Intelligent capsule colon positioning and vibration control system and method

Abstract

The application discloses a colon positioning and vibration control system and method of an intelligent capsule, and is a brand-new positioning strategy. First, the moment when the capsule leaves the stomach (gastric emptying point) is accurately detected as a physiological starting point of timing, then the colon arrival time is estimated based on the time law of small intestine transmission, and finally the final confirmation is performed by using the stable characteristics of pH and body temperature near the estimated time point. Thus, the transformation from detecting static environmental characteristics to tracking dynamic physiological processes is realized, and the positioning accuracy and reliability are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent medical devices and physiological signal monitoring, specifically relating to a real-time positioning technology for a swallowable capsule in the digestive tract, and more particularly to a system and method for accurately positioning and controlling the colon by accurately identifying gastric emptying events to initiate timing, and by integrating time, pH and temperature parameters. Background Technology

[0002] Utilizing swallowable capsules to automatically trigger therapeutic actions (such as vibration) at specific locations in the digestive tract (e.g., the colon) is a current research hotspot. Existing technologies generally use the detection of relatively high pH values ​​in the colon as a trigger signal (e.g., setting a threshold pH > 7.0). However, this approach suffers from a fundamental physiological error: the pH of the human digestive tract does not suddenly rise only in the colon. After food leaves the highly acidic environment of the stomach and enters the duodenum, the pH value rapidly rises to around 6 due to the neutralizing effect of bile and pancreatic juice, and remains in a neutral to slightly alkaline range throughout the small intestine. This means that for most of the time after the capsule enters the small intestine, the pH value it detects may already be higher than the traditionally set "colon threshold," resulting in severe premature triggering (false positives).

[0003] Therefore, the key flaw of the existing technology is that it has failed to find a reliable and consistent physiological event as the "zero point" for timing the transit from the stomach to the colon, which makes all subsequent time-based judgments unstable and ultimately still relies on the easily confused static pH characteristics of the colon. Summary of the Invention

[0004] This invention aims to overcome the shortcomings of existing technologies, such as inaccurate colon localization and premature triggering due to neglecting the fact that the pH of the small intestine has already increased. It provides a novel colon localization and vibration control system and method for a smart capsule, employing a novel localization strategy: first, it accurately detects the moment the capsule leaves the stomach (gastric emptying point) as the physiological starting point for timing; then, it estimates the colon arrival time based on the time pattern of small intestinal transit; and finally, it confirms the arrival time near the estimated time point using pH stability characteristics and body temperature. This achieves a shift from detecting static environmental characteristics to tracking dynamic physiological processes, significantly improving the accuracy and reliability of localization.

[0005] The technical solution of the present invention is: a colon positioning and vibration control system for an intelligent capsule, comprising a data acquisition and preprocessing module, a first-level judgment module, a second-level judgment module, and a positioning decision and vibration control module;

[0006] The data acquisition and preprocessing module is used to record the pH data pH(t) and temperature data T(t) continuously collected by the capsule, and to record the absolute time t_abs since activation;

[0007] The first-level judgment module is used for gastric emptying event detection, identifying the precise time t_ge when the capsule enters the duodenum from the stomach; specifically as follows:

[0008] (21) Set the acid threshold pH_acid and the transition threshold pH_jump, wherein the acid threshold pH_acid is 3-4 and the transition threshold pH_jump is 5-6;

[0009] (22) When pH(t) is detected to be below the first threshold of pH_acid for a period of time (e.g., >30 seconds, it is confirmed to be in the stomach), and then pH(t) rises rapidly for the first time and exceeds pH_jump continuously, and then remains above pH_jump continuously (e.g., for 60 seconds), then it is determined that a pH jump from the stomach to the small intestine has occurred.

[0010] (23) Record the starting time when pH(t) continuously exceeds pH_jump as the gastric emptying time t_ge;

[0011] (24) Trigger the t_ge event and start / reset the small intestine transit timer, wherein the small intestine transit timer time t_si = t_abs - t_ge is used to measure the transit time in the small intestine;

[0012] The second-level judgment module is used for colon arrival prediction and comprehensive verification; specifically as follows:

[0013] (31) Prediction of colon arrival time;

[0014] Set the estimated colon arrival time window [T_colon_min, T_colon_max]; when the small intestine transit time t_si enters the colon arrival time window, that is, T_colon_min≤t_si≤T_colon_max, the system considers that the capsule may have entered the colon and triggers the colon arrival prediction state;

[0015] (32) Final verification of multiple parameters;

[0016] The following conditions must be met simultaneously: Condition A is pH characteristic verification: the current pH value is stable within the preset colonic characteristic pH range; Condition B is body temperature safety verification: the current body temperature T(t) is within the normal physiological range.

[0017] The positioning decision and vibration control module is as follows:

[0018] (41) The system control module generates the final colon positioning confirmation signal and transmits the colon positioning confirmation signal to the capsule's vibration control module only when the system is in the colon-predicted state and the conditions for the final verification of multiple parameters are met simultaneously.

[0019] (42) After receiving the colon localization confirmation signal, the vibration control module of the capsule selects a vibration mode and starts the process according to a preset strategy. The mode selection strategy can be associated with t_si (which reflects the speed of intestinal transit) to achieve personalized treatment.

[0020] Furthermore, the pH data pH(t) in the data acquisition and preprocessing module is filtered and then used for dynamic analysis.

[0021] Furthermore, the colonic characteristic pH range is [pH_col_low, pH_col_high], where pH_col_low is 6-7 and pH_col_high is 8-9.

[0022] Furthermore, the normal physiological range is defined as [T_normal_low, T_normal_high] = [36.0°C, 37.8°C]. This excludes the possibility of accidental triggering due to local inflammation.

[0023] Furthermore, the final multi-parameter verification also includes a condition C persistence verification: conditions A and B must continuously satisfy the second threshold time D_stable (e.g., 3 minutes) to avoid misjudgments caused by short-term fluctuations.

[0024] This invention also provides a method for colon positioning and vibration control of a smart capsule, the specific steps of which are as follows:

[0025] Step 1: Data Acquisition and Preprocessing;

[0026] Record the pH data (pH(t)) and temperature data (T(t)) continuously collected by the capsule, and record the absolute time t_abs from activation;

[0027] Step 2, Level 1 Judgment – ​​Gastric Emptying Event Detection, used to identify the precise time t_ge when the capsule moves from the stomach into the duodenum; details are as follows:

[0028] (21) Set the acid threshold pH_acid and the transition threshold pH_jump, wherein the acid threshold pH_acid is 3-4 and the transition threshold pH_jump is 5-6;

[0029] (22) When pH(t) is detected to be below the first threshold of pH_acid for a period of time (e.g., >30 seconds, it is confirmed to be in the stomach), and then pH(t) rises rapidly for the first time and exceeds pH_jump continuously, and then remains above pH_jump continuously (e.g., for 60 seconds), then it is determined that a pH jump from the stomach to the small intestine has occurred.

[0030] (23) Record the starting time when pH(t) continuously exceeds pH_jump as the gastric emptying time t_ge;

[0031] (24) Trigger the t_ge event and start / reset the small intestine transit timer, wherein the small intestine transit timer time t_si = t_abs - t_ge is used to measure the transit time in the small intestine;

[0032] Step 3, Second-Level Judgment – ​​Colon Arrival Prediction and Comprehensive Verification; details are as follows:

[0033] (31) Prediction of colon arrival time;

[0034] Set the estimated colon arrival time window [T_colon_min, T_colon_max]; when the small intestine transit time t_si enters the colon arrival time window, that is, T_colon_min≤t_si≤T_colon_max, the system considers that the capsule may have entered the colon and triggers the colon arrival prediction state;

[0035] (32) Final verification of multiple parameters;

[0036] The following conditions must be met simultaneously: Condition A is pH characteristic verification: the current pH value is stable within the preset colonic characteristic pH range; Condition B is body temperature safety verification: the current body temperature T(t) is within the normal physiological range.

[0037] Step 4: Positioning Decision and Vibration Control;

[0038] (41) The system control module generates the final colon positioning confirmation signal and transmits the colon positioning confirmation signal to the capsule's vibration control module only when the system is in the colon-predicted state and the conditions for the final verification of multiple parameters are met simultaneously.

[0039] (42) After receiving the colon localization confirmation signal, the vibration control module of the capsule selects a vibration mode and starts the process according to a preset strategy. The mode selection strategy can be associated with t_si (which reflects the speed of intestinal transit) to achieve personalized treatment.

[0040] Furthermore, the pH data pH(t) mentioned in step one is filtered and then used for dynamic analysis.

[0041] Furthermore, the colonic characteristic pH range is [pH_col_low, pH_col_high], where pH_col_low is 6-7 and pH_col_high is 8-9.

[0042] Furthermore, the normal physiological range is defined as [T_normal_low, T_normal_high] = [36.0°C, 37.8°C]. This excludes the possibility of accidental triggering due to local inflammation.

[0043] Furthermore, the final multi-parameter verification also includes a condition C persistence verification: conditions A and B must continuously satisfy the second threshold time D_stable (e.g., 3 minutes) to avoid misjudgments caused by short-term fluctuations.

[0044] The beneficial effects of this invention are: it provides a smart capsule colon positioning and vibration control system and method.

[0045] 1. The positioning principle is more in line with physiological reality: By identifying the clear physiological event of "gastric emptying" as the starting point of timing, the huge individual error caused by the inaccurate starting point (swallowing time) of traditional methods is solved, making the subsequent time prediction physiologically meaningful and significantly improving the accuracy.

[0046] 2. Effectively distinguish between small intestine and colon: This invention uses "time" as the core dimension to distinguish between small intestine and colon (small intestine transit time vs. colon arrival time), while pH value plays an auxiliary role at the starting point (transition detection) and the ending point (feature verification), perfectly solving the interference problem caused by the small intestine pH being elevated, and greatly reducing the false positive rate.

[0047] 3. Enhanced robustness: By employing multiple parameters (pH transition, transit time, endpoint pH, and endpoint body temperature) to serve as primary criteria or verification at different stages of the process, a mutually supportive judgment network is formed, significantly enhancing the system's ability to resist interference from a single parameter.

[0048] 4. Provide a basis for personalized treatment: The precisely measured gastric emptying time (t_ge) and small intestinal transit time (t_si) are valuable gastrointestinal motility indicators, which can provide a more accurate individualized basis for the selection of vibration modes. Attached Figure Description

[0049] Figure 1 This is a block diagram of the capsule system module according to an embodiment of the present invention;

[0050] Figure 2 Detailed algorithm flowchart for gastric emptying event detection (step S2);

[0051] Figure 3 A detailed flowchart for the judgment process of colon arrival prediction and verification (step S3). Detailed Implementation

[0052] The present invention will now be further described with reference to the accompanying drawings.

[0053] This embodiment provides a colon positioning and vibration control system for an intelligent capsule, including a data acquisition and preprocessing module, a first-level judgment module, a second-level judgment module, and a positioning decision and vibration control module;

[0054] The data acquisition and preprocessing module is used to record the pH data pH(t) and temperature data T(t) continuously collected by the capsule, and to record the absolute time t_abs since activation; the pH data pH(t) is used for dynamic analysis after filtering.

[0055] The first-level judgment module is used for gastric emptying event detection, identifying the precise time t_ge when the capsule enters the duodenum from the stomach; specifically as follows:

[0056] (21) Set the acid threshold pH_acid and the transition threshold pH_jump, wherein the acid threshold pH_acid is 3-4 and the transition threshold pH_jump is 5-6;

[0057] (22) When pH(t) is detected to be below the first threshold of pH_acid for a period of time (e.g., >30 seconds, it is confirmed to be in the stomach), and then pH(t) rises rapidly for the first time and exceeds pH_jump continuously, and then remains above pH_jump continuously (e.g., for 60 seconds), then it is determined that a pH jump from the stomach to the small intestine has occurred.

[0058] (23) Record the starting time when pH(t) continuously exceeds pH_jump as the gastric emptying time t_ge;

[0059] (24) Trigger the t_ge event and start / reset the small intestine transit timer, wherein the small intestine transit timer time t_si = t_abs - t_ge is used to measure the transit time in the small intestine;

[0060] The second-level judgment module is used for colon arrival prediction and comprehensive verification; specifically as follows:

[0061] (31) Prediction of colon arrival time;

[0062] Set the estimated colon arrival time window [T_colon_min, T_colon_max]; when the small intestine transit time t_si enters the colon arrival time window, that is, T_colon_min≤t_si≤T_colon_max, the system considers that the capsule may have entered the colon and triggers the colon arrival prediction state;

[0063] (32) Final verification of multiple parameters;

[0064] The following conditions must be met simultaneously: Condition A is pH characteristic verification: the current pH value is stable within the preset colonic characteristic pH range; Condition B is body temperature safety verification: the current body temperature T(t) is within the normal physiological range; the colonic characteristic pH range is [pH_col_low, pH_col_high], where pH_col_low is 6-7 and pH_col_high is 8-9. The normal physiological range is [T_normal_low, T_normal_high] = [36.0°C, 37.8°C]. The possibility of accidental triggering due to local inflammation must be excluded.

[0065] The final multi-parameter verification also includes a condition C persistence verification: conditions A and B must continuously satisfy the second threshold time D_stable (e.g., 3 minutes) to avoid misjudgments caused by short-term fluctuations.

[0066] The positioning decision and vibration control module is as follows:

[0067] (41) The system control module generates the final colon positioning confirmation signal and transmits the colon positioning confirmation signal to the capsule's vibration control module only when the system is in the colon-predicted state and the conditions for the final verification of multiple parameters are met simultaneously.

[0068] (42) After receiving the colon localization confirmation signal, the vibration control module of the capsule selects a vibration mode and starts the process according to a preset strategy. The mode selection strategy can be associated with t_si (which reflects the speed of intestinal transit) to achieve personalized treatment.

[0069] The core of the colon positioning and vibration control method for the smart capsule in this embodiment is to establish a positioning control process based on "event detection (starting point) → time estimation (process) → multi-parameter verification (end point)". The specific steps are as follows:

[0070] Step S1: Data acquisition and preprocessing.

[0071] Adopting such Figure 1 The capsule shown continuously collects pH data (pH(t)) and temperature data (T(t)) and records the absolute time t_abs from activation. The pH data is filtered and then used for dynamic analysis.

[0072] Step S2: First-level judgment – ​​gastric emptying event detection.

[0073] Objective: To identify the precise time t_ge (gastric emptying time) at which the capsule moves from the stomach into the duodenum.

[0074] Principle: The stomach environment is continuously highly acidic. When the capsule passes through the pylorus into the duodenum, the pH value will rise sharply to above 6.0 in a short period of time.

[0075] The implementation process is as follows Figure 2 As shown:

[0076] (1) Set an acidity threshold pH_acid (e.g., 3.5) and a jump threshold pH_jump (e.g., 5.5).

[0077] (2) Monitor the filtered pH value in real time. When it is detected that pH(t) has been lower than pH_acid for a period of time (e.g., >30 seconds, confirmed to be in the stomach), and then pH(t) rises rapidly for the first time and exceeds pH_jump continuously, and then remains above pH_jump continuously (e.g., for 60 seconds), it is determined that a "pH jump from stomach to small intestine" has occurred.

[0078] (3) Record the starting time when pH(t) continuously exceeds pH_jump as the gastric emptying time t_ge.

[0079] (4) Output: Trigger the t_ge event and start / reset a "small intestine transit timer" with a time t_si = t_abs - t_ge, which is used to measure the transit time in the small intestine.

[0080] Step S3: Second-level judgment – ​​prediction and comprehensive verification of colon arrival.

[0081] Following the t_ge event, the system enters a waiting and verification phase, the specific process of which is as follows: Figure 3 As shown.

[0082] (1) Prediction of colon arrival time:

[0083] Based on physiological knowledge, the average transit time of the capsule in the small intestine is approximately 3-6 hours. An estimated colon arrival time window [T_colon_min, T_colon_max] is set, for example, [2.5 hours, 8 hours].

[0084] When the small intestinal transit time t_si enters this window (i.e., T_colon_min ≤ t_si ≤ T_colon_max), the system considers that the capsule may have entered the colon, triggering the "colon arrival prediction" state.

[0085] (2) Final verification of multiple parameters:

[0086] In the "predictive" state, the system employs stricter endpoint verification logic, requiring the following conditions to be met simultaneously for final confirmation:

[0087] Condition A (pH Characteristic Verification): The current pH value must be stable within the preset "colonic characteristic pH range", for example, [pH_col_low, pH_col_high] = [6.8, 8.0]. This condition is not for detecting transitions, but to confirm that the current environment conforms to the chemical characteristics of the colon.

[0088] Condition B (Body Temperature Safety Verification): The current body temperature T(t) is within the normal physiological range [T_normal_low, T_normal_high], for example [36.0°C, 37.8°C]. This excludes the possibility of false triggering due to local inflammation.

[0089] Condition C (Continuous verification, optional): Conditions A and B must be met continuously for a period of time, D_stable (e.g., 3 minutes), to avoid misjudgments caused by short-term fluctuations.

[0090] Step S4: Positioning decision and vibration control.

[0091] (1) The system control module generates the final colon location confirmation signal only when the system is in the "colon arrival prediction" state and conditions A, B (and C) are met at the same time.

[0092] (2) After receiving the colon localization confirmation signal, the vibration control module of the capsule selects a vibration mode and starts according to a preset strategy. The mode selection strategy can be associated with t_si (reflecting the speed of intestinal transit) to achieve personalized treatment.

[0093] Example 1

[0094] 1. System hardware configuration:

[0095] MCU: Low-power microcontroller that integrates ADC and temperature sensor.

[0096] pH sensor: sampling rate 1Hz.

[0097] Timing unit: Independent RTC.

[0098] Actuator: Miniature vibration motor.

[0099] Power source: Lithium battery.

[0100] 2. Software parameter settings:

[0101] Gastric emptying detection parameters: pH_acid = 3.5, pH_jump = 5.5, gastric confirmation time: > 30 seconds, post-jump stabilization time: > 60 seconds.

[0102] Colon prediction and validation parameters: T_colon_min = 3.0 h, T_colon_max = 7.0 h, pH_col_low = 6.8, pH_col_high = 8.0, T_normal_low = 36.0℃, T_normal_high = 37.5℃, D_stable = 2 min.

[0103] 3. Workflow Example:

[0104] (1) The patient swallowed the capsule at 8:00.

[0105] (2) 8:00-9:00: The capsule is in the stomach and the pH remains <3.5.

[0106] (3) 9:00: The pH value rises rapidly from 3.0 to 6.0 within 2 minutes and remains above 6.0 thereafter. The system determines t_ge = 9:00:30 (the moment when the pH first exceeds 5.5 and stabilizes) and starts the t_si timer.

[0107] (4) 9:00:30-13:00:30: t_si increases from 0 to 4 hours. During this period, pH fluctuates between 6.0 and 7.0.

[0108] (5) 13:00:30: t_si=4 hours, enter the [3h,7h] prediction window, and the system activates the endpoint verification.

[0109] (6) 13:02: The current pH is 7.2 (∈[6.8,8.0]), the body temperature is 36.8°C (∈[36.0,37.5]), and it has remained stable for 2 minutes. All conditions are met.

[0110] (7) 13:02: The system sends a “colon location confirmation” signal.

[0111] (8) Based on t_si=4 hours (which is a medium speed), select "standard intermittent vibration mode" and start it.

[0112] 4. Fault tolerance mechanism:

[0113] If the final verification condition is not met by t_si=8 hours, it can be determined as a transmission delay, or a backup safety trigger mode can be activated (such as verification based only on ultra-long t_si and pH, ignoring minor abnormalities in body temperature).

[0114] This invention provides a more scientific and reliable digestive tract capsule localization scheme by focusing on the detection of dynamic physiological events. Its core concept lies in the intelligent analysis of physiological processes rather than a simple comparison of static thresholds, which has significant progressiveness and practicality.

[0115] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A colon positioning and vibration control system for an intelligent capsule, characterized in that: It includes a data acquisition and preprocessing module, a first-level judgment module, a second-level judgment module, and a positioning decision and vibration control module; The data acquisition and preprocessing module is used to record the pH data pH(t) and temperature data T(t) continuously collected by the capsule, and to record the absolute time t_abs since activation; The first-level judgment module is used for gastric emptying event detection, identifying the precise time t_ge when the capsule enters the duodenum from the stomach; specifically as follows: (21) Set the acid threshold pH_acid and the transition threshold pH_jump, wherein the acid threshold pH_acid is 3-4 and the transition threshold pH_jump is 5-6; (22) When pH(t) is detected to be below the first threshold of pH_acid for a period of time, and then pH(t) rises rapidly for the first time and exceeds pH_jump continuously, and is then maintained above pH_jump, it is determined that a pH transition from stomach to small intestine has occurred. (23) Record the starting time when pH(t) continuously exceeds pH_jump as the gastric emptying time t_ge; (24) Trigger the t_ge event and start / reset the small intestine transit timer, wherein the small intestine transit timer time t_si = t_abs-t_ge is used to measure the transit time in the small intestine; The second-level judgment module is used for colon arrival prediction and comprehensive verification; specifically as follows: (31) Prediction of colon arrival time; Set the estimated colon arrival time window [T_colon_min, T_colon_max]; when the small intestine transit time t_si enters the colon arrival time window, that is, T_colon_min≤t_si≤T_colon_max, the system considers that the capsule may have entered the colon and triggers the colon arrival prediction state; (32) Final verification of multiple parameters; The following conditions must be met simultaneously: Condition A is pH characteristic verification: the current pH value is stable within the preset colonic characteristic pH range; Condition B is body temperature safety verification: the current body temperature T(t) is within the normal physiological range. The positioning decision and vibration control module is as follows: (41) The system control module generates the final colon positioning confirmation signal and transmits the colon positioning confirmation signal to the capsule's vibration control module only when the system is in the colon-predicted state and the conditions for the final verification of multiple parameters are met simultaneously. (42) After receiving the colon positioning confirmation signal, the vibration control module of the capsule selects the vibration mode and starts according to the preset strategy.

2. The colon positioning and vibration control system of an intelligent capsule according to claim 1, characterized in that: The pH data pH(t) in the data acquisition and preprocessing module is filtered and then used for dynamic analysis.

3. The colon positioning and vibration control system of an intelligent capsule according to claim 1, characterized in that: The colonic characteristic pH range is [pH_col_low, pH_col_high], where pH_col_low is 6-7 and pH_col_high is 8-9.

4. The colon positioning and vibration control system of an intelligent capsule according to claim 1, characterized in that: The normal physiological range is defined as [T_normal_low, T_normal_high] = [36.0°C, 37.8°C].

5. The colon positioning and vibration control system of an intelligent capsule according to claim 1, characterized in that: The final multi-parameter verification also includes condition C persistence verification: condition A and condition B continuously satisfy the second threshold time D_stable.

6. A method for colon positioning and vibration control of an intelligent capsule, implemented according to any one of claims 1-5, characterized in that, The specific steps are as follows: Step 1: Data Acquisition and Preprocessing; Record the pH data (pH(t)) and temperature data (T(t)) continuously collected by the capsule, and record the absolute time t_abs from activation; Step 2, Level 1 Judgment – ​​Gastric Emptying Event Detection, used to identify the precise time t_ge when the capsule moves from the stomach into the duodenum; details are as follows: (21) Set the acid threshold pH_acid and the transition threshold pH_jump, wherein the acid threshold pH_acid is 3-4 and the transition threshold pH_jump is 5-6; (22) When pH(t) is detected to be below the first threshold of pH_acid for a period of time, and then pH(t) rises rapidly for the first time and exceeds pH_jump continuously, and is then maintained above pH_jump, it is determined that a pH transition from stomach to small intestine has occurred. (23) Record the starting time when pH(t) continuously exceeds pH_jump as the gastric emptying time t_ge; (24) Trigger the t_ge event and start / reset the small intestine transit timer, wherein the small intestine transit timer time t_si = t_abs-t_ge is used to measure the transit time in the small intestine; Step 3, Second-Level Judgment – ​​Colon Arrival Prediction and Comprehensive Verification; details are as follows: (31) Prediction of colon arrival time; Set the estimated colon arrival time window [T_colon_min, T_colon_max]; when the small intestine transit time t_si enters the colon arrival time window, that is, T_colon_min≤t_si≤T_colon_max, the system considers that the capsule may have entered the colon and triggers the colon arrival prediction state; (32) Final verification of multiple parameters; The following conditions must be met simultaneously: Condition A is pH characteristic verification: the current pH value is stable within the preset colonic characteristic pH range; Condition B is body temperature safety verification: the current body temperature T(t) is within the normal physiological range. Step 4: Positioning Decision and Vibration Control; (41) The system control module generates the final colon positioning confirmation signal and transmits the colon positioning confirmation signal to the capsule's vibration control module only when the system is in the colon-predicted state and the conditions for the final verification of multiple parameters are met simultaneously. (42) After receiving the colon positioning confirmation signal, the vibration control module of the capsule selects the vibration mode and starts according to the preset strategy.

7. The method for colon positioning and vibration control of a smart capsule according to claim 6, characterized in that: The pH data pH(t) mentioned in step one is filtered and then used for dynamic analysis.

8. The method for colon positioning and vibration control of a smart capsule according to claim 6, characterized in that: The colonic characteristic pH range is [pH_col_low, pH_col_high], where pH_col_low is 6-7 and pH_col_high is 8-9.

9. The method for colon positioning and vibration control of a smart capsule according to claim 6, characterized in that: The normal physiological range is defined as [T_normal_low, T_normal_high] = [36.0°C, 37.8°C].

10. The method for colon positioning and vibration control of a smart capsule according to claim 6, characterized in that: The final multi-parameter verification also includes condition C persistence verification: condition A and condition B continuously satisfy the second threshold time D_stable.

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