Capsule endoscope for digestive tract blood vessel detection and system thereof

Abstract

The invention relates to the field of medical instruments, and particularly discloses a capsule endoscope for digestive tract blood vessel detection and a system thereof. The capsule endoscope comprises a capsule shell, and a light source module, an image acquisition module, a microcontroller module, a wireless data transmission module, a wireless energy receiving module, a position control module and a power supply module which are arranged in the capsule shell. The light source module comprises a plurality of LED light sources with different wavelengths, and provides lighting conditions required by multispectral and multimodal imaging; the image acquisition module is arranged at the front end of the capsule, consists of a CMOS (Complementary Metal Oxide Semiconductor) image sensor, a lens and a band-pass filter, and is used for capturing blood vessel images in different light environments; the position control module comprises an in-vivo permanent magnet which can be matched with an external large permanent magnet, so that the accurate regulation and control of the position and posture of the capsule in the digestive tract are realized. The capsule endoscope is compact in structure, can achieve high-contrast and multi-level imaging of blood vessels of all levels of digestive tract mucosa, and is beneficial for improving the diagnostic ability of early lesions.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more particularly to a capsule endoscope and system for detecting blood vessels in the digestive tract. Background Technology

[0002] Gastrointestinal diseases (such as inflammation and tumors) are a significant global health concern. Early diagnosis of these diseases is crucial for improving treatment outcomes and reducing the burden on healthcare. Capsule endoscopy, as a novel non-invasive diagnostic tool, allows patients to complete the imaging of the entire digestive tract simply by swallowing a single capsule. The procedure requires no sedation, significantly improving patient comfort and cooperation, thus offering a marked advantage over traditional tethered endoscopy in terms of safety and overall experience.

[0003] Capsule endoscopes based on optical imaging principles have become a key area of ​​research due to their intuitive image presentation. These products can be mainly categorized into the following types:

[0004] One type is the fluorescence-detection capsule endoscope. This type of device typically requires the pre-injection of an exogenous fluorescent dye into the body. Under the influence of excitation light at a specific wavelength, the target tissue produces a fluorescent signal, which is then received by a built-in sensor and converted into an image, thereby improving the ability to identify minute lesions. Nevertheless, this technology still faces challenges such as the biosafety of the fluorophore, photostability, and the operational skills of medical personnel.

[0005] Another approach is capsule endoscopy, which utilizes the tissue's own autofluorescence. Although this eliminates the need for exogenous markers and reduces the associated biological risks, most of the currently developed devices rely on components such as photodiodes and single-photon avalanche diodes to collect fluorescence signals. Their imaging resolution is insufficient to precisely visualize the structure of tiny blood vessels, and their safety and efficacy in vivo still require thorough clinical validation.

[0006] Another common type is imaging capsule endoscopy based on absorption-reflection mechanisms, especially white light imaging capsules. Due to their mature technology, ease of operation, and wide applicability, they have gained widespread recognition and application in academia and clinical practice. However, due to their wide spectral coverage (400–700 nm), white light imaging often exhibits low saturation and contrast in practical applications, making it difficult to fully visualize superficial, fine, tortuous capillaries or deep-seated, large vessels. This leads to difficulties in assessing some occult or heterogeneous lesions, limiting their accurate evaluation of inflammatory responses and tumor angiogenesis.

[0007] To address this, researchers are continuously developing novel imaging techniques to improve image quality, such as narrowband imaging. This method enhances the contrast and visibility of mucosal microvessels and surface structures by incorporating a filtering mechanism into the light source system, allowing only specific wavelengths of blue light (approximately 420 nm) and green light (approximately 540 nm) to pass through. Compared to traditional white light imaging, it provides more diagnostic information. However, this technique is limited by a fixed wavelength combination and has limited adaptability to the optical characteristics of blood vessels at different depths and types. Therefore, it remains insufficient when representing complex vascular hierarchies, especially for displaying deep or low-contrast blood vessels.

[0008] In summary, existing imaging and endoscopic techniques have limitations in terms of invasiveness, dependence on exogenous markers, poor image contrast, limited information depth, or operational complexity, making it difficult to fully meet the high-precision detection requirements of blood vessels at various levels of the digestive tract mucosa. Therefore, there is an urgent need to develop a capsule endoscope and its system that combines non-invasiveness, marker-free imaging, and multispectral and multimodal imaging capabilities to address the aforementioned key challenges and further improve the early diagnosis of digestive tract diseases. Summary of the Invention

[0009] The purpose of this invention is to provide a capsule endoscope and system for detecting blood vessels in the digestive tract, in order to solve the above-mentioned technical problems existing in the prior art.

[0010] To achieve the above objectives, in one aspect, the present invention provides a capsule endoscope for detecting blood vessels in the digestive tract, comprising a capsule shell, a light source module, an image acquisition module, a microcontroller module, a wireless data transmission module, a wireless power receiving module, a position control module, and a power supply module: the light source module is integrated on a first PCB board inside the capsule shell, including multiple LED light sources of different wavelengths for providing illumination for multispectral and multimodal imaging; five different wavelength LED light sources are evenly distributed circumferentially on the first PCB board; the image acquisition module is disposed at the front end of the capsule shell, including a CMOS image sensor, a lens, and a bandpass filter for capturing vascular images under different lighting conditions; the position control module includes an internal permanent magnet for cooperating with an external large permanent magnet to control the position and orientation of the capsule within the digestive tract.

[0011] In some alternative embodiments of the present invention, the wireless power receiving module includes a rectification and voltage regulation module and a three-dimensional receiving coil. The three-dimensional receiving coil is composed of three mutually orthogonal one-dimensional coils. The rectification and voltage regulation module includes three sets of tuning capacitors, three rectifiers and one voltage regulator chip. The three-dimensional receiving coil and the three sets of tuning capacitors form a series resonant circuit.

[0012] In some alternative embodiments of the present invention, the first PCB board is a ring structure with an outer diameter of 10 mm and an inner diameter of 6 mm.

[0013] In some alternative embodiments of the present invention, the five different wavelengths of LED light sources include:

[0014] The first light source is a broadband white LED with a spectral range of 430-670nm;

[0015] The second light source is a narrowband violet LED with a center wavelength of 420nm;

[0016] The third light source is a narrowband green LED with a center wavelength of 540nm;

[0017] The fourth light source is a narrowband orange LED with a center wavelength of 590nm;

[0018] The fifth light source is a narrowband red LED with a center wavelength of 630nm.

[0019] In some alternative embodiments of the present invention, in the image acquisition module, the CMOS image sensor is installed at the center of the second PCB board, the lens base and the CMOS image sensor are bonded together with opaque black ultraviolet curing adhesive, and a bandpass filter is attached to the bottom of the lens to filter near-infrared interference light.

[0020] In some alternative embodiments of the present invention, the bandpass filter has a thickness of 0.5 mm and a diameter of 4.7 mm, and the lens base has a groove that protrudes above the surface.

[0021] In some alternative embodiments of the present invention, the permanent magnet inside the position control module is a cylindrical neodymium iron boron permanent magnet with a diameter of 10 mm and a height of 5 mm.

[0022] In another aspect, the present invention also provides a capsule endoscopy system for detecting blood vessels in the digestive tract, comprising:

[0023] The capsule endoscope is the capsule endoscope for detecting blood vessels in the digestive tract as described in any of the above technical solutions;

[0024] The image receiving and processing module includes an image receiver, multiple imaging recognition modules, a computer, and a memory, for real-time analysis and storage of image data;

[0025] The integrated power supply and magnetic control module, including a wireless transmitting coil and a large permanent magnet, is used to provide wireless power supply and attitude control for the capsule endoscope.

[0026] In some alternative embodiments of the present invention, the plurality of imaging recognition modules include a white light imaging recognition module, a violet light imaging recognition module, a green light imaging recognition module, an orange light imaging recognition module, a red light imaging recognition module, a blue light imaging recognition module, a narrowband imaging recognition module, and a dual-red imaging recognition module.

[0027] In some alternative embodiments of the present invention, the wireless transmitting coil is a Helmholtz coil structure wound with Litz wire consisting of 250 strands of enameled wire; the large permanent magnet is a cylindrical neodymium iron boron permanent magnet with a diameter of 80 mm and a height of 120 mm.

[0028] Compared with the prior art, the present invention discloses at least the following beneficial effects:

[0029] The capsule endoscope provided by this invention is equipped with multiple LED light sources of different wavelengths through its integrated light source module, which can flexibly provide multispectral and multimodal illumination, thereby significantly enhancing the contrast and detail of blood vessels of different depths and types. The bandpass filter in the image acquisition module effectively filters out near-infrared interference light, ensuring the authenticity of image colors and overall clarity. The position control module, through the synergistic effect of the in-body permanent magnet and the external large permanent magnet, achieves precise control of the capsule's position and orientation within the digestive tract, ensuring comprehensive coverage of the detection range. At the same time, the microcontroller module coordinates the efficient operation of each module, the wireless data transmission module ensures stable transmission of image data, and the wireless power receiving module provides continuous power support. The organic combination of these structural designs enables the capsule endoscope to work stably in the complex digestive tract environment, achieving high-quality imaging of vascular structures and providing reliable technical support for early disease diagnosis. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is an exploded view of the capsule endoscope in an embodiment of the present invention;

[0032] Figure 2 This is a layout diagram of the ring circuit board of the light source module in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the image acquisition module in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the lens base structure in an embodiment of the present invention;

[0035] Figure 5 This is a circuit and coil structure diagram of the wireless power receiving module in an embodiment of the present invention;

[0036] Figure 6 This is a structural framework diagram of the image receiving and processing module in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the integrated power supply and magnetic control module in an embodiment of the present invention;

[0038] Figure 8 This is a flowchart of a gastrointestinal examination according to an embodiment of the present invention;

[0039] Figure 9 This is a spectral test result diagram of the bandpass filter in the light source module of the present invention;

[0040] Figure 10 This is a graph showing the results of the cell viability detection experiment of the present invention;

[0041] Figure 11 These are imaging results of blood vessels under different wavelength light sources in animal experiments related to this invention.

[0042] In the diagram: 101, Light source module; 1011, First light source; 1012, Second light source; 1013, Third light source; 1014, Fourth light source; 1015, Fifth light source; 1016, First PCB board; 102, Image acquisition module; 1021, Second PCB board; 1022, CMOS image sensor; 1023, Lens base; 1024, Card slot; 1025, Lens; 1026, Bandpass filter; 103, Microcontroller module; 104, Wireless data transmission module; 105, Power supply module; 106, Rectifier and voltage regulator module; 1061, First tuning capacitor; 1062, Second tuning capacitor; 1063, Third tuning capacitor; 1064, First rectifier; 1065, Second rectifier; 1066, Third rectifier; 1067, Voltage regulator chip; 1 07. Three-dimensional receiving coil; 1071. First receiving coil; 1072. Second receiving coil; 1073. Third receiving coil; 108. Position control module; 109. Capsule optical dome; 110. Capsule bottom cover; 111. Capsule cylinder; 2. Image receiving and processing module; 201. Image receiver; 202. White light imaging recognition module; 203. Ultraviolet light imaging recognition module; 204. Green light imaging recognition module; 205. Orange light imaging recognition module; 206. Red light imaging recognition module; 207. Blue light imaging recognition module; 208. Narrowband imaging recognition module; 209. Dual red imaging recognition module; 210. Computer; 211. Memory; 3. Power supply and magnetic control integrated module; 301. Wireless transmitting coil; 302. Large permanent magnet; 303. Movable examination bed. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Example 1

[0046] Reference Figure 1 As shown, Embodiment 1 of the present invention provides a capsule endoscope for detecting blood vessels in the digestive tract. Its overall structure is encapsulated in a biocompatible capsule shell, resulting in a compact design suitable for operation in the confined environment of the gastrointestinal tract. The capsule shell includes a capsule optical dome 109, a capsule cylinder 111, and a capsule bottom cover 110. Inside the capsule shell are a light source module 101, an image acquisition module 102, a microcontroller module 103, a wireless data transmission module 104, a power supply module 105, a rectification and voltage regulation module 106, a three-dimensional receiving coil 107, and a position control module 108. These modules work together through electrical connections and mechanical fixation to achieve multi-level, multi-modal imaging of the digestive tract mucosal blood vessels.

[0047] In this embodiment, as Figure 2 As shown, the light source module 101 is integrated on the first PCB board 1016, which is a ring-shaped structure with an outer diameter of 10mm and an inner diameter of 6mm. The light source module 101 includes five wavelength LED light sources: a first light source 1011, a second light source 1012, a third light source 1013, a fourth light source 1014, and a fifth light source 1015.

[0048] In one specific embodiment, the first light source 1011 is a broadband white LED with a spectral range of 430-670nm, the second light source 1012 is a narrowband violet LED with a center wavelength of 420nm, the third light source 1013 is a narrowband green LED with a center wavelength of 540nm, the fourth light source 1014 is a narrowband orange LED with a center wavelength of 590nm, and the fifth light source 1015 is a narrowband red LED with a center wavelength of 630nm.

[0049] In one specific embodiment, all LED light sources are individually packaged as 2.0mm × 1.6mm surface mount units and are evenly distributed circumferentially on the first PCB board 1016 to ensure illumination uniformity and optimize spatial layout. The purpose of this structural layout is: first, to meet the requirements of layout optimization, which can reduce space and facilitate the integration and packaging of smaller capsules; second, to dissipate the heat emitted by the light source quickly; and third, to prevent the excitation light from directly penetrating from the base and leaking into the CMOS image sensor 1022, which could cause overexposure, increased thermal noise, or color distortion.

[0050] In this embodiment, as Figure 3 and Figure 4 As shown, the image acquisition module 102 is located at the front end of the capsule. Its core components include a CMOS image sensor 1022, a lens 1025, a lens mount 1023, and a bandpass filter 1026. The CMOS image sensor 1022 is configured by a microcontroller via the IIC protocol and transmits data to the microcontroller's digital camera interface through a digital video port. The CMOS image sensor 1022 is mounted at the center of the second PCB board 1021 to ensure optical path symmetry. The lens mount 1023 is fixed around the CMOS image sensor 1022, and the two are bonded together with opaque black UV-curable adhesive to ensure strict coaxial alignment. A bandpass filter 1026 is firmly attached to the bottom of the lens 1025 using the same opaque black UV adhesive. This filter effectively blocks near-infrared light from entering the system, making the sensor sensitive only to the visible spectrum. This effectively avoids color deviation and image blurring caused by infrared interference, significantly improving the color reproduction and overall clarity of the final image. The entire image acquisition module 102 supports image capture functions under multiple light source modes, including separate white light, purple light, green light, orange light and red light imaging, as well as fusion imaging under multiple combined light sources, such as superposition of purple light and white light, mixing of purple light and green light, and composite spectral image acquisition of green light, orange light and red light.

[0051] In one specific embodiment, the bandpass filter 1026 has a thickness of 0.5 mm and a diameter of 4.7 mm. The lens base 1023 has a slot 1024 protruding approximately 3 mm above its surface, designed to precisely mount the lens 1025 with a threaded adjustment mechanism. This effectively blocks the path of excitation light propagating through the base gaps to the CMOS image sensor 1022, thus avoiding image overexposure, increased thermal noise, or color distortion. In this embodiment, the light source module 101 and image acquisition module 102 are not designed on a single PCB board, but rather connected via a flexible circuit board to form two separate PCB boards. The first PCB board 1016 of the light source module 101 is fixed to the lens base 1023 with the slot 1024. This effectively prevents excitation light from directly penetrating and leaking into the CMOS image sensor 1022 from the base, thus avoiding overexposure, increased thermal noise, or color distortion.

[0052] In one specific embodiment, the CMOS image sensor 1022 is a commercially available complementary metal-oxide-semiconductor (CMOS) sensor that supports VGA image sizes and measures 3.2 mm × 2.7 mm. A CMOS camera chip from Galaxycore Microelectronics with a resolution of 640 x 480 pixels can also be used.

[0053] In this embodiment, the microcontroller module 103 serves as the core processing unit of the capsule endoscope, responsible for the unified scheduling of the operation of each module. It establishes communication with the wireless data transmission module 104 via the SPI bus and performs real-time compression processing on the acquired raw image data to improve transmission efficiency.

[0054] In one specific embodiment, the main control chip of the microcontroller module 103 is an STM32H743AII6 microprocessor, which can perform real-time compression processing of the original image. Regarding the communication protocol design, the system uses a virtual I2C bus with GPIO pins to configure the parameters of the CMOS image sensor 1022. The visual data link uses a DVP port directly connected to the processor's DCMI visual channel, transmitting image signals through an 8-bit data bus (D0-D7).

[0055] In this embodiment, the wireless data transmission module 104 uses a low-power Bluetooth chip, which communicates with the microcontroller module 103 via a serial peripheral interface. It supports a data transmission rate of 2Mbps, maintaining a stable communication link during penetration of human tissue and meeting the data backhaul requirements between the capsule and external receiving devices.

[0056] In one specific embodiment, the wireless data transmission module 104 includes a BLE module and a low-power 32-bit ARM Cortex-M4 processor operating at 2.4 GHz. In BLE mode, it supports a data transmission rate of 2 Mbps, and its transmission power ranges from -20 dBm to +8 dBm, adjustable in 4 dB steps. At maximum transmission power, it achieves long data transmission distances and deep penetration, effectively penetrating the human body and transmitting data to the external image receiver 201.

[0057] In this embodiment, the power module 105 uses two switching power supply chips (MPM3804), each in a QFN-10 package (2mm×2mm). After being adjusted by a resistor network, one output is 2.8V, dedicated to powering the CMOS image sensor 1022 and some LEDs; the other output is 2.2V, which powers the microcontroller, wireless communication chip, and other LEDs.

[0058] In this embodiment, as Figure 5 As shown, the rectifier and voltage regulator module 106 and the three-dimensional receiving coil 107 together form a wireless power receiving module. The rectifier and voltage regulator module 106 includes three sets of tuning capacitors, three rectifiers (BAS4002), and one voltage regulator chip 1067 (LT8609). The three-dimensional receiving coil 107, composed of three mutually orthogonal one-dimensional coils, and the three sets of tuning capacitors that make it resonate form a series resonant circuit. Among them, the three sets of tuning capacitors are the first tuning capacitor 1061, the second tuning capacitor 1062, and the third tuning capacitor 1063, and the three rectifiers are the first rectifier 1064, the second rectifier 1065, and the third rectifier 1066. The three-dimensional receiving coil 107 consists of three mutually orthogonal one-dimensional receiving coils, namely the first receiving coil 1071, the second receiving coil 1072 and the third receiving coil 1073. Each coil is wound with a single strand of copper wire with a diameter of 0.12 mm and has a high permeability manganese zinc ferrite core embedded inside to enhance the mutual inductance coefficient with the external transmitting coil, thereby significantly improving the energy receiving efficiency.

[0059] In this embodiment, the position control module 108 is an in vivo permanent magnet (IPM) integrated within the capsule. A cylindrical neodymium iron boron permanent magnet (10 mm in diameter and 5 mm in height) with a performance grade of N52 is selected. By cooperating with the external large permanent magnet 302, precise control of the capsule's position and orientation within the gastrointestinal tract is achieved.

[0060] This embodiment can utilize multiple LED light sources in the light source module 101 to achieve various imaging modes, specifically including:

[0061] Imaging Mode 1: Broadband White Light Imaging: Utilizing a broadband white light LED with a spectral range of 430–670 nm, this mode is suitable for initial illumination, localization, and overall observation of the digestive tract. It provides physicians with a panoramic view of the cavities, facilitating a quick grasp of the overall situation and laying the foundation for subsequent detailed examinations of blood vessels or other lesions.

[0062] Imaging Mode 2: Narrowband Violet Imaging: This mode uses a narrowband violet LED with a center wavelength of 420nm. Its spectrum is concentrated between 400–470nm, with a full width at half maximum (FWHM) of only 14nm and high purity. Violet light is strongly absorbed by hemoglobin and produces strong scattering on the surface of mucous membranes, making it particularly suitable for highlighting the microvascular structure of the surface, significantly improving image contrast and detail. However, due to its shallow penetration, it is mainly used for surface imaging.

[0063] Imaging Mode 3: Narrowband Green Light Imaging: Utilizing a 540nm narrowband green LED, the spectrum covers 470–650nm, with energy primarily distributed in the 500–590nm range and a full width at half maximum (FWHM) of approximately 40nm. Green light experiences less absorption in tissues, penetrates deeper, and can form an effective scattering signal with hemoglobin. Combined with the high responsivity of the CMOS image sensor 1022 in this wavelength band, it can clearly present the course, density, and contour information of superficial mucosal vessels.

[0064] Imaging Mode 4: Narrow-band Orange Light Imaging: A narrow-band orange LED centered at 590nm, with a spectrum covering 550–630nm. This wavelength exhibits weak scattering and absorption in tissues, further enhancing its penetrating power and facilitating clear imaging of larger blood vessels deep within the digestive tract.

[0065] Imaging Mode 5: Narrowband Red Light Imaging: Employs a 630nm narrowband red LED with a spectrum between 600–670nm. Red light exhibits less scattering and deeper penetration, but its low absorption rate by hemoglobin results in decreased contrast between blood vessels and surrounding tissues. This characteristic can be used to filter out information interference from superficial capillaries, highlighting underlying tissue structures.

[0066] Imaging Mode 6, Blue Light Imaging (White Light + Violet Light): This mode combines weak white light with 420nm violet light for illumination, where the intensity of the violet light is approximately twice that of the blue light component in the white light. This approach can effectively suppress overexposure in non-vascular areas while preserving overall tissue structural information, thereby enhancing the contrast of superficial capillaries and the overall image clarity.

[0067] Imaging Mode 7, Narrow-band Imaging (violet + green): Simultaneously utilizes 420nm violet light and 540nm green light, with similar intensities. Violet light enhances the contrast of superficial blood vessels, while green light reveals the superficial vascular network. The dual-band synergy enables high-quality fused imaging of the mucosal surface and superficial blood vessels without over-illuminating surrounding tissues.

[0068] Imaging Mode 8, Dual-Red Imaging (Green + Orange + Red): This mode fuses 540nm green light, 590nm orange light, and 630nm red light for imaging. The green and orange light have higher intensities, while the red light is weaker. Green light is used to outline the structural details of superficial blood vessel branches, orange light is responsible for penetrating and displaying deep blood vessels, and red light serves as a background suppression method, filtering out non-target signals, thereby simultaneously optimizing the visualization of superficial branches and deep, thick blood vessels.

[0069] Example 2

[0070] Reference Figures 1 to 7 As shown, Embodiment 2 of the present invention provides a capsule endoscopy system for detecting blood vessels in the digestive tract, including a capsule endoscope, an image receiving and processing module 2, and a power supply and magnetic control integrated module 3. The capsule endoscope is the same as the one described in Embodiment 1 for detecting blood vessels in the digestive tract, and possesses multispectral and multimodal imaging capabilities.

[0071] like Figure 6 As shown, the image receiving and processing module 2 includes an image receiver 201, a white light imaging recognition module 202, a violet light imaging recognition module 203, a green light imaging recognition module 204, an orange light imaging recognition module 205, a red light imaging recognition module 206, a blue light imaging recognition module 207, a narrowband imaging recognition module 208, and a dual-red imaging recognition module 209. In addition, it includes a computer 210 and a memory 211 for further analysis, processing, and storage of the images.

[0072] In one specific embodiment, the image receiving and processing module 2 has a built-in Android application for real-time display and control of the capsule endoscope's imaging function. It should be understood that any Android device with this application installed can function as the image receiver 201.

[0073] like Figure 7 As shown, the integrated power supply and magnetic control module 3 includes a wireless transmitting coil 301, a large permanent magnet 302, and a movable examination bed 303. The wireless transmitting coil 301 is a Helmholtz coil structure wound with Litz wire consisting of 250 strands of enameled wire. Optimal energy supply to the capsule is achieved by adjusting the external voltage. Specifically, by inputting AC power into the wireless transmitting coil 301 and connecting an adjustable capacitor in series with it, the coil current reaches its maximum when the capacitive reactance of the capacitor and the inductive reactance of the coil are equal, providing optimal output energy for the capsule endoscope. Adjusting the external voltage changes the output power of the wireless transmitting coil 301.

[0074] In one specific embodiment, considering power consumption and size requirements during inspection, the coil frame diameter is designed to be 52cm and the width of a single coil is 10cm.

[0075] In one specific embodiment, the large permanent magnet 302 is a cylindrical neodymium iron boron permanent magnet with a diameter of 80 mm and a height of 120 mm, and a performance grade of N35. The surface of the permanent magnet is nickel-plated and magnetized along the axial direction, so that the generated spatial magnetic field has rotational invariance around its own axis. The position and orientation of the large permanent magnet 302 are controlled by an XZUV axis motor connected to the large permanent magnet 302, and the position and orientation of the capsule endoscope are controlled by the position and orientation of the large permanent magnet 302.

[0076] In one specific embodiment, the movable examination bed 303 is controlled by a Y-axis servo motor to move horizontally along the Y-axis direction, thereby assisting the capsule endoscope in receiving energy and moving within the gastrointestinal tract.

[0077] The working principle of the capsule endoscope system in this embodiment is as follows:

[0078] like Figure 8 As shown, after the patient swallows the capsule endoscope, they lie flat on the movable examination bed 303 with their abdomen placed inside the transmitting coil. The wireless power supply is then activated, initiating the white light imaging mode for preliminary illumination and examination. Medical staff adjust the capsule's position and orientation by manipulating the large permanent magnet 302, and switch between different imaging modes as needed, such as violet, green, orange, red, blue, narrow-band, and dual-red imaging modes, to perform layer-by-layer imaging and analysis of blood vessels in different locations of the digestive tract. The acquired image data is transmitted in real-time via the wireless transmission module to the external image receiver 201, and then enhanced and stored by the computer 210 for later comparison and diagnosis.

[0079] like Figures 9 to 11 As shown, in evaluating the performance of the capsule endoscope and its system described in the embodiments of the present invention, systematic experimental verification was carried out, and the results correspond to... Figure 9 , Figure 10 and Figure 11 The specific results are as follows:

[0080] like Figure 9 As shown, by testing the spectral characteristics of each LED and the bandpass filter 1026 in the light source module 101, it was confirmed that the center wavelength, full width at half maximum (FWHM), and spectral coverage of each light-emitting unit meet the design requirements. The bandpass filter 1026 effectively filters out near-infrared interference, ensuring accurate color reproduction in the imaging. It should be noted that... Figure 9 In this context, "white LED" refers to a white LED, and "optical filter" refers to an optical filter.

[0081] like Figure 10As shown, further cell viability assays revealed that cell viability remained above 95% under irradiation with white, violet, green, orange, and red light, respectively, confirming the excellent biocompatibility of the selected light source and meeting the safety requirements for long-term in vivo imaging. It should be noted that... Figure 10 The dots in the diagram correspond to the specific measurements from the six experiments, providing a more intuitive view of the distribution and fluctuations of the data within the group.

[0082] like Figure 11 As shown, animal experiments conducted based on this further validated the actual performance of this capsule endoscope in multimodal imaging scenarios. The experiment used a Bama miniature pig model. After standardized preprocessing, multiple illumination modes, including white light, violet light, green light, orange light, and red light, were sequentially applied. The system successfully acquired clear images of blood vessels at different layers. The results show that this system can effectively distinguish and image superficial capillaries, superficial vascular branches, and deep, thick blood vessels. Especially in multimodal fusion modes such as "blue light imaging," "narrow-band imaging," and "dual-red imaging," the hierarchical representation of vascular network information is significantly superior to traditional imaging methods.

[0083] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0084] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A capsule endoscope for detecting blood vessels in the digestive tract, characterized in that, The system includes a capsule shell, a light source module (101), an image acquisition module (102), a microcontroller module (103), a wireless data transmission module (104), a wireless energy receiving module, a position control module (108), and a power supply module (105). The light source module (101) is disposed inside the capsule shell and includes multiple LED light sources of different wavelengths for providing illumination for multispectral and multimodal imaging; The image acquisition module (102) is located at the front end of the capsule shell and includes a CMOS image sensor (1022), a lens (1025) and a bandpass filter (1026) for capturing vascular images under different lighting conditions; The position control module (108) includes an in-body permanent magnet for cooperating with an external large permanent magnet (302) to control the position and orientation of the capsule in the digestive tract.

2. The capsule endoscope for detecting blood vessels in the digestive tract according to claim 1, characterized in that, The wireless power receiving module includes a rectifier and voltage regulator module (106) and a three-dimensional receiving coil (107). The three-dimensional receiving coil (107) is composed of three mutually orthogonal one-dimensional coils. The rectifier and voltage regulator module (106) includes three sets of tuning capacitors, three rectifiers and a voltage regulator chip (1067). The three-dimensional receiving coil (107) and the three sets of tuning capacitors form a series resonant circuit.

3. The capsule endoscope for detecting blood vessels in the digestive tract according to claim 1, characterized in that, The light source module (101) is integrated on the first PCB board (1016), which is a ring structure with an outer diameter of 10mm and an inner diameter of 6mm, and five different wavelengths of LED light sources are evenly distributed on its circumferential surface.

4. The capsule endoscope for detecting blood vessels in the digestive tract according to claim 3, characterized in that, Five different wavelengths of LED light sources include: The first light source (1011) is a broadband white LED with a spectral range of 430-670nm; The second light source (1012) is a narrowband violet LED with a center wavelength of 420nm; The third light source (1013) is a narrowband green LED with a center wavelength of 540nm; The fourth light source (1014) is a narrowband orange LED with a center wavelength of 590nm; The fifth light source (1015) is a narrowband red LED with a center wavelength of 630nm.

5. The capsule endoscope for detecting blood vessels in the digestive tract according to claim 1, characterized in that, In the image acquisition module (102), the CMOS image sensor (1022) is installed at the center of the second PCB board (1021). The lens base (1023) and the CMOS image sensor (1022) are bonded together with opaque black ultraviolet curing adhesive. A bandpass filter (1026) is attached to the bottom of the lens (1025) to filter near-infrared interference light.

6. The capsule endoscope for detecting blood vessels in the digestive tract according to claim 5, characterized in that, The bandpass filter (1026) has a thickness of 0.5 mm and a diameter of 4.7 mm, and the lens base (1023) has a slot (1024) that protrudes from the surface.

7. The capsule endoscope for detecting blood vessels in the digestive tract according to claim 1, characterized in that, The permanent magnet inside the position control module (108) is a cylindrical neodymium iron boron permanent magnet with a diameter of 10 mm and a height of 5 mm.

8. A capsule endoscopy system for detecting blood vessels in the digestive tract, characterized in that, include: The capsule endoscope is the capsule endoscope used for gastrointestinal vascular detection as described in any one of claims 1 to 7; The image receiving and processing module (2) includes an image receiver (201), multiple imaging recognition modules, a computer (210), and a memory (211) for real-time analysis and storage of image data; The integrated power supply and magnetic control module (3) includes a wireless transmitting coil (301) and a large permanent magnet (302) for providing wireless power supply and attitude control for the capsule endoscope.

9. The capsule endoscope system for detecting blood vessels in the digestive tract according to claim 8, characterized in that, Multiple imaging recognition modules include a white light imaging recognition module (202), a violet light imaging recognition module (203), a green light imaging recognition module (204), an orange light imaging recognition module (205), a red light imaging recognition module (206), a blue light imaging recognition module (207), a narrowband imaging recognition module (208), and a dual-red imaging recognition module (209).

10. The capsule endoscopy system for detecting blood vessels in the digestive tract according to claim 8, characterized in that, The wireless transmitting coil (301) is a Helmholtz coil structure wound with Litz wire consisting of 250 strands of enameled wire; the large permanent magnet (302) is a cylindrical neodymium iron boron permanent magnet with a diameter of 80 mm and a height of 120 mm.

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