Capsule endoscope, system and control method of capsule endoscope

Abstract

The invention provides a capsule endoscope, a system and a control method thereof.The capsule endoscope comprises a battery, a front electric drive assembly and a rear electric drive assembly, the front electric drive assembly and the rear electric drive assembly are spaced, the front electric drive assembly is arranged close to the head end relative to the rear electric drive assembly, and each of the front electric drive assembly and the rear electric drive assembly comprises two electric drive units; the capsule endoscope is provided with corresponding ducts corresponding to the electric drive units, each duct comprises an opening located in the top of the capsule endoscope and an opening located in the bottom of the capsule endoscope, and each electric drive unit is used for driving liquid in the external environment to flow through the corresponding duct through electric energy provided by a battery. Corresponding reverse thrust is generated, so that the posture and the position of the capsule endoscope are adjusted; four openings, located at the top of the capsule endoscope, of the four ducts are arranged in a rectangular shape, and four openings, located at the bottom of the capsule endoscope, of the four ducts are arranged in a rectangular shape.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a capsule endoscope, a system and a control method of the capsule endoscope. Background Art

[0002] All capsule endoscope systems currently on the market are based on magnetic control technology. The magnetic control capsule endoscope system is structurally divided into two parts: a capsule endoscope equipped with a small magnet for entering the body and a magnetic control device outside the body. By using the principle of attraction between opposite poles of magnets, the small magnet in the capsule endoscope inside the body is dragged to make corresponding movements through the translation and rotation of the magnetic control device outside the body, so as to achieve the purpose of changing the position and posture of the capsule endoscope inside the body. In this way, the image acquisition module in the capsule endoscope inside the body can take pictures of various angles and distances inside the body and send them to the outside of the body for analysis and diagnosis.

[0003] However, magnetic control equipment is bulky and expensive, which is a heavy burden for medical institutions. Summary of the invention

[0004] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a capsule endoscope, a system and a control method of the capsule endoscope.

[0005] A first aspect of the present invention provides a capsule endoscope, comprising a head end and a tail end arranged opposite to each other, wherein the capsule endoscope is provided with a lens at the head end, the capsule endoscope comprises a battery, a front electric drive assembly and a rear electric drive assembly spaced apart from each other, the front electric drive assembly is arranged adjacent to the head end relative to the rear electric drive assembly, the front electric drive assembly and the rear electric drive assembly each comprise two electric drive units, the capsule endoscope is provided with corresponding ducts corresponding to each of the electric drive units, each duct comprises an opening at the top of the capsule endoscope and an opening at the bottom of the capsule endoscope, and each of the electric drive units is used to utilize the electric energy provided by the battery to drive The liquid in the external environment flows through the corresponding duct to generate the corresponding reverse thrust and thus adjust the posture and position of the capsule endoscope; the front electric drive assembly includes a first electric drive unit and a second electric drive unit spaced apart from each other, and the rear electric drive assembly includes a third electric drive unit and a fourth electric drive unit spaced apart from each other, and the ducts corresponding to the first electric drive unit, the second electric drive unit, the third electric drive unit and the fourth electric drive unit are the first duct, the second duct, the third duct and the fourth duct respectively, and the four ducts are located at the four openings at the top of the capsule endoscope and are arranged in a rectangular shape, and the four ducts are located at the four openings at the bottom of the capsule endoscope and are arranged in a rectangular shape.

[0006] A second aspect of the present invention provides a capsule endoscope system, comprising a client and the capsule endoscope as described above, wherein the client is used to receive and display images captured by the lens.

[0007] A third aspect of the present invention provides a control method for a capsule endoscope, which is used to control the capsule endoscope as described above, and the control method comprises: controlling the flow rate of each electric drive unit to discharge the liquid in the external environment from the corresponding duct by outputting a voltage, so that each electric drive unit generates a corresponding reverse thrust.

[0008] The capsule endoscope provided by the present application includes a front electric drive assembly and a rear electric drive assembly, each of which includes two electric drive units, each of which is used to use the electric energy provided by the battery to drive the liquid in the external environment to flow through the corresponding duct. In the process of the liquid flowing through the corresponding duct, a reverse thrust in the opposite direction of the liquid flowing through the duct will be generated to balance the gravity of the capsule endoscope, thereby promoting the capsule endoscope to adjust its position and posture in the liquid environment. Therefore, medical institutions do not need to be equipped with bulky and expensive magnetic control equipment to complete endoscopic examinations, which is conducive to reducing the burden on medical institutions.

[0009] In addition, the capsule endoscope is provided with four ducts corresponding to the four electric drive units, and each duct includes openings arranged at the top and the bottom of the capsule endoscope, that is, each duct extends between the top and the bottom of the capsule endoscope. The four electric drive units are used to provide a larger upward or downward reverse thrust, which solves the problem of uncontrollable movement caused by the gravity exceeding the sum of the buoyancy and the thrust of the electric drive unit during the miniaturization of the capsule endoscope.

[0010] Furthermore, in the capsule endoscope, since the four openings of the four ducts located at the top of the capsule endoscope are arranged in a rectangular shape, and the four openings of the four ducts located at the bottom of the capsule endoscope are arranged in a rectangular shape, that is, at the top of the capsule endoscope, the opening of the first duct and the opening of the second duct are arranged at the same position in the axial direction of the capsule endoscope, and the opening of the third duct and the opening of the fourth duct are arranged at the same position in the axial direction of the capsule endoscope, and at the bottom of the capsule endoscope, the opening of the first duct and the opening of the second duct are arranged at the same position in the axial direction of the capsule endoscope, and the opening of the third duct The opening of and the opening of the fourth duct are arranged at the same position in the axial direction of the capsule endoscope, which not only makes the front electric drive assembly, the rear electric drive assembly and the capsule endoscope more compact in the axial direction, and effectively reduces the size of the front electric drive assembly, the rear electric drive assembly and the capsule endoscope in the axial direction, but also the reverse thrust generated in the four ducts can realize the controllability of the capsule endoscope's pitch angle, yaw angle and roll angle, and on the basis of realizing the capsule endoscope's ability to move forward and backward, left and right, and rotate left and right, it is conducive to alleviating or even avoiding the capsule endoscope's uncontrollable shaking in the pitch or roll direction. Among them, the direction of the line connecting the geometric center of the head end of the capsule endoscope and the geometric center of the tail end is the axial direction of the capsule endoscope. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings are used to provide further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention.

[0012] Figure 1 A schematic diagram of the structure of the capsule endoscope system provided in the present application when examining the stomach of a subject;

[0013] Figure 2 for Figure 1 The three-dimensional structural schematic diagram of the capsule endoscope shown;

[0014] Figure 3 for Figure 2 The schematic diagram of the top view of the capsule endoscope shown;

[0015] Figure 4 for Figure 2 The schematic diagram of the capsule endoscope shown is a bottom-up structural diagram;

[0016] Figure 5 for Figure 2 The schematic diagram of the cross-sectional structure of the capsule endoscope shown is taken on a horizontal plane passing through the axial direction;

[0017] Figure 6 for Figure 2 The schematic diagram of the cross-sectional structure of the capsule endoscope shown is shown in a cross section;

[0018] Figure 7 for Figure 2 The exploded structural diagram of the capsule endoscope is shown;

[0019] Figure 8 for Figure 2 A schematic diagram of the cross-sectional structure of the capsule endoscope shown along a reference longitudinal section;

[0020] Fig. 9 for Figure 2 The force analysis diagram of a cross section of the capsule endoscope shown when it turns left or right;

[0021] Fig.10 for Figure 2 A force analysis diagram of another cross section of the capsule endoscope when it turns left or right;

[0022] Fig.11 for Figure 2 The force analysis diagram of the capsule endoscope at a top-down angle when it turns left or right is shown.

[0023] Figure Number:

[0024] 100, capsule endoscope system; 110, client; 200, external environment; 210, liquid;

[0025] 231. Horizontal plane;

[0026] 1000, capsule endoscope; 1001, head end; 1002, tail end; 1004, top; 1005, bottom;

[0027] X, axial direction; R, circumferential direction; 1007, horizontal plane; 1008, reference longitudinal section; 1009, reference cross section;

[0028] M, center of gravity;

[0029] G, gravity; F b , buoyancy; F1, reverse thrust; F2, reverse thrust; F3, reverse thrust; F4, reverse thrust;

[0030] L1, force arm; L2, force arm; L3, force arm; L4, force arm; L a , lever arm; L b , lever arm;

[0031] 1100, housing; H, accommodating space; 1120, transparent cover;

[0032] 1130, front shell; 1140, first duct; 1142, opening;

[0033] 1143. Entrance; 1144. Exit;

[0034] 1150, second duct; 1152, opening; 1153, inlet; 1154, outlet;

[0035] 1160, rear shell; 1162, outer shell;

[0036] 1170, third duct; 1172, opening; 1173, inlet; 1174, outlet;

[0037] 1175, inlet section; 1176, outlet section; 1177, fixing hole;

[0038] 1180, fourth duct; 1182, opening; 1183, inlet; 1184, outlet;

[0039] 1185, inlet section; 1186, outlet section; 1187, fixing hole;

[0040] L1, first spacing; L2, second spacing;

[0041] 1190, end cap;

[0042] 1200, front electric drive assembly; 1210, first electric drive unit; 1212, first motor; 1214, first propeller;

[0043] 1250, a second electric drive unit; 1252, a second motor; 1254, a second propeller;

[0044] 1300, rear electric drive assembly; 1310, third electric drive unit; 1312, third motor; 1314, third propeller;

[0045] 1350, a fourth electric drive unit; 1352, a fourth motor; 1354, a fourth propeller;

[0046] 1500, sunshade tube;

[0047] 1700, circuit board; 1710, first circuit board; 1720, second circuit board; 1730, third circuit board;

[0048] 1800, antenna; 1910, battery; 1920, lens; 1930, lighting unit. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation methods. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0051] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0052] In the description of this patent, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0053] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0054] Below Figures 2 to 8 Taking the capsule endoscope 1000 in FIG. 1 as an example, a coordinate system of the capsule endoscope 1000 is defined.

[0055] Axis X: The line between the geometric centers of the two ends of the capsule endoscope 1000 is the axis of the capsule endoscope. The direction of the axis of the capsule endoscope 1000 is referred to as the axial direction. The capsule endoscope 1000 is in the shape of a capsule and includes two smooth ends, namely the head end 1001 and the tail end 1002. The geometric center of the head end 1001 is the geometric center of the surface of the head end 1001 when viewed from the head end 1001 to the tail end 1002. The geometric center of the tail end 1002 is the geometric center of the surface of the tail end 1002 when viewed from the tail end 1002 to the head end 1001. The geometric centers of both ends of the capsule endoscope 1000 are located on the surface of the capsule endoscope 1000. For a capsule endoscope 1000 of a given structure, its axial direction is unique. The movement of the capsule endoscope 1000 rotating around the axial direction X is rolling or rolling, and the roll angle changes during the rolling of the capsule endoscope 1000 around the axial direction.

[0056] Circumferential direction R: The circumferential direction R of the capsule endoscope 1000 is a direction surrounding the axial direction X thereof, and the circumferential direction R of the capsule endoscope 1000 is perpendicular to the axial direction X of the capsule endoscope 1000 .

[0057] Longitudinal section: a plane where the axis of the capsule endoscope 1000 is located. The capsule endoscope 1000 includes a plurality of longitudinal sections, and the axial direction X is located in the plurality of longitudinal sections. The plurality of longitudinal sections includes a reference longitudinal section 1008 .

[0058] Cross section: A plane perpendicular to the axial direction X in the capsule endoscope 1000 is a cross section of the capsule endoscope 1000 . The capsule endoscope 1000 has a plurality of cross sections, including a reference cross section 1009 .

[0059] Z axis: the direction of the line between the geometric center of the top 1004 and the geometric center of the bottom 1005 of the capsule endoscope 1000, the Z axis is perpendicular to the axis; the yaw angle changes during the movement of the capsule endoscope 1000 rotating around the Z axis.

[0060] Horizontal plane 1007: a plane perpendicular to the Z axis.

[0061] Below Figures 9 to 11 Take the external environment in as an example to define the world coordinate system.

[0062] Vertical direction: direction of gravity.

[0063] Horizontal direction 231: A direction parallel to a reference horizontal plane. The reference horizontal plane can be considered as a plane perpendicular to the local gravity direction.

[0064] See also Figure 1 , Figure 1 This is a structural schematic diagram of a capsule endoscope system 100 provided in an embodiment of the present application. The capsule endoscope system 100 provided in an embodiment of the present application includes a capsule endoscope 1000 and a client 110, wherein the capsule endoscope 1000 is placed in the stomach of a subject for performing a stomach examination. Figure 1 The proportions of the various parts in the figure are adjusted to more clearly show the structure of the capsule endoscope 1000. Please note that the proportions in the figure do not reflect the actual size proportions, but are only used to illustrate the relative positions and connection relationships between the various parts.

[0065] The capsule endoscope 1000 provided in the embodiment of the present application may be a gastric capsule endoscope or a gastrointestinal capsule endoscope, which is used to take images of the stomach or gastrointestinal tract. Before the capsule endoscope 1000 examination, the examinee needs to prepare the stomach according to the doctor's advice, such as keeping an empty stomach, taking a certain amount of defoaming agent to reduce gastric mucus and bubbles, and drinking enough water to fill the gastric cavity and reduce wrinkles. Activate the capsule endoscope 1000 to enter the working mode, and take it with water to allow the capsule endoscope 1000 to enter the external environment 200 of the stomach. The capsule endoscope 1000 can drive the liquid 210 in the external environment 200 to flow in the external environment 200, thereby adjusting its position and posture, and taking images of the external environment 200.

[0066] The capsule endoscope 1000 is swallowed by a patient and enters the digestive tract. It can adjust its posture and position in real time in the digestive tract according to the user instructions output by the client 110 or according to the control of the software program stored in the capsule endoscope 1000, capture the image of the inner wall of the digestive tract and form image data. In some embodiments, the client 110 is used to receive and display the image captured by the capsule endoscope 1000. For example, the capsule endoscope 1000 can transmit the collected image data to the client 110 and / or other devices by wireless communication, so as to facilitate doctors to diagnose digestive tract diseases based on the collected image data.

[0067] The client 110 may be any device capable of human-computer interaction, such as a smart phone, a tablet device, a laptop computer, a desktop computer, etc. The client 110 is not necessarily limited to a single human-computer interaction device, but may also be any device or circuit capable of human-computer interaction alone or in combination.

[0068] See also Figures 2 to 8 The capsule endoscope 1000 provided in the present application comprises a head end 1001 and a tail end 1002 arranged opposite to each other. The capsule endoscope 1000 is provided with a lens 1920 at the head end 1001. The capsule endoscope 1000 comprises a battery 1910, a front electric drive assembly 1200 and a rear electric drive assembly 1300 spaced apart from each other. The front electric drive assembly 1200 is arranged adjacent to the head end 1001 relative to the rear electric drive assembly 1300. The front electric drive assembly 1200 and the rear electric drive assembly 1300 each comprise two The capsule endoscope 1000 is provided with a corresponding duct corresponding to each electric drive unit, and each duct includes an opening located at the top 1004 of the capsule endoscope 1000 and an opening located at the bottom 1005 of the capsule endoscope 1000. Each electric drive unit is used to utilize the electric energy provided by the battery 1910 to drive the liquid 210 in the external environment 200 to flow through the corresponding duct to generate a corresponding reverse thrust and thereby adjust the posture and position of the capsule endoscope 1000.

[0069] The front electric drive assembly 1200 includes a first electric drive unit 1210 and a second electric drive unit 1250, and the rear electric drive assembly 1300 includes a third electric drive unit 1310 and a fourth electric drive unit 1350 spaced apart from each other. The ducts corresponding to the first electric drive unit 1210, the second electric drive unit 1250, the third electric drive unit 1310 and the fourth electric drive unit 1350 are respectively the first duct 1140, the second duct 1150, the third duct 1170 and the fourth duct 1180. The four ducts are located at the four openings at the top 1004 of the capsule endoscope 1000 and are arranged in a rectangular shape, and the four ducts are located at the four openings at the bottom 1005 of the capsule endoscope 1000 and are arranged in a rectangular shape.

[0070] The capsule endoscope 1000 provided in the present application includes a front electric drive assembly 1200 and a rear electric drive assembly 1300. The front electric drive assembly 1200 and the rear electric drive assembly 1300 each include two electric drive units, each of which is used to use the electric energy provided by the battery 1910 to drive the liquid 210 in the external environment 200 to flow through the corresponding duct. In the process of the liquid 210 flowing through the corresponding duct, a reverse thrust opposite to the direction of the liquid flowing through the duct is generated, thereby pushing the capsule endoscope 1000 to adjust its position and posture in the external environment 200. Therefore, medical institutions do not need to be equipped with bulky and expensive magnetic control equipment to complete endoscopic examinations, which is conducive to reducing the burden on medical institutions.

[0071] In addition, the capsule endoscope 1000 is provided with four ducts corresponding to the four electric drive units, and each duct includes openings arranged at the top and the bottom of the capsule endoscope 1000, that is, each duct extends between the top 1004 and the bottom 1005 of the capsule endoscope 1000. The four electric drive units are used to provide a larger upward or downward reverse thrust to balance the gravity of the capsule endoscope 1000, thereby solving the problem of uncontrollable movement caused by the gravity exceeding the sum of the buoyancy and the thrust of the electric drive unit during the miniaturization process of the capsule endoscope 1000.

[0072] Furthermore, in the capsule endoscope 1000, since the four openings of the four ducts are arranged in a rectangular shape at the top 1004 of the capsule endoscope 1000, and the four openings of the four ducts are arranged in a rectangular shape at the bottom 1005 of the capsule endoscope 1000, that is, at the top 1004 of the capsule endoscope 1000, the opening 1142 of the first duct 1140 and the opening 1152 of the second duct 1150 are arranged at the same position on the axial direction X of the capsule endoscope, the opening 1172 of the third duct 1170 and the opening 1182 of the fourth duct 1180 are arranged at the same position on the axial direction X of the capsule endoscope 1000, and at the bottom 1005 of the capsule endoscope 1000, the opening 1142 of the first duct 1140 and the opening 1152 of the second duct 1150 are arranged at the same position on the axial direction X of the capsule endoscope. At the same position on the axis X, the opening 1172 of the third duct 1170 and the opening 1182 of the fourth duct 1180 are arranged at the same position on the axis X of the capsule endoscope 1000, which not only makes the front electric drive assembly 1200, the rear electric drive assembly 1300 and the capsule endoscope 1000 more compact in the axis X, effectively reduces the dimensions of the front electric drive assembly 1200, the rear electric drive assembly 1300 and the capsule endoscope 1000 in the axis X, the reverse thrust generated in the four ducts can also realize the controllability of the pitch angle, yaw angle and roll angle of the capsule endoscope 1000, and on the basis of realizing the movement ability of the capsule endoscope 1000 to move forward, backward, left and right, and rotate left and right, it is conducive to alleviating or even avoiding the uncontrollable shaking of the capsule endoscope 1000 in the pitch or roll direction. Among them, the direction of the line connecting the geometric center of the head end 1001 and the geometric center of the tail end 1002 of the capsule endoscope 1000 is the axial direction X of the capsule endoscope 1000.

[0073] Each electric drive unit is used to use the electric energy provided by the battery 1910 to drive the liquid 210 in the external environment 200 to flow through the corresponding duct, thereby generating a reverse thrust opposite to the flow direction of the liquid 210 in the corresponding duct. The electric drive units in the front electric drive assembly 1200 and the rear electric drive assembly 1300 specifically include a first electric drive unit 1210, a second electric drive unit 1250, a third electric drive unit 1310, and a fourth electric drive unit 1350. In other embodiments, the front electric drive assembly 1200 may include other electric drive units in addition to the first electric drive unit 1210 and the second electric drive unit 1250, the rear electric drive assembly 1300 may include other electric drive units in addition to the third electric drive unit 1310 and the fourth electric drive unit 1350, and the capsule endoscope 1000 may include other electric drive components in addition to the front electric drive assembly 1200 and the rear electric drive assembly 1300, which are not limited here.

[0074] like Figure 7As shown, in the embodiment of the present application, the electric drive unit is implemented as a structure of a motor driving a propeller. Specifically, the first electric drive unit 1210 includes a first motor 1212 and a first propeller 1214, the first propeller 1214 is fixed to the output shaft of the first motor 1212, and the first motor 1212 is used to drive the first propeller 1214 to rotate using the electric energy provided by the battery 1910. Similarly, the second electric drive unit 1250 includes a second motor 1252 and a second propeller 1254, the second propeller 1254 is fixed to the output shaft of the second motor 1252, and the second motor 1252 is used to drive the second propeller 1254 to rotate using the electric energy provided by the battery 1910. The third electric drive unit 1310 includes a third motor 1312 and a third propeller 1314, the third propeller 1314 is fixed to the output shaft of the third motor 1312, and the third motor 1312 is used to drive the third propeller 1314 to rotate using the electric energy provided by the battery 1910. The fourth electric drive unit 1350 includes a fourth motor 1352 and a fourth propeller 1354 . The fourth propeller 1354 is fixed to the output shaft of the fourth motor 1352 . The fourth motor 1352 is used to drive the fourth propeller 1354 to rotate using the electric energy provided by the battery 1910 .

[0075] Furthermore, the blades of adjacent propellers have the same shape but opposite rotation directions. For example, the blades of the third propeller 1314 and the fourth propeller 1354 have the same shape but opposite rotation directions, the blades of the third propeller 1314 and the first propeller 1214 have the same shape but opposite rotation directions, and the blades of the third propeller 1314 and the second propeller 1254 have the same shape and the same rotation direction, so as to balance the counter-torque generated by the adjacent propellers when the capsule endoscope 1000 is suspended in the liquid 210, reduce the uncontrolled rotation phenomenon, and enhance stability.

[0076] In other implementations, each electric drive unit may adopt other drive structures for converting electrical energy into mechanical energy, which is not limited here.

[0077] like Figures 3 to 6 As shown, the ducts provided in the capsule endoscope 1000 corresponding to each electric drive unit are pipes, the first duct 1140 forms two openings 1142 exposed on the surface of the capsule endoscope 1000, the second duct 1150 forms two openings 1152 exposed on the surface of the capsule endoscope 1000, the third duct 1170 forms two openings 1172 exposed on the surface of the capsule endoscope 1000, and the fourth duct 1180 forms two openings 1182 exposed on the surface of the capsule endoscope 1000. At least one propeller in each electric drive unit is accommodated in the corresponding duct to drive the liquid 210 to flow in the corresponding duct to generate reverse thrust.

[0078] The third duct 1170 and the fourth duct 1180 are symmetrically arranged with respect to the reference longitudinal section 1008, that is, the opening 1172 of the third duct 1170 and the opening 1182 of the fourth duct 1180 are symmetrical with respect to the reference longitudinal section 1008, and the pipe portion between the two openings 1172 of the third duct 1170 and the pipe portion between the two openings 1182 of the fourth duct 1180 are also symmetrical with respect to the reference longitudinal section 1008. Therefore, the directions of the reverse thrusts generated by the third duct 1170 and the fourth duct 1180 are symmetrical with respect to the reference longitudinal section 1008, so as to form symmetrical reverse thrusts on both sides of the reference longitudinal section 1008, which is beneficial to the posture control of the capsule endoscope 1000.

[0079] Since the capsule endoscope 1000 is provided with a plurality of electric drive units and a battery 1910 , the weight of the capsule endoscope 1000 is relatively large, and the average density of the capsule endoscope 1000 is greater than or similar to that of water.

[0080] In this embodiment, the average density of the capsule endoscope 1000 is greater than that of water, the openings of the multiple ducts located at the top 1004 of the capsule endoscope 1000 are the entrances of the corresponding ducts, and the openings of the multiple ducts located at the bottom 1005 of the capsule endoscope 1000 are the exits of the corresponding ducts, and each electric drive unit is used to drive the liquid 210 in the external environment 200 to flow through the corresponding duct along the direction from the entrance of the corresponding duct to the exit of the corresponding duct.

[0081] like Figure 3 and Figure 4As shown, the first duct 1140 has an opening 1142 located at the top 1004 of the capsule endoscope 1000 as its inlet 1143, and an opening 1142 located at the bottom 1005 of the capsule endoscope 1000 as its outlet 1144. The first electric drive unit 1210 is used to drive the liquid 210 in the external environment 200 to flow through the first duct 1140 along the direction from the inlet 1143 to the outlet 1144. Similarly, the second duct 1150 has an opening 1152 located at the top 1004 of the capsule endoscope 1000 as its inlet 1153, and an opening 1152 located at the bottom 1005 of the capsule endoscope 1000 as its outlet 1154. The second electric drive unit 1250 is used to drive the liquid 210 in the external environment 200 to flow through the second duct 1150 along the direction from the inlet 1153 to the outlet 1154. The third duct 1170 has an opening 1172 at the top 1004 of the capsule endoscope 1000 as its inlet 1173, and an opening 1172 at the bottom 1005 of the capsule endoscope 1000 as its outlet 1174. The third electric drive unit 1310 is used to drive the liquid 210 in the external environment 200 to flow through the third duct 1170 along the direction from the inlet 1173 to the outlet 1174. The fourth duct 1180 has an opening 1182 at the top 1004 of the capsule endoscope 1000 as its inlet 1183, and an opening 1182 at the bottom 1005 of the capsule endoscope 1000 as its outlet 1184. The fourth electric drive unit 1350 is used to drive the liquid 210 in the external environment 200 to flow through the fourth duct 1180 along the direction from the inlet 1183 to the outlet 1184. The inlet 1173 and the inlet 1183 have the same shape and size, and the outlet 1174 and the outlet 1184 have the same shape and size.

[0082] like Figure 3 and Figure 4 As shown, the distance between the inlet 1173 of the third duct 1170 and the inlet 1183 of the fourth duct 1180 is a first distance L1, and the distance between the outlet 1174 of the third duct 1170 and the outlet 1184 of the fourth duct 1180 is a second distance L2, and the second distance L2 is greater than the first distance L1. The first distance L1 between the inlet 1173 and the inlet 1183 is the shortest distance between the inlet 1173 and the inlet 1183. The second distance L2 between the outlet 1174 and the outlet 1184 is the shortest distance between the outlet 1174 and the outlet 1184. Since the second distance L2 is greater than the first distance L1, the reverse thrust generated by the third duct 1170 and the fourth duct 1180 can provide torque, so that the third duct 1170 and the fourth duct 1180 have better control capabilities of the roll angle and the yaw angle.

[0083] In each duct corresponding to the electric drive unit in the rear electric drive assembly 1300, the inlet area is larger than the outlet area. That is, the inlet 1173 area of ​​the third duct 1170 is larger than the outlet 1174 area, and the inlet 1183 area of ​​the fourth duct 1180 is larger than the outlet 1184 area. Reducing the outlet area can increase the pressure inside the duct, thereby generating greater thrust at the outlet, and is conducive to reducing the power required by the electric drive unit, improving the energy conversion efficiency and the endurance of the battery 1910.

[0084] In each duct (third duct 1170 and fourth duct 1180) corresponding to the plurality of electric drive units in the rear electric drive assembly 1300, the size of the inlet is M1 and the size of the outlet is M2 in the direction parallel to the axial direction X. In the circumferential direction R of the capsule endoscope 1000, the size of the inlet is M3 and the size of the outlet is M4, where M2 = (1 ± 0.2) * M1, M4 < 0.8 * M3.

[0085] Specifically, in the direction parallel to the axial direction X, the size of the inlet 1173 of the third duct 1170 is M1, and the size of the outlet 1174 is M2, satisfying M2=(1±0.2)*M1, that is, the size of the outlet 1174 is equivalent to that of the inlet 1173, and the difference is not large. In the circumferential direction R of the capsule endoscope 1000, the size of the inlet 1173 of the third duct 1170 is M3, and the size of the outlet 1174 is M4, wherein M4<0.8*M3, and the size of the outlet 1174 is significantly smaller than that of the inlet 1173. Similarly, in the axial direction X and the circumferential direction R of the fourth duct 1180, the inlet 1183 and the outlet 1184 have the same size definition.

[0086] In the circumferential direction R, the size M4 of the outlet 1174 and the outlet 1184 is significantly smaller than the size M3 of the inlet 1173 and the inlet 1183, which facilitates the outlet 1174 and the outlet 1184 to achieve a larger spacing in the circumferential direction R, thereby providing torque, so that the third duct 1170 and the fourth duct 1180 have better control capabilities of the roll angle and yaw angle.

[0087] Preferably, in each duct corresponding to the electric drive unit in the rear electric drive assembly 1300, the inlet is circular, and the outlet extends in a long and narrow shape between the head end 1001 and the tail end 1002. Specifically, in the third duct 1170, the inlet 1173 is a circular hole slightly larger than the diameter of the third propeller 1314, and the outlet 1174 is long and narrow, with a major axis and a minor axis, and its major axis extends between the head end 1001 and the tail end 1002, and the inner wall of the third duct 1170 has a smooth transition. Similarly, in the fourth duct 1180, the inlet 1183 is a circular hole slightly larger than the diameter of the fourth propeller 1354, and the outlet 1184 is long and narrow, with a major axis and a minor axis, and its major axis extends between the head end 1001 and the tail end 1002, and the inner wall of the fourth duct 1180 has a smooth transition. In the embodiment of the present application, the outlet 1174 and the outlet 1184 are both capsule-shaped (or racetrack-shaped), with their long axis direction facing the head end 1001 and the tail end 1002, and preferably, their long axis direction is parallel to the axial direction X. The narrow and long outlet 1174 and the outlet 1184 design can reduce the turbulence and eddy current of the liquid 210, reduce energy loss, and improve propulsion efficiency.

[0088] In this embodiment, 0.8mm≤M4≤2mm, which is convenient for providing better reverse thrust.

[0089] In this embodiment, the second spacing L2 is greater than the first spacing L1, the area and shape of the outlet 1174 are different from the inlet 1173, the area and shape of the outlet 1184 are different from the inlet 1183, and the third duct 1170 and the fourth duct 1180 are both in a curved tube shape. In other embodiments, the second spacing L2 may be equal to the first spacing L1, the area and shape of the outlet 1174 may be the same as the inlet 1173, the area and shape of the outlet 1184 may be the same as the inlet 1183, and the third duct 1170 and the fourth duct 1180 may be in a straight tube shape.

[0090] like Figure 2 , Figure 5 and Figure 7 As shown, the capsule endoscope 1000 includes a shell 1100 , and a battery 1910 , a lens 1920 , a front electric drive assembly 1200 , a rear electric drive assembly 1300 and other components of the capsule endoscope 1000 are all arranged in an accommodating space H surrounded by the shell 1100 .

[0091] The housing 1100 is capsule-shaped and has smooth two ends. From the head end 1001 to the tail end 1002, the housing 1100 includes a transparent cover 1120, a front shell 1130, a rear shell 1160 and an end cover 1190 connected in sequence. The transparent cover 1120, the front shell 1130, the rear shell 1160 and the end cover 1190 are assembled in sequence to enclose the accommodation space H. The transparent cover 1120 is provided at the head end 1001 and is at least partially transparent so that the lens 1920 can collect image information of the external environment 200.

[0092] like Figure 6 and Figure 7 As shown, the rear shell 1160 includes an outer shell 1162, a third duct 1170 and a fourth duct 1180. The outer shell 1162 is in a circular shape and exposed on the surface of the capsule endoscope 1000. The third duct 1170 and the fourth duct 1180 are arranged inside the outer shell 1162. The inlet 1173, inlet 1183, outlet 1174 and outlet 1184 of the third duct 1170 and the fourth duct 1180 are exposed on the surface of the outer shell 1162.

[0093] The rear shell 1160 is provided with two independent third ducts 1170 and fourth ducts 1180 on the left and right. The third motor 1312 and the fourth motor 1352 can respectively drive the third propeller 1314 and the fourth propeller 1354 to rotate, so that two water columns on the left and right can be formed in the liquid 210, and their reverse thrust can be used to balance the gravity of the capsule endoscope 1000 and control the roll angle and yaw angle of the capsule endoscope 1000. In each electric drive unit, the propeller is arranged relative to the motor near the top 1004, so as to generate a reverse thrust to pull the capsule endoscope 1000 for posture adjustment, so as to ensure the stability of the capsule endoscope 1000 during movement. Specifically, the third propeller 1314 is arranged relative to the third motor 1312 near the top 1004, and the fourth propeller 1354 is arranged relative to the fourth motor 1352 near the top 1004.

[0094] like Figure 6 As shown, the third duct 1170 and the fourth duct 1180 both include an inlet section and an outlet section connected to each other, one end of the inlet section corresponds to the inlet of the duct, and one end of the outlet section forms the outlet of the corresponding duct, the second propeller and the third propeller are arranged at the inlet section, and fixing holes are formed between the inlet section and the outlet section of the third duct 1170 and the fourth duct 1180, respectively, and the third motor 1312 and the fourth motor 1352 are fixed and blocked in the corresponding fixing holes, and the openings of the two fixing holes away from the corresponding outlet section are close to each other. The two fixing holes extend from the corresponding outlet section to the bottom 1005 of the capsule endoscope 1000, that is, the opening of each fixing hole away from the corresponding outlet section is arranged adjacent to the bottom 1005. The opening of each fixing hole away from the corresponding outlet section is arranged adjacent to the bottom 1005 relative to the opening connected to the corresponding outlet section.

[0095] The third duct 1170 includes an inlet section 1175 and an outlet section 1176 which are connected to each other. One end of the inlet section 1175 forms an inlet 1173 of the third duct 1170, and one end of the outlet section 1176 forms an outlet 1174 of the third duct 1170. The third propeller 1314 is arranged in the inlet section 1175. The third duct 1170 has a fixing hole 1177 formed between the inlet section 1175 and the outlet section 1176. The third motor 1312 of the third electric drive unit 1310 is fixed and sealed in the fixing hole 1177.

[0096] The fourth duct 1180 includes an inlet section 1185 and an outlet section 1186 which are connected to each other. The inlet section 1185 forms an inlet 1183 of the fourth duct 1180, and the outlet section 1186 forms an outlet 1184 of the fourth duct 1180. The fourth propeller 1354 is arranged at the inlet section 1185. The fourth duct 1180 has a fixing hole 1187 formed between the inlet section 1185 and the outlet section 1186. The fourth motor 1352 of the fourth electric drive unit 1350 is fixed and enclosed in the fixing hole 1187.

[0097] The fixing hole 1177 is far from the opening of the outlet section 1176, and the fixing hole 1187 is far from the opening of the outlet section 1186, and they are close to each other. Since the length of the third motor 1312 and the fourth motor 1352 is longer than the radial dimension of the capsule endoscope 1000, the third motor 1312 and the fourth motor 1352 are respectively fixed to the fixing hole 1177 and the fixing hole 1187, and are arranged in an inverted eight-shaped tilt, thereby preventing the ends of the third motor 1312 and the fourth motor 1352 from protruding from the surface of the housing 1100, facilitating electrical connection to the circuit board 1700, realizing the transmission of electrical signals, and ensuring that a certain spacing distance can be maintained between the outlet 1174 and the outlet 1184 in the narrow design space of the capsule endoscope 1000, which is conducive to flexible steering and posture adjustment.

[0098] In this embodiment, the angle between the extension directions of the two fixing holes is 8° to 16°, or the angle between the extension directions of the third motor 1312 and the fourth motor 1352 is 8° to 16°, which helps to maintain stable and efficient propulsion under different water flow conditions and perform steering and posture adjustments more flexibly.

[0099] like Figure 5As shown, the plane perpendicular to the axial direction X in the capsule endoscope 1000 is the cross section of the capsule endoscope 1000. The capsule endoscope 1000 has multiple cross sections, including a reference cross section 1009. The front electric drive assembly 1200 and the rear electric drive assembly 1300 are symmetrically arranged with respect to the reference cross section 1009, and the duct corresponding to the front electric drive assembly 1200 and the duct corresponding to the rear electric drive assembly 1300 are symmetrically arranged with respect to the reference cross section 1009. That is, the first duct 1140 and the second duct 1150 are arranged on the side of the reference cross-section 1009 facing the head end 1001, and the third duct 1170 and the fourth duct 1180 are arranged on the side of the reference cross-section 1009 facing the tail end 1002. The first duct 1140, the second duct 1150 and the third duct 1170, the fourth duct 1180 are symmetrically arranged with respect to the reference cross-section 1009, that is, the shape and size of the first duct 1140 and the second duct 1150 are consistent with the third duct 1170, the fourth duct 1180, which is conducive to generating reverse thrusts of symmetrical direction and consistent size in the four ducts, thereby facilitating motion posture control.

[0100] Specifically, the first electric drive unit 1210 and the third electric drive unit 1310 are located on the first side ( Figure 2 The first duct 1140 and the third duct 1170 are located on the first side of the capsule endoscope 1000. The second electric drive unit 1250 and the fourth electric drive unit 1350 are located on the second side of the capsule endoscope 1000 ( Figure 2 The first duct 1140 and the third duct 1170 are symmetrically arranged with respect to the reference cross section 1009, and the second duct 1150 and the fourth duct 1180 are symmetrically arranged with respect to the reference cross section 1009. That is, the first duct 1140 and the third duct 1170 have the same shape and size, and the second duct 1150 and the fourth duct 1180 have the same shape and size.

[0101] Since the third duct 1170 and the fourth duct 1180 are symmetrical with respect to the reference longitudinal section 1008 , the first duct 1140 and the second duct 1150 are also symmetrical with respect to the reference longitudinal section 1008 .

[0102] It is understandable that in some other embodiments, the third duct 1170 and the fourth duct 1180 are not symmetrical about any longitudinal section, and / or the first duct 1140 and the second duct 1150 are not symmetrical about any longitudinal section, and / or the duct corresponding to the front electric drive component 1200 and the duct corresponding to the rear electric drive component 1300 are not symmetrically arranged about any cross section.

[0103] like Figure 2 , Figure 5 , Figure 7 and Figure 8 As shown, the capsule endoscope 1000 includes a sensor, a motor drive, a circuit board 1700, an antenna 1800 and a control unit arranged in the accommodating space H, wherein the circuit board 1700 is used to carry components such as a lens 1920, a sensor, a motor drive, a control unit, etc. The circuit board 1700 is electrically connected to a battery 1910, an antenna 1800 and each electric drive unit to ensure power and signal transmission.

[0104] Specifically, the circuit board 1700 includes a first circuit board 1710 and a second circuit board 1720. A lens 1920 is provided on a surface of the first circuit board 1710 facing the head end 1001. Preferably, the extension direction of the first circuit board 1710 is perpendicular to the axial direction X. One end of the second circuit board 1720 is electrically connected to the first circuit board 1710, and the other end of the second circuit board 1720 extends toward the tail end 1002. The second circuit board 1720 is sandwiched in the gap between the front electric drive assembly 1200 and the housing 1100, so that the internal components of the capsule endoscope 1000 are more compactly arranged in the axial direction X, the utilization rate of the accommodation space H is improved, the space pressure of the capsule endoscope 1000 is effectively reduced, and it is conducive to the miniaturization design of the capsule endoscope 1000.

[0105] In this embodiment, the extension direction of the second circuit board 1720 is perpendicular to the horizontal plane 1007 and the first circuit board 1710 .

[0106] like Figure 5 and Figure 7 As shown, the circuit board 1700 further includes a third circuit board 1730, one end of the third circuit board 1730 is electrically connected to the first circuit board 1710, the other end of the third circuit board 1730 extends toward the tail end 1002, the third circuit board 1730 is sandwiched in the gap between the front electric drive assembly 1200 and the housing 1100, and the third circuit board 1730 and the second circuit board 1720 are respectively arranged on both sides of the front electric drive assembly 1200, further improving the utilization rate of the accommodating space H, effectively reducing the space pressure of the capsule endoscope 1000, and facilitating the miniaturization design of the capsule endoscope 1000. Preferably, the extension direction of the third circuit board 1730 is parallel to that of the second circuit board 1720.

[0107] Please combine Figure 7 See also Figure 8The substrate of the first circuit board 1710 is made of a rigid-flexible board or an FPC (flexible printed circuit board) plus a local reinforcement board, and a plurality of lighting units 1930 are arranged on its surface around the lens 1920. The lighting units 1930 may be LEDs. The lens 1920 is arranged along the axial direction X, and its light-entering surface faces the transparent cover 1120 toward the outside. There are usually a plurality of lighting units 1930, and the surface of the first circuit board 1710 is arranged around the axial direction X.

[0108] The capsule endoscope 1000 includes a light-shielding tube 1500 , which is cylindrical in shape and has one end opening extending between the lens 1920 and the lighting unit 1930 , and the other end opening extending to the inner wall of the transparent cover 1120 located at the head end 1001 to block light radially outside the light-shielding tube 1500 from being incident on the lens 1920 .

[0109] Specifically, the light-shielding tube 1500 is disposed between the transparent cover 1120 and the lens 1920. One side opening of the light-shielding tube 1500 is fixed to the side wall of the lens 1920, and can also be fixed to the position between the lens 1920 and the lighting unit 1930 on the first circuit board 1710. The other end of the light-shielding tube 1500 extends to the inner wall of the transparent cover 1120 located at the head end 1001, and the light-shielding tube 1500 can contact the inner wall of the transparent cover 1120, or not contact the inner wall of the transparent cover 1120, and one end of the light-shielding tube 1500 and one end of the inner wall of the transparent cover 1120 can maintain a gap.

[0110] The light shielding tube 1500 is made of opaque or light filtering material, and the radial inner side of the light shielding tube 1500 forms a camera channel around the lens 1920, and only the light incident from the head end 1001 into the light shielding tube 1500 can be incident on the lens 1920. The radial outer channel of the light shielding tube 1500 is the lighting channel, and the lighting light emitted by the lighting unit 1930 is emitted through the lighting channel. The light shielding tube 1500 divides the transparent cover 1120 into two independent optical channels for the lens 1920 to shoot and the lighting unit 1930 to illuminate, effectively preventing the light projected by the lighting unit 1930 from being reflected by the transparent cover 1120 and incident on the lens 1920, thereby affecting the camera quality.

[0111] In this embodiment, the light shielding tube 1500 is in the shape of a trumpet tube. In other embodiments, the light shielding tube 1500 is in the shape of a cylindrical tube.

[0112] like Figure 7 and Figure 8 As shown, on the axial direction X of the capsule endoscope 1000, the battery 1910 is arranged between the front electric drive component 1200 and the rear electric drive component 1300, so that the center of gravity of the capsule endoscope 1000 is concentrated on the battery 1910 between the front electric drive component 1200 and the rear electric drive component 1300, which facilitates flexible posture adjustment.

[0113] The positive and negative poles of the battery 1910 are connected to the positive and negative welding points of the power supply on the circuit board 1700 respectively.

[0114] The antenna 1800 surrounds the battery 1910 and is disposed in the gap between the battery 1910 and the housing 1100. In other embodiments, the antenna 1800 may be disposed between the rear electric drive assembly 1300 and the tail end 1002.

[0115] In this embodiment, the antenna 1800 is made of a long strip FPC, which can be rolled up, has adhesive backing at one end, and is bonded at both ends to form a cylindrical shape. The antenna 1800 and the circuit board 1700 can be connected via the FPC or a lead wire.

[0116] The control unit is disposed on the surface of the circuit board 1700 . The control unit may be a micro control unit (MCU), an application specific integrated circuit (ASIC), a system-on-chip (SoC), etc. disposed on the surface of the circuit board 1700 .

[0117] The control unit controls the flow rate of each electric drive unit to discharge the liquid 210 in the external environment 200 from the corresponding duct by outputting a voltage, so that each electric drive unit generates a corresponding reverse thrust.

[0118] like Figures 9 to 11 As shown, the first electric drive unit 1210, the second electric drive unit 1250, the third electric drive unit 1310, and the fourth electric drive unit 1350 respectively discharge the liquid 210 downward through their propellers to provide reverse thrusts F1, F2, F3, and F4, respectively. The closed volume formed by the capsule endoscope 1000 generates a buoyancy F in the liquid 210. b In the stable suspension state, the reverse thrust F1, reverse thrust F2, reverse thrust F3, reverse thrust F4 and buoyancy F b The resultant force is equal to the gravity G acting on the capsule endoscope 1000.

[0119] The vector force arms from the points of action of the reverse thrust F1, reverse thrust F2, reverse thrust F3, and reverse thrust F4 to the center of gravity M of the capsule endoscope 1000 are force arm L1, force arm L2, force arm L3, and force arm L4, respectively.

[0120] Specifically, the resultant force of the reverse thrusts (reverse thrust F1 and reverse thrust F2) respectively generated by the first electric drive unit 1210 and the second electric drive unit 1250 is the front resultant force, and the resultant force of the reverse thrusts (reverse thrust F3 and reverse thrust F4) respectively generated by the third electric drive unit 1310 and the fourth electric drive unit 1350 is the rear resultant force. The component force of the front resultant force in the horizontal direction 231 in the external environment 200 is the front horizontal component force F y , the component of the rear side resultant force in the horizontal direction 231 in the external environment is the rear side horizontal component force F y'. Front horizontal force F y The rear horizontal force F y The vector force arms from the point of action to the center of gravity M are respectively a With the lever arm L b .

[0121] The resultant force of the reverse thrusts (reverse thrust F1 and reverse thrust F3) respectively generated by the first electric drive unit 1210 and the third electric drive unit 1310 is a first lateral resultant force, and the resultant force of the reverse thrusts (reverse thrust F2 and reverse thrust F4) respectively generated by the second electric drive unit 1250 and the fourth electric drive unit 1350 is a second lateral resultant force.

[0122] The control unit adjusts the pitch angle of the capsule endoscope 1000 by controlling the proportional relationship between the front side resultant force and the rear side resultant force.

[0123] The control unit controls the front horizontal force F y The rear horizontal force F y ' is different in size or direction, adjust the yaw angle of the capsule endoscope 1000.

[0124] The control unit controls the proportional relationship between the first lateral combined force and the second lateral combined force to move the capsule endoscope 1000 toward the first side or the second side.

[0125] The present application also provides a control method of the capsule endoscope 1000, which is used to control the capsule endoscope 1000. The control method includes:

[0126] The output voltage is used to control the flow rate of each electric drive unit to discharge the liquid 210 in the external environment 200 from the corresponding duct, so that each electric drive unit generates a corresponding reverse thrust.

[0127] Specifically, the control method includes:

[0128] By controlling the ratio of the front force to the rear force, the pitch angle of the capsule endoscope 1000 is adjusted. When the ratio of the front force to the rear force changes, the head end 1001 can move toward the top or bottom side of the external environment 200 relative to the tail end 1002, thereby adjusting the pitch angle of the capsule endoscope 1000.

[0129] like Fig. 9 and Fig.11 As shown, when adjusting the yaw angle of the capsule endoscope 1000, that is, controlling the capsule endoscope 1000 to turn left and right in the horizontal direction 231 in the external environment 200, the magnitude ratio relationship between the reverse thrust F1 and the reverse thrust F2 is changed, for example Fig. 9When the reverse thrust F1 is increased and the reverse thrust F2 is reduced, the reverse thrust F1 and the reverse thrust F2 generate a horizontal component force toward the first side (to the left) in the horizontal direction 231 in the external environment 200, which is the front horizontal component force F y .

[0130] like Fig.10 and Fig.11 As shown, when the yaw angle of the capsule endoscope 1000 is adjusted, the magnitude ratio of the reverse thrust F3 to the reverse thrust F4 is changed, for example Fig.10 When the reverse thrust F4 is increased and the reverse thrust F3 is reduced, the reverse thrust F3 and the reverse thrust F4 generate a component force toward the second side (toward the right) in the horizontal direction 231 in the external environment 200, which is the rear horizontal component force F y '.

[0131] By controlling the front horizontal force F y The rear horizontal force F y ' is different in size or direction, adjust the yaw angle of the capsule endoscope 1000.

[0132] like Fig.11 As shown, the front horizontal force F y The rear horizontal force F y ', the capsule endoscope 1000 can rotate in the horizontal direction 231 in the external environment 200, thereby adjusting the yaw angle of the capsule endoscope 1000. At this time, the steering torque of the capsule endoscope 1000 is F y L a +F y ′ L b .

[0133] In some embodiments, the front horizontal force component F y The rear horizontal force F y ' respectively toward both sides of the capsule endoscope 1000, the front horizontal component F y The rear horizontal force F y 'The directions are parallel but the sizes are unequal, and the yaw angle of the capsule endoscope 1000 can also be adjusted.

[0134] In the process of adjusting the yaw angle, if the resultant force of the front side force in the vertical direction in the external environment 200 is kept unchanged, and the resultant force of the rear side force in the vertical direction in the external environment 200 is kept unchanged, the yaw angle can be adjusted while keeping the pitch angle of the capsule endoscope 1000 unchanged.

[0135] By controlling the ratio of the first lateral force to the second lateral force, the capsule endoscope 1000 moves toward the first side or the second side. For example, if the first lateral force is controlled to be greater than the second lateral force, the capsule endoscope 1000 can translate toward the first side or the second side.

[0136] In some embodiments, the front horizontal force component F y The rear horizontal force F y ' are all toward the same side of the capsule endoscope 1000, the front horizontal component F y The rear horizontal force F y 'If the directions are parallel but the sizes are not equal, the capsule endoscope 1000 can make a compound movement of adjusting the yaw angle while translating toward the first side or the second side, so as to perform fixed-point horizontal multi-angle observation of the part of interest or suspected lesion.

[0137] Inspection process:

[0138] Before capsule gastroscopy, the examinee needs to prepare the stomach according to the doctor's advice, such as keeping an empty stomach, taking a certain amount of defoaming agent to reduce gastric mucus and bubbles, and drinking enough water to fill the stomach cavity and reduce wrinkles. The self-driven capsule endoscope 1000 is activated to enter the working mode and taken with water to allow the capsule endoscope 1000 to enter the gastric cavity.

[0139] The examinee first adopts a standing position, and the medical staff controls the self-driven capsule endoscope 1000 to perform a spiral upward scanning movement, which can complete the image capture and observation of most of the gastric cavity inner wall including the gastric body, lesser curvature of the stomach, greater curvature of the stomach, etc. The examinee then switches to a supine position, and the medical staff can control the capsule endoscope 1000 to make additional observations near the missed parts such as the cardia, fundus, and pylorus, thereby forming complete gastric cavity inner wall image data. For local areas of interest or suspected lesions, medical staff can control the capsule endoscope 1000 to move near the target for further detailed observation.

[0140] Therefore, the examinee only needs to switch between standing and lying positions to complete the gastroscopy examination. The examinee can also choose to adopt the lying or side-lying positions. The process is similar to the above and will not be repeated.

[0141] After the gastroscopy is completed, the capsule endoscope 1000 enters the intestine through the pylorus. Depending on the functional design of the capsule endoscope system 100 and the remaining power, the capsule endoscope 1000 may further perform an intestinal examination and finally be discharged from the body through the anus.

[0142] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention. These simple modifications all belong to the protection scope of the embodiments of the present invention.

[0143] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0144] In addition, various different embodiments of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A capsule endoscope, characterized in that: The capsule endoscope comprises a head end and a tail end which are arranged opposite to each other, wherein the head end is provided with a lens, the capsule endoscope comprises a battery, a front electric drive assembly and a rear electric drive assembly which are spaced apart from each other, the front electric drive assembly is arranged adjacent to the head end relative to the rear electric drive assembly, the front electric drive assembly and the rear electric drive assembly each comprise two electric drive units, the capsule endoscope is provided with a corresponding duct corresponding to each of the electric drive units, each duct comprises an opening at the top of the capsule endoscope and an opening at the bottom of the capsule endoscope, and each of the electric drive units is used to utilize the electric energy provided by the battery to drive the liquid in the external environment to flow through the corresponding duct to generate a corresponding reverse thrust and thus adjust the posture and position of the capsule endoscope; The front electric drive assembly includes a first electric drive unit and a second electric drive unit spaced apart from each other, and the rear electric drive assembly includes a third electric drive unit and a fourth electric drive unit spaced apart from each other, and the ducts corresponding to the first electric drive unit, the second electric drive unit, the third electric drive unit and the fourth electric drive unit are respectively the first duct, the second duct, the third duct and the fourth duct, and the four ducts are located at the four openings at the top of the capsule endoscope and arranged in a rectangular shape, and the four ducts are located at the four openings at the bottom of the capsule endoscope and arranged in a rectangular shape.

2. The capsule endoscope according to claim 1, characterized in that: The direction of the line connecting the geometric center of the head end and the geometric center of the tail end is the axial direction of the capsule endoscope, the capsule endoscope includes a plurality of longitudinal sections, the axial direction is located in the plurality of longitudinal sections, and the plurality of longitudinal sections include a reference longitudinal section; The third duct and the fourth duct are symmetrically arranged with respect to the reference longitudinal section.

3. The capsule endoscope according to claim 2, characterized in that: The average density of the capsule endoscope is greater than that of water, the openings of the plurality of ducts located at the top of the capsule endoscope are inlets of the corresponding ducts, and the openings of the plurality of ducts located at the bottom of the capsule endoscope are outlets of the corresponding ducts, Each of the electric drive units is used to drive the liquid in the external environment to flow through the corresponding duct along the direction from the inlet of the corresponding duct to the outlet of the corresponding duct.

4. The capsule endoscope according to claim 3, characterized in that: The distance between the inlet of the third duct and the inlet of the fourth duct is a first distance, The distance between the outlet of the third duct and the outlet of the fourth duct is a second distance, The second interval is greater than the first interval.

5. The capsule endoscope according to claim 4, characterized in that: In each duct corresponding to the electric drive unit in the rear electric drive assembly, the inlet area is larger than the outlet area.

6. The capsule endoscope according to claim 5, characterized in that: In each duct corresponding to the multiple electric drive units in the rear electric drive assembly, In the direction parallel to the axial direction, the size of the inlet is M1, and the size of the outlet is M2. In the circumferential direction of the capsule endoscope, the size of the inlet is M3, and the size of the outlet is M4. M2=(1±0.2)*M1, M4<0.8*M3.

7. The capsule endoscope according to claim 6, characterized in that: In each duct corresponding to the electric drive unit in the rear electric drive assembly, the inlet is circular and the outlet extends in a narrow and long shape between the head end and the tail end.

8. The capsule endoscope according to claim 7, characterized in that: 0.8mm≤M4≤2mm.

9. The capsule endoscope according to any one of claims 2 to 8, characterized in that: The plane perpendicular to the axial direction in the capsule endoscope is the cross-section of the capsule endoscope. The capsule endoscope has a plurality of cross-sections, including a reference cross-section. The front electric drive component and the rear electric drive component are symmetrically arranged with respect to the reference cross-section. The duct corresponding to the front electric drive component and the duct corresponding to the rear electric drive component are symmetrically arranged with respect to the reference cross-section.

10. The capsule endoscope according to any one of claims 3 to 8, characterized in that: Each of the electric drive units includes a motor and a propeller, wherein the propeller is fixed to the output shaft of the corresponding motor. The third duct and the fourth duct both include an inlet section and an outlet section that are connected to each other, the inlet section forming the inlet of the corresponding duct, the outlet section forming the outlet of the corresponding duct, the propeller being arranged at the inlet section, and fixing holes being formed between the inlet section and the outlet section of the third duct and the fourth duct, the motor of the third electric drive unit and the motor of the fourth electric drive unit being respectively fixed and sealed in the corresponding fixing holes, and the two fixing holes being away from the opening of the corresponding outlet section and close to each other.

11. The capsule endoscope according to claim 10, characterized in that: The included angle between the extending directions of the two fixing holes is 8° to 16°.

12. The capsule endoscope according to claim 11, characterized in that: The plane perpendicular to the axial direction in the capsule endoscope is the cross-section of the capsule endoscope. The capsule endoscope has a plurality of cross-sections, including a reference cross-section. The front electric drive component and the rear electric drive component are symmetrically arranged with respect to the reference cross-section. The duct corresponding to the front electric drive component and the duct corresponding to the rear electric drive component are symmetrically arranged with respect to the reference cross-section.

13. The capsule endoscope according to any one of claims 1 to 8, characterized in that: The capsule endoscope comprises a shell, the lens, the front electric drive assembly and the rear electric drive assembly are all arranged in an accommodation space surrounded by the shell, and the capsule endoscope comprises a first circuit board and a second circuit board arranged in the accommodation space, The lens is provided on a side surface of the first circuit board facing the head end, one end of the second circuit board is electrically connected to the first circuit board, the other end of the second circuit board extends toward the tail end, and the second circuit board is clamped in a gap between the front electric drive assembly and the shell.

14. The capsule endoscope according to any one of claims 2 to 8, characterized in that: In the axial direction of the capsule endoscope, the battery is arranged between the front electric drive assembly and the rear electric drive assembly.

15. The capsule endoscope according to claim 14, characterized in that: The capsule endoscope comprises a shell and an antenna, wherein the antenna, the lens, the front electric drive assembly and the rear electric drive assembly are all arranged in an accommodation space surrounded by the shell. The antenna is arranged around the battery in a gap between the battery and the shell, or the antenna is arranged between the rear electric drive assembly and the tail end.

16. The capsule endoscope according to any one of claims 1 to 8, characterized in that: The capsule endoscope includes a transparent cover, a first circuit board, and a plurality of lighting units arranged on the first circuit board. The transparent cover is at least partially transparent and is arranged at the head end. The plurality of lighting units are arranged around the lens. The capsule endoscope includes a light-shielding tube. The light-shielding tube is cylindrical, one end of which is opened to extend between the lens and the lighting units, and the other end of which is opened to extend to the inner wall of the transparent cover located at the head end, so as to block the light radially outside the light-shielding tube from being incident on the lens.

17. The capsule endoscope according to any one of claims 1 to 8, characterized in that: The capsule endoscope includes a control unit, which controls the flow rate of each electric drive unit to discharge the liquid in the external environment from the corresponding duct through an output voltage, so that each electric drive unit generates a corresponding reverse thrust.

18. The capsule endoscope according to claim 17, characterized in that: The first electric drive unit and the third electric drive unit are located on a first side of the capsule endoscope, the second electric drive unit and the fourth electric drive unit are located on a second side of the capsule endoscope, and the first side is opposite to the second side; The resultant force of the reverse thrusts respectively generated by the first electric drive unit and the second electric drive unit is the front resultant force, the resultant force of the reverse thrusts respectively generated by the third electric drive unit and the fourth electric drive unit is the rear resultant force, the component of the front resultant force in the horizontal direction of the external environment is the front horizontal component, and the component of the rear resultant force in the horizontal direction of the external environment is the rear horizontal component. The combined force of the reverse thrusts respectively generated by the first electric drive unit and the third electric drive unit is a first lateral combined force. The resultant force of the reverse thrusts respectively generated by the second electric drive unit and the fourth electric drive unit is a second lateral resultant force. The control unit adjusts the pitch angle of the capsule endoscope by controlling the proportional relationship between the front force and the rear force; the control unit adjusts the yaw angle of the capsule endoscope by controlling the front horizontal component force and the rear horizontal component force to have different magnitudes or different directions; The control unit controls the proportional relationship between the first lateral combined force and the second lateral combined force to move the capsule endoscope toward the first side or the second side.

19. A capsule endoscope system, characterized in that: It comprises a client and a capsule endoscope as described in any one of claims 1 to 18, wherein the client is used to receive and display images taken by the lens.

20. A method for controlling a capsule endoscope, characterized in that: Used to control the capsule endoscope according to any one of claims 1 to 18, the control method comprising: The output voltage is used to control the flow rate of each electric drive unit to discharge the liquid in the external environment from the corresponding duct, so that each electric drive unit generates a corresponding reverse thrust.

21. The control method according to claim 20, characterized in that: The first electric drive unit and the third electric drive unit are located on a first side of the capsule endoscope, the second electric drive unit and the fourth electric drive unit are located on a second side of the capsule endoscope, and the first side is opposite to the second side; The resultant force of the reverse thrusts respectively generated by the first electric drive unit and the second electric drive unit is the front resultant force, the resultant force of the reverse thrusts respectively generated by the third electric drive unit and the fourth electric drive unit is the rear resultant force, the component of the front resultant force in the horizontal direction of the external environment is the front horizontal component, and the component of the rear resultant force in the horizontal direction of the external environment is the rear horizontal component. The combined force of the reverse thrusts respectively generated by the first electric drive unit and the third electric drive unit is a first lateral combined force. The resultant force of the reverse thrusts respectively generated by the second electric drive unit and the fourth electric drive unit is a second lateral resultant force. The control method comprises: By controlling the magnitude ratio between the front side resultant force and the rear side resultant force, the pitch angle of the capsule endoscope is adjusted; Adjusting the yaw angle of the capsule endoscope by controlling the magnitude or direction of the front horizontal component force and the rear horizontal component force to be different; The capsule endoscope moves toward the first side or the second side by controlling the proportional relationship between the first lateral combined force and the second lateral combined force.

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