic acid, PAA) and polyvinylamine (polyvinylamine, PVA) is a typical example. In the case of such superabsorbent polymers, the expansion occurs well at certain pH, for example alkaline pH conditions. However, since the pH of the large intestine may be different depending on the type of food or the person ingested, the volume expansion material 131 may not be able to expand as much as the designed volume according to the pH of the large intestine.

In addition, conventionally, the envelope 130 in which the volume-expandable material 131 is embedded is formed of a porous paper material. Therefore, conventionally, even when the capsule membrane 140 is melted or damaged in another digestive system other than the large intestine, for example, the small intestine, the outer membrane 130 is partially expanded by the volume expansion material 131 due to the body fluid. By being removed, the volume expandable material 131 may be substantially inflated unnecessarily.

In addition, conventionally, the volume expanding material 131 is provided only at one end of the housing 120. Therefore, in the related art, the optical dome 110 is rotated around the volume-expandable material 131 in the process of moving the large intestine.

The present invention has been made to solve the problems caused by the prior art as described above, and an object of the present invention is to provide a capsule endoscope and a control method thereof configured to reduce the human hazard.

Another object of the present invention is to provide a capsule endoscope configured to enable accurate movement in the large intestine and a control method thereof.

Still another object of the present invention is to provide a capsule endoscope configured to prevent expansion of the expansion member in the digestive system other than the large intestine, and a control method thereof.

Still another object of the present invention is to provide a capsule endoscope configured to allow more accurate imaging and a control method thereof.

In one aspect of the capsule endoscope according to an embodiment of the present invention for achieving the above object, the capsule endoscope to shoot the tissue while moving the inside of the colon by the bowel movement of the large intestine: a battery module for providing a power; A photographing module coupled to one end of the battery module and configured to photograph the outside by receiving power from the battery module; An expansion module coupled to the other end of the battery module, the volume of which is expanded by the body fluid of the large intestine; It includes, The expansion module is fixed to the other end of the battery module, the outer shell member is removed by the body fluids of the large intestine; An endothelial member disposed inside the outer shell member and transferring the body fluid of the large intestine therein; And an expansion member embedded in the endothelial member, wherein the expansion member is formed of a cellulose material that absorbs the body fluid of the large intestine delivered through the endothelial member and expands its volume when the envelope member is removed. It includes.

In one aspect of the capsule endoscope according to another embodiment of the present invention, the capsule endoscope to shoot the tissue while moving the inside of the colon by the bowel movement of the large intestine: a battery module for providing a power; First and second photographing modules respectively coupled to both ends of the battery module and configured to photograph the outside by receiving power from the battery module; A pair of expansion modules respectively coupled between the battery module and the first and second photographing modules, the volume of which is expanded by the body fluid of the large intestine; The expansion module includes: an outer shell member fixed between the battery module and the first and second photographing modules, respectively, and removed by the body fluid of the large intestine; An endothelial member disposed inside the outer shell member and transferring the body fluid of the large intestine therein; And an expansion member embedded in the endothelial member, wherein the expansion member is formed of a cellulose material that absorbs the body fluid of the large intestine delivered through the endothelial member and expands its volume when the envelope member is removed. Each includes.

In an aspect of a capsule endoscope according to another embodiment of the present invention, the first and second imaging modules move relative to the battery module by expansion of the expansion module.

In one embodiment of the capsule endoscope according to another embodiment of the present invention, the capsule endoscope to shoot the tissue while moving the inside of the colon by the bowel movement of the large intestine: a battery module for providing a power; A photographing module coupled to one end of the battery module and configured to photograph the outside by receiving power from the battery module; A dummy module coupled to the other end of the battery module; A pair of expansion modules disposed between the battery module, the imaging module, and the dummy module, the volume of which is expanded by the body fluid of the large intestine; The expansion module includes: an outer shell member fixed between the battery module, the imaging module, and the dummy module, respectively, and removed by the body fluid of the large intestine; An endothelial member disposed inside the outer shell member and transferring the body fluid of the large intestine therein; And an expansion member embedded in the endothelial member, wherein the expansion member is formed of a cellulose material that absorbs the body fluid of the large intestine delivered through the endothelial member and expands its volume when the envelope member is removed. Each includes.

In an aspect of a capsule endoscope according to another embodiment of the present invention, the imaging module and the dummy module move relative to the battery module by expansion of the expansion module.

In one aspect of the capsule endoscope according to the embodiments of the present invention, the envelope member, hydroxypropyl methyl cellulose (Hydroxypropyl Methyl Cellulose, HPMC) that is dissolved by removing the liquid of the pH corresponding to the pH of the body fluid of the large intestine or Anhydrous Calcium Phosphate (ADP) is added to form hydroxypropyl methylcellulose.

In one aspect of the capsule endoscope according to embodiments of the present invention, the expandable member comprises a plurality of compressed cellulose pellets.

In one aspect of the capsule endoscope according to the embodiments of the present invention, the endothelial member is delivered to the expansion member, the body fluids, and may be crushed when an external force greater than a predetermined pressure is applied by the expansion of the expansion member. So that it is formed into a mash shape of polyethylene material.

One aspect of the control method of the capsule endoscope according to an embodiment of the present invention, the control method of the capsule endoscope according to any one of

claims

1, 2 and 4, wherein: the position of the capsule endoscope is determined step; If the position of the capsule endoscope is determined to be the digestive system before the colon, photographing the camera module at a preset first photographing speed; And when the position of the capsule endoscope is determined to be a large intestine, photographing by the camera module at a second predetermined photographing speed at a higher speed than the first photographing speed; It includes.

In one aspect of the method of controlling the capsule endoscope according to an embodiment of the present invention, the capsule endoscope is based on the digestive system in which the capsule endoscope is located in accordance with the pH or expansion of the expansion module is the capsule endoscope to the digestive system or colon before the colon It is determined whether or not it is located.

According to the capsule endoscope according to an embodiment of the present invention and a control method thereof, the following effects can be expected.

First, in the embodiment of the present invention, the hydroxypropyl methyl cellulose (HPMC) or calcium phosphate anhydrous (AnhydrousiumDibasic Calcium Phosphate, ADCP) harmless to the human body due to the outer skin member dissolved by the moisture of the pH corresponding to the pH of the large intestine ) Is added hydroxypropyl methylcellulose. Therefore, according to the embodiment of the present invention, even if the outer shell member melts in the inside of the colon, it is possible to prevent contamination or disease of the human body by this.

In addition, in the embodiment of the present invention, a plurality of compressed cellulose pellets are used as the expansion member that expands in the large intestine. Therefore, according to an embodiment of the present invention, when the outer shell member is dissolved and removed by the pH corresponding to the pH of the colon regardless of the pH, the expansion of the expansion member by the designed volume is achieved, thereby substantially eliminating the capsule-type endoscope in the colon. Accurate movements can be made.

In the embodiment of the present invention, the endothelial member in which the expansion member is embedded is crushed only when the expansion member is expanded by a liquid having a pH corresponding to the pH of the body fluid of the large intestine, and an external force of a predetermined pressure or more is applied. Therefore, according to the embodiment of the present invention, it is possible to prevent the shell member from expanding in the digestive system other than the large intestine.

In addition, in the embodiment of the present invention, the expansion module is disposed between both ends, that is, between the first and second camera module or the camera module and the dummy module, and by the expansion of the expansion module, the first and second camera module or camera module And the dummy module moves relative to the battery module. Therefore, according to the embodiment of the present invention, since the contact with the large intestine at least two points can be more stable to move along the large intestine to ensure the stability of the shooting and at the same time minimize the length until moving to the large intestine, relatively narrow Efficient movement in the small intestine, etc. of a diameter becomes possible.

1 is a cross-sectional view showing the expansion process of the expansion module in the capsule endoscope according to the first embodiment of the present invention.

Figure 2 is a cross-sectional view showing the expansion process of the expansion module in the capsule endoscope according to the second embodiment of the present invention.

Figure 3 is a cross-sectional view showing the expansion process of the expansion module in the capsule endoscope according to the third embodiment of the present invention.

Figure 4 is a flow chart showing a capsule endoscope control method according to an embodiment of the present invention.

Hereinafter, a capsule endoscope according to a first embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

Referring to FIG. 1, the capsule endoscope 1 according to the present embodiment is to photograph the digestive system while moving along the digestive system. In particular, in consideration of the diameter difference between the small and large intestine, the bowel movement is performed not only in the small intestine but also in the large intestine. It is configured to be movable by. The endoscope 1 includes a battery module 101, a camera module 201, and an expansion module 301.

In more detail, the battery module 101 provides a power source for the operation of the camera module 201. To this end, the battery module 101 is electrically connected to the camera module 201. The battery module 101 may be configured in a form in which a battery is embedded in a housing.

The camera module 201 is provided with power from the battery module 101 to photograph the outside, substantially the inside of the digestive system to move the capsule endoscope 1, and provides illumination for the shooting. The camera module 201 may be configured, for example, in a form in which a substrate on which a camera unit for photographing and an illumination unit for illumination are mounted is embedded in a housing. The camera module 201 is coupled to one end of the battery module 101.

On the other hand, when the capsule endoscope 1 moves from the small intestine to the large intestine, the expansion module 301 expands its volume by the body fluid of the large intestine and contacts the inner wall of the large intestine, whereby the capsule endoscope 1 is colonized. The bowel movements make it possible to move along the large intestine. To this end, the expansion module 301 is coupled to the other end of the battery module 101. In the present embodiment, the expansion module 301 includes an outer shell member 310, an inner shell member 320, and an expansion member 330.

More specifically, the envelope member 310 is fixed to the other end of the battery module 101, and removed by the body fluid of the large intestine. Substantially, the outer shell member 310 is removed by dissolving the liquid at a pH corresponding to the pH of the body fluid of the large intestine, substantially by the body fluid of the large intestine. In the present embodiment, the shell member 310 is formed of hydroxypropyl methylcellulose to which hydroxypropyl methyl cellulose (HPMC) or anhydrous calcium phosphate (ADP) is added. Therefore, by extracting from the skin, bone and muscle tissue of the animal, by using gelatin that can be contaminated by animal diseases and the like can be prevented from harm to the human body of concern.

The endothelial member 320 is disposed inside the outer shell member 310, and transfers the body fluid of the large intestine therein. For example, the endothelial member 320 may be formed in a mesh shape made of polyethylene. In particular, in the present embodiment, the endothelial member 320 is crushed when an external force equal to or greater than a predetermined pressure is applied by the expansion member 330 which expands by the body fluid of the large intestine.

Therefore, in the present embodiment, even if a part of the envelope member 310 is abnormally removed because the envelope member 310 is damaged or melted by another digestive system other than the large intestine, for example, the body fluid of the small intestine, not the colon fluid. When the pressure predetermined by the expanding member 300 to expand is not provided to the endothelial member 320, that is, when the expansion member 330 is not expanded by a predetermined volume, the endothelial member ( The expansion of the expansion member 330 may be limited by the 320. In other words, in this embodiment, even if the abnormal partial removal of the shell member 310 occurs so that the expansion member 330 is in contact with the body fluid therein in another digestive system other than the large intestine, the expansion member 330 Expansion is prevented by the endothelial member 320.

On the other hand, the expansion member 330 is embedded in the endothelial member 320, when the outer shell member 310 is removed absorbs the body fluid of the large intestine delivered through the endothelial member 320 to expand its volume. In this embodiment, the expansion member 330 comprises a plurality of compressed cellulose pellets. However, since the compressed cellulose pellet is absorbed and expanded, according to the present embodiment, once the shell member 310 is melted and removed by the body fluid of the large intestine, the expansion member 330 is independent of the pH of the body fluid of the large intestine. Absorbs body fluid and can expand to a predetermined volume. In addition, the expanded volume of the expansion member 330 may be adjustable by the degree of compression and / or the number of cellulose pellets. In other words, in the present embodiment, only the outer shell member 310 is designed to be removed by melting by a liquid of a specific pH, that is, a liquid of pH of the body fluid of the large intestine, and when the outer shell member 310 is melted and removed, the expansion member 330 absorbs and expands the body fluids of the large intestine.

Within the scope of the basic technical idea of the present invention, many modifications are possible to those skilled in the art, and the scope of the present invention should be interpreted based on the appended claims. will be.

Hereinafter, a capsule endoscope according to a second embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

Figure 2 is a cross-sectional view showing the expansion process of the expansion module in the capsule endoscope according to the second embodiment of the present invention. The same reference numerals in FIG. 1 are used for the same components as those in the first embodiment of the present invention, and the detailed description thereof will be omitted.

2, the capsule endoscope 2 according to the present embodiment includes a battery module 102, the first and

second camera modules

202A and 202B, and a pair of expansion modules 302. . Substantially individual configurations of the battery module 102, the first and

second camera modules

202A, 202B and the expansion module 302 are described in the above-described battery module 101, camera module of the first embodiment of the present invention. 201 and expansion module 301.

However, in the present embodiment, the first and

second camera modules

202A and 202B are coupled to both ends of the battery module 102, respectively. Therefore, in the process of moving the capsule endoscope 2 along the large intestine, it may be possible to shoot in both directions.

The expansion module 302 is coupled between the battery module 102 and the first and

second camera modules

202A and 202B, respectively. Therefore, by contacting the inner surface of the large intestine at least two points by the expansion module 302, it is possible to ensure a more stable movement of the capsule endoscope 2 and thereby the stability of the imaging.

In addition, in the present embodiment, the first and

second camera modules

202A and 202B move relative to the battery module 102 by the expansion of the expansion module 302. Therefore, before the expansion module 302 is inflated, while minimizing the overall length of the capsule endoscope 2, when the expansion module 302 is inflated it is possible to secure a sufficient area to contact the inner wall of the colon. . In particular, in a small diameter, such as a relatively narrow diameter, the length of the capsule endoscope 2 is minimized, it may be possible to move more efficiently.

Hereinafter, a capsule endoscope according to a third embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

3 is a cross-sectional view showing the expansion process of the expansion module in the capsule endoscope according to the third embodiment of the present invention. For the same components as those of the second embodiment of the present invention described above among the components of the present embodiment, reference numerals of FIG. 2 are used, and detailed description thereof will be omitted.

Referring to FIG. 3, the capsule endoscope 3 according to the present embodiment includes a battery module 103, a camera module 203A, a dummy module 203B, and a pair of expansion modules 303. Substantially individual configurations of the battery module 103, the camera module 203A and the expansion module 303 may include the battery module 102, the first camera module 202A and the expansion module (2) of the second embodiment of the present invention described above. 302).

However, in this embodiment, the second camera module 202B of the second embodiment of the present invention is replaced with the dummy module 203B. In other words, when it is not necessary to photograph backward in the moving direction in the large in view of the manufacturing cost, the dummy module 203B in which a separate camera is deleted is coupled to the other end of the battery module 103. Also in this embodiment, like the second embodiment of the present invention, the camera module 203A and the dummy module 203B move relative to the battery module 103 by the expansion of the expansion module 303. . In FIG. 3, the dummy module 203B is illustrated in the same shape as the battery module 103, but may be formed in a shape different from that of the battery module 103.

Hereinafter, a capsule endoscope control method according to an embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

Referring to FIG. 4, in the capsule endoscope control method according to the present embodiment, the position of the

capsule endoscopes

1, 2, and 3 in the interior of the digestive system is first determined (S110). In the example, it is determined whether the capsule endoscope (1) (2) (3) is located in the digestive system or colon before the colon after entering the digestive system.

For example, a sensor module (not shown) separately provided in the capsule endoscope (1) (2) (3) detects the pH or whether the expansion module (301) 302 is expanded, and accordingly the It may be determined whether the capsule endoscope (1) (2) (3) is located in the digestive system or colon before the colon. That is, when the pH detected by the sensor module is the pH of the body fluid of the large intestine, or when the sensor module detects that the

expansion modules

301 and 302 are inflated, the capsule endoscope (1) (2) (3) The large intestine is determined to be located, in other cases, the capsule endoscope (1) (2) (3) can be determined to be located in the digestive system before the large intestine, such as the small intestine. As another example, between a receiving module (not shown) attached to the outside of the human body corresponding to each digestive system of the human body and a transmitting module (not shown) separately provided in the capsule endoscope (1) (2) (3) By the transmission and reception of the signal it can be determined whether the capsule endoscope (1) (2) (3) is located in the digestive system or colon before the colon.

Next, in step 110, if it is determined that the capsule endoscope (1) (2) (3) is located in the digestive system before the colon, the capsule endoscope (1) (2) (3), substantially The

camera modules

201, 202A, 202B, and 203A photograph the inside of the digestive system at a preset first photographing speed. (S120) In step 120, the first photographing speed is determined by, for example. For example, it can be set three times / second.

On the other hand, in step 110, when it is determined that the capsule endoscope (1) (2) (3) is located in the large intestine, the camera module 201 (202A) (202B) (203A) is a preset second The inside of the digestive system is photographed at a photographing speed. (S130) In step 130, the second photographing speed is set at a higher speed than the first photographing speed, for example, 6 times / sec. Can be. This is to obtain a large amount of the captured image for the large intestine relatively large compared to the small intestine.

Thus, in this embodiment, the position of the capsule endoscope (1) (2) (3), that is, whether the capsule endoscope (1) (2) (3) is located in the digestive system or colon before the colon After the determination, the photographing speed of the

camera modules

201, 202A, 202B, and 203A is adjusted according to the positions of the

capsule endoscopes

1, 2, and 3 determined. Therefore, according to the present embodiment, the capsule endoscope (1) (2) (3) can be taken effectively in accordance with the digestive system that the image taken. In addition, when determining the position of the capsule endoscope (1) (2) (3) according to the expansion of the pH or the expansion module (301) 302, the capsule endoscope (1) (2) ( It is not necessary to attach the receiving module and the transmitting module, in particular, the receiving module, to the human body for determining the position of 3), so that the capsule endoscope (1) (2) (3) can be used more simply and easily. Will be.

Claims

In a capsule endoscope that photographs tissue while moving inside of the colon by the bowel movement of the colon:

A battery module for providing power;

A photographing module coupled to one end of the battery module and configured to photograph the outside by receiving power from the battery module;

An expansion module coupled to the other end of the battery module, the volume of which is expanded by the body fluid of the large intestine; Including,

The expansion module,

An outer shell member fixed to the other end of the battery module and removed by the body fluid of the large intestine;

An endothelial member disposed inside the outer shell member and transferring the body fluid of the large intestine therein; And

An expansion member embedded in the endothelial member, wherein the expansion member is formed of a cellulose material that absorbs the body fluid of the large intestine delivered through the endothelial member and expands in volume thereof; Capsule endoscope comprising a.
In a capsule endoscope that photographs tissue while moving inside of the colon by the bowel movement of the colon:

A battery module for providing power;

First and second photographing modules respectively coupled to both ends of the battery module and configured to photograph the outside by receiving power from the battery module;

A pair of expansion modules respectively coupled between the battery module and the first and second photographing modules, the volume of which is expanded by the body fluid of the large intestine; Including,

The expansion module,

An outer shell member fixed between the battery module and the first and second photographing modules, respectively, and removed by a body fluid of the large intestine;

An endothelial member disposed inside the outer shell member and transferring the body fluid of the large intestine therein; And

An expansion member embedded in the endothelial member, wherein the expansion member is formed of a cellulose material that absorbs the body fluid of the large intestine delivered through the endothelial member and expands in volume thereof; Capsule endoscopes each comprising a.
The method of claim 2,

The first and second imaging module, the capsule endoscope to move relative to the battery module by the expansion of the expansion module.
In a capsule endoscope that photographs tissue while moving inside of the colon by the bowel movement of the colon:

A battery module for providing power;

A photographing module coupled to one end of the battery module and configured to photograph the outside by receiving power from the battery module;

A dummy module coupled to the other end of the battery module;

A pair of expansion modules disposed between the battery module, the imaging module, and the dummy module, the volume of which is expanded by the body fluid of the large intestine; Including,

The expansion module,

An outer shell member fixed between the battery module, the imaging module, and the dummy module, and removed by the body fluid of the large intestine;

An endothelial member disposed inside the outer shell member and transferring the body fluid of the large intestine therein; And

An expansion member embedded in the endothelial member, wherein the expansion member is formed of a cellulose material that absorbs the body fluid of the large intestine delivered through the endothelial member and expands in volume thereof; Capsule endoscopes each comprising a.
The method of claim 4, wherein

The imaging module and the dummy module, the capsule endoscope to move relative to the battery module by the expansion of the expansion module.
The method according to any one of claims 1 to 5,

The outer skin member is hydroxy-added hydroxypropyl methylcellulose (HPMC) or anhydrous calcium phosphate (Anhydrous®Dibasic Calcium Phosphate (ADCP)), which is dissolved by removing a liquid at a pH corresponding to the pH of the body fluid of the large intestine. Capsule type endoscope formed of propyl methylcellulose.
The method according to any one of claims 1 to 5,

The inflating member includes a plurality of compressed cellulose pellets.
The method according to any one of claims 1 to 5,

The endothelial member is a capsule endoscope that is formed in a mash shape made of polyethylene so as to deliver the body fluid of the large intestine to the expansion member, and to be broken when an external force greater than a predetermined pressure is applied by the expansion of the expansion member.
In the control method of the capsule endoscope according to any one of claims 1, 2 and 4.

Determining the position of the capsule endoscope;

If the position of the capsule endoscope is determined to be the digestive system before the colon, photographing the camera module at a preset first photographing speed; And

If the position of the capsule endoscope is determined to be a large intestine, photographing by the camera module at a second predetermined photographing speed at a higher speed than the first photographing speed; Control method of the capsule endoscope comprising a.
The method of claim 9,

Control method of the capsule endoscope is determined whether the capsule endoscope is located in the digestive system or colon before the colon in accordance with the pH or expansion of the expansion module to the digestive system is located.