Capsule endoscope device with shooting posture adjustment and fixed-point support
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- THE SEVENTH AFFILIATED HOSPITAL SUN YAT SEN UNIV SHENZHEN
- Filing Date
- 2026-06-10
- Publication Date
- 2026-07-14
Smart Images
Figure CN122375992A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of medical endoscopes, and more specifically, to a capsule endoscope device with adjustable shooting posture and fixed-point support. Background Technology
[0002] The development of medical endoscopes can be divided into two stages according to the changes in their implementation methods: cable endoscopes and wireless capsule endoscopes.
[0003] Traditional cable endoscopes, since their invention, have undergone continuous changes and improvements, and have become an important instrument in modern medical examinations. However, this method can cause some discomfort to patients during use, and the insertion and observation processes are time-consuming and can easily cause damage to the internal organs. Furthermore, it requires a high level of skill from medical personnel.
[0004] Capsule endoscopy is a miniaturized, non-invasive medical device primarily used for visual examination of the human digestive tract (especially the small intestine). Its core principle involves the patient swallowing a capsule-sized device, propelled forward by the natural peristalsis of the digestive tract. A built-in camera, light source, and wireless transmission module capture images in real time, allowing doctors to diagnose lesions (such as ulcers, bleeding, and tumors). Significant research achievements have been made in wireless capsule endoscopy both domestically and internationally, including the M2ATM capsule robot developed by GivenImaging in Israel, the Sayka capsule endoscope developed by RF Systems Labs in the United States, the battery-free capsule endoscope developed by RFSystem Labs in Japan, and the "OMOM capsule endoscope" developed by Chongqing Jinshan Technology (Group) Co., Ltd. in my country.
[0005] Since the advent of the first commercial capsule endoscope (Given Imaging's PillCam) in 2001, the technology has been gradually optimized, but the limitations of observation caused by the fixed field of view remain a key problem that urgently needs to be solved. This is mainly reflected in the following aspects: Lesions are easily missed: Capsule endoscopes move passively with peristalsis in the digestive tract, and the lens angle is fixed. If the lesion is not in its imaging direction, or if the capsule passes through the lesion site quickly, it may not be able to capture a clear image, leading to missed diagnoses. For example, in the intestines, some lesions in corners or folds may be difficult to detect because the lens cannot be turned; small polyps, ulcers, etc., may also be missed due to the angle problem.
[0006] Incomplete image information: Currently, capsule endoscope cameras typically only display images within a 120°-170° range, failing to fully cover the surface of the digestive tract mucosa and affecting doctors' accurate judgment of the condition. For example, some scattered lesions on the intestinal mucosa may not be fully presented in the image due to the angle limitation, making it difficult for doctors to assess the extent and severity of the lesions.
[0007] Impact on diagnostic accuracy: The inability to adjust the lens angle as needed means that the captured images may not be from the most favorable angles and positions for diagnosis. For example, for some lesions suspected of being tumors, doctors may need to observe their shape, boundaries, surface features, etc., from multiple angles to determine their benign or malignant nature, but images from a fixed angle may not provide sufficient detail, thus affecting the accuracy of the diagnosis.
[0008] In addition, traditional capsule endoscopes rely on intestinal peristalsis for passive movement, and also have problems such as the inability to actively stop and observe lesions and the tendency to get stuck. Summary of the Invention
[0009] To address the aforementioned technical challenges, this invention proposes a capsule endoscope device equipped with adjustable shooting posture and fixed-point support functions. This design aims to expand the shooting range, enable fixed-point stopping for shooting, and improve its ability to escape obstacles. By adding a posture adjustment structure and a radial support structure, on the one hand, medical personnel can wirelessly control the shooting angle of the capsule endoscope device externally, thereby obtaining more comprehensive and clearer images of the digestive tract, ensuring a thorough examination and effectively preventing missed lesions. On the other hand, the device can achieve stopping support when necessary, facilitating detailed observation of lesions by doctors. Furthermore, the extension and retraction of the radial expansion support structure effectively reduces jamming, ensuring a smooth examination process.
[0010] To achieve the above objectives, the specific technical solution adopted by the present invention is as follows: A capsule endoscope device with shooting posture adjustment and fixed-point support is characterized by the following: it includes a capsule-shaped outer shell body, on which a closed optical window made of transparent material is provided. An illumination and shooting module is arranged in the closed optical window. The illumination and shooting module can achieve multi-degree-of-freedom posture adjustment through a posture adjustment structure to adjust the shooting range of the illumination and shooting module. A radial expansion support structure is also provided in the capsule-shaped outer shell body. The radial expansion support structure can, on the one hand, realize the parking support of the capsule endoscope device, and on the other hand, assist the capsule endoscope device in getting out of trouble.
[0011] Furthermore, the illumination and imaging module includes a lens sensor and a light source arranged around the lens sensor. The lens sensor is responsible for acquiring images of the digestive tract through the closed optical window, while the light source is responsible for providing illumination support for the lens sensor.
[0012] Furthermore, the attitude adjustment structure includes several attitude adjustment motors, each of which is connected to the lighting and shooting component in sequence via a first transmission component and a ball chain.
[0013] Furthermore, each of the first transmission components includes a first gear ring and a first gear meshing with the first gear ring. The first gear is connected to the output shaft of the corresponding attitude adjustment motor, and a support for hinged ball chain is also provided on the first gear ring.
[0014] Furthermore, several of the attitude adjustment motors are assembled at equal intervals inside the cavity of the capsule-shaped outer shell body around the central axis of the capsule-shaped outer shell body, and the first gear rings of each group of the first transmission components are installed in layers above the attitude adjustment motors along the central axis of the capsule-shaped outer shell body, and each of the first gear rings is rotated and supported by a thrust bearing.
[0015] Furthermore, one end of the ball chain is hinged to the lighting and shooting module, while the other end is hinged to the corresponding support.
[0016] Furthermore, the number of the attitude adjustment motor, the first transmission component, and the ball chain is set to three.
[0017] Compared with the prior art, the beneficial effects of the present invention are: (1) By adding a posture adjustment structure and a radial expansion structure, the imaging posture adjustment function and the fixed-point support function are realized, which significantly improves the flexibility and practicality of the capsule endoscope device. Medical staff can remotely control the imaging angle to ensure a comprehensive examination of the digestive tract. At the same time, the fixed-point support function allows the device to stop when necessary, which facilitates doctors to observe the lesions in detail. In addition, the introduction of the radial expansion structure enhances the device's ability to get out of trouble and can solve the jamming problem to a certain extent, which helps to ensure the smooth progress of the examination process; (2) The attitude adjustment structure adopts a spherical parallel design, enabling the entire structure to achieve multi-degree-of-freedom adjustment functions, including pitch, yaw, and roll. Through this multi-dimensional and flexible adjustment mechanism, the illumination and imaging module can move and position itself in all directions within the optical window, ensuring that high-definition images of the digestive tract can be captured flexibly from various angles. This not only greatly improves the flexibility and accuracy of the imaging, allowing every detail to be accurately captured, but also provides medical staff with a comprehensive and detailed perspective, enabling them to gain a deeper and more comprehensive understanding of the patient's digestive tract condition. Based on this detailed information, medical staff can make more accurate and reliable diagnoses, thereby providing patients with more precise and effective treatment plans; (3) The first transmission component adopts a coaxial hierarchical distribution design, which enables each component to achieve efficient and stable transmission within a limited space. This design not only optimizes the internal structure of the capsule endoscope device, but also ensures the coordinated operation between each transmission component, effectively improving the device's shooting posture adjustment performance. In addition, the coaxial hierarchical distribution design facilitates the arrangement of circuits along the central axis of the capsule-shaped shell, reducing interference while ensuring compactness; (4) The radial expansion structure allows the capsule endoscope to better adapt to various complex environments within the digestive tract. Each expansion arm is connected to the arc-shaped through-slot of the rotating disk via a limiting post. This design ensures the stability and reliability of the expansion arms during expansion or retraction. In addition, the capsule-shaped outer shell extends from the end of the expansion arm, providing strong support when necessary to ensure that the device can be stably positioned in the designated location within the digestive tract. The constraint of the expansion arms in the radial guide rails prevents them from deviating from the predetermined trajectory during movement, further enhancing the stability and controllability of the device. At the same time, the extension and retraction of the expansion arms can assist the device in escaping obstacles and reduce the risk of jamming. (5) The second transmission component of the radial expansion structure is ingeniously designed. By utilizing the meshing of the second gear ring and the second gear, the expansion motor effectively drives the rotating disk. This gear transmission method is not only compact and efficient, but also stable and reliable, ensuring precise control of the radial expansion structure during expansion and retraction. By precisely adjusting the degree of expansion of the expansion arm, medical staff can remotely control the support status of the device in the digestive tract, ensuring the stability of the device and avoiding unnecessary stimulation or damage to the patient. In addition, the second transmission component also facilitates the arrangement of circuitry along the central axis of the capsule-shaped shell. Attached Figure Description
[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a schematic diagram (a) of the internal structure of the capsule endoscope device in Example 1; Figure 2 This is a schematic diagram (II) of the internal structure of the capsule endoscope device in Example 1; Figure 3 This is a schematic diagram (III) of the internal structure of the capsule endoscope device in Example 1; Figure 4 This is a schematic diagram of the main components of the capsule endoscope device in Example 1 (I). Figure 5 This is a schematic diagram (II) of the main components of the capsule endoscope device in Example 1. Figure 6 This is a schematic diagram (a) of the posture adjustment structure of the capsule endoscope device in Example 1; Figure 7This is a schematic diagram (II) of the posture adjustment structure of the capsule endoscope device in Example 1; Figure 8 This is a schematic diagram of the radial expansion structure of the capsule endoscope device in Embodiment 1 in its retracted state; Figure 9 This is a schematic diagram of the radial expansion structure of the capsule endoscope device in Example 1, showing its expanded state. Figure 10 This is a schematic diagram (I) of the internal structure of the capsule endoscope device in Example 2; Figure 11 This is a schematic diagram (II) of the internal structure of the capsule endoscope device in Example 2; The diagram is labeled as follows: 1-Capsule-shaped outer shell, 2-Enclosed optical window, 3-Illumination and shooting module, 4-Attitude adjustment structure, 5-Radial expansion structure, 301-Lens sensor, 302-Light source, 401-Attitude adjustment motor, 402-First transmission component, 403-Ball chain, 4021-First gear ring, 4022-First gear, 4023-Support, 4024-Thrust bearing, 501-Rotating disk, 502-Second transmission component, 503-Expansion motor, 504-Arc-shaped through groove, 505-Limiting post, 506-Expansion arm, 507-Radial guide rail, 5021-Second gear ring, 5022-Second gear, 6-Wireless communication module, 7-Positioning module, 8-Power supply module, 9-Main control module, 10-Wiring channel, 1001-Wire threading port, 11-Flexible wiring conduit, 12-Wireless charging module, 1201-Receiving coil. Detailed Implementation
[0019] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.
[0020] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not 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 the invention. Furthermore, in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.
[0021] In current technology, medical endoscopes have evolved from cable-operated to wireless capsule-type. Traditional cable-operated endoscopes suffer from drawbacks such as complex operation and patient discomfort, while existing capsule endoscopes, although achieving non-invasive examination, are limited by a fixed viewing angle, resulting in a high rate of missed lesions. For example, when the capsule passes through the bends of the intestine, the fixed-angle camera cannot capture lesions in the folded areas; in addition, the mechanism of passive movement relying on intestinal peristalsis makes it impossible to actively stop for observation, and it is prone to getting stuck in the folded areas of the digestive tract.
[0022] To address these issues, researchers discovered that the coordinated control of perspective adjustment and active support is key to overcoming technological bottlenecks. Analysis revealed that existing cameras cannot actively adjust their orientation, resulting in blind spots. By introducing a multi-degree-of-freedom attitude adjustment mechanism, the camera can autonomously adjust its shooting angle according to the morphology of the digestive tract. Simultaneously, the jamming problem caused by passive movement needs to be solved through a mechanical expansion structure. This structure provides radial support when parking is needed and expands and then retracts to assist in freeing the device from jamming. Therefore, integrating perspective adjustment and mechanical support into the capsule-shaped outer shell 1 becomes the technological breakthrough.
[0023] Figures 1 to 3 The first embodiment of this application is shown: a capsule endoscope device with shooting posture adjustment and fixed-point support, including a capsule-shaped outer shell body 1, a closed optical window 2 made of transparent material is provided on the upper part of the capsule-shaped outer shell body 1, an illumination shooting module 3 is arranged in the closed optical window 2, the illumination shooting module 3 can achieve multi-degree-of-freedom posture adjustment through the posture adjustment structure 4 to adjust the shooting range of the illumination shooting module 3; a radial expansion structure 5 is also provided in the capsule-shaped outer shell body 1, the radial expansion structure 5 can realize the parking support of the capsule endoscope device on the one hand, and assist the capsule endoscope device to get out of trouble on the other hand.
[0024] The enclosed optical window 2 refers to a sealed dome-shaped structure made of light-transmitting material, such as sapphire glass or medical-grade polycarbonate. Its light transmittance must meet the imaging requirements of the low-light environment within the digestive tract while maintaining the capsule's seal integrity. The attitude adjustment structure 4 refers to the mechanical system that drives the spatial pose change of the illumination and imaging module 3, enabling pitch, yaw, and rotation movements to expand the camera's coverage area. The radial expansion structure 5 refers to a radially extendable support mechanism. In the extended state, it contacts the digestive tract wall to create friction and achieve parking; in the retracted state, it reduces travel resistance.
[0025] Specifically, once the capsule enters the digestive tract, the posture adjustment structure 4 adjusts the spatial orientation of the illumination and imaging module 3 according to a preset program or remote command. For example, when passing through a bend in the intestine, the posture adjustment structure 4 causes the camera to pitch and yaw, covering mucosal folds that cannot be captured by a conventional fixed perspective. When a suspicious lesion is detected, the radial expansion structure 5 expands outward and forms friction with the intestinal wall, providing a stable environment for high-definition imaging. When encountering obstruction, the expansion arm 506 uses alternating expansion and contraction movements, utilizing the reaction force provided by the intestinal wall and stimulating intestinal peristalsis, to assist the capsule endoscope in overcoming obstruction and continuing its progress. This active adjustment and support mechanism significantly improves the comprehensiveness and accuracy of the examination while ensuring its smooth progress.
[0026] Through the above technical solutions, this application achieves blind-spot-free image acquisition in the digestive tract, effectively reducing the rate of missed lesion detection; the active parking function extends the observation time of suspicious areas, improving the ability to capture lesion features; the mechanical expansion structure, while ensuring miniaturization, can solve the jamming problem caused by passive movement to a certain extent, improving the device's passability in complex intestinal environments.
[0027] like Figure 4 and Figure 5 As shown, specifically, the illumination and imaging module 3 includes a lens sensor and a light source 302 arranged around the lens sensor. The lens sensor is responsible for acquiring images of the digestive tract through the closed optical window 2; the light source 302 is responsible for providing illumination support for the lens sensor.
[0028] The lens sensor refers to a miniature imaging device with image acquisition capabilities, which can be implemented using a CMOS or CCD image sensor, used to convert optical signals into digital image data. The light source 302 refers to the illumination unit arranged around the imaging device, which can be implemented using a ring array of LEDs, used to create a shadowless illumination effect within the digestive tract lumen. The sealed optical window 2 refers to a transparent protective structure sealed within the capsule shell, which can be implemented using sapphire or medical-grade resin materials, used to prevent the penetration of body fluids while ensuring optical transmittance.
[0029] Specifically, the lens sensor is located within the optical window 2 to obtain the maximum imaging field of view. Light sources 302 are arranged in a ring around the lens sensor, ensuring that light is evenly projected onto the inner wall of the digestive tract from multiple directions. As the capsule moves within the digestive tract, the light sources 302 diffuse light outwards through the window, eliminating shadow areas caused by unilateral lighting. The lens sensor simultaneously captures images of the evenly illuminated tissue surface, and the sealed structure of the optical window 2 prevents interference from bodily fluid reflections. The symmetrical arrangement of the ring light sources 302 compensates for light attenuation in the curved environment of the digestive tract, ensuring that lesions in different locations receive sufficient brightness.
[0030] Through the above technical solution, this application effectively eliminates the negative impact of complex curved surfaces of the digestive tract on illumination distribution, ensuring that the lens sensor continuously acquires images with uniform brightness during passive movement. The annular arrangement of the light source 302 complements the lens field of view, avoiding illumination loss caused by random changes in capsule position, and significantly improving the recognition of small lesions in the image. The closed optical window 2 serves a dual purpose: maintaining a clean imaging optical path and optimizing light transmission efficiency through material selection.
[0031] See Figures 4 to 7 In specific implementation, the attitude adjustment structure 4 includes several attitude adjustment motors 401, each of which is connected to the lighting and imaging assembly via a first transmission component 402 and a ball chain 403. Each attitude adjustment motor 401 operates independently, transmitting rotational power to the ball chain 403 through the first transmission component 402. The ball chain 403 then drives the lighting and imaging module 3 to perform multi-degree-of-freedom adjustments. This design allows the lighting and imaging module 3 to flexibly perform pitch, yaw, and roll movements within the enclosed optical window 2, thereby achieving comprehensive imaging of the digestive tract from various angles. Simultaneously, the flexible connection characteristics of the ball chain 403 ensure smoothness and reliability during transmission, effectively avoiding vibration and noise problems that may arise from rigid mechanical connections.
[0032] Each set of the first transmission components 402 includes a first gear ring 4021 and a first gear 4022 meshing with the first gear ring 4021. The first gear 4022 is connected to the output shaft of the corresponding attitude adjustment motor 401. A support 4023 for hinged ball chain 403 is also provided on the first gear ring 4021. Several attitude adjustment motors 401 are assembled at equal intervals around the central axis of the capsule-shaped outer shell 1 inside its cavity. The first gear rings 4021 of each set of the first transmission components 402 are installed in layers above the attitude adjustment motors 401 along the central axis of the capsule-shaped outer shell 1. Each first gear ring 4021 is rotatably supported by a thrust bearing 4024.
[0033] The equidistant assembly along the central axis refers to the symmetrical distribution of the attitude adjustment motors 401 along the centerline of the capsule-shaped outer shell 1. Specifically, they can be fixed in a ring array on the mounting plate inside the shell cavity of the capsule-shaped outer shell 1. This even distribution of motor positions achieves torque symmetry and balance, avoiding unilateral space encroachment. Layered installation of the first toothed rings 4021 means arranging the first toothed rings 4021 in layers axially, ensuring that the centerlines of all first toothed rings 4021 overlap with the centerline of the capsule-shaped outer shell 1. The thrust bearing 4024 provides rotational support by transferring the axial load of the upper first toothed ring 4021 to the lower first toothed ring 4021 or the capsule-shaped outer shell 1.
[0034] Specifically, by symmetrically distributing the attitude adjustment motors 401 around the central axis, mutually canceling radial torques can be formed, effectively preventing the housing from vibrating during motor operation; the layered arrangement of the first gear ring 4021 allows each transmission component to have independent operating space in the axial direction; the thrust bearing 4024 supports the first gear ring 4021, which can not only withstand the load transmitted by gear meshing, but also ensure that the first gear ring 4021 maintains high coaxial accuracy during rotation, ensuring structural compactness while facilitating the arrangement of circuits along the central axis.
[0035] In this embodiment, one end of the ball chain 403 is hinged to the lighting and imaging module, and the other end is hinged to the corresponding support 4023. As a transmission medium, the ball chain 403 possesses high flexibility and adaptability, enabling precise adjustment of the lighting and imaging module 3 in complex spatial environments. Driven by the ball chain 403, the lighting and imaging module 3 can smoothly perform multi-degree-of-freedom movements such as pitch, yaw, and roll, ensuring comprehensive coverage of every corner within the digestive tract. Simultaneously, the flexible connection of the ball chain 403 effectively absorbs vibrations and impacts during transmission, further enhancing the stability and clarity of the imaging.
[0036] In practical applications, the number of attitude adjustment motors 401, the first transmission assembly 402, and the ball chains 403 are all set to three. That is, the three attitude adjustment motors 401 drive the ball chains 403 through their respective first transmission assemblies 402, and each drive unit independently controls the displacement of the lighting and shooting module 3 in different directions. The three symmetrically distributed ball chains 403 apply a synergistic force to the lighting and shooting module 3 through hinge points, enabling it to achieve smooth attitude adjustment in pitch, yaw, and rotation directions. The redundant design reduces motion interference and ensures that if one drive unit fails, the remaining two sets can still maintain basic attitude adjustment functions, avoiding limitations in the shooting range due to single-point failure.
[0037] See Figure 5 , Figure 8 and Figure 9 In this embodiment, the radial expansion structure 5 includes a rotating disk 501 mounted on the central axis of the capsule-shaped outer shell body 1. The rotating disk 501 is connected to an expansion motor 503 via a second transmission assembly 502. Several outwardly expanding arc-shaped through slots 504 are arranged in an array around the center of the rotating disk 501. Each arc-shaped through slot 504 is provided with a limiting post 505. Each limiting post 505 is connected to an expansion arm 506. Each expansion arm 506 is constrained in a radial guide rail 507, and its end extends out of the capsule-shaped outer shell body 1. When the rotating disk 501 rotates, it can drive each expansion arm 506 to expand or retract synchronously.
[0038] The rotating disk 501 is a circular disk installed along the central axis of the device, which can be made of lightweight alloy material. Its function is to transmit power to the expansion arm 506 through rotation to achieve synchronous extension and retraction. The arc-shaped through groove 504 is a radially distributed curved groove on the disk surface, which can be formed by CNC machining. Its function is to convert rotational motion into linear motion through the cooperation of the limiting post 505 and the groove. The limiting post 505 is a cylindrical part fixed on the expansion arm 506, which can be made of stainless steel. Its function is to constrain the expansion arm 506 to move along a preset trajectory. The radial guide rail 507 is a guide structure arranged radially along the device, which can be in the form of a linear slide. Its function is to ensure that the expansion arm 506 does not deviate during linear movement.
[0039] Specifically, when the expansion motor 503 drives the rotating disk 501 to rotate via the second transmission assembly 502, the engagement between the arc-shaped through groove 504 and the limiting post 505 causes the expansion arm 506 to expand outward or retract inward along the radial guide rail 507. The circumferential rotation of the rotating disk 501 is converted into the radial linear motion of the expansion arm 506 by the geometric constraint of the arc-shaped through groove 504. When multiple expansion arms 506 expand synchronously, they can form a symmetrical supporting force, thereby contacting the inner wall of the digestive tract to achieve parking and positioning. When movement is required, the rotating disk 501 rotates in the opposite direction to retract the expansion arm 506, reducing the frictional resistance with surrounding tissues. The movement trajectory of all expansion arms 506 is limited by the radial guide rail 507 to avoid jamming due to skew. This solution utilizes the engagement between the rotating disk 501 and the arc-shaped through groove 504 to achieve synchronous movement of multiple support points within a limited space.
[0040] Specifically, the second transmission assembly 502 includes a second gear ring 5021 concentrically arranged with the rotating disk 501 and a second gear 5022 meshing with the second gear ring 5021. The second gear 5022 is connected to the output shaft of the expansion motor 503. The concentric assembly of the second gear ring 5021 and the rotating disk 501 ensures the consistency of their rotation axes. When the expansion motor 503 drives the second gear 5022 to rotate, the second gear ring 5021 drives the rotating disk 501 to rotate synchronously. Due to the high meshing accuracy of the meshing transmission between the second gear ring 5021 and the second gear 5022, the circumferential movement of the rotating disk 501 can precisely control the displacement of the expansion arm 506 in the radial guide rail 507, thereby realizing the synchronous expansion or retraction of multiple sets of expansion arms 506. Compared with the traditional linkage mechanism, the gear transmission method effectively avoids the cumulative error caused by multi-joint connections and does not require an additional synchronization mechanism.
[0041] like Figure 4As shown, in this embodiment, a wireless communication module 6, a positioning module 7, a power supply module 8, and a main control module 9 are also provided in the capsule-shaped outer shell body 1. The main control module 9 is responsible for controlling the lighting and shooting module 3 to acquire images, controlling the posture adjustment structure 4 to adjust the shooting posture, controlling the radial expansion support structure 5 to realize parking support and escape operation, and is responsible for sending the acquired digestive tract image information and the device's own positioning information to the outside through the wireless communication module 6.
[0042] Among them, the wireless communication module 6 refers to the communication module used for data transmission, which can be implemented using Bluetooth, Wi-Fi, or a dedicated medical-band wireless transmission chip to achieve real-time interaction between image data and external devices. The positioning module 7 refers to the sensing unit used for spatial location identification, which can be implemented using an inertial measurement unit or a miniature magnetic positioning sensor, calculating the device's three-dimensional coordinates within the digestive tract by collecting acceleration, angular velocity, or magnetic field strength data. The power supply module 8 refers to the energy unit that supplies power to the system, which can be implemented using a miniature lithium battery or a biofuel cell, achieving differentiated power supply control for multiple modules through a power management circuit. The main control module 9 refers to the control unit that coordinates the system's operation, which can be implemented using an embedded microprocessor or programmable logic device, synchronously executing image acquisition, mechanical adjustment, and data transmission commands through a preset control algorithm.
[0043] Specifically, the main control module 9 receives spatial coordinate data from the positioning module 7 to determine the device's movement within the digestive tract in real time. When the device passes through a suspected lesion area, it immediately drives the attitude adjustment structure 4 to change the pitch and azimuth angles of the illumination and imaging module 3, allowing the camera to capture images from multiple angles towards the target area. When fixed-point observation is required, the main control module 9 controls the radial expansion structure 5 to extend the expansion arm 506 to abut against the digestive tract wall, creating frictional stopping force while continuously acquiring local high-definition images of the lesion. When the device encounters a jam, the main control module 9 determines the stagnation time threshold based on the positioning data and automatically triggers the expansion arm 506 to alternately expand and retract to assist in escaping the jam. All acquired image data and corresponding spatial coordinates are transmitted to an external terminal via the wireless communication module 6 in a timestamp-synchronized manner, forming an image sequence with location markers. The main control module 9 can also receive external commands to respond to external operations. For example, doctors can send commands to the main control module 9 via an external console to adjust the shooting position of the illumination and imaging module 3 through the posture adjustment structure 4; or, when a pause for imaging is required, sending a specific command will cause the main control module 9 to trigger the radial expansion structure 5 to expand according to a predetermined stroke. The high speed and low latency of the wireless communication module 6 ensure the real-time and reliable transmission of commands, enabling doctors to remotely monitor and flexibly adjust the examination process.
[0044] In practical implementation, a wiring channel 10 with a wire pass-through port 1001 is provided along the central axis of the capsule-shaped outer shell 1. The top of the wiring channel 10 is flexibly connected to the lighting and imaging module 3 via a flexible wiring tube 11. The design of the wiring channel 10 not only ensures the orderly arrangement of the circuit and avoids mechanical failures caused by wire tangling, but also adapts to the range of motion of the lighting and imaging module 3 through the flexible connection of the wiring tube 11. The specific position of the wire pass-through port 1001 is adaptively opened according to the wiring requirements of the electronic components, ensuring that the circuit is not pulled or squeezed during the device posture adjustment and support process, thus maintaining stable signal transmission.
[0045] Figure 10 and Figure 11 A second embodiment of the present invention is shown, which differs from the first embodiment in that the capsule endoscope device further includes a wireless charging module 12. The wireless charging module 12 includes a receiving coil 1201 disposed on the shell wall of the capsule-shaped outer shell 1. The receiving coil 1201 is a helical coil and is segmented to avoid interference with the radial expansion structure 5. The receiving coil 1201 works in conjunction with an external wireless charging transmitter. When the capsule endoscope device is located at a specific examination position outside or inside the human body, it can be wirelessly charged to replenish the power module 8, avoiding the inconvenience of frequent battery replacements. This allows the capsule endoscope device to be reused, improving its convenience and continuity of use. The introduction of the wireless charging module 12 not only optimizes the device's energy supply method but also ensures uninterrupted examination procedures, providing doctors with a more flexible and efficient diagnostic method.
[0046] In summary, this invention significantly improves the flexibility and practicality of the capsule endoscope device by adding a posture adjustment structure 4 and a radial expansion structure 5 to achieve both image posture adjustment and fixed-point support functions. Medical personnel can remotely control the imaging angle to ensure a comprehensive examination of the digestive tract. Simultaneously, the fixed-point support function allows the device to pause when necessary, facilitating detailed observation of lesions by doctors. Furthermore, the introduction of the radial expansion structure 5 enhances the device's ability to overcome obstacles, mitigating jamming issues and ensuring a smooth examination process. The posture adjustment structure 4 employs a spherical parallel design, enabling multi-degree-of-freedom adjustment functions, including pitch, yaw, and roll. Through this multi-dimensional and flexible adjustment mechanism, the illumination imaging module 3 can move and position itself omnidirectionally within the optical window 2, ensuring the capture of high-definition images from various angles within the digestive tract. This not only greatly improves the flexibility and accuracy of imaging, allowing every detail to be precisely captured, but also provides medical personnel with a comprehensive and detailed perspective, enabling them to gain a deeper and more comprehensive understanding of the patient's digestive tract condition. Based on this detailed information, medical staff can make more accurate and reliable diagnoses, thereby providing patients with more precise and effective treatment plans. The first transmission component 402 adopts a coaxial hierarchical distribution design, enabling efficient and stable transmission of each component within a limited space. This design not only optimizes the internal structure of the capsule endoscope device but also ensures coordinated operation between the transmission components, effectively improving the device's imaging posture adjustment performance. In addition, the coaxial hierarchical distribution design facilitates the arrangement of circuits along the central axis of the capsule-shaped outer shell 1, reducing interference while ensuring compactness. The radial expansion structure 5 allows the capsule endoscope device to better adapt to various complex environments within the digestive tract. Each expansion arm 506 is connected to the arc-shaped through slot 504 of the rotating disk 501 via a limiting post 505. This design ensures the stability and reliability of the expansion arm 506 during expansion or retraction. Furthermore, the ends of the expansion arms 506 extend out of the capsule-shaped outer shell 1, providing strong support when necessary to ensure that the device can be stably positioned in the designated location within the digestive tract. The constraint of the expansion arm 506 within the radial guide rail 507 ensures it does not deviate from its predetermined trajectory during movement, further enhancing the stability and controllability of the device. Simultaneously, the extension and retraction of the expansion arm 506 assists in freeing the device from obstacles and reduces the risk of jamming. The second transmission component 502 of the radial expansion structure 5 is ingeniously designed, utilizing the meshing of the second gear ring 5021 and the second gear 5022 to effectively drive the expansion motor 503 to the rotating disk 501. This gear transmission method is not only compact and efficient but also stable and reliable, ensuring precise control of the radial expansion structure 5 during expansion and retraction.By precisely controlling the extent of the expansion arm 506, medical staff can remotely control the support status of the device in the digestive tract, ensuring the stability of the device and avoiding unnecessary stimulation or damage to the patient. In addition, the second transmission component 502 also facilitates the arrangement of circuits along the central axis of the capsule-shaped outer shell 1.
[0047] Finally, it should be noted that the technical solutions disclosed above are only a preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art can understand that implementing all or part of the processes of the above embodiments and making equivalent changes in accordance with the claims of the present invention still fall within the scope of the invention.
Claims
1. A capsule endoscope device with adjustable shooting posture and fixed-point support, characterized in that: The device includes a capsule-shaped outer shell with a closed optical window made of transparent material. An illumination and imaging module is arranged in the closed optical window. The illumination and imaging module can achieve multi-degree-of-freedom posture adjustment through an attitude adjustment structure to adjust the imaging range of the illumination and imaging module. A radial expansion support structure is also provided in the capsule-shaped outer shell. The radial expansion support structure can realize the parking support of the capsule endoscope device on the one hand, and assist the capsule endoscope device in getting out of trouble on the other hand.
2. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 1, characterized in that: The illumination and imaging module includes a lens sensor and a light source arranged around the lens sensor. The lens sensor is responsible for acquiring images of the digestive tract through the closed optical window, while the light source is responsible for providing illumination support for the lens sensor.
3. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 1, characterized in that: The attitude adjustment structure includes several attitude adjustment motors, each of which is connected to the lighting and shooting component in sequence via a first transmission component and a ball chain.
4. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 3, characterized in that: Each of the first transmission components includes a first gear ring and a first gear meshing with the first gear ring. The first gear is connected to the output shaft of the corresponding attitude adjustment motor. A support for hinged ball chain is also provided on the first gear ring.
5. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 4, characterized in that: Several attitude adjustment motors are assembled at equal intervals inside the cavity of the capsule-shaped outer shell body around the central axis of the capsule-shaped outer shell body, and the first gear rings of each group of the first transmission components are installed in layers above the attitude adjustment motors along the central axis of the capsule-shaped outer shell body, and each of the first gear rings is rotated and supported by a thrust bearing.
6. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 5, characterized in that: One end of the ball chain is hinged to the lighting and shooting module, and the other end is hinged to the corresponding support.
7. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 3 or 6, characterized in that: The number of the attitude adjustment motor, the first transmission component, and the ball chain is set to three.
8. The capsule endoscope device with shooting posture adjustment and fixed-point support according to any one of claims 1-5, characterized in that: The radial expansion structure includes a rotating disk mounted on the central axis of the capsule-shaped outer shell body. The rotating disk is connected to an expansion motor via a second transmission component. Several outwardly expanding arc-shaped slots are arranged in an array around the center of the rotating disk. Each arc-shaped slot is provided with a limiting post. Each limiting post is connected to an expansion arm. Each expansion arm is constrained in a radial guide rail, and its end extends out of the capsule-shaped outer shell body. When the rotating disk rotates, it can drive each expansion arm to expand or retract synchronously.
9. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 8, characterized in that: The second transmission assembly includes a second gear ring concentrically arranged with the rotating disk and a second gear meshing with the second gear ring, the second gear being connected to the output shaft of the expansion motor.
10. The capsule endoscope device with shooting posture adjustment and fixed-point support according to claim 1, 5, or 9, characterized in that: The capsule-shaped outer shell also includes a wireless communication module, a positioning module, a power supply module, and a main control module. The main control module is responsible for controlling the lighting and imaging module to acquire images, controlling the posture adjustment structure to adjust the shooting posture, controlling the radial expansion structure to achieve parking support and escape operations, and transmitting the acquired digestive tract image information and the device's own positioning information to the outside world through the wireless communication module.