Magnetically controlled inflatable intravital capsule endoscope

Abstract

The present invention relates to an inflatable in-vivo capsule endoscope, comprising a sensing device for capturing in-vivo images and one or more permanent magnets disposed inside the capsule body for magnetically controlling the endoscope. The inflatable in-vivo capsule further comprises an inflatable float ring connected to the outside of the capsule body. An inflation device is used to inject gas into the inflatable float ring to inflate the in-vivo capsule endoscope, so as to reduce the specific gravity of the in-vivo capsule endoscope, such that when the inflatable float ring is injected with gas having a volume higher than a threshold volume, the inflatable in-vivo capsule endoscope floats in a liquid. When in an external magnetic field, the inflatable in-vivo capsule endoscope is magnetically controlled and navigated by the permanent magnets. Compared with a conventional non-inflated capsule, a reduced magnetic field intensity and external magnet size can magnetically control and navigate the inflated capsule floating in a liquid.

Description

[0001] Cross - reference

[0002] This application claims priority to U.S. Patent Application No. US17 / 062124, filed on October 2, 2020, and U.S. Provisional Patent Application No. US62 / 911688, filed on October 7, 2019. The entire contents of these two applications are incorporated herein by reference. Technical Field

[0003] Embodiments of the present invention relate to an ingestible or in - vivo capsule endoscope configured to traverse and image at least a portion of the gastrointestinal (GI) tract. More specifically, some embodiments relate to an ingestible capsule endoscope having a permanent magnetic dipole moment configured to be magnetically guided by a magnetic field generated by a magnetic device located outside the human body when inside the human body. Background Art

[0004] Traditional capsule endoscopes use magnetic field guidance to move inside the human body. The capsule endoscope includes a magnet, a battery, a camera, and other electronic components. Due to its relatively large weight, it will sink in liquid. Therefore, when the capsule endoscope enters a liquid - filled cavity (such as the stomach), it usually sinks to the bottom of the cavity.

[0005] After the capsule endoscope sinks, it stays at the bottom of the cavity. A relatively large magnetic force (such as 0.006 - 0.06 N) is required to overcome the frictional force and resistance between the capsule endoscope and the bottom of the cavity to move the capsule. Generally, a traditional magnetically controlled capsule endoscope system needs to set up a large magnet to generate a strong enough magnetic field to control the rotation or movement of the sunken capsule endoscope. Such a magnet is usually large in volume, occupies the entire room, and cannot be moved, which is very inconvenient for users. In addition, when the capsule sinks, its field of view is usually blocked by the cavity wall and the bottom of the cavity, which will obscure the parts that need to be photographed.

[0006] Therefore, a more effective magnetically controlled capsule endoscope system is needed. Summary of the Invention

[0007] To solve the above problems, the present invention provides an inflatable in - vivo capsule endoscope system that makes the capsule endoscope float in the liquid. When floating, the capsule endoscope suspends in the liquid of the stomach or other filled cavities. The buoyancy reduces the frictional force or resistance between the capsule endoscope and the cavity wall, making it easier for the capsule endoscope to be controlled by a magnetic field to move. Compared with the sunken capsule endoscope, the magnetic force required to move the floating capsule endoscope is significantly lower (such as 0.0006 - 0.006 N), for example, reduced by a factor of ten or an order of magnitude. And the magnetic field can also be generated by a magnet smaller than that of the traditional system. In some embodiments, the magnet can be small enough to be handheld or portable, enabling more patients to receive magnetically controlled capsule endoscopy.

[0008] In addition, since the suspended capsule is separated from the bottom of the cavity, embodiments of the present invention can reduce or eliminate the obstruction or occlusion of the field of view of the capsule endoscope imaging device by the cavity wall or the bottom of the cavity. Thus, compared with traditional capsule endoscopes, embodiments of the present invention can improve the visibility of regions of interest in the images captured by the suspended capsule endoscope. In some embodiments, by adjusting the amount of inflation, the capsule can float to a height below the liquid surface to prevent refraction or glare on the surface, thereby further improving the image quality.

[0009] In one embodiment of the present invention, there is provided an inflatable in-vivo capsule endoscope, which includes a capsule body; a sensing device disposed within the capsule body for capturing in-vivo images; an inflatable floating ring disposed outside the capsule body; and one or more permanent magnets disposed within the capsule body. The inflation device is configured to inflate the capsule endoscope by injecting gas into the inflatable floating ring to reduce the specific gravity of the in-vivo capsule endoscope. When the inflatable floating ring is injected with a gas volume higher than a threshold volume, the capsule endoscope floats in the liquid. The one or more permanent magnets have a permanent magnetic moment that enables the in-vivo capsule endoscope to move under the action of an external magnetic field.

[0010] In one embodiment of the present invention, there is provided a method of operating an inflatable in-vivo capsule endoscope. The inflatable in-vivo capsule endoscope is introduced into a cavity containing liquid in a living body in an un-inflated state. The capsule endoscope includes a capsule body, an inflatable floating ring disposed outside the capsule body, and a sensing device disposed within the capsule body for capturing in-vivo images. The inflation device is activated, and the inflation device injects a gas volume higher than a threshold volume into the inflatable floating ring to inflate the inflatable floating ring, thereby reducing the specific gravity of the in-vivo capsule endoscope and causing the capsule endoscope to float in the liquid of the cavity. The floating capsule endoscope is controlled to move in the body by acting on one or more permanent magnets having a permanent magnetic dipole moment within the capsule body with an external magnetic field. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The subject matter of the present invention is particularly pointed out and distinctly claimed at the end of the specification. However, the construction and method of operation of the present invention, together with its objects, features, and advantages, will be best understood from the following description of specific embodiments in conjunction with the accompanying drawings, in which:

[0012] Figure 1 are schematic diagrams of an inflatable in-vivo capsule endoscope provided by an embodiment of the present invention in an un-inflated state (left figure) and an inflated state (right figure);

[0013] Figure 2 and Figure 3 are of an inflatable capsule endoscope provided by an embodiment of the present invention in an un-inflated state ( Figure 2) and the inflated state ( Figure 3 ) within a biological cavity;

[0014] Figure 4 is an exploded view of an inflatable capsule endoscope and its components provided by an embodiment of the present invention;

[0015] Figure 5 is a schematic diagram of an external magnetic control system provided by an embodiment of the present invention;

[0016] Figure 6 is a schematic diagram of a tethering system provided by an embodiment of the present invention for connecting an in - vivo floating ring to an external inflation device through an elongated tether;

[0017] Figure 7 is a schematic diagram of a tether provided by an embodiment of the present invention for connecting an in - vivo floating ring and an external inflation device;

[0018] Figures 8 - 11 is a schematic diagram of a "balloon inflation" type floating ring adhesively connected to a capsule body provided by an embodiment of the present invention;

[0019] Figures 12 - 14 is a schematic diagram of a "cup inflation" type floating ring elastically stress - connected to a capsule body provided by an embodiment of the present invention;

[0020] Figures 15 - 16 is a schematic diagram of a radially asymmetric inflatable floating ring provided by an embodiment of the present invention;

[0021] Figures 17 - 18 is a schematic diagram of a radially and longitudinally asymmetric inflatable floating ring provided by an embodiment of the present invention;

[0022] Figure 19 is a schematic diagram of a helical inflatable floating ring provided by an embodiment of the present invention;

[0023] Figure 20 is a schematic diagram of an inflatable capsule endoscope (with a helical inflatable floating ring) provided by an embodiment of the present invention in the non - inflated state (left figure) and the inflated state (right figure) respectively;

[0024] Figure 21 is a schematic diagram of a tethering system provided by an embodiment of the present invention for connecting a helical inflatable floating ring to an external inflation device through an elongated tether;

[0025] Figure 22 is an exploded view of an inflatable capsule endoscope (with a helical inflatable floating ring) and its components provided by an embodiment of the present invention, and the components include a radially polarized magnet;

[0026] Figure 23 Schematic diagram of the blocked field of view of the inflatable capsule endoscope (the inflatable floating ring is spiral) provided by an embodiment of the present invention in a non-inflated state in a narrow channel;

[0027] Figure 24 Schematic diagram of the enlarged field of view of the inflatable capsule endoscope (the inflatable floating ring is spiral) provided by an embodiment of the present invention in an inflated state in an expanded channel;

[0028] Figure 25 Schematic diagram of the spiral floating ring including an elastic airbag provided by an embodiment of the present invention in a non-inflated state;

[0029] Figure 26 Schematic diagram of the capsule endoscope provided by an embodiment of the present invention passing through a narrow channel in a non-inflated state (upper figure) and an inflated state (lower figure) of the elastic spiral floating ring;

[0030] Figure 27 Schematic diagram of the relationship between the rotation direction and the translational propulsion direction of the inflatable capsule endoscope (the inflatable floating ring is spiral) provided by an embodiment of the present invention;

[0031] Figure 28 Schematic diagram of the magnetically releasable connection between the tether and the in-vivo capsule endoscope provided by an embodiment of the present invention;

[0032] Figure 29 Schematic diagram of the freestanding (tetherless) capsule endoscope provided by an embodiment of the present invention, which includes an in-vivo floating ring and an in-vivo inflation device;

[0033] Figure 30 Schematic diagram of the freestanding capsule endoscope provided by an embodiment of the present invention, which includes an adhesive coating for adhering the spiral elastic airbag;

[0034] Figure 31 Schematic diagram of the freestanding capsule endoscope provided by an embodiment of the present invention, which includes a non-inflated elastic spiral floating ring (left figure) and an inflated elastic spiral floating ring (right figure);

[0035] Figure 32 Schematic diagram of the freestanding capsule endoscope provided by an embodiment of the present invention, which includes a hole for delivering gas from an internal inflation device to an external inflatable floating ring;

[0036] Figure 33 Explosion schematic diagram of the two-way in-vivo capsule endoscope with bilateral sensing devices provided by an embodiment of the present invention;

[0037] Figure 34 Schematic diagram of a floating ring connected to a tether for inflating a two-way capsule endoscope in vivo by an in vitro inflation device provided by an embodiment of the present invention;

[0038] Figure 35 Schematic diagram of a two-way capsule endoscope in vivo provided by an embodiment of the present invention, wherein an unexpanded floating ring connected to a tether is coated on the middle part of the capsule endoscope;

[0039] Figure 36 Schematic diagram of a two-way inflatable capsule endoscope in a biological cavity provided by an embodiment of the present invention, wherein a floating ring connected to a tether is coated on the outside of the capsule endoscope;

[0040] Figure 37 Schematic diagram of a two-way capsule endoscope in vivo provided by an embodiment of the present invention, wherein an expanded floating ring connected to a tether is coated on the middle part of the capsule endoscope;

[0041] Figure 38 Schematic diagram of a two-way inflatable capsule endoscope in a biological cavity provided by an embodiment of the present invention, wherein a floating ring connected to a tether is coated on the outside of the capsule endoscope, and the floating ring is in an inflated state;

[0042] Figure 39 Explosion schematic diagram of a stand-alone (tetherless) two-way in vivo capsule endoscope provided by an embodiment of the present invention, the capsule endoscope includes an internal inflation device and an air hole for delivering gas to an externally inflatable floating ring;

[0043] Figures 40 - 41 Schematic diagram of a stand-alone two-way in vivo capsule endoscope provided by an embodiment of the present invention, the capsule endoscope can be inflated through a "cup-shaped inflation" type floating ring;

[0044] Figure 42 and Figure 43 Schematic diagram of a stand-alone inflatable two-way capsule endoscope in a biological cavity provided by an embodiment of the present invention, Figure 42 is in an unexpanded state, Figure 43 is in an inflated state;

[0045] Figure 44 Flow chart of an operation method of an inflatable in vivo capsule endoscope provided by an embodiment of the present invention.

[0046] It should be understood that for the simplicity and clarity of the drawings, the elements shown in the drawings are not drawn to scale. For example, for clarity, the dimensions of some elements may be enlarged relative to other elements. Additionally, where appropriate, these reference numerals may be reused in the various figures to indicate corresponding or similar elements. Detailed implementation manners

[0047] Reference Figure 1 , which shows schematic diagrams of the inflatable intravascular capsule endoscope 100 provided by an embodiment of the present invention in the unexpanded state (left figure) and the expanded state (right figure). The inflatable intravascular capsule endoscope 100 includes a capsule body 104 and an inflatable floating ring 102 connected to the outside of the capsule body 104. The inflatable floating ring 102 is a floating device. By injecting gas with a volume or pressure higher than the threshold into the airbag of the inflatable floating ring 102 through an inflation device (such as Figure 6 the inflation device 112), the total density (or specific gravity relative to water) of the capsule endoscope is reduced, so that the inflated capsule endoscope 100 can float in the liquid.

[0048] The capsule endoscope 100 further includes one or more permanent magnets 124 (as shown in Figure 4 ). The permanent magnets 124 are arranged inside the capsule body 104 and have a permanent magnetic dipole moment. The permanent magnets 124 enable the capsule endoscope 100 to control its movement by magnetic force within the magnetic field range generated by an external magnetic control system 126 (as shown in Figure 5 ).

[0049] Reference Figure 2 and Figure 3 , which are schematic diagrams of the inflatable capsule endoscope provided by an embodiment of the present invention in the unexpanded state ( Figure 2 ) and the expanded state ( Figure 3 ) in a biological cavity. Inflation lifts the capsule endoscope 100 from the sinking state to the floating state. In the sinking state, it is in contact with the cavity wall or the cavity bottom (the distance is basically zero or negligible), as shown in Figure 2 ; in the floating state, it is separated from the cavity bottom (the distance is not zero or relatively large), as shown in Figure 3 . In some embodiments, the inflated capsule endoscope 100 can float completely based on the buoyancy generated by the inflatable floating ring 102 (for example, by reducing the density of the capsule endoscope to be less than or equal to the density of water, or reducing the specific gravity of the capsule endoscope relative to water to be less than or equal to 1). In other embodiments, the inflated capsule endoscope 100 can float based on the combined force of buoyancy (for example, achieved by reducing the density of the capsule endoscope, although it is still greater than the density of water) and magnetic force, and this combined force together counteracts the effect of gravity. The floating ring 102 can be filled with gas, such as air, carbon dioxide, nitrogen, or other substances, such as foam, oil, or other gaseous or liquid substances, or mixtures with a density lower than water.

[0050] In some embodiments, the capsule endoscope 100 can be connected to a contraction device (same as Figure 6"dual-purpose" expansion / shrinkage device 112 or different device), and the shrinkage device shrinks by discharging a certain volume or pressure of gas from the float ring 102. Therefore, the shrinkage device can increase the density or specific gravity of the in-vivo capsule endoscope, so that the inflatable in-vivo capsule endoscope 100 sinks into the liquid. In some embodiments, the capsule endoscope 100 can discharge a certain amount of gas to sink to the bottom of the cavity or float at a predetermined height below the liquid surface. In some embodiments, the capsule endoscope 100 can sink only by deflation or by deflation combined with magnetism. In one example, the shrinkage device can increase the density of the capsule endoscope 100 to be greater than the density of water, or increase the specific gravity of the capsule endoscope 100 relative to water to be greater than 1. In one embodiment, gas can be discharged by opening one (re-sealable or non-re-sealable) air hole in the float ring, so that a separate shrinkage device is not required.

[0051] In some embodiments, the degree of inflation can be adjusted so that the capsule endoscope floats at different depths below the liquid surface (see Figure 16 and Figure 18 ). The expansion device 112 can inject or discharge gas to the required volume or pressure to (automatically or manually) adjust the floating height of the inflatable in-vivo capsule endoscope in the liquid. For example, to avoid image distortion caused by refraction at the liquid surface, the float ring 102 can be inflated by the volume or pressure of gas so that the capsule endoscope 100 floats to a high enough liquid level while remaining completely submerged (for example, see Figure 16 and Figure 18 for the intermediate height of the capsule endoscope in

[0052] The float ring 102 can be integral, assembled or adhered to the outer surface of the capsule body 104. The float ring 102 can have various sizes and shapes, such as concave, cup-shaped, U-shaped cross-section, circular (when inflated) and cylindrical (when shrunk), spherical, oval, etc. The float ring 102 can also be arranged at different positions of the capsule body 104. For example, it can be arranged around the centroid of the capsule, firmly attached to the smallest surface area of the capsule (for example, near the edge of the capsule, farthest from the centroid of the capsule), wrap the largest surface area of the capsule while avoiding covering the sensing device (for example, wrap the entire capsule body and only expose the sensing device window), wrap any proportion of the surface area of the capsule, etc. A sensing device is encapsulated in the capsule body 104 for taking in-vivo images behind the transparent window or part of the outer surface 108 of the capsule. In one embodiment, the float ring 102 can surround or wrap part of the outer surface 106 of the capsule so that the float ring 102 does not block or cover the transparent part of the outer surface 108 of the capsule (for example, outside the field of view angle of the sensing device). For a one-way or one-sided sensing device (for example, only a camera system is arranged at one end of the capsule, such as Figure 4As shown, the floating ring 102 can have a concave or U-shaped cross-section that surrounds the sidewalls and ends 106 of the capsule (as Figure 1 shown), leaving the sensing device end 108 unobstructed. For a two-way or bilateral sensing device (e.g., two camera systems are provided at both ends of the capsule), as Figures 33 - 43 shown, the floating ring 102 can have an annular, ring-shaped, or cylindrical shape to support or encapsulate the longitudinal center of the capsule without obstructing the sensing device at either longitudinal end of the capsule. In another embodiment, the floating ring 102 can be substantially transparent and can partially or completely overlap or cover the field of view angle of the sensing device. The shape of the floating ring 102 with complete overlap can be elliptical or capsule-shaped.

[0053] After taking pictures of the stomach or other fluid-filled cavities with the floating ring 102 in the inflated state, the floating ring 102 can be deflated to return the capsule to a partially or completely deflated state so that it can pass through a smaller passage (e.g., pulled back into the esophagus by a tether or continue to move forward independently within the digestive tract).

[0054] Refer to Figure 4 , which shows an exploded schematic view of the inflatable in-vivo capsule endoscope 100 provided by an embodiment of the present invention and its components encapsulated inside the capsule body 104. The capsule body 104 includes a longitudinal axis 111 along its length direction and a radial axis 121 along the diameter direction of its circular cross-section. The capsule body 104 includes two concave shells or hemispheres provided at both ends of the longitudinal axis 111. At one end of the longitudinal axis 111, the capsule body 104 can include a front shell 108, which is a transparent window for encapsulating the sensing device 128. The sensing device 128 includes one or more image sensors, light sources (e.g., LEDs), lenses for taking in-vivo images, and an image processing board for processing, storing, and / or transmitting image data. At the other end of the longitudinal axis 111, the capsule body 104 can include a transparent (in a dual-camera endoscope) or opaque (in a single-camera endoscope) rear shell 106. One or more permanent magnets 124 having permanent magnetic dipoles (e.g., north-south) are also provided inside the capsule body 104. The permanent magnets 124 enable the capsule endoscope 100 to be positioned by one or more external magnets 126 (as Figure 5It moves under magnetic control within the magnetic field generated (as shown). Inside the capsule body 104, there is also a wireless communication system 122, including a wireless (e.g., radio frequency (RF)) processing board and an antenna, for wirelessly transmitting and receiving information to / from a remote device or controller. The wireless communication system 122 can transmit in-vivo information, such as in-vivo image data captured by the sensing device 128, values or parameters of the floating ring 102 (such as pressure or gas volume), magnetic field information for interacting with and being controlled by the external magnetic control system 126, and / or other sensing feedback information (such as in-vivo environmental parameters like temperature, pressure, pH value, etc.). The wireless communication system 122 can receive instructions or control information from an external device, such as inflation or deflation activation instructions for the in-vivo inflation device 112 and / or image acquisition instructions or parameters. One or more batteries or power sources 132 can also be provided inside the capsule body 104 to power the components of the capsule endoscope 100.

[0055] Reference Figure 5 , is a schematic diagram of the external magnetic control system 126 provided by an embodiment of the present invention. The external magnetic control system 126 can generate a magnetic field, and the generated magnetic field controls the movement of the capsule endoscope 100 through one or more permanent magnets 124 included in the capsule endoscope 100. The external magnetic control system 126 includes a fixing device adapted to horizontally and vertically position one or more external permanent magnets 134 by using a vertical and horizontal adjustable mechanism and an adjustable base. The external magnetic control system 126 has rotational degrees of freedom along two axes and can move the capsule endoscope 100 in three dimensions. A detailed description of the mechanical structure and operation of the external magnetic control system 126 can be described, for example, in the cited U.S. Patent Application 2015 / 0380140, the entire content of which is incorporated herein by reference.

[0056] When the capsule endoscope 100 is inflated and floating in a liquid, the buoyancy makes it significantly easier to move the capsule under magnetic control. Therefore, the volume of the external magnetic control system 126 can be significantly smaller than that of a traditional capsule magnetic control system, and the intensity of its magnetic field can also be significantly smaller. For example, the external permanent magnet 134 can have a magnetic moment M of approximately 75 A / cm 2 (significantly less than 2500 A / cm 2 , which value is typically used for similar movement when the capsule is not inflated) and a diameter of 5 cm (significantly less than 16 cm, which value is typically used for similar movement when the capsule is not inflated). In some embodiments, the external magnetic control system 126 can be small enough to be a handheld or portable device.

[0057] The inflatable in-vivo capsule endoscope 100 can be provided in a tethering system (e.g., as Figures 2 - 3 , Figures 6 - 21 , Figures 23 - 26 and Figure 28as shown) or a freestanding (tetherless) system (such as Figures 29 - 32 as shown). It is understood that the detailed description of the capsule endoscope 100 in the tethered system also applies to the case of a freestanding (tetherless) system (and vice versa), unless specifically emphasized as part of the tether or dependent on the tether, or an independent inflation element or function.

[0058] Referring to Figure 6 , there is a schematic diagram of a tethered system provided by an embodiment of the present invention for connecting an in-vivo floating ring 102 to an external inflation device 112 through an elongated tether 110. The tether 110 can pass through a part of the gastrointestinal tract of an organism and can connect the external inflation device 112 (located outside the organism) to the in-vivo inflatable floating ring 102 (located inside the organism) to inflate the floating ring 102. The external inflation device 112 (connected to the end of the tether 110 opposite to the capsule 100) includes a syringe, an air pump, an air compressor, a chemical gas reactor, and / or a liquid injection pump, a gas-liquid tank, or a rubber ball. The inflation device 112 can adjust the gas pressure or volume in the floating ring 102, adjust the floating height or position relative to the water level, and / or adjust the pressure or size of the spiral floating ring to fit different-sized channels, such as the esophagus or small intestine.

[0059] Referring to Figure 7 , there is a schematic diagram of the tether 110 provided by an embodiment of the present invention for connecting the in-vivo floating ring 102 and the external inflation device 112. The tether 110 includes a trachea 114, and the trachea 114 includes a first end 116 connected to the inflation device 112 and a second end 118 connected to the floating ring 102. The trachea 114 can be an elongated airtight channel for transporting gas from the inflation device 112 to the floating ring 102 (for inflation) and / or extracting or sucking gas from the floating ring 102 to a contraction device (the same as or different from the inflation device 112) (for contraction). The tether 110 can include a trachea 114 with a fixed or retractable (variable-length) length. When fully extended, the distance that the tether 110 can span should be sufficient to extend from outside the mouth of the organism to the target channel or cavity (such as the stomach) inside the organism. The second end 118 connecting the tether 110 and the floating ring 102 can be permanently connected (for example, glued or pasted, so that separating the two may damage or destroy the system or its components), or separable (for example, separable by air pressure exceeding a threshold volume or force, or by magnetic force, without damaging or destroying the system or its components). For an example of disconnecting the connection between the second end 118 of the tether 110 and the floating ring 102 by magnetic force, reference can be made to Figure 28 .

[0060] Referring to Figures 8 - 14, which are various types of the inflatable float 102 provided by an embodiment of the present invention. The inflatable float 102 may have a sealed airbag, and the airbag includes one or more sealed membranes for containing gas. The inflatable float 102 may have an inflation / deflation port through which gas flows. The inflation / deflation port may be a part of (or connected to) the air tube 114 in the tether system, or a hole 120 in an untethered system. The inflatable float 102 may be connected to the capsule body 104 by a sealant (such as an adhesive) or elastic tension. In Figures 8 - 11 In one embodiment shown with connection by sealant, the float 102 can be inflated by the "balloon inflation" method, in which two layers of membranes of the float 102 form a sealed airbag. The spacing between the two layers of membranes is relatively small and includes a tight elastic material, forming an elastic seal with the capsule body 104. The balloon-inflated float 102 can be inflated relatively uniformly throughout the process of airbag formation. In Figures 12 - 14 In one embodiment shown with connection by elastic tension, the float 102 can be inflated by the "cup inflation" method, in which an airbag is formed by sealing one layer of the membrane of the float 102 to the outer surface of the capsule body 104 (such as by adhesive sealing). The cup-shaped inflated airbag can be inflated more towards the rear end 106 of the capsule, thereby forming a cup-shaped airbag while sealing the front end. Although specific float dimensions are shown in the drawings, these dimensions are only shown as examples, and other dimensions can also be used. The dimensions of the airbag can be modified to fit any size or shape of the capsule device.

[0061] Refer to Figures 15 - 18 , which is a schematic diagram of an inflatable float 102 that is asymmetrically arranged (or asymmetrically inflated) with respect to the radial axis 121 provided by an embodiment of the present invention. The asymmetric inflatable float 102 may have an end portion that can float to a relatively higher liquid level compared to other parts of the capsule, for determining the direction of the capsule body 104 (such as upward), thereby determining the field of view of the image. Since the image is acquired at a correct field angle, image processing does not need to reorient the image (or the processing operation of reorientation can be reduced) to speed up the image processing. As Figures 15 - 16 shown, the inflatable float 102 is asymmetric with respect to the radial axis 121, but symmetric or centered with respect to the longitudinal axis 111. Therefore, when inflated, the capsule 100 has a predetermined highest radial position but floats horizontally around the longitudinal axis 111. As Figures 17 - 18 shown, the inflatable float 102 is asymmetric with respect to both its radial axis 121 and longitudinal axis 111. Therefore, when inflated, the capsule 100 has a predetermined highest radial and longitudinal positions.

[0062] Refer to Figures 19 - 21 、Figures 23 - 27 and Figures 30 - 31 shows an inflatable float 102 with a helical outer surface provided by an embodiment of the present invention. The helical float 102 has helical threads protruding along the outer surface of the float. The helical threads rotate clockwise or counterclockwise from the first longitudinal end of the capsule to the opposite longitudinal end of the capsule (or a part thereof). The helical float 102 can be implemented in a tethering system (such as shown in Figures 19 - 21 and Figures 23 - 27 ) or a freestanding (untethered) system (such as shown in Figures 30 - 31 ). The external magnetic control system 126 can apply a magnetic force to the internal permanent magnet 124 of the capsule to guide the capsule endoscope 100 through the channel, so that when the float 102 is inflated, the helical threads push the inflatable body internal capsule endoscope 100 forward or backward through a helical rotation.

[0063] Refer to Figure 27 , which is a schematic diagram of the relationship between the rotation direction and the translational propulsion direction of the inflatable capsule endoscope 100 (the inflatable float is helical) provided by an embodiment of the present invention. According to the example configuration shown in Figure 27 , the upper left figure shows the external control magnet, and the lower left figure shows the magnet inside the capsule. The rotation direction of the fixed magnet inside the capsule can be opposite to the direction of the external magnet. When using clockwise threads, the clockwise rotation of the capsule (the external magnet rotates counterclockwise) will push the capsule endoscope 100 forward (in the direction of the figure), and the counterclockwise rotation of the capsule (the external magnet rotates clockwise) will move the capsule endoscope 100 backward (out of the figure). The opposite movement direction can be achieved by using counterclockwise threads. Other direction relationships can also be used. For example, the direction of the threads can be reversed so that the helical surface can push the capsule endoscope 100 forward when rotating clockwise and backward when rotating counterclockwise.

[0064] The permanent magnet 124 (such as shown in Figure 4 ) provided with the radial axis 121 as the center can translate the capsule endoscope 100 in the direction of the longitudinal axis 111 by the external magnet 126. Additionally or alternatively, as shown in Figure 22 , the capsule endoscope 100 provided with a helical float can have a radially polarized magnet 130 (polarized along the diameter of the capsule), and its position and / or dipole is radially asymmetric with respect to the radial axis 121 (along the circular cross-section of the capsule body), so that the external magnet 126 rotates the capsule endoscope 100 around its longitudinal axis 111, thereby generating a helical or rotational force to further drive the capsule to perform a helical motion.

[0065] Because the sizes of the channels in the entire digestive tract are different, a thread of constant size may not be suitable for some channels. For example, if the capsule diameter is too small compared to the channel diameter, there may not be enough tension to grip the capsule (as shown in the top image of Figure 26 ), and if the capsule diameter is too large compared to the channel diameter, the capsule may get stuck in the channel. Therefore, the optimal propulsion force depends on an optimal match between the size of the capsule endoscope 100 and the surrounding channel. To this end, the floating ring 102 can be inflated relative to the channel to an optimal diameter, tension, and / or pressure such that the channel can exert the maximum propulsion force on the capsule (see the bottom image of Figure 26 ). In one embodiment, the inflation device 112 inflates the inflatable floating ring 102 to a diameter that substantially matches (or is slightly larger, e.g., 5 - 20% larger) the channel diameter; and / or achieves a target pressure between the capsule endoscope 100 and the channel to push the capsule endoscope without considering the channel diameter. The target or optimal diameter, tension, pressure, can be detected automatically (e.g., via a pressure gauge connected to the inflation device 112) or manually.

[0066] Additionally or alternatively, inflating the floating ring 102 in a narrow channel (e.g., having a diameter equal to or smaller than the capsule) can expand the channel and increase the effective field of view angle of the sensing device. Referring to Figures 23 - 24 , FIGS. Figure 23 and Figure 24 are schematic diagrams of the inflatable in - vivo capsule endoscope 100 provided by an embodiment of the present invention in an uninflated state ( Figure 23 ) and an inflated state ( Figure 24 ), respectively. As shown in Figure 23 , when the capsule endoscope 100 is in the uninflated state, the narrow channel walls may obstruct the effective field of view (e.g., visible space) of the organism, making it significantly smaller than the viewing angle of the sensing device 128. As shown in Figure 24 , when the capsule endoscope 100 is in the inflated state, the channel walls are expanded, significantly increasing the effective field of view angle of the sensing device 128.

[0067] Referring to Figure 28 , is a schematic diagram of a magnetically releasable connection between the tether 110 and the in - vivo capsule endoscope 100 provided by an embodiment of the present invention. The tether 110 has a magnetically releasable end 118 that is connected to the end 106 of the capsule endoscope 100. The magnetically releasable end 118 can have one or more reversible magnets having reversible magnetic dipoles that point in a first direction at rest (in the absence of a non - constant external magnetic field) (see the upward arrow in the top image of Figure 28 ). The capsule endoscope 100 includes a permanent magnet 124 having a permanent magnetic dipole that points in a second fixed direction (see Figure 28The downward arrow in the top image). The first magnetic dipole direction of the tether 110 can be substantially opposite (and equal) to the second magnetic dipole direction of the capsule 100 (in the absence of an external magnetic field), creating a magnetic attraction connection between the tether 110 and the capsule endoscope 100. The connecting end 118 of the tether can be connected or interlocked with the connecting end 106 of the capsule, for example, by a concave / convex connection (as Figure 28 shown), a planar connection, a lock and key connection, or other connection means.

[0068] The tether 110 can be separated from the capsule endoscope 100 under the action of magnetic force by being exposed to an externally generated magnetic field (e.g., a magnetic field generated by Figure 5 an external magnetic control system or a magnetic field generated by a hand-held magnet close enough to the capsule endoscope), which flips the reversible magnet of the tether, causing its first magnetic dipole direction to flip (see Figure 28 , the upward arrow in the top image flips to the downward arrow in the second image). At this time, the flipped first magnetic dipole direction of the tether is aligned with the first magnetic dipole direction of the capsule, resulting in a repulsive magnetic force between the magnet at the connecting end 106 of the capsule and the magnet at the connecting end 118 of the tether, causing the tether and the capsule to repel and separate from each other.

[0069] In some embodiments, before or after the capsule is separated, the tether 110 can inject or drain liquid into or from the living body. According to an embodiment of the present invention, the tether 110 can collect a body fluid sample by aspirating liquid from the living body. In some cavities (such as the small intestine), too much or too little matter can make it difficult for the capsule endoscope 100 to move. Therefore, the inflation device can inject liquid (such as water or saline) or air into the cavity through the tether 110 to inflate it. After the cavity is inflated, there is more space, enabling the capsule to have a better field of view and / or reducing friction to make magnetic control easier.

[0070] Refer to Figure 29, is a schematic diagram of a standalone (tetherless) system provided by an embodiment of the present invention, including an in-vivo float 102 and an in-vivo inflation device 112. In the standalone system, the inflation device 112 can be a part of the in-vivo capsule endoscope 100 or can be permanently attached to or integrated into the in-vivo capsule endoscope 100. The inflation device 112 can be disposed inside the body or placed in a living body together with the inflatable float 102 during the inflation process. The in-vivo inflation device 112 can autonomously activate an in-vivo chemical reaction to generate and release gas for inflating the float 102 (without direct physical or manual contact with the outside of the body or gas from outside the body). In some embodiments, the in-vivo inflation device 112 can be remotely activated through a wireless communication system 122 to inflate / deflate the float 102. Additionally or alternatively, the in-vivo inflation device 112 can be autonomously activated according to one or more time / environment / imaging conditions detected by the capsule 100, such that the in-vivo capsule endoscope 100 is standalone and self-inflating and / or self-deflating (without remote control). The in-vivo inflation device 112 can be an air compressor, a chemical gas reactor, or a gas powder mixed with water. In different embodiments, the in-vivo inflation device 112 can be disposed inside the capsule body 104 (as shown in Figure 29 ) or outside the capsule body 104 (inside the float 102 or physically connected to the float 102). In some embodiments, the inflation device 112 is disposed inside the capsule body 104, and the capsule body 104 can have a (re-sealable) air hole or channel 120 to convey gas from the internal inflation device 112 to the external inflatable float 102, as shown in Figure 30 and 32 . In some embodiments, the inflation device 112 is disposed outside the capsule body 104, and the inflation device is fixed to the inflatable float 102.

[0071] Refer to Figures 33 - 43 , which is an inflatable in-vivo capsule endoscope provided by various embodiments of the present invention. The endoscope is bidirectional and has dual cameras or bilateral imaging devices, and can capture images along the forward and / or reverse axial directions.

[0072] Refer to Figure 33, is an exploded view of a bidirectional in - vivo capsule endoscope 100 with bilateral sensing devices 128 provided by an embodiment of the present invention, where the sensing devices are disposed inside the capsule body 104. The capsule body 104 may include a longitudinal axis 111 along its length direction and a radial axis 121 along the diameter direction of its circular cross - section. The capsule body 104 may have two concave end caps or hemispheres 106 and 108 at both ends of its longitudinal axis 111, and an intermediate shell 109 (e.g., cylindrical) connecting the end caps 106 and 108 at the center of its longitudinal axis 111. Since the capsule endoscope 100 is bidirectional, bilateral imaging devices or sensing devices 128 are provided at both ends of its longitudinal axis 111 to capture images in the forward and / or reverse directions along its longitudinal axis 111. Both end caps 106 and 108 include transparent windows for accommodating the two sensing devices 128. The bidirectional capsule endoscope 100 may include other elements as shown in Figure 4 and / or 22.

[0073] Reference Figures 34 - 38 and Figures 40 - 43 , is a schematic view of an in - vivo floating ring 102 adapted to enclose the bidirectional in - vivo capsule endoscope 100 provided by various embodiments of the present invention. When enclosing the bidirectional in - vivo capsule endoscope 100, the in - vivo floating ring 102 may not cover (or may transparently cover) the two opposite longitudinal end caps or hemispheres 106 or 108 of the endoscope 100. Since the floating ring 102 does not block either end, the two sensing devices 128 of the bidirectional capsule endoscope 100 have an unobstructed field of view (FOV), as shown in Figure 36 and Figure 38 . The floating ring 102 of the bidirectional capsule endoscope may have various sizes and shapes, such as annular (when inflated) and cylindrical (when deflated), spherical, elliptical, etc.

[0074] As Figures 34 - 38 shown, the floating ring 102 of the bidirectional capsule endoscope is connected to an external inflation device 112 through an elongated tether 110.

[0075] As Figure 34 shown, the floating ring 102 of the bidirectional capsule endoscope is connected to the tether 110. As Figure 35 shown, the tether assembly 102 and the tether 110 enclose the intermediate body part (intermediate shell 109) of the bidirectional in - vivo capsule endoscope 100.

[0076] The inflatable bidirectional in - vivo capsule endoscope 100 enclosed by the in - vivo floating ring 102 connected by the tether in the non - inflated state (as shown in Figures 34 - 36 ) and the inflated state (as shown in Figures 37 - 38placed in the cavity of the organism as shown below. The inflation device 112 can inject liquid (such as water or saline) or air into the cavity of the floating ring 102 through the tether 110 to inflate the floating ring 102. After the floating ring 102 is inflated, as Figure 38 shown, the capsule endoscope 100 can float above the cavity bottom to reduce or eliminate the obstruction or blockage of one or both of the two sensing devices of the bidirectional endoscope by the cavity wall or the cavity bottom. Accordingly, the sensing device can have a better field of view (FOV).

[0077] As Figures 39 - 43 shown, the bidirectional endoscope is independent (tetherless) and includes an internal inflation device 112 for inflating the floating ring 102.

[0078] Referring to Figure 39 , it is an exploded view of the independent (tetherless) bidirectional in-vivo capsule endoscope 100 provided by an embodiment of the present invention, and the capsule endoscope includes an internal inflation device 112. In the independent system, the inflation device 112 can be a part of the in-vivo capsule endoscope 100, or can be permanently attached to or integrated into the in-vivo capsule endoscope 100, and can refer to Figures 29 - 32 the operation described above. The inflation device 112 can be disposed in the body or placed in the organism together with the inflatable floating ring 102 during inflation. The in-vivo inflation device 112 can autonomously activate an in-vivo chemical reaction to generate and release gas to inflate the floating ring 102. In some embodiments, the gas generated by the internal inflation device 112 is delivered to the inflatable floating ring 102 through a (re-sealable) air hole or channel 120, as Figure 41 and Figure 43 shown.

[0079] Referring to Figures 40 - 41 shown, it is a schematic diagram of the independent bidirectional in-vivo capsule endoscope provided by an embodiment of the present invention, and the capsule endoscope can be inflated through a "cup-shaped inflation" type floating ring.

[0080] Referring to Figure 42 and Figure 43 shown, it is a schematic diagram of the inflatable bidirectional in-vivo capsule endoscope 100 provided by an embodiment of the present invention in the non-inflated state (as Figure 42 shown) and the inflated state (as Figure 43 shown) in the biological cavity. The internal inflation device 112 can autonomously activate an in-vivo chemical reaction to generate gas and discharge it into the cavity of the floating ring 102 through the air hole 120 to inflate the cavity. After the floating ring 102 is inflated, as Figure 42 shown, the capsule endoscope 100 floats above the cavity bottom, reducing or eliminating obstacles and improving the visibility and effective field of view of one or both of the two sensing devices of the bidirectional capsule endoscope 100.

[0081] Reference Figure 44 , which is a flowchart of an operation method of an inflatable in - vivo capsule endoscope provided by an embodiment of the present invention. Figure 44 The operation process shown can be performed using one or more of the inflatable in - vivo capsule endoscopes disclosed in Figures 1 - 43 .

[0082] In operation 1000, the inflatable in - vivo capsule endoscope (see 100 in Figures 1 - 4 , Figure 6 , Figure 8 , Figures 10 - 18 , Figures 20 - 26 , Figures 28 - 33 and Figures 35 - 43 ) can enter a liquid - containing cavity in a living body in an unexpanded state (see Figure 2 ). The capsule endoscope may include a capsule body (104), an inflatable floating ring (102) disposed outside the capsule body, and a sensing device (128) disposed inside the capsule body for taking in - vivo images.

[0083] In operation 1002, start the inflation device (112), inject a gas volume higher than the threshold volume into the inflatable floating ring to inflate the inflatable floating ring, so as to reduce the specific gravity of the inflatable in - vivo capsule endoscope and make the capsule endoscope float in the liquid of the cavity. According to an embodiment of the present invention, the inflatable in - vivo capsule endoscope can float completely based on buoyancy. For example, by injecting a certain amount of gas into the inflatable floating ring, the density of the in - vivo capsule endoscope is made less than or equal to the density of water. According to another embodiment of the present invention, the inflatable in - vivo capsule endoscope can float based on the combined force of buoyancy and upward magnetic force. The buoyancy is achieved by injecting a certain volume of gas, and the magnetic force is achieved by an external magnetic field. The inflation / deflation device can inject or discharge gas to the required volume or pressure to adjust the floating height of the inflatable in - vivo capsule endoscope relative to the liquid level.

[0084] In some embodiments, a tethering system (see Figures 2 - 3 , Figures 6 - 21 , Figures 23 - 26 , Figure 28 and Figures 34 - 38 ) can be used. In the tethering system, the inflation device can be an external inflation device disposed outside the living body for inflating the in - vivo inflatable floating ring disposed inside the living body. The external inflation device can be connected to the floating ring through a slender tether (such as 110), and the tether passes through at least a part of the living body (see Figure 6 ). The tether can be magnetically connected to the capsule body or separated from the capsule body (see Figure 28) The tether can be used to collect body fluids by extraction from a living organism.

[0085] In some embodiments, a stand-alone (tetherless) system can be used (see Figures 29 - 32 and Figures 39 - 43 ). In a stand-alone (tetherless) system, the inflation device can be an in-vivo inflation device that is permanently attached to the capsule body and placed in a living organism together with the inflatable float during inflation. The in-vivo inflation device can autonomously generate gas through a chemical reaction in the device.

[0086] In some embodiments, the inflatable float can be asymmetrically arranged relative to the radial axis of the capsule body, so that the direction of the capsule body can be adjusted by inflating the asymmetrically arranged inflatable float (e.g., the float rises to the top) (see Figures 15 - 18 ). According to one embodiment of the present invention, the direction of the capsule body is flush with its longitudinal axis (see Figures 15 - 16 ). According to another embodiment of the present invention, the direction of the capsule body is to direct the field of view angle of the sensing device towards the target area (see Figures 17 - 18 ). In some embodiments, the capsule endoscope is bidirectional and has two sensing devices facing in opposite directions (see Figures 33 - 43 ).

[0087] In operation 1004, one or more permanent magnets (124) having a permanent magnetic dipole moment disposed within the capsule body can be actuated by an external magnetic field to control the movement of the floating capsule endoscope within the body. The magnetic field can be generated by operating an external magnetic control system (such as Figure 5 shown as 126). The externally generated magnetic field can magnetically control and guide the capsule floating in the liquid with a significantly weaker intensity (e.g., the magnetic field intensity is about 75 A / cm 2 ), so a significantly smaller external magnet can be used to generate it, rather than using the magnet for controlling a traditional (non-inflatable) capsule endoscope (e.g., the magnetic field intensity is about 2500 A / cm 2 ).

[0088] In some embodiments, the inflatable float has a helical surface (see Figures 19 - 27 ), so that the inflatable in-vivo capsule endoscope rotates in a helical motion when magnetically controlled through the channel. The inflatable in-vivo capsule endoscope can advance forward when the helical surface rotates in a first direction and retreat when the helical surface rotates in the opposite direction. The inflatable float can be inflated to a diameter that substantially matches the diameter of the channel to achieve the target pressure between the endoscope and the channel. The in-vivo capsule endoscope can rotate about its longitudinal axis under the action of the magnetic force to push the helical surface.

[0089] In operation 1006, a contraction device (such as 112 or another device) is activated to contract the inflatable float by discharging gas, causing the inflatable internal capsule endoscope to sink in the cavity fluid. When the internal capsule endoscope is partially or fully uninflated, it can be pulled back through the esophagus by a tether or separated and guided forward to pass through the rest of the digestive tract autonomously.

[0090] The present invention provides a method for manufacturing or assembling Figures 1 - 4 、 Figure 6 、 Figure 8 、 Figures 10 - 18 、 Figures 20 - 26 、 Figures 28 - 33 and / or Figures 35 - 43 the elements or components of the inflatable internal capsule endoscope 100 as shown.

[0091] Embodiments of the present invention provide a capsule endoscope 100 with an inflatable float 102 for examining digestive tract regions such as the esophagus and stomach. The capsule endoscope can be tethered by a slender trachea that can adjust its volume and inflation by controlling the injection / extraction of gas. When the capsule endoscope is in the fluid within the cavity, the volume-adjustable trachea can provide additional buoyancy to the capsule endoscope. In combination with external magnetic field control, the capsule endoscope is more easily movable in water. In a passage, such as in the small intestine, the volume-adjustable float expands in a spiral structure and moves in the esophagus or small intestine under external magnetic field control.

[0092] The inflation of the float can adjust the effective specific gravity of the capsule in water, thereby changing the buoyancy. This method can reduce the requirement for the magnetic induction intensity of the external magnetic field to achieve the pose change of the capsule during examination. The external magnetic field intensity for controlling a capsule endoscope with a specific gravity greater than water is greater than that for controlling a capsule with a specific gravity less than or equal to water. The membranes of the float can be glued together to form an airbag. When the airbag is inflated with air, the relationship between the center of gravity position and the geometric center can change the attitude of the capsule. This will help to achieve different observation angles by injecting different amounts of air and magnetic control. After the digestive tract examination is completed, the air in the balloon can be extracted to minimize the volume of the capsule, and the entire capsule can be pulled back through the mouth by the tether or separated from the tether and allowed to pass through the rest of the digestive tract autonomously.

[0093] Although the embodiments of the present invention describe inflating the float outside the capsule body, the float can also be provided inside the capsule body or can be the capsule body itself, where the capsule body is inflatable, elastic, or deformable.

[0094] Although this application describes inflating the float with gas, the float can also be inflated with other materials, such as foam, oil, or other gaseous or liquid substances or mixtures with a density lower than that of water. The substance can be provided by the float itself, or by a reservoir inside the capsule body through an internal channel, or can be drawn from the capsule environment in the body cavity through an external channel.

[0095] The principles shown and described in this invention can also be applied to other uses in the body, or to detectors used in other situations, such as mechanical or fluid handling systems. The terms "capsule" and "detector" are used interchangeably herein and generally refer to detection devices and similar remote objects, regardless of shape. It should be understood that the capsule can be spherical, elliptical, cylindrical with two semi - domes, or other suitable shapes or combinations of shapes. As Figure 1 shown, the magnetic capsule has a length, which is the longest dimension of the capsule. The length direction is referred to as the longitudinal direction or axis 111 of the capsule. The magnetic capsule does not have to have a cylindrical shape with one or two semi - dome ends as Figure 1 shown. The capsule can have any shape and weight as long as the basic physical principles apply to the magnetic capsule.

[0096] The described capsule has a magnetic dipole direction that is parallel to the longitudinal axis 111 of the capsule, either forward or backward. Thus, the capsule can move linearly under the guidance of magnetic force such that the moving direction is the same as, coincides with, or is parallel to the longitudinal direction of the capsule. In some embodiments, the capsule has a magnetic dipole direction that is asymmetric with respect to the radial axis 121, which is associated with or separate from the helical outer surface or the float, causing the capsule to rotate around its longitudinal axis under the guidance of magnetic force, thereby achieving a helical movement. This helical movement helps with forward or backward propulsion, for example, through the channels of the gastrointestinal tract. The forward movement of the capsule means the capsule advances along the intestine away from the mouth or the entry point. The backward movement of the capsule means the capsule moves along the intestine towards the mouth or the entry point and gets closer. In one example, the front end includes a diagnostic sensor or a treatment device, such as a camera. The rear end is directly opposite the front end and can also include a complementary diagnostic sensor or treatment device, or can only include a housing.

[0097] Although Figure 2 and Figure 3 show the capsule endoscope located in a specific cavity, such as the stomach, this is just an example and any other cavity or organism can be used.

[0098] For simplicity, the capsule endoscope 100 is described in the context of biomedical applications, i.e., the target location is a location within the body, such as a location within the digestive tract. For simplicity, the medical devices disclosed in the present invention are designed to be placed within the body. A non-invasive method of introducing into the digestive tract is swallowing. Therefore, the medical device disclosed in the present invention is called a capsule, which should not be construed as a limitation on its shape, dimensions, or size. The capsule device and method of use disclosed in the present invention can achieve other applications beyond biomedicine.

[0099] Various embodiments of the present invention include:

[0100] 1. An inflatable in-vivo capsule endoscope, comprising:

[0101] A capsule body;

[0102] A sensing device for taking in-vivo images, disposed inside the capsule body;

[0103] An inflatable floating ring outside the capsule body;

[0104] An inflation device for injecting gas into the inflatable floating ring to inflate the in-vivo capsule endoscope, so as to reduce the specific gravity of the in-vivo capsule endoscope, such that when the inflatable floating ring is injected with a gas volume higher than a threshold volume, the inflatable in-vivo capsule endoscope floats in the liquid;

[0105] One or more permanent magnets, disposed inside the capsule body, having a permanent magnetic moment, enabling the inflatable in-vivo capsule endoscope to move under the control of an external magnetic field.

[0106] 2. The inflatable in-vivo capsule endoscope according to claim 1, wherein the inflation device injects a certain volume of gas such that the density of the in-vivo capsule endoscope is less than or equal to the density of water.

[0107] 3. The inflatable in-vivo capsule endoscope according to claim 1, wherein the inflation device injects a certain volume of gas such that the density of the in-vivo capsule endoscope is greater than the density of water, and the amount of this excess is offset by the magnetic lift force.

[0108] 4. The inflatable in-vivo capsule endoscope according to claim 1, further comprising a contraction device, which increases the specific gravity of the in-vivo capsule endoscope by discharging gas, such that when the inflatable floating ring has a gas volume lower than the threshold volume, the inflatable in-vivo capsule endoscope sinks in the liquid.

[0109] 5. The inflatable in-vivo capsule endoscope according to claim 1, wherein the inflation device injects or discharges gas to a desired volume or pressure to adjust the floating height of the inflatable in-vivo capsule endoscope in the liquid.

[0110] 6. The inflatable intrabody capsule endoscope according to claim 1, wherein the inflatable floating ring has a helical surface when inflated, so as to push the inflatable intrabody capsule endoscope forward by helical motion.

[0111] 7. The inflatable intrabody capsule endoscope according to claim 6, wherein the helical surface pushes the inflatable intrabody capsule endoscope forward when rotating in a first direction and pushes the inflatable intrabody capsule endoscope backward when rotating in the opposite direction.

[0112] 8. The inflatable intrabody capsule endoscope according to claim 6, wherein the inflation device inflates the inflatable floating ring to a diameter substantially matching the channel diameter, so as to achieve the target pressure between the capsule endoscope and the channel, thereby advancing the capsule endoscope regardless of the channel diameter.

[0113] 9. The inflatable intrabody capsule endoscope according to claim 6, wherein the permanent magnet is radially spaced from the centroid with respect to the radial axis of the capsule body, so as to form an asymmetric helical force for driving the rotation of the helical surface under the action of an external magnetic field.

[0114] 10. The inflatable intrabody capsule endoscope according to claim 1, wherein the inflation device is an extracorporeal device arranged outside the organism and used for inflating and expanding the inflatable floating ring located inside the organism.

[0115] 11. The inflatable intrabody capsule endoscope according to claim 10, wherein the extracorporeal inflation device is attached to the floating ring through an elongated tether, and the elongated tether at least passes through a part of the digestive tract of the organism.

[0116] 12. The inflatable intrabody capsule endoscope according to claim 11, wherein the tether is connected to the capsule body by magnetic attraction.

[0117] 13. The inflatable intrabody capsule endoscope according to claim 12, wherein under the action of an external magnetic field, the tether is magnetically separated from the capsule body by the magnetic repulsion force between the tether and the internal magnet of the capsule body.

[0118] 14. The inflatable intrabody capsule endoscope according to claim 10, wherein the external inflation device is a syringe.

[0119] 15. The inflatable intrabody capsule endoscope according to claim 10, wherein the external inflation device is a pump.

[0120] 16. The inflatable intrabody capsule endoscope according to claim 10, wherein the tether is used to collect body fluid in the organism by extraction.

[0121] 17. The inflatable in-vivo capsule endoscope according to claim 1, wherein the inflation device is an in-vivo device fixed to the capsule body and is placed in a living body together with the inflatable floating ring during inflation.

[0122] 18. The inflatable in-vivo capsule endoscope according to claim 17, wherein the inflation device autonomously generates gas through a chemical reaction.

[0123] 19. The inflatable in-vivo capsule endoscope according to claim 17, wherein the in-vivo inflation device is disposed inside the capsule body, and the capsule body has air holes for delivering gas from the internal inflation device to the external inflatable floating ring.

[0124] 20. The inflatable in-vivo capsule endoscope according to claim 17, wherein the inflation device is fixed on the inflatable floating ring outside the capsule body.

[0125] 21. The inflatable in-vivo capsule endoscope according to claim 17, wherein the inflatable floating ring is asymmetrically disposed with respect to the radial axis of the capsule body, such that the inflatable floating ring rises to a relatively high liquid level to rotationally orient the capsule body.

[0126] 22. The inflatable in-vivo capsule endoscope according to claim 1, further comprising an external magnetic control system for generating an external magnetic field.

[0127] 23. The inflatable in-vivo capsule endoscope according to claim 1, wherein the inflatable floating ring wraps a portion outside the field of view angle of the sensing device on the capsule body.

[0128] 24. The inflatable in-vivo capsule endoscope according to claim 1, further comprising a unilateral sensing device wrapped by the concave inner surface of the inflatable floating ring.

[0129] 25. The inflatable in-vivo capsule endoscope according to claim 1, further comprising a bilateral sensing device wrapped by the cylindrical inner surface of the inflatable floating ring.

[0130] 26. An operation method of an inflatable in-vivo capsule endoscope, comprising:

[0131] Introducing the inflatable in-vivo capsule endoscope in an un-inflated state into a cavity of a liquid in a living body, the capsule endoscope including a capsule body, an inflatable floating ring disposed outside the capsule body, and a sensing device disposed inside the capsule body for capturing in-vivo images;

[0132] Activating the inflation device to inflate the inflatable floating ring by injecting a gas with a volume exceeding a threshold volume into the inflatable floating ring, so as to reduce the specific gravity of the capsule endoscope in the body, thereby enabling the inflatable in-vivo capsule endoscope to float in the liquid cavity;

[0133] By applying an external magnetic field to one or more permanent magnets with a permanent magnetic dipole moment inside the capsule body, the movement of the floating capsule endoscope in the body is controlled.

[0134] 27. The method according to claim 26, including floating the expandable in-body capsule endoscope by injecting a certain volume of gas so that the density of the in-body capsule endoscope is less than or equal to the density of water.

[0135] 28. The method according to claim 26, including floating the expandable in-body capsule endoscope by a combined force of buoyancy and upward magnetic force, wherein the buoyancy is achieved by injecting a certain volume of gas and the magnetic force is achieved by an external magnetic field.

[0136] 29. The method according to claim 26, including contracting the expandable floating ring by discharging gas, thereby causing the expandable in-body capsule endoscope to sink into the liquid.

[0137] 30. The method according to claim 26, including injecting or discharging gas to a desired volume or pressure to adjust the floating height of the expandable in-body capsule endoscope in the liquid.

[0138] 31. The method according to claim 26, wherein the expandable floating ring has a helical surface such that the expandable in-body capsule endoscope rotates in a helical motion when magnetically controlled through the channel.

[0139] 32. The method according to claim 31, including advancing the expandable in-body capsule endoscope forward when rotating along the first direction on the helical surface and retreating when rotating in the opposite direction on the helical surface.

[0140] 33. The method according to claim 31, including expanding the expandable floating ring to a diameter substantially matching the diameter of the channel to achieve the target pressure between the endoscope and the channel.

[0141] 34. The method according to claim 31, including rotating the in-body capsule endoscope around its longitudinal axis by a magnetic field to push the helical surface.

[0142] 35. The method according to claim 26, including activating an inflation device provided outside the organism to inflate the expandable floating ring located inside the organism, wherein the external inflation device is connected to the floating ring by an elongated tether that at least passes through a part of the organism.

[0143] 36. The method according to claim 35, including connecting the tether to the capsule body by magnetic force or releasing the tether from the capsule body.

[0144] 37. The method according to claim 35, comprising collecting body fluid from the organism by extracting the liquid through the tether.

[0145] 38. The method according to claim 26, comprising activating an in vivo expansion device fixedly connected to the capsule body and placed in the organism together with the inflatable float ring during the expansion process.

[0146] 39. The method according to claim 38, comprising autonomously generating gas through a chemical reaction within the in vivo expansion device.

[0147] 40. The method according to claim 26, wherein the inflatable float ring is arranged asymmetrically with respect to the radial axis of the capsule body, comprising orienting the capsule body by inflating the asymmetrically arranged inflatable float ring.

[0148] 41. The method according to claim 26, comprising generating an external magnetic field by operating an external magnetic control system.

[0149] 42. A method of manufacturing an inflatable in vivo capsule endoscope according to any one of claims 1-25.

[0150] The various aspects of the present invention have been described above. For ease of explanation, specific configurations and details are listed to enable a comprehensive understanding of the present invention. However, for those of ordinary skill in the art, the present invention can also be implemented without the specific details described herein. In addition, well-known features may be omitted or simplified so as not to obscure the description of the features of the present invention.

[0151] Unless otherwise specified, it should be understood from the following discussion that terms such as "processing", "calculating", "determining", etc. used throughout the discussion of the specification refer to the actions and / or processes of a computer or computing system, or similar electronic computing devices, which transform data representing physical quantities in the registers and / or memories of the computing system into other data representing physical quantities in the memories, registers or other such information storage, transmission or display devices of the computing system.

[0152] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings, or may be performed by different modules. Unless explicitly stated otherwise, the method embodiments described herein are not limited to a particular order or sequence. Additionally, some of the method embodiments or their elements described may occur or be performed at the same point in time. Each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0153] Embodiments of the present invention may include articles of non-transitory computer or processor-readable media, or non-transitory storage media for a computer or processor, such as, for example, a memory (such as the storage unit of the processing board shown Figure 4 ), a disk drive, or a USB flash drive, encoding, including, or storing instructions, such as computer-executable instructions, which when executed by a processor or controller (such as the processing board shown Figure 4 ) perform the methods disclosed herein.

[0154] In the above description, an embodiment is an example or implementation of the present invention. Various occurrences of "one embodiment", "an embodiment", or "some embodiments" do not necessarily refer to the same embodiment. Although various features of the present invention may be described within the scope of a single embodiment, the features of different embodiments may also be provided separately or in any suitable combination. Conversely, although the present invention may be described within the scope of a single embodiment for clarity, the present invention may also be implemented in a single embodiment. References in the specification to "some embodiments", "an embodiment", "one embodiment", or "other embodiments" mean that the particular features, structures, or characteristics described in connection with the embodiment are included in at least some embodiments of the present invention, but not necessarily all embodiments. It can further be recognized that the aspects of the present invention described above may be combined or otherwise coexist in embodiments of the present invention.

[0155] The descriptions, examples, methods, and materials in the claims and the specification should not be construed as limiting, but rather as merely illustrative. Although certain features of the present invention have been illustrated and described herein, many modifications, substitutions, variations, and equivalents will now occur to those of ordinary skill in the art. Accordingly, it is to be understood that the appended claims are intended to cover all such modifications and changes that fall within the true spirit of the present invention.

Claims

1. An inflatable intravascular capsule endoscope, characterized in that, Comprising: A capsule body; A sensing device for capturing in-vivo images, disposed inside the capsule body; An inflatable floating ring outside the capsule body; An inflation device for injecting gas into the inflatable floating ring to inflate the in-vivo capsule endoscope, so as to reduce the specific gravity of the in-vivo capsule endoscope, such that when the inflatable floating ring is injected with gas having a volume higher than a threshold volume, the in-vivo capsule endoscope floats in the liquid; the inflation device is an external device disposed outside the organism for inflating the inflatable floating ring located inside the organism; the inflation device is attached to the floating ring through an elongated tether, and the elongated tether passes through at least a part of the organism's digestive tract; One or more permanent magnets, disposed inside the capsule body, having a permanent magnetic moment, enabling the in-vivo capsule endoscope to move under the control of an external magnetic field.

2. The inflatable in vivo capsule endoscope according to claim 1, characterized in that, The inflation device injects a certain volume of gas such that the density of the in-vivo capsule endoscope is less than or equal to the density of water.

3. The inflatable in-vivo capsule endoscope according to claim 1, wherein The inflation device injects a certain volume of gas such that the density of the in-vivo capsule endoscope is greater than the density of water, and the amount by which it is greater cancels out the magnetic lifting force.

4. The inflatable intrabody capsule endoscope according to claim 1, wherein It further includes a contraction device that increases the specific gravity of the in-vivo capsule endoscope by discharging gas, such that when the inflatable floating ring has a gas volume lower than the threshold volume, the in-vivo capsule endoscope sinks in the liquid.

5. The inflatable in vivo capsule endoscope according to claim 1, wherein The inflation device injects or discharges gas to a desired volume or pressure to adjust the floating height of the in-vivo capsule endoscope in the liquid.

6. The inflatable intrabody capsule endoscope according to claim 1, characterized in that, The capsule body includes a first magnetic dipole and the inflatable floating ring includes a second magnetic dipole, wherein, the first magnetic dipole and the second magnetic dipole are oriented in opposite directions in the absence of a predetermined magnetic field to form a magnetic attraction connection between the inflatable floating ring and the capsule body, and wherein, one of the first or second magnetic dipoles is configured to flip when exposed to a predetermined magnetic field, such that the first magnetic dipole and the second magnetic dipole are oriented in substantially the same direction to cause a repulsive magnetic force between the inflatable floating ring and the capsule body and separation.

7. The inflatable in vivo capsule endoscope according to claim 1, characterized in that, The inflatable floating ring has a helical surface when inflated to push the in-vivo capsule endoscope forward through helical motion.

8. The inflatable in-vivo capsule endoscope according to claim 7, characterized in that, The helical surface pushes the in-vivo capsule endoscope forward when rotating in a first direction and backward when rotating in the opposite direction.

9. The inflatable in vivo capsule endoscope according to claim 7, wherein The inflation device inflates the inflatable floating ring to a diameter substantially matching the channel diameter to achieve a target pressure between the capsule endoscope and the channel, so as to advance the capsule endoscope regardless of the channel diameter.

10. The inflatable in vivo capsule endoscope according to claim 7, characterized in that, The permanent magnet is radially spaced from the centroid of the capsule endoscope with respect to the radial axis of the capsule body to form an asymmetric helical force for driving the rotation of the helical surface under the action of an external magnetic field.

11. The inflatable in-vivo capsule endoscope according to claim 1, characterized in that, The tether is connected to the capsule body by magnetic attraction.

12. The inflatable in-vivo capsule endoscope according to claim 11, wherein, Under the action of an external magnetic field, the tether is magnetically separated from the capsule body through the magnetic repulsive force between the tether and the internal magnet of the capsule body.

13. The inflatable in vivo capsule endoscope according to claim 1, wherein, The inflation device is a syringe.

14. The inflatable intravascular capsule endoscope according to claim 1, wherein The inflation device is a pump.

15. The inflatable in-vivo capsule endoscope according to claim 1, wherein, The tether is used to collect body fluids from a living body in a pumping manner.

16. The inflatable intravascular capsule endoscope according to claim 1, wherein It further includes an external magnetic control system for generating an external magnetic field.

17. The inflatable in vivo capsule endoscope according to claim 1, characterized in that, The inflatable floating ring wraps the part outside the field of view angle of the sensing device on the capsule body.

18. The inflatable intravascular capsule endoscope according to claim 1, characterized in that, It further includes a unilateral sensing device wrapped by the concave inner surface of the inflatable floating ring.

19. The inflatable in vivo capsule endoscope according to claim 1, wherein, It further includes a bilateral sensing device wrapped by the cylindrical inner surface of the inflatable floating ring.

20. A system, comprising the inflatable in-vivo capsule endoscope according to claim 1 and an external magnetic control system for generating an external magnetic field for magnetically guiding the inflatable in-vivo capsule endoscope.

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