Capsule endoscope, system, control method and storage medium

Abstract

The invention provides a capsule endoscope, a system, a control method and a storage medium, the capsule endoscope comprises a shell, a battery arranged in the shell and a plurality of independent controllable electric drive units at least partially arranged in the shell, the capsule endoscope is provided with corresponding channels corresponding to the electric drive units, and the channels are communicated with the battery. At least part of the electric drive unit is contained in the corresponding channel, openings of the channels are exposed out of the surface of the shell, and under the condition that the capsule endoscope is placed in a liquid environment, at least one electric drive unit can utilize electric energy provided by the battery to drive liquid in the liquid environment to flow through the corresponding channel. According to the capsule endoscope, the multiple electric drive units used for driving the liquid to flow through the corresponding channels are arranged, the traditional mode that the capsule endoscope is driven through magnetic force is replaced, and therefore the capsule endoscope can be suitable for patients implanted in vivo or carrying active and magnetic implants, safety is higher, and applicability is wider.

Description

Technical Field

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

[0002] All capsule endoscopy systems currently available on the market are based on magnetic control technology. Structurally, a magnetic control capsule endoscopy system consists of two components: a capsule endoscope equipped with a small magnet for entry into a living organism, and a larger magnet outside the organism. Leveraging the principle of attraction between opposite magnetic poles, the large magnet outside the body moves the small magnet inside the capsule endoscope, thereby changing the position and posture of the capsule endoscope. This allows the image acquisition module inside the capsule endoscope to capture images from various angles and distances within the organism and transmit them outside the organism for analysis and diagnosis.

[0003] However, the applicability of existing magnetically controlled capsule endoscopy systems is limited, mainly due to the following reasons.

[0004] First, in existing magnetically controlled capsule endoscopy systems, the large magnets require complex robotic arms to achieve rotational and translational motions. These typically bulky and expensive robotic arms contribute to the high cost of existing magnetically controlled capsule endoscopy systems, placing a significant burden on medical institutions.

[0005] Secondly, the large magnets in existing magnetically controlled capsule endoscope systems have very strong magnetism. If used improperly, they may attract large pieces of magnetic metal materials and cause injuries such as pinching and collision to the human body, thus having poor safety.

[0006] Finally, the existing magnetically controlled capsule endoscopy system is not suitable for patients who have active or magnetic implants installed or carried in their bodies, such as pacemakers, implanted drug infusion devices, neurostimulators, hearing aids, cochlear implants, etc. For patients who have active or magnetic implants implanted or carried in their bodies, using a capsule endoscope with a built-in small magnet, metal or magnetic materials are easily attracted by the small magnet, causing the risk of the capsule endoscope being retained in the body. In addition, the strong magnetism of the large external magnet may produce a very strong suction force on the metal or magnetic materials implanted or carried in the body, and there is also a risk of harm to the human body. Summary of the Invention

[0007] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present application provides a capsule endoscope, a capsule endoscope system, a control method of a capsule endoscope, and a computer-readable storage medium.

[0008] In a first aspect, the present application provides a capsule endoscope, comprising a shell, a battery disposed in the shell, and a plurality of independently controllable electric drive units at least partially disposed in the shell, wherein the capsule endoscope is provided with a corresponding channel corresponding to each of the electric drive units, the electric drive unit being at least partially accommodated in the corresponding channel, and the openings of the channels being exposed on the surface of the shell. When the capsule endoscope is placed in a liquid environment, at least one of the electric drive units can utilize the electric energy provided by the battery to drive the liquid in the liquid environment to flow through the corresponding channel.

[0009] Furthermore, the housing includes two ends and a side wall connected between the two ends, one of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged;

[0010] The capsule endoscope is placed in the liquid environment, and under the action of gravity and buoyancy, the top portion has a tendency to automatically flip toward the top side of the liquid environment, and the bottom portion has a tendency to automatically flip toward the bottom side of the liquid environment;

[0011] Definition: the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, the direction perpendicular to the X-axis and the Z-axis is the Y-axis, the X-axis and the Y-axis determine the horizontal plane of the capsule endoscope, the X-axis and the Z-axis determine the longitudinal section of the capsule endoscope, and a Y-axis and a Z-axis passing through the same position of the X-axis determine a cross-section of the capsule endoscope.

[0012] Furthermore, the center of gravity of the capsule endoscope is set between the horizontal plane and the bottom.

[0013] Furthermore, the average density of the capsule endoscope is greater than that of water, the multiple electric drive units include at least one Z-axis electric drive unit, the channel of the capsule endoscope corresponding to the at least one Z-axis electric drive unit is a Z-axis channel, the Z-axis electric drive unit is at least partially accommodated in the corresponding Z-axis channel, the Z-axis channel includes an inlet and an outlet, the inlet is arranged at the top of the capsule endoscope, and the outlet is arranged at the bottom of the capsule endoscope, and the Z-axis electric drive unit is used to drive the liquid to flow through the corresponding Z-axis channel along the direction from the inlet to the outlet.

[0014] Furthermore, the battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

[0015] Furthermore, the battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

[0016] Furthermore, the battery is arranged adjacent to the Z-axis electric drive unit.

[0017] Furthermore, the multiple electric drive units include two Z-axis electric drive units, the battery clamp is arranged between the two Z-axis electric drive units, and the battery clamp is arranged between two Z-axis channels corresponding to the two Z-axis electric drive units.

[0018] Furthermore, the two Z-axis electric drive units and the battery are arranged along the X-axis, and the two Z-axis channels and the battery are arranged along the X-axis.

[0019] Furthermore, the two Z-axis channels are arranged along the longitudinal section and are symmetrical about one of the cross sections.

[0020] Furthermore, the extension directions of the two Z-axis channels are parallel to each other and perpendicular to the horizontal plane; or

[0021] The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, and the distance between the inlets of the two Z-axis channels is the Z-axis inlet distance. The Z-axis outlet distance is greater than the Z-axis inlet distance.

[0022] Furthermore, the multiple electric drive units include a Y-axis electric drive unit, and the channel of the capsule endoscope corresponding to the Y-axis electric drive unit is the Y-axis channel. The Y-axis electric drive unit is at least partially accommodated in the Y-axis channel. The extension direction of the Y-axis channel is parallel to the Y-axis. On the X-axis, the Y-axis channel is arranged between the center position of the capsule endoscope and the tail end.

[0023] Furthermore, the Y-axis channel is arranged between the Z-axis channel and the tail end.

[0024] Furthermore, on the Z-axis, the Y-axis channel is arranged at the center position of the capsule endoscope, or between the center position and the bottom.

[0025] Furthermore, the plurality of electric drive units include two X-axis electric drive units, the capsule endoscope is provided with an X-axis channel corresponding to each of the X-axis electric drive units, and each of the X-axis electric drive units is at least partially accommodated in the corresponding X-axis channel;

[0026] Each of the X-axis channels forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

[0027] Furthermore, on the Z-axis, the two X-axis channels are arranged at the center position of the capsule endoscope, or between the center position and the bottom.

[0028] Furthermore, the plurality of electric drive units include two Z-axis electric drive units, and the Z-axis channels corresponding to the two Z-axis electric drive units are symmetrical about the longitudinal cross-sectional plane.

[0029] Furthermore, the distance between the outlets of the two Z-axis electric drive units corresponding to the Z-axis channels is the Z-axis outlet distance.

[0030] The distance between the entrances of the two Z-axis electric drive units corresponding to the Z-axis channels is the Z-axis entrance distance.

[0031] The Z-axis outlet spacing is greater than the Z-axis inlet spacing.

[0032] Furthermore, the plurality of electric drive units include an X-axis electric drive unit, the capsule endoscope is provided with an X-axis channel corresponding to the X-axis electric drive unit, and the X-axis electric drive unit is at least partially accommodated in the X-axis channel;

[0033] The X-axis channel forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

[0034] Furthermore, the shell is a hollow structure and encloses an accommodating space, and other components of the capsule endoscope except the multiple electric drive units are accommodated in the accommodating space, and the accommodating space and the channels corresponding to the multiple electric drive units are isolated from each other; and / or

[0035] The housing forms the channel.

[0036] Furthermore, at least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

[0037] Furthermore, the capsule endoscope comprises:

[0038] an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0039] a control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; and

[0040] The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0041] A second aspect of the present application provides a capsule endoscope system, comprising a client and the capsule endoscope as described above, wherein the client is configured to receive user instructions and transmit the user instructions to the capsule endoscope.

[0042] A third aspect of the present application provides a method for controlling a capsule endoscope, which is used to control the capsule endoscope as described above, comprising the following steps:

[0043] collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0044] Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; and

[0045] The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0046] Furthermore, the housing includes two ends and a side wall connected between the two ends, one of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged;

[0047] It is defined that the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, the direction perpendicular to the X-axis and the Z-axis is the Y-axis, and the X-axis and the Y-axis determine the horizontal plane of the capsule endoscope;

[0048] The multiple electric drive units include two Z-axis electric drive units and one Y-axis electric drive unit. The capsule endoscope is respectively provided with a Z-axis channel corresponding to the two Z-axis electric drive units, and the capsule endoscope is provided with a Y-axis channel corresponding to the Y-axis electric drive unit; the Z-axis channel includes openings arranged at the top and the bottom, the extension direction of the Y-axis channel is parallel to the Y-axis, and on the X-axis, the Y-axis channel axis is arranged between the center position and the tail end.

[0049] Furthermore, the average density of the capsule endoscope is greater than that of water, the opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel, and the Z-axis electric drive unit is used to drive the liquid to flow through the corresponding Z-axis channel in the direction from the inlet to the outlet.

[0050] Furthermore, the battery is clamped between the two Z-axis electric drive units, and the battery is clamped between the two Z-axis channels corresponding to the two Z-axis electric drive units.

[0051] Furthermore, the two Z-axis electric drive units and the battery are arranged along the X-axis, and the two Z-axis channels and the battery are arranged along the X-axis.

[0052] Furthermore, the X-axis and the Z-axis determine the longitudinal section of the capsule endoscope, and the Y-axis and the Z-axis passing through the same position of the X-axis determine a cross-section of the capsule endoscope; the two Z-axis channels are arranged along the longitudinal section and are symmetrical about the cross-section.

[0053] Furthermore, the extension directions of the two Z-axis channels are parallel to each other and perpendicular to the horizontal plane; or

[0054] The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, and the distance between the inlets of the two Z-axis channels is the Z-axis inlet distance. The Z-axis outlet distance is greater than the Z-axis inlet distance.

[0055] Furthermore, the Y-axis channel is arranged between the Z-axis channel and the tail end.

[0056] Furthermore, on the Z-axis, the Y-axis channel is arranged at the center position of the capsule endoscope, or between the center position and the bottom.

[0057] Furthermore, at least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

[0058] Furthermore, when the capsule endoscope is placed in the liquid environment, under the action of gravity and buoyancy, the top has a tendency to automatically flip toward the top side in the liquid environment, and the bottom has a tendency to automatically flip toward the bottom side in the liquid environment.

[0059] Furthermore, the center of gravity of the capsule endoscope is set between the horizontal plane and the bottom.

[0060] Furthermore, the average density of the capsule endoscope is greater than that of water, the opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel, and the Z-axis electric drive unit is used to drive the liquid to flow through the Z-axis channel in a direction from the inlet to the outlet.

[0061] Furthermore, the battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

[0062] Furthermore, the battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

[0063] Furthermore, the capsule endoscope includes an antenna disposed inside the shell, and on the X-axis, the antenna is disposed between the battery and the tail end.

[0064] Furthermore, at least one of the electric drive units and its corresponding channel are arranged between the battery and the tail end, and on the X-axis, at least one of the channels that coincides with the antenna setting position is a channel to be avoided; the antenna is sheet-shaped and is arranged against the inner surface of the side wall of the shell in the circumferential direction of the capsule endoscope, and the antenna is formed with at least one avoidance groove, which is used for the channel to be avoided to pass through.

[0065] Furthermore, the battery and the antenna are spaced apart on the X-axis; and / or

[0066] The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

[0067] Furthermore, the capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on the surface of the first circuit board, the lighting unit being arranged around the lens, the shell including a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover;

[0068] The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

[0069] Furthermore, the shading member and the transparent cover are an integrated structure, one end of the shading member is connected to the transparent cover, and the other end of the shading member extends toward the direction of the lens; or

[0070] The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

[0071] Furthermore, the shading element is cylindrical or trumpet-shaped; and / or

[0072] The shading element includes at least one of a shading material, a reflective material and a filter material.

[0073] Furthermore, the transparent cover includes a main body and a light-passing sheet that are interconnected, the main body is annular and surrounds a light-passing hole, one end of the light-shielding member extends to the periphery of the light-passing hole, and a step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

[0074] Furthermore, the capsule endoscope comprises:

[0075] an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0076] a control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; and

[0077] The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0078] Furthermore, the driving instruction output by the control unit includes an instruction for adjusting the pitch angle;

[0079] The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the two Z-axis electric drive units, adjust the flow rate of the liquid driven by the two Z-axis electric drive units to flow through the corresponding Z-axis channels, and then adjust the pitch angle of the capsule endoscope.

[0080] Furthermore, the driving instruction output by the control unit includes an instruction for adjusting the yaw angle;

[0081] The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the Y-axis electric drive unit, adjust the direction and / or flow rate of the liquid driven by the Y-axis electric drive unit to flow through the corresponding Y-axis channel, and thereby adjust the yaw angle of the capsule endoscope.

[0082] A fourth aspect of the present application provides a capsule endoscope system, comprising a client and the capsule endoscope as described above, wherein the client is configured to receive user instructions and transmit the user instructions to the capsule endoscope.

[0083] A fifth aspect of the present application provides a method for controlling a capsule endoscope, which is used to control the capsule endoscope as described above, comprising the following steps:

[0084] collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0085] Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; and

[0086] The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0087] Furthermore, the output drive instruction includes an instruction for adjusting the pitch angle;

[0088] The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0089] The pitch angle adjustment instruction is converted into the driving signal and transmitted to the two Z-axis electric drive units, and the flow rate of the liquid driven by the two Z-axis electric drive units through the corresponding Z-axis channels is adjusted, thereby adjusting the pitch angle of the capsule endoscope.

[0090] Furthermore, the output drive instruction includes an instruction for adjusting the yaw angle;

[0091] The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0092] The yaw angle adjustment instruction is converted into the drive signal and transmitted to the Y-axis electric drive unit, and the Y-axis electric drive unit is adjusted to drive the direction and / or flow rate of the liquid flowing through the corresponding Y-axis channel, thereby adjusting the yaw angle of the capsule endoscope.

[0093] Furthermore, the housing includes two ends and a side wall connected between the two ends, one of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged;

[0094] Definition: The direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, and the direction perpendicular to the X-axis and the Z-axis is the Y-axis. The X-axis and the Y-axis define a horizontal plane of the capsule endoscope, the X-axis and the Z-axis define a longitudinal section of the capsule endoscope, and a Y-axis and a Z-axis passing through the same position as the X-axis define a cross-section of the capsule endoscope;

[0095] The multiple electric drive units include two Z-axis electric drive units and two X-axis electric drive units. The capsule endoscope is respectively provided with a Z-axis channel corresponding to the two Z-axis electric drive units, and the capsule endoscope is respectively provided with an X-axis channel corresponding to the two X-axis electric drive units; the Z-axis channel includes openings arranged at the top and the bottom, each of the X-axis channels forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

[0096] Furthermore, the average density of the capsule endoscope is greater than that of water, the opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel, and the Z-axis electric drive unit is used to drive the liquid to flow through the corresponding Z-axis channel in the direction from the inlet to the outlet.

[0097] Furthermore, the battery is clamped between the two Z-axis electric drive units, and the battery is clamped between the two Z-axis channels corresponding to the two Z-axis electric drive units.

[0098] Furthermore, the two Z-axis electric drive units and the battery are arranged along the X-axis, and the two Z-axis channels and the battery are arranged along the X-axis.

[0099] Furthermore, the two Z-axis channels are arranged along the longitudinal section and are symmetrical about one of the cross sections.

[0100] Furthermore, the extension directions of the two Z-axis channels are parallel to each other and perpendicular to the horizontal plane; or

[0101] The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, and the distance between the inlets of the two Z-axis channels is the Z-axis inlet distance. The Z-axis outlet distance is greater than the Z-axis inlet distance.

[0102] Furthermore, on the Z-axis, the two X-axis channels are arranged at the center position of the capsule endoscope, or between the center position and the bottom.

[0103] Furthermore, the two X-axis electric drive units are symmetrically arranged with respect to the longitudinal section, and the two X-axis channels are symmetrically arranged with respect to the longitudinal section.

[0104] Furthermore, at least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

[0105] Furthermore, when the capsule endoscope is placed in the liquid environment, under the action of gravity and buoyancy, the top has a tendency to automatically flip toward the top side in the liquid environment, and the bottom has a tendency to automatically flip toward the bottom side in the liquid environment.

[0106] Furthermore, the center of gravity of the capsule endoscope is set between the horizontal plane and the bottom.

[0107] Furthermore, the battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

[0108] Furthermore, the battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

[0109] Furthermore, the capsule endoscope includes an antenna disposed inside the shell, and on the X-axis, the antenna is disposed between the battery and the tail end.

[0110] Furthermore, at least one of the electric drive units and its corresponding channel is arranged between the battery and the tail end, and on the X-axis, at least one of the channels that coincides with the antenna arrangement position is a channel to be avoided;

[0111] The antenna is sheet-shaped and is arranged around the circumferential direction of the capsule endoscope and close to the inner surface of the side wall of the shell. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage to be avoided to pass through.

[0112] Furthermore, the battery and the antenna are spaced apart on the X-axis; and / or

[0113] The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

[0114] Furthermore, the capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on the surface of the first circuit board, the lighting unit being arranged around the lens, the shell including a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover;

[0115] The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

[0116] Furthermore, the shading member and the transparent cover are an integrated structure, one end of the shading member is connected to the transparent cover, and the other end of the shading member extends toward the direction of the lens; or

[0117] The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

[0118] Furthermore, the shading element is cylindrical or trumpet-shaped; and / or

[0119] The shading element includes at least one of a shading material, a reflective material and a filter material.

[0120] Furthermore, the transparent cover includes a main body and a light-passing sheet that are interconnected, the main body is annular and surrounds a light-passing hole, one end of the light-shielding member extends to the periphery of the light-passing hole, and a step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

[0121] Furthermore, the capsule endoscope comprises:

[0122] an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0123] a control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; and

[0124] The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0125] Furthermore, the driving instruction output by the control unit includes an instruction for adjusting the pitch angle;

[0126] The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the two Z-axis electric drive units, adjust the flow rate of the liquid driven by the two Z-axis electric drive units to flow through the corresponding Z-axis channels, and then adjust the pitch angle of the capsule endoscope.

[0127] Furthermore, the driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the two X-axis electric drive units, adjusting the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels.

[0128] Further, the drive circuit is used to convert the pitch angle adjustment instruction into the drive signal and transmit it to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end relative to the Z-axis electric drive unit away from the head end, so as to drive the flow rate of the liquid to be faster; and convert the pitch angle adjustment instruction into the drive signal and transmit it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening located on the side wall into the corresponding X-axis channel; or

[0129] The drive circuit is used to convert the pitch angle adjustment instruction into the drive signal and transmit it to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end relative to the Z-axis electric drive unit away from the head end, so as to drive the flow of the liquid at a slower rate; and convert the pitch angle adjustment instruction into the drive signal and transmit it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least part of the opening located at the tail end into the corresponding X-axis channel.

[0130] Furthermore, the driving instruction output by the control unit includes an instruction for adjusting the yaw angle;

[0131] The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the two X-axis electric drive units, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels, and thus adjust the yaw angle of the capsule endoscope.

[0132] In a sixth aspect, the present application provides a capsule endoscope system, comprising a client and the capsule endoscope as described above, wherein the client is configured to receive user instructions and transmit the user instructions to the capsule endoscope.

[0133] A seventh aspect of the present application provides a method for controlling a capsule endoscope, which is used to control the capsule endoscope as described above, comprising the following steps:

[0134] collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0135] Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; and

[0136] The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0137] Furthermore, the output drive instruction includes an instruction for adjusting the pitch angle;

[0138] “Converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0139] The pitch angle adjustment instruction is converted into the driving signal and transmitted to the two Z-axis electric drive units, and the flow rate of the liquid driven by the two Z-axis electric drive units through the corresponding Z-axis channels is adjusted, thereby adjusting the pitch angle of the capsule endoscope.

[0140] Furthermore, the “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” also includes:

[0141] The pitch angle adjustment instruction is converted into the driving signal and transmitted to the two X-axis electric drive units, so as to adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels.

[0142] Furthermore, the “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0143] Converting the pitch angle adjustment instruction into the drive signal and transmitting it to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end to drive the liquid to flow at a faster rate than the Z-axis electric drive unit away from the head end; and converting the pitch angle adjustment instruction into the drive signal and transmitting it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening located on the side wall into the corresponding X-axis channel; or

[0144] The pitch angle adjustment instruction is converted into the drive signal and transmitted to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end relative to the Z-axis electric drive unit away from the head end, so as to drive the flow rate of the liquid to be slower; and the pitch angle adjustment instruction is converted into the drive signal and transmitted to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening located at the tail end into the corresponding X-axis channel.

[0145] Furthermore, the output drive instruction includes an instruction for adjusting the yaw angle;

[0146] The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0147] The yaw angle adjustment instruction is converted into the driving signal and transmitted to the two X-axis electric drive units, and the two X-axis electric drive units are adjusted to drive the direction and / or flow rate of the liquid flowing through the corresponding X-axis channel, thereby adjusting the yaw angle of the capsule endoscope.

[0148] Furthermore, the housing includes two ends and a side wall connected between the two ends, one of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged;

[0149] Definition: the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, and the direction perpendicular to the X-axis and the Z-axis is the Y-axis. The X-axis and the Y-axis define a horizontal plane of the capsule endoscope, the X-axis and the Z-axis define a longitudinal section of the capsule endoscope, and a Y-axis and a Z-axis passing through the same position as the X-axis define a cross-section of the capsule endoscope;

[0150] The multiple electric drive units include two Z-axis electric drive units and one X-axis electric drive unit. The capsule endoscope is respectively provided with a Z-axis channel corresponding to the two Z-axis electric drive units, and the capsule endoscope is provided with an X-axis channel corresponding to the X-axis electric drive unit; the Z-axis channel includes openings arranged at the top and the bottom, and the Z-axis channels corresponding to the two Z-axis electric drive units are symmetrical about the longitudinal section, and the X-axis channel forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

[0151] Furthermore, the opening of the Z-axis channel provided at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel provided at the bottom is the outlet of the Z-axis channel;

[0152] The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance.

[0153] The distance between the entrances of the two Z-axis channels is the Z-axis entrance distance.

[0154] The Z-axis outlet spacing is greater than the Z-axis inlet spacing.

[0155] Furthermore, the X-axis channel is arranged along the longitudinal section direction.

[0156] Furthermore, the shell is a hollow structure and encloses an accommodating space, and other components of the capsule endoscope except the multiple electric drive units are accommodated in the accommodating space, and the accommodating space and channels corresponding to the multiple electric drive units are isolated from each other.

[0157] Furthermore, the shell forms the Z-axis channel and the X-axis channel.

[0158] Furthermore, at least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

[0159] Furthermore, the shell is formed with a fixed cavity corresponding to at least one of the channels, the fixed cavity communicates with the accommodating space and the corresponding channel, and the motor is sealed and fixed in the fixed cavity.

[0160] Furthermore, the X-axis channel includes a first pipeline, a second pipeline and a third pipeline that are interconnected, one end of the first pipeline and the second pipeline each form an opening exposed on the side wall surface, one end of the third pipeline forms an opening exposed on the tail end surface, and the first pipeline, the second pipeline and the third pipeline are interconnected at one end located in the accommodating space.

[0161] Furthermore, the propeller is at least partially disposed in the third pipeline, and the housing is formed with a fixed cavity corresponding to the X-axis channel. The fixed cavity is located between the first pipeline and the second pipeline and is arranged opposite to the third pipeline.

[0162] Furthermore, when the capsule endoscope is placed in the liquid environment, under the action of gravity and buoyancy, the top has a tendency to automatically flip toward the top side in the liquid environment, and the bottom has a tendency to automatically flip toward the bottom side in the liquid environment.

[0163] Furthermore, the center of gravity of the capsule endoscope is set between the horizontal plane and the bottom.

[0164] Furthermore, the average density of the capsule endoscope is greater than that of water, the opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel, and the Z-axis electric drive unit is used to drive the liquid to flow through the Z-axis channel in a direction from the inlet to the outlet.

[0165] Furthermore, the battery is in a pancake shape and extends between the top and bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

[0166] Furthermore, the battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

[0167] Furthermore, the capsule endoscope includes an antenna disposed inside the shell, and on the X-axis, the antenna is disposed between the battery and the tail end.

[0168] Furthermore, at least one of the electric drive units and its corresponding channel is arranged between the battery and the tail end, and on the X-axis, at least one of the channels that coincides with the antenna arrangement position is a channel to be avoided;

[0169] The antenna is sheet-shaped and is arranged around the circumferential direction of the capsule endoscope and close to the inner surface of the side wall of the shell. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage to be avoided to pass through.

[0170] Furthermore, the battery and the antenna are spaced apart on the X-axis; and / or

[0171] The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

[0172] Furthermore, the capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on the surface of the first circuit board, the lighting unit being arranged around the lens, the shell including a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover;

[0173] The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

[0174] Furthermore, the shading member and the transparent cover are an integrated structure, one end of the shading member is connected to the transparent cover, and the other end of the shading member extends toward the direction of the lens; or

[0175] The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

[0176] Furthermore, the shading element is cylindrical or trumpet-shaped; and / or

[0177] The shading element includes at least one of a shading material, a reflective material and a filter material.

[0178] Furthermore, the transparent cover includes a main body and a light-passing sheet that are interconnected, the main body is annular and surrounds a light-passing hole, one end of the light-shielding member extends to the periphery of the light-passing hole, and a step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

[0179] Furthermore, the capsule endoscope comprises:

[0180] an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0181] a control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; and

[0182] The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0183] Furthermore, the driving instruction output by the control unit includes an instruction for adjusting the yaw angle;

[0184] The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the two Z-axis electric drive units, adjust the flow rate of the liquid driven by the two Z-axis electric drive units to flow through the corresponding Z-axis channels, and thus adjust the yaw angle of the capsule endoscope.

[0185] In an eighth aspect, the present application provides a capsule endoscope system, comprising a client and the capsule endoscope as described above, wherein the client is configured to receive user instructions and transmit the user instructions to the capsule endoscope.

[0186] A ninth aspect of the present application provides a method for controlling a capsule endoscope, which is used to control the capsule endoscope as described above, comprising the following steps:

[0187] collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0188] Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; and

[0189] The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0190] Furthermore, the output drive instruction includes an instruction for adjusting the yaw angle;

[0191] The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0192] The yaw angle adjustment instruction is converted into the driving signal and transmitted to the two Z-axis electric drive units, and the flow rate of the liquid driven by the two Z-axis electric drive units through the corresponding Z-axis channels is adjusted, thereby adjusting the yaw angle of the capsule endoscope.

[0193] Furthermore, the housing includes two ends and a side wall connected between the two ends, one of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged;

[0194] It is defined that the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, the direction perpendicular to the X-axis and the Z-axis is the Y-axis, and the X-axis and the Y-axis determine the horizontal plane of the capsule endoscope;

[0195] The capsule endoscope is placed in the liquid environment, and under the action of gravity and buoyancy, the top portion has a tendency to automatically flip toward the top side of the liquid environment, and the bottom portion has a tendency to automatically flip toward the bottom side of the liquid environment;

[0196] The multiple electric drive units include a Z-axis electric drive unit and two X-axis electric drive units. The capsule endoscope is provided with a Z-axis channel corresponding to the Z-axis electric drive unit, and the capsule endoscope is provided with an X-axis channel corresponding to each of the two X-axis electric drive units; the Z-axis channel includes openings arranged at the top and the bottom, each of the X-axis channels forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

[0197] Furthermore, the center of gravity of the capsule endoscope is set between the horizontal plane and the bottom.

[0198] Furthermore, the average density of the capsule endoscope is greater than that of water, the opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel, and the Z-axis electric drive unit is used to drive the liquid to flow through the Z-axis channel in a direction from the inlet to the outlet.

[0199] Furthermore, the battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

[0200] Furthermore, the battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

[0201] Furthermore, the battery is arranged adjacent to the Z-axis electric drive unit.

[0202] Furthermore, on the Z-axis, the two X-axis channels are arranged at the center position of the capsule endoscope, or between the center position and the bottom.

[0203] Furthermore, the shell is a hollow structure and encloses an accommodating space, and other components of the capsule endoscope except the multiple electric drive units are accommodated in the accommodating space, and the accommodating space and channels corresponding to the multiple electric drive units are isolated from each other.

[0204] Furthermore, the housing forms the X-axis channel; and / or

[0205] At least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

[0206] Furthermore, the capsule endoscope includes an antenna disposed inside the shell, and on the X-axis, the antenna is disposed between the battery and the tail end.

[0207] Furthermore, at least one of the electric drive units and its corresponding channel is arranged between the battery and the tail end, and on the X-axis, at least one of the channels that coincides with the antenna arrangement position is a channel to be avoided;

[0208] The antenna is sheet-shaped and is arranged around the circumferential direction of the capsule endoscope and close to the inner surface of the side wall of the shell. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage to be avoided to pass through.

[0209] Furthermore, the battery and the antenna are spaced apart on the X-axis; and / or

[0210] The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

[0211] Furthermore, the capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on the surface of the first circuit board, the lighting unit being arranged around the lens, the shell including a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover;

[0212] The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

[0213] Furthermore, the shading member and the transparent cover are an integrated structure, one end of the shading member is connected to the transparent cover, and the other end of the shading member extends toward the direction of the lens; or

[0214] The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

[0215] Furthermore, the shading element is cylindrical or trumpet-shaped; and / or

[0216] The shading element includes at least one of a shading material, a reflective material and a filter material.

[0217] Furthermore, the transparent cover includes a main body and a light-passing sheet that are interconnected, the main body is annular and surrounds a light-passing hole, one end of the light-shielding member extends to the periphery of the light-passing hole, and a step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

[0218] Furthermore, the capsule endoscope comprises:

[0219] an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0220] a control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; and

[0221] The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0222] Furthermore, the driving instruction output by the control unit includes an adsorption instruction;

[0223] The driving circuit is used to convert the adsorption instruction into the driving signal and transmit it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow into the X-axis channel from at least a portion of the opening at the tail end;

[0224] The control unit is configured to determine whether the acceleration of the capsule endoscope is 0 based on the current posture and motion data; if so, it is determined that the capsule endoscope has been adsorbed on the inner wall of the liquid environment and outputs a pitch angle adjustment instruction; if not, it continues to output an adsorption instruction;

[0225] The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the Z-axis electric drive unit, so as to adjust the flow rate of the liquid in the Z-axis channel driven by the Z-axis electric drive unit.

[0226] Furthermore, the driving instruction output by the control unit includes an instruction for adjusting the yaw angle;

[0227] The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the two X-axis electric drive units, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels, and thus adjust the yaw angle of the capsule endoscope.

[0228] In a tenth aspect, the present application provides a capsule endoscope system, comprising a client and the capsule endoscope as described above, wherein the client is configured to receive user instructions and transmit the user instructions to the capsule endoscope.

[0229] In an eleventh aspect, the present application provides a method for controlling a capsule endoscope, which is used to control the capsule endoscope as described above, comprising the following steps:

[0230] collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope;

[0231] Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; and

[0232] The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

[0233] Furthermore, the output driving instruction includes an adsorption instruction;

[0234] The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0235] converting the adsorption instruction into the driving signal and transmitting it to the two X-axis electric drive units, controlling the two X-axis electric drive units to drive the liquid to flow into the X-axis channel from at least a portion of the opening at the tail end;

[0236] determining whether the acceleration of the capsule endoscope is 0 according to the current posture and motion data; if so, determining that the capsule endoscope has been adsorbed on the inner wall of the liquid environment and outputting a pitch angle adjustment instruction; if not, continuing to output an adsorption instruction;

[0237] The pitch angle adjustment instruction is converted into the driving signal and transmitted to the Z-axis electric drive unit, so as to adjust the flow rate of the liquid in the Z-axis channel driven by the Z-axis electric drive unit.

[0238] Furthermore, the output drive instruction includes an instruction for adjusting the yaw angle;

[0239] The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes:

[0240] The yaw angle adjustment instruction is converted into the driving signal and transmitted to the two X-axis electric drive units, and the two X-axis electric drive units are adjusted to drive the direction and / or flow rate of the liquid flowing through the corresponding X-axis channel, thereby adjusting the yaw angle of the capsule endoscope.

[0241] A twelfth aspect of the present application is a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the capsule endoscope control method as described above are implemented.

[0242] The capsule endoscope provided by the present application includes multiple electric drive units, at least one of which is used to use the electric energy provided by the battery to drive the liquid in the environment where the capsule endoscope is located to flow through its corresponding channel. In the process of the liquid flowing through the corresponding channel, a reverse thrust is generated in the opposite direction of the liquid flowing through the channel, thereby driving the capsule endoscope to adjust its position and posture in the liquid environment. Therefore, medical institutions do not need to be equipped with bulky and expensive magnetic control equipment to complete gastric examinations, which is conducive to reducing the burden on medical institutions. Since the capsule endoscope in the present application is provided with multiple electric drive units for driving the liquid to flow through the corresponding channels, it replaces the traditional magnetic drive capsule endoscope method. Therefore, it can be applied to patients who have active and magnetic implants implanted or carrying them in their bodies, and is safer and more applicable. BRIEF DESCRIPTION OF THE DRAWINGS

[0243] 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.

[0244] Figure 1 This is a schematic structural diagram of a capsule endoscope system provided in the first embodiment of the present application, wherein the capsule endoscope is placed in the stomach of a subject and a gastroscopy is being performed;

[0245] Figure 2 for Figure 1 The three-dimensional structural diagram of the capsule endoscope is shown;

[0246] Figure 3 for Figure 2 The capsule endoscope is shown in a schematic structural diagram in a horizontal examination posture, wherein the top portion is located directly above the bottom portion;

[0247] Figure 4 for Figure 2 The capsule endoscope is shown in a schematic structural diagram in a horizontal examination posture, wherein the top is located obliquely above the bottom;

[0248] Figure 5 for Figure 2 The schematic diagram of the cross-sectional structure of the capsule endoscope shown is along the longitudinal section;

[0249] Figure 6 for Figure 2 The exploded structural diagram of the capsule endoscope is shown;

[0250] Figure 7 for Figure 2 The schematic diagram of the exploded structure of the remaining components of the capsule endoscope after the shell is removed;

[0251] Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the battery in other embodiments;

[0252] Figure 9 for Figure 2 The schematic diagram of the moment of buoyancy, gravity and Z-axis reverse thrust generated by the capsule endoscope is shown, when the pitch angle is 0;

[0253] Figure 10 for Figure 2 The schematic diagram of the moment of buoyancy, gravity and Z-axis reverse thrust generated by the capsule endoscope is shown, and the pitch angle is not 0 at this time;

[0254] Figure 11 for Figure 2 A schematic structural diagram of multiple channels along a longitudinal section is shown;

[0255] Figure 12 is a schematic structural diagram of a longitudinal section of a channel formed by a capsule endoscope in another embodiment;

[0256] Figure 13 for Figure 6 A schematic diagram of the three-dimensional structure of the shell shown;

[0257] Figure 14 for Figure 7 The exploded structural diagram of the Z-axis electric drive unit is shown;

[0258] Figure 15 for Figure 14 Schematic diagram of the three-dimensional structure of the duct shown;

[0259] Figure 16 for Figure 1 The functional block diagram of the capsule endoscopy system shown;

[0260] Figure 17 for Figure 2 The control method flow chart of the capsule endoscope is shown;

[0261] Figure 18 for Figure 7 A schematic diagram of the three-dimensional structure of the antenna shown from another angle;

[0262] Figure 19 for Figure 18 Schematic diagram of the unfolded structure of the antenna shown;

[0263] Figure 20 for Figure 6Schematic diagram of the exploded structure of the transparent cover and the light shielding member shown;

[0264] Figure 21 for Figure 5 A schematic cross-sectional structure diagram of the components between the first circuit board and the transparent cover is shown;

[0265] Figure 22 for Figure 21 The transparent cover and the light shielding member are shown as an exploded cross-sectional structural diagram;

[0266] Figure 23 A schematic diagram of the cross-sectional structure of a capsule endoscope provided in another embodiment along a longitudinal section;

[0267] Figure 24 for Figure 23 A schematic diagram of the three-dimensional structure of the light shielding member shown;

[0268] Figure 25 for Figure 23 Schematic diagram of the exploded structure of the transparent cover, light shield and lens shown;

[0269] Figure 26 for Figure 24 A schematic cross-sectional structure diagram of the light shielding member along the longitudinal section is shown;

[0270] Figure 27 A schematic diagram of the three-dimensional structure of a capsule endoscope provided in the second embodiment of the present application;

[0271] Figure 28 for Figure 27 The three-dimensional structure diagram of the capsule endoscope shown in another perspective;

[0272] Figure 29 for Figure 27 A schematic diagram of the three-dimensional structure of the shell shown;

[0273] Figure 30 for Figure 27 The schematic diagram of the structure of the tail end of the capsule endoscope is shown;

[0274] Figure 31 for Figure 27 The exploded structural diagram of the capsule endoscope is shown;

[0275] Figure 32 for Figure 27 The schematic diagram of the cross-sectional structure of the capsule endoscope along the horizontal plane is shown;

[0276] Figure 33 for Figure 27 The force and moment analysis diagram of the capsule endoscope shown;

[0277] Figure 34 for Figure 33The force and moment analysis diagram of the capsule endoscope at another angle is shown;

[0278] Figure 35 for Figure 32 A schematic diagram of the three-dimensional structure of the transparent cover shown;

[0279] Figure 36 A schematic structural diagram of the tail end of a capsule endoscope provided in another embodiment;

[0280] Figure 37 A schematic diagram of the three-dimensional structure of a capsule endoscope provided in the third embodiment of the present application;

[0281] Figure 38 for Figure 37 The exploded structural diagram of the capsule endoscope is shown;

[0282] Figure 39 for Figure 38 Schematic diagram of the three-dimensional structure of the Z-axis duct shown;

[0283] Figure 40 for Figure 39 The Z-axis duct shown is along Figure 37 A schematic diagram of the cross-sectional structure of the cross section shown;

[0284] Figure 41 for Figure 37 The capsule endoscope shown along Figure 37 A schematic diagram of the cross-sectional structure of the cross section shown;

[0285] Figure 42 for Figure 37 The schematic diagram of the cross-sectional structure of the capsule endoscope along the horizontal plane is shown;

[0286] Figure 43 for Figure 38 The schematic diagram of the expanded structure of the antenna and part of the circuit board shown;

[0287] Figure 44 A schematic diagram of the three-dimensional structure of a capsule endoscope provided in a fourth embodiment of the present application;

[0288] Figure 45 for Figure 44 Schematic diagram of the exploded structure of the capsule endoscope shown.

[0289] The numbers in the figure are:

[0290] 100. Capsule endoscopy system; 110. Client; 200. Liquid environment; 210. Liquid; 211. Liquid surface; M, center of gravity;

[0291] 1000. Capsule endoscope;

[0292] 1100, housing; 1001, head end; 1002, tail end; 1003, side wall; 1004, top; 1005, bottom; 1006, connecting line; 1007, horizontal plane; 1008, longitudinal section; 1009, cross section; m, first angle;

[0293] 1130, accommodation space;

[0294] 1110, transparent cover; 1112, body; 1113, light hole; 1114, step groove; 1117, light-transmitting sheet;

[0295] 1120, shell;

[0296] 1140, light shield; 1141, near end; 1142, far end; 1143, camera channel; 1144, lighting channel;

[0297] 1200, electric drive unit; 1210, Z-axis electric drive unit; 1230, Y-axis electric drive unit;

[0298] F1, Z-axis reverse thrust; F2, Z-axis reverse thrust; F', buoyancy;

[0299] a, vector; b, vector; c, vector; d, vector; e, vector; f, vector; g, vector;

[0300] 1211, duct; 12111, pipe wall; 12113, guide vane; 1217, guide cover; 12172, diversion hole;

[0301] 1213, drive assembly; 1214, motor; 1215, propeller; 12151, fan blade;

[0302] 1300, passage; 1301, opening;

[0303] 1310, Z-axis channel; 1311, entrance; 1312, exit;

[0304] LO, Z axis outlet spacing; LI, Z axis inlet spacing; 1330, Y axis channel;

[0305] 1400, battery; 1410, end face; 1420, connection face; 1450, tab;

[0306] 1500, lens; 1600, lighting unit; 1700, circuit board; 1710, first circuit board;

[0307] 1800, antenna; 1810, avoidance slot; 1811, avoidance slot; 1812, avoidance slot; 1813, avoidance slot;

[0308] 1814, avoidance groove; 1820, fixing part;

[0309] 1400A, battery; 1410A, end face; 1420A, connection face; 1421A, arc face;

[0310] 1422A, notched surface; 1430A, notched;

[0311] 1000B, capsule endoscope;

[0312] 1310B, Z-axis channel; 1001B, head end; 1004B, top; 1005B, bottom; 1311B, inlet; 1312B, outlet; F1 Z , weight; F1 X , weight; F2 Z , weight; F2 X , weight;

[0313] 1000C, capsule endoscope;

[0314] 1001C, head end; 1140C, light shield; 1141C, proximal end; 1142C, distal end;

[0315] 1143C, camera channel; 1144C, lighting channel; n, opening angle;

[0316] 1500C, lens; 1510C, lens barrel; 1520C, lens mount; 1511C, receiving surface;

[0317] 1600C, lighting unit;

[0318] 1000D, capsule endoscope;

[0319] 1100D, housing; 1001D, head end; 1002D, tail end; 1003D, side wall; 1005D, bottom;

[0320] 1130D, accommodation space; 1110D, transparent cover; 1114D, lens hole;

[0321] 1115D, extension portion; 1116D, gathering portion;

[0322] 1200D, electric drive unit; 1210D, Z-axis electric drive unit; 1310D, Z-axis channel;

[0323] 1250D, X-axis electric drive unit; 1254D, motor; 1255D, propeller;

[0324] 1350D, X-axis channel; 1351D, opening; 1353D, fixed cavity;

[0325] 1500D, lens; 1600D, lighting unit;

[0326] F3, X-axis reverse thrust; F4, X-axis reverse thrust;

[0327] 1115D1, first point; 1115D2, second point; 1116D3, third point; 1116D4, fourth point;

[0328] 1000E, capsule endoscope;

[0329] 1002E, tail end; 1005E, bottom; 1350E, X-axis channel;

[0330] 1000F, capsule endoscope;

[0331] 1100F, housing; 1001F, head end; 1002F, tail end; 1003F, side wall;

[0332] 1004F, top; 1005F, bottom;

[0333] 1110F, transparent cover; 1120F, outer shell; 1130F, accommodation space;

[0334] 1150F, Z-axis ducted; 1160F, X-axis ducted;

[0335] 1200F, electric drive unit; 1210F, Z-axis electric drive unit; 1214F, motor; 1215F, propeller;

[0336] 1250F, X-axis electric drive unit; 1254F, motor; 1255F, propeller;

[0337] 1310F, Z-axis channel; 1311F, inlet; 1312F, outlet; 1313F, fixed cavity;

[0338] 1350F, X-axis channel; 1351F, opening; 1353F, fixed cavity;

[0339] 1354F, first pipeline; 1355F, second pipeline; 1356F, third pipeline;

[0340] 1500F, lens; 1600F, lighting unit;

[0341] 1700F, circuit board; 1710F, first circuit board; 1711F, through hole; 1720F, second circuit board; 1800F, antenna; 1801F, flexible circuit board; 1802F, microstrip line; 1820F, fixing portion;

[0342] 1000G, capsule endoscope;

[0343] 1002G, tail end; 1004G, top; 1005G, bottom;

[0344] 1200G, electric drive unit; 1210G, Z-axis electric drive unit; 1250G, X-axis electric drive unit;

[0345] 1310G, Z-axis channel; 1311G, inlet; 1312G, outlet;

[0346] 1350G, X-axis channel; 1351G, opening;

[0347] 1400G, battery; DETAILED DESCRIPTION

[0348] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0349] The following describes in detail embodiments of the present application, examples of which are illustrated in the accompanying drawings. The same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The drawings in this specification illustrate the structure and working principle of a capsule endoscope. To more clearly illustrate the details, some components in the drawings may be enlarged and do not represent actual dimensions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present application and should not be construed as limiting the present application.

[0350] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0351] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," and "disposed" should be understood in a broad sense. For example, they may refer to fixed connection or disposition, detachable connection or disposition, or integral connection or disposition. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0352] The capsule endoscope 1000 in the first embodiment is used as an example to define the capsule endoscope coordinate system. Figure 2 and Figure 7 It is understandable that the following definition of the capsule endoscope coordinate system is also applicable in other embodiments:

[0353] X-axis: The direction of the line connecting the geometric centers of the two ends of the capsule endoscope 1000, which is also the axis of the capsule endoscope 1000. The capsule endoscope 1000 is capsule-shaped and includes two ends: a head end 1001 and a tail end 1002. The geometric center of the head end 1001 is the geometric center of the surface of the head end 1001 when viewed from the head end 1001 toward the tail end 1002. The geometric center of the tail end 1002 is the geometric center of the surface of the tail end 1002 when viewed from the tail end 1002 toward the head end 1001. The geometric centers of both ends of the capsule endoscope 1000 are located on the surface of the capsule endoscope 1000. For a capsule endoscope 1000 of a given structure, its X-axis is unique. The circumferential direction of the capsule endoscope 1000 is the direction around the X-axis. The rotational motion of the capsule endoscope 1000 about the X-axis is called rolling or tumbling. The roll angle of the capsule endoscope 1000 changes during rolling about the X-axis.

[0354] Z-axis: the direction of the line connecting the top 1004 and the bottom 1005 of the capsule endoscope 1000, the Z-axis is perpendicular to the X-axis; the capsule endoscope 1000 has multiple Z-axes, and each position on the X-axis corresponds to a Z-axis; the yaw angle changes during the movement of the capsule endoscope 1000 rotating around the Z-axis.

[0355] Y-axis: a direction perpendicular to the X-axis and the Z-axis; the capsule endoscope 1000 has multiple Y-axes, and each position of the X-axis corresponds to a Y-axis; the pitch angle changes during the movement of the capsule endoscope 1000 rotating around the Y-axis.

[0356] The X-axis and the Y-axis are both located in the horizontal plane 1007 of the capsule endoscope, and the X-axis and the Y-axis define the horizontal plane 1007 of the capsule endoscope.

[0357] The X-axis and the Z-axis are located in the longitudinal section 1008 perpendicular to the Y-axis, and the X-axis and the Z-axis define the longitudinal section 1008 of the capsule endoscope perpendicular to the Y-axis.

[0358] A Y-axis and a Z-axis passing through the same position of the X-axis define a cross section 1009 of the capsule endoscope 1000. Any cross section 1009 is perpendicular to the X-axis.

[0359] For a capsule endoscope 1000 of a given structure, its horizontal plane 1007 and longitudinal section 1008 are unique, and there are multiple cross sections 1009 . Each position of the capsule endoscope 1000 along the X axis corresponds to a cross section 1009 .

[0360] First embodiment

[0361] See also Figure 1 , Figure 1 This is a schematic structural diagram of a capsule endoscope system 100 provided in the first embodiment of the present application, wherein a capsule endoscope 1000 is placed in the stomach of a subject for stomach examination. Figure 1 The proportions of the various parts in the figure have been adjusted to more clearly illustrate the structure of the capsule endoscope. Please note that the proportions in the figure do not reflect the actual size ratios, but are only used to illustrate the relative positions and connections between the various parts.

[0362] 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. The capsule endoscope 1000 is activated to enter the working mode and taken with water, so that the capsule endoscope 1000 enters the liquid environment 200 of the stomach. The capsule endoscope 1000 can adjust its position and posture in the liquid environment 200 and capture images of the external environment.

[0363] An embodiment of the present application provides a capsule endoscope system 100 , including a capsule endoscope 1000 and a client 110 . In some embodiments, the client 110 is configured to receive user instructions and transmit the user instructions to the capsule endoscope 1000 .

[0364] The capsule endoscope 1000 is swallowed by a patient and enters the digestive tract. Based on user instructions from the client 110 or software stored in the capsule endoscope 1000, it adjusts its posture and position in real time within the digestive tract, captures images of the digestive tract's inner wall, and generates image data. In some embodiments, the capsule endoscope 1000 can wirelessly transmit the captured image data to the client 110 and / or other devices, thereby facilitating physicians' diagnosis of digestive tract diseases based on the captured image data.

[0365] The client 110 can be any device capable of human-computer interaction, such as a smartphone, tablet device, laptop computer, desktop computer, etc. The client 110 is not necessarily limited to a single human-computer interaction device, but can also be any device or circuit capable of human-computer interaction, either individually or in combination.

[0366] Please combine Figure 1 See Figure 2 、 Figure 5 and Figure 6The capsule endoscope 1000 provided in the first embodiment of the present application includes a shell 1100, a battery 1400 arranged in the shell 1100, and a plurality of independently controllable electric drive units 1200 at least partially arranged in the shell 1100. The capsule endoscope 1000 is provided with a corresponding channel 1300 corresponding to each electric drive unit 1200. The electric drive unit 1200 is at least partially accommodated in the corresponding channel 1300, and the openings 1301 of the channel 1300 are all exposed on the surface of the shell 1100. When the capsule endoscope 1000 is placed in the liquid environment 200, at least one electric drive unit 1200 can use the electric energy provided by the battery 1400 to drive the liquid 210 in the liquid environment 200 to flow through the corresponding channel 1300.

[0367] The capsule endoscope 1000 provided in the embodiment of the present application includes multiple electric drive units 1200, at least one of which is used to use the power provided by the battery 1400 to drive the liquid 210 in the liquid environment 200 in which the capsule endoscope 1000 is located to flow through the corresponding channel 1300. During the process of the liquid 210 flowing through the channel 1300, a reverse thrust is generated in the opposite direction of the liquid 210 flowing through the channel 1300, thereby driving the capsule endoscope 1000 to adjust its position and posture in the liquid environment 200. Therefore, medical institutions do not need to be equipped with bulky and expensive magnetic control equipment to complete gastric examinations, which is conducive to reducing the burden on medical institutions. Since the capsule endoscope 1000 in the embodiment of the present application is provided with multiple electric drive units 1200 for driving the liquid 210 to flow through the corresponding channel 1300, it replaces the traditional magnetic drive method of the capsule endoscope 1000. Therefore, it can be applied to patients with or carrying active and magnetic implants in their bodies, with higher safety and wider applicability.

[0368] The capsule endoscope 1000 provided in the embodiments of the present application can be a gastric capsule or a gastrointestinal capsule, and is used to capture images of the stomach or gastrointestinal tract. The liquid environment 200 in which the capsule endoscope 1000 resides can be the stomach or a stomach-simulating device (e.g., a water tank), and the liquid 210 in the liquid environment 200 can be at least one of water, a drug solution, and a digestive fluid.

[0369] When the liquid 210 in the liquid environment 200 is at rest, the liquid surface 211 of the liquid 210 is a plane. The horizontal direction in the liquid environment is the direction of the liquid surface 211 or the direction parallel to the liquid surface 211 when the liquid 210 is at rest. The vertical direction in the liquid environment 200 can be understood as Figure 1 The vertical direction is perpendicular to the liquid surface 211 when the liquid 210 is stationary. Figure 1 The upper side in the liquid environment 200 is Figure 1 The lower side of the .

[0370] like Figure 2 、 Figure 5 and Figure 6 As shown, the shell 1100 is disposed at the outermost layer of the capsule endoscope 1000 and is exposed on the surface of the capsule endoscope 1000. The shell 1100 is rounded at both ends and has a capsule shape, including two ends and a sidewall 1003 connecting the two ends. One end is a head end 1001, and the other end is a tail end 1002. The capsule endoscope 1000 is equipped with a lens 1500 for capturing images at the head end 1001, and the end opposite the head end 1001 is the tail end 1002. The sidewall 1003 includes a top end 1004 and a bottom end 1005 arranged opposite each other.

[0371] When the capsule endoscope 1000 is placed in a liquid environment 200, in the absence of external force and the electric drive unit 1200 is not working, if the posture of the capsule endoscope 1000 is arbitrary and changes at any time, the orientations of the channels 1300 corresponding to the multiple electric drive units 1200 are also random in the liquid environment 200, and the direction of the reverse thrust generated by any electric drive unit 1200 is uncertain in the liquid environment 200, which will seriously affect the stability and accuracy of the posture and motion control, and may even cause the posture and position of the capsule endoscope 1000 to be uncontrollable.

[0372] The "no external force" mentioned in this application means that the capsule endoscope 1000 is not affected by the fluid dynamics generated by the liquid 210, the constraints of the environment (such as being stuck in the stomach or a stomach simulation device), and the force applied by other external equipment or operators. It is a state where the capsule endoscope 1000 is performing examination in the stomach of the subject and the electric drive unit 1200 is not started.

[0373] In an embodiment of the present application, the capsule endoscope 1000 is placed in a liquid environment 200. Under the action of gravity and buoyancy (no external force is applied, and the multiple electric drive units 1200 are not working), the top 1004 has a tendency to automatically flip toward the top side in the liquid environment 200, and the bottom 1005 has a tendency to automatically flip toward the bottom side in the liquid environment 200, which is conducive to the capsule endoscope 1000 automatically returning to a horizontal inspection posture in the liquid environment 200.

[0374] The horizontal examination posture means that the top 1004 of the capsule endoscope 1000 is located on the top side of the bottom 1005 .

[0375] The capsule endoscope automatically returns to a horizontal inspection posture in the liquid environment 200. When the motion control algorithms of the multiple electric drive units 1200 remain unchanged, the multiple channels 1300 and the corresponding directions of the reverse thrust can correspond to the preset positions in the liquid environment 200, thereby simplifying the complexity of the motion control algorithms of the multiple electric drive units 1200 and ensuring the stability and accuracy of the posture and motion control of the capsule endoscope 1000. This prevents the capsule endoscope 1000 from randomly rolling along its axis in the liquid environment 200, which would cause at least one channel 1300 and the direction of its corresponding reverse thrust to randomly change, resulting in the need for the motion control algorithms of the multiple electric drive units 1200 to be adjusted in real time as the direction of the reverse thrust changes, making the posture and position of the capsule endoscope 1000 difficult to control.

[0376] The average density of the capsule endoscope 1000 can be equal to or greater than that of water, so that the capsule endoscope 1000 can be controlled in depth, such as floating, diving, or suspending, in the liquid environment 200. When placed in the liquid environment 200, the capsule endoscope 1000 may remain suspended or gradually sink in the liquid 210 until it lands on the bottom surface of the liquid environment 200. The automatic restoration to the horizontal inspection posture described above occurs while the capsule endoscope 1000 is in the suspended state or sinking process.

[0377] See also Figure 3 and Figure 4 It should be noted that in the horizontal inspection posture, top 1004 being located on top of bottom 1005 means that top 1004 is closer to the top of liquid environment 200 (e.g., the stomach fundus, liquid surface 211) than bottom 1005, and bottom 1005 is farther from the top of liquid environment 200 than top 1004. In other words, top 1004 is farther from the bottom of liquid environment 200 (e.g., the bottom of a water tank) than bottom 1005, and bottom 1005 is closer to the bottom of liquid environment 200 than top 1004. The horizontal inspection posture is not limited to top 1004 being directly above bottom 1005; it also includes postures where top 1004 is located diagonally above bottom 1005.

[0378] like Figure 3 , when the top 1004 is located directly above the bottom 1005, if the surface of the liquid 210 is still, the line 1006 connecting the top 1004 and the bottom 1005 is perpendicular to the liquid surface 211, and two angles are formed between the line 1006 and the liquid surface 211, of which the smaller angle is the first angle m, m = 90°; Figure 4 , when the top 1004 is located obliquely above the bottom 1005, the line 1006 connecting the top 1004 and the bottom 1005 is inclined relative to the liquid surface 211, specifically, 0°<m<90°.

[0379] In some embodiments, when no external force is applied and the multiple electric drive units 1200 are not working, each time the capsule endoscope 1000 is completely immersed in the liquid environment 200 and stops rotating in its circumferential direction, the first angle m is equal, for example, the first angle m is 90 degrees each time; in some embodiments, the first angle m measured each time is not necessarily equal, for example, in multiple different tests, the first angle m fluctuates within the range of 80°-90°.

[0380] The capsule endoscope 1000 is placed in a liquid environment 200. Under the action of gravity and buoyancy, the top 1004 is checked to see whether it has a tendency to automatically flip toward the top side of the liquid environment 200, and the bottom 1005 is checked to see whether it has a tendency to automatically flip toward the bottom side of the liquid environment 200. The verification process can be specifically referred to the following steps:

[0381] S11 : Mark the top 1004 of the capsule endoscope 1000 .

[0382] The capsule endoscope 1000 is placed in the liquid environment 200. Without external force, and with the multiple electric drive units 1200 not operating, the capsule endoscope 1000 stops rotating in its circumferential direction. Then, a portion of the sidewall 1003 of the capsule endoscope 1000 that is relatively close to the top of the liquid environment 200 is marked and defined as the top 1004. Specifically, the portion of the sidewall 1003 located above (including directly above and diagonally above) the liquid environment 200 is defined and marked as the top 1004, and the portion of the sidewall 1003 opposite the top 1004 is defined as the bottom 1005.

[0383] S12: Place the capsule endoscope 1000 into the liquid environment 200 again without using any external force. When the multiple electric drive units 1200 are controlled not to work, observe whether the top 1004 of the above mark flips toward the liquid surface 211 during the process of the capsule endoscope 1000 being suspended and sinking.

[0384] If, after the capsule endoscope 1000 is placed in the liquid environment 200, the top portion 1004 remains located on the top side of the bottom portion 1005, and the top portion 1004 does not show any obvious movement toward the top side of the liquid environment 200, then the capsule endoscope 1000 also meets the requirement that "the top portion 1004 has a tendency to automatically rotate toward the top side of the liquid environment 200," thereby ensuring that the top portion 1004 remains located on the top side of the bottom portion 1005. If the top portion 1004 does not have a tendency to automatically rotate toward the top side of the liquid environment 200, the position of the top portion 1004 in the liquid environment 200 may be random, and there is no guarantee that the top portion 1004 remains located on the top side of the bottom portion 1005. Even when the capsule endoscope 1000 is initially placed in the liquid environment 200 and contacts the liquid 210, the top 1004 faces the top side of the liquid environment 200 and the bottom 1005 faces the bottom side of the liquid environment 200. However, after a period of suspension and / or sinking, the capsule endoscope 1000 may roll in the circumferential direction, causing the top 1004 to face the bottom side in the liquid environment 200 (the top 1004 is located directly below or diagonally below the bottom 1005), or the top 1004 and the bottom 1005 are basically flush in the liquid environment 200, making it difficult to determine which of the top 1004 and the bottom 1005 is facing the top side in the liquid environment 200.

[0385] In this implementation, see Figure 5 The center of gravity M of the capsule endoscope 1000 is set between the horizontal plane 1007 and the bottom 1005. Using the tumbler principle, after the capsule endoscope 1000 is completely immersed in the liquid environment 200, even if the overall position of the capsule endoscope 1000 is stationary and it rolls around the X-axis, in the absence of external force and when the electric drive unit 1200 is not working, the bottom 1005 can automatically roll toward the bottom side of the liquid environment 200, and correspondingly, the top 1004 can automatically roll toward the top side of the liquid environment 200, and then automatically restore to a horizontal inspection posture, so that the channels 1300 corresponding to the multiple electric drive units 1200 can be oriented to the preset orientation in the liquid environment 200. When the motion control algorithms of the multiple electric drive units 1200 remain unchanged, it can be ensured that the multiple electric drive units 1200 can respectively generate reverse thrust in the corresponding preset directions of the liquid environment 200, thereby ensuring the stability and accuracy of the posture and motion control of the capsule endoscope 1000.

[0386] The average density of the capsule endoscope 1000 provided in the embodiment of the present application is greater than that of water, so that the capsule endoscope 1000 can automatically sink after entering the patient's stomach.

[0387] like Figure 2 and Figure 5As shown, the multiple electric drive units 1200 in the capsule endoscope 1000 include at least one Z-axis electric drive unit 1210. The channel of the capsule endoscope 1000 corresponding to the at least one Z-axis electric drive unit 1210 is a Z-axis channel 1310. The Z-axis electric drive unit 1210 is at least partially accommodated in the corresponding Z-axis channel 1310. The Z-axis channel 1310 includes a plurality of openings exposed on the surface of the capsule endoscope 1000. Specifically, the multiple openings of the Z-axis channel 1310 include an inlet 1311 and an outlet 1312. The inlet 1311 is provided at the top 1004 of the capsule endoscope 1000, and the outlet 1312 is provided at the bottom 1005 of the capsule endoscope. The Z-axis electric drive unit 1210 is used to drive the liquid 210 to flow through the Z-axis channel 1310 in a direction from the inlet 1311 to the outlet 1312.

[0388] like Figure 5 As shown, the Z-axis channel 1310 corresponding to the Z-axis electric drive unit 1210 includes an inlet 1311 arranged at the top 1004 and an outlet 1312 arranged at the bottom 1005. The extension direction of the Z-axis channel 1310 can be along a straight line or along a curve. During the inspection of the liquid environment 200 in the patient's body by the capsule endoscope 1000, in a horizontal inspection posture, the top 1004 is located above the bottom 1005, and the Z-axis electric drive unit 1210 can be used to drive the liquid 210 to enter the Z-axis channel 1310 from the inlet 1311 and discharge the Z-axis channel 1310 from the outlet 1312, thereby generating a Z-axis reverse thrust opposite to the flow direction of the liquid 210 in the Z-axis channel 1310, that is, the direction of the Z-axis reverse thrust is from the outlet 1312 to the inlet 1311, that is, Figure 5 A Z-axis reverse thrust is generated from bottom to top, and the flow rate of the liquid 210 flowing through the Z-axis channel 1310 can be adjusted to adjust the size of the Z-axis reverse thrust, thereby controlling the depth of the capsule endoscope 1000 in the liquid environment 200 to float, suspend and dive.

[0389] The capsule endoscope 1000 uses the reverse thrust formed by the electric drive unit 1200 to drive the liquid to flow through the corresponding channel 1300, thereby driving the capsule endoscope 1000 to change its posture and position in the liquid environment 200. The electric drive unit 1200 is used to convert electrical energy into mechanical energy. In the embodiment of the present application, the power source in the electric drive unit 1200 may include a micro motor suitable for the capsule endoscope 1000.

[0390] Please also refer to Figures 5 to 7The capsule endoscope 1000 is provided with a battery 1400 inside the housing 1100. The battery 1400 provides electrical energy to the multiple electric drive units 1200. It is understood that the battery 1400 not only supplies power to the multiple electric drive units 1200, but also provides power to other modules and components in the capsule endoscope 1000 other than the electric drive units 1200. The battery 1400 can be a button cell battery, a lithium-ion battery, a nickel-metal hydride battery, etc. In some embodiments, the battery 1400 is a rechargeable battery that can be charged by wire or wirelessly.

[0391] The battery 1400 is in the shape of a pancake and extends between the top 1004 and the bottom 1005 of the capsule endoscope 1000. In this embodiment, the battery 1400 is regularly shaped and cylindrical, and includes two flat or quasi-flat end faces 1410, one of which faces the head end 1001 and the other faces 1410 faces the tail end 1002. The battery 1400 includes a connecting surface 1420 in a ring shape, and the connecting surface 1420 is connected between the two end faces 1410. In this embodiment, the connecting surface 1420 is in the shape of a circular ring. The battery 1400 also includes a pair of tabs 1450 protruding from the surface of the battery 1400 for connecting to the positive and negative welding points of the power supply on the circuit board to supply power to other modules and components.

[0392] In this embodiment, the battery 1400 is disposed toward the bottom 1005 of the capsule endoscope 1000. As the heaviest component in the capsule endoscope 1000, the battery 1400 is disposed toward the bottom 1005, which helps to lower the center of gravity M of the capsule endoscope 1000 and enhance the stability of motion control. The shape of the battery 1400 can be regular, such as Figures 5 to 7 The columnar shape shown, or other regular shapes different from the embodiments of the present application.

[0393] In some embodiments, the battery 1400 has an irregular shape. For example, the battery 1400 is a soft-pack battery with a soft surface, high plasticity, and an undulating surface of the end face 1410 and / or the connection face 1420 .

[0394] In some other embodiments, see Figure 8 The battery 1400A is irregular in shape and has a notch 1430A formed therein. The notch 1430A corresponds to Figure 5 The top 1004 of the capsule endoscope 1000 is provided. Specifically, Figure 8 In the embodiment shown, the shape of the notch 1430A is partially cylindrical, and the battery 1400A includes two oppositely disposed end surfaces 1410A that are flat or quasi-flat, one of which faces Figure 5 The head end 1001 in the middle, the other end face 1410A faces Figure 5Battery 1400A includes a curved connection surface 1420A, which connects between the two end surfaces 1410 and is arranged circumferentially around battery 1400A. Connection surface 1420A includes interconnected arc-shaped arc surfaces 1421A and a flat notch surface 1422A. Notch surface 1422A has a notch 1430A formed therein. Notch surface 1422A is disposed toward top 1004, while end surface 1410A is D-shaped.

[0395] In some embodiments, the notch surface 1422A is a curved surface, for example, the notch surface 1422A is convex in a direction away from the arc surface 1421A (towards Figure 5 convex toward the top 1004 in the middle), or concave toward the arc surface 1421A (concave toward the arc surface 1421A). Figure 5 The bottom 1005 is recessed in the center of the capsule endoscope to form a notch 1430A, which is beneficial for lowering the center of gravity of the capsule endoscope.

[0396] It is understandable that in the first embodiment, in addition to using the battery 1400 to lower the center of gravity M of the capsule endoscope 1000, other heavier components in the capsule endoscope 1000 can also be set toward the bottom 1005, which can also lower the center of gravity M.

[0397] like Figures 5 to 7 As shown, in the first embodiment, the battery 1400 is disposed adjacent to the Z-axis electric drive unit 1210, that is, no other components are disposed between the battery 1400 and the Z-axis electric drive unit 1210. Since the battery 1400 and the electric drive unit 1200 are heavier than other components in the capsule endoscope 1000 (such as the lens 1500, the circuit board 1700, the antenna 1800, etc.), the battery 1400 and the Z-axis electric drive unit 1210 are disposed adjacent to each other, thereby facilitating adjustment of the center of gravity M of the capsule endoscope 1000 to the area where the battery 1400 and the Z-axis electric drive unit 1210 are located. In the capsule endoscope 1000, due to the large mass of the battery 1400, the battery 1400 is generally disposed on the X-axis, in the middle section of the capsule endoscope 1000 (between the head end 1001 and the tail end 1002), thereby facilitating posture control and avoiding the inability to control the capsule endoscope 1000 to achieve a specific posture due to the heavier end. In the present application, the battery 1400 and the Z-axis electric drive unit 1210 are both arranged on the X-axis, in the middle section of the capsule endoscope 1000, thereby facilitating adjustment of the center of gravity M to the middle section of the capsule endoscope 1000 on the X-axis.

[0398] like Figures 5 to 7As shown, the multiple electric drive units 1200 include two Z-axis electric drive units 1210, which solves the problem that during the miniaturization process of the capsule endoscope 1000, the capsule endoscope 1000 is difficult to overcome gravity suspension and floating due to the reduced buoyancy and limited Z-axis reverse thrust provided by a single Z-axis electric drive unit 1210.

[0399] The battery 1400 is sandwiched between the two Z-axis electric drive units 1210. Since the electric drive units 1200 and the battery 1400 are both heavy, sandwiching the battery 1400 between the two Z-axis electric drive units 1210 is beneficial for adjusting the center of gravity M of the capsule endoscope 1000 to the area where the battery 1400 is located.

[0400] In various embodiments of the present application, by rationally arranging the various components of the capsule endoscope, the center of gravity M is located at or near the midpoint of the capsule endoscope on the X-axis. For example, in this embodiment, the battery 1400 is disposed at the midpoint of the capsule endoscope 1000 on the X-axis, and a Z-axis electric drive unit 1210 is disposed adjacent to the side of the battery 1400 facing the head end 1001. Correspondingly, another Z-axis electric drive unit 1210 is disposed adjacent to the side of the battery 1400 facing the tail end 1002. A plurality of circuit boards 1700 and a lens 1500 are disposed between the Z-axis electric drive unit 1210 adjacent to the head end 1001 and the head end 1001, and an antenna 1800 and a Y-axis electric drive unit 1230 are disposed between the Z-axis electric drive unit 1210 adjacent to the tail end 1002 and the tail end 1002, so that the weight of both sides of the battery 1400 on the X-axis is substantially equal.

[0401] like Figures 5 to 7 As shown, the battery 1400 is clamped between the two Z-axis channels 1310 corresponding to the two Z-axis electric drive units 1210, so that the capsule endoscope 1000 can be adjusted to achieve various postures by adjusting the Z-axis reverse thrust generated by the two Z-axis electric drive units 1210 respectively, such as controlling one side of the battery 1400 to be raised relative to the other side, or controlling one side of the battery 1400 to be lowered relative to the other side.

[0402] If the battery 1400 is arranged on one side of the two Z-axis channels 1310, for example, the battery 1400 is arranged near the head end 1001 relative to the two Z-axis channels 1310, due to the heavier weight of the battery 1400, the weight on one side of the head end 1001 may be heavier, and the center of gravity M may be biased toward the head end 1001. No matter how fast the Z-axis electric drive unit 1210 drives the liquid 210 to flow through the Z-axis channel 1310, the head end 1001 is lower than the tail end 1002, and is always in a "head-down" posture during working. This may cause some specific parts of the digestive tract to never be photographed, seriously affecting the integrity and efficiency of digestive tract imaging.

[0403] In some embodiments, the two Z-axis electric drive units 1210 can be arranged arbitrarily.

[0404] like Figure 6 and Figure 7 As shown, in this embodiment, the two Z-axis electric drive units 1210 and the battery 1400 are arranged along the X-axis. The X-axis is defined by the direction of the line connecting the geometric centers of the head end 1001 and the tail end 1002 of the capsule endoscope 1000. The X-axis is the direction of the line connecting the geometric centers of the head end 1001 and the tail end 1002, and is also the axis of the capsule endoscope 1000.

[0405] The two Z-axis electric drive units 1210 and the battery 1400 are arranged along the X-axis, and the two Z-axis channels 1310 and the battery 1400 are arranged along the X-axis, and are not arranged tilted relative to the X-axis or parallel to the X-axis. This is conducive to adjusting the center of gravity M and the Z-axis reverse thrust to the X-axis of the capsule endoscope 1000, facilitating efficient control of the movement of the capsule endoscope 1000, and also facilitating the Z-axis reverse thrust formed by the Z-axis electric drive unit 1210 to act on the axis (X-axis) of the capsule endoscope 1000, which can drive the capsule endoscope 1000 to float, suspend, dive and adjust the pitch angle, and in the process of performing these position and posture adjustments, minimize or avoid the overall rolling of the capsule endoscope 1000 around the X-axis due to the Z-axis reverse thrust not acting on the X-axis, or being slightly offset relative to the X-axis.

[0406] Furthermore, the two Z-axis channels 1310 are arranged along the longitudinal section 1008, that is, each Z-axis channel 1310 extends along the longitudinal section 1008, so that the Z-axis reverse thrust formed by the two Z-axis channels 1310 acts on the X-axis, reducing or avoiding other actions other than floating, suspending, and diving caused by the Z-axis reverse thrust.

[0407] In addition, the two Z-axis channels 1310 are arranged along the longitudinal section 1008, and the two Z-axis channels 1310 are symmetrically arranged along a cross-section 1009 perpendicular to the X-axis, so as to form a reverse thrust symmetrical about the direction of the cross-section 1009 at the front and rear positions on the X-axis (on both sides of the battery 1400), which is beneficial to the realization of the pitch motion control of the capsule endoscope 1000 and improves the stability of the pitch motion control.

[0408] See also Figure 9 When the two Z-axis electric drive units are in operation, they generate Z-axis reverse thrusts F1 and F2, respectively. The capsule endoscope 1000 generates a buoyancy F' in the liquid environment 200. The buoyancy F' is equal to the gravity of the liquid 210 displaced from the capsule endoscope 1000. Vectors a, b, and c are the distances from the vertical components of the Z-axis reverse thrust F1, Z-axis reverse thrust F2, and buoyancy F' in the liquid environment to the center of gravity M, respectively.

[0409] In the static suspended state, the resultant force of the Z-axis counterthrust F1, the Z-axis counterthrust F2, and the buoyancy F' equals the gravity G acting on the capsule endoscope 1000. Furthermore, due to structural and process limitations, the center of buoyancy and the center of gravity M cannot completely overlap. To maintain the capsule endoscope 1000 in a static suspended state, the resultant force and torque of the capsule endoscope 1000 are both zero.

[0410] Therefore, static suspension must satisfy the following equations:

[0411]

[0412] When controlling the capsule endoscope 1000 to adjust the depth in the liquid environment 200, under the premise of keeping the resultant torque at 0, if the resultant force of the Z-axis reverse thrust F1 and the Z-axis reverse thrust F2 is greater than the difference between G and F', the capsule endoscope 1000 will float up; if the resultant force of the Z-axis reverse thrust F1 and the Z-axis reverse thrust F2 is less than the difference between G and F', the capsule endoscope 1000 will sink.

[0413] See also Figure 10 By adjusting the magnitude of the Z-axis reverse thrust F1 and the Z-axis reverse thrust F2, the capsule endoscope 1000 can be tilted to a certain pitch angle. The capsule endoscope 1000 is defined as moving forward (advance) when it moves toward the head end 1001, and as moving backward (retreat) when it moves toward the tail end 1002.

[0414] When controlling the forward and backward movement of the capsule endoscope 1000, the X-axis of the capsule endoscope 1000 forms a pitch angle θ with the horizontal direction in the liquid environment 200. In the vertical direction of the liquid environment 200, the component of the Z-axis counter-thrust F1, the component of the Z-axis counter-thrust F2, and the resultant force F' are used to balance the gravity G. In the horizontal direction of the liquid environment 200, the component of the Z-axis counter-thrust F1 and the resultant force of the Z-axis counter-thrust F2 serve as the driving force for forward or backward movement. Similarly, during this process, the resultant torque of all forces remains zero. Therefore, the following set of equations must be satisfied:

[0415]

[0416] The vector d and the vector e are the distances from the horizontal components of the Z-axis counter-thrust F1 and the Z-axis counter-thrust F2 in the liquid environment to the center of gravity M, respectively.

[0417] The relationship between the driving force F for the capsule endoscope 1000 to move forward and backward and the pitch angle θ is:

[0418] F=F1×sinθ+F2×sinθ

[0419] like Figure 16As shown, the capsule endoscope 1000 includes an inertial measurement unit 1910. The real-time pitch angle θ and other posture and motion data of the capsule endoscope 1000 can be obtained by using the calibrated inertial measurement unit 1910, and added to the motion control algorithm as feedback values ​​to perform relevant calculations and solve them, so as to adjust the driving signals of the two Z-axis electric drive units 1210 in real time, and then control the flow rate of the liquid in the two Z-axis channels 1310, so that the capsule endoscope 1000 can be stably suspended, moved up and down, adjusted in pitch angle, suppressed in pitch angle swing, and moved forward and backward, thereby realizing closed-loop control of the pitch angle θ of the capsule endoscope 1000.

[0420] Please combine Figure 6 and Figure 7 See Figure 11 In this embodiment, the extension directions of the two Z-axis channels 1310 are parallel to each other and are both perpendicular to the horizontal plane 1007 of the capsule endoscope 1000. That is, if the spacing between the outlets 1312 of the two Z-axis channels is defined as the Z-axis outlet spacing LO, and the spacing between the inlets 1311 of the two Z-axis channels is defined as the Z-axis inlet spacing LI, then the Z-axis outlet spacing LO is equal to the Z-axis inlet spacing LI. The horizontal plane 1007 of the capsule endoscope 1000 is the plane where the X-axis and the Y-axis are located. The extension directions of the two Z-axis channels 1310 are both perpendicular to the horizontal plane 1007 of the capsule endoscope 1000, thereby preventing the reverse thrust generated by the two Z-axis electric drive units 1210 from causing movement in directions other than the Z-axis, thereby facilitating precise and stable control of the movement and posture of the capsule endoscope 1000.

[0421] See also Figure 12 In some embodiments, a capsule endoscope 1000B is provided. The main difference between the capsule endoscope 1000B and the capsule endoscope 1000 is that the Z-axis outlet spacing LO in the capsule endoscope 1000B is greater than the Z-axis inlet spacing LI.

[0422] Specifically, the capsule endoscope 1000B includes two Z-axis electric drive units (not shown), and the capsule endoscope 1000B forms a Z-axis channel 1310B corresponding to each Z-axis electric drive unit. The extension direction of the two Z-axis channels 1310B is arranged in an "eight" shape. Specifically, the two Z-axis channels 1310B extend on the longitudinal section 1008, the two Z-axis channels 1310B are close to each other at the top 1004B, and the two Z-axis channels 1310B are separated from each other at the bottom 1005B. The Z-axis reverse thrust generated by the two Z-axis channels 1310B can be synthesized according to the principle of vector addition.

[0423] Of the two Z-axis channels 1310B, the Z-axis channel 1310B disposed near the head end 1001B has an outlet 1312B closer to the head end 1001B than the inlet 1311B, and the Z-axis reverse thrust F1 generates a component F1 in the vertical direction in the liquid environment. Z , and the component F1 pointing to the side of the tail end 1002B in the horizontal direction in the liquid environment X The Z-axis channel 1310B is provided near the tail end 1002B, and its outlet 1312B is closer to the tail end 1002 relative to the inlet 1311B, which corresponds to the Z-axis reverse thrust F2 generating a component F2 in the vertical direction in the liquid environment. Z , and the component F2 pointing to the side of the head end 1001B in the horizontal direction in the liquid environment X ; Among the above four components, the component F1 along the vertical direction in the liquid environment Z With component F2 Z Add together the two opposite components F1 along the horizontal direction in the liquid environment X With component F2 X Subtracting the Z-axis reverse thrust F1 and the Z-axis reverse thrust F2 generated by the Z-axis electric drive unit can reduce or avoid the capsule endoscope 1000B from moving in directions other than the Z-axis. X With component F2 X It is beneficial to resist the disturbance in the X-axis direction in the liquid environment, suppress the jitter of the pitch angle to a certain extent, and improve the posture stability of the capsule endoscope 1000 when it is suspended.

[0424] like Figure 2 、 Figure 5 、 Figure 6 as well as Figure 7 As shown, the multiple electric drive units 1200 include a Y-axis electric drive unit 1230, and the channel 1300 of the capsule endoscope 1000 corresponding to the Y-axis electric drive unit 1230 is the Y-axis channel 1330. The Y-axis electric drive unit 1230 provided in this embodiment is used to provide steering thrust for adjusting the yaw angle.

[0425] On the X-axis, the Y-axis channel 1330 is disposed between the center of the capsule endoscope 1000 and the tail end 1002. That is, the extension direction of the Y-axis channel 1330 does not pass through the midpoint of the capsule endoscope 1000 on the X-axis direction, and the Y-axis channel 1330 is disposed toward the tail end 1002.

[0426] On the X-axis, the Y-axis channel 1330 is arranged between the center position of the capsule endoscope 1000 and the tail end 1002, and the extension direction of the Y-axis channel 1330 is parallel to the Y-axis, so that the Y-axis reverse thrust generated by the Y-axis electric drive unit 1230 driving the liquid to flow through the Y-axis channel 1330 is along the Y-axis of the capsule endoscope 1000 and acts on the position of the capsule endoscope 1000 biased towards the tail end 1002 on the X-axis, so that the distance between the Y-axis reverse thrust and the center of gravity M is as far as possible, so that the steering torque of the capsule endoscope 1000 can be larger, and the capsule endoscope 1000 can achieve efficient rotation around the vertical direction in the liquid environment 200, or achieve rotation in place, thereby improving posture controllability.

[0427] On the Z-axis, the Y-axis channel 1330 is disposed at the center of the capsule endoscope 1000 , or between the center and the bottom 1005 .

[0428] In this embodiment, on the Z-axis, the Y-axis channel 1330 is arranged at the center position of the capsule endoscope 1000, that is, on the Z-axis, the Y-axis channel 1330 is located at the midpoint position in the capsule endoscope, so that the Y-axis reverse thrust corresponding to the Y-axis channel 1330 is only used for the capsule endoscope 1000 as a whole to rotate in the vertical direction in the liquid environment, avoiding the situation where the extension direction of the Y-axis channel 1330 is located in a plane parallel to the horizontal plane 1007, and its corresponding Y-axis reverse thrust drives the capsule endoscope 1000 as a whole to rotate in the vertical direction and roll around its X-axis.

[0429] When controlling the capsule endoscope 1000 to rotate around the vertical direction in the liquid environment, based on the above-mentioned static suspension state, it is only necessary to control the flow rate and flow direction of the liquid in the Y-axis channel 1330 .

[0430] Furthermore, the rotational motion around the vertical direction in the liquid environment is combined with the forward and backward translational motion, thereby realizing the turning motion of the capsule endoscope 1000 along a certain turning radius.

[0431] Furthermore, the rotational motion around the vertical direction in the liquid environment is combined with the up and down translational motion, thereby realizing the spiral ascending / descending scanning motion of the capsule endoscope 1000 .

[0432] By setting up a Y-axis electric drive unit, rotational motion around the vertical direction can be achieved simply and efficiently, and a variety of complex spatial motions can be compounded, such as controllable radius turning motion, spiral ascending / descending scanning motion, etc., thereby adjusting the capsule endoscope 1000 to stably control its own posture and displacement in the liquid environment 200, ensuring the clarity of image capture and the integrity of gastroscopy examination.

[0433] In some embodiments, the Y-axis channel 1330 is disposed between the center of the capsule endoscope 1000 and the bottom 1005 on the Z-axis. That is, the Y-axis channel 1330 is located slightly below the entire capsule endoscope 1000, thereby lowering the center of gravity M of the capsule endoscope 1000 and facilitating quick adjustment of the capsule endoscope 1000 to a horizontal inspection posture within the liquid environment 200. Furthermore, the Y-axis channel 1330 is located slightly below the entire capsule endoscope 1000, facilitating the Y-axis reverse thrust to generate torque acting in directions other than the Y-axis, thereby facilitating roll angle control and balancing turbulent disturbances within the liquid environment 200, resulting in a more stable movement of the capsule endoscope 1000.

[0434] like Figure 2 and Figure 5 As shown, the Y-axis channel 1330 is arranged between the Z-axis channel 1310 and the tail end 1002, that is, on the X-axis, it is arranged in the capsule endoscope 1000 near the tail end 1002, so that the distance between the Y-axis reverse thrust and the center of gravity M is as far as possible, which can maximize the steering torque of the capsule endoscope 1000, and the capsule endoscope 1000 can be more efficiently rotated around the vertical direction in the liquid environment 200, with a smaller turning radius or can rotate on the spot during rotation, thereby improving the attitude controllability. It is convenient for the capsule endoscope 1000 to adjust the yaw angle in a suspended state, and to efficiently and conveniently adjust the shooting area of ​​the lens 1500 in the horizontal direction of the liquid environment 200, so as to avoid the reverse thrust generated by the Y-axis electric drive unit 1230 causing the overall position of the capsule endoscope 1000 to move, and the problem of difficulty in adjusting the horizontal shooting orientation of the lens 1500. In this embodiment, as Figure 5 As shown, the Y-axis channel 1330 is disposed adjacent to the tail end 1002 .

[0435] like Figure 5 and Figure 6 As shown, the housing 1100 includes a transparent cover 1110 and an outer shell 1120. The transparent cover 1110 is disposed at the head end 1001. The transparent cover 1110 is at least partially transparent, allowing the lens 1500 disposed at the head end 1001 to capture images through the transparent cover 1110. The outer shell 1120 is disposed at the tail end 1002. The transparent cover 1110 and the outer shell 1120 interlock to form a storage space 1130 for accommodating other components of the capsule endoscope 1000. The capsule endoscope 1000 includes multiple components such as a power drive unit 1200, a battery 1400, a lens 1500, an illumination unit 1600, a circuit board 1700, and an antenna 1800, which are at least partially disposed in the outer shell 1120.

[0436] Please combine Figure 5 and Figure 6 See Figure 11 and Figure 13The shell 1100 is a hollow structure and encloses an accommodating space 1130. Various components of the capsule endoscope 1000, including multiple electric drive units 1200, are at least partially accommodated in the accommodating space 1130. The accommodating space 1130 and the channels 1300 corresponding to the multiple electric drive units 1200 are isolated from each other to prevent the liquid 210 flowing through the channels 1300 from entering the accommodating space 1130 and causing a short circuit in the electronic devices.

[0437] On the X-axis, the size of the transparent cover 1110 is smaller than that of the outer shell 1120 , and the multiple electric drive units 1200 are arranged corresponding to the section wrapped by the outer shell 1120 .

[0438] Please combine Figure 5 、 Figure 7 See Figure 14 and Figure 15 The capsule endoscope 1000 is provided with a corresponding channel 1300 corresponding to each electric drive unit 1200. Specifically, in the present embodiment, the electric drive unit 1200 itself is formed with a corresponding channel 1300; in some other embodiments, the shell 1100 of the capsule endoscope 1000 is formed with a corresponding channel 1300 corresponding to at least one electric drive unit 1200 (such as the Z-axis electric drive unit and / or the X-axis electric drive unit).

[0439] Figure 14 China-Israel Figure 5 Taking one Z-axis electric drive unit 1210 among the multiple electric drive units 1200 as an example, the structure of the Z-axis electric drive unit 1210 and the corresponding Z-axis channel 1310 is described. It should be noted that, in this embodiment, the structures of the multiple electric drive units 1200 are basically the same, and each is formed with a corresponding channel 1300. The other electric drive units 1200 and Figure 14 The same structure of the Z-axis electric drive unit 1210 shown in FIG will not be repeated in this article.

[0440] like Figure 14 and Figure 15 As shown, the Z-axis electric drive unit 1210 includes a duct 1211 and a drive component 1213 arranged in the duct 1211. The duct 1211 is tubular and encloses a channel corresponding to the Z-axis electric drive unit 1210 (i.e., the Z-axis channel 1310). The ends of the duct 1211 respectively form openings (an inlet 1311 and an outlet 1312) of the Z-axis channel 1310. In this embodiment, the end of the duct 1211 adjacent to the top 1004 forms the inlet 1311, and the end of the duct 1211 adjacent to the bottom 1005 forms the outlet 1312.

[0441] The periphery of the end of the duct 1211 is sealed with the shell 1100, thereby preventing the liquid 210 in the duct 1211 or the liquid environment 200 from entering the accommodating space 1130, thereby keeping the accommodating space 1130 effectively sealed.

[0442] A plurality of guide vanes 12113 are protruded from the surface of the duct 1211 toward the channel (Z-axis channel 1310) it encloses. The plurality of guide vanes 12113 extend in a strip shape between the two ends of the duct 1211. The plurality of guide vanes 12113 are evenly spaced in the circumferential direction of the duct 1211. The plurality of guide vanes 12113 are fixedly connected to the drive assembly 1213.

[0443] Specifically, duct 1211 includes a pipe wall 12111 and guide vanes 12113 disposed on the inner surface of pipe wall 12111. Guide vanes 12113 protrude from the inner surface of pipe wall 12111 toward drive assembly 1213. Guide vanes 12113 not only provide a structurally fixed connection to drive assembly 1213 but also serve as a flow guide, reducing the rotational kinetic energy of liquid 210 in duct 1211 and alleviating turbulent disturbances near outlet 1312. The number of guide vanes 12113 can range from 2 to 6. In this embodiment, the number of guide vanes 12113 is 4.

[0444] like Figure 5 and Figure 14 As shown, in the embodiment of the present application, the driving component 1213 includes a motor 1214 and a propeller 1215 connected to the motor 1214, the output shaft of the motor 1214 is fixedly connected to the propeller 1215, the propeller 1215 is accommodated in the Z-axis channel 1310, the motor 1214 is used to drive the propeller 1215 to rotate and thereby drive the liquid 210 to flow in the Z-axis channel 1310 corresponding to the Z-axis electric drive unit 1210, and a plurality of guide vanes 12113 are fixedly connected to the motor 1214. Specifically, the motor 1214 is fixed to the internal center of the duct 1211.

[0445] like Figure 5 As shown, the propeller 1215 is arranged near the top 1004 relative to the motor 1214. In the process of the motor 1214 driving the propeller 1215 to rotate and drive the liquid 210 to flow, compared with the propeller 1215 being arranged near the bottom 1005 relative to the motor 1214, it is beneficial for the Z-axis reverse thrust generated at the center of the propeller 1215 to pull up the capsule endoscope 1000 at a position near the top 1004, thereby improving the movement stability of the capsule endoscope 1000.

[0446] like Figure 14As shown, in this embodiment, the propeller 1215 has two blades 12151 arranged opposite to each other, and the blades 12151 of the propellers 1215 in the two Z-axis electric drive units 1210 have the same shape and opposite rotation directions to balance the counter-torque generated by the two propellers 1215, thereby preventing the capsule endoscope 1000 from rotating uncontrollably in the horizontal plane in the liquid environment 200 when the two Z-axis electric drive units 1210 are working at the same time, maintaining the desired working state (position and posture), and enhancing the stability of the heading angle.

[0447] Duct 1211 is provided with a deflector 1217 covering the end of duct 1211. Deflector 1217 is exposed on the surface of housing 1100 and hermetically sealed to housing 1100 at its periphery. Deflector 1217 is formed with a plurality of guide holes 12172 extending through its thickness. Liquid 210 can flow through these guide holes 12172 into or out of Z-axis channel 1310. There are two to four guide holes 12172. Deflector 1217 prevents propeller 1215 from abrading tissue, prevents foreign matter from being drawn in, and reduces turbulence.

[0448] See also Figure 16 The capsule endoscope 1000 includes an inertial measurement unit 1910 , a control unit 1920 , and a driving circuit 1930 . The control unit 1920 , the inertial measurement unit 1910 , and the driving circuit 1930 may be disposed on a surface of the circuit board 1700 .

[0449] Among them, the inertial measurement unit 1910 is used to obtain the posture and motion state information of the capsule endoscope 1000 itself.

[0450] Specifically, the inertial measurement unit 1910 is used to collect the current acceleration, angular velocity, and magnetometer data of the capsule endoscope 1000, and calculate the current posture and motion data. The current posture and motion data include the current velocity, acceleration, and position data of the capsule endoscope 1000. The velocity and acceleration in the current posture and motion data are consistent with the current acceleration and angular velocity of the capsule endoscope 1000 collected by the inertial measurement unit 1910. The position data in the current posture and motion data needs to be calculated from the data collected by the inertial measurement unit 1910. In some embodiments, the current posture and motion data includes the pitch angle θ described above.

[0451] An inertial measurement unit (IMU) is a device that measures an object's three-axis attitude angle (or angular rate) and acceleration. The IMU 1910 includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer detects the carrier's three-axis acceleration signals, the gyroscope detects the carrier's angular velocity signals, and the magnetometer detects the surrounding magnetic field. The accelerometer measures the object's angular velocity, acceleration, and magnetic field data in three-dimensional space, and uses this data to calculate the object's attitude and position.

[0452] The control unit 1920 is used to calculate and output driving instructions based on the external expected posture and position instructions and the current posture and motion data. Figure 1 As shown, the client 110 can transmit user instructions to the capsule endoscope 1000, where the user instructions include the desired posture and position instructions. The control unit 1920 calculates and outputs drive instructions for controlling the multiple electric drive units 1200 based on the desired posture and position instructions and the current posture and motion data. The control unit 1920 can be a microcontroller unit (MCU), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), etc.

[0453] The drive circuit 1930 is configured to convert drive instructions into drive signals and transmit them to the multiple electric drive units 1200, thereby adjusting the operating states of the multiple electric drive units 1200 and the posture and position of the capsule endoscope 1000. In this embodiment, the drive circuit 1930 is configured to convert drive instructions into PWM signals to control the speed and direction of the multiple motors, thereby changing the magnitude and direction of each reverse thrust, thereby adjusting the posture and position of the capsule endoscope 1000.

[0454] In the embodiment of the present application, the motor output shafts of the plurality of electric drive units 1200 are independently controllable. The drive circuit 1930 may include a motor drive integrated chip and / or related circuits constructed from discrete components.

[0455] During the process of adjusting the posture and position of capsule endoscope 1000, inertial measurement unit 1910 can collect and calculate the current posture and motion data of capsule endoscope 1000 in real time. Control unit 1920 is used to calculate subsequent drive instructions based on the adjusted current posture and motion data and the expected posture and position instructions. In other words, control unit 1920 can dynamically adjust the drive instructions based on the posture and position requirements and the collected real-time changing posture and motion data, thereby facilitating the control of capsule endoscope 1000 to achieve the expected posture and position.

[0456] Based on the structure of the capsule endoscope 1000 provided in the embodiment of the present application, the depth, pitch angle, horizontal position and yaw angle can be controlled.

[0457] About Depth Control:

[0458] In this embodiment, the control unit 1920 controls the operation of the two Z-axis electric drive units 1210, which generate two upward Z-axis reverse thrusts. The control unit 1920 appropriately adjusts the flow rate of the liquid 210 driven by the Z-axis electric drive units 1210 in the corresponding Z-axis channels 1310 (i.e., adjusts the speed of the motor 1214) so ​​that the combined force of the Z-axis reverse thrust F1, the Z-axis reverse thrust F2, and the buoyancy F' of the capsule endoscope 1000 is greater than the gravity G of the capsule endoscope 1000, thereby enabling the capsule endoscope 1000 to float in the liquid environment 200. By controlling the flow rate of the liquid 210 driven by the Z-axis electric drive units 1210 in the corresponding Z-axis channels 1310, the control unit 1920 can achieve depth control of the capsule endoscope 1000, such as floating, diving, or suspending.

[0459] About pitch angle adjustment:

[0460] The driving instructions output by the control unit 1920 include pitch angle adjustment instructions. In various embodiments provided herein, any driving instructions output by the control unit 1920 may be derived from the expected posture and position instructions in the user instructions, or may be calculated by the control unit 1920 based on the expected posture and position instructions and the current posture and motion data.

[0461] The driving circuit 1930 is used to convert the pitch angle adjustment instruction into a driving signal and transmit it to the two Z-axis electric drive units 1210, adjust the flow rate of the liquid driven by the two Z-axis electric drive units 1210 through the corresponding Z-axis channel 1310, and then adjust the pitch angle of the capsule endoscope 1000.

[0462] That is, when the pitch angle θ is 0, the control unit 1920 can change the size of the two Z-axis reverse thrusts generated by the two Z-axis electric drive units 1210 by controlling the different rotation speeds of the motors 1214 in the two Z-axis electric drive units 1210, thereby realizing pitch angle control of the capsule endoscope 1000 and realizing the "lowering" or "raising" of the capsule endoscope 1000.

[0463] When the pitch angle θ is not 0, the control unit 1920 controls the rotation speed of the motor 1214 in the two Z-axis electric drive units 1210 to change the magnitude of the two Z-axis reverse thrusts generated by the two Z-axis electric drive units 1210, thereby achieving pitch angle control of the capsule endoscope 1000 and changing the pitch angle of the capsule endoscope 1000.

[0464] Regarding horizontal position control in liquid environments:

[0465] When the pitch angle θ is not zero, the control unit 1920 controls the two Z-axis electric drive units 1210 to drive the flow rate of the liquid in the corresponding Z-axis channel 1310 (i.e., adjusts the speed of the corresponding motor). In the process of adjusting the pitch angle, the Z-axis reverse thrust F1 and the Z-axis reverse thrust F2 will generate forward or backward components in the liquid environment 200, which can make the capsule endoscope 1000 move forward or backward, that is, realize the position control of the capsule endoscope 1000 in the horizontal direction in the liquid environment 200.

[0466] About yaw angle control:

[0467] The driving instructions output by the control unit 1920 include instructions for adjusting the yaw angle.

[0468] The driving circuit 1930 is used to convert the yaw angle adjustment instruction into a driving signal and transmit it to the Y-axis electric drive unit 1230, adjust the direction and / or flow rate of the Y-axis electric drive unit 1230 to drive the liquid 210 to flow through the corresponding Y-axis channel 1330, and thereby adjust the yaw angle of the capsule endoscope 1000.

[0469] Specifically, the control unit 1920 controls the direction and / or magnitude of the Y-axis reverse thrust by controlling the speed and direction of the motor in the Y-axis electric drive unit 1230, thereby controlling the capsule endoscope 1000 to rotate in the vertical direction in the liquid environment 200, and then adjusting the yaw angle of the capsule endoscope 1000.

[0470] See also Figure 17 Accordingly, an embodiment of the present application further provides a method for controlling the capsule endoscope 1000, which is used to control the capsule endoscope 1000 in this embodiment, and includes the following steps:

[0471] S110: Collect the current acceleration, angular velocity and magnetometer data of the capsule endoscope 1000, and calculate the current posture and motion data. The current posture and motion data include the current speed, acceleration and position data of the capsule endoscope 1000.

[0472] In the embodiment of the present application, the inertial measurement unit 1910 is used to collect the current acceleration, angular velocity and magnetometer data of the capsule endoscope 1000, and calculate the current posture and motion data, which include the current speed, acceleration and position data of the capsule endoscope 1000.

[0473] S130: Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data.

[0474] In the embodiment of the present application, the control unit 1920 is used to output a driving instruction after calculation based on the external expected posture and position instructions and the current posture and motion data.

[0475] S150: Convert the driving instructions into driving signals and transmit them to the multiple electric drive units 1200, thereby adjusting the working states of the multiple electric drive units 1200 and the posture and position of the capsule endoscope 1000.

[0476] In this embodiment, the driving circuit 1930 is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units 1200 , thereby adjusting the working states of the multiple electric drive units 1200 and the posture and position of the capsule endoscope 1000 .

[0477] The above steps S110, S130 and S150 are also applicable to other embodiments of the present application to control the capsule endoscope provided in other embodiments.

[0478] In this embodiment, the driving instruction output in step S130 includes a pitch angle adjustment instruction to adjust the pitch angle of the capsule endoscope 1000 .

[0479] Accordingly, step S150 specifically includes:

[0480] S151: Convert the pitch angle adjustment instruction into a drive signal and transmit it to the two Z-axis electric drive units 1210, adjust the flow rate of the two Z-axis electric drive units 1210 to drive the liquid 210 to flow through the corresponding Z-axis channel 1310, and then adjust the pitch angle of the capsule endoscope 1000.

[0481] In this embodiment, the drive instructions output by the control unit 1920 include pitch angle adjustment instructions. The drive circuit 1930 is used to convert the pitch angle adjustment instructions into drive signals and transmit them to the two Z-axis electric drive units 1210, thereby adjusting the flow rate of the liquid driven by the two Z-axis electric drive units 1210 through the corresponding Z-axis channels 1310, thereby adjusting the pitch angle of the capsule endoscope 1000.

[0482] In some embodiments, the driving instruction output in step S130 includes an instruction for adjusting the yaw angle to adjust the yaw angle of the capsule endoscope 1000 .

[0483] Accordingly, step S150 specifically includes:

[0484] S152: Convert the yaw angle adjustment instruction into a drive signal and transmit it to the Y-axis electric drive unit 1230, adjust the direction and / or flow rate of the Y-axis electric drive unit 1230 to drive the liquid 210 to flow through the corresponding Y-axis channel 1330, and then adjust the yaw angle of the capsule endoscope 1000.

[0485] In this embodiment, the driving instruction output by the control unit 1920 includes an instruction for adjusting the yaw angle.

[0486] The driving circuit 1930 is used to convert the yaw angle adjustment instruction into a driving signal and transmit it to the Y-axis electric drive unit 1230, adjust the direction and / or flow rate of the Y-axis electric drive unit 1230 to drive the liquid 210 to flow through the corresponding Y-axis channel 1330, and thereby adjust the yaw angle of the capsule endoscope 1000.

[0487] By simultaneously controlling the Z-axis electric drive unit 1210 and the Y-axis electric drive unit 1230, a variety of complex spatial movements can be simply and efficiently achieved, such as controllable radius turning movement, spiral ascending / descending scanning movement, etc. In this embodiment, when using the capsule endoscope 1000 for gastroscopy, the following process can be referred to:

[0488] Before undergoing a gastroscopy, the patient must follow the doctor's instructions to prepare their stomach. This includes maintaining an empty stomach, taking a defoaming agent to reduce mucus and bubbles in the stomach, and drinking plenty of water to fill the stomach and reduce folds. The capsule endoscope 1000 is activated to enter operating mode and taken with water to allow the capsule endoscope to enter the stomach.

[0489] The patient can first stand up, while medical personnel control the capsule endoscope 1000 in a spiral upward scanning motion, capturing and observing a large portion of the gastric lining, including the gastric body, lesser curvature, and greater curvature. The patient then switches to a supine position, and medical personnel control the capsule endoscope 1000 to supplement observations near missed areas such as the cardia, fundus, and pylorus, thereby forming complete gastric lining image data. For localized areas of interest or suspected lesions, medical personnel can control the capsule endoscope 1000 to move closer to the target for closer observation.

[0490] Therefore, the examinee only needs to switch between standing and lying flat positions to complete the gastroscopy examination. The examinee can also choose to adopt the lying flat, side-lying or other posture combinations. Medical personnel can control the capsule endoscope 1000 to scan and photograph the stomach using other postures and motion trajectories. The other processes are similar to the above and will not be repeated.

[0491] After the gastroscopy is completed, the capsule endoscope 1000 enters the intestine through the pylorus. Depending on the functional design of the capsule endoscope system 100 and the remaining battery level, the capsule endoscope 1000 may further perform an intestinal examination and eventually be discharged from the body through the anus.

[0492] Please combine Figures 6 and 7 See Figure 18 and Figure 19 The capsule endoscope 1000 includes an antenna 1800 disposed inside the housing 1100. The antenna 1800 may be a microstrip antenna comprising a flexible substrate and a conductive wire disposed on the surface of the flexible substrate. The conductive wire may be arranged in a serpentine or spiral shape. The antenna 1800 may be connected to the circuit board 1700 via a lead wire or a thin strip of FPC.

[0493] On the X-axis, the antenna 1800 is positioned between the battery 1400 and the tail end 1002. Generally, the battery 1400 is positioned in the middle section of the capsule 1000 on the X-axis (between the two ends), and the antenna 1800 is positioned between the battery 1400 and the tail end 1002. This helps increase the layout area of ​​the antenna 1800, increases the length of the antenna radiator, and enhances radiation performance.

[0494] At least one electric drive unit 1200 and its corresponding channel 1300 are disposed between the battery 1400 and the tail end 1002. Specifically, a Z-axis electric drive unit 1210 is disposed between the battery 1400 and the tail end 1002, and the antenna 1800 extends from the Z-axis electric drive unit 1210 toward the tail end 1002, so that the battery 1400 and the antenna 1800 are spaced apart on the X-axis. This reduces the impact of the battery 1400 on the performance of the antenna 1800, enhances the radiation performance of the antenna 1800, and prevents the antenna 1800 from being affected by the battery 1400, resulting in a weakening of the signal strength.

[0495] The plurality of electric drive units 1200 include at least one electric drive unit 1200 disposed between the battery 1400 and the tail end 1002. Specifically, in this embodiment, a Z-axis electric drive unit 1210 is disposed between the battery 1400 and the tail end 1002, and the plurality of electric drive units 1200 further include at least one electric drive unit 1200 disposed between the Z-axis electric drive unit 1210 and the tail end 1002. That is, on the X-axis, the battery 1400, the Z-axis electric drive unit 1210, the at least one other electric drive unit 1200, and the tail end 1002 are arranged in sequence.

[0496] On the X-axis, the antenna 1800 is arranged corresponding to the multiple electric drive units 1200 located between the battery 1400 and the tail end 1002, further optimizing the utilization of the accommodation space 1130 between the battery 1400 and the tail end 1002, expanding the coverage area of ​​the antenna 1800, increasing the length of the antenna radiator, and enhancing radiation performance. Specifically, in this embodiment, the electric drive units 1200 arranged between the battery 1400 and the tail end 1002 include a Z-axis electric drive unit 1210 and a Y-axis electric drive unit 1230. In other embodiments, the electric drive units 1200 arranged between the battery 1400 and the tail end 1002 can be other numbers and / or arranged in other orientations.

[0497] On the X-axis, at least one channel 1300 that coincides with the location of antenna 1800 is a channel to be avoided. Antenna 1800 is sheet-shaped and positioned around the circumference of capsule endoscope 1000, abutting against the inner surface of the sidewall of housing 1100. Antenna 1800 is formed with at least one avoidance slot 1810 for the channel to be avoided to pass through, thereby avoiding structural interference. This rational layout maximizes the internal space of capsule endoscope 1000, maximizing the area of ​​antenna 1800. This increases the width of the wire within antenna 1800, enhancing the radiation efficiency and gain of antenna 1800, increasing the strength of the transmitted and received signals, and improving signal reception sensitivity.

[0498] In this embodiment, a Z-axis electric drive unit 1210 and its corresponding Z-axis channel 1310, as well as a Y-axis electric drive unit 1230 and its corresponding Y-axis channel 1330, are both located between the battery 1400 and the tail end 1002. On the X-axis, the Z-axis channel 1310 and the Y-axis channel 1330 between the battery 1400 and the tail end 1002 both coincide with the location of the antenna 1800. Specifically, the Z-axis channel 1310 and the Y-axis channel 1330 between the battery 1400 and the tail end 1002 are both channels to be avoided.

[0499] In some embodiments, multiple channels 1300 are provided between the battery 1400 and the tail end 1002. Some of the multiple channels 1300 are channels to be avoided, while some of the channels 1300 are not channels to be avoided. In some embodiments, if a channel 1300 is provided between the battery 1400 and the tail end 1002, then the channel 1300 is the channel to be avoided.

[0500] like Figure 18 and Figure 19 As shown, antenna 1800 is formed with avoidance grooves 1811 and 1812 disposed oppositely to Z-axis channel 1310. The two ends of Z-axis channel 1310 can extend toward the surface of housing 1100 through avoidance grooves 1811 and 1812, respectively. Antenna 1800 is also formed with avoidance grooves 1813 and 1814 disposed oppositely to Y-axis channel 1330. The two ends of Y-axis channel 1330 can extend toward the surface of housing 1100 through avoidance grooves 1813 and 1814, respectively. The shape and size of each avoidance groove 1810 matches the shape and size of the channel 1300 through which it passes.

[0501] like Figure 14 and Figure 19As shown, in this embodiment, the channels 1300 are formed by the corresponding electric drive units 1200. That is, each electric drive unit 1200 includes a duct for forming a corresponding channel, and the motor and propeller are both accommodated and fixed in the corresponding channel. In this embodiment, the avoidance channel includes a Z-axis channel 1310 and a Y-axis channel 1330. The avoidance channel is irregular in shape, with the cross-sectional area of ​​one end of the avoidance channel being larger than the cross-sectional area of ​​the other end. Specifically, the end of the avoidance channel with a smaller cross-sectional area is roughly circular, and the end of the avoidance channel with a larger cross-sectional area is roughly square.

[0502] The cross-sectional area of ​​the avoidance channel corresponding to the propeller is relatively small, while the cross-sectional area of ​​the avoidance channel corresponding to the motor is relatively large. This helps maintain equal flow rates at all cross-sectional locations along the avoidance channel's extension direction, thereby further stabilizing the flow of liquid in the avoidance channel. It will be appreciated that in this embodiment, the structures and functions of all channels 1300 may be the same or different.

[0503] The circumferential direction of the capsule endoscope 1000 refers to the direction surrounding the X-axis of the capsule endoscope 1000. The antenna 1800 is arranged in a closed ring along the circumferential direction of the capsule endoscope 1000, which can enhance the length of the radiator of the antenna 1800, reduce the directivity of the antenna radiation, and increase the radiation range of the wireless signal.

[0504] like Figure 18 and Figure 19 As shown, antenna 1800 can be made of a flexible substrate (such as FPC), pre-formed into a strip-shaped sheet with multiple avoidance grooves 1810. A fixing portion 1820 is provided at each end of the strip-shaped antenna 1800. The two fixing portions 1820 are fixed to each other, thereby bending the antenna 1800 into a closed loop. The two fixing portions 1820 can be fixed to each other by bonding, snapping, or other methods.

[0505] Please combine Figures 5 to 7 See Figures 20 to 22The capsule endoscope 1000 includes a lens 1500 disposed inside a housing 1100, a first circuit board 1710, and a lighting unit 1600 disposed on the surface of the first circuit board 1710. The lighting unit 1600 is arranged around the lens 1500 and is used to provide the lens 1500 with the necessary light brightness for capturing images. The lighting unit 1600 may include a plurality of light emitting diodes (LEDs) or lasers. It is understood that the capsule endoscope 1000 also includes an optical sensor, which is used to convert the light signal captured by the lens 1500 into an electrical signal. The generated electrical signal with image information is used for subsequent image processing and is transmitted to the outside of the capsule endoscope 1000. The first circuit board 1710 is one of the multiple circuit boards 1700 and is used to carry at least the lighting unit 1600. The first circuit board 1710 is closer to the head end than the other circuit boards. The side of the first circuit board 1710 facing the tail end 1002 is adjacent to an electric drive unit (specifically, the Z-axis electric drive unit 1210). The lighting unit 1600 is fixed to the side of the first circuit board 1710 facing the head end 1001. It is understood that in some embodiments, a photoelectric sensor is further provided on the surface of the first circuit board 1710 facing the head end 101. The photoelectric sensor is used to receive light of a specified wavelength, such as infrared or ultraviolet light, to enable the capsule endoscope 1000 to enter or exit the working mode.

[0506] The housing 1100 includes a transparent cover 1110 and a light shielding member 1140 disposed at the head end 1001 . The transparent cover 1110 is exposed on the surface of the capsule endoscope 1000 . The lighting unit 1600 and the lens 1500 are disposed inside the housing 1100 corresponding to the transparent cover 1110 .

[0507] like Figure 5 as well as Figures 20 to 22 As shown, the light shading member 1140 is cylindrical and is arranged in the accommodating space 1130 surrounded by the shell 1100. One end of the light shading member 1140 extends toward the inner surface of the transparent cover 1110 located at the head end 1001, and the other end of the light shading member 1140 extends to between the light emitting surface of the lens 1500 and the lighting unit 1600 to block at least part of the light emitted by the lighting unit 1600 from being reflected through the transparent cover 1110 to the light incident surface of the lens 1500.

[0508] The capsule endoscope 1000 is provided with a light shielding member 1140, which is cylindrical. One end of the light shielding member 1140 extends toward the inner surface of the transparent cover 1110 located at the head end 1001, and the other end of the light shielding member 1140, that is, the end thereof away from the head end 1001, extends to between the light emitting surface of the lens 1500 and the lighting unit 1600, so that the light shielding member forms an annular area around the lens 1500, and separates the space enclosed by the transparent cover 1110 into two optical channels, wherein the optical channel radially inward of the light shielding member 1140 is the camera channel 1143, and the external liquid environment The light can pass through the transparent cover 1110 and the camera channel 1143 surrounded by the shading piece 1140 to enter the light incident surface of the lens 1500. The optical channel between the outer wall of the shading piece 1140 and the transparent cover 1110 is the lighting channel 1144. The light emitted by the lighting unit 1600 can be emitted into the external environment through the lighting channel 1144 and the transparent cover 1110. The shading piece 1140 is used to block at least part of the light emitted by the lighting unit 1600 from being reflected through the transparent cover 1110 to the light incident surface of the lens 1500, thereby reducing white spots in the captured image and improving the image capture quality.

[0509] like Figures 20 to 22 As shown, in this embodiment, the light shielding member 1140 and the transparent cover 1110 are separate structures. The end of the light shielding member 1140 that is relatively far from the head end 1001 is defined as the proximal end 1141, and the other end is defined as the distal end 1142. One end (proximal end 1141) of the light shielding member 1140 is fixed to the surface of the first circuit board 1710, while the other end (distal end 1142) of the light shielding member 1140 extends toward the head end 1001, thereby preventing at least a portion of the light emitted by the lighting unit 1600 from being reflected by the transparent cover 1110 and entering the light incident surface of the lens 1500.

[0510] It should be noted that the distal end 1142 of the shading member 1140 extends toward the inner surface of the transparent cover 1110 located at the head end 1001. Specifically, the distal end 1142 of the shading member 1140 can contact the inner surface of the transparent cover 1110, or have a gap with the inner surface of the transparent cover 1110.

[0511] In some embodiments, one end (distal end 1142) of the light shielding member 1140 is connected to the transparent cover 1110, and the other end (proximal end 1141) of the light shielding member 1140 extends toward the lens 1500. For example, the light shielding member 1140 and the transparent cover 1110 are separate structures, the light shielding member 1140 is cylindrical, and the distal end 1142 of the light shielding member 1140 is fixed to the inner surface of the transparent cover 1110 by bonding or other means. The proximal end 1141 of the light shielding member 1140 extends toward the lens 1500 and extends between the light incident surface of the lens 1500 and the lighting unit 1600. The proximal end 1141 can be suspended in the air or in contact with at least one of the lens 1500, the lighting unit 1600, and the first circuit board 1710. In some embodiments, the light shielding member 1140 and the transparent cover 1110 are an integrated structure, the distal end 1142 of the light shielding member 1140 is connected to the transparent cover 1110 , and the proximal end 1141 of the light shielding member 1140 extends toward the lens 1500 .

[0512] The light shielding member 1140 is used to shield light, and includes at least one of a light shielding material, a reflective material, and a light filtering material.

[0513] Furthermore, the light shielding member 1140 is cylindrical, and the radial dimensions at all locations along its axial direction (or the X-axis of the capsule endoscope) are equal.

[0514] The transparent cover 1110 has a curved surface and is partially spherical. Specifically in this embodiment, the transparent cover 1110 includes a main body 1112 and a light-passing sheet 1117 that are connected to each other. The main body 1112 is annular and surrounds a light-passing hole 1113. One end (the distal end 1142) of the light-shielding member 1140 extends to the light-passing hole 1113. A step groove 1114 is formed on one side of the main body 1112 exposed on the surface of the capsule endoscope 1000 and connected to the light-passing hole 1113. The light-passing sheet 1117 is fixed in the step groove 1114.

[0515] One end of the light shielding member 1140 extends to the light-through hole 1113. In some embodiments, the distal end 1142 of the light shielding member 1140 can be adhesively fixed to the body 1112 to form the periphery of the light-through hole 1113. The light-through sheet 1117 can be adhesively fixed to the stepped groove 1114. In some embodiments, the distal end 1142 of the light shielding member 1140 is not adhesively fixed to the transparent cover 1110.

[0516] A light-passing sheet 1117 is disposed at the end of the body 1112 located at the head end 1001. When viewed from the head end 1001 toward the tail end 1002, the light-passing sheet 1117 is located at the geometric center of the body 1112. Ambient light can pass through the light-passing sheet 1117 and enter the camera channel 1143 and the light-entrance surface of the lens 1500. The area of ​​the light-passing sheet 1117 can be greater than or equal to the area of ​​the opening at the distal end 1142 of the light-shielding member 1140, thereby ensuring that the light-passing sheet 1117 covers the opening at the distal end 1142 of the light-shielding member 1140.

[0517] The transparent cover 1110 is provided with a light-transmitting piece 1117. On the one hand, it is convenient to bond and fix one end of the light-shielding piece 1140 to the transparent cover 1110, thereby reducing or eliminating the gap between the end of the light-shielding piece 1140 and the transparent cover 1110, alleviating or preventing the light emitted by the lighting unit 1600 from being reflected through the transparent cover 1110 and entering the light incident surface of the lens 1500, thereby improving the image shooting quality. On the other hand, it is also convenient to adopt a light-transmitting piece 1117 with better light transmittance performance, thereby improving the shooting quality of the lens 1500.

[0518] In some embodiments, the light shielding member 1140 and / or the light passing sheet 1117 may be bonded and fixed to the main body 1112 by light-proof glue.

[0519] In some embodiments, the light guide 1117 and the body 1112 are made of the same material.

[0520] In some embodiments, the light-passing sheet 1117 is made of a different material from the main body 1112, for example, the transmittance of the light-passing sheet 1117 is greater than the transmittance of the main body 1112, and / or the reflectivity of the light-passing sheet 1117 is less than the reflectivity of the main body 1112. It is understandable that other optical parameters of the light-passing sheet 1117 and the main body 1112 may be the same or different.

[0521] In some embodiments, the end of the light shielding member 1140 is not fixed to the inner surface of the transparent cover 1110 ; in some embodiments, the transparent cover 1110 is an integral structure and is not divided into the main body 1112 and the light-transmitting sheet 1117 .

[0522] like Figure 21As shown, the lens 1500 is disposed on the surface of the first circuit board 1710. In some embodiments, the capsule endoscope 1000 includes a second circuit board, which is disposed farther from the head end 1001 than the first circuit board 1710. The lens 1500 is disposed on the surface of the second circuit board. The first circuit board 1710 is formed with a through-hole extending through the thickness of the first circuit board 1710 in the area surrounded by the lighting unit 1600, and the lens 1500 is disposed in the through-hole. In some embodiments, the light incident surface of the lens 1500 can pass through the through-hole, and in some embodiments, the light incident surface of the lens 1500 is closer to the head end 1001 than the light exiting surface of the lighting unit 1600.

[0523] See also Figures 23 to 26 In some other embodiments, a capsule endoscope 1000C is provided. The main difference between the capsule endoscope 1000C and the capsule endoscope 1000 in the aforementioned embodiment lies in the light shielding member 1140C of the capsule endoscope 1000C.

[0524] The capsule endoscope 1000C includes a horn-shaped light shield 1140C. The distal end 1142C of the light shield 1140C has a large opening, while the proximal end 1141C has a smaller opening. The hemispherical space enclosed by the transparent cover 1110C is divided by the light shield 1140C into an imaging channel 1143C and an illumination channel 1144C. The channel enclosed by the radially inner surface of the light shield 1140C is the horn-shaped imaging channel 1143C. The channel enclosed by the radially outer surface of the light shield 1140C and the inner surface of the transparent cover 1110C is the illumination channel 1144C. Light emitted from the illumination unit 1600C passes through the illumination channel 1144C and the transparent cover 1110C into the liquid environment. In some embodiments, the opening angle n of the radial inner surface of the light shielding member 1140C is greater than the field of view angle of the lens 1500C to avoid blocking the light of the lens 1500C.

[0525] One end (distal end 1142C) of the light shielding member 1140C extends toward the head end 1001C, and the other end (proximal end 1141C) of the light shielding member 1140C is fixed to the lens 1500C. Specifically, the proximal end 1141C is fixed to the periphery of the side wall of the lens 1500C.

[0526] Furthermore, the lens 1500C includes a lens barrel 1510C and a lens mount 1520C connected to each other, and the lens 1500C also includes at least one lens disposed in the lens barrel 1510C. The lens barrel 1510C and the lens mount 1520C can be movably connected or fixedly connected. The lens mount 1520C is fixed to the first circuit board 1710C.

[0527] The lens barrel 1510C is convexly disposed on the surface of the lens mount 1520C. The lens mount 1520C includes a receiving surface 1511C disposed toward the head end 1001C, and the lens barrel 1510C is convexly disposed on the receiving surface 1511C. In this embodiment, the light shielding member 1140C is fixed to the receiving surface 1511C and / or the side wall of the lens barrel 1510C. Specifically, when the light shielding member 1140C is assembled with the lens 1500C, the proximal end 1141C of the light shielding member 1140C can be inserted into the periphery of the lens barrel 1510C, so that the proximal end 1141C of the light shielding member 1140C abuts against the receiving surface 1511C, and the proximal end 1141C is fixed to the receiving surface 1511C and / or the side wall of the lens barrel 1510C by bonding or other means.

[0528] Second embodiment

[0529] See also Figures 27 to 35 The second embodiment of the present application provides a capsule endoscope 1000D. The capsule endoscope 1000D provided in this embodiment is different from the capsule endoscope 1000 provided in the first embodiment in that an X-axis electric drive unit 1250D is provided in the capsule endoscope 1000D, but no Y-axis electric drive unit 1230 is provided.

[0530] like Figures 27 to 29 As shown, the multiple electric drive units 1200D include two X-axis electric drive units 1250D, and the capsule endoscope 1000D is respectively provided with an X-axis channel 1350D corresponding to each X-axis electric drive unit 1250D, and each X-axis electric drive unit 1250D is at least partially accommodated in the corresponding X-axis channel 1350D; each X-axis channel 1350D forms at least one opening 1351D, and at least one opening 1351D is formed at the tail end 1002D and the side wall 1003D.

[0531] In this embodiment, the capsule endoscope 1000D is provided with two independently controllable X-axis electric drive units 1250D, which facilitate at least the following posture and motion control modes:

[0532] First, the X-axis electric drive unit 1250D can be used to move forward and backward while keeping the pitch angle constant, and the control difficulty is low. Specifically, each X-axis electric drive unit 1250D is used to drive the liquid in the liquid environment to flow through the corresponding X-axis channel 1350D to generate an X-axis reverse thrust. Since the opening 1351D formed by each X-axis channel 1350D is located at the tail end 1002D and the side wall 1003D, each X-axis channel 1350D extends in the direction of the line connecting the tail end 1002D and the side wall 1003D. The X-axis channel 1350D can extend along a straight line or a curve, and each X-axis reverse thrust can be decomposed into a component parallel to the X-axis, thereby being able to drive the capsule endoscope 1000D to move on the X-axis. The side where the head end 1001D of the capsule endoscope 1000D is located is defined as the front, and the side where the tail end 1002D is located is defined as the rear. If the X-axis electric drive unit 1250D drives liquid to flow into the X-axis channel 1350D from at least a portion of the opening 1351D located in the side wall 1003D, the liquid will flow out of the X-axis channel 1350D from at least a portion of the opening 1351D located in the tail end 1002D, and the X-axis reverse thrust can propel the capsule endoscope 1000D forward. If the X-axis electric drive unit 1250D drives liquid to flow into the X-axis channel 1350D from at least a portion of the opening 1351D located in the tail end 1002D, the liquid will flow out of the X-axis channel 1350D from at least a portion of the opening 1351D located in the side wall 1003D, and the X-axis reverse thrust can propel the capsule endoscope 1000D backward.

[0533] Secondly, by independently controlling the two X-axis electric drive units 1250D to drive the direction and / or flow rate of the liquid flow, the two X-axis reverse thrusts generated by the two X-axis electric drive units 1250D can be used to adjust the yaw angle of the capsule endoscope 1000D, and the turning radius of the capsule endoscope 1000D when turning can be easily adjusted, and even rotation on the spot can be achieved, and its steering flexibility is high.

[0534] Finally, the multiple electric drive units 1200D include two Z-axis electric drive units 1210D. The structure and function of the two Z-axis electric drive units 1210D can refer to the two Z-axis electric drive units 1210 provided in the first embodiment. By controlling the flow rate of the liquid flowing through the corresponding Z-axis channel by the two Z-axis electric drive units 1210D, the depth, pitch angle and horizontal position of the capsule endoscope 1000D can be adjusted. In the process of adjusting the pitch angle of the two Z-axis electric drive units 1210D (refer to the first embodiment), in this embodiment, the X-axis electric drive unit 1250D can be controlled to work in coordination so that the X-axis reverse thrust and the Z-axis reverse thrust in the horizontal direction of the liquid environment are opposite in direction, which can alleviate or even avoid the forward and backward movement of the capsule endoscope 1000D during the pitch angle adjustment process, facilitate the adjustment of the pitch angle while maintaining the in-situ suspended state, have a larger vertical visual range, improve inspection efficiency, shorten inspection time, and facilitate multi-angle detailed observation of suspected lesions.

[0535] like Figures 27 to 29 As shown, in this embodiment, the housing 1100D of the capsule endoscope 1000D forms an X-axis channel 1350D. Each X-axis channel 1350D has one opening 1351D, which extends from the tail end 1002D to the side wall 1003D. That is, the tail end 1002D forms a portion of the opening 1351D, and the side wall 1003D forms another portion of the opening 1351D. In some other embodiments, each X-axis channel 1350D forms multiple openings 1351D, including at least one opening formed in the tail end 1002D and at least one opening formed in the side wall 1003D.

[0536] like Figure 30 As shown, in this embodiment, on the Z axis, the two X-axis channels 1350D are set at the center position of the capsule endoscope 1000D, that is, the two X-axis channels 1350D are arranged in the middle of the Z axis of the capsule endoscope 1000D, so as to avoid the two X-axis reverse thrusts causing compound movement of the capsule endoscope 1000D in other directions.

[0537] See also Figure 36 In other embodiments, a capsule endoscope 1000E is provided. The main difference between the capsule endoscope 1000E and the capsule endoscope 1000D is that, on the Z-axis, the two X-axis channels 1350E in the capsule endoscope 1000E are arranged between the center position and the bottom 1005D of the capsule endoscope 1000E, that is, when viewed from the tail end 1002E of the capsule endoscope 1000E, the two X-axis channels 1350E are arranged in a position in the capsule endoscope 1000E toward the bottom 1005E, and the two X-axis channels 1350E are arranged downwardly to facilitate lowering the center of gravity M of the capsule endoscope 1000E.

[0538] like Figure 30 As shown, the two X-axis electric drive units 1250D are symmetrically arranged about the longitudinal section 1008, which makes it easier for the center of gravity M of the capsule endoscope 1000D to approach or be located at the longitudinal section 1008, which is beneficial to the weight balance of the capsule endoscope 1000D on both sides of the longitudinal section 1008 and improves the motion controllability of the capsule endoscope 1000D.

[0539] The two X-axis channels 1350D are symmetrically arranged with respect to the longitudinal section 1008 , which is beneficial for the capsule endoscope 1000D to be uniformly stressed on both sides of the longitudinal section 1008 .

[0540] like Figures 27 to 32 As shown, the housing 1100D forms an X-axis channel 1350D, and the X-axis electric drive unit 1250D is at least partially accommodated in the corresponding X-axis channel 1350D. Specifically, the X-axis electric drive unit 1250D includes a motor 1254D and a propeller 1255D connected to each other. The output shaft of the motor 1254D is fixedly connected to the propeller 1255D. The propeller 1255D is accommodated in the X-axis channel 1350D. When the motor 1254D is working, it drives the propeller 1255D to rotate, thereby driving the liquid to flow through the X-axis channel 1350D.

[0541] like Figure 32 As shown, housing 1100D forms a fixed cavity 1353D corresponding to X-axis channel 1350D. Fixed cavity 1353D connects X-axis channel 1350D and accommodation space 1130D formed by housing 1100D. Propeller 1255D is accommodated in X-axis channel 1350D. At least a portion of motor 1254D fills and is secured within fixed cavity 1353D. The periphery of motor 1254D is sealed to the portion of housing 1100D forming fixed cavity 1353D, thereby isolating X-axis channel 1350D from accommodation space 1130D. The end of motor 1254D away from propeller 1255D is electrically connected to a circuit board via leads or an FPC.

[0542] See also Figures 33 to 34 A rectangular coordinate system is established with the center of gravity M of the capsule endoscope 1000D as the origin. The two Z-axis electric drive units 1210D generate Z-axis reverse thrusts F1 and F2, respectively. The distance from the vertical component of the Z-axis reverse thrust F1 in the liquid environment to the center of gravity M is vector a, and the distance from the vertical component of the Z-axis reverse thrust F2 in the liquid environment to the center of gravity M is vector b. The distance from the buoyancy F' generated by the capsule endoscope 1000D to the center of gravity M is vector c. The two X-axis electric drive units 1250D generate X-axis reverse thrusts F3 and F4, respectively. The distance from the X-axis component of the X-axis reverse thrust F3 to the center of gravity M is vector f, and the distance from the X-axis component of the X-axis reverse thrust F4 to the center of gravity M is vector g.

[0543] The capsule endoscope 1000D moves in a liquid environment under the combined force of the Z-axis reverse thrust F1, Z-axis reverse thrust F2, X-axis reverse thrust F3, X-axis reverse thrust F4, buoyancy F', and gravity G. The force analysis yields the following equations:

[0544]

[0545] Where F x is the resultant force on the X axis, F y is the resultant force on the Y axis, F z is the resultant force on the Z axis.

[0546] M x is the resultant moment about the X axis, M y is the resultant moment around the Y axis, M z The resultant torque around the Z axis is achieved by controlling the flow rate of the liquid in the corresponding channels by the four electric drive units 1200D, that is, controlling the speed and direction of the four motors, thereby controlling the resultant force and torque around each axis of the capsule endoscope 1000D, thereby achieving a combined motion of position control and posture control of the capsule endoscope 1000D.

[0547] When the capsule endoscope is stationary and in a suspended state, the following equations must be satisfied:

[0548]

[0549] When the capsule endoscope 1000D needs to be positioned:

[0550] If the capsule endoscope 1000D moves linearly along the X-axis, the resultant force F on the X-axis is x Not zero, the resultant force F on the Y axis y is 0, the resultant force F on the Z axis z is 0, the resultant moment is 0, that is, the following equation needs to be satisfied:

[0551]

[0552] Similarly, the linear motion of the capsule endoscope 1000D along the Y axis needs to satisfy the following equation:

[0553]

[0554] The linear motion of the capsule endoscope 1000D along the Z axis needs to satisfy the following equation:

[0555]

[0556] When the capsule endoscope 1000D needs to perform posture control:

[0557] When the capsule endoscope 1000D needs to perform roll angle control (i.e., the angle of roll around the X-axis), the resultant moment M around the X-axis is x Not 0, the resultant moment M around the Y axis y is 0, the resultant moment M around the Z axis z The resultant force on each axis must be 0. The capsule endoscope 1000D needs to satisfy the following equation:

[0558]

[0559] Similarly, when the capsule endoscope 1000D needs to perform yaw angle control, the capsule endoscope 1000D needs to satisfy the following formula:

[0560]

[0561] When the capsule endoscope 1000D needs to perform pitch angle control, the capsule endoscope 1000D needs to satisfy the following formula:

[0562]

[0563] See also Figure 16 and Figure 17 This embodiment is similar to the first embodiment. The capsule endoscope 1000D includes an inertial measurement unit 1910, a control unit 1920, and a driving circuit 1930 that are interconnected.

[0564] In an embodiment of the present application, a method for controlling a capsule endoscope is provided, which is used to control the capsule endoscope 1000D described in the present application, and includes the following steps:

[0565] S110: Collect the current acceleration, angular velocity and magnetometer data of the capsule endoscope 1000D, and calculate the current posture and motion data. The current posture and motion data include the current speed, acceleration and position data of the capsule endoscope 1000D.

[0566] In the embodiment of the present application, the inertial measurement unit 1910 is used to collect the current acceleration, angular velocity and magnetometer data of the capsule endoscope 1000D, and calculate the current posture and motion data, which include the current speed, acceleration and position data of the capsule endoscope 1000D.

[0567] S130: Outputting a driving instruction after calculation based on the external expected posture and position instruction and the current posture and motion data.

[0568] In the embodiment of the present application, the control unit 1920 is used to output a driving instruction after calculation based on the external expected posture and position instructions and the current posture and motion data.

[0569] S150: Convert the driving instructions into driving signals and transmit them to the multiple electric drive units 1200D, thereby adjusting the working states of the multiple electric drive units 1200D and the posture and position of the capsule endoscope 1000D.

[0570] In this embodiment, the driving circuit 1930 is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units 1200, thereby adjusting the working states of the multiple electric drive units 1200D and the position and posture of the capsule endoscope 1000D.

[0571] In this embodiment, similar to the first embodiment, the driving instruction output in step S130 includes an instruction for adjusting the pitch angle, thereby adjusting the pitch angle of the capsule endoscope 1000D.

[0572] Accordingly, step S150 specifically includes:

[0573] S151: Convert the pitch angle adjustment instruction into a drive signal and transmit it to the two Z-axis electric drive units 1210D, adjust the flow rate of the liquid driven by the two Z-axis electric drive units 1210D to flow through the corresponding Z-axis channels 1310D, and then adjust the pitch angle of the capsule endoscope 1000D.

[0574] In this embodiment, the drive instructions output by the control unit 1920 include pitch angle adjustment instructions. The drive circuit 1930 is used to convert the pitch angle adjustment instructions into drive signals and transmit them to the two Z-axis electric drive units 1210D, thereby adjusting the flow rate of the liquid driven by the two Z-axis electric drive units 1210D through the corresponding Z-axis channels, thereby adjusting the pitch angle of the capsule endoscope 1000.

[0575] This embodiment is different from the first embodiment in that the capsule endoscope 1000D in this embodiment can synchronously control the operation of the X-axis electric drive unit 1250D during the process of adjusting the pitch angle, thereby alleviating or even avoiding the forward or backward situation of the capsule endoscope 1000D during the process of adjusting the pitch angle, which is conducive to adjusting the pitch angle while maintaining a suspended state.

[0576] Specifically, step S151 also includes: converting the pitch angle adjustment instruction into a driving signal and transmitting it to the two X-axis electric drive units 1250D, adjusting the direction and / or flow rate of the two X-axis electric drive units 1250D to drive the liquid to flow through the corresponding X-axis channel 1350D.

[0577] Specifically, the drive circuit 1930 is configured to convert the pitch angle adjustment command into a drive signal and transmit it to the two X-axis electric drive units 1250D, thereby adjusting the direction and / or flow rate of the liquid driven by the two X-axis electric drive units 1250D through the corresponding X-axis channels 1350D. The drive signals used to drive the X-axis electric drive units 1250D and the Z-axis electric drive units 1210D are different, and the pitch angle adjustment commands received by the drive circuit 1930 for controlling the X-axis electric drive units 1250D and the Z-axis electric drive units 1210D can be the same or different.

[0578] Furthermore, in order to alleviate or avoid the capsule endoscope 1000D from retreating during the process of forming an upward pitch angle, so as to realize the in-situ suspended state, the head end 1001D is flipped toward the top side in the environment relative to the tail end 1002D ("raising its head" in-situ), step S151 specifically includes:

[0579] The pitch angle adjustment instruction is converted into a drive signal and transmitted to the two Z-axis electric drive units 1210D, thereby controlling the Z-axis electric drive unit 1210D adjacent to the head end 1001D relative to the Z-axis electric drive unit 1210D away from the head end 1001D, thereby driving the liquid to flow at a faster rate; and the pitch angle adjustment instruction is converted into a drive signal and transmitted to the two X-axis electric drive units 1250D, thereby controlling the two X-axis electric drive units 1250D to drive the liquid to flow from at least a portion of the opening 1351D located on the side wall 1003D into the corresponding X-axis channel 1350D.

[0580] That is, the drive circuit 1930 is used to convert the pitch angle adjustment instruction into a drive signal and transmit it to the two Z-axis electric drive units 1210D, thereby controlling the Z-axis electric drive unit 1210D adjacent to the head end 1001D relative to the Z-axis electric drive unit 1210D away from the head end 1001D, so as to drive the liquid to flow at a faster rate; and convert the pitch angle adjustment instruction into a drive signal and transmit it to the X-axis electric drive unit 1250D, thereby controlling the two X-axis electric drive units 1250D to drive the liquid to flow from at least a portion of the opening 1351D located on the side wall 1003D into the corresponding X-axis channel 1350D, that is, from at least a portion of the opening 1351D located on the side wall 1003D to at least a portion of the opening 1351D located on the tail end 1002D, and flow through the corresponding X-axis channel 1350D.

[0581] Accordingly, in order to alleviate or avoid forming a downward pitch angle during the process of the capsule endoscope 1000D moving forward to achieve an in-situ suspended state, the tail end 1002D is flipped toward the top side in the environment relative to the head end 1001D ("lowering" in-situ), step S151 specifically includes:

[0582] The pitch angle adjustment instruction is converted into a drive signal and transmitted to the two Z-axis electric drive units 1210D, thereby controlling the Z-axis electric drive unit 1210D adjacent to the head end 1001D relative to the Z-axis electric drive unit 1210D away from the head end 1001D, thereby driving the flow of liquid to be slower; and the pitch angle adjustment instruction is converted into a drive signal and transmitted to the two X-axis electric drive units 1250D, thereby controlling the two X-axis electric drive units 1250D to drive the liquid to flow from at least part of the opening located at the tail end 1002D into the corresponding X-axis channel 1350D.

[0583] That is, the drive circuit 1930 is used to convert the pitch angle adjustment instruction into a drive signal and transmit it to the two Z-axis electric drive units 1210D, thereby controlling the Z-axis electric drive unit 1210D adjacent to the head end 1001D relative to the Z-axis electric drive unit 1210D away from the head end 1001D, so as to drive the flow of liquid to be slower; and convert the pitch angle adjustment instruction into a drive signal and transmit it to the two X-axis electric drive units 1250D, thereby controlling the two X-axis electric drive units 1250D to drive the liquid to flow from at least a portion of the opening 1351D located at the tail end 1002D into the corresponding X-axis channel 1350D, that is, from at least a portion of the opening 1351D located at the tail end 1002D to at least a portion of the opening 1351D located at the side wall 1003D, and flow through the corresponding X-axis channel 1350D.

[0584] In some embodiments, the driving instruction output in step S130 includes an instruction for adjusting the yaw angle, thereby adjusting the yaw angle of the capsule endoscope 1000D.

[0585] The driving instruction output in step S130 includes an instruction for adjusting the yaw angle.

[0586] Step S150 specifically includes:

[0587] S153: Convert the yaw angle adjustment instruction into a drive signal and transmit it to the two X-axis electric drive units 1250D, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units 1250D to flow through the corresponding X-axis channels 1350D, and thus adjust the yaw angle of the capsule endoscope 1000D.

[0588] That is, the drive instructions output by the control unit 1920 include instructions for adjusting the yaw angle. The drive circuit 1930 is configured to convert the instructions for adjusting the yaw angle into drive signals and transmit them to the two X-axis electric drive units 1250D, thereby adjusting the direction and / or flow rate of the liquid driven by the two X-axis electric drive units 1250D through the corresponding X-axis channels 1350D, thereby adjusting the yaw angle of the capsule endoscope 1000D.

[0589] like Figure 31 、 Figure 32 as well as Figure 35As shown, the capsule endoscope 1000D includes a lens 1500D and a lighting unit 1600D. The lighting unit 1600D is arranged around the lens 1500D inside the shell 1100D. The shell 1100D includes a transparent cover 1110D arranged on one side of the head end 1001D. The transparent cover 1110D is formed with a lens hole 1114D at the head end 1001D. The lens 1500D is inserted into the lens hole 1114D, and the light incident surface of the lens 1500D is exposed on the surface of the capsule endoscope 1000D. In this technical solution, since the lens 1500D passes through the lens hole 1114D, the light incident surface of the lens 1500D is exposed on the surface of the capsule endoscope 1000D, which is beneficial to improving the image capture quality of the capsule endoscope 1000D and avoids the formation of white spots due to the lens 1500D being set inside the transparent cover 1110D, and the light emitted by the lighting unit 1600D is reflected by the transparent cover 1110D and then incident on the light incident surface of the lens 1500D.

[0590] Specifically, if Figure 32 and Figure 35 As shown, the transparent cover 1110D includes an extending portion 1115D and a gathering portion 1116D connected to each other, and both the extending portion 1115D and the gathering portion 1116D extend between the head end 1001D and the tail end 1002D.

[0591] Extension portion 1115D extends in the direction of tail end 1002D and head end 1001D. The end of extension portion 1115D adjacent to tail end 1002D is connected to housing 1120D. On the X-axis, the surface of extension portion 1115D includes at least a first point 1115D1 and a second point 1115D2. On the X-axis, first point 1115D1 is closer to head end 1001D than second point 1115D2, and the radial dimension (distance from the X-axis) of first point 1115D1 is smaller than the radial dimension of second point 1115D2. Specifically, in this embodiment, extension portion 1115D extends from tail end 1002D toward head end 1001D, with its radial dimension (distance from the X-axis) gradually decreasing. That is, the closer the extension portion 1115D is to head end 1001D, the smaller its radial dimension. In some embodiments, the radial dimension of the extension portion 1115D is smaller as it is closer to the head end 1001D on the X-axis. In some embodiments, the radial dimension of the extension portion 1115D is uniform at all locations on the X-axis, that is, the extension portion 1115D is cylindrical.

[0592] The gathered portion 1116D extends in the direction between the tail end 1002D and the head end 1001D. The end of the extension portion 1115D, which is relatively far from the tail end 1002D, is connected to the extension portion 1115D. On the X-axis, the surface of the gathered portion 1116D includes at least a third point 1116D3 and a fourth point 1116D4. On the X-axis, the third point 1116D3 is closer to the head end 1001D than the fourth point 1116D4, and the radial dimension (distance from the X-axis) of the third point 1116D3 is larger than the radial dimension of the fourth point 1116D4. Specifically, in this embodiment, the gathered portion 1116D extends from the head end 1001D toward the tail end 1002D, and its radial dimension (distance from the X-axis) gradually decreases. That is, the radial dimension of the extension portion 1115D increases as it is closer to the head end 1001D, and the converged portion 1116D extends toward the tail end 1002D in a concave shape, forming a lens aperture 1114D. In some embodiments, along the X-axis, the radial dimension of the converged portion 1116D increases as it is closer to the head end 1001D.

[0593] The retracted portion 1116D is trumpet-shaped, and an opening angle n of the retracted portion 1116D is greater than the field of view of the lens 1500D to avoid blocking light from the lens 1500D.

[0594] Third embodiment

[0595] See also Figures 37 to 43 The third embodiment of the present application provides a capsule endoscope 1000F. The main differences between the capsule endoscope 1000F and the capsule endoscope 1000 provided in the first embodiment are as follows.

[0596] The capsule endoscope 1000F includes multiple electric drive units 1200F, each of which includes two Z-axis electric drive units 1210F. A Z-axis channel 1310F is provided for each of the two Z-axis electric drive units 1210F. The Z-axis channels 1310F corresponding to the two Z-axis electric drive units 1210F are symmetrical about the longitudinal section 1008.

[0597] The capsule endoscope 1000F includes two Z-axis electric drive units 1210F, which can provide a large Z-axis reverse thrust, ensure stable suspension of the capsule endoscope, and adjust the vertical position of the capsule endoscope 1000F in a liquid environment, thereby achieving depth control. The two Z-axis electric drive units 1210F in this embodiment differ from the two Z-axis electric drive units 1210 in the first embodiment in that, in the first embodiment, the two Z-axis electric drive units 1210 and the corresponding Z-axis channels 1310 are arranged along the X-axis, or in other words, along the length of the capsule-shaped capsule endoscope 1000; in this embodiment, the Z-axis channels 1310F corresponding to the two Z-axis electric drive units 1210F are arranged horizontally and side by side, symmetrically about the longitudinal section 1008, specifically, arranged side by side in a cross-section 1009 perpendicular to the X-axis, thereby facilitating the generation of symmetrical Z-axis reverse thrust on both sides of the longitudinal section 1008. The two Z-axis electric drive units 1210F are independently controlled to achieve depth control, control of the roll angle around the X-axis, and adjustment of the yaw angle of rotation around the vertical direction in the liquid environment. In particular, the two Z-axis electric drive units 1210F provided in this embodiment can generate a torque component around the X-axis, which has an excellent effect on suppressing the rolling of the capsule endoscope 1000F around the X-axis with the liquid, and the capsule endoscope 1000F has stronger motion stability.

[0598] In this embodiment, the two Z-axis electric drive units 1210F are arranged horizontally and side by side, symmetrically about the longitudinal section 1008, specifically arranged side by side in a cross section 1009 perpendicular to the X-axis, so that the center of gravity M is close to or located in the longitudinal section 1008, which facilitates motion control.

[0599] In some embodiments, the two Z-axis channels 1310F extend in the same direction, for example, both extend along the Z-axis, perpendicular to the horizontal plane 1007. The extension direction of the two Z-axis channels 1310F can be a straight line or a curve.

[0600] like Figures 37 to 41As shown, in this embodiment, the two Z-axis channels 1310F extend along the curved direction. The two Z-axis channels 1310F each form an inlet 1311F at the top 1004F and an outlet 1312F at the bottom 1005F. The spacing between the outlets 1312F of the channels (Z-axis channels 1310F) corresponding to the two Z-axis electric drive units 1210F is the Z-axis outlet spacing LO, and the spacing between the inlets 1311F of the channels (Z-axis channels 1310F) corresponding to the two Z-axis electric drive units 1210F is the Z-axis inlet spacing LI, and the Z-axis outlet spacing LO is greater than the Z-axis inlet spacing LI; in other words, the two inlets 1311F of the two Z-axis channels 1310F are close to each other, and the two outlets 1312F of the two Z-axis channels 1310F are far away from each other, so that the Z-axis reverse thrust can be tilted relative to the Z-axis in a cross section 1009 perpendicular to the X-axis, and the Z-axis reverse thrust can be decomposed into a component along the Z-axis and a component along the Y-axis, and can generate a torque component around the X-axis, which has a better inhibitory effect on the rolling of the capsule endoscope 1000F around the X-axis with the liquid, and the capsule endoscope 1000F has stronger motion stability.

[0601] It should be noted that the distance LI between the entrances 1311F of the two Z-axis channels 1310F refers to the shortest distance between the two entrances 1311F, and the distance LO between the exits 1312F of the two Z-axis channels 1310F refers to the shortest distance between the two exits 1312F.

[0602] like Figures 37 to 39 As shown, in this embodiment, the two Z-axis channels 1310F are formed by the shell 1100F, and the two Z-axis electric drive units 1210 are at least partially accommodated in the corresponding Z-axis channels 1310F. Specifically, the shell 1100F includes a transparent cover 1110F, a shell 1120F and a Z-axis duct 1150F that are interconnected. The transparent cover 1110F is arranged at the head end 1001F, and the shell 1120F is arranged at the tail end 1002F. The transparent cover 1110F and the shell 1120F are buckled together to enclose an accommodating space 1130F. The buckled portion between the transparent cover 1110F and the shell 1120F can be bonded and fixed. The Z-axis duct 1150F is located in the accommodating space 1130F. The Z-axis duct 1150F is tubular, and its end is connected to the shell 1120. The Z-axis duct 1150F corresponds to at least one Z-axis electric drive unit 1210F to form a Z-axis channel 1310F. The Z-axis electric drive unit 1210F is at least partially accommodated in the Z-axis channel 1310F. The ends of the Z-axis duct 1150F form an inlet 1311F and an outlet 1312F exposed on the surface of the shell 1120F.

[0603] like Figure 40 and Figure 41As shown, the housing 1100F forms a fixed cavity corresponding to at least one channel, the fixed cavity connects the accommodating space 1130F and the corresponding channel, and a motor is blocked and fixed in the fixed cavity. In this embodiment, the Z-axis duct 1150F in the housing 1100F forms a Z-axis channel 1310F corresponding to each Z-axis electric drive unit 1210F, and forms a fixed cavity 1313F corresponding to each Z-axis channel 1310F. Specifically, the fixed cavity 1313F is spaced apart from the inlet 1311F and the outlet 1312F of the corresponding Z-axis channel 1310F, connecting the Z-axis channel 1310F and the accommodating space 1130F. The Z-axis electric drive unit 1210F is at least partially blocked and fixed in the fixed cavity 1313F to prevent liquid from entering the accommodating space 1130F through the fixed cavity 1313F corresponding to the Z-axis channel 1310F. One end of the Z-axis electric drive unit 1210F is accommodated in the Z-axis channel 1310F to drive the liquid to flow in the Z-axis channel 1310F, and the other end of the Z-axis electric drive unit 1210F is accommodated in the accommodating space 1130F to be electrically connected to the circuit board 1700F in the accommodating space 1130F.

[0604] Specifically, in this embodiment, the Z-axis electric drive unit 1210F itself does not include a duct. Instead, the Z-axis electric drive unit 1210F includes a motor 1214F and a propeller 1215F. The output shaft of the motor 1214F is fixedly connected to the propeller 1215F. When the motor 1214F is in operation, it can drive the propeller 1215F to rotate, thereby driving the surrounding liquid to flow in the Z-axis channel 1310F. A portion of the motor 1214F is fixed to the fixed cavity 1313F. The propeller 1215F is accommodated in the Z-axis channel 1310F to drive the liquid flow. The end of the motor 1214F facing away from the propeller 1215F is accommodated in the accommodation space 1130F.

[0605] In the second embodiment, the capsule endoscope 1000D is provided with two X-axis electric drive units 1250D at the tail end 1002D.

[0606] like Figure 38 and Figure 42 As shown, in this embodiment, the multiple electric drive units 1200F in the capsule endoscope 1000F include an X-axis electric drive unit 1250F, which reduces the number of X-axis electric drive units compared to the capsule endoscope 1000D, thereby lowering costs and space pressure.

[0607] The capsule endoscope 1000F is provided with an X-axis channel 1350F corresponding to the X-axis electric drive unit 1250F. The X-axis electric drive unit 1250F is at least partially accommodated in the corresponding X-axis channel 1350F. The X-axis channel 1350F forms at least one opening 1351F. At least one opening 1351F is formed at the tail end 1002F and the side wall 1003F.

[0608] Specifically, in this embodiment, the X-axis channel 1350F is formed by the housing 1100F, and the X-axis electric drive unit 1250F is at least partially housed within the X-axis channel 1350F. Specifically, the housing 1100F includes an X-axis duct 1160F. The Z-axis duct 1150F is located within the housing space 1130F. The X-axis duct 1160F is tubular, with its ends connected to the housing 1120F. The X-axis duct 1160F forms a tubular shape, enclosing the X-axis channel 1350F. The ends of the X-axis duct 1160F form an opening 1351F exposed on the surface of the housing 1120F.

[0609] The X-axis electric drive unit 1250F is at least partially housed within the X-axis channel 1350F. The housing 1100F defines a fixed cavity 1353F corresponding to the X-axis channel 1350F. Specifically, the X-axis duct 1160F defines a fixed cavity 1353F spaced apart from the opening 1351F, connecting the X-axis channel 1350F with the accommodating space 1130F. The X-axis electric drive unit 1250F is at least partially sealed and secured within the fixed cavity 1353F, preventing liquid from entering the accommodating space 1130F through the fixed cavity 1353F. One end of the X-axis electric drive unit 1250F is housed within the X-axis channel 1350F to drive liquid flow within the X-axis channel 1350F. The other end of the X-axis electric drive unit 1250F is housed within the accommodating space 1130F or the fixed cavity 1353F, thereby electrically connecting to the circuit board 1700F within the accommodating space 1130F.

[0610] Specifically, in this embodiment, housing 1100F includes an X-axis duct 1160F. X-axis electric drive unit 1250F itself does not include a duct. X-axis electric drive unit 1250F includes a motor 1254F and a propeller 1255F. The output shaft of motor 1254F is fixedly connected to propeller 1255F. When motor 1254F is in operation, it can drive propeller 1255F to rotate, thereby driving the surrounding liquid to flow in X-axis channel 1350F. Partial sections of motor 1254F are fixed to fixed cavity 1353F. Propeller 1255F is accommodated in X-axis channel 1350F to drive the liquid flow. The end of motor 1254F facing away from propeller 1255F is accommodated in accommodating space 1130F or fixed cavity 1353F.

[0611] like Figure 42 As shown, the X-axis electric drive unit 1250F is arranged along the longitudinal section 1008, that is, on the Y-axis, the X-axis electric drive unit 1250F is arranged at the center position in the capsule endoscope 1000F.

[0612] Specifically, in this embodiment, the X-axis electric drive unit 1250F is disposed along the X-axis, that is, on the Z-axis, the X-axis electric drive unit 1250F is disposed at the center of the capsule endoscope 1000F. In some embodiments, on the Z-axis, the X-axis electric drive unit 1250F is disposed between the center of the capsule endoscope 1000F and the bottom 1005F.

[0613] X-axis channel 1350F is Y-shaped and includes three openings 1351F, two of which are located in sidewall 1003F and one in tail end 1002F. X-axis channel 1350F includes a first conduit 1354F, a second conduit 1355F, and a third conduit 1356F, which are interconnected. One end of first conduit 1354F and second conduit 1355F forms an opening 1351F exposed on the surface of sidewall 1003F, while one end of third conduit 1356F forms an opening 1351F exposed on the surface of tail end 1002F. The ends of first conduit 1354F, second conduit 1355F, and third conduit 1356F located within accommodating space 1130F (facing away from opening 1351F) are interconnected. In this embodiment, first conduit 1354F and second conduit 1355F are symmetrical about longitudinal section 1008.

[0614] The propeller 1255F is at least partially arranged in the third pipeline 1356F, and the fixed cavity 1353F is located between the first pipeline 1354F and the second pipeline 1355F, and is arranged opposite to the third pipeline 1356F, so that the flow direction of the liquid in the first pipeline 1354F and the second pipeline 1355F is consistent. For example, the liquid flows into the first pipeline 1354F and the second pipeline 1355F from the opening 1351F located on the side wall 1351F, and is discharged from the opening 1351F located at the tail end 1002F through the third pipeline 1356F, or the liquid flows into the third pipeline 1356F from the opening 1351F located at the tail end 1002F, and is discharged from the opening 1351F located on the side wall 1003F through the first pipeline 1354F and the second pipeline 1355F, thereby ensuring that the force on both sides of the longitudinal section 1008 is uniform.

[0615] like Figure 38 and Figure 42 as well as Figure 43As shown, the capsule endoscope 1000F includes an antenna 1800F and multiple circuit boards 1700F, the multiple circuit boards 1700F include a first circuit board 1710F, the first circuit board 1710F is arranged adjacent to the head end 1001F relative to the other circuit boards 1700F, and the extension direction of the first circuit board 1710F is perpendicular to the X-axis; the antenna 1800F includes a flexible circuit board 1801F and a microstrip line 1802F arranged on the flexible circuit board 1801F, and the flexible circuit board 1801F is wound around the radial periphery of the first circuit board 1710F along the circumferential direction of the capsule endoscope 1000F.

[0616] The antenna 1800F is in a closed loop and surrounds the first circuit board 1710F along the circumference of the capsule endoscope 1000F. The antenna 1800F can be pre-formed into a strip shape, with fixing portions 1820F provided at each end of the strip-shaped antenna 1800F. During assembly, the fixing portions 1820F at each end of the antenna 1800F can be fixed to each other to form a closed loop, for example, by bonding or snapping.

[0617] like Figure 38 and Figure 42 As shown, antenna 1800F is adjacent to the end of head end 1001F and is closer to head end 1001F relative to first circuit board 1710. That is, on the X-axis, the end of antenna 1800F is closer to head end 1001F relative to first circuit board 1710, and the end of antenna 1800F extends beyond first circuit board 1710F, thereby preventing first circuit board 1710F from blocking wireless signals and improving the radiation performance of antenna 1800F.

[0618] In other embodiments, the lens may be disposed on the surface of the first circuit board.

[0619] like Figure 38 and Figure 43 As shown, in this embodiment, the circuit board 1700 in the capsule endoscope 1000F includes a second circuit board 1720F, the lens 1500F is arranged on the surface of the second circuit board 1720F, and the lighting unit 1600F is provided on the side surface of the first circuit board 1710F facing the head end 1001F. The first circuit board 1710F forms a through hole 1711F that penetrates its thickness direction in the area surrounded by the lighting unit 1600F, and the lens 1500F is inserted into the through hole 1711F.

[0620] like Figure 16 and Figure 17 As shown, this embodiment provides a control method for a capsule endoscope 1000F, which is used to control the capsule endoscope 1000F provided by this embodiment, including the following steps:

[0621] S110: collecting the current acceleration, angular velocity, and magnetometer data of the capsule endoscope 1000F, and calculating and obtaining the current posture and motion data, which include the current velocity, acceleration, and position data of the capsule endoscope;

[0622] S130: Outputting a drive instruction after calculation based on the external expected posture and position instruction and the current posture and motion data;

[0623] S150: Convert the driving instructions into driving signals and transmit them to the multiple electric drive units 1200F, thereby adjusting the working states of the multiple electric drive units 1200F and the posture and position of the capsule endoscope 1000F.

[0624] Specifically, the capsule endoscope 1000F includes an inertial measurement unit 1910 , a control unit 1920 , and a driving circuit 1930 , which are connected to each other.

[0625] The inertial measurement unit 1910 is used to collect the current acceleration, angular velocity and magnetometer data of the capsule endoscope and calculate the current posture and motion data, which include the current velocity, acceleration and position data of the capsule endoscope.

[0626] The control unit 1920 is configured to calculate and output a driving instruction based on an external expected posture and position instruction and current posture and motion data;

[0627] The driving circuit 1930 is used to convert the driving instructions into driving signals and transmit them to the multiple electric driving units, thereby adjusting the working states of the multiple electric driving units and the posture and position of the capsule endoscope.

[0628] The control method of the capsule endoscope 1000F is the same as the control method of the capsule endoscope 1000 in the first embodiment. Please refer to the first embodiment for details.

[0629] When the control unit 1920 controls the Z-axis electric drive unit 1210F to work, an upward Z-axis reverse thrust is generated in the liquid environment, thereby facilitating the depth control of the capsule endoscope 1000F. For details, please refer to the first embodiment.

[0630] In some cases, the yaw angle of the capsule endoscope needs to be adjusted, and the driving instruction output in step S130 includes an instruction for adjusting the yaw angle.

[0631] Step S150 specifically includes:

[0632] S153: Convert the yaw angle adjustment instruction into a drive signal and transmit it to the two Z-axis electric drive units 1210F, adjust the flow rate of the liquid driven by the two Z-axis electric drive units 1210F to flow through the corresponding Z-axis channels 1310F, and then adjust the yaw angle of the capsule endoscope 1000F.

[0633] Since the Z-axis reverse thrusts generated by the two Z-axis channels 1310F are at a certain angle to the horizontal plane 1007 , the two Z-axis reverse thrusts can generate a torque around the Z-axis, thereby driving the yaw angle of the capsule endoscope 1000F.

[0634] Specifically, the driving circuit 1930 is used to convert the yaw angle adjustment instruction into a driving signal and transmit it to the two Z-axis electric drive units 1210F, adjust the flow rate of the liquid driven by the two Z-axis electric drive units 1210F through the corresponding Z-axis channel 1310F, and then adjust the yaw angle of the capsule endoscope 1000F.

[0635] Fourth embodiment

[0636] See also Figure 44 and Figure 45 The fourth embodiment of the present application provides a capsule endoscope 1000G. The main difference between the capsule endoscope 1000G and the capsule endoscope 1000D provided in the second embodiment is that the capsule endoscope 1000G does not include a Z-axis electric drive unit. In the second embodiment, the capsule endoscope 1000D includes two Z-axis electric drive units 1210D arranged on both sides of the battery 1400D. In this embodiment, only one Z-axis electric drive unit 1210G is provided in the capsule endoscope 1000G, and the Z-axis electric drive unit 1210G is arranged between the battery 1400G and the tail end 1002G.

[0637] Specifically, the multiple electric drive units 1200G include a Z-axis electric drive unit 1210G and two X-axis electric drive units 1250G. The capsule endoscope 1000G is provided with a Z-axis channel 1310G corresponding to the Z-axis electric drive unit 1210G, and the capsule endoscope is provided with an X-axis channel 1350G corresponding to each of the two X-axis electric drive units 1250G; the Z-axis channel 1310G includes openings provided at the top 1004G and the bottom 1005G, each X-axis channel 1350G forms at least one opening 1351G, and at least one opening 1351G is formed at the tail end 1002G and the side wall 1003G.

[0638] The Z-axis channel includes openings at the top 1004G and the bottom 1005G. Specifically, the opening of the Z-axis channel 1310G at the top 1004G is an inlet 1311G of the Z-axis channel 1310G, and the opening of the Z-axis channel 1310G at the bottom 1005G is an outlet 1312G of the Z-axis channel 1310G.

[0639] The specific technical solutions of various components in other embodiments of this application can be applied to this embodiment unless they are inconsistent. For example, the technical solutions regarding the Z-axis electric drive unit, X-axis electric drive unit, battery, center of gravity, antenna, lens, transparent cover, light shield, housing, circuit board, etc. in the above embodiments can be applied to this embodiment and will not be repeated here.

[0640] like Figure 16 and Figure 17 As shown, this embodiment provides a method for controlling a capsule endoscope 1000G, which is used to control the capsule endoscope 1000G, including the following steps:

[0641] S110: collecting the current acceleration, angular velocity, and magnetometer data of the capsule endoscope 1000G, and calculating and obtaining the current posture and motion data, which include the current velocity, acceleration, and position data of the capsule endoscope 1000G;

[0642] S130: Outputting a drive instruction after calculation based on the external expected posture and position instruction and the current posture and motion data;

[0643] S150: Convert the driving instructions into driving signals and transmit them to the multiple electric drive units 1200G, thereby adjusting the working states of the multiple electric drive units 1200G and the posture and position of the capsule endoscope.

[0644] Specifically, the capsule endoscope 1000G includes an inertial measurement unit 1910 , a control unit 1920 , and a driving circuit 1930 , which are connected to each other.

[0645] The inertial measurement unit 1910 is used to collect the current acceleration, angular velocity and magnetometer data of the capsule endoscope 1000G, and calculate the current posture and motion data. The current posture and motion data include the current speed, acceleration and position data of the capsule endoscope 1000G.

[0646] The control unit 1920 is used to output a driving instruction after calculation based on the external expected posture and position instructions and the current posture and motion data.

[0647] The driving circuit 1930 is used to convert the driving instructions into driving signals and transmit them to the multiple electric driving units 1200G, thereby adjusting the working states of the multiple electric driving units 1200G and the posture and position of the capsule endoscope 1000G.

[0648] The control method of the capsule endoscope 1000G is the same as the control method of the capsule endoscope 1000 in the first embodiment, and will not be described again here.

[0649] The depth control method for the capsule endoscope 1000G is the same as that of the first embodiment, namely, by controlling the flow rate of the liquid through the Z-axis channel 1310G driven by the Z-axis electric drive unit 1210G, thereby adjusting the depth of the capsule endoscope 1000G. The horizontal position and yaw angle control method of the capsule endoscope 1000G are the same as those of the second embodiment, namely, by controlling the direction and / or flow rate of the liquid through the X-axis channel 1350G driven by the two X-axis electric drive units 1250G, the capsule endoscope 1000G can be controlled to move forward and backward in the liquid environment, and the yaw angle can also be controlled.

[0650] In some cases, the pitch angle of the capsule endoscope 1000G needs to be adjusted, and the driving instruction output in step S130 includes an adsorption instruction.

[0651] Step S150 specifically includes:

[0652] S155: Convert the adsorption instruction into a drive signal and transmit it to the two X-axis electric drive units, controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening at the tail end 1002G into the X-axis channel 1350G;

[0653] S156: Determine whether the acceleration of the capsule endoscope 1000G is 0 based on the current posture and motion data. If so, determine that the capsule endoscope 1000G has been adsorbed on the inner wall of the liquid environment and output a pitch angle adjustment instruction. If not, continue to output the adsorption instruction.

[0654] S157: Convert the pitch angle adjustment instruction into a drive signal and transmit it to the Z-axis electric drive unit 1210G, so as to adjust the flow rate of the liquid in the Z-axis channel 1310G driven by the Z-axis electric drive unit 1210G.

[0655] Specifically, the driving instruction output by the control unit 1920 includes an adsorption instruction.

[0656] The driving circuit 1930 is used to convert the adsorption instruction into a driving signal and transmit it to the two X-axis electric drive units 1250G, thereby controlling the two X-axis electric drive units 1250G to drive the liquid to flow into the X-axis channel 1350G from at least a portion of the opening at the tail end 1002G;

[0657] The control unit 1920 is configured to determine whether the acceleration of the capsule endoscope 1000G is 0 based on the current posture and motion data. If so, it is determined that the capsule endoscope 1000G has been adsorbed on the inner wall of the liquid environment and outputs a pitch angle adjustment instruction. If not, it continues to output the adsorption instruction.

[0658] The driving circuit 1930 is used to convert the pitch angle adjustment instruction into a driving signal and transmit it to the Z-axis electric drive unit 1210G, thereby adjusting the flow rate of the liquid in the Z-axis channel driven by the Z-axis electric drive unit 1210G.

[0659] After the capsule endoscope 1000G is attached to the inner wall of the liquid environment, the Z-axis electric drive unit 1210G is adjusted to drive the flow rate of the liquid in the Z-axis channel, that is, to adjust the magnitude of the Z-axis reverse thrust, and thus adjust the pitch angle of the capsule endoscope 1000G. When the pitch angle meets the expected requirements (such as the expected posture and position instructions), the capsule endoscope 1000G can take a picture of the lesion location, or after being freed from the inner wall of the liquid environment, move forward and move to an appropriate distance from the lesion location before taking a picture.

[0660] In some cases, it is necessary to adjust the yaw angle of the capsule endoscope 1000G. The method for adjusting the yaw angle provided in this embodiment is the same as step S153 in the second embodiment.

[0661] Specifically, the driving instruction output in step S130 includes an instruction for adjusting the yaw angle;

[0662] Step S150 specifically includes:

[0663] S153: Convert the yaw angle adjustment instruction into a drive signal and transmit it to the two X-axis electric drive units 1250G, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units 1250G to flow through the corresponding X-axis channels 1350G, and then adjust the yaw angle of the capsule endoscope 1000G.

[0664] Accordingly, the driving instruction output by the control unit 1920 includes an instruction for adjusting the yaw angle.

[0665] The driving circuit 1930 is used to convert the yaw angle adjustment instruction into a driving signal and transmit it to the two X-axis electric drive units 1250G, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units 1250G to flow through the corresponding X-axis channels 1350G, and thus adjust the yaw angle of the capsule endoscope 1000G.

[0666] The present application also provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the capsule endoscope control method of any of the above embodiments. The processor may be the control unit 1920 described above.

[0667] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned embodiment can be completed by hardware, or can be completed by a program to instruct the relevant hardware. The program can be stored in a computer storage medium, and the above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0668] The above describes in detail the optional implementation methods of the embodiments of the present invention in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation methods. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the scope of protection of the embodiments of the present invention.

[0669] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner, provided that they are not contradictory. For example, the design schemes of the multiple electric drive units, channels, housings, batteries, centers of gravity, antennas, light shields, transparent covers, lenses, circuit boards, and the control methods of the capsule endoscope provided in the above embodiments can be mutually applicable and freely combined, provided that they are not contradictory. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0670] In addition, various different embodiments of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A capsule endoscope, characterized in that: The capsule endoscope comprises a shell, a battery arranged in the shell, and a plurality of independently controllable electric drive units at least partially arranged in the shell. The capsule endoscope is provided with a corresponding channel corresponding to each of the electric drive units. The electric drive units are at least partially accommodated in the corresponding channels. The openings of the channels are all exposed on the surface of the shell. When the capsule endoscope is placed in a liquid environment, at least one of the electric drive units can use the electric energy provided by the battery to drive the liquid in the liquid environment to flow through the corresponding channel.

2. The capsule endoscope according to claim 1, wherein The housing includes two ends and a side wall connected between the two ends, one end of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged; The capsule endoscope is placed in the liquid environment, and under the action of gravity and buoyancy, the top portion has a tendency to automatically flip toward the top side of the liquid environment, and the bottom portion has a tendency to automatically flip toward the bottom side of the liquid environment; Definition: the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, the direction perpendicular to the X-axis and the Z-axis is the Y-axis, the X-axis and the Y-axis determine the horizontal plane of the capsule endoscope, the X-axis and the Z-axis determine the longitudinal section of the capsule endoscope, and a Y-axis and a Z-axis passing through the same position of the X-axis determine a cross-section of the capsule endoscope.

3. The capsule endoscope according to claim 2, wherein: The center of gravity of the capsule endoscope is arranged between the horizontal plane and the bottom.

4. The capsule endoscope according to claim 3, wherein: The average density of the capsule endoscope is greater than that of water. The multiple electric drive units include at least one Z-axis electric drive unit. The channel of the capsule endoscope corresponding to the at least one Z-axis electric drive unit is a Z-axis channel. The Z-axis electric drive unit is at least partially accommodated in the corresponding Z-axis channel. The Z-axis channel includes an inlet and an outlet. The inlet is arranged at the top of the capsule endoscope, and the outlet is arranged at the bottom of the capsule endoscope. The Z-axis electric drive unit is used to drive the liquid to flow through the corresponding Z-axis channel in a direction from the inlet to the outlet.

5. The capsule endoscope according to any one of claims 2 to 4, characterized in that: The battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

6. The capsule endoscope according to claim 5, wherein: The battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

7. The capsule endoscope according to any one of claims 4 to 6, characterized in that: The battery is arranged adjacent to the Z-axis electric drive unit.

8. The capsule endoscope according to claim 7, wherein: The multiple electric drive units include two Z-axis electric drive units, the battery is clamped between the two Z-axis electric drive units, and the battery is clamped between two Z-axis channels corresponding to the two Z-axis electric drive units.

9. The capsule endoscope according to claim 8, wherein The two Z-axis electric drive units and the battery are arranged along the X-axis, and the two Z-axis channels and the battery are arranged along the X-axis.

10. The capsule endoscope according to claim 9, wherein The two Z-axis channels are arranged along the longitudinal section and are symmetrical about the cross section.

11. The capsule endoscope according to claim 10, wherein: The extension directions of the two Z-axis channels are parallel to each other and perpendicular to the horizontal plane; or The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, and the distance between the inlets of the two Z-axis channels is the Z-axis inlet distance. The Z-axis outlet distance is greater than the Z-axis inlet distance.

12. The capsule endoscope according to any one of claims 8 to 11, characterized in that: The multiple electric drive units include a Y-axis electric drive unit, and the channel of the capsule endoscope corresponding to the Y-axis electric drive unit is the Y-axis channel. The Y-axis electric drive unit is at least partially accommodated in the Y-axis channel. The extension direction of the Y-axis channel is parallel to the Y-axis. On the X-axis, the Y-axis channel is arranged between the center position of the capsule endoscope and the tail end.

13. The capsule endoscope according to claim 12, wherein: The Y-axis channel is arranged between the Z-axis channel and the tail end.

14. The capsule endoscope according to claim 12 or 13, wherein: On the Z axis, the Y axis channel is arranged at the center position of the capsule endoscope, or between the center position and the bottom.

15. The capsule endoscope according to any one of claims 4 to 11, characterized in that: The multiple electric drive units include two X-axis electric drive units, the capsule endoscope is respectively provided with an X-axis channel corresponding to each of the X-axis electric drive units, and each of the X-axis electric drive units is at least partially accommodated in the corresponding X-axis channel; Each of the X-axis channels forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

16. The capsule endoscope according to claim 15, wherein On the Z axis, the two X axis channels are arranged at the center position of the capsule endoscope, or between the center position and the bottom.

17. The capsule endoscope according to any one of claims 4 to 7, characterized in that: The multiple electric drive units include two Z-axis electric drive units, and the Z-axis channels corresponding to the two Z-axis electric drive units are symmetrical about the longitudinal cross-sectional plane.

18. The capsule endoscope according to claim 17, wherein The distance between the outlets of the two Z-axis electric drive units corresponding to the Z-axis channels is the Z-axis outlet distance. The distance between the entrances of the two Z-axis electric drive units corresponding to the Z-axis channels is the Z-axis entrance distance. The Z-axis outlet spacing is greater than the Z-axis inlet spacing.

19. The capsule endoscope according to any one of claims 17 to 18, characterized in that: The multiple electric drive units include an X-axis electric drive unit, the capsule endoscope is provided with an X-axis channel corresponding to the X-axis electric drive unit, and the X-axis electric drive unit is at least partially accommodated in the X-axis channel; The X-axis channel forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

20. The capsule endoscope according to any one of claims 1 to 19, characterized in that: The shell is a hollow structure and encloses an accommodating space, and other components of the capsule endoscope except the multiple electric drive units are accommodated in the accommodating space, and the accommodating space and the channels corresponding to the multiple electric drive units are isolated from each other; and / or The housing forms the channel.

21. The capsule endoscope according to any one of claims 1 to 20, characterized in that: At least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

22. The capsule endoscope according to any one of claims 1 to 21, characterized in that: include: an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; A control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; as well as The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

23. A capsule endoscopy system, characterized in that: The device comprises a client and a capsule endoscope according to any one of claims 1 to 22, wherein the client is used to receive user instructions and transmit the user instructions to the capsule endoscope.

24. A method for controlling a capsule endoscope, for controlling the capsule endoscope according to any one of claims 1 to 22, characterized in that: The steps include: collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; Outputting a drive instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; as well as The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

25. The capsule endoscope according to claim 1, wherein The housing includes two ends and a side wall connected between the two ends, one end of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged; It is defined that the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, the direction perpendicular to the X-axis and the Z-axis is the Y-axis, and the X-axis and the Y-axis determine the horizontal plane of the capsule endoscope; The multiple electric drive units include two Z-axis electric drive units and one Y-axis electric drive unit. The capsule endoscope is respectively provided with a Z-axis channel corresponding to the two Z-axis electric drive units, and the capsule endoscope is provided with a Y-axis channel corresponding to the Y-axis electric drive unit; the Z-axis channel includes openings arranged at the top and the bottom, the extension direction of the Y-axis channel is parallel to the Y-axis, and on the X-axis, the Y-axis channel axis is arranged between the center position and the tail end.

26. The capsule endoscope according to claim 25, wherein The average density of the capsule endoscope is greater than that of water. The opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel. The Z-axis electric drive unit is used to drive the liquid to flow through the corresponding Z-axis channel in the direction from the inlet to the outlet.

27. The capsule endoscope according to claim 25 or 26, characterized in that: The battery is clamped between the two Z-axis electric drive units, and the battery is clamped between the two Z-axis channels corresponding to the two Z-axis electric drive units.

28. The capsule endoscope according to claim 27, wherein The two Z-axis electric drive units and the battery are arranged along the X-axis, and the two Z-axis channels and the battery are arranged along the X-axis.

29. The capsule endoscope according to claim 28, wherein The X-axis and the Z-axis determine the longitudinal section of the capsule endoscope, and the Y-axis and the Z-axis passing through the same position of the X-axis determine a cross-section of the capsule endoscope; the two Z-axis channels are arranged along the longitudinal section and are symmetrical about the cross-section.

30. The capsule endoscope according to claim 29, wherein The extension directions of the two Z-axis channels are parallel to each other and perpendicular to the horizontal plane; or The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, and the distance between the inlets of the two Z-axis channels is the Z-axis inlet distance. The Z-axis outlet distance is greater than the Z-axis inlet distance.

31. The capsule endoscope according to any one of claims 25 to 30, characterized in that: The Y-axis channel is arranged between the Z-axis channel and the tail end.

32. The capsule endoscope according to any one of claims 25 to 31, characterized in that: On the Z axis, the Y axis channel is arranged at the center position of the capsule endoscope, or between the center position and the bottom.

33. The capsule endoscope according to any one of claims 25 to 32, characterized in that: At least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

34. The capsule endoscope according to any one of claims 25 to 33, characterized in that: The capsule endoscope is placed in the liquid environment. Under the action of gravity and buoyancy, the top has a tendency to automatically flip toward the top side in the liquid environment, and the bottom has a tendency to automatically flip toward the bottom side in the liquid environment.

35. The capsule endoscope according to claim 34, wherein The center of gravity of the capsule endoscope is arranged between the horizontal plane and the bottom.

36. The capsule endoscope according to any one of claims 25 to 35, characterized in that: The average density of the capsule endoscope is greater than that of water. The opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel. The Z-axis electric drive unit is used to drive the liquid to flow through the Z-axis channel in a direction from the inlet to the outlet.

37. The capsule endoscope according to any one of claims 25 to 36, characterized in that: The battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

38. The capsule endoscope according to claim 37, wherein The battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

39. The capsule endoscope according to any one of claims 25 to 38, wherein: The capsule endoscope includes an antenna disposed inside the shell. On the X-axis, the antenna is disposed between the battery and the tail end.

40. The capsule endoscope according to claim 39, wherein At least one electric drive unit and its corresponding channel are arranged between the battery and the tail end. On the X-axis, at least one channel that coincides with the antenna setting position is a channel to be avoided; the antenna is sheet-shaped and is arranged against the inner surface of the side wall of the shell in the circumferential direction of the capsule endoscope. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage of the channel to be avoided.

41. The capsule endoscope according to any one of claims 39 to 40, characterized in that: The battery and the antenna are spaced apart on the X-axis; and / or The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

42. The capsule endoscope according to any one of claims 25 to 41, characterized in that: The capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on a surface of the first circuit board, the lighting unit being arranged around the lens. The shell includes a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, and the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover. The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

43. The capsule endoscope according to claim 42, wherein The light shielding member and the transparent cover are an integrated structure, one end of the light shielding member is connected to the transparent cover, and the other end of the light shielding member extends toward the direction of the lens; or The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

44. The capsule endoscope according to any one of claims 42 to 43, characterized in that: The shading member is cylindrical or trumpet-shaped; and / or The shading element includes at least one of a shading material, a reflective material and a filter material.

45. The capsule endoscope according to any one of claims 42 to 44, characterized in that: The transparent cover includes a main body and a light-passing sheet that are connected to each other. The main body is annular and surrounds a light-passing hole. One end of the light-shielding member extends to the periphery of the light-passing hole. A step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

46. ​​The capsule endoscope according to any one of claims 25 to 45, characterized in that: include: an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; A control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; as well as The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

47. The capsule endoscope according to claim 46, wherein The driving instruction output by the control unit includes an instruction for adjusting the pitch angle; The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the two Z-axis electric drive units, adjust the flow rate of the liquid driven by the two Z-axis electric drive units to flow through the corresponding Z-axis channels, and then adjust the pitch angle of the capsule endoscope.

48. The capsule endoscope according to claim 46, wherein The driving instruction output by the control unit includes an instruction for adjusting the yaw angle; The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the Y-axis electric drive unit, adjust the direction and / or flow rate of the liquid driven by the Y-axis electric drive unit to flow through the corresponding Y-axis channel, and thereby adjust the yaw angle of the capsule endoscope.

49. A capsule endoscopy system, characterized in that: The device comprises a client and a capsule endoscope according to any one of claims 25 to 48, wherein the client is used to receive user instructions and transmit the user instructions to the capsule endoscope.

50. A method for controlling a capsule endoscope, for controlling the capsule endoscope according to any one of claims 25 to 48, characterized in that: The steps include: collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; Outputting a drive instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; as well as The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

51. The method for controlling a capsule endoscope according to claim 50, wherein: The output drive instruction includes a pitch angle adjustment instruction; The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: The pitch angle adjustment instruction is converted into the driving signal and transmitted to the two Z-axis electric drive units, and the flow rate of the liquid driven by the two Z-axis electric drive units through the corresponding Z-axis channels is adjusted, thereby adjusting the pitch angle of the capsule endoscope.

52. The method for controlling a capsule endoscope according to claim 50, wherein: The output drive instruction includes an instruction for adjusting the yaw angle; The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: The yaw angle adjustment instruction is converted into the drive signal and transmitted to the Y-axis electric drive unit, and the Y-axis electric drive unit is adjusted to drive the direction and / or flow rate of the liquid flowing through the corresponding Y-axis channel, thereby adjusting the yaw angle of the capsule endoscope.

53. The capsule endoscope according to claim 1, wherein The housing includes two ends and a side wall connected between the two ends, one end of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged; Definition: The direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, and the direction perpendicular to the X-axis and the Z-axis is the Y-axis. The X-axis and the Y-axis define a horizontal plane of the capsule endoscope, the X-axis and the Z-axis define a longitudinal section of the capsule endoscope, and a Y-axis and a Z-axis passing through the same position as the X-axis define a cross-section of the capsule endoscope; The multiple electric drive units include two Z-axis electric drive units and two X-axis electric drive units. The capsule endoscope is respectively provided with a Z-axis channel corresponding to the two Z-axis electric drive units, and the capsule endoscope is respectively provided with an X-axis channel corresponding to the two X-axis electric drive units; the Z-axis channel includes openings arranged at the top and the bottom, each of the X-axis channels forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

54. The capsule endoscope according to claim 53, wherein The average density of the capsule endoscope is greater than that of water. The opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel. The Z-axis electric drive unit is used to drive the liquid to flow through the corresponding Z-axis channel in the direction from the inlet to the outlet.

55. The capsule endoscope according to claim 53 or 54, characterized in that The battery is clamped between the two Z-axis electric drive units, and the battery is clamped between the two Z-axis channels corresponding to the two Z-axis electric drive units.

56. The capsule endoscope according to claim 55, wherein The two Z-axis electric drive units and the battery are arranged along the X-axis, and the two Z-axis channels and the battery are arranged along the X-axis.

57. The capsule endoscope according to claim 56, wherein The two Z-axis channels are arranged along the longitudinal section and are symmetrical about the cross section.

58. The capsule endoscope according to claim 57, wherein The extension directions of the two Z-axis channels are parallel to each other and perpendicular to the horizontal plane; or The distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, and the distance between the inlets of the two Z-axis channels is the Z-axis inlet distance. The Z-axis outlet distance is greater than the Z-axis inlet distance.

59. The capsule endoscope according to any one of claims 53 to 58, wherein: On the Z axis, the two X axis channels are arranged at the center position of the capsule endoscope, or between the center position and the bottom.

60. The capsule endoscope according to any one of claims 53 to 59, wherein: The two X-axis electric drive units are symmetrically arranged with respect to the longitudinal section, and the two X-axis channels are symmetrically arranged with respect to the longitudinal section.

61. The capsule endoscope according to any one of claims 53 to 60, characterized in that: At least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

62. The capsule endoscope according to any one of claims 53 to 61, wherein: The capsule endoscope is placed in the liquid environment. Under the action of gravity and buoyancy, the top has a tendency to automatically flip toward the top side in the liquid environment, and the bottom has a tendency to automatically flip toward the bottom side in the liquid environment.

63. The capsule endoscope according to claim 62, wherein The center of gravity of the capsule endoscope is arranged between the horizontal plane and the bottom.

64. The capsule endoscope according to any one of claims 53 to 63, wherein: The battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

65. The capsule endoscope according to claim 64, wherein The battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

66. The capsule endoscope according to any one of claims 53 to 65, characterized in that: The capsule endoscope includes an antenna disposed inside the shell. On the X-axis, the antenna is disposed between the battery and the tail end.

67. The capsule endoscope according to claim 66, wherein At least one electric drive unit and its corresponding channel are arranged between the battery and the tail end, and on the X-axis, at least one channel that coincides with the antenna arrangement position is a channel to be avoided; The antenna is sheet-shaped and is arranged around the circumferential direction of the capsule endoscope and close to the inner surface of the side wall of the shell. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage to be avoided to pass through.

68. The capsule endoscope according to any one of claims 66 to 67, characterized in that: The battery and the antenna are spaced apart on the X-axis; and / or The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

69. The capsule endoscope according to any one of claims 53 to 68, wherein: The capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on a surface of the first circuit board, the lighting unit being arranged around the lens. The shell includes a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, and the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover. The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

70. The capsule endoscope according to claim 69, wherein The light shielding member and the transparent cover are an integrated structure, one end of the light shielding member is connected to the transparent cover, and the other end of the light shielding member extends toward the direction of the lens; or The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

71. The capsule endoscope according to any one of claims 69 to 70, characterized in that: The shading member is cylindrical or trumpet-shaped; and / or The shading element includes at least one of a shading material, a reflective material and a filter material.

72. The capsule endoscope according to any one of claims 69 to 71, characterized in that: The transparent cover includes a main body and a light-passing sheet that are connected to each other. The main body is annular and surrounds a light-passing hole. One end of the light-shielding member extends to the periphery of the light-passing hole. A step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

73. The capsule endoscope according to any one of claims 53 to 72, wherein: include: an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; A control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; as well as The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

74. The capsule endoscope according to claim 73, wherein The driving instruction output by the control unit includes an instruction for adjusting the pitch angle; The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the two Z-axis electric drive units, adjust the flow rate of the liquid driven by the two Z-axis electric drive units to flow through the corresponding Z-axis channels, and then adjust the pitch angle of the capsule endoscope.

75. The capsule endoscope according to claim 74, wherein The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the two X-axis electric drive units, so as to adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels.

76. The capsule endoscope according to claim 75, wherein The drive circuit is configured to convert the pitch angle adjustment instruction into the drive signal and transmit it to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end to drive the liquid to flow at a faster rate than the Z-axis electric drive unit away from the head end; and convert the pitch angle adjustment instruction into the drive signal and transmit it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening located on the side wall into the corresponding X-axis channel; or The drive circuit is used to convert the pitch angle adjustment instruction into the drive signal and transmit it to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end relative to the Z-axis electric drive unit away from the head end, so as to drive the flow of the liquid at a slower rate; and convert the pitch angle adjustment instruction into the drive signal and transmit it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least part of the opening located at the tail end into the corresponding X-axis channel.

77. The capsule endoscope according to claim 73, wherein The driving instruction output by the control unit includes an instruction for adjusting the yaw angle; The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the two X-axis electric drive units, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels, and thus adjust the yaw angle of the capsule endoscope.

78. A capsule endoscopy system, characterized in that: It comprises a client and a capsule endoscope as described in any one of claims 53-77, wherein the client is used to receive user instructions and transmit the user instructions to the capsule endoscope.

79. A method for controlling a capsule endoscope, for controlling the capsule endoscope according to any one of claims 53 to 77, characterized in that: The steps include: collecting the current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating current posture and motion data, wherein the current posture and motion data include the current velocity, acceleration, and position data of the capsule endoscope; and outputting a drive instruction through calculation based on an external expected posture and position instruction and the current posture and motion data; as well as The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

80. The method for controlling a capsule endoscope according to claim 79, wherein: The output drive instruction includes a pitch angle adjustment instruction; “Converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: The pitch angle adjustment instruction is converted into the driving signal and transmitted to the two Z-axis electric drive units, and the flow rate of the liquid driven by the two Z-axis electric drive units through the corresponding Z-axis channels is adjusted, thereby adjusting the pitch angle of the capsule endoscope.

81. The method for controlling a capsule endoscope according to claim 80, wherein: The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” also includes: The pitch angle adjustment instruction is converted into the driving signal and transmitted to the two X-axis electric drive units, so as to adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels.

82. The method for controlling a capsule endoscope according to claim 81, wherein: The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: Converting the pitch angle adjustment instruction into the drive signal and transmitting it to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end to drive the liquid to flow at a faster rate than the Z-axis electric drive unit away from the head end; and converting the pitch angle adjustment instruction into the drive signal and transmitting it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening located on the side wall into the corresponding X-axis channel; or The pitch angle adjustment instruction is converted into the drive signal and transmitted to the two Z-axis electric drive units, thereby controlling the Z-axis electric drive unit adjacent to the head end relative to the Z-axis electric drive unit away from the head end, so as to drive the flow rate of the liquid to be slower; and the pitch angle adjustment instruction is converted into the drive signal and transmitted to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow from at least a portion of the opening located at the tail end into the corresponding X-axis channel.

83. The method for controlling a capsule endoscope according to claim 79, wherein: The output drive instruction includes an instruction for adjusting the yaw angle; The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: The yaw angle adjustment instruction is converted into the driving signal and transmitted to the two X-axis electric drive units, and the two X-axis electric drive units are adjusted to drive the direction and / or flow rate of the liquid flowing through the corresponding X-axis channel, thereby adjusting the yaw angle of the capsule endoscope.

84. The capsule endoscope according to claim 1, wherein The housing includes two ends and a side wall connected between the two ends, one end of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged; Definition: the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, and the direction perpendicular to the X-axis and the Z-axis is the Y-axis. The X-axis and the Y-axis define a horizontal plane of the capsule endoscope, the X-axis and the Z-axis define a longitudinal section of the capsule endoscope, and a Y-axis and a Z-axis passing through the same position as the X-axis define a cross-section of the capsule endoscope; The multiple electric drive units include two Z-axis electric drive units and one X-axis electric drive unit. The capsule endoscope is respectively provided with a Z-axis channel corresponding to the two Z-axis electric drive units, and the capsule endoscope is provided with an X-axis channel corresponding to the X-axis electric drive unit; the Z-axis channel includes openings arranged at the top and the bottom, and the Z-axis channels corresponding to the two Z-axis electric drive units are symmetrical about the longitudinal section, and the X-axis channel forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

85. The capsule endoscope according to claim 84, wherein The opening of the Z-axis channel arranged at the top is the entrance of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel; the distance between the outlets of the two Z-axis channels is the Z-axis outlet distance, The distance between the entrances of the two Z-axis channels is the Z-axis entrance distance. The Z-axis outlet spacing is greater than the Z-axis inlet spacing.

86. The capsule endoscope according to any one of claims 84-85, characterized in that The X-axis channel is arranged along the longitudinal section direction.

87. The capsule endoscope according to any one of claims 84 to 86, wherein: The shell is a hollow structure and encloses an accommodating space. Other components of the capsule endoscope except the multiple electric drive units are accommodated in the accommodating space. The accommodating space and the channels corresponding to the multiple electric drive units are isolated from each other.

88. The capsule endoscope according to claim 87, wherein The housing forms the Z-axis channel and the X-axis channel.

89. The capsule endoscope according to claim 88, wherein At least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

90. The capsule endoscope according to claim 89, wherein The housing is formed with a fixed cavity corresponding to at least one of the channels. The fixed cavity communicates with the accommodating space and the corresponding channel. The motor is sealed and fixed in the fixed cavity.

91. The capsule endoscope according to claim 90, wherein The X-axis channel includes a first pipeline, a second pipeline and a third pipeline that are interconnected, one end of the first pipeline and the second pipeline each form an opening exposed on the side wall surface, one end of the third pipeline forms an opening exposed on the tail end surface, and the first pipeline, the second pipeline and the third pipeline are interconnected at one end located in the accommodating space.

92. The capsule endoscope according to claim 91, wherein The propeller is at least partially disposed in the third pipeline. The housing is formed with a fixed cavity corresponding to the X-axis channel. The fixed cavity is located between the first pipeline and the second pipeline and is disposed opposite to the third pipeline.

93. The capsule endoscope according to any one of claims 84 to 92, wherein: The capsule endoscope is placed in the liquid environment. Under the action of gravity and buoyancy, the top has a tendency to automatically flip toward the top side in the liquid environment, and the bottom has a tendency to automatically flip toward the bottom side in the liquid environment.

94. The capsule endoscope according to claim 93, wherein The center of gravity of the capsule endoscope is arranged between the horizontal plane and the bottom.

95. The capsule endoscope according to any one of claims 84 to 94, wherein: The average density of the capsule endoscope is greater than that of water. The opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel. The Z-axis electric drive unit is used to drive the liquid to flow through the Z-axis channel in a direction from the inlet to the outlet.

96. The capsule endoscope according to any one of claims 84 to 95, wherein: The battery is pan-shaped and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

97. The capsule endoscope according to claim 96, wherein The battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

98. The capsule endoscope according to any one of claims 84 to 97, wherein: The capsule endoscope includes an antenna disposed inside the shell. On the X-axis, the antenna is disposed between the battery and the tail end.

99. The capsule endoscope according to claim 98, wherein At least one electric drive unit and its corresponding channel are arranged between the battery and the tail end, and on the X-axis, at least one channel that coincides with the antenna arrangement position is a channel to be avoided; The antenna is sheet-shaped and is arranged around the circumferential direction of the capsule endoscope and close to the inner surface of the side wall of the shell. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage to be avoided to pass through.

100. The capsule endoscope according to any one of claims 98 to 99, wherein: The battery and the antenna are spaced apart on the X-axis; and / or The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

101. The capsule endoscope according to any one of claims 84 to 100, wherein: The capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on a surface of the first circuit board, the lighting unit being arranged around the lens. The shell includes a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, and the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover. The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

102. The capsule endoscope according to claim 101, wherein The light shielding member and the transparent cover are an integrated structure, one end of the light shielding member is connected to the transparent cover, and the other end of the light shielding member extends toward the direction of the lens; or The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

103. The capsule endoscope according to any one of claims 101 to 102, wherein: The shading member is cylindrical or trumpet-shaped; and / or The shading element includes at least one of a shading material, a reflective material and a filter material.

104. The capsule endoscope according to any one of claims 101 to 103, wherein: The transparent cover includes a main body and a light-passing sheet that are connected to each other. The main body is annular and surrounds a light-passing hole. One end of the light-shielding member extends to the periphery of the light-passing hole. A step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

105. The capsule endoscope according to any one of claims 84 to 104, characterized in that: include: an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; A control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; as well as The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

106. The capsule endoscope according to claim 105, wherein The driving instruction output by the control unit includes an instruction for adjusting the yaw angle; The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the two Z-axis electric drive units, adjust the flow rate of the liquid driven by the two Z-axis electric drive units to flow through the corresponding Z-axis channels, and thus adjust the yaw angle of the capsule endoscope.

107. A capsule endoscopy system, characterized in that: It comprises a client and a capsule endoscope as described in any one of claims 84-106, wherein the client is used to receive user instructions and transmit the user instructions to the capsule endoscope.

108. A method for controlling a capsule endoscope, for controlling the capsule endoscope according to any one of claims 84 to 106, characterized in that: The steps include: collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; Outputting a drive instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; as well as The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

109. The method for controlling a capsule endoscope according to claim 108, wherein: The output drive instruction includes an instruction for adjusting the yaw angle; The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: The yaw angle adjustment instruction is converted into the driving signal and transmitted to the two Z-axis electric drive units, and the flow rate of the liquid driven by the two Z-axis electric drive units through the corresponding Z-axis channels is adjusted, thereby adjusting the yaw angle of the capsule endoscope.

110. The capsule endoscope according to claim 1, wherein The housing includes two ends and a side wall connected between the two ends, one end of the two ends is a head end, and the other end is a tail end, and the side wall includes a top and a bottom that are oppositely arranged; It is defined that the direction of the line connecting the geometric centers of the two ends of the capsule endoscope is the X-axis, the direction of the line connecting the top and bottom of the capsule endoscope is the Z-axis, the Z-axis is perpendicular to the X-axis, the direction perpendicular to the X-axis and the Z-axis is the Y-axis, and the X-axis and the Y-axis determine the horizontal plane of the capsule endoscope; The capsule endoscope is placed in the liquid environment, and under the action of gravity and buoyancy, the top portion has a tendency to automatically flip toward the top side of the liquid environment, and the bottom portion has a tendency to automatically flip toward the bottom side of the liquid environment; The multiple electric drive units include a Z-axis electric drive unit and two X-axis electric drive units. The capsule endoscope is provided with a Z-axis channel corresponding to the Z-axis electric drive unit, and the capsule endoscope is provided with an X-axis channel corresponding to each of the two X-axis electric drive units; the Z-axis channel includes openings arranged at the top and the bottom, each of the X-axis channels forms at least one opening, and the at least one opening is formed at the tail end and the side wall.

111. The capsule endoscope according to claim 110, wherein The center of gravity of the capsule endoscope is arranged between the horizontal plane and the bottom.

112. The capsule endoscope according to any one of claims 110 to 111, characterized in that: The average density of the capsule endoscope is greater than that of water. The opening of the Z-axis channel arranged at the top is the inlet of the Z-axis channel, and the opening of the Z-axis channel arranged at the bottom is the outlet of the Z-axis channel. The Z-axis electric drive unit is used to drive the liquid to flow through the Z-axis channel in a direction from the inlet to the outlet.

113. The capsule endoscope according to any one of claims 110 to 112, characterized in that: The battery is in a pancake shape and extends between the top and the bottom of the capsule endoscope, and is arranged toward the bottom of the capsule endoscope.

114. The capsule endoscope according to claim 113, wherein The battery is formed with a notch, and the notch is arranged corresponding to the top of the capsule endoscope.

115. The capsule endoscope according to any one of claims 110 to 114, wherein: The battery is arranged adjacent to the Z-axis electric drive unit.

116. The capsule endoscope according to any one of claims 110 to 115, wherein: On the Z axis, the two X axis channels are arranged at the center position of the capsule endoscope, or between the center position and the bottom.

117. The capsule endoscope according to any one of claims 110 to 116, wherein: The shell is a hollow structure and encloses an accommodating space. Other components of the capsule endoscope except the multiple electric drive units are accommodated in the accommodating space. The accommodating space and the channels corresponding to the multiple electric drive units are isolated from each other.

118. The capsule endoscope according to any one of claims 110 to 117, wherein: The housing forms the X-axis channel; and / or At least one of the electric drive units includes a motor and a propeller connected to the motor, the propeller is accommodated in the corresponding channel, and the motor is used to drive the propeller to rotate and thereby drive the liquid to flow in the corresponding channel.

119. The capsule endoscope according to any one of claims 110 to 118, wherein: The capsule endoscope includes an antenna disposed inside the shell. On the X-axis, the antenna is disposed between the battery and the tail end.

120. The capsule endoscope according to claim 119, wherein At least one electric drive unit and its corresponding channel are arranged between the battery and the tail end, and on the X-axis, at least one channel that coincides with the antenna arrangement position is a channel to be avoided; The antenna is sheet-shaped and is arranged around the circumferential direction of the capsule endoscope and close to the inner surface of the side wall of the shell. The antenna is formed with at least one avoidance groove, and the avoidance groove is used for the passage to be avoided to pass through.

121. The capsule endoscope according to any one of claims 119-120, wherein: The battery and the antenna are spaced apart on the X-axis; and / or The antenna is arranged in a closed ring shape along the circumference of the capsule endoscope.

122. The capsule endoscope according to any one of claims 110 to 121, wherein: The capsule endoscope includes a lens disposed inside the shell, a first circuit board, and a lighting unit disposed on a surface of the first circuit board, the lighting unit being arranged around the lens. The shell includes a transparent cover and a light shielding member disposed at the head end, the transparent cover being exposed on the surface of the capsule endoscope, and the lighting unit and the lens being disposed inside the shell corresponding to the transparent cover. The light-shielding member is cylindrical and is arranged in the accommodating space surrounded by the shell. One end of the light-shielding member extends toward the inner surface of the transparent cover located at the head end, and the other end of the light-shielding member extends between the light-emitting surface of the lens and the lighting unit to block at least part of the light emitted by the lighting unit from being reflected through the transparent cover to the light-incident surface of the lens.

123. The capsule endoscope according to claim 122, wherein: The light shielding member and the transparent cover are an integrated structure, one end of the light shielding member is connected to the transparent cover, and the other end of the light shielding member extends toward the direction of the lens; or The shading member and the transparent cover are separate structures. One end of the shading member is fixed to the lens or the surface of the first circuit board, and the other end of the shading member extends toward the head end.

124. The capsule endoscope according to any one of claims 122-123, wherein: The shading member is cylindrical or trumpet-shaped; and / or The shading element includes at least one of a shading material, a reflective material and a filter material.

125. The capsule endoscope according to any one of claims 122 to 124, wherein: The transparent cover includes a main body and a light-passing sheet that are connected to each other. The main body is annular and surrounds a light-passing hole. One end of the light-shielding member extends to the periphery of the light-passing hole. A step groove connected to the light-passing hole is formed on the side of the main body exposed to the surface of the capsule endoscope, and the light-passing sheet is fixed in the step groove.

126. The capsule endoscope according to any one of claims 110 to 125, wherein: include: an inertial measurement unit, configured to collect current acceleration, angular velocity, and magnetometer data of the capsule endoscope and calculate current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; A control unit, configured to calculate and output a drive instruction based on an external expected posture and position instruction and the current posture and motion data; as well as The driving circuit is used to convert the driving instructions into driving signals and transmit them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

127. The capsule endoscope according to claim 126, wherein: The driving instruction output by the control unit includes an adsorption instruction; The driving circuit is used to convert the adsorption instruction into the driving signal and transmit it to the two X-axis electric drive units, thereby controlling the two X-axis electric drive units to drive the liquid to flow into the X-axis channel from at least a portion of the opening at the tail end; The control unit is configured to determine whether the acceleration of the capsule endoscope is 0 based on the current posture and motion data; if so, it is determined that the capsule endoscope has been adsorbed on the inner wall of the liquid environment and outputs a pitch angle adjustment instruction; if not, it continues to output an adsorption instruction; The driving circuit is used to convert the pitch angle adjustment instruction into the driving signal and transmit it to the Z-axis electric drive unit, so as to adjust the flow rate of the liquid in the Z-axis channel driven by the Z-axis electric drive unit.

128. The capsule endoscope according to claim 126, wherein: The driving instruction output by the control unit includes an instruction for adjusting the yaw angle; The driving circuit is used to convert the yaw angle adjustment instruction into the driving signal and transmit it to the two X-axis electric drive units, adjust the direction and / or flow rate of the liquid driven by the two X-axis electric drive units to flow through the corresponding X-axis channels, and thus adjust the yaw angle of the capsule endoscope.

129. A capsule endoscopy system, characterized in that: It comprises a client and a capsule endoscope as described in any one of claims 110-128, wherein the client is used to receive user instructions and transmit the user instructions to the capsule endoscope.

130. A method for controlling a capsule endoscope, for controlling the capsule endoscope according to any one of claims 110 to 128, characterized in that: The steps include: collecting current acceleration, angular velocity, and magnetometer data of the capsule endoscope, and calculating and obtaining current posture and motion data, wherein the current posture and motion data include current velocity, acceleration, and position data of the capsule endoscope; Outputting a drive instruction after calculation based on the external expected posture and position instruction and the current posture and motion data; as well as The driving instructions are converted into driving signals and transmitted to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope.

131. The method for controlling a capsule endoscope according to claim 130, wherein: The output driving instruction includes an adsorption instruction; The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: converting the adsorption instruction into the driving signal and transmitting it to the two X-axis electric drive units, controlling the two X-axis electric drive units to drive the liquid to flow into the X-axis channel from at least a portion of the opening at the tail end; Based on the current posture and motion data, determine whether the acceleration of the capsule endoscope is 0. If so, it is determined that the capsule endoscope has been adsorbed on the inner wall of the liquid environment and an instruction to adjust the pitch angle is output. If not, continue to output the adsorption instruction; convert the pitch angle adjustment instruction into the drive signal and transmit it to the Z-axis electric drive unit, and adjust the Z-axis electric drive unit to drive the flow rate of the liquid in the Z-axis channel.

132. The method for controlling a capsule endoscope according to claim 130, wherein: The output drive instruction includes an instruction for adjusting the yaw angle; The step of “converting the driving instructions into driving signals and transmitting them to the multiple electric drive units, thereby adjusting the working states of the multiple electric drive units and the posture and position of the capsule endoscope” specifically includes: The yaw angle adjustment instruction is converted into the driving signal and transmitted to the two X-axis electric drive units, and the two X-axis electric drive units are adjusted to drive the direction and / or flow rate of the liquid flowing through the corresponding X-axis channel, thereby adjusting the yaw angle of the capsule endoscope.

133. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for controlling a capsule endoscope are implemented.

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