CN103190880A - Running speed control system and running speed control method of capsule endoscope in human body - Google Patents
Running speed control system and running speed control method of capsule endoscope in human body Download PDFInfo
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- CN103190880A CN103190880A CN2013101225027A CN201310122502A CN103190880A CN 103190880 A CN103190880 A CN 103190880A CN 2013101225027 A CN2013101225027 A CN 2013101225027A CN 201310122502 A CN201310122502 A CN 201310122502A CN 103190880 A CN103190880 A CN 103190880A
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- 230000005672 electromagnetic field Effects 0.000 claims abstract description 11
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- 238000001727 in vivo Methods 0.000 claims description 5
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- 230000005540 biological transmission Effects 0.000 description 3
- 238000003759 clinical diagnosis Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000008713 feedback mechanism Effects 0.000 description 2
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Abstract
A running speed control system of a capsule endoscope in a human body comprises a capsule endoscope and a speed control device. A first microprocessor, an acceleration sensor and a radio frequency modulated chip are arranged on the capsule endoscope, the acceleration sensor and the radio frequency modulated chip are in electric connection with the first microprocessor; and acceleration magnitude of the capsule endoscope in the human body is recorded through the acceleration sensor and then is transmitted to the radio frequency modulated chip to send signals. The speed control device is arranged outside the human body and comprises a receiving and control module and an electromagnetic coil, the receiving and control module is in electric connection and comprises a second microprocessor, an electromagnetic power supply control module and a radio frequency demodulated chip, the electromagnetic power supply control module and the radio frequency demodulated chip are in electric connection with the second microprocessor, and the electromagnetic power supply control module is electrically connected with the electromagnetic coil. The capsule endoscope gradually closes to inner walls of human intestines and stomachs when an electromagnetic field is generated by charging, running acceleration magnitude is transmitted to the radio frequency demodulated chip through the radio frequency modulated chip, the electromagnetic power supply control module is driven by the second microprocessor to control the electromagnetic coil to adjust sizes of the electromagnetic field, so that running speed of the capsule endoscope in human intestines and stomachs can be controlled according to feedback changes of the running acceleration magnitude.
Description
Technical field
The present invention relates to capsule endoscope, refer to a kind of control system and control method of the acceleration of capsule endoscope being adjusted in real time by negative feedback mechanism especially.
Background technology
Capsule endoscopic is the scientific and technological new product of medical development, it day by day is widely used in the medically clinical diagnosis of various diseases, adopt painless AT monitoring, diagnosing, enter after oral in human stomach or the intestinal, by its inner stomach of its lens assembly shooting at close range or intestinal wall situation, to carry out clinical diagnosis, alleviate patient's clinical misery.
Because the acquisition time of individual picture of video sensor of capsule endoscope inside is about 30ms, the acquisition time of individual picture is long, if the capsule speed of service in vivo is too fast, very easily cause the ambiguous situation of the picture that collects, therefore effectively the control capsule speed of service becomes meaningful.
Therefore, being necessary to provide can be to capsule endoscope control system and the control method controlled of the speed of service in vivo.
Summary of the invention
Based on the deficiencies in the prior art, main purpose of the present invention is to provide and can keeps low cruise to control it in the intestines and stomach to capsule endoscope control system and the control method controlled of the speed of service in vivo, obtains distinct image.
The invention provides the control system of the speed of service in a kind of capsule endoscope body, it comprises:
Capsule endoscope, acceleration transducer, rf modulations chip that it is provided with first microprocessor and is electrically connected with it, accekeration when capsule endoscope moves in vivo under the acceleration transducer real time record transfers to the rf modulations chip and carries out signal and send;
Speed control unit places externally, comprises reception control module and the solenoid of electric connection;
Wherein, receive control module and comprise second microcontroller and the electromagnet power supply control module, the radio demodulating chip that are electrically connected with it, the electromagnet power supply control module is electrically connected with solenoid;
When driving the solenoid energising, the electromagnet power supply control module generates an electromagnetic field, capsule endoscope in the body is subjected to magneticaction and gradually near the intestines and stomach inwall, and the operation accekeration that records by acceleration transducer is sent to the radio demodulating chip that receives control module via the rf modulations chip, and transfer to second microcontroller by the radio demodulating chip, second microcontroller requires DM energy supply control module control solenoid to adjust the size of electromagnetic field according to setting, to control the movement velocity of capsule endoscope in the intestines and stomach according to the variation of the accekeration that is fed back.
Preferably, in second microcontroller, the accekeration that transmits when the radio demodulating chip then sends reduce-speed sign to the electromagnet power supply control module when setting accekeration, drives it and reduces electric current output, to reduce the electromagnetic force of solenoid; Otherwise the accekeration that transmits when the radio demodulating chip then sends signal for faster to the electromagnet power supply control module when setting accekeration, drives it and improves electric current, to improve the electromagnetic force of solenoid.
Preferably, the current feed gear of described electromagnet power supply control module is divided into 3 grades: 10A, 20A and 30A, when acceleration was zero, the starting current feed was output as 30A, when acceleration is 0m/s
2＜a＜0.5m/s
2The time, the starting current feed is output as 20A, when acceleration is 0.5m/s
2＜a＜1.0m/s
2The time, the starting current feed is output as 10A, when acceleration is a〉1.0m/s
2The time, the output of electromagnet power supply control module close current.
Preferably, speed control unit is adjusted its speed of service in the intestines and stomach according to the variation of the accekeration that the acceleration transducer of capsule endoscope feeds back, and makes it keep low cruise, and the setting accekeration of described capsule endoscope is less than 1.0m/s
2
Preferably, in the described accekeration embedded images data, serve as a mark with the pixel compartments that colors in the view data, be sent to the reception control module in the lump with view data.
The present invention also provides the control method of the speed of service in a kind of capsule endoscope body, and it may further comprise the steps:
Step 1) starts the electromagnet power supply control module, and solenoid is switched on and generated an electromagnetic field;
Step 2) human body is near solenoid, and the capsule endoscope in the intestines and stomach is subjected to magnetic attraction and moves to the intestines and stomach wall, and the accekeration of degree of will speed up operation that sensor records is sent to speed control unit;
The variation of the accekeration that the step 3) speed control unit feeds back according to capsule endoscope is to control its speed of service.
Compared with prior art, the control system of the speed of service in the capsule endoscope body of the present invention, by the acceleration transducer record and to speed control unit feedback accekeration, adjust the amplitude of feed current according to the accekeration DM energy supply control module that feeds back, by the size of negative feedback process to the adjustment electromagnetic attraction, thus, adjust the speed of service of endoscope, it is not fogging clear to have avoided its excessive velocities to cause institute to be taken the photograph, to obtain distinct image or image, improved the quality of taking, and then improved accuracy and the degree of accuracy of diagnosis, its diagnosis and treatment have been had very big practice significance.Simultaneously, on operating equipment, adopt negative feedback mechanism to detect and control, change characteristics to the influence of endoscope's operation in conjunction with the electromagnetic field field intensity, realize adjustment to endoscope's speed making its operation that remains a constant speed by changing field intensity intensity, guaranteed stationarity and the clarity of shooting.
Description of drawings
Fig. 1 is the structural representation of capsule endoscope of the present invention;
Fig. 2 is the control sketch map of the control system of the speed of service in the capsule endoscope body of the present invention;
Fig. 3 is the system block diagram of the control system of the speed of service in the capsule endoscope body of the present invention;
Fig. 4 is the electromagnetic field curve chart of the control system of the speed of service in the capsule endoscope body of the present invention;
Fig. 5 is the Current Control sketch map of capsule endoscope of the present invention;
Fig. 6 is the principle schematic of the electromagnet power supply control module of the control system of the speed of service in the capsule endoscope body of the present invention;
Fig. 7 is the sign sketch map of acceleration in the view data of capsule endoscope of the present invention.
The specific embodiment
Shown in seeing figures.1.and.2, the invention provides the control system of the speed of service in a kind of capsule endoscope body, it comprises capsule endoscope 100 and speed control unit 200, the variation of the accekeration that speed control unit 200 feeds back by capsule endoscope 100, it is carried out negative feedback control, to adjust the speed of service of capsule endoscope 100 in the intestines and stomach.
Wherein, described capsule endoscope 100 comprises capsule housing 1 and is packaged in wherein light source 2, camera lens 3, antenna 4, power supply 5, governor circuit 6, magnetic conduction module 7, camera lens 3 is arranged at the one or both ends of power supply 5, it is other that light source 2 is installed in camera lens 3, antenna 4 is sheathed on the camera lens 3, governor circuit 6 and power supply 5 are electrically connected with each module respectively, and described magnetic conduction module 7 is sheathed on power supply 5 peripheries, play counterweight and are subjected to the magnetic attraction draw.
With reference to shown in Figure 3, acceleration transducer 61 and video sensor 62 that described governor circuit 6 is provided with first microprocessor 60 and is electrically connected with it, described video sensor 62 is electrically connected with rf modulations chip 63, wherein, described acceleration transducer 61 is located at a side of magnetic conduction module 7, and be attached on the power supply 5, be used for gathering capsule endoscope at the current magnetic induction of the intestines and stomach and transfer to first microprocessor 60; Described first microprocessor 60 invests the magnetic induction value on the view data that video sensor 62 gathers, transfer to rf modulations chip 63, feed back to speed control unit 200 through rf modulations chip 63, described video sensor 62 is used for taking the image of the intestines and stomach wall, and is sent to image processing module by antenna and records and analyze.
Described speed control unit 200 comprises reception control module 20l and the solenoid 202 of electrical connection, wherein, receive control module 20l and comprise the second microcontroller 20la and the electromagnet power supply control module 20lc and the image processing module 201d that are electrically connected with it, radio demodulating chip 201b is electrically connected with image processing module 201d, wherein, radio demodulating chip 201b receives the accekeration that capsule endoscope 100 feeds back, it is carried out transferring to image processing module 201d after the demodulation, described image data transmission to the second microcontroller 20la, resolve through the view data of the second microcontroller 20la, extract the accekeration in the view data, the second microcontroller 20la adjusts its output current in real time according to the changing value control electromagnet power supply control module 20lc of magnetic induction value, realize the magnetic field size adjustment of solenoid, with the magnetic attraction of change magnetic field to capsule endoscope 100, and then change the speed of service of capsule endoscope in the intestines and stomach.
Capsule endoscope is in body fluid, be subjected to the force action of buoyancy, gravity and electromagnetic attraction, its buoyancy and gravity are stationary value, therefore, electromagnetic attraction determines its size and Orientation of making a concerted effort, and electromagnetic attraction and magnetic induction relation in direct ratio, therefore, magnetic induction determines the size and Orientation of capsule operation acceleration.Solenoid produces magnetic field in "on" position, and the capsule endoscope that contains the magnetic conduction module is produced captivation, and then course and the position of control capsule in human body.Because magnetic induction is proportional to the amplitude of electric magnet feed current, control current of electromagnet, can control the instantaneous acceleration of capsule endoscope.
With reference to shown in Figure 4, from above solenoid magnetic induction distribution curve as can be seen, the magnetic induction distance is not equally distributed, magnetic induction with distance to be about
Form distributes, and near strengthening, apart from more near, strengthen more fast by electromagnetic force with distance for electric magnet magnetic force, and distance is more far away, and the magnetic force increase is more slow.Therefore, when the solenoid energising starts, when attracting capsule endoscope, because capsule endoscope is more and more nearer apart from Magnet, electromagnetic attraction sharply increases with curve, cause acceleration increasing, the capsule speed of service also sharply increases, because the restriction of capsule endoscope image acquisition speed, the capsule speed of service is too fast, be very disadvantageous for collecting picture rich in detail, therefore need control its acceleration, to obtain the distinct image data.
In a preferred embodiment of the invention, record the accekeration of the capsule endoscope under each time by acceleration transducer, in second microcontroller, the accekeration that transmits when the radio demodulating chip is when setting accekeration, then send reduce-speed sign to the electromagnet power supply control module, drive it and reduce electric current output, to reduce the electromagnetic force of solenoid; Otherwise the accekeration that transmits when the radio demodulating chip then sends signal for faster to the electromagnet power supply control module when setting accekeration, drives it and improves electric current, to improve the electromagnetic force of solenoid.Monitor in real time by the current acceleration to capsule endoscope, and according to accekeration size of current adjusted in real time, remain on the low cruise state with the control capsule endoscope, guarantee the definition of the image of taking the photograph or image.Wherein, the setting accekeration of described capsule endoscope is less than 1.0m/s
2
Control for the speed of service to capsule endoscope more accurately, the variation of accekeration is quantitatively controlled.When starting solenoid, capsule endoscope apart from the intestines and stomach wall farthest, set maximum electric current output, at this moment, capsule endoscope is subjected to magnetic attraction gradually near the intestines and stomach wall, along with the distance between capsule endoscope and the intestines and stomach wall shortens, by shown in the magnetic induction change curve shown in Figure 4, magnetic induction dwindles gradually with the distance between capsule endoscope and the intestines and stomach wall and increases.
With reference to shown in Figure 5, in the present embodiment, the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, when acceleration was zero, the starting current feed was output as 30A, with the feed current output of maximum, make its stressed maximum, to accelerate its speed of service; When acceleration is 0m/s
2＜a＜0.5m/s
2The time, the starting current feed is output as 20A; When acceleration is 0.5m/s
2＜a＜1.0m/s
2The time, the starting current feed is output as 10A; When acceleration is a〉1.0m/s
2The time, the output of electromagnet power supply control module close current, current feed is 0A.When acceleration promotes gradually, capsule endoscope is gradually near the intestines and stomach wall, can reduce the feed amplitude, to reduce its operation acceleration, on the one hand, avoid its operation too fast, photographic images is unintelligible, and on the other hand, operation is too fast when near the intestines and stomach wall, can cause it to be subjected to magnetic force and be adsorbed in fast on the intestines and stomach wall, influence it and take control.When its acceleration reaches 1.0m/s
2The time, second microcontroller sends stop signal to the electromagnet power supply control module, stop electric current output by its control solenoid, make capsule endoscope not be subjected to magnetic attraction, it is slowly close to the intestines and stomach wall by inertia, make its operation that remains a constant speed, carry out Treatment Analysis to obtain photographic images clearly and to transfer in the image processing module that receives control module.By a plurality of adjustment gears are set, convenient degenerative flexible adjustment can be stirred the Current Control gear according to the size of acceleration, controls the electric current output amplitude quantitatively, to obtain accurate Acceleration Control result.
With reference to shown in Figure 6; in electromagnet power supply control module 201c; the AC-DC conversion control module 202a that comprises electrical connection; reverse current suppresses module 202b and lightning protection module 202c; AC-DC conversion control module 202a is electrically connected with second microcontroller; reverse current suppresses module 202b and is electrically connected with solenoid 202; when alternating current power supply inserts AC-DC conversion control module 202a; lightning protection module 202c is electrically connected with alarm module; alternating current power supply is inserted by AC-DC conversion control module 202a; when receiving the adjustment voltage signal that second microcontroller sends; according to described signal instruction control; adopt the direct current amplitude of small-signal control output, through after the AC-DC conversion, export required big or small electric current; described lightning protection module 202c plays the effect of anti-lightning strike and current surge; the module that suppresses reverse current plays reverse current and releases and inhibitory action, makes voltage keep forward, after electric current suppresses and adjusts; export solenoid 202 to, make it produce the magnetic field of corresponding size.
With reference to shown in Figure 7, for improving picture quality, analog signal form is adopted in the transmission of capsule endoscope image, and directly by the output of simulation FM modulation chip, therefore, accekeration can't be by digital form packing output.In order to solve the transmission problem of data, in the described accekeration embedded images data, serve as a mark with the pixel compartments that colors in the view data, be sent to the reception control module in the lump with view data, by the osd function of video sensor, after first microcontroller collects accekeration, pass through osd function, control specific region output image pixel is arranged, and represents accekeration with the line of pixels columns, exports to outside receiving terminal with this degree of will speed up value.OSD is the abbreviation of on-screen display, i.e. the screen menu type regulative mode.Generally be the rectangle menu of pressing the every reconciling items information of display that screen ejects behind the Menu key, can comprise that to the every working index of display color, pattern, geometry etc. adjust by this menu, thereby reach best user mode.In addition, in the OSD option, can also adjust the position of demonstration, the time that attonity is closed demonstration.For example: the last string line of pixels of picture screen is listed as accekeration output expression row: under last, it is red that each pixel shows, and the expression accekeration is 0.05m/s
2Be 0.2m/s as accekeration
2The time, then showing 4 lattice redness from top to bottom, all the other lattice pixels of same column show blue; By that analogy; Receiving terminal is arranged and quantity according to the pixel color of the last string of reception screen message, even can obtain accekeration.
The present invention also provides the control method of the speed of service in a kind of capsule endoscope body, and it may further comprise the steps:
Step 1) starts the electromagnet power supply control module, and solenoid is switched on and generated an electromagnetic field;
Step 2) human body is near solenoid, and the capsule endoscope in the intestines and stomach is subjected to magnetic attraction and moves to the intestines and stomach wall, and the accekeration of degree of will speed up operation that sensor records is sent to speed control unit;
The variation of the accekeration that the step 3) speed control unit feeds back according to capsule endoscope is to control its speed of service.
Wherein, in step 2) in, acceleration transducer in the capsule endoscope is gathered the accekeration of its operation, be sent to speed control unit via the rf modulations chip, after the radio demodulating chip of the reception control module of speed control unit receives described accekeration signal, transfer to and carry out signal fusing in second microprocessor, and control the electric current output size of electromagnet power supply control module according to the signal fusing result.
In step 3), second microcontroller at speed control unit carries out the acceleration signal comparison, the accekeration that transmits when the radio demodulating chip is when setting accekeration, then send reduce-speed sign to the electromagnet power supply control module, drive it and reduce electric current output, to reduce the electromagnetic force of solenoid; Otherwise the accekeration that transmits when the radio demodulating chip then sends signal for faster to the electromagnet power supply control module when setting accekeration, drives it and improves electric current, to improve the electromagnetic force of solenoid.
The current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, when acceleration was zero, the starting current feed was output as 30A, when acceleration is 0m/s
2＜a＜0.5m/s
2The time, the starting current feed is output as 20A, when acceleration is 0.5m/s
2＜a＜1.0m/s
2The time, the starting current feed is output as 10A, when acceleration is a〉1.0m/s
2The time, the output of electromagnet power supply control module close current, current feed is output as 0A.
Produce in the process in magnetic field at solenoid, capsule endoscope in real time the accekeration that records of degree of will speed up sensor by rf modulations chip and the antenna of capsule, be sent to the radio demodulating chip of the reception control module of speed control unit, according to the accekeration information of feeding back, the second microcontroller DM energy supply control module carries out real-time adjustment to the feed current amplitude.When just beginning to attract capsule endoscope because capsule endoscope is far away apart from the relative distance of solenoid, captivation a little less than, at this moment, solenoid carries out work with maximum current, to attract and to affect capsule; When capsule endoscope owing to be subjected to the electromagnetic attraction of solenoid, beginning is to solenoid direction operation, because its furthering of distance each other, electromagnetic attraction is according to its magnetic induction distribution curve, beginning is strengthened gradually, and capsule endoscope operation acceleration is increasing; When the accekeration that receives capsule endoscope when the reception control module of outside sharply increases, immediately by the electromagnet power supply control module, reduce the electric magnet feed current in real time, thereby reduction electromagnetic attraction, reduce the operation acceleration of capsule endoscope, thereby guarantee that its speed of service is unlikely to too fast, guarantee the definition of output image, and avoid its high-speed motion and suck in the intestines and stomach wall influence shooting control procedure.
Claims (10)
1. the control system of the speed of service in the capsule endoscope body is characterized in that comprising:
Capsule endoscope, acceleration transducer, rf modulations chip that it is provided with first microprocessor and is electrically connected with it, accekeration when capsule endoscope moves in vivo under the acceleration transducer real time record transfers to the rf modulations chip and carries out signal and send;
Speed control unit places externally, comprises reception control module and the solenoid of electric connection;
Wherein, receive control module and comprise second microcontroller and the electromagnet power supply control module, the radio demodulating chip that are electrically connected with it, the electromagnet power supply control module is electrically connected with solenoid;
When driving the solenoid energising, the electromagnet power supply control module generates an electromagnetic field, capsule endoscope in the body is subjected to magneticaction and gradually near the intestines and stomach inwall, and the operation accekeration that records by acceleration transducer is sent to the radio demodulating chip that receives control module via the rf modulations chip, and transfer to second microcontroller by the radio demodulating chip, second microcontroller requires DM energy supply control module control solenoid to adjust the size of electromagnetic field according to setting, to control the movement velocity of capsule endoscope in the intestines and stomach according to the variation of the accekeration that is fed back.
2. the control system of the speed of service in the capsule endoscope body according to claim 1, it is characterized in that: in second microcontroller, the accekeration that transmits when the radio demodulating chip is when setting accekeration, then send reduce-speed sign to the electromagnet power supply control module, drive it and reduce electric current output, to reduce the electromagnetic force of solenoid; Otherwise the accekeration that transmits when the radio demodulating chip then sends signal for faster to the electromagnet power supply control module when setting accekeration, drives it and improves electric current, to improve the electromagnetic force of solenoid.
3. the control system of the speed of service in the capsule endoscope body according to claim 2, it is characterized in that: when the acceleration of capsule endoscope is zero, the electromagnet power supply control module starts maximum current, when the acceleration of capsule endoscope reaches or greater than 1.0m/s
2The time, the output of electromagnet power supply control module close current.
4. the control system of the speed of service in the capsule endoscope body according to claim 3, it is characterized in that: the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, when acceleration is zero, the starting current feed is output as 30A, when acceleration is 0m/s
2＜a＜0.5m/s
2The time, the starting current feed is output as 20A, when acceleration is 0.5m/s
2＜a＜1.0m/s
2The time, the starting current feed is output as 10A, when acceleration is a〉1.0m/s
2The time, the output of electromagnet power supply control module close current, current feed is output as 0A.
5. the control system of the speed of service in the capsule endoscope body according to claim 2, it is characterized in that: the setting accekeration of described capsule endoscope is less than 1.0m/s
2
According to claim 1 ?the control system of the speed of service in each described capsule endoscope body in 5, it is characterized in that: in the described accekeration embedded images data, serve as a mark with the pixel compartments that colors in the view data, be sent to the reception control module in the lump with view data.
7. according to the control method of the speed of service in the capsule endoscope body as claimed in claim 1, it is characterized in that may further comprise the steps:
Step 1) starts the electromagnet power supply control module, and solenoid is switched on and generated an electromagnetic field;
Step 2) human body is near solenoid, and the capsule endoscope in the intestines and stomach is subjected to magnetic attraction and moves to the intestines and stomach wall, and the accekeration of degree of will speed up operation that sensor records is sent to speed control unit;
The variation of the accekeration that the step 3) speed control unit feeds back according to capsule endoscope is to control its speed of service.
8. the control method of the speed of service in the capsule endoscope body according to claim 7, it is characterized in that: in step 2) in, acceleration transducer in the capsule endoscope is gathered the accekeration of its operation, be sent to speed control unit via the rf modulations chip, after the radio demodulating chip of the reception control module of speed control unit receives described accekeration signal, transfer to and carry out signal fusing in second microprocessor, and control the electric current output size of electromagnet power supply control module according to the signal fusing result.
9. the control method of the speed of service in the capsule endoscope body according to claim 7, it is characterized in that: in step 3), second microcontroller at speed control unit carries out the acceleration signal comparison, the accekeration that transmits when the radio demodulating chip is when setting accekeration, then send reduce-speed sign to the electromagnet power supply control module, drive it and reduce electric current output, to reduce the electromagnetic force of solenoid; Otherwise the accekeration that transmits when the radio demodulating chip then sends signal for faster to the electromagnet power supply control module when setting accekeration, drives it and improves electric current, to improve the electromagnetic force of solenoid.
10. the control method of the speed of service in the capsule endoscope body according to claim 8, it is characterized in that: the current feed gear of described electromagnet power supply control module is divided into 4 grades: 0A, 10A, 20A and 30A, when acceleration is zero, the starting current feed is output as 30A, when acceleration is 0m/s
2＜a＜0.5m/s
2The time, the starting current feed is output as 20A, when acceleration is 0.5m/s
2＜a＜1.0m/s
2The time, the starting current feed is output as 10A, when acceleration is a〉1.0m/s
2The time, the output of electromagnet power supply control module close current, current feed is output as 0A.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014071822A1 (en) * | 2012-11-07 | 2014-05-15 | 深圳市资福技术有限公司 | Capsule endoscope |
| US20170296428A1 (en) * | 2016-04-18 | 2017-10-19 | Ankon Medical Technologies (Shanghai), Ltd. | In VIVO DEVICE AND METHOD OF USING THE SAME |
| WO2017206695A1 (en) * | 2016-05-29 | 2017-12-07 | Ankon Medical Technologies (Shanghai), Ltd | System and method for using capsule device |
| US10500127B2 (en) | 2016-04-18 | 2019-12-10 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Vivo device and method of using the same |
| CN110638416A (en) * | 2019-09-29 | 2020-01-03 | 北京华亘安邦科技有限公司 | Suspension control method and device of capsule endoscope |
| CN111481420A (en) * | 2020-06-01 | 2020-08-04 | 上海安翰医疗技术有限公司 | Method for controlling vibrating capsule |
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| CN109219383B (en) * | 2016-05-29 | 2021-04-27 | 上海安翰医疗技术有限公司 | Capsule device and method of use |
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Address after: 518000 9 A905-1, Thunis science and Technology Park, No. 13, Langshan Road, North Nanshan District hi tech Industrial Park, Shenzhen, Guangdong. Patentee after: Shenzhen fufu Medical Technology Co., Ltd. Address before: 518000 9 A905-1, Thunis science and Technology Park, No. 13, Langshan Road, North Nanshan District hi tech Industrial Park, Shenzhen, Guangdong. Patentee before: Shenzhen Zifu Technology Co., Ltd. |