Capsule endoscope system

Abstract

The present disclosure describes a capsule endoscope system characterized by including a capsule endoscope having a first magnet and an imaging device, and a magnetic control device including a second magnet and a first induction coil disposed around the second magnet, the capsule endoscope being introduced into a tissue cavity of a subject, the magnetic control device being configured to generate a variable magnetic field including a base magnetic field generated by the second magnet and an induced magnetic field generated by the first induction coil to the capsule endoscope, the variable magnetic field being generated by changing at least one of a relative position of a magnetic pole of the second magnet with respect to the first magnet, a current magnitude of the first induction coil, and a current direction of the first induction coil, the magnetic control device controlling movement of the capsule endoscope in the tissue cavity by the variable magnetic field to capture an image in the tissue cavity. According to the present disclosure, it is possible to accurately control the capsule endoscope to move in the tissue cavity.

Description

[0001] This application was filed on [date]. October 19, 2019 Application number is 2019109965760 The invention is named Inside capsule Endoscope system A divisional application of the patent application. Technical Field

[0002] This disclosure relates to a capsule endoscopy system. Background Technology

[0003] With the development of modern medical technology, lesions on the walls of tissues in the digestive tract, such as the stomach, large intestine, and small intestine, can be examined by swallowing a capsule endoscope. Capsule endoscopes help doctors obtain accurate information about lesion areas within the digestive tract, assisting in diagnosis and treatment. Such capsule endoscopes typically include a magnet controlled by an external magnetic control device, a camera, and a wireless transceiver to transmit the captured images. Specifically, doctors, nurses, or other operators use external devices such as magnetic control devices and signal processing and control devices to magnetically guide and control the capsule endoscope located within tissue cavities such as the stomach and small intestine. This allows the capsule endoscope to move within the tissue cavity and capture images of specific locations (e.g., lesion areas) within the tissue cavity. The captured images are then transmitted wirelessly to an external display device, allowing doctors to observe and diagnose the patient's digestive tract.

[0004] In guiding a capsule endoscope within a tissue cavity using the aforementioned magnetic control method and device, to facilitate operation and ensure easy control and clear imaging of potential lesions, the movement of the capsule endoscope within the tissue cavity should be as simple and easy to achieve as possible. For example, the commonly used magnetic control method involves rolling the capsule endoscope around the fundus of the stomach or large intestine for imaging. However, because the capsule endoscope's imaging device is close to the tissue wall, such as the stomach wall, the field of view of the captured images is limited, resulting in insufficient spatial positioning for imaging within the tissue cavity and potentially leading to missed detections.

[0005] Therefore, it is necessary to improve the traditional magnetic control methods and devices mentioned above in order to precisely control the movement of the capsule endoscope within the tissue cavity by controlling external equipment, thereby reducing the possibility of missed detections. Summary of the Invention

[0006] In view of the above-mentioned existing conditions, the purpose of this disclosure is to provide a capsule endoscope system capable of precisely controlling the movement of a capsule endoscope within a tissue cavity.

[0007] Therefore, this disclosure provides a capsule endoscopy system, comprising: a capsule endoscopy having an illumination device for illuminating a subject, an imaging device for capturing biological information of the subject, a first wireless transceiver for transmitting the biological information to the outside of the subject, and a first magnet, wherein the capsule endoscopy is inserted into the subject to acquire the biological information of the subject and wirelessly transmit the biological information; and an external device disposed outside the subject, the external device having: a magnetic control device including a second magnet and a first induction coil disposed around the second magnet, wherein the magnetic control device is configured to generate a variable magnetic field for the capsule endoscopy, and the variable magnetic field includes a base magnetic field generated by the second magnet and a first induction coil generated by the first induction coil. The system comprises: an induced magnetic field generated by a coil, wherein the magnetic axis of the first induction coil is kept in a fixed orientation, and the variable magnetic field is generated by changing at least one of the following: the relative position of the magnetic poles of the second magnet with respect to the first magnet, the magnitude of the current in the first induction coil, and the direction of the current in the first induction coil; a second wireless transceiver for receiving biological information transmitted by the capsule endoscope; a signal processing and control device for controlling the magnetic control device to realize the movement of the capsule endoscope within the subject body and processing the biological information received by the second wireless transceiver; and a display device connected to the signal processing and control device for receiving and displaying the biological information processed by the signal processing and control device.

[0008] In this disclosure, the movement of the capsule endoscope is controlled by a variable magnetic field, thereby optimizing the capsule endoscope's path within the subject's body and enabling the capsule endoscope to capture images within the subject's body. The captured biological information of the subject is then transmitted via a first wireless transceiver device within the capsule endoscope, and then via a second wireless transceiver device, to a signal processing and control device for processing and display. This allows for precise control of the capsule endoscope's movement within the tissue cavity.

[0009] Additionally, in the capsule endoscopy system disclosed herein, optionally, the capsule endoscope is inserted into a tissue cavity within the subject, and the biological information is an image of the tissue cavity captured by the imaging device. This allows for a direct and intuitive display of information within the tissue cavity.

[0010] Additionally, in the capsule endoscope system disclosed herein, the external device may optionally include an input device for controlling the magnetic control device and the signal processing and control device. This allows for convenient operation of the magnetic control device.

[0011] Additionally, in the capsule endoscopy system disclosed herein, the external device may optionally include an examination bed that carries the subject, the examination bed being movable in three-dimensional space relative to the magnetic control device. This allows for convenient control of the capsule endoscope within the subject.

[0012] Additionally, in the capsule endoscope system disclosed herein, the magnetic control device may optionally include a magnet driving device for driving the second magnet and the first induction coil. This allows for convenient control of the second magnet and the first induction coil.

[0013] Additionally, the capsule endoscope system disclosed herein may optionally include a magnetic sensor module with multiple magnetic sensors. The magnetic sensor module is arranged on a support separate from the examination bed. The magnetic sensor module and the magnetic control device are respectively arranged on both sides of the subject. When the examination bed carrying the subject is moved, the magnetic sensor module remains in a fixed position relative to the magnetic control device. This facilitates convenient positioning of the capsule endoscope.

[0014] Furthermore, in the capsule endoscopy system disclosed herein, optionally, when manipulating the magnetic control device, the position of the magnetic control device remains relatively constant, and the examination bed carrying the subject can move relative to the magnetic control device in three-dimensional space. This allows for more convenient and stable control of the capsule endoscope.

[0015] Additionally, in the capsule endoscope system disclosed herein, optionally, the magnetic fields of the first magnet, the second magnet, and the first induction coil are detected by the magnetic sensors in the magnetic sensor module, and the position of the magnetic sensor module relative to the capsule endoscope is calculated based on the model of the capsule endoscope's magnetic dipole, thereby obtaining the positioning position of the capsule endoscope relative to the tissue cavity. In this case, the positioning position of the capsule endoscope in the tissue cavity can be calculated more accurately.

[0016] Additionally, in the capsule endoscope system disclosed herein, optionally, the magnetic control device includes a second induction coil disposed on a different side from the first induction coil, the second induction coil being disposed on a different side from the second magnet. This allows for more precise control of the capsule endoscope's movement within the tissue cavity.

[0017] Additionally, in the capsule endoscope system disclosed herein, optionally, the second wireless transceiver activates the capsule endoscope by sending a preset signal to the first wireless transceiver. This allows for convenient activation of the capsule endoscope.

[0018] Additionally, in the capsule endoscope system disclosed herein, optionally, the magnetic axis is oriented vertically and passes through the second magnet. This allows the capsule endoscope to be conveniently constrained along the magnetic axis.

[0019] Additionally, in the capsule endoscope system disclosed herein, the second magnet may optionally be a cylinder. In this case, the magnetic axis direction of the second magnet can be easily determined, thereby enabling more convenient control of the capsule endoscope.

[0020] Additionally, in the capsule endoscope system disclosed herein, optionally, the second magnet is arranged around the first induction coil in a manner that allows it to rotate around a point intersecting the magnetic axis of the first induction coil. This facilitates convenient control of the capsule endoscope.

[0021] According to this disclosure, a capsule endoscope system is provided that can precisely control the movement of a capsule endoscope within a tissue cavity. Attached Figure Description

[0022] Figure 1 This is a schematic diagram illustrating a capsule endoscope system according to an embodiment of the present disclosure.

[0023] Figure 2 This is a functional block diagram illustrating the capsule endoscope system according to embodiments of the present disclosure.

[0024] Figure 3 This is a structural diagram showing the external appearance of a capsule endoscope according to an embodiment of the present disclosure.

[0025] Figure 4 This is a schematic diagram showing the internal structure of a capsule endoscope according to an embodiment of the present disclosure.

[0026] Figure 5 This is a schematic diagram illustrating a magnetic control device according to an embodiment of the present disclosure.

[0027] Figure 6 This is another schematic diagram illustrating a magnetic control device according to an embodiment of the present disclosure.

[0028] Figure 7 This is a schematic flowchart illustrating a method for controlling the movement of a capsule endoscope within a tissue cavity according to an embodiment of the present disclosure.

[0029] Figure 8 This is a schematic flowchart illustrating another method for controlling the movement of a capsule endoscope within a tissue cavity according to embodiments of the present disclosure.

[0030] Figure 9This is a schematic diagram illustrating a typical path of movement of a capsule endoscope within the stomach according to an embodiment of the present disclosure.

[0031] Figure 10 This is a schematic diagram illustrating another movement path of the capsule endoscope involved in the embodiments of this disclosure within a tissue cavity.

[0032] Figure 11 This is a schematic diagram illustrating a capsule endoscope, according to an embodiment of the present disclosure, floating on the surface of a liquid within a tissue cavity to take photographs.

[0033] Figure 12 This is another schematic diagram illustrating an embodiment of the present disclosure in which a capsule endoscope floats on the surface of a liquid within a tissue cavity to take photographs.

[0034] Symbol explanation:

[0035] 1…capsule endoscopy system, 2…subject, 3…liquid, 10…capsule endoscope, 20…external equipment, 30…tissue cavity, 110…illumination device, 120…camera device, 130…first wireless transceiver, 140…first magnet, 150…signal processing device, 210…magnetic control device, 211…second magnet, 212…first induction coil, 213…second induction coil, 214…third induction coil, 220…second wireless transceiver, 230…signal processing and control device, 240…display device, 250…input device, 260…examination bed. Detailed Implementation

[0036] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are used for the same components, and repeated descriptions are omitted. Furthermore, the drawings are merely schematic diagrams, and the proportions of the components or the shapes of the components may differ from actual figures.

[0037] Figure 1 This is a schematic diagram illustrating a capsule endoscope system 1 according to an embodiment of the present disclosure. Figure 2 A functional block diagram of the capsule endoscope system 1 according to an embodiment of the present disclosure is shown.

[0038] This disclosure relates to a capsule endoscope system 1. In this embodiment, the capsule endoscope system 1 includes a capsule endoscope 10 and an external device 20. The capsule endoscope 10 may include an illumination device 110, an imaging device 120, a first wireless transceiver 130, and a first magnet 140. The external device 20 may include a magnetic control device 210, a second wireless transceiver 220, a signal processing and control device 230, and a display device 240 (see [link to documentation]). Figure 1 andFigure 2 ).

[0039] In this embodiment, the lighting device 110 can be used to illuminate the subject 2, the imaging device 120 can be used to capture the biological information of the subject 2, the first wireless transceiver 130 can be used to transmit the biological information to the outside of the subject 2, and the first magnet 140 can be a magnetic component.

[0040] Furthermore, in this embodiment, the capsule endoscope 10 can be formed as a capsule-shaped device that can be inserted into the subject 2 and can be used to acquire biological information of the subject 2. The external device 20 can be disposed outside the subject 2 and can be used to control the capsule endoscope 10 and transmit signals with the capsule endoscope 10.

[0041] Specifically, in this embodiment, the magnetic control device 210 can generate a variable magnetic field and exert a magnetic force on the first magnet 140 of the capsule endoscope 10, thereby controlling the capsule endoscope 10. The magnetic control device 210 may include a second magnet 211 and a first induction coil 212 arranged around the second magnet 211, and the direction of the magnetic axis of the first induction coil 212 remains fixed. The variable magnetic field generated by the magnetic control device 210 may include a base magnetic field generated by the second magnet 211 and an induced magnetic field generated by the first induction coil 212. The variable magnetic field can be adjusted by adjusting the relative position of the magnetic poles of the second magnet 211 with respect to the first magnet 140, changing the magnitude or direction of the current in the first induction coil 212.

[0042] In addition, in this embodiment, the second wireless transceiver 220 can be used to transmit signals with the capsule endoscope 10. For example, the second wireless transceiver 220 can be used to receive biological information acquired by the capsule endoscope 10. The signal processing and control device 230 can be used to control the magnetic control device 210, thereby controlling the movement of the capsule endoscope 10 within the subject 2. The signal processing and control device 230 can also process the biological information received by the second wireless transceiver 220. The display device 240 is connected to the signal processing and control device 230 and can display the biological information processed by the signal processing and control device 230.

[0043] In this embodiment, by adjusting the variable magnetic field to control the movement of the capsule endoscope 10, the movement path of the capsule endoscope 10 within the subject 2 can be optimized, thereby allowing the capsule endoscope 10 to more fully capture images of the subject 2 and obtain biological information about the subject 2. This enables more comprehensive acquisition of biological information about the tissue cavities 30 of the subject 2, facilitating more accurate diagnosis and treatment by the physician.

[0044] In addition, in this embodiment, the external device 20 may also include an input device 250 for operating the magnetic control device 210 and the signal processing and control device 230. In this case, commands are applied to the signal processing and control device 230 through the input device 250 and further output to the magnetic control device 210, thereby enabling control of the capsule endoscope 10 by controlling the magnetic control device 210.

[0045] In some examples, the input device 250 may be, for example, a joystick, which can be controlled by an experienced physician or medical professional during the examination of the subject 2. For instance, the medical professional can control the magnetic control device 210 by moving the joystick in the XY-axis plane, thereby moving the magnetic control device 210 in the XY-axis plane. The magnetic control device 210 can also be moved in the Z-axis direction by pressing down on the joystick or pressing a corresponding button.

[0046] In other examples, the input device 250 can also control the magnetic control device 210 by using devices such as a keyboard and mouse, allowing users such as doctors or nurses to easily input various information into the signal processing and control device 230 through input operations.

[0047] In other examples, in addition to the manual input device 250 described above, the input device 250 can also be an automatic controller that uses pre-coded instructions to operate the magnetic control device 210. In this case, the misoperation caused by human operation can be effectively reduced.

[0048] Figure 5 This is a schematic diagram showing a magnetic control device 210 according to an embodiment of the present disclosure. Figure 6 This is another schematic diagram illustrating the magnetic control device 210 according to an embodiment of the present disclosure.

[0049] In some examples, the magnetic control device 210 may consist of multiple coils and magnets (see [reference]). Figure 5 and Figure 6 Additionally, the magnetic control device 210 can utilize power supplied by a power supply device to generate a three-dimensional external magnetic field, such as a rotating magnetic field or a gradient magnetic field. Specifically, the magnetic control device 210 is capable of generating at least a variable magnetic field with a gradient along the vertical direction. The magnetic control device 210 applies an external variable magnetic field to the capsule endoscope 10 inside the subject 2 placed on the examination bed 260. This external variable magnetic field generates a magnetic attraction on the first magnet 140 inside the subject 2, thereby guiding the capsule endoscope 10 to the desired site within the tissue cavity 30. In some examples, the examination bed 260 can be placed on the ground or a horizontal surface, and the subject 2 can lie flat on the examination bed 260 to examine the walls of the tissue cavity 30.

[0050] In some examples, the magnetic control device 210 also includes a magnet drive device for driving the second magnet 211 and the first induction coil 212. In this case, the second magnet 211 and the first induction coil 212 can be easily controlled.

[0051] In some examples, the driving device may include a drive motor, a horizontal rotation module for driving the second magnet 211 to rotate, and a vertical rotation module. In some examples, the magnitude and direction of the current flowing through the induction coil 212 can be controlled by operating the drive motor, thereby controlling the magnitude and direction of the magnetic force generated by the induction coil 212. In some examples, when the magnetic axis of the second magnet is along the vertical direction (see reference...), Figure 5 If the vertical rotation module of the second magnet 211 is controlled, the second magnet 211 can be deflected and form an angle with the Z-axis. Furthermore, the horizontal rotation module of the second magnet 211 can be controlled to make the second magnet 211 rotate around the Z-axis.

[0052] Furthermore, by controlling the translation module and the lifting module 320 of the magnetic control device 210, the magnetic control device 210 can move in the three-dimensional XYZ direction, and further control the horizontal rotation module 330 and the vertical rotation module 340 of the second magnet 211 in the magnetic control device 210 so that the magnetic control device 210 can move in at least five dimensions.

[0053] In some examples, the first induction coil 212 can be arranged on the same side as the second magnet 211. This allows the magnetic field force generated by the first induction coil 212 and the magnetic field force generated by the second magnet 211 to be more concentrated, making it easier to control the capsule endoscope 10.

[0054] In some examples, the magnetic control device 210 may include a second induction coil 213 disposed on a different side from the first induction coil 212, and the second induction coil 213 is disposed on a different side from the second magnet 211. In this case, the first induction coil 212 and the second induction coil 213 can respectively generate a magnetic force on the capsule endoscope 10 on opposite sides, thereby enabling more precise control of the movement of the capsule endoscope 10.

[0055] In some examples, the magnetic axis L can be vertical and can pass through the second magnet 211. In this case, by constraining the capsule endoscope 10 to the magnetic axis L, the capsule endoscope 10 can be precisely controlled.

[0056] In some examples, the second magnet 211 can be a cylinder. Therefore, by controlling the horizontal rotation module and the vertical rotation module of the second magnet 211 as described above, the cylinder can exhibit polarity changes in at least two degrees of freedom in the XYZ three-dimensional directions. Furthermore, by changing the magnetic polarity direction of the cylinder, the state of the capsule endoscope 10 can be controlled, making it easier to manipulate the second magnet 211. In other examples, the second magnet 211 can also be a sphere, thereby allowing for convenient adjustment of the magnetic force exerted by the second magnet 211 on the capsule endoscope 10.

[0057] In some examples, the first induction coil 212 may have a hollow structure, the second magnet 211 may be arranged in the hollow structure, and the second magnet 211 may rotate freely in the hollow structure.

[0058] In some examples, the second magnet 211 may be arranged around the first induction coil 212 and may rotate around a point intersecting the magnetic axis L of the first induction coil 212. In other examples, the second magnet 211 may be arranged on the magnetic axis L and may be arranged outside the first induction coil 212.

[0059] Additionally, in this embodiment, the magnetic control device 210 may also include a third induction coil 214. In some examples, the third induction coil 214 can exert a magnetic force on the capsule endoscope 10, thereby positioning the capsule endoscope 10 at a predetermined position within the tissue cavity 30. That is, the third induction coil 214 can be used to position the capsule endoscope 10.

[0060] In this embodiment, the diameter of the third induction coil 214 can be smaller than the diameter of the first induction coil 212 or the diameter of the second induction coil 213. In some examples, the diameter of the third induction coil 214 can be set to 1cm-15cm, and the diameters of the first induction coil 212 and the second induction coil 213 can be set to 20cm-45cm. In this case, the capsule endoscope 10 can be positioned more accurately.

[0061] Furthermore, in this embodiment, the third induction coil 214 can be disposed on the same side as the second induction coil 213, for example, the third induction coil 214 and the second induction coil 213 can be disposed on the side closer to the ground. This allows for a more stable posture of the capsule endoscope 10.

[0062] In this embodiment, the second wireless transceiver 220 can be a receiving antenna disposed outside the subject 2 (e.g., on the body surface) and can wirelessly communicate with the first wireless transceiver 130 inside the capsule endoscope 10 inside the subject 2. In some examples, the second wireless transceiver 220 can receive wireless signals from the capsule endoscope 10 via the receiving antenna.

[0063] In this embodiment, the signal processing and control device 230 can be implemented using one of the following processors: CPU, MCU, DSP, or FPGA, plus an external control circuit. In some examples, the signal processing device 230 can control the movement of the magnetic control device 210 by sending control commands to it. In other examples, the signal processing device 230 can also perform classification, contour extraction, geometric transformation, and color space transformation on the biological information (images) captured by the capsule endoscope 10 received by the second wireless transceiver 220 to serve as a dataset for later determination of whether there are lesions in the tissue cavity 30.

[0064] In some examples, the display device 240 can demodulate the wireless signal from the capsule endoscope 10 acquired from the second wireless transceiver 220 and display the image information corresponding to the image signal, i.e., the internal image of the subject 2. The set of internal images of the subject 2 generated by the display device 240 can be stored in a storage unit.

[0065] In addition, in some examples, the image processed by the signal processing and control device 230 can be displayed by means of a display device 240, such as a liquid crystal display.

[0066] In some examples, the external device 20 may also include an examination bed 260 that carries the subject 2, the examination bed 260 being movable in three-dimensional space relative to the magnetic control device 210. Thus, by controlling the translation module of the examination bed 260 to move the examination bed 260 in three-dimensional space, the movement of the capsule endoscope 10 within the tissue cavity 30 is controlled. In this case, by moving the examination bed 260, the subject 2 can be conveniently examined.

[0067] In some examples, when manipulating the magnetic control device 210, the magnetic control device 210 can remain relatively stationary with respect to the ground, while the examination bed 260 is moved to induce relative movement between the magnetic control device 210 and the examination bed 260. This allows for more convenient and stable control of the capsule endoscope 10 via the examination bed 260.

[0068] Alternatively, in this embodiment, the examination table 260 and the magnetic control device 210 can be moved simultaneously to control the capsule endoscope 10. In some examples, the examination table 260 can be moved in the Y-axis direction and the magnetic control device 210 can be moved in the XZ-axis direction. In other examples, the examination table 260 can be moved in the X-axis direction and the magnetic control device 210 can be moved in the YZ-axis direction. In still other examples, the examination table 260 can be moved in the XY-axis direction and the magnetic control device 210 can be moved in the Z-axis direction. In yet another example, the examination table 260 can be moved in the XY-axis direction and the magnetic control device 210 can be moved in the YZ-axis direction, and so on.

[0069] Additionally, in some examples, the capsule endoscope system 1 also includes a magnetic sensor module (not shown) with multiple magnetic sensors. The magnetic sensor module is mounted on a support separate from the examination bed 260. The magnetic sensor module and the magnetic control device 210 are respectively positioned on opposite sides of the subject 2. When the examination bed 260 is moved, the magnetic sensor module remains in a fixed position relative to the magnetic control device 210. This allows for more accurate positioning of the capsule endoscope 10.

[0070] In this embodiment, multiple magnetic sensors in the magnetic sensor module detect the magnetic fields of the first magnet 140, the second magnet 211, and the first induction coil 212 in the capsule endoscope 10, respectively. The position of the magnetic sensor module relative to the capsule endoscope 10 is calculated based on a model of the magnetic dipole of the capsule endoscope 10, thereby obtaining the positioning position of the capsule endoscope 10 relative to the tissue cavity 30. In this case, the positioning position of the capsule endoscope 10 within the tissue cavity 30 can be calculated more accurately.

[0071] Specifically, the positioning of the capsule endoscope 10 may include the following steps: inserting the capsule endoscope 10, which has a first magnet 140, into the subject 2 located between the magnetic sensor module and the magnetic control device 210; maintaining the relative position of the magnetic sensor module and the magnetic control device 210 unchanged; and acquiring the first magnetic induction intensity (X) sensed by the magnetic sensor module from the magnetic control device 210 when the magnetic control device 210 is in a predetermined position. m ,Y m Z m ), and the second magnetic induction intensity (X) sensed by the magnetic sensor module from the magnetic control device 210 and the first magnet 140 when the subject 2 is located between the magnetic control device 210 and the magnetic sensor module and the magnetic control device 210 is in a predetermined position. s ,Y s Z s Based on the magnetic dipole model of the first magnet 140 and the preset position of the capsule endoscope 10, the fourth magnetic induction intensity (X) generated by the capsule endoscope 10 at the preset position is calculated. c0 ,Yc0 Z c0 The third magnetic induction intensity (X) generated by the first magnet 140 is obtained based on the first and second magnetic induction intensities. c ,Y c Z c )=(X s ,Y s Z s )-(X m ,Y m Z m ); and by using the third magnetic induction intensity (X) c ,Y c Z c ) and the fourth magnetic induction intensity (X) c0 ,Y c0 Z c0 The preset position is compared and corrected so that the preset position under the predetermined error is determined as the position of the capsule endoscope 10.

[0072] In this embodiment, since the first magnet 140 and the magnetic control device 210 are separated by a certain distance, the first magnet 140 can be regarded as a magnetic dipole in actual clinical applications. In this case, the magnetic dipole model of the first magnet 140 can be described as follows:

[0073]

[0074] In this formula, due to the magnetic moment of the first magnet 140 The fourth magnetic field strength (X) can be measured in advance, and thus the fourth magnetic field strength (X) can be directly calculated from the preset position. c0 ,Y c0 Z c0 ).

[0075] In this embodiment, the fourth magnetic flux density (X) can be calculated in the signal processing and control device 230. c0 ,Y c0 Z c0 ), and make the fourth magnetic induction intensity (X) c0 ,Y c0 Z c0 Approaching the third magnetic flux density (X) c ,Y c Z c The preset position is continuously simulated in a manner that makes the final simulated preset position the positioning position of the capsule endoscope 10.

[0076] Additionally, in the capsule endoscope system 1 disclosed herein, optionally, the second wireless transceiver 220 activates the capsule endoscope 10 by sending a preset signal to the first wireless transceiver 130. In this case, the external device 20 can control the capsule endoscope 10 inside the subject 2.

[0077] In some examples, this preset signal may be, for example, a radio wave of a specific band or frequency.

[0078] In some examples, the magnetic sensor array can be replaced with an antenna array, using the electric field measured by the antenna array for positioning. In other examples, a laser sensor can be placed at one end of the capsule endoscope 10 to locate the position of the capsule endoscope 10 by laser ranging.

[0079] Figure 3 This is a structural diagram showing the external appearance of the capsule endoscope according to an embodiment of the present disclosure; Figure 4 This is a schematic diagram showing the internal structure of a capsule endoscope according to an embodiment of the present disclosure.

[0080] Reference Figure 3 and Figure 4 The capsule endoscope 10 described in this embodiment is a medical device shaped like a capsule and capable of being inserted into the tissue cavity 30 of the subject 2. From an external perspective, the capsule endoscope 10 may have a capsule-shaped shell. The capsule-shaped shell of the capsule endoscope 10 may be a capsule-shaped shell of a size capable of being inserted into the subject 2. The two end openings of the capsule-shaped shell are plugged by a dome-shaped shell to maintain a liquid-tight state. The dome-shaped shell is a transparent optical dome that transmits light (e.g., visible light) of a specified wavelength band, such as a condenser lens. On the other hand, a cylindrical shell is a generally opaque shell.

[0081] In this embodiment, the capsule endoscope 10 includes at least a first magnet 140 and a camera device 120 for taking images within a tissue cavity (e.g., the stomach) 30. The capsule endoscope 10 takes images of the inside of the subject 2 using the camera device 120.

[0082] In some examples, the capsule endoscope 10 may have multiple camera devices 120 and multiple illumination devices 110. The multiple illumination devices 110 may be LED beads, etc., used to illuminate the relatively dark tissue cavity 30 to make the captured tissue images clearer. The multiple camera devices 120 may be, for example, camera elements and corresponding circuit components respectively disposed at both ends of the capsule endoscope 10 along its length, each having an optical dome. The camera elements may be, for example, camera elements implemented using CCD or CMOS, in which case the capsule endoscope 10 can simultaneously capture images from both sides.

[0083] In some examples, the capsule endoscope 10 may also include at least one of an accelerometer and a gravity sensor. In this case, by incorporating an accelerometer or gravity sensor into the capsule endoscope 10, it is possible to measure the deflection angle of the capsule endoscope 10.

[0084] In some examples, the circuitry may include a signal processing device 150 for controlling various components inside the capsule endoscope 10 and a power supply. The power supply may be implemented using a switching circuit and a button cell battery, etc. In some examples, power may be supplied to the capsule endoscope 10 based on the control of the signal processing device 150 when switched to an on state via a switching circuit.

[0085] In addition, the signal processing device 150 can also be used to control the switching of the shooting device 120 and the lighting device 110, as well as to control the signal transmission between the first wireless transceiver device 130 and the external device 20.

[0086] In addition, an image processing device is arranged inside the capsule endoscope 10. The image processing device is used to perform filtering, morphological operations, contour extraction, geometric transformation, color space transformation and other processing on biological information such as images captured by the camera device 120; in addition, the image processing device can further adjust the brightness of the illumination device 110 based on the acquired image information to make the captured image clearer.

[0087] In some examples, the image processing device may be located in the signal processing device 150.

[0088] Specifically, when the capsule endoscope 10 enters the tissue cavity 30 inside the subject 2, the capsule endoscope 10 can be activated by sending a preset signal (e.g., a radio wave of a specific frequency) to the first wireless transceiver 130 via the second wireless transceiver 220. Furthermore, the power supply is turned on by the signal processing device 150 to enable the imaging device 120 and the illumination device 110 to start working and capture images and other information inside the tissue cavity 30. The image processing device can then perform a series of processing on the captured images (such as filtering, morphological operations, contour extraction, geometric transformation, color space transformation, etc., as described above) and transmit them to the external device 20 (which receives information via the second wireless transceiver 220) for display via the first wireless transceiver 130.

[0089] In some examples, the capsule endoscope 10 can also be activated outside the subject 2 and then introduced into the subject 2; there are no restrictions on this.

[0090] In this embodiment, when the capsule endoscope 10 examines the subject 2, the subject 2 can enter the tissue cavity 30 through the liquid 3 so that the tissue cavity 30 can be examined in the tissue cavity 30 filled with liquid 3.

[0091] In addition, in this embodiment, imaging devices 120 can be provided at both ends of the capsule endoscope 10. This reduces the need for operations such as rotation of the capsule endoscope 10, thereby making it easier and more comprehensive to image the tissue cavity 30.

[0092] Furthermore, in this embodiment, the center of gravity of the capsule endoscope 10 can be closer to the other end relative to one end. With this design, the position of the center of gravity of the capsule endoscope 10 can be stabilized, enabling the capsule endoscope 10 to take pictures more stably on the wall of the tissue cavity 30 or floating on the liquid surface.

[0093] In some examples, the capsule endoscope 10 is inserted into a tissue cavity 30 within the subject 2, and the biological information is an image within the tissue cavity 30. Thus, the capsule endoscope 10 enables the examination of the relevant tissue cavities 30 of the subject 2, and allows for the display and analysis of the tissue cavities 30 using images, a visually intuitive form.

[0094] Figure 7 This is a schematic flowchart illustrating a method for controlling the movement of a capsule endoscope within a tissue cavity according to an embodiment of the present disclosure. Figure 8 This is a schematic flowchart illustrating another method for controlling the movement of a capsule endoscope within a tissue cavity according to embodiments of the present disclosure. Figure 9 This is a schematic diagram illustrating a typical path of movement of a capsule endoscope within the stomach according to an embodiment of the present disclosure. Figure 10 This is a schematic diagram illustrating another movement path of the capsule endoscope involved in the embodiments of this disclosure within a tissue cavity. Figure 11 This is a schematic diagram illustrating a capsule endoscope, according to an embodiment of the present disclosure, floating on the surface of a liquid within a tissue cavity to take photographs. Figure 12 This is another schematic diagram illustrating an embodiment of the present disclosure in which a capsule endoscope floats on the surface of a liquid within a tissue cavity to take photographs.

[0095] The following is for reference Figures 7-12This disclosure details the method for controlling the movement (motion) of the capsule endoscope 10 within a tissue cavity 30. For ease of explanation, this disclosure primarily uses the stomach as an example to illustrate the method for controlling the movement of the capsule endoscope 10 within a tissue cavity 30. However, those skilled in the art will readily understand that the method for controlling the movement of the capsule endoscope 10 within a tissue cavity 30, as disclosed herein, is also applicable to other tissue cavities 30, such as digestive cavities (esophagus, large intestine, colon, small intestine, etc.), or can be applied with minor adjustments without requiring inventive effort.

[0096] When subject 2 begins the examination of the stomach, the capsule endoscope 10 can be inserted into the patient's tissue cavity 30 through a natural orifice (such as the mouth) or a small surgical incision. At this time, subject 2 can lie supine on the examination table 260.

[0097] In some examples, the capsule endoscope 10 can be set not to perform observation (image acquisition) until a specified time has elapsed or a specified location has been reached, and the power supply 15 in the capsule endoscope 10 is activated after the specified time has elapsed or after the capsule endoscope 10 has been confirmed to have reached the tissue cavity 30 to be examined by observing images, etc., so that the capsule endoscope 10 can start working.

[0098] Next, a variable magnetic field can be generated on the capsule endoscope 10 by using a magnetic control device 210 located outside the subject 2, and a driving force can be generated on the capsule endoscope 10 by controlling the variable magnetic field, so that the capsule endoscope 10 moves from the first position P1 inside the tissue cavity 30 toward the opposite side inside the tissue cavity 30 to the second position P2.

[0099] It should be noted that there are no particular restrictions on the first position P1 and the second position P2 here, as long as they are located within the tissue cavity 30. For example, as Figure 9 As shown, both the first position P1 and the second position P2 can be located within the cavity wall (here, the stomach wall) of the tissue cavity 30. In some examples, the first position P1 can be located within the cavity wall of the tissue cavity 30, while the second position P2 can be located within the tissue cavity 30 in a location that does not contact the cavity wall. In other examples, both the first position P1 and the second position P2 can be located within the tissue cavity 30 in a location that does not contact the cavity wall.

[0100] In some cases, after the capsule endoscope 10 enters the tissue cavity 30 of the subject 2, it reaches the bottom of the tissue cavity (e.g., the stomach) 3 (e.g., the first position P1). At this time, the capsule endoscope 10 is controlled by a variable magnetic field to adjust its lens orientation, so that it is initially positioned at the bottom of the tissue cavity 30 for imaging, and an in vivo image of the inner wall of the tissue cavity 30 is acquired (step S110). In addition, in some examples, it can be determined whether the first position P1 is the desired position (step S120). If the first position P1 is not the desired position, the process returns to step S110, where the capsule endoscope 10 is redirected using the variable magnetic field and positioned by, for example, magnetic field positioning. If the first position P1 is the desired position, then in order to move the capsule endoscope 10 to the opposite side of the tissue cavity 30 (that is, to move the capsule endoscope 10 in the opposite direction of its gravity), a variable magnetic field can be controlled to generate an upward component force on the capsule endoscope 10 under the action of the magnetic force of the variable magnetic field, the gravity of the capsule endoscope 10 itself, and the supporting force or frictional force at the bottom of the tissue cavity 30, so as to move the capsule endoscope 10 to the opposite side of the tissue cavity 30 (step S130). Here, the desired position can be, for example, a position where a clear image can be obtained.

[0101] Additionally, when the capsule endoscope 10 approaches the second position P2, a variable magnetic field can be controlled to decelerate the capsule endoscope 10 to a predetermined speed (step S140). In some other examples, the speed may be reduced to less than the predetermined speed in step S140. Next, the capsule endoscope 10 is determined to be in the second position P2 by, for example, magnetic field positioning, and the capsule endoscope 10 is positioned at the second position P2 to photograph the wall of the tissue cavity 30 (e.g., the stomach wall) (step S150). This prevents the impact force generated during the accelerated movement of the capsule endoscope 10 from damaging the tissue on the sidewall of the tissue cavity 30. In some examples, it can be determined whether the second position is the desired position (step S160). If the second position P2 is not the desired position, the process returns to step S130, where the capsule endoscope 10 can be redirected using the variable magnetic field and positioned by, for example, magnetic field positioning. Here, the second position P2 is not particularly limited; it can be any point within the tissue cavity 30 or a sidewall on the opposite side relative to the bottom of the tissue cavity 30.

[0102] In other cases, the first position P1 can be any position within the tissue cavity 30 except the bottom. In this case, the capsule endoscope 10 is controlled by a variable magnetic field to reach the first position (step S210). In some examples, it can be determined whether the first position is the desired position (step S220). If the first position P1 is not the desired position, the process returns to step S210 to redirect the capsule endoscope 10 using the variable magnetic field and position it using, for example, magnetic field positioning. If the first position P1 is not the desired position, in order to move the capsule endoscope 10 to the opposite side of the tissue cavity 30 (i.e., to move the capsule endoscope 10 in the direction of its gravity), the variable magnetic field can be controlled so that the capsule endoscope 10 generates an upward component force under the influence of the magnetic force of the variable magnetic field and its own gravity, thereby moving the capsule endoscope 10 to the opposite side of the tissue cavity 30 (step S230).

[0103] Additionally, when the capsule endoscope 10 approaches the second position P2, a variable magnetic field is controlled to decelerate the capsule endoscope 10 to a predetermined speed (step S240). In some other examples, the speed may be reduced to less than this predetermined speed in step S140. Next, the capsule endoscope 10 is determined to be in the second position P2 by, for example, magnetic field positioning, and the capsule endoscope 10 is positioned at the second position P2 to photograph the wall of the tissue cavity 30 (e.g., the stomach wall) (step S250). This prevents the impact force generated during the accelerated movement of the capsule endoscope 10 from damaging the tissue on the sidewall of the tissue cavity 30. In some examples, it may be determined whether the second position is the desired position (step S260). If the second position P2 is not the desired position, the process returns to step S230, where the capsule endoscope 10 can be redirected using the variable magnetic field and positioned by, for example, magnetic field positioning.

[0104] In some examples, the above is repeated. Figure 7 and Figure 8 Steps S110 to S160 and steps S210 to S260 are shown until the image capture inside the tissue cavity 30 is completed.

[0105] In this embodiment, the variable magnetic field includes a base magnetic field generated by the second magnet 211 and an induced magnetic field generated by the first induction coil 212. The magnetic axis L of the first induction coil 212 is kept in a fixed orientation so that the capsule endoscope 10 is always positioned at the magnetic axis L of the first induction coil 212 under the traction of the variable magnetic field (see reference). Figure 5 ).

[0106] In some examples, the magnitude of the variable magnetic field can be adjusted by changing the relative position of the magnetic poles of the second magnet 211 with respect to the first magnet 140 (i.e., magnet 140 in the capsule endoscope 10). In some examples, for instance, the polarity of the N and S poles of the second magnet 211 can be reversed by deflecting it, or the relative position of the magnetic poles of the second magnet 211 with respect to the first magnet 140 can be changed by moving the second magnet 211, thereby generating a variable magnetic field to control the movement and deflection of the capsule endoscope 10. In other embodiments, the relative position of the magnetic poles of the second magnet 211 with respect to the first magnet 140 can be changed by moving the position of the subject 2, thereby generating a variable magnetic field to control the movement and deflection of the capsule endoscope 10.

[0107] It is understood that the first magnet 140 in the capsule endoscope 10 involved in this embodiment can be fixed in the capsule endoscope 10. Therefore, the deflection of the polarity of the first magnet 140 can cause the lens of the capsule endoscope 10 to deflect.

[0108] In some examples, the magnitude of the variable magnetic field can be controlled by changing the current in the first induction coil 212, and the direction of the variable magnetic field can be controlled by changing the relative position of the first induction coil 212 relative to the first magnet 140. In other examples, the relative position of the first induction coil 212 relative to the first magnet 140 can be changed by moving the first induction coil 212. In still other examples, the relative position of the first induction coil 212 relative to the first magnet 140 can also be changed by moving the position of the object being tested 2.

[0109] Furthermore, in some examples, the polarity of the magnetic field generated by the first induction coil 212 can be changed by changing the direction of the current in the first induction coil 212, thereby changing the magnitude of the magnetic force of the variable magnetic field.

[0110] It is understandable that by relying on the base magnetic field generated by the second magnet 211 and the induced magnetic field generated by the first induction coil 212, as well as the combined force of any one or both of the two magnetic forces, the path optimization of the capsule endoscope 10 in the tissue cavity 30 space can be achieved. At the same time, the movement speed of the capsule endoscope 10 can be controlled mainly by controlling the current strength of the first induction coil 212, so as to achieve both a comprehensive examination of the tissue cavity 30 and protection of the cavity wall of the tissue cavity 30.

[0111] In this embodiment, in some examples, the first position P1 can be the bottom of the tissue cavity 30. During the movement of the capsule endoscope 10 from the first position P1 to the second position P2, when the capsule endoscope 10 is at the first position P1, a variable magnetic field is controlled to generate an upward magnetic force. Simultaneously, under the support force and / or friction force at the bottom of the tissue cavity 30, and the downward gravity of the capsule endoscope 10, an upward component force is generated in the capsule endoscope 10, causing it to accelerate. When the capsule endoscope 10 approaches the second position P2, it loses the support force and / or friction force at the stomach floor. By controlling the variable magnetic field to balance the weight of the capsule endoscope 10, it can decelerate to a predetermined speed or less than a predetermined speed.

[0112] In some examples, the second position P2 can be any position within the tissue cavity 30 space relative to the first position P1. This allows the tissue cavity 30 to be freed from obstacles such as the mucosa or protruding structures at its base, and the capsule endoscope 10 to decelerate to a predetermined speed upon reaching this position, thereby enabling imaging of the tissue cavity 30. In other embodiments, the second position P2 can be the other sidewall of the tissue cavity 30 relative to the first position P1. In this case, being close to the sidewall of the tissue cavity 30 effectively provides a fulcrum for the capsule endoscope 10, allowing it to stably capture images at this fulcrum based on the control of a variable magnetic field.

[0113] In some examples, during the movement of the capsule endoscope 10 from the first position P1 to the second position P2, when the capsule endoscope 10 is at the first position P1, a variable magnetic field is controlled to accelerate the capsule endoscope 10 to an initial speed. This initial speed can then be maintained for a predetermined distance. Then, as the capsule endoscope 10 approaches the second position P2, the variable magnetic field is controlled to decelerate the capsule endoscope 10 to a predetermined speed. In this way, the capsule endoscope 10 experiences uniform motion during its movement, allowing for reasonable control of the deceleration buffer speed. Furthermore, this also improves the clarity of images captured by the capsule endoscope 10 during the uniform motion phase.

[0114] In this embodiment, when the capsule endoscope 10 is in the second position P2, the capsule endoscope 10 images the tissue cavity 30 from the side facing the first position P1. At this time, the second magnet 211 (see description later) can be controlled. Figure 8The deflection of the lens of the camera device 120 is used to control the orientation of the camera device 120, and the deflection of the lens of the camera device 120 is used to capture images of the tissue cavity 30. Additionally, in some examples, the second position P2 can be any position within the tissue cavity 30 space relative to the first position P1. In other embodiments, the second position P2 can be a sidewall of the tissue cavity 30 relative to the first position P1.

[0115] Furthermore, in this embodiment, the first position P1 can preferably be a sidewall on one side of the tissue cavity 30, and the second position P2 can preferably be a sidewall on the other side of the tissue cavity 30. Thus, the capsule endoscope 10 can be stabilized by the support force of the sidewall, thereby enabling the capsule endoscope 10 to take images more stably under the control of a variable magnetic field.

[0116] Reference Figure 10 In this embodiment, the process of moving the capsule endoscope 10 from a first position P1 in the stomach to a second position P2 in the stomach and then back to a third position P3 in the stomach is a shuttle motion process. The first position P1 and the third position P3 can be located on one side of the stomach, and the second position P2 can be located on the other side of the stomach. During the shuttle motion, a variable magnetic field can be controlled to cause the capsule endoscope 10 to deviate, thereby causing the third position P3 of the capsule endoscope 10 to deviate from the first position P1.

[0117] In some examples, the shuttle motion can be a movement within the stomach space, thus avoiding damage to the stomach lateral wall tissue caused by the impact force generated by the capsule endoscope 10. In other embodiments, the shuttle motion can be a movement between the various side walls of the stomach, thus enabling a more comprehensive examination of the stomach and avoiding the possibility of missing hidden areas of the stomach.

[0118] In this embodiment, when the capsule endoscope 10 is located at the first position P1 or the second position P2 of the tissue cavity 30, the tissue cavity 30 is moved along a direction forming an angle with the magnetic axis L, causing the position of the first magnet 140 to deviate from the magnetic axis L. The second magnet 211 generates a magnetic force acting on the capsule endoscope 10 along the magnetic axis L. Therefore, the capsule endoscope 10 can be easily driven to move along a specific path by the cooperation of the base magnetic field and the induced magnetic field. At this time, by moving the position of the subject 2, more stable control of the capsule endoscope 10 can be achieved.

[0119] Figure 11 This is a schematic diagram showing a capsule endoscope 10, according to an embodiment of the present disclosure, floating on the liquid surface within a tissue cavity 30 to take pictures. Figure 12 This is another schematic diagram showing the capsule endoscope 10 of the present disclosure floating on the liquid surface in the tissue cavity 30 to take pictures according to the embodiments of the present disclosure.

[0120] In some examples, liquid 3 can be filled into the tissue cavity 30 (see Figure 11 or Figure 12 At this point, the specific gravity of the capsule endoscope 10 can be set to be less than but close to the specific gravity of the liquid 3 supplied to the tissue cavity 30. In some examples, such as when the liquid 3 is water, the specific gravity of the capsule endoscope 10 can be set to be less than 1 but close to 1. Additionally, the center of gravity of the capsule endoscope 10 can be set to be biased towards the capsule-shaped shell. In this case, the capsule endoscope 10 can float more stably on the surface of the liquid 3 under the guidance of the center of gravity. This facilitates the capture of images within the tissue cavity 30 using the capsule endoscope 10, reducing the instability of the captured images caused by fluctuations in the liquid surface. In some examples, the liquid 3 can be water, soft drink, milk, or other liquids harmless to the human body.

[0121] Furthermore, the liquid 3 can form a liquid surface within the tissue cavity 30. In this case, by controlling the variable magnetic field of the magnetocontrol device 210, the capsule endoscope 10 is positioned on the liquid surface and maintained in a relative position with the tissue cavity 30. The subject 2 is then moved (i.e., the tissue cavity 30 is moved) to capture images of the tissue cavity 30. Additionally, since the capsule endoscope 10 is positioned on the liquid surface, in a relatively stable state, the magnetocontrol device 210 can be controlled to make the capsule endoscope 10 float on the liquid surface. The orientation of the imaging device 120 can be adjusted to capture images of the tissue cavity 30. The position of the tissue cavity 30 (i.e., the subject 2) can also be moved, allowing the capsule endoscope 10 to move in various directions along the horizontal plane of the liquid 3.

[0122] Reference Figure 12 The capsule endoscope 10 can be moved longitudinally perpendicular to the horizontal plane of the liquid 3 by utilizing the change in the position of the liquid 3. In some examples, the liquid level can be gradually lowered by utilizing the absorption function of the tissue cavity 30 itself. In other examples, the liquid level can be gradually raised by gradually filling the tissue cavity 30 with water.

[0123] When the liquid level of liquid 3 changes, the capsule endoscope 10 can float in liquid 3 and take pictures of the tissue cavity 30 as the liquid level changes, thus basically covering the area to be photographed within the tissue cavity 30. Furthermore, during this imaging process, the capsule endoscope 10 can also be rotated to take pictures, thereby further improving the coverage of the tissue cavity 30.

[0124] Understandably, by utilizing the buoyancy of the liquid 3, the gravity of the capsule endoscope 10, and the magnetic force of the variable magnetic field, stable imaging of the capsule endoscope 10 at the liquid surface can be achieved. Adjusting the liquid surface position and moving the capsule endoscope 10 along the liquid surface allows for more convenient imaging of the tissue cavity 30. Furthermore, this method allows the capsule endoscope 10 to be stably rotated and imaged from any spatial position within the tissue cavity 30, thus enabling omnidirectional imaging of the body.

[0125] In some examples, the liquid level of liquid 3 within the tissue cavity 30 can be no less than 50 mm, ensuring that the capsule endoscope 10 floats on the liquid surface. Additionally, the capsule endoscope 10 can be floated at a specific position within the tissue cavity 30 by changing the magnitude and direction of the variable magnetic field, while simultaneously changing the orientation of the imaging device 120 to capture images of the cavity wall. Furthermore, in some examples, the position of the capsule endoscope 10 floating in the liquid 3 can also be adjusted by changing the magnitude of the variable magnetic field, thus providing greater flexibility for capturing images from different locations.

[0126] In some examples, the tissue cavity 30 can be moved relative to the capsule endoscope 10 to capture images of the tissue cavity 30; that is, the tissue cavity 30 is moved relative to the capsule endoscope 10 by using the magnetic control device 210 to maintain the position of the capsule endoscope 10. In other examples, the position of the capsule endoscope 10 can also be changed by changing the position of the magnetic control device 210 to capture images of the tissue cavity 30.

[0127] In some examples, the capsule endoscope 10 can also be suspended at any position below the liquid surface for imaging by changing the specific gravity of the capsule endoscope 10 and the variable magnetic field.

[0128] In this embodiment, when the capsule endoscope 10 is located on the side wall of the tissue cavity 30, the variable magnetic field of the magnetocontrol device 210 is controlled to adjust the orientation of the camera device 120 at the other end of the capsule endoscope 10, using one end of the capsule endoscope 10 located on the side wall of the tissue cavity 30 as a fulcrum, and to take pictures. At this time, with the support of the side wall of the tissue cavity 30, and by adjusting the orientation of the camera device 120, the capsule endoscope 10 can be made to take stable pictures facing the other side of the tissue cavity 30.

[0129] In some examples, refer to Figure 6 The variable magnetic field is controlled by changing the position of the magnetic pole of the second magnet 211 of the magnetic control device 210 relative to the first magnet 140. At this time, by causing the polarity of the second magnet 211 to deflect and simultaneously changing the relative position of the second magnet 211 relative to the first magnet 140, the deflection and movement of the capsule endoscope 10 are controlled.

[0130] In this embodiment, the camera device 120 of the capsule endoscope 10 can automatically take pictures within the tissue cavity 30 at predetermined time intervals. For example, it can take pictures every 0.1 seconds, every 0.2 seconds, every 0.3 seconds, or every 0.5 seconds. Therefore, the capsule endoscope 10 can be activated before or after entering the tissue cavity 30 to automatically take pictures within the tissue cavity 30, and all the pictures can be transmitted to the external device 20 via the first wireless transceiver 130. Finally, images that may indicate lesions can be filtered through the display device 240.

[0131] In some examples, the imaging device 120 of the capsule endoscope 10 can automatically take pictures within the tissue cavity 30 at predetermined displacement intervals. For example, pictures can be taken within a predetermined displacement interval of approximately 1 mm to 11 mm, or preferably within a displacement interval of 2 mm to 8 mm, so that the pictures taken by the imaging device 120 have an area overlap of more than 10%. This allows the pictures taken by the imaging device 120 to have continuity, thereby helping to identify the location of the tissue cavity 30.

[0132] In some examples, such as Figure 5 As shown, when the second magnet 211 is in its initial position, the direction of the magnetic axis L can be vertical, and the magnetic axis L can pass through the second magnet 211. Therefore, the vertical axis of the second magnet 211 can be aligned with the magnetic axis L of the first induction coil 212, thus ensuring that the capsule endoscope 10 is generally held on the magnetic axis L during the control of its movement.

[0133] In this embodiment, in some examples, the first induction coil 212 can be arranged around the second magnet 211, and the diameter of the first induction coil 212 can be larger than the diameter of the sphere that serves as the second magnet 211. This allows the geometric center of the magnet 31 to coincide with the geometric center of the first induction coil 212, resulting in a relatively concentrated magnetic field force, and also saves space occupied by the magnetic control device 210.

[0134] As another example of path planning Figure 10 This is a schematic diagram illustrating another movement path of the capsule endoscope 10 according to an embodiment of the present disclosure within a tissue cavity 30. Figure 10 For ease of explanation, the structure of the tissue cavity 30 is not shown in the figure. In addition, to further illustrate the movement in three-dimensional space, a reference XYZ coordinate system is shown next to it.

[0135] Referring to the above description, the process of moving the capsule endoscope 10 from the first position P1 in the stomach to the second position P2 in the stomach and then back to the third position P3 in the stomach is a shuttle motion process. The first position P1 and the third position P3 can be located on one side of the stomach, and the second position P2 can be located on the other side. During the shuttle motion, before the capsule endoscope 10 moves to the second position P2 in the stomach, it can also move to a fourth position P4, outside of the first and second positions P1 and P2. The fourth position P4 is not located in the plane formed by the first, second, and third positions P3. This allows for comprehensive imaging of all parts of the tissue cavity 30.

[0136] In some examples, during the shuttle motion, before the capsule endoscope 10 moves to the third position P3 in the stomach, it also moves to a fifth position P5, outside of the second and third positions P2 and P3. The fifth position P5 is not located in the plane formed by the first, second, and third positions P1 and P2. This allows for comprehensive imaging of all parts of the tissue cavity 30.

[0137] In other examples, positions P1, P2, P3, P4, and P5 are all located on the inner wall of the stomach. This allows the capsule endoscope 10 to take more stable images with the support of the stomach wall, and enables comprehensive imaging of all parts of the tissue cavity 30.

[0138] Furthermore, the aforementioned first position P1 and the opposite second position P2 are intended to illustrate that, under the magnetic control scheme of this disclosure, the capsule endoscope 10 can be moved to any spatial position within the tissue cavity 30 and take images. During this process, the capsule endoscope 10 can be rotated for imaging by deflecting the second magnet 211. Therefore, its movement path within the tissue cavity 30 is arbitrary in three-dimensional direction, and preferably an optimal path that covers the tissue cavity 30.

[0139] In this disclosure, the movement of the capsule endoscope 10 is controlled by a variable magnetic field, thereby optimizing the path of the capsule endoscope 10 within the subject 2 and enabling the capsule endoscope 10 to capture images of the subject 2. The captured biological information of the subject 2 is transmitted to the signal processing and control device 230 via the first wireless transceiver 130 and the second wireless transceiver 220 within the capsule endoscope 10 for processing and display on the display device 240. Thus, the capsule endoscope system 1 enables a comprehensive examination of the subject 2 and the display and analysis of the tissue cavity 30.

[0140] While the present disclosure has been specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the present disclosure in any way. Those skilled in the art can make modifications and variations to the present disclosure as needed without departing from its essential spirit and scope, and all such modifications and variations fall within the scope of the present disclosure.

Claims

1. A capsule endoscopy system, characterized in that, The device includes a capsule endoscope and a magnetic control device. The capsule endoscope has a first magnet and a camera device. The capsule endoscope is inserted into a tissue cavity of a subject. The magnetic control device includes a second magnet and a first induction coil arranged around the second magnet. The magnetic control device is configured to generate a variable magnetic field on the capsule endoscope, including a base magnetic field generated by the second magnet and an induced magnetic field generated by the first induction coil. The variable magnetic field is generated by changing at least one of the relative positions of the magnetic poles of the second magnet with respect to the first magnet, the magnitude of the current in the first induction coil, and the direction of the current in the first induction coil. The magnetic control device controls the movement of the capsule endoscope within the tissue cavity through the variable magnetic field to capture images within the tissue cavity. The magnetic axis of the first induction coil is kept vertically oriented. The second magnet is cylindrical and its axis coincides with the magnetic axis in its initial position. The variable magnetic field is also used to guide the capsule endoscope along the magnetic axis of the first induction coil and control the movement speed of the capsule endoscope. The magnetic control device controls the shuttle movement of the capsule endoscope within the tissue cavity through the variable magnetic field.

2. The capsule endoscope system as described in claim 1, characterized in that, The capsule endoscope moves between the various side walls of the tissue cavity.

3. The capsule endoscope system as described in claim 1, characterized in that, The capsule endoscope is capsule-shaped.

4. The capsule endoscope system as described in claim 1, characterized in that, The capsule endoscope is configured to be activated wirelessly.

5. The capsule endoscope system as described in claim 1, characterized in that, The capsule endoscope is configured to acquire images when located on the sidewall of a tissue cavity.

6. The capsule endoscope system as described in claim 1, characterized in that, The capsule endoscope is rotated by deflecting the second magnet.

7. The capsule endoscope system as described in claim 1, characterized in that, The capsule endoscope also includes at least one of an accelerometer and a gravity sensor.

8. The capsule endoscope system as described in claim 6, characterized in that, The magnetic axis of the first induction coil passes through the second magnet, and the second magnet is arranged around the first induction coil in such a way that it can rotate around the point where it intersects with the magnetic axis of the first induction coil.

Images