Capsule endoscope, system and control method of capsule endoscope thereof

Abstract

The application 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 which are spaced 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 respectively provided with corresponding ducts corresponding to each electric drive unit. Each duct comprises an opening at the top of the capsule endoscope and an opening at the bottom of the capsule endoscope. Each electric drive unit is used to drive the liquid in the external environment to flow through the corresponding duct by using the electric energy provided by the battery, so as to generate a corresponding reverse thrust and further adjust the posture and position of the capsule endoscope. The four openings of the four ducts at the top of the capsule endoscope are arranged in a rectangular shape. The four openings of the four ducts at the bottom of the capsule endoscope are arranged in a rectangular shape.

Description

TECHNICAL FIELD

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

[0002] The capsule endoscope systems on the market are all based on magnetic control technology. The magnetic control capsule endoscope system is divided into two parts, a capsule endoscope with a small magnet for entering the body and a magnetic control device outside the body. By using the principle of magnetic pole repulsion, the small magnet in the capsule endoscope in the body is dragged to move correspondingly through the translation and rotation of the external magnetic control device, so as to change the position and posture of the capsule endoscope in the body. In this way, the image acquisition module in the capsule endoscope in the body can shoot pictures at various angles and distances in the body and send them to the outside of the body for analysis and diagnosis.

[0003] However, the magnetic control device is bulky and expensive, which is a great burden for medical institutions. SUMMARY

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

[0005] The first aspect of the present application provides a capsule endoscope, comprising a head end and a tail end arranged oppositely, a lens is arranged at the head end of the capsule endoscope, the capsule endoscope comprises a battery, a front electric drive assembly and a rear electric drive assembly spaced 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 channel corresponding to each electric drive unit, each channel comprises an opening at the top of the capsule endoscope and an opening at the bottom of the capsule endoscope, each electric drive unit is used to drive the liquid in the external environment to flow through the corresponding channel by using the electric energy provided by the battery, so as to generate a corresponding thrust force and further adjust the posture and position of the capsule endoscope; the front electric drive assembly comprises a first electric drive unit and a second electric drive unit spaced from each other, the rear electric drive assembly comprises a third electric drive unit and a fourth electric drive unit spaced from each other, the corresponding channels of the first electric drive unit, the second electric drive unit, the third electric drive unit and the fourth electric drive unit are respectively a first channel, a second channel, a third channel and a fourth channel, the four openings of the four channels at the top of the capsule endoscope are arranged in a rectangular shape, and the four openings of the four channels at the bottom of the capsule endoscope are arranged in a rectangular shape.

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

[0007] The third aspect of the present application provides a control method of a capsule endoscope, configured to control a capsule endoscope as described above, wherein the control method comprises: controlling the flow rate of the liquid in the external environment from the corresponding channel by outputting the voltage to control each of the electric drive units, so that each of the electric drive units generates a corresponding thrust.

[0008] The capsule endoscope provided by the present application comprises a front electric drive assembly and a rear electric drive assembly, and each of the front electric drive assembly and the rear electric drive assembly comprises two electric drive units. Each electric drive unit is configured to drive the liquid in the external environment to flow through the corresponding channel by using the electric energy provided by the battery. During the process of flowing through the corresponding channel, the liquid generates a thrust in the opposite direction of the flow direction of the liquid, so as to balance the gravity of the capsule endoscope, and further push the capsule endoscope to adjust the position and attitude in the liquid environment. Therefore, the medical institutions do not need to be equipped with large and expensive magnetic control equipment to complete the endoscope examination, which is conducive to reducing the burden of the medical institutions.

[0009] In addition, the capsule endoscope is provided with four channels corresponding to the four electric drive units, and each channel comprises an opening arranged at the top and the bottom of the capsule endoscope, i.e. each channel extends between the top and the bottom of the capsule endoscope. By using the four electric drive units to provide a larger upward or downward thrust, the problem that the movement of the capsule endoscope is uncontrollable due to the gravity exceeding the sum of the buoyancy and the thrust of the electric drive unit during the miniaturization process of the capsule endoscope is solved.

[0010] Moreover, 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; 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 is arranged at the same position in the axial direction of the capsule endoscope. The opening of the first duct 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, but also effectively reduces the size of the front electric drive assembly, the rear electric drive assembly and the capsule endoscope in the axial direction. The reverse thrust generated in the four ducts can also achieve the controllability of the capsule endoscope's pitch angle, yaw angle and roll angle. On the basis of achieving the capsule endoscope's ability to move forward, backward, left and right, and rotate left and right, it is helpful to alleviate or even avoid 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 to 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 diagram of the capsule endoscope is 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 along 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 FIG.

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

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

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

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

[0022] Figure 11 for Figure 2 The force analysis diagram of the capsule endoscope at the top view angle when turning left or right is shown.

[0023] Figure Number:

[0024] 100. Capsule endoscopy system; 110. Client; 200. External environment; 210. Liquid;

[0025] 231, horizontal plane;

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

[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, lever arm; L2, lever arm; L3, lever arm; L4, lever arm; L a , lever arm; L b , lever arm;

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

[0032] 1130, front housing; 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 distance; L2, second distance;

[0041] 1190, end cover;

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

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

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

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

[0046] 1500, light-shielding cylinder;

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

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

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application.

[0050] The technical solutions of the present patent will be further described in detail below with reference to the specific embodiments.

[0051] The embodiments of the present patent are described below in detail with reference to the accompanying drawings. Identical or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below by reference to the drawings are exemplary and are for the purpose of explaining the present patent only and are not to be understood as limiting the present patent.

[0052] In the description of the present patent, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings and is only for the convenience of describing the present patent and simplifying the description, and therefore cannot be understood as indicating or implying that the device or component referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present patent.

[0053] In the description of the present patent, it should be noted that unless otherwise explicitly specified and limited, the terms "mount", "connect", "connect", "set" should be understood broadly, for example, it can be fixedly connected, set, or detachably connected, set, or integrally connected, set. For those skilled in the art, the specific meaning of the above terms in the present patent can be understood according to the specific circumstances.

[0054] Below, the capsule endoscope 1000 in Figures 2 to 8 is taken as an example to define the coordinate system of the capsule endoscope 1000.

[0055] Axial direction X: the line between the geometric centers of the two ends of the capsule endoscope 1000 is the axial direction of the capsule endoscope, the direction of the axial direction of the capsule endoscope 1000, simply referred to as the axial direction. The capsule endoscope 1000 is in the shape of a capsule, including two smooth end portions, 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 as seen 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 as seen from the tail end 1002 to the head end 1001. The geometric centers of the two ends of the capsule endoscope 1000 are located on the surface of the capsule endoscope 1000. For a given structure of the capsule endoscope 1000, its axial direction is unique. The movement of the capsule endoscope 1000 rotating around the axial direction X is rolling or lateral 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 the direction around its axial direction X, 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: The plane where the axis of the capsule endoscope 1000 lies. The capsule endoscope 1000 includes multiple longitudinal sections, and the axial direction X lies within the multiple longitudinal sections. The multiple longitudinal sections include 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 multiple 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 is Figures 9 to 11 The external environment in is used 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 diagram of the 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 the 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 can be a gastric capsule endoscope or a gastrointestinal capsule endoscope, which is used to capture images of the stomach or gastrointestinal tract. Before undergoing a capsule endoscope 1000 examination, the examinee must prepare the stomach according to the doctor's instructions, such as keeping an empty stomach, taking a certain amount of defoaming agent to reduce mucus and bubbles in the stomach, and drinking enough water to fill the stomach cavity and reduce wrinkles. Activate the capsule endoscope 1000 to enter the working mode and take it with water, so that the capsule endoscope 1000 enters 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 capturing images of the external environment 200.

[0066] The capsule endoscope 1000 is used to enter the digestive tract by being swallowed by a patient, and can adjust the posture and position in the digestive tract in real time according to the user instructions output by the client 110 or according to the software program stored in the capsule endoscope 1000, take images 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 images taken by the capsule endoscope 1000, such as the capsule endoscope 1000 can use wireless communication to transmit the collected image data to the client 110 and / or other devices, thereby facilitating doctors to diagnose digestive diseases based on the collected image data.

[0067] The client 110 can be a smart phone, a tablet device, a notebook computer, a desktop computer and the like. The client 110 is not necessarily limited to a single human-computer interaction device, but can also be any device or collection of circuits that can independently or jointly interact with humans.

[0068] Referring to Figures 2 to 8 The capsule endoscope 1000 provided in the present application includes a head end 1001 and a tail end 1002 arranged oppositely, the capsule endoscope 1000 is provided with a lens 1920 at the head end 1001, the capsule endoscope 1000 includes a battery 1910, a front electric drive assembly 1200 and a rear electric drive assembly 1300 spaced 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 include two electric drive units, and the capsule endoscope 1000 is provided with a corresponding duct corresponding to each electric drive unit, each duct includes an opening at a top 1004 of the capsule endoscope 1000 and an opening at a bottom 1005 of the capsule endoscope 1000, and each electric drive unit is used to drive the liquid 210 in the external environment 200 to flow through the corresponding duct by using the electric energy provided by the battery 1910, so as to generate a corresponding reaction force and 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 from each other, the corresponding ducts of 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 a first duct 1140, a second duct 1150, a third duct 1170 and a fourth duct 1180 respectively, and the four openings of the four ducts at the top 1004 of the capsule endoscope 1000 are arranged in a rectangular shape, and the four openings of the four ducts at the bottom 1005 of the capsule endoscope 1000 are arranged in a rectangular shape.

[0070] The capsule endoscope 1000 provided by the application comprises a front electric drive assembly 1200 and a rear electric drive assembly 1300, and the front electric drive assembly 1200 and the rear electric drive assembly 1300 each comprise two electric drive units, each of which is used to drive liquid 210 in an external environment 200 to flow through a corresponding channel by using the electric energy provided by a battery 1910. During the process of flowing through the corresponding channel, the liquid 210 generates a counter thrust in the direction opposite to the direction of the liquid flowing through the channel, thereby pushing the capsule endoscope 1000 to adjust the position and attitude in the external environment 200, so that the medical institutions do not need to be equipped with large and expensive magnetic control equipment to complete the endoscope examination, which is beneficial to reduce the burden of the medical institutions.

[0071] In addition, the capsule endoscope 1000 is provided with four channels corresponding to the four electric drive units, each of which comprises an opening arranged at the top and the bottom of the capsule endoscope 1000, that is, each channel extends between the top 1004 and the bottom 1005 of the capsule endoscope 1000, and the four electric drive units provide a larger upward or downward counter thrust to balance the gravity of the capsule endoscope 1000, thereby solving the problem that the movement is uncontrollable due to the gravity exceeding the sum of the buoyancy and the thrust of the electric drive unit during the miniaturization of the capsule endoscope 1000.

[0072] Moreover, in the capsule endoscope 1000, since the four channels are arranged in a rectangular manner at the four openings of the top portion 1004 of the capsule endoscope 1000 and at the four openings of the bottom portion 1005 of the capsule endoscope 1000, that is, at the top portion 1004 of the capsule endoscope 1000, the opening 1142 of the first channel 1140 and the opening 1152 of the second channel 1150 are arranged at the same position on the axial direction X of the capsule endoscope 1000, the opening 1172 of the third channel 1170 and the opening 1182 of the fourth channel 1180 are arranged at the same position on the axial direction X of the capsule endoscope 1000, at the bottom portion 1005 of the capsule endoscope 1000, the opening 1142 of the first channel 1140 and the opening 1152 of the second channel 1150 are arranged at the same position on the axial direction X of the capsule endoscope 1000, the opening 1172 of the third channel 1170 and the opening 1182 of the fourth channel 1180 are arranged at the same position on the axial direction 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 on the axial direction X, effectively reduces the size of the front electric drive assembly 1200, the rear electric drive assembly 1300 and the capsule endoscope 1000 on the axial direction X, but also enables the controllability of the pitch angle, the yaw angle and the roll angle of the capsule endoscope 1000 by the thrust force generated by the four channels, which is conducive to relieving or even avoiding the uncontrollable shaking of the capsule endoscope 1000 in the pitch or roll direction on the basis of realizing the movement ability of the capsule endoscope 1000 in the front and back, left and right directions and the left and right rotations. The direction of the line connecting the geometric center of the head end 1001 of the capsule endoscope 1000 and the geometric center of the tail end 1002 is the axial direction X of the capsule endoscope 1000.

[0073] Each electric drive unit is configured to drive the liquid 210 in the external environment 200 to flow through the corresponding channel by using the electric energy provided by the battery 1910, thereby generating the thrust force opposite to the flow direction of the liquid 210 in the corresponding channel. The electric drive units in the front electric drive assembly 1200 and the rear electric drive assembly 1300 specifically include 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. In other embodiments, the front electric drive assembly 1200 can 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 can 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 can include other electric drive assemblies in addition to the front electric drive assembly 1200 and the rear electric drive assembly 1300, which are not limited herein.

[0074] As Figure 7As shown, in the embodiment of the present application, the electric drive unit is implemented as a structure of a motor-driven 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. The first motor 1212 is used to drive the first propeller 1214 to rotate using the power 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. The second motor 1252 is used to drive the second propeller 1254 to rotate using the power 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. The third motor 1312 is used to drive the third propeller 1314 to rotate using the power 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 configured 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 rotations. For example, the blades of the third propeller 1314 and the fourth propeller 1354 have the same shape but opposite rotations, the blades of the third propeller 1314 and the first propeller 1214 have the same shape but opposite rotations, and the blades of the third propeller 1314 and the second propeller 1254 have the same shape and the same rotation. This balances the counter-torque generated by adjacent propellers when the capsule endoscope 1000 is suspended in the liquid 210, reduces uncontrolled rotation, and enhances stability.

[0076] In other embodiments, 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 the respective electric drive units 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 and thereby generate reverse thrust.

[0078] The third duct 1170 and the fourth duct 1180 are symmetrically arranged with respect to the reference longitudinal section 1008, i.e. the openings 1172 of the third duct 1170 and the openings 1182 of the fourth duct 1180 are symmetric with respect to the reference longitudinal section 1008, and the duct portions between the two openings 1172 of the third duct 1170 and the duct portions between the two openings 1182 of the fourth duct 1180 are also symmetric with respect to the reference longitudinal section 1008. Therefore, the directions of the counter thrust forces generated by the third duct 1170 and the fourth duct 1180 are symmetric with respect to the reference longitudinal section 1008, which facilitates the formation of symmetric counter thrust forces on both sides of the reference longitudinal section 1008, and is beneficial to the posture control of the capsule endoscope 1000.

[0079] Since the capsule endoscope 1000 is provided with multiple electric drive units and the 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 close to that of water.

[0080] In the embodiment, the average density of the capsule endoscope 1000 is greater than water, the openings of the multiple ducts at the top 1004 of the capsule endoscope 1000 are the inlets of the corresponding ducts, the openings of the multiple ducts at the bottom 1005 of the capsule endoscope 1000 are the outlets 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 in the direction from the inlet of the corresponding duct to the outlet of the corresponding duct.

[0081] As Figure 3 With Figure 4As shown, the first duct 1140 has an opening 1142 at the top 1004 of the capsule endoscope 1000 as its inlet 1143, and an opening 1142 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 in a direction from the inlet 1143 to the outlet 1144. Similarly, the second duct 1150 has an opening 1152 at the top 1004 of the capsule endoscope 1000 as its inlet 1153, and an opening 1152 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 in a 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 in a 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 in a 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, which is greater than the first distance L1. The first distance L1 between the inlets 1173 and 1183 is the shortest distance between them. The second distance L2 between the outlets 1174 and 1184 is the shortest distance between them. Because 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, enabling the third duct 1170 and the fourth duct 1180 to better control the roll angle and yaw angle.

[0083] The size of the inlet of each duct corresponding to the electric drive units in the rear electric drive assembly 1300 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, wherein M2=(1±0.2)*M1, and M4<0.8*M3.

[0084] The size of the inlet of each duct corresponding to the electric drive units in the rear electric drive assembly 1300 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, wherein M2=(1±0.2)*M1, and 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, which satisfies M2=(1±0.2)*M1, that is, the size of the outlet 1174 is comparable 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, the fourth duct 1180 has the same size limit for the inlet 1183 and the outlet 1184 in the axial direction X and the circumferential direction R.

[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, respectively, which facilitates the outlet 1174 and the outlet 1184 to achieve a larger interval in the circumferential direction R, thereby providing torque, so that the third duct 1170 and the fourth duct 1180 have better control ability of the roll angle and the 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 narrow and long 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 narrow and long, having a major axis and a minor axis, with the major axis extending 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 narrow and long, having a major axis and a minor axis, with the major axis extending 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, both outlet 1174 and outlet 1184 are capsule-shaped (or racetrack-shaped), with their major axes oriented toward the head end 1001 and the tail end 1002 , and preferably parallel to the axial direction X. The narrow and long design of outlet 1174 and outlet 1184 can reduce turbulence and eddy currents in liquid 210 , lowering energy loss and improving propulsion efficiency.

[0088] In this embodiment, 0.8 mm ≤ M4 ≤ 2 mm, which facilitates 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 differ from those of the inlet 1173, the area and shape of the outlet 1184 differ from those of the inlet 1183, and both the third duct 1170 and the fourth duct 1180 are curved tubes. 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 those of the inlet 1173, the area and shape of the outlet 1184 may be the same as those of the inlet 1183, and the third duct 1170 and the fourth duct 1180 may be straight tubes.

[0090] like Figure 2 、 Figure 5 and Figure 7 As shown, the capsule endoscope 1000 includes a shell 1100 , and the battery 1910 , lens 1920 , front electric drive assembly 1200 , 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, with smooth ends. From the head end 1001 to the tail end 1002, the housing 1100 comprises a transparent cover 1120, a front shell 1130, a rear shell 1160, and an end cap 1190, which are sequentially connected. The transparent cover 1120, front shell 1130, rear shell 1160, and end cap 1190 are assembled to enclose a housing space H. The transparent cover 1120 is located at the head end 1001 and is at least partially transparent, allowing the lens 1920 to capture image information of the external environment 200.

[0092] As Figure 6 With Figure 7 As shown in FIG. 11, the rear shell 1160 includes an outer shell 1162, a third duct 1170 and a fourth duct 1180. The outer shell 1162 is annularly 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, the inlet 1183, the outlet 1174 and the outlet 1184 of the third duct 1170 and the fourth duct 1180 are exposed on the surface of the outer shell 1162.

[0093] The third duct 1170 and the fourth duct 1180 are independently arranged in the rear shell 1160. The third motor 1312 and the fourth motor 1352 can respectively drive the third propeller 1314 and the fourth propeller 1354 to rotate, so as to form two water columns in the liquid 210. The counter thrust of the water columns can be used to balance the gravity of the capsule endoscope 1000 and control the roll angle and the yaw angle of the capsule endoscope 1000. In each electric drive unit, the propeller is arranged adjacent to the top 1004 relative to the motor, so as to generate a counter thrust to pull the capsule endoscope 1000 to adjust the posture of the capsule endoscope 1000, thereby stabilizing the capsule endoscope 1000 during movement. Specifically, the third propeller 1314 is arranged adjacent to the top 1004 relative to the third motor 1312, and the fourth propeller 1354 is arranged adjacent to the top 1004 relative to the fourth motor 1352.

[0094] As Figure 6 As shown in FIG. 11, the third duct 1170 and the fourth duct 1180 each 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 duct. The second propeller and the third propeller are arranged in the inlet section. The third duct 1170 and the fourth duct 1180 each have a fixing hole formed between the inlet section and the outlet section. The third motor 1312 and the fourth motor 1352 are respectively fixed and sealed in the corresponding fixing hole. The two fixing holes are close to each other away from the opening of the corresponding outlet section. The two fixing holes extend from the corresponding outlet section to the bottom 1005 of the capsule endoscope 1000, i.e., each fixing hole is arranged adjacent to the bottom 1005 away from the opening of the corresponding outlet section. The opening of each fixing hole away from the corresponding outlet section is arranged adjacent to the bottom 1005 relative to the opening of the corresponding outlet section.

[0095] The third duct 1170 includes an inlet section 1175 and an outlet section 1176 connected to each other, one end of the inlet section 1175 forms an inlet 1173 of the third duct 1170, 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 forms a fixing hole 1177 between the inlet section 1175 and the outlet section 1176, and 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 connected to each other, the inlet section 1185 forms an inlet 1183 of the fourth duct 1180, the outlet section 1186 forms an outlet 1184 of the fourth duct 1180, the fourth propeller 1354 is arranged in the inlet section 1185, and the fourth duct 1180 forms a fixing hole 1187 between the inlet section 1185 and the outlet section 1186, and the fourth motor 1352 of the fourth electric drive unit 1350 is fixed and sealed in the fixing hole 1187.

[0097] The fixing hole 1177 is away from the opening of the outlet section 1176, and the fixing hole 1187 is away from the opening of the outlet section 1186, and they are close to each other. Since the lengths of the third motor 1312 and the fourth motor 1352 are longer than the radial dimension of the capsule endoscope 1000, the third motor 1312 and the fourth motor 1352 are fixed in the fixing hole 1177 and the fixing hole 1187, respectively, in an inverted V-shaped inclined layout, thereby avoiding the end of the third motor 1312 and the fourth motor 1352 protruding from the surface of the shell 1100, facilitating electrical connection to the circuit board 1700, realizing transmission of electrical signals, ensuring that a certain interval distance can be maintained between the outlet 1174 and the outlet 1184 in the small design space of the capsule endoscope 1000, and facilitating flexible steering and attitude adjustment.

[0098] In the embodiment, the included angle between the two fixing hole extension directions is 8°-16°, or the included angle between the extension directions of the third motor 1312 and the fourth motor 1352 is 8°-16°, which is helpful to maintain stable and efficient propulsion under different water flow conditions, and more flexible steering and attitude adjustment.

[0099] As Figure 5As shown, 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 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. The ducts corresponding to the front electric drive assembly 1200 and the ducts corresponding to the rear electric drive assembly 1300 are also 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 those of the third duct 1170 and the fourth duct 1180, which is conducive to generating reverse thrust with 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 of the capsule endoscope 1000 ( 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 second duct 1150 and the fourth duct 1180 are located on the second side of the capsule endoscope 1000, with the first side and the second side facing each other. 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] As Figure 2 , Figure 5 , Figure 7 and Figure 8 shown, the capsule endoscope 1000 comprises sensors, motor drives, a circuit board 1700 for carrying lenses 1920, sensors, motor drives, control units, etc., an antenna 1800 and a control unit disposed in the accommodation space H, the circuit board 1700 is electrically connected with the battery 1910, the antenna 1800 and each electric drive unit to ensure power and signal transmission.

[0104] Specifically, the circuit board 1700 comprises a first circuit board 1710 and a second circuit board 1720, the first circuit board 1710 is provided with lenses 1920 on one side surface 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 with the first circuit board 1710, the other end of the second circuit board 1720 extends towards the tail end 1002, the second circuit board 1720 is clamped in the gap between the front electric drive assembly 1200 and the shell 1100, so that the internal devices of the capsule endoscope 1000 are more compact in the axial direction X, improving the utilization rate of the accommodation space H, effectively reducing the space pressure of the capsule endoscope 1000, and facilitating 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] As Figure 5 and Figure 7 shown, the circuit board 1700 further comprises a third circuit board 1730, one end of the third circuit board 1730 is electrically connected with the first circuit board 1710, the other end of the third circuit board 1730 extends towards the tail end 1002, the third circuit board 1730 is clamped in the gap between the front electric drive assembly 1200 and the shell 1100, 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 accommodation 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 directions of the third circuit board 1730 and the second circuit board 1720 are parallel.

[0107] Please refer to Figure 7 for Figure 8The substrate of the first circuit board 1710 is made of a rigid-flexible board or an FPC (flexible printed circuit board) with a local reinforcement plate. Multiple lighting units 1930 are also provided on its surface around the lens 1920. The lighting units 1930 can be LEDs. The lens 1920 is arranged along the axial direction X, with its light-entering surface facing the transparent cover 1120 and facing outward. There are typically multiple lighting units 1930, which are arranged around the axial direction X on the surface of the first circuit board 1710.

[0108] The capsule endoscope 1000 includes a light-shielding tube 1500, which is cylindrical in shape. One end of the light-shielding tube extends between the lens 1920 and the lighting unit 1930, and the other end of the light-shielding tube extends to the inner wall of the transparent cover 1120 located at the head end 1001 to block the 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, or alternatively, to a position on the first circuit board 1710 between the lens 1920 and the lighting unit 1930. The other end of the light-shielding tube 1500 extends to the inner wall of the transparent cover 1120 at the head end 1001. The light-shielding tube 1500 may or may not contact the inner wall of the transparent cover 1120, and a gap may be maintained between one end of the light-shielding tube 1500 and one end of the inner wall of the transparent cover 1120.

[0110] The light shielding tube 1500 is made of an opaque or light-filtering material. The radially inner side of the light shielding tube 1500 forms a camera channel surrounding the lens 1920. Only light entering the light shielding tube 1500 from the head end 1001 can enter the lens 1920. The channel radially outward of the light shielding tube 1500 serves as the illumination channel, through which the illumination light emitted by the illumination unit 1930 is emitted. The light shielding tube 1500 separates the transparent cover 1120 into two independent optical channels, one for the lens 1920 to shoot and the other for the illumination unit 1930 to illuminate. This effectively prevents light projected by the illumination unit 1930 from being reflected by the transparent cover 1120 and then entering the lens 1920, thereby affecting the image 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 cylinder.

[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 tabs 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 of FPC, which can be rolled up, with adhesive on one end and the two ends bonded to form a cylindrical shape. The antenna 1800 and the circuit board 1700 can be connected through the FPC or leads.

[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), or a system-on-chip (SoC) 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 and 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) 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) 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 component F y and the rear horizontal component 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 and the rear horizontal component 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 resultant force and the second lateral resultant force, thereby moving the capsule endoscope 1000 toward the first side or the second side.

[0125] The present application also provides a method for controlling 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 and rear combined forces, the pitch angle of the capsule endoscope 1000 is adjusted. When the ratio of the front and rear combined forces changes, the head end 1001 can move toward the top or bottom of the external environment 200 relative to the tail end 1002, thereby adjusting the pitch angle of the capsule endoscope 1000.

[0129] like Figure 9 and Figure 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 of the reverse thrust F1 to the reverse thrust F2 is changed, for example Figure 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. This component force is the front horizontal component force F y .

[0130] like Figure 10 and Figure 11 As shown, when the yaw angle of the capsule endoscope 1000 is adjusted, the ratio of the reverse thrust F3 to the reverse thrust F4 is changed, for example Figure 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. This component force is the rear horizontal component force F y '.

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

[0132] like Figure 11 As shown, the front horizontal component F y and the rear horizontal component 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 and the rear horizontal component F y ' respectively toward both sides of the capsule endoscope 1000, the front horizontal component F y and the rear horizontal component 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] During 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 proportional relationship between the size of the first lateral force and the second lateral force, the capsule endoscope 1000 moves to 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 to the first side or the second side.

[0136] In some embodiments, the front side horizontal component force F y and the back side horizontal component force F y are both towards the same side of the capsule endoscope 1000, the front side horizontal component force F y and the back side horizontal component force F y are parallel in direction but unequal in size, then the capsule endoscope 1000 can make a compound motion of adjusting the yaw angle while translating to the first side or the second side, and can perform point horizontal multi-angle observation on the site of interest or suspected lesion.

[0137] Examination process:

[0138] Before performing the capsule gastroscopy, the examinee needs to follow the doctor's advice to prepare the stomach well, such as keeping empty, taking certain defoaming agent to reduce mucus and bubbles in the stomach, 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 is sent with water to enter the stomach cavity.

[0139] The examinee first adopts a standing position, and the medical staff controls the self-driven capsule endoscope 1000 to perform a spiral ascending scanning motion, which can complete most of the image shooting and observation of the inner wall of the stomach cavity including the stomach body, the lesser curvature of the stomach, the greater curvature of the stomach, etc. Then the examinee switches to a supine position, and the medical staff can control the capsule endoscope 1000 to make supplementary observation near the cardia, the fundus of the stomach, the pylorus, etc. to form a complete image data of the inner wall of the stomach cavity. For local sites of interest or suspected lesions, the medical staff can control the capsule endoscope 1000 to move to the target vicinity for further detailed observation.

[0140] Thus, the examinee only needs to switch between standing and supine positions to complete the gastroscopy. The examinee can also choose to adopt a supine or lateral position, and the process is similar to the above, which will not be described in detail.

[0141] After completing the gastroscopy, the capsule endoscope 1000 enters the intestinal tract through the pylorus. Depending on the functional design of the capsule endoscope system 100 and the remaining power, the capsule endoscope 1000 can also further perform examination of the intestinal tract, and finally be discharged from the anus.

[0142] The optional embodiments of the embodiments of the present application are described in detail above in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above-described embodiments. Within the technical concept of the embodiments of the present application, various simple modifications can be made to the technical solutions of the embodiments of the present application, and these simple modifications all belong to the protection scope of the embodiments of the present application.

[0143] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the embodiments of the present application.

[0144] In addition, various different embodiments of the embodiments of the present application can also be combined in any manner, as long as it does not deviate from the idea of the embodiments of the present application, and it should also be considered as disclosed by the embodiments of the present application.

Claims

1. A capsule endoscope, characterized by, The capsule endoscope comprises a head end and a tail end arranged oppositely, 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 arranged oppositely, 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 electric drive unit, each duct comprises an opening at the top of the capsule endoscope and an opening at the bottom of the capsule endoscope, each electric drive unit is used to drive liquid in an external environment to flow through the corresponding duct by using the electric energy provided by the battery, so as to generate corresponding reverse thrust and adjust the posture and position of the capsule endoscope. The front electric drive assembly comprises a first electric drive unit and a second electric drive unit arranged oppositely, the rear electric drive assembly comprises a third electric drive unit and a fourth electric drive unit arranged oppositely, the corresponding ducts of the first electric drive unit, the second electric drive unit, the third electric drive unit and the fourth electric drive unit are respectively a first duct, a second duct, a third duct and a fourth duct, the four openings of the four ducts at the top of the capsule endoscope are arranged in a rectangular shape, and the four openings of the four ducts at the bottom of the capsule endoscope are arranged in a rectangular shape. The geometric center of the head end and the geometric center of the tail end are connected in the axial direction of the capsule endoscope, the capsule endoscope comprises a plurality of longitudinal sections, the axial direction is located in the plurality of longitudinal sections, and the plurality of longitudinal sections comprise a reference longitudinal section. The third duct and the fourth duct are symmetrically arranged about the reference longitudinal section. The average density of the capsule endoscope is greater than water, the openings of the plurality of ducts at the top of the capsule endoscope are inlets of the corresponding ducts, the openings of the plurality of ducts at the bottom of the capsule endoscope are outlets of the corresponding ducts, Each electric drive unit is used to drive liquid in an external environment to flow through the corresponding duct in the direction from the inlet of the corresponding duct to the outlet of the corresponding duct. 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 distance is greater than the first distance.

2. The capsule endoscope of claim 1, wherein In each duct corresponding to an electric drive unit in the rear electric drive assembly, the area of the inlet is greater than the area of the outlet.

3. The capsule endoscope of claim 2, wherein In each duct corresponding to a plurality of 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, wherein M2=(1±0.2)*M1, M4<0.8*M3.

4. The capsule endoscope of claim 3, wherein In each duct corresponding to an electric drive unit in the rear electric drive assembly, the inlet is circular, and the outlet extends in an elongated shape between the head end and the tail end.

5. The capsule endoscope of claim 4, wherein 0.8mm≤M4≤2mm.

6. The capsule endoscope according to any one of claims 1 to 5, wherein The plane perpendicular to the axial direction of the capsule endoscope is a cross section of the capsule endoscope, the capsule endoscope has a plurality of cross sections, a reference cross section is included in the plurality of cross sections, the front electric drive assembly and the rear electric drive assembly are symmetrically arranged about the reference cross section, and the corresponding ducts of the front electric drive assembly and the rear electric drive assembly are symmetrically arranged about the reference cross section.

7. The capsule endoscope according to any one of claims 1 to 5, wherein Each of the electric drive units includes a motor and a propeller fixed to an output shaft of the corresponding motor, The third duct and the fourth duct each include an inlet section and an outlet section connected to each other, the inlet section forms an inlet of the corresponding duct, the outlet section forms an outlet of the corresponding duct, the propeller is arranged in the inlet section, and the motor of the third electric drive unit and the motor of the fourth electric drive unit are respectively fixed and sealed in corresponding fixed holes formed between the inlet section and the outlet section of the third duct and the fourth duct, and the two fixed holes are close to each other away from the opening of the corresponding outlet section.

8. The capsule endoscope of claim 7, wherein The included angle between the extension directions of the two fixed holes is 8°-16°.

9. The capsule endoscope of claim 8, wherein The plane perpendicular to the axial direction of the capsule endoscope is a cross section of the capsule endoscope, the capsule endoscope has a plurality of cross sections, a reference cross section is included in the plurality of cross sections, the front electric drive assembly and the rear electric drive assembly are symmetrically arranged about the reference cross section, and the corresponding ducts of the front electric drive assembly and the rear electric drive assembly are symmetrically arranged about the reference cross section.

10. The capsule endoscope of any one of claims 1-5, wherein, The capsule endoscope includes a shell, the lens, the front electric drive assembly, and the rear electric drive assembly are arranged in a containing space surrounded by the shell, the capsule endoscope includes a first circuit board and a second circuit board arranged in the containing space, One side surface of the first circuit board towards the head end is provided with the lens, one end of the second circuit board is electrically connected with the first circuit board, the other end of the second circuit board extends towards the tail end, and the second circuit board is clamped in a gap between the front electric drive assembly and the shell.

11. The capsule endoscope of any one of claims 1-5, wherein, In the axial direction of the capsule endoscope, the battery is arranged between the front electric drive assembly and the rear electric drive assembly.

12. The capsule endoscope of claim 11, wherein, The capsule endoscope includes a shell and an antenna, the antenna, the lens, the front electric drive assembly, and the rear electric drive assembly are arranged in a containing space surrounded by the shell, The antenna is arranged in a gap between the battery and the shell around the battery, or the antenna is arranged between the rear electric drive assembly and the tail end.

13. The capsule endoscope of any one of claims 1-5, wherein, The capsule endoscope includes a transparent cover, a first circuit board, and a plurality of illumination units arranged on the first circuit board, the transparent cover is at least partially transparent and arranged at the head end, the plurality of illumination units are arranged around the lens, the capsule endoscope includes a light-shielding cylinder, the light-shielding cylinder is in a cylindrical shape, one end of the light-shielding cylinder is open and extends to between the lens and the illumination units, and the other end of the light-shielding cylinder is open and extends to an inner wall of the transparent cover at the head end to shield light outside the light-shielding cylinder from being incident on the lens.

14. The capsule endoscope of any one of claims 1-5, wherein, The capsule endoscope comprises a control unit, which controls the flow rate of the liquid in the external environment from the corresponding channel by outputting a voltage to control each of the electric drive units, so that each of the electric drive units generates a corresponding thrust.

15. The capsule endoscope of claim 14, wherein, 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, the first side and the second side are opposite to each other; a resultant force of the thrusts generated by the first electric drive unit and the second electric drive unit is a front side resultant force, a resultant force of the thrusts generated by the third electric drive unit and the fourth electric drive unit is a back side resultant force, a horizontal component of the front side resultant force in the external environment is a front side horizontal component, and a horizontal component of the back side resultant force in the external environment is a back side horizontal component, a resultant force of the thrusts generated by the first electric drive unit and the third electric drive unit is a first side resultant force, a resultant force of the thrusts generated by the second electric drive unit and the fourth electric drive unit is a second side resultant force, the control unit adjusts the pitch angle of the capsule endoscope by controlling the size ratio relationship between the front side resultant force and the back side resultant force, and adjusts the yaw angle of the capsule endoscope by controlling the size difference or the direction difference between the front side horizontal component and the back side horizontal component; the control unit controls the size ratio relationship between the first side resultant force and the second side resultant force, so that the capsule endoscope moves to the first side or the second side.

16. A capsule endoscope system characterized by comprising: The capsule endoscope comprises a control unit, which controls the flow rate of the liquid in the external environment from the corresponding channel by outputting a voltage to control each of the electric drive units, so that each of the electric drive units generates a corresponding thrust.

17. A control method of a capsule endoscope, characterized by, 15. The capsule endoscope of claim 14, wherein, 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, the first side and the second side are opposite to each other; 18. The control method according to claim 17, characterized by, a resultant force of the thrusts generated by the first electric drive unit and the second electric drive unit is a front side resultant force, a resultant force of the thrusts generated by the third electric drive unit and the fourth electric drive unit is a back side resultant force, a horizontal component of the front side resultant force in the external environment is a front side horizontal component, and a horizontal component of the back side resultant force in the external environment is a back side horizontal component, a resultant force of the thrusts generated by the first electric drive unit and the third electric drive unit is a first side resultant force, a resultant force of the thrusts generated by the second electric drive unit and the fourth electric drive unit is a second side resultant force, the control method comprises: the control unit controls the size ratio relationship between the first side resultant force and the second side resultant force, so that the capsule endoscope moves to the first side or the second side. By controlling the size ratio relationship between the front side resultant force and the back side resultant force, the pitch angle of the capsule endoscope is adjusted; By controlling the size difference or the direction difference between the front side horizontal component force and the back side horizontal component force, the yaw angle of the capsule endoscope is adjusted; By controlling the size ratio relationship between the first side lateral force and the second side lateral force, the capsule endoscope is moved to the first side or the second side.

Images