Capsule endoscope

Capsule endoscope

  • CN 106,725,272 B
  • Filed: 12/21/2016
  • Issued: 02/12/2019
  • Est. Priority Date: 12/21/2016
  • Status: Active Grant
First Claim
Patent Images

1. a kind of capsule endoscope, which is characterized in that the capsule endoscope is equipped with magnetic sensor, and the three axis magnetic passesThe magnetic field strength date of point locating for current capsule endoscope detects and fed back in data processing system by sensor, the dataProcessing system carries out automatically scanning of the capsule endoscope in biological cavities as follows:

  • Step S1;

    the transducing signal of posture and position of the capsule endoscope that receiving sensor issues in real time in biological cavities;

    Step S2;

    the capsule endoscope is positioned according to transducing signal, obtains in capsule and peeps with magnetic field strength algorithmRelative coordinate position of the mirror relative to origin;

    Step S3;

    control external magnets draw the first fixed point in the capsule endoscope motion to biological cavities;

    Wherein, the step S3 is specifically included;

    Step S31;

    current preset direction is set by the first preset direction, enters step S32;

    Step S32;

    the external magnets are controlled according to current preset direction traction capsule endoscope motion one stepAway from entering step S33;

    Step S33;

    determining whether the external magnets and the capsule endoscope carry out consistency movement, if so, entering stepS32, if it is not, entering step S34;

    Step S34;

    the external magnets are controlled and draw the capsule endoscope progress obstacle detouring movement, enter step S35;

    Step S35;

    determining whether the external magnets and the capsule endoscope carry out consistency movement, if so, entering step31, if it is not, entering step S36;

    Step S36;

    control external magnets return to the position before obstacle detouring, enter step S37;

    Step S37;

    judge whether the current preset direction is the last one preset direction, if so, the capsule endoscope arrivesUp to first fixed point, if it is not, entering step S38;

    Step S38;

    the current preset direction is set by next preset direction, enters step S32.

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