Capsule endoscope system and method for positioning through antenna matrix

Abstract

The invention discloses a capsule endoscope system and method for positioning through an antenna matrix, and the system comprises a capsule endoscope, a receiving waistband, a data recorder, and an in-vitro work station. A vibration module, a main control board, a radio frequency module and a power module are arranged in a shell of the capsule endoscope. The receiving waistband comprises a waistband, a receiving antenna, a noise processing module, a position sensing module and a reflecting layer; the receiving antenna, the processing module, the sensor and the reflecting layer are all arranged between the two layers of structures of the waistband, the receiving antenna surrounds the waistband for one circle, and the periphery of the receiving antenna is comb-shaped; the noise processing module and the position sensing module are respectively connected with the receiving antenna through the FPC board; the reflecting layer is arranged along the circumference of the waistband; a spacing layer is arranged between the receiving antenna and the reflecting layer; a containing bag is arranged on the outer side of the waistband, and the data recorder is located in the containing bag on the outer side of the waistband. And the receiving waistband, the data recorder and the in-vitro workstation are connected in sequence. The method improves the inspection efficiency and accuracy, and is safe, reliable and stable.

Description

Technical Field

[0001] The invention relates to a capsule endoscope system and method for positioning through an antenna matrix, belonging to the technical field of capsule endoscopes. Background Art

[0002] At present, the examinee can take a capsule endoscope with built-in image acquisition and wireless communication device orally to collect images in the digestive tract. The doctor uses an external instrument to receive the images taken by the capsule endoscope to understand the digestive tract condition of the examinee and make a diagnosis of the condition. Capsule endoscopy has the advantages of convenient examination, no trauma, no wires, no pain, no cross infection, and no impact on the normal work of the patient. It expands the field of view of digestive tract examination and overcomes the defects of traditional insertable endoscopy, such as poor tolerance and unsuitability for the elderly, weak and critically ill. It can be used as the preferred method for diagnosing digestive tract diseases, especially intestinal diseases.

[0003] The motion control of a capsule endoscope in the human body plays an important role in capsule endoscopic examination. A currently used control method is to control a capsule endoscope with a built-in magnet by generating a magnetic field from a magnetic field source disposed outside the subject's body.

[0004] However, in the current design of magnetically controlled capsule endoscopes, the magnets installed in the capsule endoscopes are in a pancake-shaped structure, which has a small magnetic force and is not easy to control. When the capsule endoscope is blocked in the body, it will affect the inspection efficiency, and even the power of the capsule endoscope will be exhausted before the inspection is completed, resulting in the inability to complete the inspection. Summary of the invention

[0005] The present invention provides a capsule endoscope system and method for positioning through an antenna matrix. When the capsule endoscope is blocked in the body, a vibration module performs intermittent vibration to awaken intestinal motility, increase intestinal peristalsis, and improve inspection efficiency and imaging clarity; at the same time, accurate positioning of the capsule endoscope can also be achieved.

[0006] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0007] A capsule endoscope system positioned by an antenna array comprises a capsule endoscope, a receiving belt, a data recorder and an in vitro workstation;

[0008] A vibration module, a main control board, a radio frequency module and a power module are arranged in the shell of the capsule endoscope. The vibration module, the main control board and the radio frequency module are all connected to the power module and powered by the power module. The vibration module and the radio frequency module are all connected to the main control board and controlled by the main control board.

[0009] The receiving belt includes a belt, a receiving antenna, a noise processing module, a position sensing module and a reflecting layer; the belt is a pocket structure, the receiving antenna, the processing module, the sensor and the reflecting layer are all arranged in the pocket, the receiving antenna surrounds the belt for a week, and the periphery of the receiving antenna is in a comb-tooth shape; matching Velcro is provided at both ends of the belt; the noise processing module and the position sensing module are respectively connected to the receiving antenna through an FPC board, and the noise processing module is used to remove interference signals around the patient; the position sensing module determines the position and direction of the capsule endoscope through the position and direction of the signal transmitted by the radio frequency module in the capsule endoscope; the reflecting layer is arranged along the circumference of the belt, and the reflecting layer adopts an electrostatic cloth or a metal mesh structure; a spacer layer is provided between the receiving antenna and the reflecting layer;

[0010] A storage bag is arranged on the outside of the waist belt, and the data recorder is located in the storage bag on the outside of the waist belt; the receiving waist belt, the data recorder and the in vitro workstation are connected in sequence.

[0011] The radio frequency module is provided with a loop antenna for transmitting images taken by the capsule endoscope.

[0012] The vibration motor in the vibration module is a linear motor, an eccentric rotor motor or a flat motor.

[0013] The above-mentioned receiving antenna surrounds the belt, and the periphery of the receiving antenna is comb-shaped, forming an effective antenna array around the belt, thereby increasing the antenna receiving area and improving the sensitivity of the signal transmitted by the receiving capsule. At the same time, it helps to reduce the antenna's return loss, increase the reception of radio frequency signals emitted from the capsule, improve the performance of the communication system, and increase the deformation of the antenna, thereby preventing the user from pulling too much when wearing it due to body shape, causing the internal antenna to break and affecting the reception effect.

[0014] The above-mentioned belt is a pocket structure, specifically: the two sides and the bottom of two long strips of fabric are sewn together to form a pocket structure with an open top, and a zipper, Velcro or button is arranged on the top of the pocket structure to flexibly connect the tops of the two long strips of fabric together. This is convenient for assembling and maintaining the belt.

[0015] When in use, the receiving belt can be fastened around the patient's waist with Velcro. The receiving belt can be prepared in three sizes: large, medium and small, taking into account the waist circumference of most people. Special models can be made for people who are too large or too small. The length of the receiving antenna must ensure that it can basically wrap around the patient's waist (the coverage length of the receiving antenna to the patient's waist circumference is greater than 95% of the patient's waist circumference). The outer surface of the belt is made of non-magnetic material.

[0016] Considering that the measured data may be interfered and inaccurate during actual use, the noise processing module is used to filter the signal data transmitted by the antenna in the capsule to remove the interference data of the RF signal around the user, so that the calculated antenna signal is more accurate and the reliability of the solution is increased. The noise processing module can use the mature ESP32 chip, which is specially designed to suppress RF noise.

[0017] The provision of the reflective layer increases the signal receiving strength and improves the accuracy of information receiving. The provision of the spacing layer can ensure that the device works normally and efficiently.

[0018] The data recorder may be an existing device, such as the data recorder PillCam DR3. The data recorder includes a display screen, a processor, a battery component, a communication component, a storage unit, and the like.

[0019] The capsule endoscope is currently available, and all matters not specifically described in this application refer to the existing structure of the capsule endoscope.

[0020] In order to improve the smoothness and anti-corrosion performance, a nano coating is provided on the outer side of the shell of the capsule endoscope. The nano coating is a Parylene coating, which increases the smoothness of the shell, reduces the resistance of the capsule to movement in the human body, and increases the anti-corrosion performance of the capsule endoscope.

[0021] The capsule endoscope of the present invention adopts a photoelectric switch (photoresistor).

[0022] As another implementation scheme, a resistance sensor is also provided in the shell of the capsule endoscope, and the resistance sensor is connected to the power module and the main control board respectively. When the capsule passes through the digestive tract after being swallowed, it will move with the peristalsis of the digestive tract and the intestine. When the movement of the capsule endoscope is obstructed, the resistance sensor feeds back a signal to the main control board, and the main control board starts the vibration module. The vibration module drives the capsule endoscope to vibrate intermittently, which can activate the intestinal neural network, awaken intestinal motility, and increase intestinal peristalsis. The capsule endoscope continues to move with the peristalsis of the digestive tract and the intestine, while relieving and treating constipation. In the process of vibration of the capsule endoscope, the outer wall of the capsule can be temporarily separated from the inner wall of the intestine, so as to widen the moving space, reduce the adhesion of body fluids, and improve the imaging clarity of the capsule endoscope.

[0023] The comb teeth around the receiving antenna are rectangular structures.

[0024] The position sensing module determines the coordinate position and direction angle of the RF module by receiving the signal received by the antenna, and transmits the relevant information to the data recorder. The processor in the data recorder infers the orientation of the capsule endoscope based on the coordinate position and direction angle of the RF module and forms a corresponding 3D position map. The position sensing module can use the inductive position sensor WT901BLE.

[0025] In order to improve the accuracy of the inspection, the number of position sensor modules is N, which are evenly distributed along the circumference of the belt, and N is an integer not less than 1.

[0026] The material used for the above-mentioned spacing layer is steamed bun or sponge.

[0027] The receiving belt is wirelessly connected to the data recorder, and the data recorder is connected to the in vitro workstation via a data transmission line.

[0028] A method for operating a capsule endoscope system positioned by an antenna array, comprising:

[0029] 1) The capsule endoscope is taken orally and enters the body. It moves with the peristalsis of the digestive tract and intestines. If it is found that the similarity of multiple pictures taken by the capsule endoscope is high, it means that the movement of the capsule endoscope is blocked. The capsule endoscope main control board feeds back a signal to the vibration module, and the vibration module starts to vibrate intermittently, thereby driving the capsule endoscope to vibrate intermittently until a new perspective picture is taken again. The vibration module receives the signal and stops working, saving the power consumption of the capsule endoscope. The intermittent vibration can awaken the intestinal motility and increase intestinal peristalsis. At the same time, the outer wall of the capsule endoscope and the inner wall of the intestine are temporarily separated, thereby widening the movement space.

[0030] 2) The capsule endoscope transmits the captured signal through the radio frequency module. After the noise processing module filters the signal and removes the interference signal, it reaches the receiving antenna and reflects the wireless transmission signal through the reflection layer to increase the signal reception strength and stability. The position sensing module determines the position and direction of the signal transmitted by the radio frequency module according to the signal received by the receiving antenna, and then obtains the position and direction of the capsule endoscope;

[0031] 3) The receiving antenna and position sensor module send the received signal to the data recorder via wireless; the data recorder transmits the collected information to the in vitro workstation via a data transmission line. The in vitro workstation includes a personal computer for reading films, a medical image display and a software platform.

[0032] When the solution of setting a resistance sensor is adopted, the above step 1) is that the capsule endoscope is taken orally and enters the body, and will move with the peristalsis of the digestive tract and intestines. When the movement of the capsule endoscope is blocked, the resistance sensor feedbacks a signal to the main control board, and the main control board starts the vibration module. The vibration module drives the capsule endoscope to vibrate intermittently to activate the intestinal neural network, awaken intestinal motility, and increase intestinal peristalsis. The capsule endoscope continues to move with the peristalsis of the digestive tract and intestines, and the vibration module stops vibrating.

[0033] Whether to adopt the solution of setting a resistance sensor can be determined according to the specific situation. Compared with not setting a resistance sensor, the accuracy will be higher after setting a resistance sensor.

[0034] The technologies not mentioned in the present invention are all referred to the prior art.

[0035] The capsule endoscope system of the present invention is positioned by an antenna array, and a closed-loop signal transmission system is formed by a radio frequency module in the capsule and a receiving antenna and a data recorder in a receiving belt. Under the operation of the whole system, the real-time status of the capsule after entering the human body can be displayed on the data recorder through the signal collected by the receiving belt. The present invention is not limited by the magnetic control field. The signal received by the antenna in the belt can query the location of the capsule in real time and transmit high-quality pictures without affecting the patient's working status. When the capsule endoscope is blocked in the body, the vibration module vibrates intermittently to awaken the intestinal motility, increase intestinal peristalsis, and improve the efficiency of the inspection and the clarity of the image. The design of the receiving belt makes the detection angle of the capsule endoscope larger, the range wider, the missed detection rate low, and the reliability high. The present invention can also accurately know the position of the capsule endoscope, and improve the accuracy and controllability of the inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the structure of the capsule endoscope system positioned by the antenna array of the present invention;

[0037] Figure 2 It is a schematic diagram of the structure of the receiving antenna in the waistband of the present invention;

[0038] Figure 3 is a schematic diagram of a data logger;

[0039] Figure 4 is a schematic diagram of the structure of a capsule endoscope;

[0040] Figure 5 for Figure 4 Stereoscopic image of

[0041] Figure 6 is a flow chart of a method for positioning a capsule endoscope;

[0042] In the figure, 1-patient, 2-receiving belt, 3-receiving antenna, 4-capsule endoscope, 41-camera module, 42-RF module, 421-antenna, 43-main control board, 44-power module, 45-vibration module, 46-bracket, 47-transparent ball cover, 48-resistance sensor, 5-data recorder, 51-signal receiving port, 52-capsule real-time image display, 53-data transmission port, 54-charging port, 55-switch button, 6-personal computer, 7-cloud data; DETAILED DESCRIPTION

[0043] In order to better understand the present invention, the content of the present invention is further explained below in conjunction with the embodiments, but the content of the present invention is not limited to the following embodiments.

[0044] The directional words such as inside and outside, top and bottom, up and down, left and right, horizontal, and vertical in this application are based on the relative orientation or position relationship shown in the drawings or when used, and should not be understood as absolute limitations on this application.

[0045] Example 1

[0046] like Figure 4-5 As shown, the capsule endoscope includes a shell, two camera modules, a main control board, a radio frequency module, a vibration module and a power module. The two ends of the shell are transparent spherical covers, and the outer side of the shell of the capsule endoscope is provided with a nano coating (Parylene coating); the two camera modules, the main control board, the radio frequency module, the vibration module and the power module are installed in the shell through a bracket, and the two camera modules are located at the two ends of the bracket, and can respectively shoot the situation inside the body through the transparent spherical covers at both ends; each camera module is provided with an LED lighting lamp. The two camera modules, each LED lighting lamp, the main control board, the radio frequency module and the vibration module are all connected to the power module and powered by the power module. The power module can provide the capsule with normal operation for more than 9 hours. The camera module, the radio frequency module and the vibration module are all connected to the main control board and controlled by the main control board. The radio frequency module is provided with a ring antenna. One of the camera modules is provided with a photoresistor to control the switch of the capsule endoscope.

[0047] The receiving belt includes a belt, a receiving antenna, a noise processing module (ESP32 chip), a position sensing module (WT901BLE) and a reflective layer; the belt is a pocket structure: the two sides and the bottom of two long strips of fabric are sewn together to form a pocket structure with an open top, and a zipper, Velcro or button is arranged on the top of the pocket structure to flexibly connect the tops of the two long strips of fabric together. The receiving antenna, the processing module, the sensor and the reflective layer are all arranged in the pocket, and the receiving antenna surrounds the belt for a week, and the periphery of the receiving antenna is in the shape of comb teeth, and the comb teeth are rectangular structures; matching Velcro is arranged at both ends of the length direction of the belt; the noise processing module and the position sensing module are respectively connected to the receiving antenna through an FPC board, and the noise processing module is used to remove interference signals around the patient; the position sensing module determines the position and direction of the capsule endoscope through the position and direction of the signal transmitted by the radio frequency module in the capsule endoscope; the reflective layer is arranged along the circumference of the belt, and the reflective layer adopts an electrostatic cloth or a metal mesh structure; a spacer layer (sponge) is arranged between the receiving antenna and the reflective layer;

[0048] A storage bag is provided on the outside of the waist belt, and a data recorder (Medtronic PillCam DR3) is located in the storage bag on the outside of the waist belt; the receiving waist belt, the data recorder and the extracorporeal workstation are connected in sequence.

[0049] like Figure 1As shown, the patient wears a receiving belt around his waist. The two ends of the belt are glued together by Velcro. The receiving antenna goes around the patient's waist to form an effective antenna array. The pictures sent by the capsule endoscope in the patient's body are captured in real time, and the position of the capsule endoscope is determined by the signal received by the belt antenna. There are 6 position sensing modules, which are evenly distributed along the patient's waist. Before swallowing, the patient illuminates one end of the capsule with a laser light to activate the photoresistor, and the LED lights at both ends of the capsule begin to flash. Figure 6 As shown, the patient will swallow the capsule, which will pass through the digestive tract to the stomach, and then pass through the intestines for detection. The capsule endoscope is taken orally and enters the body. It will move with the peristalsis of the digestive tract and intestines. The main control board sends instructions to the two camera modules alternately to take pictures. If it is found that the capsule endoscope takes multiple pictures with high similarity (the similarity is greater than 98%, in this example, it is set to 10 pictures with alternating similarity greater than 98%, that is, the 10 pictures are numbered in sequence (1-10), the similarity between the pictures numbered 1 / 3 / 5 / 7 / 9 is greater than 98%, and the similarity between the pictures numbered 2 / 4 / 6 / 8 / 10 is also greater than 98%), it means that the movement of the capsule endoscope is blocked. The capsule endoscope main control board feeds back a signal to the vibration module, and the vibration module starts to vibrate intermittently, thereby driving the capsule endoscope to vibrate intermittently until a new perspective picture is taken again. The vibration module receives the signal and stops working, saving the power consumption of the capsule endoscope. The intermittent vibration can awaken the intestinal motility and increase intestinal peristalsis. At the same time, the outer wall of the capsule endoscope and the inner wall of the intestine are temporarily separated, widening the moving space. The camera module uses a wide-angle lens, and the LED lighting provides lighting brightness. The camera module can take real-time high-definition pictures through the transparent ball cover of the capsule endoscope. After taking the picture, it is transmitted back to the main control board. The main control board compresses the picture and transmits it to the RF module, and then the RF module transmits the picture through the ring antenna. After the noise processing module filters the signal and removes the interference signal, it is received by the receiving antenna of the receiving belt. The wireless transmission signal is reflected by the reflecting layer to increase the signal reception strength. The signal reception effect is relatively stable. The position sensing module determines the coordinate position and direction angle of the signal transmitted by the RF module according to the signal strength and feedback speed received by the receiving antenna. The receiving antenna and the position sensing module send the received signal to the data recorder via wireless. The data recorder determines the real-time position of the capsule endoscope through calculation based on the collected information to form a corresponding 3D position map, such as Figure 3As shown, the data recorder stores the data captured by the receiving belt in the data recorder through built-in wireless communication. The data recorder is powered by a battery assembly. The data recorder display can display the pictures taken by the capsule in the human body in real time. The processor of the data recorder can transmit the stored pictures to the capsule software display platform on the personal computer for review through data transmission, or upload them to the cloud database through internal network communication. Data entry, data processing, data reading and other operations can be performed in the remote data center. The data recorder stores the received pictures. The doctor uses a USB connection to import the stored pictures into the film reading software installed on the personal computer through the data transmission port of the data recorder to judge the patient's condition. The doctor can also review the pictures uploaded by the data recorder through the cloud database. The patient can also view the real-time picture display of the capsule through the data recorder display. In addition to feeding back the detection results to the user, the data recorder is also configured to prompt the user whether there is still a capsule endoscope in the body through light, sound and / or text after the detector completes the detection (if the capsule endoscope is not in the body, if the receiving antenna cannot receive the signal sent by the capsule endoscope's radio frequency module, it means that the capsule endoscope is no longer in the body. At this time, the user is prompted through light, sound and / or text), thereby improving the user experience.

[0050] Example 2

[0051] like Figure 3 As shown, the capsule endoscope includes a shell, two camera modules, a main control board, a radio frequency module, a resistance sensor, a vibration module and a power module. There are transparent ball covers at both ends of the shell; the two camera modules, the main control board, the radio frequency module, the resistance sensor, the vibration module and the power module are installed in the shell through a bracket. The two camera modules are located at both ends of the bracket and can respectively shoot the situation inside the body through the transparent ball covers at both ends; each camera module is provided with an LED lighting lamp. The two camera modules, each LED lighting lamp, the main control board, the radio frequency module, the resistance sensor and the vibration module are all connected to the power module and powered by the power module. The power module can provide the capsule with normal operation for more than 9 hours. The camera module, the radio frequency module, the resistance sensor and the vibration module are all connected to the main control board and controlled by the main control board. The radio frequency module is provided with a loop antenna. One of the camera modules is provided with a photoresistor to control the switch of the capsule endoscope. When in use, the capsule endoscope is taken orally and enters the body, and moves with the digestive tract and intestinal peristalsis. When the movement of the capsule endoscope is blocked, the resistance sensor feeds back a signal to the main control board, and the main control board starts the vibration module. The vibration module drives the capsule endoscope to vibrate intermittently, which can activate the intestinal neural network, awaken the intestinal motility, and increase intestinal peristalsis. The capsule endoscope continues to move with the digestive tract and intestinal peristalsis, and the vibration module stops vibrating. The rest is referred to Example 1.

Claims

1. A capsule endoscope system positioned by an antenna array, characterized in that: Includes capsule endoscope, receiving belt, data recorder and in vitro workstation; A vibration module, a main control board, a radio frequency module and a power module are arranged in the shell of the capsule endoscope. The vibration module, the main control board and the radio frequency module are all connected to the power module and powered by the power module. The vibration module and the radio frequency module are all connected to the main control board and controlled by the main control board. The receiving belt includes a belt, a receiving antenna, a noise processing module, a position sensing module and a reflecting layer; the belt is a pocket structure, the receiving antenna, the processing module, the sensor and the reflecting layer are all arranged in the pocket, the receiving antenna surrounds the belt for a week, and the periphery of the receiving antenna is in a comb-tooth shape; matching Velcro is provided at both ends of the belt; the noise processing module and the position sensing module are respectively connected to the receiving antenna through an FPC board, and the noise processing module is used to remove interference signals around the patient; the position sensing module determines the position and direction of the capsule endoscope through the position and direction of the signal transmitted by the radio frequency module in the capsule endoscope; the reflecting layer is arranged along the circumference of the belt, and the reflecting layer adopts an electrostatic cloth or a metal mesh structure; a spacer layer is provided between the receiving antenna and the reflecting layer; A storage bag is arranged on the outside of the waist belt, and the data recorder is located in the storage bag on the outside of the waist belt; the receiving waist belt, the data recorder and the in vitro workstation are connected in sequence.

2. The capsule endoscope system positioned by an antenna array as claimed in claim 1, characterized in that: The outer side of the shell of the capsule endoscope is provided with a nano coating.

3. The capsule endoscopy system positioned by an antenna array according to claim 1 or 2, characterized in that: A resistance sensor is also provided in the shell of the capsule endoscope, which is connected to the power module and the main control board respectively. When the capsule passes through the digestive tract after being swallowed, it will move with the peristalsis of the digestive tract and the intestine. When the movement of the capsule endoscope is obstructed, the resistance sensor feeds back a signal to the main control board, and the main control board starts the vibration module. The vibration module drives the capsule endoscope to vibrate intermittently to activate the intestinal neural network, awaken intestinal motility, and increase intestinal peristalsis. The capsule endoscope continues to move with the peristalsis of the digestive tract and the intestine to relieve and treat constipation. During the vibration of the capsule endoscope, the outer wall of the capsule is temporarily separated from the inner wall of the intestine, which widens the moving space, reduces the adhesion of body fluids, and improves the imaging clarity of the capsule endoscope.

4. The capsule endoscope system positioned by an antenna array according to claim 1 or 2, characterized in that: The comb teeth around the receiving antenna are rectangular structures.

5. The capsule endoscope system positioned by an antenna array according to claim 1 or 2, characterized in that: The position sensing module determines the coordinate position and direction angle of the RF module by receiving the signal from the receiving antenna, and transmits the relevant information to the data recorder. The processor in the data recorder infers the orientation of the capsule endoscope based on the coordinate position and direction angle of the RF module and forms a corresponding 3D position map.

6. The capsule endoscope system positioned by an antenna array according to claim 1 or 2, characterized in that: The number of the position sensor modules is N, which are evenly distributed along the circumference of the belt, and N is an integer not less than 1.

7. The capsule endoscope system positioned by an antenna array according to claim 1 or 2, characterized in that: The material used for the spacing layer is steamed bun or sponge.

8. The capsule endoscope system positioned by an antenna array according to claim 1 or 2, characterized in that: The receiving belt is wirelessly connected to the data recorder, and the data recorder is connected to the in vitro workstation via a data transmission line.

9. A method for operating a capsule endoscope system positioned by an antenna array, characterized in that: include 1) The capsule endoscope is taken orally and enters the body. It moves with the peristalsis of the digestive tract and intestines. If it is found that the similarity of more than four pictures taken by the capsule endoscope is high, it means that the movement of the capsule endoscope is blocked. The capsule endoscope main control board feeds back a signal to the vibration module, and the vibration module starts to vibrate intermittently, thereby driving the capsule endoscope to vibrate intermittently until a new perspective picture is taken again. The vibration module receives the signal and stops working, saving the power consumption of the capsule endoscope. The intermittent vibration awakens the intestinal motility and increases the intestinal peristalsis. At the same time, the outer wall of the capsule endoscope and the inner wall of the intestine are temporarily separated, thereby widening the movement space. 2) The capsule endoscope transmits the captured signal through the radio frequency module. After the noise processing module filters the signal and removes the interference signal, it reaches the receiving antenna and reflects the wireless transmission signal through the reflection layer to increase the signal reception strength and stability. The position sensing module determines the position and direction of the signal transmitted by the radio frequency module according to the signal received by the receiving antenna, and then obtains the position and direction of the capsule endoscope; 3) The receiving antenna and the position sensor module send the received signal to the data recorder via wireless; the data recorder transmits the collected information to the in vitro workstation via the data transmission line.

10. The operating method according to claim 9, characterized in that: The capsule endoscope is taken orally and enters the body. It moves with the peristalsis of the digestive tract and intestines. When the movement of the capsule endoscope is obstructed, the resistance sensor feeds back a signal to the main control board, which starts the vibration module. The vibration module drives the capsule endoscope to vibrate intermittently to activate the intestinal neural network, awaken intestinal motility, and increase intestinal peristalsis. The capsule endoscope continues to move with the peristalsis of the digestive tract and intestines, and the vibration module stops vibrating.

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