Capsule endoscope and control method thereof

Abstract

The present invention provides a capsule endoscope and a control method thereof. The capsule endoscope includes a temperature sensing unit for sensing the temperature of a heat generating module inside the capsule endoscope. A temperature signal sensed by the temperature sensing unit is transmitted to a circuit processing module, and the circuit processing module controls the heat generating module of the capsule endoscope to switch between a normal operation mode and a control mode based on the sensed temperature signal. The capsule endoscope and control method thereof according to the present invention can effectively prevent local overheating during high power consumption operation of the capsule endoscope.

Description

[Technical field]

[0001] The present invention relates to a miniature medical robot, and more particularly to a capsule endoscope and a control method thereof. [Background technology]

[0002] Capsule endoscopes have high reliability and safety, and are currently an effective equipment for diagnosing gastrointestinal diseases, and are highly recognized in the international medical device field. The capsule endoscope includes a CMOS image sensor, an optical system, a battery, a transmitting circuit, an antenna, etc. An image of the human gastrointestinal tract is formed on the surface of the CMOS image sensor through the optical system, the optical signal is converted into an electrical signal by the CMOS image sensor, the electrical signal is modulated and amplified by the transmitting circuit, and then transmitted through the antenna. The information is received by an external receiving device and displayed on a display device. In the peristaltic state of the human gastrointestinal tract without pain or wounds, a doctor can diagnose gastrointestinal diseases on the subject based on the image displayed on the display device.

[0003] In the process of inspection by the capsule endoscope, there is an increasing demand for functions such as high frequency photography, video photography, and high precision positioning. However, the functions such as high frequency photography, video photography, and high precision positioning not only consume a large amount of power, but also generate a large amount of heat from the corresponding electronic components. When the heat is accumulated, the corresponding electronic components may deteriorate in performance and even be destroyed.

[0004] Therefore, there is a need for a capsule endoscope and a control method thereof that can avoid localized overheating. Summary of the Invention [Problem to be solved by the invention]

[0005] In order to solve the related problems in the prior art, the present invention proposes as follows. [Means for solving the problem]

[0006] A capsule endoscope, a temperature sensing unit for sensing the temperature of the heat generating module inside the capsule endoscope, and a temperature signal sensed by the temperature sensing unit is transmitted to a circuit processing module; The circuit processing module controls the heat generating module of the capsule endoscope to switch between a normal operation mode and a temperature control mode based on the sensed temperature signal.

[0007] Preferably, there are a plurality of heat generating modules, and the temperature sensing unit senses the temperatures of the plurality of heat generating modules in real time, respectively.

[0008] Preferably, the heat generation module includes an image acquisition module and / or a circuit processing module.

[0009] Preferably, the temperature sensing unit senses the temperatures of both the image acquisition module and the circuit processing module in real time.

[0010] According to an aspect of the present invention, when the capsule is located in the stomach, the heating module enters a first temperature control mode when the temperature of the heating module is higher than a first threshold, and the heating module switches to a normal operating mode when the temperature of the heating module is below a second threshold.

[0011] Here, the first threshold temperature is lower than the endurance limit temperature of the heating module, so as to prevent the heating module from being overheated and damaged during operations such as high frequency imaging, video imaging, and high precision positioning.

[0012] Preferably, the first threshold value may be 60 to 70° C. More preferably, the first threshold value may be 60 to 65° C.

[0013] Here, the first temperature control mode is preferably a power consumption reduction mode. Preferably, in the first temperature control mode, the power consumption of the heat generating module is reduced to 6 to 50% of that in the normal operation mode. More preferably, in the first temperature control mode, the power consumption of the heat generating module is reduced to 20 to 40% of that in the normal operation mode.

[0014] When the heat generating module is an image acquisition module, the method of reducing the power consumption of the image acquisition module can be by reducing the shooting frame rate, switching from a video shooting mode to a photo shooting mode, etc. Preferably, the image acquisition module reduces the power consumption by reducing the shooting frame rate.

[0015] When the heat generating module is a circuit processing module, the circuit processing module can reduce power consumption by lowering the position detection accuracy, lowering the transmission power, causing the memory unit to not perform calculation processing, etc. Preferably, the circuit processing module extends the time interval of position detection and causes the memory unit to not perform calculation processing, thereby reducing power consumption. Alternatively, the power consumption of the image acquisition module and the circuit processing module can be reduced by lowering the imaging speed.

[0016] In the present invention, the second threshold temperature is lower than the first threshold temperature. Preferably, the second threshold temperature is 9 to 15°C lower than the first threshold temperature. More preferably, the second threshold temperature is 10 to 12°C lower than the first threshold temperature. The temperature values ​​set for the first and second threshold temperatures can avoid local overheating and frequent switching of the operation mode, which is advantageous for stable and reliable operation of the capsule endoscope.

[0017] According to an aspect of the present invention, if the temperature of the heating module is still higher than the second threshold after entering the first temperature control mode and maintaining the first specific time, the heating module enters a third temperature control mode, and if the temperature of the heating module is below the second threshold, the heating module switches to a normal operating mode.

[0018] The first specific time is 30 to 60 seconds. Preferably, the first specific time is 60 seconds.

[0019] In the present invention, the third temperature control mode may be a reduced power consumption mode or an off mode.

[0020] Optionally, the third temperature control mode is a reduced power mode, in which the power consumption of the heat-generating module is reduced to 1-3% of that in normal operating mode.

[0021] Optionally, the third temperature control mode is an off mode.

[0022] When the third temperature control mode is the off mode, all the heat generating modules enter the off mode and the capsule endoscope enters a sleep state at the same time.

[0023] Preferably, after entering the resting state, the capsule endoscope is cooled in the cooling medium, in which case the capsule endoscope is completely immersed in the cooling medium.

[0024] Preferably, before entering the sleep state, the operating position and attitude information of the capsule endoscope is recorded, and then the sleep state is entered.

[0025] Optionally, the cooling medium may be gastric juice, or if the capsule endoscope is not fully immersed in gastric juice, an external magnetic control device controls the capsule endoscope to be fully immersed in gastric juice.

[0026] Optionally, after entering the hibernation state, if the temperatures of all the heat-generating modules are equal to or lower than the second threshold, switch the heat-generating modules to a normal operation mode, and the capsule endoscope enters a normal operation state.

[0027] Preferably, the capsule endoscope returns to the original working state and continues the work based on the working position and attitude information of the capsule endoscope recorded before entering the sleep state.

[0028] Preferably, if the temperature of any of the heat generating modules is still higher than the second threshold value after the first temperature control mode is entered and the first specific time is continued, the operating position and posture information of the capsule endoscope is recorded, and then the capsule endoscope is put into a sleep state, and the capsule endoscope in the sleep state is completely immersed in gastric juice to cool, or the capsule endoscope is controlled by an external magnetic control device to be completely immersed in gastric juice to cool. If the temperatures of all the heat generating modules are equal to or lower than the second threshold value, the capsule endoscope is started, and the heat generating modules are switched to a normal operating mode. Then, the capsule endoscope enters a normal operating state, and returns to the original operating state based on the operating position and posture information of the capsule endoscope recorded before entering the sleep state to continue working.

[0029] According to an aspect of the present invention, when the capsule is located in the intestinal tract, when the temperature of the heating module is higher than a first threshold, the heating module enters a second temperature control mode, and when the temperature of the heating module is below a second threshold, the heating module switches to a normal operation mode.

[0030] When the capsule is located in the intestinal tract, the imaging frame rate, the position detection accuracy requirements, etc. set in the normal operation mode of the capsule are all lower than those in stomach detection. Preferably, when the capsule is located in the intestinal tract, the second temperature control mode is a power consumption reduction mode. Preferably, in the second temperature control mode, the power consumption of the heat generating module is reduced to 50-80% of that in the normal operation mode.

[0031] If the temperature of the heating module is still higher than the second threshold after entering the second temperature control mode for a second specific time, the heating module is caused to enter a fourth temperature control mode, and when the temperature of the heating module is equal to or lower than the second threshold, the heating module switches to a normal operation mode.

[0032] The second specific time is 1 to 10 minutes, and preferably 3 to 7 minutes.

[0033] In the present invention, the fourth temperature control mode is preferably a power consumption reduction mode, and preferably, in the fourth temperature control mode, the power consumption of the heat generating module is reduced to 3 to 6% of that in the normal operation mode.

[0034] According to an aspect of the present invention, a capsule endoscope includes a battery module, an image acquisition module, and a circuit processing module, and the battery module is located between the image acquisition module and the circuit processing module.

[0035] Preferably, the battery module of the present invention is designed to be closely attached to the image acquisition module and the circuit processing module, in which case the heat generated by the image acquisition module and the circuit processing module can be transferred to the battery module, so that the operating temperature of the battery can be increased, and the performance of the battery can be further improved.

[0036] As an option, a film may be wrapped around the outer periphery of the battery module of the present invention.

[0037] Preferably, the film is wrapped in multiple layers around the outer periphery of the battery module.

[0038] Preferably, the wrapped film should reach a certain thickness.

[0039] Preferably, the wrapped film contacts the inner wall of the capsule housing.

[0040] The film of the present invention may be a polyethylene, polyvinyl chloride, or polyvinylidene chloride film. The film thickness may be 5 to 50 μm.

[0041] The present invention is advantageous in that by wrapping a film around the outer periphery of a battery module, it is possible to reduce heat dissipation from the battery, retain the heat of the battery, and improve the performance of the battery.

[0042] Optionally, an infrared reflective film can be wrapped around the outer periphery of the battery module.

[0043] Preferably, a polyethylene, polyvinyl chloride or polyvinylidene chloride film and an infrared reflective film are wound around the outer periphery of the battery module, the polyethylene, polyvinyl chloride or polyvinylidene chloride film is located between the battery module and the infrared reflective film, and the infrared reflective film is in contact with the inner wall of the capsule housing.

[0044] Preferably, the infrared reflective film is a polyester film.

[0045] The wrapping of an infrared reflective film according to the present invention is advantageous in further reducing battery heat dissipation.

[0046] The present invention also discloses a control method for the above-mentioned capsule endoscope, in which the capsule endoscope senses the temperature of the heat-generating module in real time, and controls the heat-generating module to switch between a normal operation mode and a temperature control mode based on the sensed temperature signal.

[0047] Preferably, the method for controlling a capsule endoscope specifically includes the following steps.

[0048] (1) The capsule endoscope is controlled to operate in a normal operating mode in the stomach, and the temperatures of the image acquisition module and the circuit processing module are sensed in real time by the circuit processing module.

[0049] (2) If the temperature of the image collection module and / or circuit processing module is higher than a first threshold, the image collection module and / or circuit processing module enter a first temperature control mode to reduce power consumption; if the temperature of the image collection module and / or circuit processing module is below a second threshold, the image collection module and / or circuit processing module switch to a normal operating mode; if the temperature of the image collection module and / or circuit processing module is still higher than the second threshold after entering the first temperature control mode for a first specific time, the image collection module and / or circuit processing module enters a third temperature control mode to reduce power consumption; if the temperature of the image collection module and / or circuit processing module is below the second threshold, the image collection module and / or circuit processing module switch to the normal operating mode.

[0050] (3) After the capsule endoscope enters the intestinal tract, the capsule endoscope is controlled to operate in a normal operating mode in the intestinal tract, and the circuit processing module senses the temperatures of the image acquisition module and the circuit processing module in real time.

[0051] (4) If the temperature of the image collection module and / or circuit processing module is higher than the first threshold, the image collection module and / or circuit processing module enter a second temperature control mode to reduce power consumption, if the temperature of the image collection module and / or circuit processing module is below the second threshold, the image collection module and / or circuit processing module switch to a normal operating mode, if the temperature of the image collection module and / or circuit processing module is still higher than the second threshold after entering the second temperature control mode for a second specific time, the image collection module and / or circuit processing module enters a fourth temperature control mode to reduce power consumption, if the temperature of the image collection module and / or circuit processing module is below the second threshold, the image collection module and / or circuit processing module switch to the normal operating mode.

[0052] Preferably, the method for controlling a capsule endoscope specifically further includes the following steps.

[0053] (1) The capsule endoscope is controlled to operate in a normal operating mode in the stomach, and the circuit processing module senses the temperatures of the image acquisition module and the circuit processing module in real time.

[0054] (2) When the temperature of the image collection module and / or the circuit processing module is higher than the first threshold, the image collection module and / or the circuit processing module enter a first temperature control mode to reduce power consumption; when the temperature of the image collection module and / or the circuit processing module is equal to or lower than a second threshold, the image collection module and / or the circuit processing module switch to a normal operation mode; when the temperature of the image collection module or the circuit processing module is still higher than the second threshold after the first specific time has elapsed since entering the first temperature control mode, record the operating position and posture information of the capsule endoscope, and then put the capsule endoscope into a sleep state, and completely immerse the capsule endoscope in the sleep state in gastric juice to cool it, or control the capsule endoscope to be completely immersed in gastric juice to cool it through an external magnetic control device; when the temperatures of the image collection module and the circuit processing module are both equal to or lower than the second threshold, start up the capsule endoscope, switch the image collection module and the circuit processing module into a normal operation mode, put the capsule endoscope into a normal operation state, and return to the original operating state to continue working according to the operating position and posture information of the capsule endoscope recorded before entering the sleep state.

[0055] (3) After the capsule endoscope enters the intestinal tract, the capsule endoscope is controlled to operate in a normal operating mode in the intestinal tract, and the circuit processing module senses the temperatures of the image acquisition module and the circuit processing module in real time.

[0056] (4) If the temperature of the image collection module and / or circuit processing module is higher than the first threshold, the image collection module and / or circuit processing module enter a second temperature control mode to reduce power consumption; if the temperature of the image collection module and / or circuit processing module is below the second threshold, the image collection module and / or circuit processing module switch to a normal operating mode; if the temperature of the image collection module and / or circuit processing module is still higher than the second threshold after entering the second temperature control mode for a second specific time, the image collection module and / or circuit processing module enters a fourth temperature control mode to reduce power consumption; if the temperature of the image collection module and / or circuit processing module is below the second threshold, the image collection module and / or circuit processing module switch to the normal operating mode.

[0057] The present invention uses an artificial intelligence visual recognition method to judge whether a capsule endoscope enters the intestinal tract. The artificial intelligence visual recognition method uses artificial intelligence and big data technology to train a large number of gastrointestinal images, builds a gastrointestinal image classification model, and then uses the model to identify whether a capsule endoscope enters the intestinal tract.

[0058] The capsule endoscope and its control method of the present invention are particularly suitable for high power consumption operation, and belong to a backup control method for high power consumption operation, which can avoid damage to corresponding electronic components caused by local overheating of the heating element when the capsule endoscope operates in a high power consumption state, improve the inspection effect while effectively extending the flight time of the capsule endoscope, and ensure the effective operation of the capsule endoscope. At the same time, the battery performance is further improved by wrapping a film around the outer periphery of the battery module. [Brief description of the drawings]

[0059] The drawings are intended to provide a further understanding of the present invention and, together with the following specific embodiments, constitute a part of the specification for explaining the present invention, but are not intended to be limiting of the present invention.

[0060] [Figure 1]1 is a schematic diagram showing the structure of a capsule endoscope according to the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0061] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understandable, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. In addition, the features in the embodiments of the present application may be combined with each other if there is no contradiction.

[0062] In the following description, many specific details are described in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described herein, and therefore the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0063] As shown in FIG. 1, the capsule endoscope includes components such as a housing (1), an image acquisition module (2), a circuit processing module (3), a battery module (4), a permanent magnet (7), and an information transmission module (not shown). The housing (1) includes two ends, a first end (102) and a second end (103). The image acquisition module (2) includes an illumination module, an imaging module, and a PCB board (Printed Circuit Board). The circuit processing module (3) includes a power management IC (PMIC), a processing module, a detection module, and a memory unit. The image acquisition module (2) is located at the first end (102) of the housing. The battery module (4) is in close contact with the image acquisition module (2) on one side and with the circuit processing module (3) on the other side. A film (5) is wound around the outer periphery of the battery module (4). The film is wound in multiple layers until it contacts the inner wall of the housing (1). The image acquisition module (2) and the circuit processing module (3) are each provided with a temperature sensing unit (6). The temperature sensed by the temperature sensing unit (6) is transferred to the circuit processing module (3).

[0064] <Example 1> A capsule endoscope as shown in FIG. 1 is used to perform an examination of the stomach. The capsule endoscope is controlled to operate in the normal operation mode in the stomach. In this embodiment, a high frame rate examination is performed on the stomach, and the shooting frame rate is 16 frames / second. The circuit processing module senses the temperature of the image acquisition module and the circuit processing module in real time. If the temperature of the image acquisition module and / or the circuit processing module is higher than a first threshold of 60°C, the image acquisition module and / or the circuit processing module enter a first temperature control mode to reduce power consumption. In this mode, the shooting frame rate is adjusted to 8 frames / second, the power consumption of the image acquisition module is reduced, the memory unit of the circuit processing module is controlled not to perform calculation processing, the time interval of position detection is extended, and the power consumption is reduced to 50% of that in the normal operation mode. If the temperature of the image acquisition module and / or the circuit processing module is lower than a second threshold of 50°C, the image acquisition module and / or the circuit processing module switch to the normal operation mode. If the temperature of the image acquisition module and / or the circuit processing module is still higher than the second threshold value of 50°C after entering the first temperature control mode and continuing for the first specific time of 30s, the image acquisition module and / or the circuit processing module are made to enter a third temperature control mode for reducing power consumption. In this mode, the shooting frame rate is adjusted to 0.32 frames / second, the power consumption of the image acquisition module is reduced, the circuit processing module further extends the time interval of position detection, the position detection accuracy is reduced, the memory unit does not perform calculation processing, the transmission power is reduced, and the power consumption is reduced to 2% of that in the normal operation mode. If the temperature of the image acquisition module and / or the circuit processing module is equal to or lower than the second threshold value of 50°C, the image acquisition module and / or the circuit processing module are switched to the normal operation mode.

[0065] <Example 2> A capsule endoscope as shown in FIG. 1 was used to perform an examination of the stomach. The capsule endoscope was controlled to operate in the normal operation mode in the stomach. In this embodiment, an examination of the stomach was performed at a high frame rate, and the photographing frame rate was 25 frames / second. The circuit processing module senses the temperatures of the image acquisition module and the circuit processing module in real time. If the temperature of the image acquisition module and / or the circuit processing module is higher than a first threshold of 70°C, the image acquisition module and / or the circuit processing module enter a first temperature control mode to reduce power consumption. In this mode, the photographing frame rate is adjusted to 10 frames / second, the power consumption of the image acquisition module is reduced, and the memory unit of the circuit processing module is controlled not to perform calculation processing, the time interval of position detection is extended, and the power consumption is reduced to 40% of that in the normal operation mode. If the temperature of the image acquisition module and / or the circuit processing module is lower than a second threshold of 55°C, the image acquisition module and / or the circuit processing module switch to the normal operation mode. If the temperature of the image collecting module or the circuit processing module is still higher than the second threshold value of 55°C after the first temperature control mode is entered and the first specific time period of 60s is continued, the operating position and posture information of the capsule endoscope is recorded through the detection module, the capsule endoscope is put into a sleep state, and the capsule endoscope is moved from outside the gastric fluid to completely immersed in the gastric fluid through the external magnetic control device to be cooled. If the temperatures of the image collecting module and the circuit processing module are both lower than the second threshold value of 55°C, the capsule endoscope is started, the image collecting module and the electric circuit processing module are switched to a normal operating mode, the capsule endoscope enters the normal operating mode, and returns to the original operating state according to the operating position and posture information of the capsule endoscope recorded before entering the sleep state to continue working.

[0066] <Example 3> After determining that the capsule endoscope has entered the intestinal tract using an artificial intelligence visual recognition method, the capsule endoscope is controlled to operate in a normal operating mode in the intestinal tract. In this embodiment, the shooting frame rate for the intestinal tract is 5 frames / second. The circuit processing module senses the temperature of the image acquisition module and the circuit processing module in real time. If the temperature of the image acquisition module and / or the circuit processing module is higher than the first threshold of 60°C, the image acquisition module and / or the circuit processing module enter a second temperature control mode for reducing power consumption. In this mode, the shooting frame rate is adjusted to 4 frames / second, the power consumption of the image acquisition module is reduced, the time interval of position detection is extended, the power consumption of the circuit processing module is lowered, and the power consumption is reduced to 80% of that in the normal operating mode. If the temperature of the image acquisition module and / or the circuit processing module is lower than the second threshold of 45°C, the image acquisition module and / or the circuit processing module switch to the normal operating mode. If the temperature of the image acquisition module and / or the circuit processing module is still higher than the second threshold value of 45°C after entering the second temperature control mode and continuing for the second specific time of 10 minutes, the image acquisition module and / or the circuit processing module are made to enter a fourth temperature control mode for reducing power consumption. In this mode, the shooting frame rate is adjusted to 0.3 frames / second, the power consumption of the image acquisition module is reduced, the circuit processing module further extends the time interval of position detection, the position detection accuracy is reduced, the memory unit does not perform calculation processing, the transmission power is reduced, and the power consumption is reduced to 6% of that in the normal operation mode. If the temperature of the image acquisition module and / or the circuit processing module is equal to or lower than the second threshold value of 45°C, the image acquisition module and / or the circuit processing module are switched to the normal operation mode.

[0067] The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. For those skilled in the art, the present invention can be modified and improved in various ways. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A capsule endoscope, a temperature sensing unit for sensing a temperature of the heat generating module inside the capsule endoscope, and a temperature signal sensed by the temperature sensing unit is transmitted to a circuit processing module; The capsule endoscope, wherein the circuit processing module controls the heat generating module of the capsule endoscope to switch between a normal operation mode and a temperature control mode based on a sensed temperature signal.

2. The capsule endoscope according to claim 1 , wherein the heat generating module includes an image acquisition module and / or the circuit processing module.

3. When the capsule is located in the stomach, the heating module enters a first temperature control mode when the temperature of the heating module is higher than a first threshold; 3. The capsule endoscope according to claim 1, wherein the heat generating module is switched to the normal operation mode when the temperature of the heat generating module is equal to or lower than a second threshold value.

4. if the temperature of the heat-generating module is still higher than the second threshold after the first temperature control mode is entered and a first specific time is maintained, causing the heat-generating module to enter a third temperature control mode; The capsule endoscope according to claim 3 , wherein when the temperature of the heat generating module is equal to or lower than the second threshold, the heat generating module switches to the normal operation mode.

5. 5. The capsule endoscope according to claim 4, wherein the first specific time is 30 to 60 seconds.

6. 3. The capsule endoscope according to claim 1, wherein when the capsule is located in the intestinal tract, the heating module enters a second temperature control mode when the temperature of the heating module is higher than the first threshold, and when the temperature of the heating module is equal to or lower than the second threshold, the heating module switches to the normal operation mode.

7. if the temperature of the heating module is still higher than the second threshold after the second temperature control mode is entered and a second specific time is maintained, causing the heating module to enter a fourth temperature control mode; The capsule endoscope according to claim 6 , wherein when the temperature of the heat generating module is equal to or lower than the second threshold, the heat generating module switches to the normal operation mode.

8. 8. The capsule endoscope according to claim 7, wherein the second specific time is 1 to 10 minutes.

9. the capsule endoscope includes a battery module, the image acquisition module, and the circuit processing module; The capsule endoscope according to claim 2 , wherein the battery module is located between the image acquisition module and the circuit processing module.

10. A method for controlling a capsule endoscope, comprising: The capsule endoscope includes a control method for a capsule endoscope, the control method comprising: sensing a temperature of a heat generating module in real time; and controlling the heat generating module to switch between a normal operation mode and a temperature control mode based on a sensed temperature signal.

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