Capsule endoscope with self-collimating attitude adjustment

Abstract

The application provides a self-collimation posture adjusting capsule endoscope, which comprises a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module and a permanent magnet. The application controls the spatial position and posture deflection of the capsule endoscope respectively, thereby avoiding the problem of magnetic force and magnetic moment coupling. The universal rotation module designed in the application cooperates with the self-collimation posture adjusting control method, so that the posture deflection precision of the capsule endoscope is directly determined by the control precision of the motor, and the application has the advantages of simple control and high precision. The spatial position control method provided by the application makes the horizontal position of the capsule endoscope directly determined by the magnetic field center position, has very high control precision, and greatly reduces the control difficulty of the vertical position.

Description

Capsule endoscope with self-collimating posture adjustment Technical Field

[0001] This invention relates to the field of medical devices, specifically to a capsule endoscope with self-collimation posture adjustment. Background Technology

[0002] Currently, capsule endoscopy is a relatively advanced diagnostic method for routine examinations of the human digestive tract. Compared with traditional gastroscopy, capsule endoscopy has advantages such as requiring no anesthesia, no intubation, being painless and non-invasive, and having no risk of cross-infection, which can greatly reduce the patient's suffering.

[0003] During capsule endoscopy, an external control system is needed to adjust the position and orientation of the capsule endoscope to capture images of the stomach wall for diagnostic analysis. Magnetically controlled capsule endoscopy is a method of active control for capsule endoscopy. It alters the magnetic field distribution in space by changing the orientation and orientation of an external magnet, thereby driving the capsule endoscope, which contains permanent magnets, to change its position and orientation. This is a commonly used control method.

[0004] However, current magnetically controlled capsule endoscopes are highly complex to control and have limited precision. Because the external magnetic field couples the magnetic force and magnetic moment of the capsule endoscope, changing the magnetic force alters the magnetic moment acting on the capsule, significantly increasing the difficulty of controlling its position and orientation. Furthermore, to achieve closed-loop control of the capsule endoscope in a suspended state, multiple magnetic sources (typically a combination of permanent magnets and electromagnetic coils) are typically used in an external device, employing techniques such as magnetic sensing positioning to acquire the capsule endoscope's position and orientation information for effective control. With multiple magnetic sources, capsule endoscope control becomes even more challenging, and the limited accuracy of the acquired position and orientation information, coupled with delay correction issues, makes achieving high control precision difficult.

[0005] CN201310133128.0 discloses a capsule robot for gastrointestinal endoscopy, comprising a capsule shell, a built-in permanent magnet disposed inside the capsule shell, a gear transmission mechanism, an image acquisition unit, and a rotating leg that can extend out of the capsule shell. The built-in permanent magnet can rotate under the drive of an external permanent magnet. The input end of the gear transmission mechanism is connected to the built-in permanent magnet to convert the rotational motion into rotational motion around the main axis of the capsule robot. Its output end forms a sliding pair with the rotating leg to drive the rotating leg to change its length extending out of the capsule shell. The image acquisition unit is used to capture images of the examined area and send the captured images to an image receiving and processing device, thereby performing the endoscopic examination process. A corresponding motion control system is also disclosed. Through the above invention, the active control process of the capsule endoscope can be flexibly executed, and it possesses features such as active walking, intestinal expansion capability, and sustained driving force supply.

[0006] CN201610254857.5 discloses a capsule endoscopy control system, comprising: a capsule endoscope for collecting digestive tract information of a subject, the capsule endoscope having a permanent magnet inside; a capsule control device for controlling the movement of the capsule endoscope via the permanent magnet; a control terminal for receiving and displaying digestive tract information and the position information of the capsule endoscope; and a control terminal for controlling the operation of the capsule control device. After the capsule endoscope is moved to the first test position by the capsule control device, the capsule endoscope can send the detected digestive tract information of the first test position to the control terminal for display, enabling medical personnel to clearly observe the condition of the subject's digestive tract. Then, the capsule endoscope is moved to the second test position for detection, and digestive tract information is sent to the control terminal. In this way, all test positions can be detected. The control terminal can also display the position of the capsule endoscope, thus allowing for more precise and convenient control of the capsule endoscope's movement. Summary of the Invention

[0007] In order to overcome the above-mentioned defects of the prior art, the present invention aims to provide a capsule endoscope with self-collimation attitude adjustment, which avoids the problem of magnetic force and magnetic moment coupling by separately controlling the spatial position and attitude deflection of the capsule endoscope.

[0008] Another object of the present invention is to provide a method for operating the self-collimating attitude-adjusting capsule endoscope.

[0009] The objective of this invention is achieved through the following solution: a capsule endoscope with self-collimation and attitude adjustment, comprising a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module, and a permanent magnet within the capsule shell. Under the influence of an external magnetic field, the magnetic pole orientation of the permanent magnet will always remain consistent with the direction of the external magnetic field.

[0010] The aforementioned camera module is used to capture images of the stomach wall;

[0011] The wireless communication module is used to receive and send image information;

[0012] The main control module, as the control center of the capsule endoscope, controls the working status of the camera module and the universal rotation module according to the parameter instructions from the external host computer.

[0013] The battery module is responsible for supplying power to the camera module, wireless communication module, main control module, and omnidirectional rotation module.

[0014] The permanent magnet is used to cooperate with an external magnetic field for position and attitude control;

[0015] The universal rotation module is driven by a micro motor to control the deflection of the magnetic poles of the permanent magnet. By controlling the spatial position and orientation deflection of the capsule endoscope separately, the coupling of magnetic force and magnetic moment is avoided.

[0016] This capsule endoscope has the advantages of being easy to control and having high control precision.

[0017] In one embodiment of the present invention, a capsule endoscope is provided, comprising a capsule shell; a camera module disposed within the capsule shell for capturing images of the stomach wall; a wireless communication module disposed within the capsule shell for receiving and transmitting information; a main control module disposed within the capsule shell, serving as the control center of the capsule endoscope; a battery module disposed within the capsule shell for providing energy and power; a permanent magnet disposed within the capsule shell for position and attitude control in conjunction with an external magnetic field; and a universal rotation module disposed within the capsule shell for controlling the deflection of the permanent magnet's poles.

[0018] Furthermore, the omnidirectional rotation module includes a first micro motor, a second micro motor, a first synchronous belt, a second synchronous belt, a first rotating shaft, a second rotating shaft, a third rotating shaft, a bevel gear set, a first rotating collar, and a second rotating collar. The first micro motor drives the first rotating shaft to rotate via the first synchronous belt. The first rotating shaft is fixedly connected to the first rotating collar, allowing it to rotate together with the first rotating collar. The second micro motor drives the second rotating shaft to rotate via the second synchronous belt. The second rotating shaft is hinged to the first rotating collar, ensuring it does not affect the movement of the first rotating collar. The bevel gear set includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly connected to the second rotating shaft and rotates synchronously with it. The driven bevel gear meshes with the driving bevel gear, allowing them to rotate together. The third rotating shaft is fixedly connected to the driven bevel gear and rotates around its axis when driven by the driven bevel gear. The third rotating shaft is connected to the first rotating collar via a shaft hole, and the third rotating shaft revolves around the axis of the first rotating collar along with the first rotating collar. The second rotating collar is externally fixed to the third rotating shaft and internally fixed to the permanent magnet.

[0019] Furthermore, the first micro motor and the second micro motor can drive the permanent magnet to rotate around the first axis and the second axis by coordinating their rotational speeds.

[0020] Furthermore, the first rotating shaft and the second rotating shaft are axially aligned and their axes coincide with the first axis.

[0021] Furthermore, the second axis coincides with the axis of the third rotation axis and is always perpendicular to the first axis. The second axis can rotate around the first axis following the third rotation axis.

[0022] Furthermore, the omnidirectional rotation module enables control of the two degrees of freedom of the permanent magnet's orientation, allowing the magnetic poles of the permanent magnet to deflect at any angle relative to the initial state.

[0023] In one embodiment of the present invention, a method for controlling the self-collimation attitude adjustment of a capsule endoscope is provided. Under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet will always remain consistent with the direction of the external magnetic field. In the initial state, the axis of the capsule shell 1 coincides with the magnetic pole direction of the permanent magnet, and it remains upright under the action of a strong vertical magnetic field. After the external magnetic field is turned off, the magnetic poles of the permanent magnet are driven to deflect relative to the axis of the capsule shell by a preset angle through the first micro motor and the second micro motor. The motors stop working and generate a strong vertical magnetic field again, causing the magnetic pole orientation of the permanent magnet to deflect back to the vertical direction, thereby driving the capsule shell to deflect at the preset angle, thus completing the attitude control.

[0024] Furthermore, since the magnetic pole direction of the permanent magnet is automatically calibrated by a strong magnetic field, the attitude deflection accuracy of the capsule endoscope provided by the present invention will be determined by the control accuracy of the motor, which has the advantages of simple control and high accuracy.

[0025] In one embodiment of the present invention, a method for controlling the spatial position of a capsule endoscope is provided. Two identical circular electromagnetic coils are placed facing each other at a certain distance in the vertical direction, generating a controllable magnetic field in the central region that can be opened and closed at will. In the horizontal direction, the magnetic field is characterized by being strong in the center and weak around the edges. Under the influence of the magnetic field, the permanent magnet will always remain stable in the exact center of the magnetic field, thus the horizontal position of the capsule endoscope can be controlled by moving the electromagnetic coils horizontally. In the vertical direction, the magnetic field is characterized by being weak in the center and strong at both ends. In the vertical direction, closed-loop control should be adopted, and the vertical position of the capsule endoscope should be controlled by changing the height of the electromagnetic coils or adjusting the current intensity in the electromagnetic coils.

[0026] Furthermore, the horizontal position of the capsule endoscope provided by this invention is directly determined by the position of the magnetic field center, resulting in high control precision. Simultaneously, changes in the horizontal position of the capsule endoscope provided by this invention do not affect vertical control, thereby significantly reducing the difficulty of vertical position control.

[0027] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention.

[0028] Beneficial effects of the present invention

[0029] Compared with existing technologies, the advantages of this invention lie in that by controlling the spatial position and attitude deflection of the capsule endoscope separately, the problem of magnetic force and magnetic moment coupling is avoided. The universal rotation module designed in this invention, combined with the self-collimating attitude adjustment control method, allows the attitude deflection accuracy of the capsule endoscope to be directly determined by the control accuracy of the motor, offering advantages of simple control and high precision. The spatial position control method provided by this invention allows the horizontal position of the capsule endoscope to be directly determined by the position of the magnetic field center, achieving high control precision while significantly reducing the difficulty of controlling the vertical position. Attached Figure Description

[0030] Figure 1: Front view of a preferred embodiment of the present invention;

[0031] Figure 2: Right view of a preferred embodiment of the present invention;

[0032] Figure 3: Top view of a preferred embodiment of the present invention;

[0033] Figure 4: Exploded view of the universal rotation module and permanent magnet of a preferred embodiment of the present invention;

[0034] Figure 5: Schematic diagram of the initial state of a preferred embodiment of the present invention;

[0035] Figure 6: A schematic diagram of the deflection state according to a preferred embodiment of the present invention;

[0036] Explanation of the labels in the diagram

[0037] 1 – Capsule shell, 2 – Camera module, 3 – Wireless communication module

[0038] 4 – Main control module, 5 – Battery module, 6 – Universal rotation module

[0039] 7 – Permanent magnet, 8 – First axis, 9 – Second axis

[0040] In Figure 4,

[0041] 601 – First micro motor, 602 – Second micro motor

[0042] 603 – First synchronous belt, 604 – Second synchronous belt

[0043] 605 – First rotation axis, 606 – Second rotation axis, 607 – Third rotation axis

[0044] 608—Bevel gear set,

[0045] 609 – First rotating collar, 610 – Second rotating collar. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0047] In one embodiment of the present invention, a self-collimating attitude-adjusting capsule endoscope includes a capsule shell, a camera module, a wireless communication module, a main control module, a battery module, a universal rotation module, and a permanent magnet.

[0048] As shown in Figures 1 and 2, the capsule shell 1 is made of a biocompatible, transparent polymer material that is non-toxic, harmless, acid-resistant, and pressure-resistant, and has no adverse effects on the human body. The two ends of the capsule shell 1 are hemispherical, and the middle is cylindrical, giving it an overall capsule shape suitable for human swallowing.

[0049] As shown in Figures 1, 2, and 3, the camera module 2 is located at the hemispherical end of the capsule shell 1 and consists of a lens group, a CMOS camera chip, and a ring array of LED light sources. During the examination, the LED light source is activated to illuminate the stomach wall in the camera's field of view. The image of the stomach wall is converged by the lens group, and the CMOS camera chip converts the light signal into an electrical signal.

[0050] As shown in Figures 1 and 2, the wireless communication module 3 is located next to the camera module 2 and is mainly responsible for wireless communication with the host computer. While receiving parameter commands from the external host computer, the wireless communication module 3 compresses the image signal generated by the camera module 2 and sends it to the external host computer in real time.

[0051] As shown in Figures 1 and 2, the main control module 4, located adjacent to the wireless communication module 3, contains a microcontroller and serves as the control center of the capsule endoscope. The main control module 4 controls the operating status of the camera module 2 and the omnidirectional rotation module 6 according to parameter commands from the external host computer.

[0052] As shown in Figures 1 and 2, the battery module 5 is located directly below the main control module 4 and is installed on the upper partition inside the capsule shell 1. The battery module 5 uses a button battery and is responsible for powering the camera module 2, the wireless communication module 3, the main control module 4, and the omnidirectional rotation module 6.

[0053] As shown in Figures 1, 2 and 4, the permanent magnet 7 is spherical in shape and is made of neodymium iron boron strong magnetic material. The magnetization direction is the same as the normal direction of the second rotating collar 610 in the universal rotation module 6.

[0054] As shown in Figures 1, 2, and 4, the omnidirectional rotation module 6 consists of a first micro motor 601, a second micro motor 602, a first synchronous belt 603, a second synchronous belt 604, a first rotating shaft 605, a second rotating shaft 606, a third rotating shaft 607, a bevel gear set 608, a first rotating collar 609, and a second rotating collar 610. The first micro motor 601 and the second micro motor 602 are both fixed to the lower partition inside the capsule shell 1 and are equipped with motor magnetic shielding covers to prevent the motor's magnetic field from interfering with the control of the permanent magnet 7. The first synchronous belt 603 and the second synchronous belt 604 are connected to the lower first rotating shaft 605 and the second rotating shaft 606 respectively through openings on both sides of the lower partition. The first micro motor 601 can drive the first rotating shaft 605 to rotate via the first synchronous belt 603, and the second micro motor 602 can drive the second rotating shaft 606 to rotate via the second synchronous belt 604. One end of the first rotating shaft 605 is clearance-fitted with the inner wall shaft hole of the capsule shell 1, and the other end is fixedly connected to the first rotating collar 609, which can drive the first rotating collar 609 to rotate together. One end of the second rotating shaft 606 is clearance-fitted with the inner wall shaft hole of the capsule shell 1, and the other end is hemispherical, forming a hinge with the spherical groove on the first rotating collar 609. The second rotating shaft 606 only provides support for the first rotating collar 609 and does not affect the rotational movement of the first rotating collar 609.

[0055] As shown in Figures 1, 2, and 4, the bevel gear set 608 includes a driving bevel gear and a driven bevel gear. The driving bevel gear is interference-fitted with the second rotating shaft 606 through a shaft hole and can rotate synchronously with the second rotating shaft 606. The driving bevel gear is designed in a bowl shape to match the hemispherical bottom of the capsule shell 1, making the structure more compact. The driven bevel gear meshes with the driving bevel gear and can rotate in cooperation. The third rotating shaft 607 is interference-fitted with the driven bevel gear through a shaft hole and will rotate around its axis when driven by the driven bevel gear. The third rotating shaft 607 is clearance-fitted with the first rotating collar 609 through a shaft hole, and the third rotating shaft 607 will revolve around the first axis 8 with the first rotating collar 609. The outer wall of the second rotating collar 610 is interference-fitted with the third rotating shaft 607 through a shaft hole, and the inner wall of the second rotating collar 610 is interference-fitted with the permanent magnet 7. The second rotating collar 610 and the permanent magnet 7 will rotate synchronously with the third rotating shaft 607.

[0056] In this embodiment of the invention, the first rotating shaft 605 and the second rotating shaft 606 are axially aligned and their axes coincide with the first axis 8. The second axis 9 coincides with the axis of the third rotating shaft 607 and is always perpendicular to the first axis 8. The second axis 9 will rotate around the first axis 8 following the third rotating shaft 607. The first axis 8 and the second axis 9 intersect at the center of the permanent magnet 7, so that the center position of the permanent magnet 7 does not change during rotation.

[0057] In this embodiment of the invention, when only the first micro motor 601 operates and controls the permanent magnet 7 to rotate around the first axis 8, the driven bevel gear of the bevel gear set 608 also rotates around the first axis 8, while the driving bevel gear does not rotate. This causes the driven bevel gear to drive the third rotating shaft 607 to rotate, which in turn causes the permanent magnet 7 to rotate around the second axis 9. To ensure that the permanent magnet 7 rotates only around the first axis 8, the second micro motor 602 needs to work in coordination and rotate at a matched speed.

[0058] In this embodiment of the invention, the rotation of the permanent magnet 7 around the first axis 8 is not affected by the control of the second micro motor 602. By reasonably configuring the rotational speeds of the first micro motor 601 and the second micro motor 602, the permanent magnet 7 can rotate simultaneously around the first axis 8 and the second axis 9.

[0059] In this embodiment of the invention, the universal rotation module 6 realizes the control of two degrees of freedom of the permanent magnet 7, which enables the magnetic pole orientation of the permanent magnet 7 to deflect at any angle relative to the initial state.

[0060] In this embodiment of the invention, a method for adjusting the self-collimation posture of a capsule endoscope is provided. Under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet 7 will always remain consistent with the direction of the external magnetic field. In the initial state, the axis of the capsule shell 1 coincides with the magnetic pole direction of the permanent magnet 7, and it remains upright under the action of a strong vertical magnetic field. After the external magnetic field is turned off, the magnetic poles of the permanent magnet 7 are driven to deflect relative to the axis of the capsule shell 1 by a preset angle through the first micro motor 601 and the second micro motor 602. The motors stop working and generate a strong vertical magnetic field again, causing the magnetic pole orientation of the permanent magnet 7 to deflect back to the vertical direction, thereby driving the capsule shell 1 to achieve a preset angle of deflection, thus completing the posture control.

[0061] As shown in Figure 5, two identical circular electromagnetic coils are placed vertically at a certain distance from each other, forming a strong vertical magnetic field in the middle region. Initially, under the influence of the strong vertical magnetic field, the axes of the capsule shell 1, the first rotating collar 609, the second rotating collar 610, and the magnetic pole direction of the permanent magnet 7 all coincide and are vertical. After the current in the electromagnetic coils is turned off, the strong magnetic field disappears, and the permanent magnet 7 is controlled by the second micro motor 602 to rotate 90° clockwise around the second axis 9. At this time, the axis of the capsule shell 1 and the magnetic pole direction of the permanent magnet 7 will deviate from the vertical direction. After the motor stops working, power is supplied to the electromagnetic coils, and a strong vertical magnetic field is re-established. Under the influence of the external magnetic field, the magnetic pole direction of the permanent magnet 7 will automatically calibrate back to the vertical direction, thereby causing the capsule shell 1 to deflect together.

[0062] The deflected state is shown in Figure 6. The magnetic pole direction of the permanent magnet 7, the axial direction of the second rotating collar 610, and the direction of the external magnetic field are all vertical; the axial direction of the capsule shell 1, the axial direction of the first rotating collar 609, and the direction of the external magnetic field are perpendicular and horizontal. At this time, the camera module 2 has a good field of view of the gastric sidewall, enabling a comprehensive examination of the gastric sidewall.

[0063] In this embodiment of the invention, the magnetic pole direction of the permanent magnet 7 is automatically calibrated by a strong magnetic field. Therefore, the attitude deflection accuracy of the capsule endoscope is determined by the control accuracy of the first micro motor 601 and the second micro motor 602, which has the advantages of simple control and high accuracy.

[0064] In this embodiment of the invention, a method for controlling the spatial position of a capsule endoscope is provided. As shown in Figure 5, two identical circular electromagnetic coils are placed facing each other at a certain distance in the vertical direction, generating a controllable magnetic field in the middle region that can be turned on and off at will. In the horizontal direction, the magnetic field is characterized by being strong in the center and weak around the edges. Under the action of the magnetic field, the permanent magnet 7 will always remain stable in the exact center of the magnetic field, thus the horizontal position of the capsule endoscope can be controlled by moving the electromagnetic coils horizontally. In the vertical direction, the magnetic field is characterized by being weak in the middle and strong at both ends. In the vertical direction, closed-loop control should be adopted, and the vertical position of the capsule endoscope should be controlled by changing the height of the electromagnetic coils or adjusting the current intensity in the electromagnetic coils.

[0065] In this embodiment of the invention, the horizontal position of the capsule endoscope is directly determined by the position of the magnetic field center, thus achieving high control precision. Simultaneously, changes in the horizontal position of the capsule endoscope do not affect vertical control, thereby significantly reducing the difficulty of vertical position control.

Claims

1. A capsule endoscope with self-collimating posture adjustment, characterized in that, The capsule shell (1) includes a camera module (2), a wireless communication module (3), a main control module (4), a battery module (5), a universal rotation module (6), and a permanent magnet (7). Under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet (7) will always remain consistent with the direction of the external magnetic field. The camera module (2) is used to capture images of the stomach wall; the wireless communication module (3) is used to receive and send image information; the main control module (4) serves as the control center of the capsule endoscope, controlling the working status of the camera module (2) and the universal rotation module (6) according to the parameter instructions from the external host computer; the battery module (5) is responsible for powering the camera module (2), the wireless communication module (3), the main control module (4), and the battery module (6). The universal rotation module (6); the permanent magnet (7) is used to cooperate with the external magnetic field for position and attitude control; the universal rotation module (6) is driven by a micro motor to control the magnetic pole deflection of the permanent magnet, and the spatial position and attitude deflection of the capsule endoscope are controlled separately to avoid magnetic force and magnetic moment coupling; wherein, the universal rotation module includes a first micro motor (601), a second micro motor (602), a first synchronous belt (603), a second synchronous belt (604), a first rotating shaft (605), a second rotating shaft (606), a third rotating shaft (607), a bevel gear set (608), a first rotating collar (609) and a second rotating collar (610), the first micro motor (601) is driven by a micro motor to control the magnetic pole deflection of the permanent magnet, and the magnetic force and magnetic moment coupling are avoided by controlling the spatial position and attitude deflection of the capsule endoscope respectively; wherein, the universal rotation module includes a first micro motor (601), a second micro motor (602), a first synchronous belt (603), a second synchronous belt (604), a first rotating shaft (605), a second rotating shaft (606), a third rotating shaft (607), a bevel gear set (608), a first rotating collar (609) and a second rotating collar (610), the first micro motor (601) is driven by a micro motor to control the magnetic pole deflection of the permanent magnet, and the permanent magnet (7) is used to control the position and attitude of the capsule endoscope. The first rotating shaft (605) is driven to rotate via the first synchronous belt (603). The first rotating shaft (605) is fixedly connected to the first rotating collar (609), and can drive the first rotating collar (609) to rotate together. The second micro motor (602) drives the second rotating shaft (606) to rotate via the second synchronous belt (604). The second rotating shaft (606) is hinged to the first rotating collar (609) and will not affect the movement of the first rotating collar. The bevel gear set (608) includes a driving bevel gear and a driven bevel gear. The driving bevel gear is fixedly connected to the second rotating shaft (606) and can rotate synchronously with the second rotating shaft (606). The driven bevel gear and the driving bevel gear are connected via... The gears mesh and can rotate together; the third rotating shaft (607) is fixedly connected to the driven bevel gear and will rotate around the second axis (9) when driven by the driven bevel gear; the third rotating shaft (607) is connected to the first rotating collar (609) through the shaft hole, and the third rotating shaft (607) will revolve around the first axis (8) of the first rotating shaft (605) along with the first rotating collar (609); the outside of the second rotating collar (610) is fixedly connected to the third rotating shaft (607), and the inside of the second rotating collar (610) is fixedly connected to the permanent magnet; the attitude control of the permanent magnet (7) is realized through the universal rotation module (6), so that the magnetic pole of the permanent magnet (7) deflects at any angle relative to the initial state.

2. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, The capsule shell (1) is made of a biocompatible transparent polymer material, with hemispherical ends and a cylindrical middle.

3. The capsule endoscope with self-collimating posture adjustment according to claim 1 or 2, characterized in that, The camera module (2) is located at the hemispherical end of the capsule shell (1) and consists of a lens group, a CMOS camera chip and a ring array of LED light sources. During the inspection, the LED light source will be activated to illuminate the stomach wall in the field of view of the camera. After the stomach wall image is converged by the lens group, the CMOS camera chip converts the light signal into an electrical signal and transmits it to the wireless communication module (3).

4. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, The first micro motor (601) and the second micro motor (602) drive the permanent magnet (7) to rotate around the first axis (8) and the second axis (9) by means of rotational speed coordination.

5. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, The first rotating shaft (605) and the second rotating shaft (606) are axially aligned and their axes coincide with the first axis (8).

6. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, The second axis (9) coincides with the axis of the third rotation axis (607) and is always perpendicular to the first axis; the second axis (9) can follow the third rotation axis (607) to rotate around the first axis (8).

7. The capsule endoscope with self-collimating posture adjustment according to claim 1, characterized in that, The normal direction of the second rotating collar (610) in the universal rotating module 6 is the same as the magnetization direction of the permanent magnet (7). The permanent magnet (7) is spherical in shape and is made of neodymium iron boron strong magnetic material.

8. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, The wireless communication module (3) is located next to the camera module (2) and is responsible for wireless communication with the host computer. While receiving parameter instructions from the external host computer, the wireless communication module (3) compresses the image signal generated by the camera module (2) and sends it to the external host computer in real time.

9. The capsule endoscope with self-collimation posture adjustment according to claim 1, characterized in that, The battery module (5) uses a button cell battery, is located directly below the main control module (4), and is installed on the upper partition inside the capsule shell (1).

10. A method for operating a capsule endoscope with self-collimation posture adjustment according to any one of claims 1 to 7, characterized in that, Under the action of an external magnetic field, the magnetic pole orientation of the permanent magnet (7) will always be consistent with the direction of the external magnetic field, that is, the magnetic pole orientation of the permanent magnet will be automatically calibrated by the strong magnetic field; in the initial state, the axis of the capsule shell (1) coincides with the magnetic pole orientation of the permanent magnet (7), and remains upright under the action of the strong magnetic field in the vertical direction; after the external magnetic field is turned off, the first micro motor (601) and the second micro motor (602) of the universal rotation module (6) drive the magnetic pole of the permanent magnet (7) to deflect relative to the axis of the capsule shell (1) by a preset angle; the motor stops working and generates a strong magnetic field in the vertical direction again, so that the magnetic pole orientation of the permanent magnet (7) deflects back to the vertical direction, driving the capsule shell (1) to achieve a preset angle of deflection, thereby completing the attitude control.

11. The method for controlling a capsule endoscope with self-collimation posture adjustment according to claim 10, characterized in that, The external magnetic field consists of two identical circular electromagnetic coils placed vertically at a certain distance from each other, generating a controllable magnetic field in the region between the two coils that can be turned on and off at will. Horizontally, the magnetic field is strong at the center and weak around the edges, ensuring the permanent magnet (7) remains stable in the center. The horizontal position of the capsule endoscope is controlled by horizontally moving the electromagnetic coils, and the horizontal position is directly determined by the center of the magnetic field. Vertically, the external magnetic field is weak in the middle and strong at both ends. In the vertical direction, closed-loop control is used, and the vertical position of the capsule endoscope is controlled by changing the height of the electromagnetic coils or adjusting the current intensity within them. Initially… Under the influence of a strong magnetic field in the vertical direction, the axis of the capsule shell (1), the axis of the first rotating collar (609), the axis of the second rotating collar (610), and the magnetic pole direction of the permanent magnet (7) all coincide and are in the vertical direction. After the current in the electromagnetic coil is turned off, the strong magnetic field disappears. The permanent magnet (7) is controlled by the second micro motor (602) to rotate 90° clockwise around the second axis (9). At this time, the axis of the capsule shell (1) and the magnetic pole direction of the permanent magnet (7) will deviate from the vertical direction. After the motor stops working, the electromagnetic coil is powered to re-form a strong magnetic field in the vertical direction. Under the influence of the external magnetic field, the magnetic pole direction of the permanent magnet (7) will automatically be calibrated back to the vertical direction, thereby causing the capsule shell (1) to deflect together.

Images