Capsule endoscope control device and system

Abstract

The present invention relates to a chair-based capsule endoscope control device and system for controlling a capsule endoscope that is inserted into the human digestive system and acquires images of organs. The present invention provides a capsule endoscope control device that is inserted into the digestive tract of a subject and controls the position or posture of a capsule endoscope equipped with a magnet. The device comprises: a chair for the subject to sit on, comprising a seat portion and a backrest connected to the seat portion; and a magnet controller disposed on the backrest. The magnet controller includes a control magnetic force generator for adjusting the position or posture of the capsule endoscope, wherein the control magnetic force generator is movable in at least one direction.

Description

Technical Field

[0001] The present invention relates to a capsule endoscope control device and system, and more particularly, to a chair-based capsule endoscope control device and system that is inserted into the digestive tract of a human body and controls a capsule endoscope (capsule device) for acquiring images of organs. Background Art

[0002] The human digestive system is broadly divided into the esophagus, stomach, small intestine, and large intestine. The esophagus and stomach are typically observed using an upper gastrointestinal endoscope, which can be inserted into the distal duodenum, while the large intestine is observed using a colonoscope, which can observe the terminal ileum, the posterior portion of the small intestine. However, no endoscope with comprehensive diagnostic and / or therapeutic capabilities for the small intestine has yet been established. Therefore, while various radiological diagnostic methods, including barium enterography and CT imaging, are used for the small intestine, the diagnostic rate for small intestinal diseases remains very low.

[0003] In recent years, capsule endoscopes have been actively developed to address these issues. These devices can be swallowed orally and are divided into two types: those using a small camera or those using an ultrasonic camera. These devices can observe not only the esophagus, stomach, and small intestine, but also the large intestine.

[0004] However, conventional capsule endoscopes using small cameras struggle to maintain close proximity to the digestive system's gastrointestinal lining, making close-up imaging difficult. Furthermore, imaging surrounding organs is also difficult. Consequently, examining surrounding organs, such as the pancreas, requires the inconvenience of using a separate CT scan or an ultrasound endoscope with a probe.

[0005] Capsule endoscopes using ultrasonic cameras transmit and receive ultrasound waves to acquire ultrasonic images. However, unlike images captured by small cameras, these images require specialized analysis. This means that accurate examination results from ultrasonic images are difficult to derive without specialized analysis.

[0006] On the other hand, when a magnet is attached to a capsule endoscope, it is known to use a capsule endoscope control device installed outside the body to control the position of the capsule endoscope within the body. However, conventional capsule endoscope control devices are bed-shaped, requiring the generation of a large magnetic force to control the position of the capsule endoscope once it is inserted into the body, making precise control of the capsule endoscope difficult.

[0007] Prior art documents

[0008] Patent documents

[0009] Korean Patent Publication No. 10-2009-0085634 Summary of the Invention

[0010] The object of the present invention is to provide a chair-based capsule endoscope control device and system, which can easily obtain images of the upper digestive tract and surrounding gastrointestinal organs (such as the pancreas, heart, etc.) by easily controlling the position and posture of the capsule endoscope.

[0011] The present invention provides a capsule endoscope control device, which is inserted into the digestive tract of a subject and controls the position or posture of a capsule endoscope equipped with a magnet, wherein the device comprises: a chair for the subject to sit on, comprising a seat portion and a backrest portion connected to the seat portion; and a magnet controller, which is arranged on the backrest portion, wherein the magnet controller comprises a control magnetic force generating portion for adjusting the position or posture of the capsule endoscope, and the control magnetic force generating portion can move in at least one direction.

[0012] In addition, the present invention provides a capsule endoscope control device, which is inserted into the digestive tract of a subject and controls the position or posture of a capsule endoscope equipped with a magnet, wherein the device includes: a chair for the subject to sit on, comprising a seat portion, a backrest connected to the seat portion, and a backrest side portion connected to one side of the backrest; and a magnet controller, arranged on the backrest side portion, the magnet controller including a control magnetic force generating portion for adjusting the position or posture of the capsule endoscope, and the control magnetic force generating portion can move in at least one direction.

[0013] In one embodiment, the magnet controller may be extended from the side portion of the backrest to at least a portion of the backrest portion.

[0014] In one embodiment, the side portion of the backrest may be formed as a curved surface and configured to cover at least a portion of the side waist and abdomen of the subject.

[0015] In one embodiment, the magnet controller includes: a first moving portion for moving the control magnetic force generating portion in a first direction; and a second moving portion for moving the control magnetic force generating portion in a second direction.

[0016] Furthermore, the magnet controller includes: a moving block provided with the control magnetic force generating portion; and a guide portion having the first moving portion for moving the moving block in the first direction, the guide portion being movable in the second direction along the second moving portion.

[0017] Furthermore, the control magnetic force generating portion may be formed in a spherical shape, and the moving block may include a driving roller for rotating the control magnetic force generating portion in at least one direction.

[0018] Furthermore, the control magnetic force generating portion may be formed in a disk shape or a spherical shape, and the moving block may have a universal joint structure to rotatably support the control magnetic force generating portion.

[0019] Furthermore, the movable block may be disposed on the inner side of the backrest or the side portion of the backrest. In this case, the movable block includes: a first block provided with the control magnetic force generating portion; and a second block connected to the first block via an elastic portion, wherein the second block is movably disposed via the first movable portion.

[0020] In one embodiment, an electrode portion may be formed on the backrest portion, wherein the electrode portion contacts the skin of the subject and can communicate with the capsule endoscope through current coupling.

[0021] In addition, the present invention provides a capsule endoscope control system, which includes: a capsule endoscope that is inserted into the digestive tract of a subject and is equipped with a magnet; the above-mentioned capsule endoscope control device; and a display unit that receives and displays visible images or ultrasonic images from the capsule endoscope.

[0022] In addition, the capsule endoscope control system may further include an operating device connected to the capsule endoscope control apparatus via a wired or wireless method, and configured to control the position or posture of the control magnetic force generating unit.

[0023] Effects of the Invention

[0024] According to the present invention, there is an advantage that a subject can comfortably undergo endoscopic examination using a capsule endoscope while sitting on a chair.

[0025] Furthermore, according to the present invention, by easily controlling the position and posture of the capsule endoscope, it is advantageous to conveniently acquire images of the upper digestive tract and surrounding organs (eg, pancreas, heart, etc.) of the human body.

[0026] Furthermore, according to the present invention, the position and magnetic flux direction of the control magnetic force generating unit can be easily adjusted, and the control magnetic force generating unit can be moved across the backrest and the side portions of the backrest, thereby making it easy to control the capsule endoscope inside the digestive tract of the subject. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a capsule endoscope control system according to an embodiment of the present invention;

[0028] Figure 2 FIG. 1 is a diagram showing an example of a capsule endoscope used in a capsule endoscope control system according to an embodiment of the present invention;

[0029] Figure 3is a perspective view showing a capsule endoscope control device based on a chair according to an embodiment of the present invention;

[0030] Figure 4 1 is an example diagram of the movement of the control magnetic force generating unit in the chair-based capsule endoscope control device according to one embodiment of the present invention ( Figure 3 A-A' direction section);

[0031] Figure 5 is an illustrative diagram illustrating a structure and operation of a magnet controller in a chair-based capsule endoscope control device according to an embodiment of the present invention;

[0032] Figure 6 This is a diagram showing an example structure of a rotation control magnetic force generating unit in a chair-based capsule endoscope control device according to an embodiment of the present invention;

[0033] Figure 7 FIG. 1 is a diagram showing another embodiment of a chair-based capsule endoscope control device according to an embodiment of the present invention;

[0034] Figure 8 This is a diagram showing another embodiment of communication with a capsule endoscope in a chair-based capsule endoscope control device according to an embodiment of the present invention;

[0035] Figure 9 FIG. 1 is a diagram showing another embodiment of a magnet controller in a chair-based capsule endoscope control device according to an embodiment of the present invention;

[0036] Figure 10 It shows Figure 9 Figure BB' cross section.

[0037] Description of Reference Numerals

[0038] 100: Capsule endoscope 200: External transceiver

[0039] 300: Display unit 400, 600: Magnet controller

[0040] 410, 610: Magnetic force generating unit 420, 620: Moving block

[0041] 430, 630: Guide section 500: Chair

[0042] 510: Base 520: Seat

[0043] 530: backrest 540: side backrest

[0044] 550: Operating equipment H: Subject DETAILED DESCRIPTION

[0045] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, it should be noted that when marking the constituent elements of each drawing with reference numerals, even in different drawings, the same constituent elements should be marked with the same reference numerals as much as possible. In addition, when describing the present invention, if it is determined that a detailed description of the relevant known structure or function will make the gist of the present invention unclear, the detailed description thereof will be omitted. The preferred embodiments of the present invention will be described below, but the technical spirit of the present invention is not limited or restricted by the preferred embodiments, and can be modified and implemented in various forms by ordinary technicians in this field.

[0046] Figure 1 FIG. 1 is a schematic diagram of a capsule endoscope control system according to an embodiment of the present invention.

[0047] According to one embodiment of the present invention, a capsule endoscope control system includes: a capsule endoscope 100, an external transceiver 200, a display unit 300, a magnet controller 400, and a chair 500 equipped with the magnet controller 400. The magnet controller 400 can be directly manually controlled by a user, or can be controlled by another operating device connected via a wired or wireless connection. In one embodiment, the capsule endoscope control system may further include an operating device 550 for controlling the magnet controller 400. The operating device 550 may also control the output screen of the display unit 300. The operating device 550 may be configured as an input device including a keyboard, a mouse, or a joystick.

[0048] The capsule endoscope 100 is inserted into the human digestive tract and moves within the digestive tract to obtain image information and / or ultrasonic information from the digestive tract. The capsule endoscope 100 may have a magnet inside so that its position and posture can be controlled by external magnetic force.

[0049] The external transceiver 200 wirelessly communicates with the capsule endoscope 100, receiving information acquired by the capsule endoscope 100 or transmitting signals for operating the capsule endoscope 100 to the capsule endoscope 100. In one embodiment, the external transceiver 200 and the capsule endoscope can wirelessly communicate using a low-power RF method such as Bluetooth. In this case, the external transceiver 200 may include an antenna 210 for wireless communication. However, in embodiments of the present invention, the wireless communication method between the capsule endoscope 100 and the external transceiver 200 is not limited to this. Furthermore, the external transceiver 200 may be mounted on the chair 500 or may be provided separately from the chair 500.

[0050] The external transceiver 200 can be reconnected to the display unit 300 in a wired or wireless manner. The display unit 300 displays the image information and / or ultrasonic information received by the external transceiver 200. In one embodiment, the external transceiver 200 and the display unit 300 can be connected via a wired interface in the form of a USB, but is not limited thereto. The display unit 300 can be understood as including a computer device equipped with a processor that performs signal processing for displaying images or ultrasonic images. In one embodiment, the display unit 300 can display the position of the capsule endoscope 100 in the human body. In addition, the display unit 300 stores the position information of the capsule endoscope 100 as coordinates in a memory (not shown), or when the affected part in the digestive tract is displayed by the capsule endoscope 100, the coordinates of the position of the affected part can be stored in the memory.

[0051] The magnet controller 400 can use magnetic force to control the position and posture of the capsule endoscope 100. The magnet controller 400 includes a control magnetic force generator 410. The control magnetic force generator 410 can be provided in the form of a permanent magnet or an electromagnet. The magnet controller 400 can be installed on the chair 500, and the control magnetic force generator 410 is configured to change the direction or magnetic flux of the magnetic field or adjust the position of the chair 500.

[0052] The chair 500 has a structure that enables the subject H to receive endoscopic examination while controlling the position and posture of the capsule endoscope 100 while sitting.

[0053] The magnet controller 400 can be manually operated by the medical staff performing the ultrasound examination or can be remotely operated by the medical staff (for example, through an input device such as a joystick or keyboard). When remotely operated, the operating device 550 for controlling the magnet controller 400 can be connected to the magnet controller 400 via a wired or wireless connection.

[0054] Figure 2 FIG. 1 is a diagram showing an example of a capsule endoscope used in a capsule endoscope control system according to an embodiment of the present invention.

[0055] The capsule endoscope 100 is configured to be a size that is easily swallowable. Figure 2 The capsule endoscope 100 may include: a shell 110, a magnet 120 included in the shell 110, a circuit board 130, an optical sensor module 140 for acquiring image information, an ultrasonic sensor module 150 for acquiring ultrasonic information, a control unit 160 for controlling an internal structure, a communication unit 170 for wireless communication with the outside, and a battery 180 for providing power.

[0056] The capsule endoscope 100 is provided with at least one magnet 120 for controlling the position or posture of the capsule endoscope 100 by external magnetic force. Figure 2 As shown, a magnet 120 is provided at each end of the housing 110 , so that the position or posture of the capsule endoscope 100 can be easily controlled by external magnetic force.

[0057] The optical sensor module 140 may be a CMOS or CCD imaging sensor. The ultrasonic sensor module 150 may include a transducer 152, a reflector 154 for reflecting ultrasonic waves output from or input to the transducer 152, and a motor 156 for rotating the reflector 154 to adjust the angle.

[0058] The communication unit 170 may use galvanic coupling or RF communication technology requiring an antenna, and may also support unidirectional wireless communication or bidirectional wireless communication. The communication unit 170 may be composed of one or more application specific integrated circuits (ASICs).

[0059] Figure 3 FIG. 1 is a perspective view showing a capsule endoscope control device based on a chair according to an embodiment of the present invention. Figure 4 1 is a diagram showing an example of movement of a control magnetic force generating unit in a chair-based capsule endoscope control device according to an embodiment of the present invention ( Figure 3 AA' direction section), Figure 5 FIG. 1 is an explanatory diagram illustrating an example of the structure and operation of a magnet controller in a chair-based capsule endoscope control device according to an embodiment of the present invention. Figure 6 FIG. 1 is a diagram showing an exemplary configuration for rotating a control magnetic force generating unit in a chair-based capsule endoscope control device according to an embodiment of the present invention.

[0060] The chair 500 constituting the capsule endoscope control device includes a base portion 510 placed on the floor; a seat portion 520 supported by the base portion 510 and accommodating the lower body of the subject H; a backrest portion 530 connected to the seat portion 520 and supporting the upper body of the subject H; and a backrest side portion 540 extending to one side of the backrest portion 530 and covering the side of the abdomen of the subject H. The backrest side portion 540 may extend from the side of the abdomen of the subject H to the front of the abdomen of the subject H, or may extend to fully cover both sides and the front of the abdomen of the subject.

[0061] The chair 500 includes a magnet controller 400 disposed on the backrest 530 or the side backrest 540. The magnet controller 400 is a structure for controlling the position or posture of the capsule endoscope 100 inserted into the digestive tract of the subject H and includes a control magnetic force generator 410. In one embodiment, a permanent magnet may be provided as the control magnetic force generator 410. Furthermore, the control magnetic force generator 410 may be a disk-shaped or spherical permanent magnet having a predetermined thickness. The control magnetic force generator 410 is preferably configured to be movable in the backrest 530 or the side backrest 540 in the vertical, horizontal, and horizontal directions. Furthermore, the control magnetic force generator 410 is preferably configured to be rotatable, thereby changing the direction of the magnetic flux. The position and / or posture of the capsule endoscope 100 in the digestive tract of the subject H can be controlled by the movement and / or rotation (rolling) of the control magnetic force generator 410.

[0062] In one embodiment, in order to move the control magnetic force generating unit 410, the magnet controller 400 includes: a first moving unit 432 (432a, 432b) and a second moving unit 440 (440a, 440b). More specifically, the control magnetic force generating unit 410 is provided in a moving block 420, and the moving block 420 is provided in a guide portion 430 on which the first moving units 432a, 432b are formed. The moving block 420 can move in a first direction ( Figure 3 In addition, the guide portion 430 can move in the second direction ( Figure 3 The first moving parts 432a, 432b and the second moving parts 440a, 440b can be provided using linear motors. In addition, the first moving parts 432a, 432b and the second moving parts 440a, 440b can be provided in the form of chains or belts. The driving method of the first moving parts 432a, 432b and the second moving parts 440a, 440b can be implemented using various well-known technologies, and the driving method is not limited thereto.

[0063] In addition, Figure 3 and Figure 5 In the embodiment shown, the first movable portions 432a and 432b are formed in the vertical direction, and the second movable portions 440a and 440b are formed in the horizontal direction. However, the directions of the second movable portions 432b and 432b and the second movable portions 440a and 440b can be reversed. It is important that the control magnetic force generating portion 410 is positionally movable on the backrest portion 530 and / or the backrest side portion 540.

[0064] Reference Figure 5 and Figure 6The control magnetic force generating unit 410 is rotatably provided in the moving block 420. When the control magnetic force generating unit 410 is formed into a spherical shape, the moving block 420 is provided with at least one driving roller 422 that contacts the surface of the control magnetic force generating unit 410. The driving roller 422 is driven by a motor (not shown), thereby rotating the control magnetic force generating unit 410. When the control magnetic force generating unit 410 is formed into a disk shape, a universal joint structure can be used to rotate the control magnetic force generating unit 410.

[0065] Figure 7 FIG. 1 is a diagram illustrating another embodiment of a chair-based capsule endoscope control device according to an embodiment of the present invention.

[0066] Figure 7 The cross-sectional shape shown is along Figure 3 The A-A' direction is intercepted. Figure 7 In the embodiment of the present invention, the backrest side portion 540 is configured to be rotatable relative to the backrest portion 530, and the backrest side portion 540 is formed to cover the left and right sides and the front of the subject. The backrest side portion 540 includes a first control magnetic force generating portion 410, and the backrest portion 530 includes a second control magnetic force generating portion 410'. The structure for moving and rotating the first control magnetic force generating portion 410 and the second control magnetic force generating portion 410' can be applied as follows Figure 5 The structure shown.

[0067] Figure 8 This is a diagram illustrating another embodiment of communication with a capsule endoscope in a chair-based capsule endoscope control device according to one embodiment of the present invention.

[0068] The backrest 530 is provided with an electrode portion 220 that can communicate with the human body based on galvanic current. The electrode portion 220 is in direct contact with the human skin. The electrode portion 220 can enable communication between the transceiver 200 inside and outside the body through galvanic coupling. The subject H can directly contact the electrode portion 220 provided in the backrest 530 while sitting on a chair, thereby communicating with the human body based on current. In one embodiment, the electrode portion 220 can be provided in plurality, and by measuring the quality of the received signals of the plurality of communication channels of the plurality of electrode portions 220, the channel with the best communication quality can be selected as the channel for current communication. In addition, when applying RF communication technology using an antenna 210 for communication inside and outside the human body, a plurality of antennas 210 can be provided to improve the communication performance, and by measuring the quality of the received signals of the channels, the best channel can be selected.

[0069] Figure 9 FIG. 1 is a diagram showing another embodiment of a magnet controller in a chair-based capsule endoscope control device according to an embodiment of the present invention. Figure 10 Show Figure 9 Cross section in the BB' direction.

[0070] According to another embodiment, the magnet controller 600 is located on the backrest side portion 540 and / or on the inner side (the subject's side) of the backrest portion 530 .

[0071] Reference Figure 9 The magnet controller 600 includes: a moving block 620 having a control magnetic force generating unit 610; a guide unit 630 having a first moving unit 632a, 632b to guide the moving block 620 to move in a first direction; and a second moving unit 640a, 640b to guide the guide unit 630 to move in a second direction. Figure 9 The embodiment has the advantage of making it easy for the control magnetic force generating unit 610 to come into contact with the skin of the subject.

[0072] Reference Figure 10 The movable block 620 includes: a first block 620a for supporting the control magnetic force generating unit 610; and a second block 620b connected to the first block 620a via an elastic portion 622. The elastic portion 622 can be formed by at least one spring. The control magnetic force generating unit 610 is rotatably disposed on the first block 620a. In one embodiment, the second block 620b has guide protrusions 624a and 624b, and the guide portion 630 is provided with guide grooves 632a and 632b for the guide protrusions 624a and 624b to be inserted. The movable block 620 can move relative to the guide portion 630.

[0073] Since the first block 620a is elastically supported by the elastic portion 622, the control magnetic force generating unit 610 can easily come into close contact with the skin of the subject.

[0074] A procedure for performing endoscopic examination of a subject's digestive tract using the capsule endoscope control system according to the present invention will be briefly described.

[0075] After the subject sits in a chair, the pairing status of the capsule endoscope 100 and the external transceiver 200 is checked. If there is no abnormality, the capsule endoscope 100 is swallowed. The position of the control magnetic force generating unit 410 is adjusted taking into account the subject's body shape and sitting position. The visible image or ultrasonic image from the capsule endoscope 100 is confirmed on the display unit 300, and the control magnetic force generating unit 410 is moved or rotated to change the position or posture of the capsule endoscope 100 in the digestive tract. The visible image or ultrasonic image is received from the capsule endoscope 100 with the changed position or posture and displayed on the display unit 300, thereby performing an endoscopic examination.

[0076] On the other hand, when the subject consumes a predetermined amount of water (e.g., 1L or more), the stomach descends, allowing examination of the pancreas, located behind the stomach. Because the control magnetic force generator 410 can be moved to the side and back of the subject, the position of the capsule endoscope 100 can be controlled by positioning the control magnetic force generator 410 behind the subject rather than in front of the subject. This allows for smoother acquisition of images of the subject's upper digestive tract and surrounding gastrointestinal organs (pancreas, heart, etc.).

[0077] The above description is merely an illustrative description of the technical ideas of the present invention. As long as one is of ordinary skill in the technical field to which the present invention belongs, various modifications, changes and substitutions can be made without departing from the essential characteristics of the present invention. Therefore, the embodiments and drawings disclosed in the present invention are not used to limit the technical ideas of the present invention, but to illustrate the present invention. The scope of the technical ideas of the present invention is not limited to these embodiments. The scope of protection of the present invention should be interpreted according to the claims, and should be interpreted as all technical ideas within the scope equivalent thereto are included in the scope of rights of the present invention.

Claims

1. A capsule endoscope control device that is inserted into the digestive tract of a subject and controls the position or posture of a capsule endoscope equipped with a magnet, characterized in that: include: a chair for the subject to sit on, comprising a seat portion and a backrest connected to the seat portion; as well as A magnet controller is provided on the backrest. The magnet controller includes a control magnetic force generating unit for adjusting the position or posture of the capsule endoscope, wherein the control magnetic force generating unit is movable in at least one direction. The magnet controller includes: a first moving portion for moving the control magnetic force generating portion in a first direction; a moving block provided with the control magnetic force generating portion; and a guide portion provided with the first moving portion for moving the moving block in the first direction. The moving block includes: a first block provided with the control magnetic force generating portion; and a second block connected to the first block via an elastic portion, wherein the second block is movably provided via the first moving portion.

2. A capsule endoscope control device that is inserted into the digestive tract of a subject and controls the position or posture of a capsule endoscope equipped with a magnet, characterized in that: include: a chair for the subject to sit on, comprising a seat portion, a backrest connected to the seat portion, and a backrest side portion connected to one side of the backrest; as well as A magnet controller is provided on the side of the backrest. The magnet controller includes a control magnetic force generating unit for adjusting the position or posture of the capsule endoscope, wherein the control magnetic force generating unit is movable in at least one direction. The magnet controller includes: a first moving portion for moving the control magnetic force generating portion in a first direction; a moving block provided with the control magnetic force generating portion; and a guide portion provided with the first moving portion for moving the moving block in the first direction. The moving block includes: a first block provided with the control magnetic force generating portion; and a second block connected to the first block via an elastic portion, wherein the second block is movably provided via the first moving portion.

3. The capsule endoscope control device according to claim 2, wherein: The magnet controller is extended from the side portion of the backrest to at least a portion of the backrest portion.

4. The capsule endoscope control device according to claim 2, wherein: The backrest side portion is formed into a curved surface and is provided to cover at least a portion of the side waist and abdomen of the subject.

5. The capsule endoscope control device according to any one of claims 1 to 4, characterized in that: The magnet controller includes a second moving portion for moving the control magnetic force generating portion in a second direction.

6. The capsule endoscope control device according to claim 5, characterized in that The guide portion is movable along the second moving portion in the second direction.

7. The capsule endoscope control device according to claim 1 or 2, characterized in that: The control magnetic force generating portion is formed in a spherical shape, and the moving block includes a driving roller for rotating the control magnetic force generating portion in at least one direction.

8. The capsule endoscope control device according to claim 1 or 2, characterized in that: The control magnetic force generating portion is formed in a disk shape or a spherical shape, and the moving block has a universal joint structure to rotatably support the control magnetic force generating portion.

9. The capsule endoscope control device according to claim 1, wherein: The moving block is arranged on the inner side surface of the backrest portion.

10. The capsule endoscope control device according to claim 2, wherein: The moving block is provided on the inner side surface of the side portion of the backrest.

11. The capsule endoscope control device according to any one of claims 1 to 4, characterized in that: An electrode portion is formed on the backrest portion. The electrode portion contacts the skin of the subject and can communicate with the capsule endoscope through galvanic coupling.

12. A capsule endoscope control system, characterized in that: include: A capsule endoscope, which is inserted into the digestive tract of the subject and is equipped with a magnet; The capsule endoscope control device according to any one of claims 1 to 4; as well as The display unit receives and displays the visible image or ultrasonic image from the capsule endoscope.

13. The capsule endoscope control system according to claim 12, characterized in that: The device further includes an operating device connected to the capsule endoscope control device via a wired or wireless method and configured to control the position or posture of the control magnetic force generating unit.

14. The capsule endoscope control system according to claim 12, characterized in that: An electrode portion is formed on the backrest of the chair. The electrode portion contacts the skin of the subject and can communicate with the capsule endoscope through galvanic coupling.

Images