Coupling positioning device, robotic arm, positioning system and capsule endoscopy system

Abstract

The present invention belongs to the technical field of capsule endoscopes, and specifically discloses a coupling positioning device, a mechanical arm, a positioning system and a capsule endoscope system, wherein the coupling positioning device includes a fixing device and a first detection component located on the coupling positioning device body, the mechanical arm includes a second detection component arranged on the mechanical arm, and is used to realize coupling positioning with the coupling positioning device, the positioning system includes at least one coupling positioning device and a mechanical arm, the capsule endoscope system includes a capsule endoscope and a positioning system, the mechanical arm has a capsule operation control unit, and the mechanical arm controls the operation of the capsule endoscope through the capsule operation control unit. By adopting this technical solution, the position of the human body relative to the mechanical arm is determined through the cooperation of the coupling positioning device and the mechanical arm, and the relative position of the capsule in the human body is obtained at the same time.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical device positioning, and relates to a coupling positioning device, a mechanical arm, a positioning system and a capsule endoscope system. Background Art

[0002] Digestive tract diseases have become one of the main killers threatening human health. Doctors use endoscopes to examine certain areas in the digestive tract so that people can find problems early and avoid the deterioration of digestive tract diseases. However, due to its mechanical connection and power mode, traditional endoscopes can easily cause tissue damage and physiological discomfort to patients. To solve this problem, capsule endoscopes came into being.

[0003] The capsule endoscope is swallowed by the examinee and enters the digestive tract. The capsule is integrated with an image acquisition device for acquiring digestive tract tissue images. For the magnetically controlled capsule endoscope, a multi-degree-of-freedom robotic arm device equipped with a magnetic device is externally provided to control the movement of the capsule in the body. At present, there are many ways to determine the position relationship of the capsule relative to the robotic arm positioning system, but there is no good solution for the position relationship of the human body relative to the robotic arm, so it is impossible to further know the relative position of the capsule in the human body. Summary of the invention

[0004] The present invention aims to at least solve the defect that the human body cannot be positioned in the prior art, and in particular innovatively proposes a coupling positioning device, a mechanical arm, a positioning system and a capsule endoscope system.

[0005] In order to achieve the above-mentioned purpose of the present invention, according to the first aspect of the present invention, the present invention provides a coupling positioning device, including a fixing device and a coupling positioning device body connected to the fixing device, the fixing device is used to fix the coupling positioning device body to the surface of the human body; the coupling positioning device body includes a first detection component, the first detection component sends a positioning detection signal, or receives a positioning detection signal and transmits it to a controller.

[0006] The fixing device of the present invention fixes the coupling positioning device body at a certain position on the human body surface, realizes the positioning of the coupling positioning device body, and is convenient for detection and positioning. At the same time, the first detection component can receive or send a detection signal and transmit the position signal, so that the positioning operation can be carried out smoothly.

[0007] In a preferred embodiment of the present invention, the fixing device comprises an elastic lace, a lace adjustment mechanism is provided on the elastic lace, and the coupling positioning device body is provided on the elastic lace.

[0008] The coupling positioning device body is fixed on the human body surface by an elastic lace, and has a simple structure. The elastic lace has elastic force and can be stretched, so it can be used by people of different body shapes. The elastic lace is fixed by adjusting the position of the elastic lace using a lace adjustment mechanism.

[0009] In another preferred embodiment of the present invention, the lace adjustment mechanism includes matching fixed buckles arranged at both ends of the elastic lace, or the lace adjustment mechanism includes a fixed buckle arranged on one side of the elastic lace, and a matching slot is arranged on the other side of the elastic lace; the coupling positioning device body is fixedly arranged on the elastic lace or movably arranged with adjustable position.

[0010] The fixed buckle controls the connection of the elastic lace, and has a simple structure, which is easy to manufacture and use. The coupling positioning device body can be fixedly set on the elastic lace to avoid erroneous movement of the coupling positioning device body when the elastic lace is positioned. The coupling positioning device body can also be movably set on the elastic lace. When the position of the coupling positioning device body needs to be adjusted, the coupling positioning device body can be directly controlled to slide on the elastic lace to adjust the position, which is easy to operate.

[0011] In yet another preferred embodiment of the present invention, an elastic buffer material is provided on one side of the coupling positioning device body close to the human body surface, a pressure sensor is provided inside the elastic buffer material, and an output end of the pressure sensor is connected to a warning system.

[0012] The elastic buffer material fits the human body, preventing the coupling positioning device from making direct hard contact with the human body and causing discomfort to the human body; at the same time, there is an elastic force between the elastic buffer material and the human body, squeezing each other, making the connection between the two tighter and improving the stability of the connection. The pressure sensor detects the pressure signal at the connection and transmits the signal to the warning system, which determines whether the connection is stable.

[0013] In yet another preferred embodiment of the present invention, the fixing device is an adhesive member or a suction cup.

[0014] Adhesive parts or suction cups are used, which are easy to manufacture and use and have a simple structure.

[0015] In a preferred embodiment of the present invention, when the first detection component receives a signal, the first detection component is a photoelectric sensor, which receives the positioning detection signal and transmits it to the controller; when the first detection component emits a signal, the first detection component is a light beam emitting mechanism.

[0016] The photoelectric sensor cooperates with the light beam emitting mechanism to provide positioning and identification for the robot positioning system. The first detection component can be set as required to cooperate with the robot arm for positioning.

[0017] In another preferred embodiment of the present invention, the coupling positioning device body also includes a signal processing circuit and a communication circuit, which are used to process and convert the signal obtained by the pressure sensor and send it to the controller, the signal processing circuit receives the pressure signal detected by the pressure sensor, the output end of the signal processing circuit is connected to the input end of the communication circuit, and the output end of the communication circuit is connected to the controller.

[0018] The signal processing circuit and the communication circuit can process the signal detected by the first detection component and transmit it to a required component.

[0019] In order to achieve the above-mentioned purpose of the present invention, according to the second aspect of the present invention, the present invention provides a mechanical arm cooperating with a coupling positioning device, the coupling positioning device is the coupling positioning device of the present invention, and a second detection component is arranged on the mechanical arm, and the second detection component receives the positioning detection signal of the first detection component and transmits it to the controller, or the second detection component sends a positioning detection signal to the first detection component.

[0020] The second detection component can receive or send a detection signal, and cooperate with the first detection component to transmit a position signal to determine the relative position of the human body and the robotic arm.

[0021] In a preferred embodiment of the present invention, when the second detection component receives a signal, the second detection component is a photoelectric sensor, which receives the positioning detection signal and transmits it to the controller; when the second detection component emits a signal, the second detection component is a light beam emitting mechanism.

[0022] The second detection component is used in conjunction with the first detection component and is respectively configured as a light beam emitting mechanism or a photoelectric sensor for positioning and identification.

[0023] In another preferred embodiment of the present invention, the light beam emitting mechanism includes a light emitting device and a light collimating device connected to the light emitting device.

[0024] The light emitting device can emit a light beam, and the light collimator adjusts the light beam so that the light beam is emitted vertically.

[0025] In order to achieve the above-mentioned purpose of the present invention, according to the third aspect of the present invention, the present invention also provides a positioning system, including at least one coupling positioning device of the present invention and a robotic arm of the present invention, the coupling positioning device receives a positioning signal sent by the robotic arm or the coupling positioning device sends a positioning signal to the robotic arm, and the coupling positioning device or the robotic arm transmits the received positioning signal to a controller.

[0026] The coupling positioning device cooperates with the mechanical arm to determine the relative position between them.

[0027] In a preferred embodiment of the present invention, when the coupling positioning device receives a positioning signal sent by the robotic arm, the robotic arm vertically sends the positioning signal to the coupling positioning device; when the coupling positioning device sends a positioning signal to the robotic arm, the robotic arm vertically detects the positioning signal.

[0028] Control the robotic arm to vertically send or detect positioning signals to ensure accurate positioning.

[0029] In another preferred embodiment of the present invention, the coupling positioning device is fixed to at least one of the sternal angle, xiphoid process, left anterior superior iliac spine and right anterior superior iliac spine of the human body.

[0030] The positions of the human body's sternal angle, xiphoid process, and left and right anterior superior iliac spines are relatively fixed. As long as the positions of these four bones located in the same plane can be determined, the position of the entire human body can be determined, so they are used as positioning bones.

[0031] In order to achieve the above-mentioned purpose of the present invention, according to the fourth aspect of the present invention, the present invention also provides a capsule endoscopy system, including a capsule endoscope and the positioning system of the present invention, wherein the robotic arm has a capsule operation control unit, and the robotic arm controls the operation of the capsule endoscope through the capsule operation control unit.

[0032] The relative position of the robotic arm and the coupled positioning device is determined by the positioning system, that is, the position of the human body relative to the robotic arm, thereby obtaining the precise position of the capsule in the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a front view of a coupling positioning device in a preferred embodiment of the present invention;

[0034] Figure 2 is a top view of a coupling positioning device in a preferred embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of the structure of a mechanical arm in a preferred embodiment of the present invention;

[0036] Figure 4 It is a structural schematic diagram of a positioning system in a preferred embodiment of the present invention.

[0037] Figure numerals: 1 fixing device; 101 elastic strap; 102 fixing buckle; 103 coupling positioning device body; 104 elastic buffer material; 105 pressure sensor; 106 photoelectric sensor; 2 mechanical arm; 201 light emitting device; 202 light collimating device; 3 subject. DETAILED DESCRIPTION

[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0039] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0040] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0041] The present invention provides a coupling positioning device, such as Figure 1 and 2 As shown, the coupling positioning device comprises a fixing device 1 and a coupling positioning device body 103 connected to the fixing device. The fixing device 1 is used to fix the coupling positioning device body 103 on the surface of the human body.

[0042] The fixing device 1 is an adhesive, a suction cup or an elastic band 101. When an adhesive or a suction cup is used, the coupling positioning device body 103 is arranged on the adhesive or the suction cup, and when in use, it is attached to the body surface by adhesion or adsorption.

[0043] In this embodiment, the fixing device 1 preferably adopts an elastic lace 101, and the coupling positioning device 103 is arranged on the elastic lace 101. The coupling positioning device body 103 is fixedly arranged on the elastic lace 101 or is movably arranged with adjustable position. When the coupling positioning device body 103 is fixedly arranged on the elastic lace 101, it is preferred that the coupling positioning device body 103 is arranged in the middle of the elastic lace 101. Specifically, the coupling positioning device 103 can be inserted into the elastic lace 101, or a hook can be arranged at both ends of the coupling positioning device body 103 to connect the elastic lace 101. A lace adjustment mechanism is also arranged on the elastic lace 101. The lace adjustment mechanism can be two matching fixed buckles (not shown in the figure) arranged at both ends of the elastic lace 101, and the connection is achieved by the two fixed buckles being connected. The lace adjustment mechanism can also include a fixed buckle arranged on one side of the elastic lace, and a matching card slot is arranged on the other side of the elastic lace. The length adjustment of the elastic lace 101 is achieved by the fixed buckle 102 being connected with the card slot. In this embodiment, the buckle structure used in structures such as belts, watch straps, and waist bag straps can also be used. The elastic strap and the buckle can be fixedly connected or flexibly connected. The movable connection facilitates the adjustment of the position of the buckle to adjust the length of the strap.

[0044] In this embodiment, an elastic buffer material 104 is provided on one side of the coupling positioning device body 103 close to the human body surface. The elastic buffer material 104 can be any elastic material that can be used for wearable devices, and can be but not limited to sponge, inflatable cotton or silica gel. The elastic buffer material 104 and the coupling positioning device body 103 can be bonded. A pressure sensor 105 is provided inside the elastic buffer material 104, and the output end of the pressure sensor 105 is electrically connected to the warning system of the controller.

[0045] The coupling positioning device body 103 also includes a first detection component located on the coupling positioning device body 103, and the first detection component can send a positioning detection signal, or receive a positioning detection signal and transmit it to the controller. When the first detection component receives a signal, the first detection component is a photoelectric sensor 106, and the photoelectric sensor 106 receives the positioning detection signal and transmits it to the controller, and the photoelectric sensor 106 is preferably arranged on a side of the coupling positioning device body 103 away from the pressure sensor 105. When the first detection component is emitting a signal, the first detection component is a light beam emitting mechanism.

[0046] The coupling positioning device body of this embodiment also includes a signal processing circuit and a communication circuit. The signal processing circuit receives the pressure signal detected by the pressure sensor. The output end of the signal processing circuit is connected to the input end of the communication circuit, and the output end of the communication circuit is connected to the controller. It is used to process and convert the signal obtained by the pressure sensor and send it to the controller. In a preferred embodiment, the signal processing circuit may include an A / D converter (such as MCP3008, etc.) and a filter (such as LTCC filter, etc.) and a signal amplifier (such as LFC or FET, etc.) that are electrically connected in sequence to process the received pressure signal for subsequent communication circuit transmission. The output end of the communication circuit is electrically connected to the controller to send the pressure signal processed by the signal processing circuit to the controller. The communication circuit can preferably use wired communication controlled by chips such as RS485, or use wireless communication such as Zigbee or WIFI to connect to the warning system. The controller includes a comparator, a first input end of the comparator is electrically connected to a pressure threshold memory, a second input end of the comparator is electrically connected to the output end of the communication system, and the output end of the comparator is electrically connected to a warning system. The specific warning system can use warning devices such as buzzers or LED lights.

[0047] like Figure 3 As shown, this embodiment also provides a mechanical arm 2 that cooperates with a coupling positioning device, the coupling positioning device is the above-mentioned coupling positioning device, and the mechanical arm 2 includes a second detection component arranged on the mechanical arm 2, and the second detection component can receive the positioning detection signal of the first detection component and transmit it to the controller, or the second detection component sends a positioning detection signal to the first detection component. When the second detection component receives a signal, the second detection component is a photoelectric sensor 106, and the photoelectric sensor 106 receives the positioning detection signal and transmits it to the controller. When the second detection component is an emission signal, the second detection component is a light beam emission mechanism.

[0048] In this embodiment, the first detection component is preferably a photoelectric sensor 106, and the second detection component is a light beam emitting mechanism. The light beam emitting mechanism includes a light emitting device 201 and a light collimating device 202 connected to the light emitting device 201. The photoelectric sensor 106 can be an existing photoelectric sensor.

[0049] In another preferred embodiment, the first detection component and the second detection component are provided with a unit for sending a positioning detection signal and a unit for receiving a positioning detection signal, and the unit for receiving a positioning detection signal is connected to a controller. Specifically, the unit for sending a positioning detection signal can be a light beam emitting mechanism; the unit for receiving a positioning detection signal can be a photoelectric sensor. When working, the unit for sending a positioning detection signal on one of the mechanical arm and the coupling positioning device works, and the unit for receiving a positioning detection signal on the other works.

[0050] This embodiment also provides a positioning system, such as Figure 4 As shown, it includes the above-mentioned robotic arm 2 and at least one of the above-mentioned coupling positioning devices 103, the coupling positioning device receives the positioning signal sent by the robotic arm 2 or the coupling positioning device sends a positioning signal to the robotic arm 2, and the coupling positioning device or the robotic arm 2 transmits the received positioning signal to the controller.

[0051] When the coupling positioning device receives the positioning signal sent by the mechanical arm, the mechanical arm vertically sends the positioning signal to the coupling positioning device; when the coupling positioning device sends the positioning signal to the mechanical arm, the mechanical arm vertically detects the positioning signal.

[0052] like Figure 4 As shown, the coupling positioning device body 103 is fixed to at least one of the sternal angle, xiphoid process and left and right anterior superior iliac spines of the human body. Preferably, there are four coupling positioning device bodies 103, which are fixed to the sternal angle, xiphoid process and left and right anterior superior iliac spines of the human body respectively.

[0053] In this embodiment, the robot 2 has at least three degrees of freedom, and can preferably be a six-degree-of-freedom robot. The position of its end manipulator can be accurately controlled or read by a controller (control computer). The second detection component is installed on the robot body or on the end manipulator. The specific installation method can be inlay, bonding, riveting and other connection methods. Taking the second detection component as a parallel beam generator as an example, the parallel beam generator includes a light emitting device 201 and a light collimating device 202 adjacent to its outer side. With the precise control of the posture of the end manipulator, the parallel light generator 202 can emit parallel light beams vertically downward. When the parallel light generator 202 emits parallel light beams vertically downward, the axis of the manipulator and the manipulator are in a straight line. In another preferred embodiment of the invention, the manipulator can be a magnetic control device (such as a magnet) that can control the operation of an external magnetic device.

[0054] During the inspection process, if the coupling between the coupling positioning device body 103 and the specific bone it is positioning becomes loose or offset, or other abnormal conditions occur, the detection value of the pressure sensor 105 will change beyond the acceptable range, causing the alarm system to issue a warning and require the wearer to be re-donned. For example, a subtractor, a comparator and a threshold memory corresponding to the pressure sensor are provided in the controller. The pressure value detected by the pressure sensor is connected to an input end of the subtractor, and the other input end of the subtractor is connected to an initial detection value memory (which stores the initial value detected by the pressure sensor). The output end of the subtractor is connected to an input end of the comparator, and the other input end of the comparator is connected to the threshold memory. When the detected pressure change value is greater than the pressure change in the threshold memory, the controller issues an alarm.

[0055] This embodiment also provides a capsule endoscope system, including a capsule endoscope and a positioning system of the present invention, wherein the robotic arm 2 has a capsule operation control unit, and the robotic arm 2 controls the operation of the capsule endoscope through the capsule operation control unit. In this embodiment, the capsule endoscope is preferably a magnetically controlled capsule endoscope, and the manipulator 2 of the robotic arm 2 is provided with a control magnet. The controller has a robotic arm movement control unit, which is connected to the robotic arm, and specifically, an existing robotic arm movement control unit can be used. In another preferred embodiment, a magnetic field controller is provided in the controller, for example, the strength of the magnetic field is controlled by the magnitude of the applied current.

[0056] Specific operation process: First, the side of the coupling positioning device body 103 provided with the elastic buffer material 104 set on the elastic lace 101 is respectively contacted with at least one of the sternal angle, xiphoid process and left and right anterior superior iliac spines of the subject 3. Preferably, the sides of the four coupling positioning device bodies 103 filled with elastic buffer materials 104 are respectively contacted with the sternal angle, xiphoid process, left and right anterior superior iliac spines of the subject 3. Then the elastic lace 101 is tied to the human body, and the fixing buckle 102 on the elastic lace 101 is buckled. Under the premise of not causing physiological discomfort to the subject 3, a certain elastic tension is made on the fixed elastic lace 101 to ensure that the coupling positioning device body 103 is stably coupled with the specific bones of the human body. The controller records the current pressure value detected by the pressure sensor 105. If during the inspection process, the coupling of the coupling positioning device body 103 with these specific bones is loosened or offset, etc., the detection value of the pressure sensor 105 will change beyond the acceptable range, causing the control computer to issue a warning and require re-wearing.

[0057] If the coupling and positioning device body 103 is coupled normally with the specific human bones during the inspection process, the examinee 4 lies flat on the inspection table 3, and the robot arm 2 is controlled to move to the top of the coupling and positioning device body 103. At this time, the first detection component on the coupling and positioning device body 103 and the second detection component on the robot arm 2 cooperate, and the light emitting device 201 starts to emit a light beam outward, and the light collimating device 202 processes the light beam so that the light beam is vertically directed to the photoelectric sensor 106. In order to ensure the safety of the examinee 3, the robot arm 2 should maintain a certain safety distance from the examinee 3 during the positioning process. After the photoelectric sensor 106 detects the positioning light, it sends a signal to the controller. The signal sent out by the photoelectric sensor 106 may carry its position information or number information. The controller can display its position on the display device, thereby recording the position of the robot arm 2 at this time, thereby determining the relative position of the human body and the robot arm 2, and further obtaining the relative position of the capsule in the human body.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0059] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A positioning system, characterized in that: It includes at least one coupling positioning device and a mechanical arm, wherein the coupling positioning device receives a positioning signal sent by the mechanical arm or the coupling positioning device sends a positioning signal to the mechanical arm, and the coupling positioning device or the mechanical arm transmits the received positioning signal to the controller; When the coupling positioning device receives the positioning signal sent by the mechanical arm, the mechanical arm vertically sends the positioning signal to the coupling positioning device; When the coupled positioning device sends a positioning signal to the robotic arm, the robotic arm detects the positioning signal vertically; The coupling positioning device is fixed to at least one of the sternal angle, the xiphoid process, the left anterior superior iliac spine and the right anterior superior iliac spine of the human body; The coupling positioning device includes a fixing device and a coupling positioning device body connected to the fixing device, wherein the fixing device is used to fix the coupling positioning device body to the surface of the human body, the coupling positioning device is used to position the human body and the mechanical arm, and the coupling positioning device receives a positioning signal sent by the mechanical arm or sends a positioning signal to the mechanical arm; The coupling positioning device body includes a first detection component, which sends a positioning detection signal, or receives a positioning detection signal and transmits it to a controller; When the first detection component receives a signal, the first detection component is a photoelectric sensor, and the photoelectric sensor receives the positioning detection signal and transmits it to the controller; When the first detection component is emitting a signal, the first detection component is a light beam emitting mechanism; A second detection component is provided on the mechanical arm matched with the coupling positioning device, and the second detection component receives the positioning detection signal of the first detection component and transmits it to the controller, or the second detection component sends the positioning detection signal to the first detection component; When the second detection component receives a signal, the second detection component is a photoelectric sensor, and the photoelectric sensor receives the positioning detection signal and transmits it to the controller; When the second detection component is emitting a signal, the second detection component is a light beam emitting mechanism.

2. The positioning system according to claim 1, characterized in that The fixing device comprises an elastic lace, a lace adjustment mechanism is arranged on the elastic lace, and the coupling positioning device body is arranged on the elastic lace.

3. The positioning system according to claim 2, characterized in that The lace adjustment mechanism includes matching fixing buckles arranged at both ends of the elastic lace, or the lace adjustment mechanism includes a fixing buckle arranged on one side of the elastic lace, and a matching card slot is arranged on the other side of the elastic lace; The coupling and positioning device body is fixedly arranged on the elastic strap or movably arranged with adjustable position.

4. The positioning system according to any one of claims 1 to 3, characterized in that: An elastic buffer material is provided on one side of the coupling positioning device body close to the human body surface, a pressure sensor is provided inside the elastic buffer material, and an output end of the pressure sensor is connected to a warning system.

5. The positioning system according to claim 1, characterized in that: The fixing device is an adhesive member or a suction cup.

6. The positioning system according to claim 4, characterized in that: The coupling positioning device body also includes a signal processing circuit and a communication circuit. The signal processing circuit receives the pressure signal detected by the pressure sensor. The output end of the signal processing circuit is connected to the input end of the communication circuit. The output end of the communication circuit is connected to the controller.

7. The positioning system according to claim 1, characterized in that: The light beam emitting mechanism comprises a light emitting device and a light collimating device connected to the light emitting device.

8. A capsule endoscopy system, characterized in that: It comprises a capsule endoscope and the positioning system according to any one of claims 1 to 7, wherein the robotic arm has a capsule operation control unit, and the robotic arm controls the operation of the capsule endoscope through the capsule operation control unit.

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