A multi-modal imaging capsule endoscopy system

Abstract

This invention relates to a multimodal imaging capsule endoscopy system, comprising: a capsule endoscope, an external wireless power supply module, and an image receiving and processing module. The capsule endoscope includes a white light and narrow band imaging module for acquiring white light and narrow band images, an autofluorescence imaging module for acquiring autofluorescence images, a wireless transmission module for transmitting the white light, narrow band, and autofluorescence images to the external image receiving and processing module, a light source control module for controlling the on / off state of different light sources within the capsule endoscope, a wireless power supply receiving module for providing power to the capsule endoscope, a position control module for controlling the position and orientation of the capsule endoscope in the gastrointestinal tract, and a capsule shell encapsulation. The external wireless module provides power to the capsule endoscope via the wireless power supply receiving module. The image receiving and processing module receives and analyzes images acquired by the capsule endoscope via the wireless transmission module. Compared with existing technologies, this invention achieves sensitive, accurate, and non-destructive detection of early-stage atypical hyperplasia or superficial gastrointestinal cancer, significantly reducing missed detections and false positives.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to a multimodal imaging capsule endoscope system. Background Technology

[0002] The high incidence and mortality rates of gastrointestinal diseases seriously endanger human life, making the early detection of gastrointestinal cancers crucial. Because early-stage gastrointestinal cancers often present with no obvious symptoms, and because conventional endoscopy is highly invasive and causes significant discomfort, most patients are reluctant to undergo endoscopic examinations when experiencing symptoms such as loss of appetite, indigestion, diarrhea, constipation, or nausea. Furthermore, traditional endoscopic systems can easily miss abnormalities such as dysplasia or superficial cancers. By the time a clinical diagnosis is made, the cancer has often already developed, significantly increasing the pain and cost of treatment. Therefore, regular gastrointestinal cancer screening and early detection are essential for the discovery and treatment of gastrointestinal cancers.

[0003] Currently, the mainstream method for detecting gastrointestinal cancer is still standard endoscopy. As a tethered device, standard endoscopy is inserted into the mouth, esophagus, stomach, duodenum and small intestine under the operation of a doctor. The whole process will bring great discomfort to the examinee. Moreover, standard endoscopy is difficult to see atypical hyperplasia or superficial cancer under normal white light, which is not conducive to the comprehensive examination and diagnosis of early gastrointestinal cancer.

[0004] Other tethered endoscopes, such as magnifying endoscopes and confocal endoscopes, while improving resolution, are very difficult to operate and require experienced physicians. Cytologic endoscopy can observe internal cellular structures, but usually requires labeling of target cells, which may have adverse effects on the cells. Narrow-band imaging technology enhances the visualization of blood vessels and surface textures by utilizing spectral changes in the interaction of light with tissue without additional cost or the use of exogenous dyes. However, narrow-band imaging alone lacks the auxiliary effect of white light imaging, which is not conducive to obtaining high-resolution images, and it is only effective in areas rich in blood vessels. Autofluorescence technology is a wide-area imaging technique that can quickly examine large areas of the gastrointestinal mucosa to detect small areas of dysplasia or cancer. It can be used without the need for photosensitive substances or other drugs, and there is no need to predict side effects. Therefore, autofluorescence-based imaging for the detection of gastrointestinal cancer has developed rapidly. However, currently, narrow-band imaging and autofluorescence technology are still only used in tethered devices, failing to eliminate the strong discomfort caused to the examinee by invasive procedures, and carrying risks such as infection, tissue damage, allergies, and bleeding reactions.

[0005] Capsule endoscopy integrates lighting, imaging, and wireless transmission into a microcapsule for gastrointestinal examination, effectively solving the problems associated with tethered devices. However, traditional capsule endoscopes typically use a single white light source, judging the presence of lesions in tissues based on the acquired images, and then performing biopsies and pathological analysis on suspicious lesions. While white light can identify lesions with significant color and shape changes, it is difficult to detect dysplasia and superficial cancers. Missed diagnoses can cause irreparable harm to patients.

[0006] Therefore, in response to the above problems, there is an urgent need to develop a highly sensitive, comprehensive, and non-invasive cancer detection system to enable early screening of gastrointestinal patients. Summary of the Invention

[0007] The purpose of this invention is to provide a multimodal imaging capsule endoscopy system that utilizes white light imaging for large-scale preliminary detection, narrow-band imaging to make the morphology of gastrointestinal mucosal microvessels and gastric pits clearer and more intuitive, and autofluorescence imaging to distinguish normal mucosa from abnormal tissue. The three-modal real-time imaging enables sensitive, accurate, comprehensive and non-invasive detection of early atypical hyperplasia or superficial cancer of the gastrointestinal tract, reducing the occurrence of missed diagnoses and false positives.

[0008] The objective of this invention can be achieved through the following technical solutions:

[0009] A multimodal imaging capsule endoscope system includes: a capsule endoscope, an external wireless power supply module, and an image receiving and processing module, wherein...

[0010] The capsule endoscope includes a white light and narrow band imaging module, an autofluorescence imaging module, a wireless transmission module, a light source control module, a position control module, a wireless power receiving module, and a capsule shell encapsulation.

[0011] The white light and narrowband imaging module is used to acquire white light images and narrowband images;

[0012] The autofluorescence imaging module is used to acquire autofluorescence images;

[0013] The wireless transmission module transmits white light images, narrowband images, and autofluorescence images to an external image receiving and processing module via preset codes or external commands.

[0014] The light source control module controls the on and off of the light sources of different modules in the capsule endoscope;

[0015] The wireless power receiving module receives energy from the outside wirelessly and provides power to the capsule endoscope.

[0016] The position control module controls the position and orientation of the capsule endoscope in the gastrointestinal tract;

[0017] The external wireless power supply module provides energy to the capsule endoscope through the wireless power supply receiver module;

[0018] The image receiving and processing module receives images acquired by the capsule endoscope via a wireless transmission module and performs identification and analysis.

[0019] The white light and narrowband imaging module includes three sets of LEDs and a CMOS image acquisition chip. The three sets of LEDs include two white LEDs, two blue LEDs, and two green LEDs. The three sets of LEDs are evenly distributed in a ring around the CMOS image acquisition chip. The line connecting the centers of the two LEDs in each set passes through the center of the ring and is distributed on both sides of the center. The center of the CMOS image acquisition chip overlaps with the center of the ring.

[0020] The white light and narrowband imaging module contains two white LEDs that emit visible light with a wavelength range of 390-780nm, two blue LEDs with a center wavelength of 415nm, and two green LEDs with a center wavelength of 540nm. All six LED light sources point outward along the axial direction of the capsule.

[0021] The autofluorescence imaging module includes a miniature laser diode, a 1×2 coupled optical path, a microlens, a bandpass filter, and a CCD image sensor chip. It is used to acquire autofluorescence images. The optical path in the autofluorescence imaging module is as follows: the light emitted by the miniature laser diode enters the input end of the 1×2 coupled optical path and enters the output end connected to the microlens. After being focused by the microlens, it illuminates the tissue to be detected, exciting the tissue to generate an autofluorescence signal. The autofluorescence signal is then focused again by the microlens and enters another optical path of the 1×2 coupled optical path. After passing through a bandpass filter with a center wavelength of 520nm, the autofluorescence signal is detected by the CCD image sensor chip.

[0022] The center wavelength of the micro laser diode in the autofluorescence imaging module is 440 nm.

[0023] In the autofluorescence imaging module, a 1×2 coupled optical path is machined to obtain an optical path slot, and a single-mode optical fiber with a core diameter of 400μm is embedded therein.

[0024] The microlens is made of polystyrene and has a diameter of 400 μm.

[0025] The filter used is a 520nm bandpass filter to detect autofluorescence generated by autofluorescent substances, mainly flavin adenine dinucleotide.

[0026] The external wireless power supply module includes a DC voltage source, an inverter controller, and a transmitting coil. The DC signal output by the DC voltage source is controlled by the inverter controller to output an AC signal. The AC signal acts on the transmitting coil, transmitting energy to the wireless power receiving module through the coil.

[0027] The image receiving and processing module includes a white light imaging recognition module, a narrow band imaging recognition module, an autofluorescence image processing and recognition module, a display, and a memory. The white light imaging recognition module displays the white light image captured by the capsule endoscope on the display in real time, the narrow band imaging recognition module displays the narrow band image detected by the capsule endoscope on the display in real time, the autofluorescence recognition module displays the autofluorescence image detected by the capsule endoscope on the display in real time, and the memory is used to store the white light image, narrow band image, and autofluorescence image acquired by the capsule endoscope.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The capsule endoscopy system of this invention overcomes the discomfort caused by tethering devices and solves the problem that conventional capsule endoscopy is unable to detect small, flat early cancerous changes and atypical hyperplasia. Through white light imaging, narrow-band imaging, and autofluorescence imaging, it can perform high-quality imaging over a large area and more clearly and intuitively display the morphology of gastrointestinal mucosal microvessels and gastric pits. It can also distinguish between normal mucosa and abnormal tissue. The three-modal imaging enables sensitive, comprehensive, and non-destructive detection of early atypical hyperplasia or superficial cancer of the gastrointestinal tract, reducing the occurrence of missed diagnoses and false positives. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the capsule endoscope structure of the capsule endoscope system of the present invention;

[0031] Figure 2 This is a schematic diagram of the white light and narrow band imaging module structure of the capsule endoscope of the present invention;

[0032] Figure 3 This is a schematic diagram of the autofluorescence module structure of the capsule endoscope of the present invention;

[0033] Figure 4 This is a schematic diagram of the external wireless power supply module of the capsule endoscope system of the present invention;

[0034] Figure 5 This is a schematic diagram of the image receiving and processing module of the capsule endoscope system of the present invention;

[0035] Figure 6 This is a schematic diagram of the early detection process for gastrointestinal cancer using the capsule endoscopy system of the present invention.

[0036] The attached figures are labeled as follows: 1-Capsule endoscope; 101-Wireless transmission module; 102-Light source control module; 103-Position control module; 104-Wireless power supply and receiving module; 105-Capsule endoscope housing; 2-White light and narrowband imaging module; 201-White LED; 202-White LED; 203-Blue LED; 204-Blue LED; 205-Green LED; 206-Green LED; 207-CMOS image acquisition chip; 3-Autofluorescence. Imaging module; 301 - Miniature laser diode; 302 - 1×2 coupled optical path; 303 - Miniature lens; 304 - Bandpass filter; 305 - CCD image sensor chip; 4 - External wireless power supply module; 401 - DC voltage source; 402 - Inverter controller; 403 - Transmitting coil; 5 - Image receiving and processing module; 501 - White light imaging recognition module; 502 - Narrowband imaging recognition module; 503 - Autofluorescence imaging recognition module; 504 - Display; 505 - Memory. Detailed Implementation

[0037] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0038] This embodiment provides a multimodal imaging capsule endoscope system, including: a capsule endoscope 1, an external wireless power supply module 4, and an image receiving and processing module 5, wherein...

[0039] like Figure 1 As shown, the capsule endoscope 1 includes a white light and narrow band imaging module 2, an autofluorescence imaging module 3, a wireless transmission module 101, a light source control module 102, a position control module 103, a wireless power receiving module 104, and a capsule shell encapsulation 105.

[0040] The white light and narrowband imaging module 2 is used to acquire white light images and narrowband images. It includes three sets of LEDs and a CMOS image acquisition chip 207. The three sets of LEDs include two white LEDs 201 and 202, two blue LEDs 203 and 204, and two green LEDs 205 and 206, respectively. Figure 2As shown, three groups of LEDs are evenly distributed in a ring around the CMOS image acquisition chip 207. The line connecting the centers of two LEDs in each group passes through the center of the ring and is distributed on both sides of the center. The CMOS image acquisition chip 207 is located at the center of the six LEDs, and its center overlaps with the center of the ring. The two white LEDs in the white light and narrowband imaging module 2 emit visible light with a wavelength range of 390-780nm, the two blue LEDs have a center wavelength of 415nm, and the two green LEDs have a center wavelength of 540nm. All six LED light sources point outward along the axial direction of the capsule.

[0041] Autofluorescence imaging module 3 is used to acquire autofluorescence images, such as Figure 3 As shown, the module includes a miniature laser diode 301, a 1×2 coupled optical path 302, a miniature lens 303, a bandpass filter 304, and a CCD image sensor chip 305, used to acquire autofluorescence images. The optical path in the autofluorescence imaging module 3 is as follows: light emitted from the miniature laser diode 301 enters the input end of the 1×2 coupled optical path 302, then enters the output end connected to the miniature lens 303. After being focused by the miniature lens 303, it illuminates the tissue to be detected, exciting the tissue to generate an autofluorescence signal. The autofluorescence signal is then focused again by the miniature lens 303 and enters another optical path of the 1×2 coupled optical path 302. After passing through the bandpass filter 304 with a center wavelength of 520nm to filter out other interfering light, the autofluorescence signal is detected by the CCD image sensor chip 305.

[0042] In this embodiment, the center wavelength of the micro laser diode 301 is 440nm, and its size is processed to 3mm; the 1×2 coupling optical path 302 is machined to obtain an optical path slot, and a single-mode optical fiber with a core diameter of 400μm is embedded in it; the microlens 303 is made of high refractive index polystyrene material, with a diameter of 400μm, and is embedded at the end of the optical path exit hole. Its function is to focus the output light on the gastrointestinal tissue, and it also enhances and sharpens the collection of autofluorescence signals; the bandpass filter 304 is a 520nm bandpass filter to detect autofluorescence generated by autofluorescent substances mainly composed of flavin adenine dinucleotide.

[0043] When gastrointestinal tissue is excited by 440 nm excitation light, the endogenous fluorophore flavin adenine dinucleotide is excited to emit a longer fluorescence, i.e., autofluorescence. Normal tissue and tumor tissue have different autofluorescence characteristics; normal tissue is green, while dysplastic or tumor areas are magenta.

[0044] In this embodiment, the white light and narrow-band imaging module 2 is integrated onto one side of the capsule endoscope 1, and the self-fluorescence imaging module 3 is integrated onto the other side of the capsule endoscope 1. Figure 1 As shown.

[0045] The wireless transmission module 101 transmits white light images, narrowband images, and autofluorescence images to the external image receiving and processing module 5 via preset codes or external commands.

[0046] The light source control module 102 controls the on and off of the light sources of different modules during the gastrointestinal examination of the capsule endoscope, so as to achieve the best detection effect with the lowest power consumption.

[0047] The position control module 103 controls the position and orientation of the capsule endoscope in the gastrointestinal tract.

[0048] The wireless power receiver module 104 receives energy wirelessly from the outside and provides sufficient power for the normal operation of the capsule endoscope.

[0049] The capsule endoscope shell 105 can be made of materials such as polycarbonate, polyimide, and polyether ester, which have high pressure resistance and wear resistance and can withstand various physical and chemical stimuli in the gastrointestinal tract.

[0050] When the capsule endoscope enters the gastrointestinal tract, the light source control module 102 controls the switching of the light source through a preset program or external command;

[0051] First, turn on the white light LEDs 201 and 202 to activate white light imaging. The position control module 103 adjusts the posture of the capsule endoscope 1 so that the side containing the white light imaging and narrow-band imaging module 2 reaches the area to be detected first, and performs preliminary detection using white light imaging.

[0052] Narrow-band imaging is then performed. The white LEDs 201 and 202 are turned off via the light source control module 102, while two blue LEDs 203 and 204 and two green LEDs 205 and 206 are turned on. In narrow-band imaging, compared to white light imaging, blue excitation light is highly absorbed by hemoglobin, which can enhance the visualization of mucosal surface texture and vascular networks.

[0053] After narrow-band imaging is completed, LEDs 203, 204, 205, and 206 are turned off, while white light LEDs 201 and 202 are turned on. The position control module 103 adjusts the orientation of the capsule endoscope 1 so that the autofluorescence detection module of the capsule endoscope reaches the required detection position. Then, white light LEDs 201 and 202 are turned off, and the micro laser diode 301 is turned on to activate the autofluorescence imaging mode, enabling autofluorescence detection of gastrointestinal tissues. In most cases, these are local areas with increased red fluorescence relative to surrounding tissues. If a lesion is detected during autofluorescence imaging but not during white light imaging or narrow-band imaging, the tissue is examined again with more intensive local examination.

[0054] The three-modal detection of white light image, narrow band image and autofluorescence image can realize comprehensive detection of the gastrointestinal tract, avoid missed detection of atypical hyperplasia or superficial cancer, and reduce the occurrence of false positives, with high sensitivity and accuracy.

[0055] The external wireless power supply module 4 provides power to the capsule endoscope 1 through the wireless power supply receiver module 104; such as Figure 4 As shown, it includes a DC voltage source 401, an inverter controller 402, and a transmitting coil 403. The DC signal output by the DC voltage source 401 is controlled by the inverter controller 402 to output an AC signal. The AC signal acts on the transmitting coil 403, and transmits energy to the wireless power receiving module 104 through the coil.

[0056] The image receiving and processing module 5 receives and analyzes images acquired by the capsule endoscope 1 via the wireless transmission module 101. It can be equipped with devices such as desktop computers, laptops, tablets, mobile phones, and image hard disk storage for the spectrum and images emitted by the capsule endoscope 1, and can also store data in real time. Figure 5 As shown, the image receiving and processing module 5 includes a white light imaging recognition module 501, a narrow band imaging recognition module 502, an autofluorescence image processing and recognition module 503, a display 504, and a memory 505. The white light imaging recognition module 501 displays the white light image captured by the capsule endoscope 1 on the display 504 in real time, which helps medical staff determine the position and orientation of the capsule endoscope in the gastrointestinal tract and enables preliminary detection of gastrointestinal diseases. The narrow band imaging recognition module 502 displays the narrow band image (including the morphological features of gastrointestinal mucosal microvessels and gastric pits) detected by the capsule endoscope 1 on the display 504 in real time. The autofluorescence recognition module 503 displays the autofluorescence image detected by the capsule endoscope 1 on the display 504 in real time. The memory 505 is used to store the white light image, narrow band image, and autofluorescence image acquired by the capsule endoscope 1 for comparison and diagnosis in later examinations.

[0057] The flowchart of the gastrointestinal multimodal early detection system of the present invention during detection is as follows: Figure 6 As shown:

[0058] The patient first swallows the capsule endoscope 1. With the peristalsis of the gastrointestinal tract, the capsule endoscope 1, driven by the position control module 103, reaches the detection point. During this process, white light LEDs 201 and 202 are activated, allowing medical personnel to control the movement and posture of the capsule endoscope within the gastrointestinal tract and perform preliminary detection using white light imaging. Next, narrow-band imaging is performed. White light LEDs 201 and 202 are turned off, while blue light LEDs 203 and 204 and green light LEDs 205 and 206 are activated to detect microvessels and gastric pits in the gastrointestinal mucosa. After narrow-band imaging is complete, LEDs 203, 204, 205, and 206 are turned off, and white light LEDs 201 and 202 are activated. The posture of the capsule endoscope is adjusted, and the autofluorescence imaging end is aligned with the area to be detected. White light LEDs 201 and 202 are then turned off, and the miniature laser diode 301 in the autofluorescence imaging module 3 is activated to perform autofluorescence imaging of the gastrointestinal tract. The capsule endoscope is controlled to perform examinations at different locations within the gastrointestinal tract. The acquired signals are wirelessly transmitted to an external image receiving and processing module 5. White light images, narrow-band imaging, and autofluorescence imaging are displayed in real-time on a monitor 504. Medical professionals analyze and interpret the images using real-time trimodal imaging and store them in a memory 505 for later examination and comparison. The examination ends when the patient expels the capsule.

[0059] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A multimodal imaging capsule endoscope system, characterized in that, include: The capsule endoscope (1), the external wireless power supply module (4), and the image receiving and processing module (5) are, among which, The capsule endoscope (1) includes a white light and narrow band imaging module (2), an autofluorescence imaging module (3), a wireless transmission module (101), a light source control module (102), a position control module (103), a wireless power receiving module (104), and a capsule shell encapsulation (105); the white light and narrow band imaging module (2) is integrated into one side of the capsule endoscope (1), and the autofluorescence imaging module (3) is integrated into the other side of the capsule endoscope (1); The white light and narrowband imaging module (2) is used to acquire white light images and narrowband images. The white light and narrowband imaging module (2) includes three sets of LEDs and a CMOS image acquisition chip (207). The three sets of LEDs include two white LEDs, two blue LEDs, and two green LEDs. The three sets of LEDs are evenly distributed in a ring around the CMOS image acquisition chip (207). The line connecting the centers of the two LEDs in each set passes through the center of the ring and is distributed on both sides of the center. The center of the CMOS image acquisition chip (207) overlaps with the center of the ring. The autofluorescence imaging module (3) is used to acquire autofluorescence images. The autofluorescence imaging module (3) includes a micro laser diode (301), a 1×2 coupled optical path (302), a micro lens (303), a bandpass filter (304), and a CCD image sensor chip (305). It is used to acquire autofluorescence images. The optical path in the autofluorescence imaging module (3) is as follows: the light emitted by the micro laser diode (301) enters the input end of the 1×2 coupled optical path (302), enters the output end connected to the micro lens (303), and is focused by the micro lens (303) and irradiated onto the tissue to be detected, exciting the tissue to generate autofluorescence signals. The autofluorescence signals are focused again by the micro lens (303) and enter another optical path of the 1×2 coupled optical path (302). After passing through the bandpass filter (304) with a center wavelength of 520nm, the autofluorescence signals are detected by the CCD image sensor chip (305). The wireless transmission module (101) transmits white light images, narrowband images and autofluorescence images to the external image receiving and processing module (5) via preset codes or external instructions. The light source control module (102) controls the on and off of the light sources of different modules in the capsule endoscope; The position control module (103) controls the position and orientation of the capsule endoscope in the gastrointestinal tract; The wireless power receiving module (104) receives energy wirelessly from the outside and provides energy to the capsule endoscope; The external wireless power supply module (4) provides energy to the capsule endoscope (1) through the wireless power supply receiver module (104); The image receiving and processing module (5) receives the images collected by the capsule endoscope (1) through the wireless transmission module (101) and performs identification and analysis.

2. The capsule endoscope system for multimodal imaging according to claim 1, characterized in that, The white light and narrowband imaging module (2) contains two white LEDs that emit visible light with a wavelength range of 390-780nm, two blue LEDs with a center wavelength of 415nm, and two green LEDs with a center wavelength of 540nm. All six LED light sources point outward along the axial direction of the capsule.

3. The capsule endoscope system for multimodal imaging according to claim 1, characterized in that, The center wavelength of the micro laser diode (301) in the autofluorescence imaging module (3) is 440nm.

4. The capsule endoscope system for multimodal imaging according to claim 1, characterized in that, In the autofluorescence imaging module (3), the 1×2 coupling optical path (302) is machined to obtain optical path slots, and a fiber core with a diameter of 400 is embedded in it. Single-mode optical fiber.

5. A capsule endoscope system for multimodal imaging according to claim 1, characterized in that, The microlens (303) is made of polystyrene and has a diameter of 400 mm. .

6. The capsule endoscope system for multimodal imaging according to claim 1, characterized in that, The bandpass filter (304) is a 520nm bandpass filter to detect autofluorescence generated by autofluorescent substances, mainly flavin adenine dinucleotide.

7. A capsule endoscope system for multimodal imaging according to claim 1, characterized in that, The external wireless power supply module (4) includes a DC voltage source (401), an inverter controller (402), and a transmitting coil (403). The DC signal output by the DC voltage source (401) is controlled by the inverter controller (402) to output an AC signal. The AC signal acts on the transmitting coil (403) and transmits energy to the wireless power supply receiver module (104) through the coil.

8. A capsule endoscope system for multimodal imaging according to claim 1, characterized in that, The image receiving and processing module (5) includes a white light imaging recognition module (501), a narrow band imaging recognition module (502), an autofluorescence image processing and recognition module (503), a display (504), and a memory (505). The white light imaging recognition module (501) displays the white light image captured by the capsule endoscope (1) on the display (504) in real time. The narrow band imaging recognition module (502) displays the narrow band image detected by the capsule endoscope (1) on the display (504) in real time. The autofluorescence recognition module (503) displays the autofluorescence image detected by the capsule endoscope (1) on the display (504) in real time. The memory (505) is used to store the white light image, narrow band image, and autofluorescence image collected by the capsule endoscope (1).

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