Capsule endoscope, system and control method 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 at least one electric drive unit. 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. The front electric drive assembly comprises a first electric drive unit. The rear electric drive assembly comprises a second electric drive unit and a third electric drive unit. The corresponding ducts of the first electric drive unit, the second electric drive unit and the third electric drive unit are respectively a first duct, a second duct and a third duct. The openings of the second duct and the third duct are arranged side by side in the circumferential direction of the capsule endoscope.

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] Compared with the traditional intubation endoscope, the capsule endoscope is more comfortable and painless during the examination, does not require anesthesia, and avoids the risk of cross infection due to its disposable nature. For the elderly and children and other weak groups, due to the fragility of the gastrointestinal tissue, the traditional intubation endoscope examination may cause scratches or tearing injuries to the throat or intestinal mucosa during the invasive process, while the capsule endoscope is particularly suitable for such groups due to its non-invasive nature. Therefore, the capsule endoscope is more widely used in the field of endoscopy than the traditional intubation endoscope due to its comfort, safety and applicability.

[0003] However, the common capsule endoscopes on the market are magnetically controlled, and a large and expensive magnetic control device is required to complete the examination of the stomach, 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 at least one electric drive unit, the capsule endoscope is provided with a corresponding duct 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 thrust force and further adjust the attitude and position of the capsule endoscope; the front electric drive assembly comprises a first electric drive unit, the rear electric drive assembly comprises a second electric drive unit and a third electric drive unit spaced from each other, the corresponding ducts of the first electric drive unit, the second electric drive unit and the third electric drive unit are respectively a first duct, a second duct and a third duct, and the openings of the second duct and the third duct are arranged side by side in the circumferential direction of the capsule endoscope.

[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 at least one electric drive unit. 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 the liquid flowing through the corresponding channel, the liquid generates a thrust in the direction opposite to the direction of the liquid flowing through the channel, so as to balance the gravity of the capsule endoscope and further push the capsule endoscope to adjust the position and posture of the capsule endoscope in the liquid environment. Therefore, the medical institutions do not need to be equipped with large and expensive magnetic control devices 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 three channels corresponding to the three electric drive units, and each channel comprises an opening arranged at the top and the bottom of the capsule endoscope, that is, each channel extends between the top and the bottom of the capsule endoscope. By using the three electric drive units, a larger upward or downward thrust can be provided, so as to solve the problem that the movement of the capsule endoscope cannot be controlled when the gravity exceeds the sum of the buoyancy and the thrust of the electric drive unit during the miniaturization of the capsule endoscope.

[0010] In addition, in the capsule endoscope, the opening of the second channel and the opening of the third channel are arranged side by side in the circumferential direction of the capsule endoscope, that is, the opening of the second channel and the opening of the third channel are arranged at the same position in the axial direction of the capsule endoscope. This not only makes the rear electric drive assembly and the capsule endoscope more compact in the axial direction, but also effectively reduces the size of the rear electric drive assembly and the capsule endoscope in the axial direction. In addition, the thrust generated in the second channel and the third channel can also realize the controllability of the pitch angle, the yaw angle and the roll angle of the capsule endoscope. On the basis of realizing the movement ability of the capsule endoscope in the front-back direction and the left-right rotation, the uncontrollable shaking of the capsule endoscope in the pitch or roll direction can be alleviated or even avoided. 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 of the capsule endoscope is the axial direction of the capsule endoscope. The circumferential direction of the capsule endoscope is perpendicular to the axial direction of the capsule endoscope, and the circumferential direction of the capsule endoscope surrounds the axial direction of the capsule endoscope. BRIEF DESCRIPTION OF DRAWINGS

[0011] The accompanying drawings are included to provide a further understanding of embodiments of the application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the application, and together with the description serve to explain embodiments of the application, but do not limit the present application.

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

[0013] Figure 2 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 1

[0014] Figure 3 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0015] Figure 4 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0016] Figure 5 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0017] Figure 6A A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0018] Figure 6B A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0019] Figure 7 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0020] Figure 8 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0021] Figure 9 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0022] Figure 10 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0023] Figure 11 A schematic diagram of the structure of the capsule endoscope provided in the present application when used in the stomach of a subject; Figure 2

[0024] Figure 12 ​​​​​​​​​​​For Figure 2 A force analysis diagram of the capsule endoscope shown in FIG. 1 when the roll angle is 0;

[0025] Figure 13 For Figure 2 A force analysis diagram of the capsule endoscope shown in FIG. 1 on a cross section when turning left and right;

[0026] Figure 14 For Figure 2 Another force analysis diagram of the capsule endoscope shown in FIG. 1 on another cross section when turning left and right;

[0027] Figure 15 For Figure 2 A force analysis diagram of the capsule endoscope shown in FIG. 1 on a top view angle when turning left and right.

[0028] Reference numerals:

[0029] 100, capsule endoscope system; 110, client; 200, external environment; 210, liquid;

[0030] 231, horizontal direction;

[0031] 1000, capsule endoscope; 1001, head end; 1002, tail end; 1004, top; 1005, bottom;

[0032] X, axial direction; R, circumferential direction; 1007, horizontal plane; 1008, longitudinal cross section;

[0033] F, center of buoyancy; M, center of gravity;

[0034] Gravity; Buoyancy; Thrust; Thrust; Thrust; Thrust;

[0035] Force arm; Force arm; Force arm; Force arm; Force arm;

[0036] α, pitch angle; β, roll angle; C, counterclockwise direction;

[0037] 1100, shell; H, accommodation space; 1120, transparent cover;

[0038] 1140, front shell; 1142, outer shell; 1144, fairing;

[0039] 1150, first duct; P1, geometric center; 1152, opening;

[0040] 1153, inlet; 1154, outlet; 1155, guide vane;

[0041] 1160, rear shell; 1162, outer shell;

[0042] 1170, second duct; P2, geometric center; 1172, opening; 1173, inlet; 1174, outlet;

[0043] 1175, inlet section; 1176, outlet section; 1177, fixing hole;

[0044] 1180, third duct; P3, geometric center; 1182, opening; 1183, inlet; 1184, outlet;

[0045] 1185, inlet section; 1186, outlet section; 1187, fixing hole;

[0046] L1, first distance; L2, second distance;

[0047] 1190, end cover;

[0048] 1200, front electric drive assembly; 1210, first electric drive unit; 1212, first electric motor; 1214, first propeller;

[0049] 1300, rear electric drive assembly; 1310, second electric drive unit; 1312, second electric motor; 1314, second propeller;

[0050] 1350, third electric drive unit; 1352, third electric motor; 1354, third propeller;

[0051] 1500, light-shielding cylinder;

[0052] 1700, circuit board; 1710, first circuit board; 1720, second circuit board; 1730, third circuit board;

[0053] 1800, antenna; 1910, battery; 1920, lens; 1930, illumination unit. DETAILED DESCRIPTION

[0054] 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 not to limit the present application.

[0055] The technical solutions of the present patent will be further described in detail below with reference to the specific embodiments.

[0056] Embodiments of the present patent are described below in detail with reference to the accompanying drawings, wherein the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present patent, and cannot be understood as a limitation on the present patent.

[0057] 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 element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present patent.

[0058] In the description of the present patent, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "setting" 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] Longitudinal section 1008: A plane in which the axis of the capsule endoscope 1000 lies. The capsule endoscope 1000 includes a plurality of longitudinal sections 1008, the axial X lies within the plurality of longitudinal sections 1008.

[0063] Cross section: A plane within the capsule endoscope 1000 that is perpendicular to the axial X.

[0064] Z-axis: A direction of a line connecting 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 in the process of the movement of the capsule endoscope 1000 rotating around the Z-axis.

[0065] Horizontal plane 1007: A plane that is perpendicular to the Z-axis.

[0066] In the following, the external environment 200 in Figure 11 is taken as an example to define the world coordinate system.

[0067] Vertical direction: The direction of gravity.

[0068] Horizontal direction 231: A direction parallel to the reference horizontal plane. The reference horizontal plane can be considered as a plane that is perpendicular to the local direction of gravity.

[0069] Please refer to Figure 1 , Figure 1 The structural schematic diagram of the capsule endoscope system 100 provided in the embodiments of the present application, the capsule endoscope system 100 provided in the embodiments 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 and is performing a stomach examination. Figure 1 The proportions of various parts in the figure are adjusted so as 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, and are only used to illustrate the relative positions and connection relationships between the parts.

[0070] The capsule endoscope 1000 provided in the embodiments of the present application can be a stomach capsule endoscope or a gastrointestinal capsule endoscope, and is used for image shooting of the stomach or the gastrointestinal tract. Before the capsule endoscope 1000 examination, the subject needs to follow the doctor's advice to make good stomach preparation, such as keeping 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. The capsule endoscope 1000 is activated to enter the working mode, and is sent with water to enter the external environment 200 in the stomach. The capsule endoscope 1000 can drive the liquid 210 in the external environment 200 to flow and adjust its position and posture, and perform image shooting of the external environment 200.

[0071] 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.

[0072] 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.

[0073] Please refer 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 at least one electric drive unit, 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.

[0074] The front electric drive assembly 1200 includes a first electric drive unit 1210, the rear electric drive assembly 1300 includes a second electric drive unit 1310 and a third electric drive unit 1350 spaced from each other, the corresponding ducts of the first electric drive unit 1210, the second electric drive unit 1310 and the third electric drive unit 1350 are a first duct 1150, a second duct 1170 and a third duct 1180 respectively, and the openings 1172 of the second duct 1170 and the openings 1182 of the third duct 1180 are arranged side by side in the circumferential direction R of the capsule endoscope 1000.

[0075] The capsule endoscope 1000 provided in the present 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 at least one electric drive unit, each of which is used 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. During the process of flowing through the corresponding channel, the liquid 210 generates a counter thrust in the direction opposite to the direction of 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 conducive to reducing the burden of medical institutions.

[0076] In addition, the capsule endoscope 1000 is provided with three channels corresponding to the three electric drive units, and each channel comprises an opening arranged at the top and the bottom of the capsule endoscope 1000, i.e. each channel extends between the top 1004 and the bottom 1005 of the capsule endoscope 1000, and a larger upward or downward counter thrust is provided by the three electric drive units 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 of the capsule endoscope 1000.

[0077] Moreover, in the capsule endoscope 1000, the opening 1172 of the second channel 1170 and the opening 1182 of the third channel 1180 are arranged side by side in the circumferential direction R of the capsule endoscope 1000, i.e. the opening 1172 of the second channel 1170 and the opening 1182 of the third channel 1180 are arranged at the same position in the axial direction X of the capsule endoscope 1000, which not only makes the rear electric drive assembly 1300 and the capsule endoscope 1000 more compact in the axial direction X, effectively reducing the size of the rear electric drive assembly 1300 and the capsule endoscope 1000 in the axial direction X, but also enables the counter thrust generated in the second channel 1170 and the third channel 1180 to realize the controllability of the pitch angle, the yaw angle and the roll angle of the capsule endoscope 1000, which is conducive to alleviating 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-back movement and left-right rotation. Wherein, the direction of the connection line between 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, the circumferential direction R of the capsule endoscope 1000 is perpendicular to the axial direction X thereof, and the circumferential direction R of the capsule endoscope 1000 surrounds the axial direction X thereof.

[0078] Each electric drive unit is used to use the electrical 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 in the opposite direction of the flow 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 1310, and a third electric drive unit 1350. In the embodiment of the present application, the electric drive unit is implemented as a structure in which a motor drives a propeller.

[0079] like Figure 8 As shown, first electric drive unit 1210 includes a first motor 1212 and a first propeller 1214. First propeller 1214 is fixed to the output shaft of first motor 1212. First motor 1212 is used to drive first propeller 1214 to rotate using the power provided by battery 1910. Similarly, second electric drive unit 1310 includes a second motor 1312 and a second propeller 1314. Second propeller 1314 is fixed to the output shaft of second motor 1312. Second motor 1312 is used to drive second propeller 1314 to rotate using the power provided by battery 1910. Similarly, third electric drive unit 1350 includes a third motor 1352 and a third propeller 1354. Third propeller 1354 is fixed to the output shaft of third motor 1352. Third motor 1352 is used to drive third propeller 1354 to rotate using the power provided by battery 1910. Furthermore, the blades of the second propeller 1314 and the third propeller 1354 have the same shape but opposite rotation directions, so as to balance the counter-torque generated by the two propellers when the capsule endoscope 1000 is suspended in the liquid 210, reduce uncontrolled rotation, and enhance stability.

[0080] In other embodiments, each electric drive unit may adopt other drive structures for converting electrical energy into mechanical energy, which is not limited here.

[0081] The ducts provided in the capsule endoscope 1000 corresponding to the respective electric drive units are pipes, and at least a 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.

[0082] like Figures 3 to 5As shown, the second duct 1170 and the third duct 1180 are symmetrically arranged with respect to a longitudinal section 1008. That is, the opening 1172 of the second duct 1170 and the opening 1182 of the third duct 1180 are symmetrical with respect to the longitudinal section 1008, and the pipe portion between the two openings 1172 of the second duct 1170 and the pipe portion between the two openings 1182 of the third duct 1180 are also symmetrical with respect to the longitudinal section 1008. Therefore, the directions of the reverse thrusts generated by the second duct 1170 and the third duct 1180 are symmetrical with respect to the longitudinal section 1008, facilitating the formation of symmetrical reverse thrusts on both sides of the longitudinal section 1008, which is beneficial for posture control of the capsule endoscope 1000.

[0083] It is understandable that, in some other embodiments, the second duct 1170 and the third duct 1180 are not symmetrical about any longitudinal section.

[0084] In any horizontal plane 1007 passing through the capsule endoscope 1000 , the distance from the geometric center P1 of the first duct 1150 to the geometric center P2 of the second duct 1170 is equal to the distance from the geometric center P1 of the first duct 1150 to the geometric center P3 of the third duct 1180 .

[0085] like Figure 5 In the horizontal plane 1007 shown, the distance from the geometric center P1 to the geometric center P2 is equal to the distance from the geometric center P1 to the geometric center P3. Since the geometric center P2 and the geometric center P3 are symmetrical about the longitudinal section 1008, the three points of the geometric center P1, the geometric center P2 and the geometric center P3 form an isosceles triangle, which is convenient for generating symmetrical reverse thrust on both sides of the first duct 1150, which is beneficial to the posture control of the capsule endoscope 1000.

[0086] 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.

[0087] 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.

[0088] like Figure 3 and Figure 4As shown, the first duct 1150 has an inlet 1153 at the opening 1152 of the top 1004 of the capsule endoscope 1000 and an outlet 1154 at the opening 1152 of the bottom 1005 of the capsule endoscope 1000, and the first electric drive unit 1210 is configured to drive the liquid 210 in the external environment 200 to flow through the first duct 1150 in a direction from the inlet 1153 to the outlet 1154. Similarly, the second duct 1170 has an inlet 1173 at the opening 1172 of the top 1004 of the capsule endoscope 1000 and an outlet 1174 at the opening 1172 of the bottom 1005 of the capsule endoscope 1000, and the second electric drive unit 1310 is configured to drive the liquid 210 in the external environment 200 to flow through the second duct 1170 in a direction from the inlet 1173 to the outlet 1174. The third duct 1180 has an inlet 1183 at the opening 1182 of the top 1004 of the capsule endoscope 1000 and an outlet 1184 at the opening 1182 of the bottom 1005 of the capsule endoscope 1000, and the third electric drive unit 1350 is configured to drive the liquid 210 in the external environment 200 to flow through the third duct 1180 in a direction from the inlet 1183 to the outlet 1184. The inlet 1173 has the same shape and size as the inlet 1183, and the outlet 1174 has the same shape and size as the outlet 1184.

[0089] As shown, the first duct 1150 has an inlet 1153 at the opening 1152 of the top 1004 of the capsule endoscope 1000 and an outlet 1154 at the opening 1152 of the bottom 1005 of the capsule endoscope 1000, and the first electric drive unit 1210 is configured to drive the liquid 210 in the external environment 200 to flow through the first duct 1150 in a direction from the inlet 1153 to the outlet 1154. Similarly, the second duct 1170 has an inlet 1173 at the opening 1172 of the top 1004 of the capsule endoscope 1000 and an outlet 1174 at the opening 1172 of the bottom 1005 of the capsule endoscope 1000, and the second electric drive unit 1310 is configured to drive the liquid 210 in the external environment 200 to flow through the second duct 1170 in a direction from the inlet 1173 to the outlet 1174. The third duct 1180 has an inlet 1183 at the opening 1182 of the top 1004 of the capsule endoscope 1000 and an outlet 1184 at the opening 1182 of the bottom 1005 of the capsule endoscope 1000, and the third electric drive unit 1350 is configured to drive the liquid 210 in the external environment 200 to flow through the third duct 1180 in a direction from the inlet 1183 to the outlet 1184. The inlet 1173 has the same shape and size as the inlet 1183, and the outlet 1174 has the same shape and size as the outlet 1184. Figure 3 Figure 4 As shown, the first duct 1150 has an inlet 1153 at the opening 1152 of the top 1004 of the capsule endoscope 1000 and an outlet 1154 at the opening 1152 of the bottom 1005 of the capsule endoscope 1000, and the first electric drive unit 1210 is configured to drive the liquid 210 in the external environment 200 to flow through the first duct 1150 in a direction from the inlet 1153 to the outlet 1154. Similarly, the second duct 1170 has an inlet 1173 at the opening 1172 of the top 1004 of the capsule endoscope 1000 and an outlet 1174 at the opening 1172 of the bottom 1005 of the capsule endoscope 1000, and the second electric drive unit 1310 is configured to drive the liquid 210 in the external environment 200 to flow through the second duct 1170 in a direction from the inlet 1173 to the outlet 1174. The third duct 1180 has an inlet 1183 at the opening 1182 of the top 1004 of the capsule endoscope 1000 and an outlet 1184 at the opening 1182 of the bottom 1005 of the capsule endoscope 1000, and the third electric drive unit 1350 is configured to drive the liquid 210 in the external environment 200 to flow through the third duct 1180 in a direction from the inlet 1183 to the outlet 1184. The inlet 1173 has the same shape and size as the inlet 1183, and the outlet 1174 has the same shape and size as the outlet 1184.

[0090] As shown, the first duct 1150 has an inlet 1153 at the opening 1152 of the top 1004 of the capsule endoscope 1000 and an outlet 1154 at the opening 1152 of the bottom 1005 of the capsule endoscope 1000, and the first electric drive unit 1210 is configured to drive the liquid 210 in the external environment 200 to flow through the first duct 1150 in a direction from the inlet 1153 to the outlet 1154. Similarly, the second duct 1170 has an inlet 1173 at the opening 1172 of the top 1004 of the capsule endoscope 1000 and an outlet 1174 at the opening 1172 of the bottom 1005 of the capsule endoscope 1000, and the second electric drive unit 1310 is configured to drive the liquid 210 in the external environment 200 to flow through the second duct 1170 in a direction from the inlet 1173 to the outlet 1174. The third duct 1180 has an inlet 1183 at the opening 1182 of the top 1004 of the capsule endoscope 1000 and an outlet 1184 at the opening 1182 of the bottom 1005 of the capsule endoscope 1000, and the third electric drive unit 1350 is configured to drive the liquid 210 in the external environment 200 to flow through the third duct 1180 in a direction from the inlet 1183 to the outlet 1184. The inlet 1173 has the same shape and size as the inlet 1183, and the outlet 1174 has the same shape and size as the outlet 1184.

[0091] ​In each duct corresponding to each electric drive unit in the rear electric drive assembly 1300, in the direction parallel to the axial direction X, the size of the inlet is M1, and the size of the outlet is M2. 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, and M4<0.8*M3.

[0092] Specifically, in the direction parallel to the axial direction X, the size of the inlet 1173 of the second 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 second duct 1170 is M3, and the size of the outlet 1174 is M4, where M4<0.8*M3, and the size of the outlet 1174 is significantly smaller than that of the inlet 1173. Similarly, the inlet 1183 and the outlet 1184 of the third duct 1180 have the same size limitation in the axial direction X and the circumferential direction R.

[0093] In the circumferential direction R, the sizes M4 of the outlets 1174 and 1184 are significantly smaller than the sizes M3 of the inlets 1173 and 1183, respectively, which facilitates the outlets 1174 and 1184 to achieve a larger interval in the circumferential direction R, thereby providing a torque, so that the second duct 1170 and the third duct 1180 have better control capabilities of the roll angle and the yaw angle.

[0094] Preferably, in each duct corresponding to each electric drive unit in the rear electric drive assembly 1300, the inlet is circular, and the outlet extends in an elongated shape between the head end 1001 and the tail end 1002. Specifically, in the second duct 1170, the inlet 1173 is a circular hole slightly larger than the diameter of the second propeller 1314, and the outlet 1174 is in an elongated shape with a long axis and a short axis, the long axis extending between the head end 1001 and the tail end 1002, and the inner wall of the second duct 1170 is smoothly transitioned. Similarly, in the third duct 1180, the inlet 1183 is a circular hole slightly larger than the diameter of the third propeller 1354, and the outlet 1184 is in an elongated shape with a long axis and a short axis, the long axis extending between the head end 1001 and the tail end 1002, and the inner wall of the third duct 1180 is smoothly transitioned. In the present embodiment, the outlets 1174 and 1184 are both in a capsule shape (or runway type), with the long axis direction towards the head end 1001 and the tail end 1002, and preferably, the long axis direction is parallel to the axial direction X. The design of the elongated outlets 1174 and 1184 can reduce the turbulence and vortex of the liquid 210, reduce energy loss, and improve propulsion efficiency.

[0095] In the present embodiment, 0.8mm≤M4≤2mm, which facilitates to provide a better reverse thrust.

[0096] In this embodiment, the second distance L2 is greater than the first distance L1, the area and shape of the outlet 1174 are different from those of the inlet 1173, the area and shape of the outlet 1184 are different from those of the inlet 1183, and the second duct 1170 and the third duct 1180 are both curved tubes. In other embodiments, the second distance L2 can be equal to the first distance L1, the area and shape of the outlet 1174 can be the same as those of the inlet 1173, the area and shape of the outlet 1184 can be the same as those of the inlet 1183, and the second duct 1170 and the third duct 1180 can be straight tubes.

[0097] As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100. Figure 2 、 Figure 5 As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100. Figure 8 The housing 1100 is in the shape of a capsule and has smooth two ends. In the direction from the head end 1001 to the tail end 1002, the housing 1100 includes, in sequence, a transparent cover 1120, a front shell 1140, a rear shell 1160, and an end cap 1190, which are assembled in sequence to enclose the receiving space H. The transparent cover 1120 is disposed at the head end 1001 and is at least partially transparent so that the lens 1920 can capture image information of the external environment 200.

[0098] As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100.

[0099] Figure 6A As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100. Figure 6B Figure 8 As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100.

[0100] As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100. Figure 6A Figure 6B As shown in FIG. 1, the capsule endoscope 1000 includes a housing 1100, and the battery 1910, the lens 1920, the front electric drive assembly 1200, the rear electric drive assembly 1300, and other components of the capsule endoscope 1000 are disposed in a receiving space H enclosed by the housing 1100.

[0101] ​​​In each of the electric drive units, the propeller is disposed adjacent to the top 1004 relative to the motor to facilitate generating counter-thrust force to pull the capsule endoscope 1000 for attitude adjustment, so as to stabilize the capsule endoscope 1000 during movement. Specifically, the first propeller 1214 is disposed adjacent to the top 1004 relative to the first motor 1212. In this embodiment, the front shell 1140 further comprises a cowling 1144 covering the inlet 1153, the cowling 1144 is formed with through holes penetrating through the thickness thereof, so as to facilitate the liquid 210 flowing into the first duct 1150, and to prevent the first propeller 1214 from scratching tissues, foreign matter from being sucked in, and reducing turbulent disturbance, etc. Specifically, the cowling 1144 is formed with three through holes having the same shape and size, and the three through holes are uniformly distributed in the circumferential direction of the cowling 1144.

[0102] As shown in Figure 7 As shown in Figure 8 The rear shell 1160 comprises an outer shell 1162, a second duct 1170 and a third duct 1180, the outer shell 1162 is annular and exposed on the surface of the capsule endoscope 1000, the second duct 1170 and the third duct 1180 are disposed inside the outer shell 1162, and the inlets 1173 and 1183 and the outlets 1174 and 1184 of the second duct 1170 and the third duct 1180 are exposed on the surface of the outer shell 1162.

[0103] The second duct 1170 and the third duct 1180 are independently disposed in the left and right of the rear shell 1160, and the second motor 1312 and the third motor 1352 can respectively drive the second propeller 1314 and the third propeller 1354 to rotate, so as to form two water columns in the liquid 210, and the counter-thrust force of the two 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.

[0104] As shown in Figure 7 The second duct 1170 and the third duct 1180 each comprise an inlet section and an outlet section connected with 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 disposed in the inlet section, the second duct and the third duct are each formed with a fixing hole between the inlet section and the outlet section, the second motor 1312 and the third motor 1352 are respectively fixed and sealed in the corresponding fixing holes, and 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 disposed 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 disposed adjacent to the bottom 1005 relative to the opening of the corresponding outlet section connected therewith.

[0105] The second 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 second duct 1170, one end of the outlet section 1176 forms an outlet 1174 of the second duct 1170, the second propeller 1314 is arranged in the inlet section 1175, the second duct 1170 forms a fixing hole 1177 between the inlet section 1175 and the outlet section 1176, and the second motor 1312 of the second electric drive unit 1310 is fixed and sealed in the fixing hole 1177.

[0106] The third 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 third duct 1180, the outlet section 1186 forms an outlet 1184 of the third duct 1180, the third propeller 1354 is arranged in the inlet section 1185, and the third duct 1180 forms a fixing hole 1187 between the inlet section 1185 and the outlet section 1186, and the third motor 1352 of the third electric drive unit 1350 is fixed and sealed in the fixing hole 1187.

[0107] 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. The second motor 1312 and the third motor 1352 are respectively fixed in the fixing hole 1177 and the fixing hole 1187 in an inverted V-shaped layout, so as to avoid the end of the second motor 1312 and the third motor 1352 protruding from the surface of the shell 1100, facilitate the electrical connection to the circuit board 1700, realize the transmission of electrical signals, and ensure 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, which is beneficial to flexible steering and attitude adjustment.

[0108] 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 second motor 1312 and the third 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.

[0109] As shown in Figure 2 , Figure 6A and Figure 8 , the capsule endoscope 1000 includes sensors, motor drives, a circuit board 1700, an antenna 1800, and a control unit arranged in the accommodation space H, wherein the circuit board 1700 is used to carry lenses 1920, sensors, motor drives, control units and other devices, and the circuit board 1700 is electrically connected with the battery 1910, the antenna 1800 and each electric drive unit to ensure power supply and signal transmission.

[0110] 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 a lens 1920 on the side surface of the head end 1001, and 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, and the other end of the second circuit board 1720 extends to 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, the utilization rate of the accommodation space H is improved, the space pressure of the capsule endoscope 1000 is effectively reduced, and the miniaturization design of the capsule endoscope 1000 is facilitated.

[0111] 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.

[0112] As shown in Figure 6A With Figure 8 As 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, and the other end of the third circuit board 1730 extends to 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, and the third circuit board 1730 and the second circuit board 1720 are respectively arranged on the two sides of the front electric drive assembly 1200, which further improves the utilization rate of the accommodation space H, effectively reduces the space pressure of the capsule endoscope 1000, and facilitates 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.

[0113] Please refer to Figure 8 Referring to Figure 9 , the substrate of the first circuit board 1710 is made of a soft and hard combination board or a FPC (flexible printed circuit board) plus a local reinforcing plate, and a plurality of illumination units 1930 are arranged on the surface of the first circuit board 1710 around the lens 1920. The illumination units 1930 can be LEDs. The lens 1920 is arranged along the axial direction X, and the light entrance surface thereof faces outwardly opposite the transparent cover 1120. The illumination units 1930 are usually multiple, and are arranged on the surface of the first circuit board 1710 around the axial direction X.

[0114] The capsule endoscope 1000 comprises a light shielding cylinder 1500, which is in a cylindrical shape, one end of which is open and extends between the lens 1920 and the illumination unit 1930, and the other end of which is open and extends to the inner wall of the transparent cover 1120 at the head end 1001, so as to shield the light incident on the lens 1920 from the radial outside of the light shielding cylinder 1500.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] like Figure 8 and Figure 9 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] The control unit is disposed on the surface of the circuit board 1700, and can be a micro control unit (MCU), an application specific integrated circuit (ASIC), a system on chip (SoC), or the like.

[0123] 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 thrust.

[0124] Specifically, the control unit adjusts the pitch angle of the capsule endoscope 1000 by controlling the thrust of each electric drive unit in the front electric drive assembly 1200 and the rear electric drive assembly 1300.

[0125] The control unit adjusts the roll angle and the yaw angle of the capsule endoscope 1000 by controlling the thrust of the second electric drive unit 1310 and the third electric drive unit 1350 in the rear electric drive assembly 1300.

[0126] The application also provides a control method of a capsule endoscope 1000, for controlling the capsule endoscope 1000, the control method comprising:

[0127] 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 thrust.

[0128] Specifically, the control method comprises:

[0129] The control unit adjusts the pitch angle of the capsule endoscope 1000 by controlling the thrust of each electric drive unit in the front electric drive assembly 1200 and the rear electric drive assembly 1300.

[0130] The control unit adjusts the roll angle and the yaw angle of the capsule endoscope 1000 by controlling the thrust of the second electric drive unit 1310 and the third electric drive unit 1350 in the rear electric drive assembly 1300.

[0131] Please refer to Figure 10 and Figure 11 , the front electric drive assembly 1200 and the rear electric drive assembly 1300 provide thrust and thrust respectively by the propellers thereof to discharge the liquid 210 downward The closed volume formed by the capsule endoscope 1000 generates a buoyancy in the liquid 210, which is equal in size to the weight of the liquid 210 displaced by the capsule endoscope 1000, acting on the center of buoyancy F. The thrust The thrust and the buoyancy have a vector force arm to the center of gravity M of the capsule endoscope 1000, respectively, which is the force arm the force arm

[0132] In a stable suspension state, the reverse thrust reverse thrust and buoyancy The net force is equal to the gravity acting on the capsule endoscope 1000 Due to structural and process limitations, the center of buoyancy F and the center of gravity M cannot completely overlap. To keep the capsule endoscope 1000 horizontal, the resultant moment of the capsule endoscope 1000 must be 0. Therefore, stable suspension must satisfy the following equations:

[0133]

[0134] like Figure 12 As shown, reverse thrust The reverse thrust provided by the two ducts in the rear electric drive assembly 1300 and reverse thrust The combined force, therefore reverse thrust and reverse thrust The vector force arms from the point of action to the center of gravity M of the capsule endoscope 1000 are respectively Lever

[0135] When controlling the capsule endoscope 1000 to move up and down in the liquid, under the premise of keeping the resultant torque at 0, if the reverse thrust reverse thrust The net force is slightly greater than gravity and buoyancy If the difference is greater than , it will float upwards. reverse thrust The net force is slightly smaller than gravity and buoyancy The difference is sinking.

[0136] That is, the pitch angle of the capsule endoscope 1000 is adjusted by controlling the reverse thrust of each electric drive unit in the front electric drive assembly 1200 and the rear electric drive assembly 1300. Figure 11 As shown, when the capsule endoscope 1000 is controlled to move forward and backward, a pitch angle α is formed between the axial direction X of the capsule endoscope 1000 and the horizontal direction 231 in the external environment 200, and the reverse thrust and reverse thrust Vertical component and buoyancy The net force balances gravity Through reverse thrust and reverse thrust The horizontal component of force acts as the driving force for forward or backward movement. In this process, the resultant torque of all forces remains zero. Therefore, the following equations must be satisfied:

[0137]

[0138] The relationship between the driving force of its forward and backward movement and the pitch angle a is:

[0139] F x = F1sin a + F' sin a

[0140] Please refer to Figure 13 and Figure 14 , the yaw angle of the capsule endoscope 1000 is controlled, that is, the capsule endoscope 1000 is controlled to turn left and right in the horizontal direction 231 of the external environment 200, by controlling the thrust ratio of the and the thrust force, such as increasing the thrust force while reducing the thrust force, the resultant force (thrust force ) of the thrust force and the thrust force will deflect by a certain angle in the clockwise direction along the cross section shown in Figure 13 , and the moment generated thereby causes the roll angle β of the capsule endoscope 1000 to rotate by a corresponding angle in the counterclockwise direction C to achieve a new equilibrium state, thereby achieving adjustment of the yaw angle of the capsule endoscope 1000. In this state, the resultant force of the capsule endoscope 1000 in the vertical direction (the direction of the gravitational force ) in the external environment 200 is 0, the resultant moment in a cross section (a plane perpendicular to the axial direction X) is 0, and the projection of the buoyancy and its force arm on the cross section are and respectively. Therefore, the following equation set needs to be satisfied:

[0141]

[0142] Where δ2 is the angle between the thrust force and the vertical direction in the external environment 200, and δ3 is the angle between the thrust force and the vertical direction in the external environment 200.

[0143] Please refer to Figure 15 , in the process of adjusting the roll angle β, the horizontal components of the thrust force and the thrust force are the components F y and F' y respectively, and the force arms of the two components to the center of gravity M are the force arm L a and the force arm L b , then the steering torque for adjusting the yaw angle of the capsule endoscope 1000 is Fy L a +F′ y L b .

[0144] That is, by controlling the counter-thrust of the second electric drive unit 1310 and the third electric drive unit 1350 in the rear electric drive assembly 1300, the roll angle and the yaw angle of the capsule endoscope 1000 are adjusted.

[0145] Inspection procedure:

[0146] Before the capsule gastroscopy is performed, the subject needs to follow the doctor's advice to prepare the stomach well, such as keeping empty stomach, taking certain defoaming agent to reduce the mucus and bubbles in the stomach, and drinking enough water to fill the stomach cavity and reduce the folds. The self-driven capsule endoscope 1000 is activated to enter the working mode, and is sent with water to enter the stomach cavity.

[0147] The subject first adopts a standing body position, and the medical staff 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. by controlling the self-driven capsule endoscope 1000 to perform a spiral ascending scanning motion. Subsequently, the subject switches to a supine body 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 interested parts or suspected lesions, the medical staff can control the capsule endoscope 1000 to move to the vicinity of the target for further detailed observation.

[0148] Therefore, the subject can complete the gastroscopy by only switching between the standing and supine body positions. Alternatively, the subject can choose to adopt the supine and lateral body positions, and the procedure is similar to the above, which will not be described in detail.

[0149] After the gastroscopy is completed, the capsule endoscope 1000 enters the intestinal tract through the pylorus. Depending on the functional design and the remaining power of the capsule endoscope system 100, the capsule endoscope 1000 can also further perform an inspection of the intestinal tract and finally be discharged from the anus.

[0150] The above describes the optional embodiments of the embodiments of the present application in detail in combination with the drawings, but the embodiments of the present application are not limited to the specific details in the above 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.

[0151] In addition, it should be noted that various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the embodiments of the present application.

[0152] Furthermore, the various embodiments of the present application can be combined, where appropriate, to yield further embodiments of the present application. As such, the above description should not be construed as limiting, but merely exemplary. Those skilled in the art will envision other modifications that are within the scope 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 at least one electric drive unit, the capsule endoscope is provided with a corresponding duct 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 the external environment to flow through the corresponding duct by using the electric energy provided by the battery, so as to generate a corresponding reaction force and adjust the posture and position of the capsule endoscope. The front electric drive assembly comprises a first electric drive unit, the rear electric drive assembly comprises a second electric drive unit and a third electric drive unit arranged oppositely, the corresponding ducts of the first electric drive unit, the second electric drive unit and the third electric drive unit are a first duct, a second duct and a third duct respectively, the openings of the second duct and the third duct are arranged side by side in the circumferential direction of the capsule endoscope. 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 comprises a plurality of longitudinal sections, and the axial direction is located in a plurality of longitudinal sections. The second duct and the third duct are symmetrically arranged about a longitudinal section. In any horizontal plane passing through the capsule endoscope, the distance between the geometric center of the first duct and the geometric center of the second duct is equal to the distance between the geometric center of the first duct and the geometric center of the third duct. 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 the inlets of the corresponding ducts, and the openings of the plurality of ducts at the bottom of the capsule endoscope are the outlets of the corresponding ducts. Each electric drive unit is used to drive liquid in the 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 second duct and the inlet of the third duct is a first distance. The distance between the outlet of the second duct and the outlet of the third duct is a second distance. The second distance is greater than the first distance.

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

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 Each electric drive unit comprises a motor and a propeller, the propeller is fixed to the output shaft of the corresponding motor. The second and third ducts each comprise 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, the second and third ducts each form a fixing hole between the inlet section and the outlet section, the motor of the second electric drive unit and the motor of the third electric drive unit are fixed and sealed in the corresponding fixing hole respectively, and the two fixing holes are closer to each other away from the opening of the corresponding outlet section.

7. The capsule endoscope of claim 6, wherein The included angle between the extension directions of the two fixing holes is 8°-16°.

8. The capsule endoscope of any one of claims 1-5, wherein, The capsule endoscope comprises a shell, the lens, the front electric drive assembly and the rear electric drive assembly are arranged in the accommodation space surrounded by the shell, the capsule endoscope comprises a first circuit board and a second circuit board arranged in the accommodation 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 the gap between the front electric drive assembly and the shell.

9. 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.

10. The capsule endoscope of claim 9, wherein, The capsule endoscope comprises a shell and an antenna, the antenna, the lens, the front electric drive assembly and the rear electric drive assembly are arranged in the accommodation space surrounded by the shell, The antenna is arranged in the 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.

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

12. The capsule endoscope of any one of claims 1-5, wherein, The control unit controls the flow rate of the liquid discharged from the corresponding duct by the electric drive unit to generate a corresponding thrust.

13. The capsule endoscope of claim 12, wherein The control unit adjusts the pitch angle of the capsule endoscope by controlling the thrust of each electric drive unit in the front electric drive assembly and the rear electric drive assembly; The control unit adjusts the roll angle and the yaw angle of the capsule endoscope by controlling the thrust of the second electric drive unit and the third electric drive unit in the rear electric drive assembly.

14. A capsule endoscope system characterized by comprising: A client and the capsule endoscope of any one of claims 1-13, the client is used to receive and display the image taken by the lens.

15. A control method of a capsule endoscope, characterized by, A control method for controlling the capsule endoscope of any one of claims 1-13, the control method comprises: The flow rate of the liquid discharged from the corresponding ducts into the external environment by each of the electric drive units is controlled by the output voltage, so that each of the electric drive units generates a corresponding thrust.

16. The control method according to claim 15, characterized by Comprising: The pitch angle of the capsule endoscope is adjusted by controlling the thrust of each of the electric drive units in the front electric drive assembly and the rear electric drive assembly. The roll angle and the yaw angle of the capsule endoscope are adjusted by controlling the thrust of the second electric drive unit and the third electric drive unit in the rear electric drive assembly.

Images