CN102085086A - In-vitro magnetic control heat therapy capsule system based on wireless energy supply - Google Patents
In-vitro magnetic control heat therapy capsule system based on wireless energy supply Download PDFInfo
- Publication number
- CN102085086A CN102085086A CN2011100517480A CN201110051748A CN102085086A CN 102085086 A CN102085086 A CN 102085086A CN 2011100517480 A CN2011100517480 A CN 2011100517480A CN 201110051748 A CN201110051748 A CN 201110051748A CN 102085086 A CN102085086 A CN 102085086A
- Authority
- CN
- China
- Prior art keywords
- capsule
- external
- thermotherapy
- wireless energy
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention relates to an in-vitro magnetic control heat therapy capsule system based on wireless energy supply in the technical field of medical apparatus and instruments. The in-vitro magnetic control heat therapy capsule system comprises a heat therapy capsule, an in-vitro magnetic driving device, an in-vitro heat therapy operation control device, an in-vitro wireless energy supply device and an in-vitro image real-time processing device, wherein the heat therapy capsule is positioned in the digestive tract and used for collecting digestive tract environment information, the in-vitro heat therapy operation control device and the heat therapy capsule are connected in a wireless manner and used for transmitting the heat therapy control information, the in-vitro image real-time processing device and the heat therapy capsule are connected in a wireless manner and used for transmitting capsule video information and outputting the capsule video information in a graphic manner, the in-vitro wireless energy supply device supplies energy to the heat therapy capsule in an alternating magnetic field manner, and the in-vitro magnetic driving device and the heat therapy capsule realize the posture and position control on the heat therapy capsule by magnetic force. The in-vitro magnetic control heat therapy capsule system provided by the invention realizes the active posture and position control on the heat therapy capsule by an in-vitro operation controller.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically is that a kind of external magetic-control heating based on wireless energy supply is treated capsule system.
Background technology
The modern is owing to work rhythm quickening, diet inequality, cause the sickness rate of digestive tract disease to raise day by day, digestive tract disease becomes the common a kind of disease that influences modern's health, analyze to find according to statistics, digestive tract disease to become younger, hiddenization direction develops.The visual detection of digestive tract disease has important effect for the prevention and the diagnosis and treatment of digestive tract disease, and 9 meters of human body all-digestive tract length overalls, because the digestive tract shape belongs to slender pipeline, be distributed between each organ of trunk, the irregular closure of all-digestive tract structure is to the detection and the treatment of digestive tract disease bring very big challenge clinically.
The visual detection of the digestive tract disease of Shi Shiing mainly contains two kinds clinically: gastrointestinal, intestinal mirror and capsule endoscope two big classes.Gastroscope, intestinal microscopy are surveyed and are belonged to active detecting, can realize all-digestive tract disease " fixed point " diagnosis, but may have the risk that causes stomach wound, intestinal wound in the gastroscope, intestinal microscopy survey process, understand in the testing process and bring huge misery to patient.Capsule endoscope detects and belongs to the noinvasive detection method, can implement the detection of digestive tract disease after patient's oral capsule endoscope, can not bring discomfort or painful sensation to the patient, but capsule endoscope can only be followed gastral wriggling and be carried out diagnosis in patient's digestive tract, the motion of capsule endoscope belongs to passive movement mode fully, capsule endoscope also belongs to " locality " and " randomness " diagnosis for the diagnosis of digestive tract disease, can not implement initiatively " fixed point " diagnosis to digestive tract disease, there is very big blind area in the capsule endoscopy diagnosis overall process, has greatly limited the clinical practice of capsule endoscope in the visual diagnosis of all-digestive tract disease.
On the other hand, when making a definite diagnosis digestive tract and find disease such as tumor, the therapeutic scheme that can adopt clinically: can under the video image navigation of gastroscope and intestinal mirror, carry out treatment with upper digestive tract and colon with lower digestive tract for stomach, but still have the risk that causes stomach wound, intestinal wound in therapeutic process, needs of patients bears huge misery in the therapeutic process; And, can't adopt traditional gastroscope and intestinal mirror to treat for the tumor that the digestive tract at small intestinal place exists, and must carry out treatment by operation method for the disease that small intestinal exists, this misery that causes for the patient is well imagined.And the shoot function of the only concrete digestive tract image of capsule endoscope, therefore the treatment function of concrete digestive tract disease not can't carry out treatment to digestive tract disease fully.
Find through retrieval prior art, be published in " Gastrointestinal Endoscopy " Vol.72, No.5, paper on 2010 " Remote magnetic control of a wireless capsule endoscope in the esophagus is safe and feasible:results of a randomized; clinical trial in healthy volunteers " discloses the imaged capsule technique of a kind of external magnetic control, the magnetic control image capsule that this paper is swallowed by external magnetic field control volunteer, finish image diagnostic imaging at volunteer's disease of stomach, by with the image capsule contrast experiment who does not have external magnetic control system, prove that utilizing the external magnetic field control figure is safe and feasible as the attitude and the position of capsule in digestive tract.Though the achievement in research of this paper proves imaged capsular safety of external magnetic control and feasibility.
But the technology that this paper is announced lacks the treatment function, promptly by behind the capsule image discovery digestive tract disease, can't carry out thermotherapy treatment work to the digestive tract disease pathological tissue.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of external magetic-control heating to treat capsule system based on wireless energy supply, realization is controlled by the external magnetic field active drive, overcome the restriction that capsule system is subjected to peristalsis of the digest tract " passive " method of operation, for operator's external magnetic control system and thermotherapy control provide image-guidance, until the thermotherapy treatment overall process of finishing the capsule position; Utilize this thermotherapy capsule, can realize truly non-invasive diagnosis under the noinvasive image-guidance and treatment, reduce misery and the wound brought to the patient to greatest extent digestive tract tumor.
The present invention is achieved by the following technical solutions, the present invention includes: the thermotherapy capsule, external magnetic drive unit, external thermotherapy operations control device, external wireless energy supply device and the real-time blood processor of external image, wherein: the thermotherapy capsule is positioned at digestive tract and gathers digestive tract environment information, external thermotherapy operations control device is connected with wireless mode with the thermotherapy capsule and transmits the thermotherapy control information, the real-time blood processor of external image is connected with wireless mode with the thermotherapy capsule and transmits thermotherapy capsule video information and export with graphics mode, external wireless energy supply device provides energy to the thermotherapy capsule in the alternating magnetic field mode, and external magnetic drive unit and thermotherapy capsule adopt the control of magnetic force realization to capsular attitude of thermotherapy and position.
Described thermotherapy capsule comprises: the analog image pick off, illuminator, system for detecting temperature and hot generating apparatus, shell and be arranged at its inner master control system, the image wireless dispensing device, the digital radio R-T unit, fairing, wireless energy receiving coil and permanent magnetic device, wherein: analog image pick off and illuminator are installed in the outboard end of shell, hot generating apparatus and system for detecting temperature are installed in the outer surface of thermotherapy capsule shell, permanent magnetic device is installed between shell and the hot generating apparatus, the wireless energy receiving coil receives the alternating magnetic field that is sent by external wireless energy supply device and is converted into AC electromotive force, fairing links to each other with the wireless energy receiving coil and AC electromotive force is converted into DC voltage, fairing respectively with the analog image pick off, illuminator, master control system, the image wireless dispensing device, hot generating apparatus links to each other and dc source is provided, the image wireless dispensing device directly with the analog image sensor acquisition to video image to be sent to the patient by wireless mode external, master control system is connected with the analog image pick off and the imaging parameters of analog image pick off is regulated, master control system is connected with system for detecting temperature, and receiving the temperature signal that system for detecting temperature collects, master control system is connected with the digital radio R-T unit with hot generating apparatus respectively and exports control instruction and carry out the information transmission.
Described shell is the capsule body shape, and both ends are chondritic.
Described external magnetic drive unit is the magnetic driving control device with permanent magnetic device, and wherein: magnetic driving control device is by regulating displacement between permanent magnetic device and the thermotherapy capsule and the direction realization adjustment to thermotherapy capsule attitude and position.
Described external thermotherapy operations control device is the temperature-adjusting device with temperature display and radio-cell, wherein: radio-cell links to each other with temperature-adjusting device with temperature display and will receive temperature and is sent to temperature display and is presented on the temperature display, and the thermoregulation signal is sent to the control that the thermotherapy capsule is realized thermotherapy temperature by radio-cell.Described external wireless energy supply device comprises: external wireless energy transmitting coil and power-supply controller of electric, wherein: power-supply controller of electric links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil of controlling signal to of sequential, and external wireless energy transmitting coil changes control signal alternating electromagnetic field into and exports the thermotherapy capsule to.
The real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image receives in real time and is sent to external photographic images and be sent to computer workstation by the thermotherapy capsule, on computer screen, the effector realizes that thermotherapy capsule attitude, Position Control and thermotherapy operations provide the image-guidance function to computer operation for operation with pictorial display.
The present invention compared with prior art, realize the ACTIVE CONTROL of manipulation in vitro effector to capsular attitude of thermotherapy in the body and position, can finish " fixed point " diagnosis of digestive tract image, for thermotherapy operations realizes " fixed point " operation control, the capsular operation of thermotherapy is all carried out under the video image guiding in the external ACTIVE CONTROL body simultaneously, realizes the noinvasive diagnosis and treatment of the digestive tract disease under the image-guidance truly.Than existing gastroscope, intestinal mirror and image capsule system, has tangible advantage.The present invention has very important actual application value aspect the early treatment of digestive tract disease diagnosis and tumor.
Description of drawings
Fig. 1 is an operation principle sketch map of the present invention.
Fig. 2 is a thermotherapy capsule structure sketch map.
Fig. 3 is external magnetic drives structure sketch map.
Fig. 4 is external thermotherapy operations control device structural representation.
Fig. 5 is external wireless energy supply device sketch map.
Fig. 6 is the real-time blood processor sketch map of external image.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, this enforcement comprises: thermotherapy capsule 1, external magnetic drive unit 2, external thermotherapy operations control device 3, the real-time blood processor 5 of external wireless energy supply device 4 and external image, wherein: the thermotherapy capsule is positioned at digestive tract and gathers digestive tract environment information, external thermotherapy operations control device 3 is connected with wireless mode with the thermotherapy capsule and transmits the thermotherapy control information, the real-time blood processor 5 of external image is connected with wireless mode with the thermotherapy capsule and transmits the capsule video information and export with graphics mode, external wireless energy supply device 4 provides energy to the thermotherapy capsule in the alternating magnetic field mode, external magnetic drive unit 2 is carried out the work according to the permanent magnetic field interaction principle with the thermotherapy capsule, be that the suction of same polarity permanent magnetic field phase is scolded, the heteropolarity permanent magnetic field attracts mutually, and the distance between two permanent-magnetic fields is relevant with magnetic force, to produce permanent-magnetic field identical with thermotherapy capsule generation permanent-magnetic field polarity when the external magnetic field driving device, and the external magnetic field driving device is when the thermotherapy capsule, the thermotherapy capsule is away from the external magnetic field driving device, when the permanent-magnetic field that the external magnetic field driving device produces different with the permanent-magnetic field polarity of thermotherapy capsule generation, and the external magnetic field driving device is when the thermotherapy capsule, and the thermotherapy capsule is near the external magnetic field driving device.According to above principle, when change the external magnetic field driving device with respect to the capsular direction of thermotherapy and apart from the time, corresponding change can take place in capsular attitude of thermotherapy and position, thereby guarantees capsular attitude of thermotherapy and position in the external magnetic field driving device controls digestive tract.
Described thermotherapy capsule 1 comprises: analog image pick off 6, illuminator 7, system for detecting temperature 15 and hot generating apparatus 8 and shell 9 and be arranged at its inner master control system 10, image wireless dispensing device 11, digital radio R-T unit 12, fairing 13, wireless energy receiving coil 14 and permanent magnetic device 16, wherein: analog image pick off 6 and illuminator 7 are installed in the outboard end of shell 9, system for detecting temperature 15 and hot generating apparatus 8 are installed in the outer surface of thermotherapy capsule shell 9, permanent magnetic device 16 is installed between shell 9 and the hot generating apparatus 8, wireless energy receiving coil 14 receives the alternating magnetic field that is sent by external wireless energy supply device 4 and is converted into AC electromotive force, fairing 13 links to each other with wireless energy receiving coil 14 and AC electromotive force is converted into DC voltage, fairing 13 respectively with analog image pick off 6, illuminator 7, master control system 10, image wireless dispensing device 11, hot generating apparatus 8 links to each other and dc source is provided, it is external that the video image that image wireless dispensing device 11 directly collects analog image pick off 6 is sent to the patient with wireless communication mode, master control system 10 links to each other with analog image pick off 6, realization is regulated the imaging parameters of analog image pick off, master control system 10 links to each other with system for detecting temperature 15, realization is to the sampling of temperature, master control system 10 links to each other with hot generating apparatus 8, realization is to the control of hot generating apparatus 8, master control system 10 links to each other with digital radio R-T unit 12, and realization and 12 configuration and the communications of digital radio R-T unit.
Described shell 9 is the capsule body shape, and both ends are chondritic.
External magnetic drive unit 2 in the present embodiment is carried out the work by the permanent magnetic field interaction principle, when the permanent-magnetic field of external magnetic drive unit 2 formation and the permanent-magnetic field polar phase while of thermotherapy capsule 1 formation, thermotherapy capsule 1 is away from external magnetic drive unit 2, when the permanent-magnetic field of external magnetic drive unit 2 formation and the permanent-magnetic field polar phase different time of thermotherapy capsule 1 formation, thermotherapy capsule 1 makes external magnetic drive unit 2 can change the attitude and the position of thermotherapy capsule 1 near external magnetic drive unit by this principle.
The temperature change control signal that digital radio R-T unit 12 in the present embodiment is found by the radio-cell 20 that receives external thermotherapy operations control device 3, control signal is sent to master control system 10, master control system 10 starts or stops hot generating apparatus 8 according to this control signal, realizes the control to hot generating apparatus 8.
The alternating electromagnetic field that wireless energy receiving coil 14 in the present embodiment is launched by the transmitting coil 22 that receives external wireless energy supply device 4, in wireless energy receiving coil 14, produce alternating electromotive force, this alternating electromotive force carries out filtering by fairing 13 and rectification obtains suitable DC voltage, and this DC voltage is provided to analog image pick off 6, illuminator 7, system for detecting temperature 15 and hot generating apparatus 8, master control system 10, image wireless dispensing device 11 and digital radio R-T unit 12.
System for detecting temperature 15 in the present embodiment directly links to each other with master control system 10, and 10 pairs of temperature of master control system are carried out analog digital conversion, and the digital temperature after the conversion is sent to digital radio R-T unit 12, and it is external to be sent to the patient.
The permanent-magnetic field that permanent-magnetic field that permanent magnetic device 16 in the present embodiment forms and external magnetic controller 2 form produces and interacts, when the permanent-magnetic field of permanent magnetic device 16 formation and the permanent-magnetic field polar phase while of external magnetic controller 2 formation, permanent magnetic device 16 is away from external magnetic controller 2, when the permanent-magnetic field of permanent magnetic device 16 formation and the permanent-magnetic field polar phase inverse time of external magnetic controller 2 formation, permanent magnetic device 16 is near external magnetic controllers 2.
Described external magnetic drive unit 2 is for having the magnetic driving control device of permanent magnetic device 18, wherein: comprise permanent magnet driving device 17 and permanent magnetic device 18, permanent magnetic device 18 is installed on the permanent magnet driving device 17, according to the permanent-magnetic field interaction principle, by changing direction and the distance between permanent magnetic device 18 and the thermotherapy capsule 1, can realize the attitude of thermotherapy capsule 1 and the adjustment of position.
Described external thermotherapy operations control device 3 is for having the temperature-adjusting device 21 of temperature display 19 and radio-cell 20, wherein: radio-cell 20 links to each other with temperature-adjusting device 21 with temperature display 19, radio-cell 20 will receive temperature and be sent to temperature display 19 and be presented on the temperature display 19, the operator is according to temperature displayed, send the thermoregulation signal by temperature-adjusting device 21, this thermoregulation signal is sent to the digital radio R-T unit 12 of thermotherapy capsule 1 by radio-cell, and send master control system 10 to, master control system 10 is controlled the control that hot generating apparatus 8 is realized thermotherapy temperature according to this temperature control signals.
Described external wireless energy supply device 4 comprises: external wireless energy transmitting coil 22 and power-supply controller of electric 23, wherein: power-supply controller of electric 23 links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil 22 of controlling signal to of sequential, and external wireless energy transmitting coil 22 changes control signal alternating electromagnetic field into and exports thermotherapy capsule 1 to.
The real-time blood processor 5 of described external image comprises: real-time receiver module 24 of external image and computer workstation 25, wherein: the real-time receiver module 24 of external image receives in real time and is sent to external photographic images and be sent to computer workstation by thermotherapy capsule 1, on computer screen, the effector realizes that thermotherapy capsule attitude, Position Control and thermotherapy operations provide the image-guidance function for operation with pictorial display for computer workstation 25.
This device carries out work in the following manner: the patient is by the thermotherapy capsule of swallowing, external wireless energy supply device is started working, power-supply controller of electric changes dc source the alternating signal of certain frequency into and is sent to external wireless energy transmitting coil, external wireless energy transmitting coil changes electric energy in the alternating magnetic field of certain frequency, this alternating magnetic field is received by the wireless energy receiving coil in the thermotherapy capsule in the body, portion produces alternating electromotive force in coil, this alternating electromotive force is undertaken generating dc source behind the filter rectification by fairing, and this dc source is given illuminator, temperature measurement system, the analog image pick off, hot generating apparatus, master control system, image wireless dispensing device and digital radio R-T unit provide power supply.Illuminator, analog image pick off, master control system and image wireless dispensing device are promptly started working.The analog image pick off is sent to external by the image wireless transporter image of digestive tract wall, receive and be sent to computer workstation by the real-time receiver module of external image, computer workstation with pictorial display on screen, the operator is according to image, control permanent magnetic device driving device changes the position and the direction of permanent magnetic device, position and attitude that the interior capsular permanent magnetic device of thermotherapy of body is followed external permanent magnetic device change, thereby change position and the state of thermotherapy capsule in digestive tract, the analog image pick off can detect the image of diverse location and attitude situation lower digestive tract wall and be sent to external, thereby guarantee that the operator carries out the diagnosis of " fixed point " and " orientation " to digestive tract under image-guidance.In diagnostic procedure, when finding tumor disease is arranged, under the image guiding, the operator controls the thermotherapy capsule and rests on the tumor disease surface, make the capsular hot generating apparatus of thermotherapy be close to the tumor disease surface, the operator utilizes the humidity control system of external thermotherapy operations control device to send the thermotherapy operations control signal, this control signal transmits the thermotherapy capsule by radio-cell, receive and be sent to master control system by the digital radio R-T unit, master control system starts hot generating apparatus work, tumor surface is carried out thermotherapy treatment, in the thermotherapy process, temperature measurement system detects the temperature at thermotherapy position in real time, this temperature is undertaken being sent to the digital radio R-T unit after the analog digital conversion by master control system, and be sent to external by the digital radio R-T unit, after the radio-cell of external thermotherapy operations control device receives this temperature signal, be sent on the temperature display, the operator can grasp the temperature at thermotherapy position in real time, and in conjunction with the analog image sensor to image tumor surface is carried out thermotherapy, in the thermotherapy process, the operator can change capsular attitude of thermotherapy and position by the moving device of operating body external magnetic region, by means of the image-guidance on the work station, to realize comprehensive thorough thermotherapy to tumor locus.
Claims (7)
1. the external magetic-control heating based on wireless energy supply is treated capsule system, it is characterized in that, comprise: the thermotherapy capsule, external magnetic drive unit, external thermotherapy operations control device, external wireless energy supply device and the real-time blood processor of external image, wherein: the thermotherapy capsule is positioned at digestive tract and gathers digestive tract environment information, external thermotherapy operations control device is connected with wireless mode with the thermotherapy capsule and transmits the thermotherapy control information, the real-time blood processor of external image is connected with wireless mode with the thermotherapy capsule and transmits the capsule video information and export with graphics mode, external wireless energy supply device provides energy to the thermotherapy capsule in the alternating magnetic field mode, and external magnetic drive unit and thermotherapy capsule adopt the control of magnetic force realization to capsular attitude of thermotherapy and position.
2. the external magetic-control heating based on wireless energy supply according to claim 1 is treated capsule system, it is characterized in that, described thermotherapy capsule comprises: the analog image pick off, illuminator and hot generating apparatus and shell and be arranged at its inner master control system, the image wireless dispensing device, the digital radio R-T unit, fairing, the wireless energy receiving coil, system for detecting temperature and permanent magnetic device, wherein: analog image pick off and illuminator are installed in the outboard end of shell, hot generating apparatus is installed in the outer surface of thermotherapy capsule shell, permanent magnetic device is installed between shell and the hot generating apparatus, the wireless energy receiving coil receives the alternating magnetic field that is sent by external wireless energy supply device and is converted into AC electromotive force, fairing links to each other with the wireless energy receiving coil and AC electromotive force is converted into DC voltage, fairing respectively with the analog image pick off, illuminator, master control system, the image wireless dispensing device, hot generating apparatus links to each other and dc source is provided, the image wireless dispensing device directly with the analog image sensor acquisition to video image to be sent to the patient by wireless mode external, master control system is connected with the analog image pick off and the imaging parameters of analog image pick off is regulated, master control system is connected with system for detecting temperature and receives the temperature signal that system for detecting temperature collects, and master control system is connected with the digital radio R-T unit with hot generating apparatus respectively and exports control instruction and carry out the information transmission.
3. the external magetic-control heating based on wireless energy supply according to claim 2 is treated capsule system, it is characterized in that described shell is the capsule body shape, and both ends are chondritic.
4. the external magetic-control heating based on wireless energy supply according to claim 2 is treated capsule system, it is characterized in that, described external magnetic drive unit is the magnetic driving control device with permanent magnetic device, and wherein: magnetic driving control device is by regulating displacement between permanent magnetic device and the thermotherapy capsule and the direction realization adjustment to thermotherapy capsule attitude and position.
5. the external magetic-control heating based on wireless energy supply according to claim 2 is treated capsule system, it is characterized in that, described external thermotherapy operations control device is the temperature-adjusting device with temperature display and radio-cell, wherein: radio-cell links to each other with temperature-adjusting device with temperature display and will receive temperature and is sent to temperature display and is presented on the temperature display, and the thermoregulation signal is sent to the control that the thermotherapy capsule is realized thermotherapy temperature by radio-cell.
6. the external magetic-control heating based on wireless energy supply according to claim 1 is treated capsule system, it is characterized in that, described external wireless energy supply device comprises: external wireless energy transmitting coil and power-supply controller of electric, wherein: power-supply controller of electric links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil of controlling signal to of sequential, and external wireless energy transmitting coil changes control signal alternating electromagnetic field into and exports the thermotherapy capsule to.
7. the external magetic-control heating based on wireless energy supply according to claim 1 is treated capsule system, it is characterized in that, the real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation, wherein: the real-time receiver module of external image receives in real time and is sent to external photographic images and be sent to computer workstation by the thermotherapy capsule, on computer screen, the effector realizes that thermotherapy capsule attitude, Position Control and thermotherapy operations provide the image-guidance function to computer operation for operation with pictorial display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100517480A CN102085086B (en) | 2011-03-04 | 2011-03-04 | In-vitro magnetic control heat therapy capsule system based on wireless energy supply |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100517480A CN102085086B (en) | 2011-03-04 | 2011-03-04 | In-vitro magnetic control heat therapy capsule system based on wireless energy supply |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102085086A true CN102085086A (en) | 2011-06-08 |
| CN102085086B CN102085086B (en) | 2012-11-21 |
Family
ID=44097264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100517480A Expired - Fee Related CN102085086B (en) | 2011-03-04 | 2011-03-04 | In-vitro magnetic control heat therapy capsule system based on wireless energy supply |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102085086B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112674700A (en) * | 2019-10-18 | 2021-04-20 | 华中科技大学鄂州工业技术研究院 | Capsule endoscope system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
| CN1654011A (en) * | 2003-10-06 | 2005-08-17 | 西门子公司 | Method for automated localization of lesions in the gastrointestinal tract for treatment using laser light from an endorobot |
| WO2007006728A1 (en) * | 2005-07-08 | 2007-01-18 | Siemens Aktiengesellschaft | Endoscopic capsule |
-
2011
- 2011-03-04 CN CN2011100517480A patent/CN102085086B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
| CN1654011A (en) * | 2003-10-06 | 2005-08-17 | 西门子公司 | Method for automated localization of lesions in the gastrointestinal tract for treatment using laser light from an endorobot |
| WO2007006728A1 (en) * | 2005-07-08 | 2007-01-18 | Siemens Aktiengesellschaft | Endoscopic capsule |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112674700A (en) * | 2019-10-18 | 2021-04-20 | 华中科技大学鄂州工业技术研究院 | Capsule endoscope system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102085086B (en) | 2012-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102090876B (en) | In-vitro magnetic-controlled medicament delivery capsule system based on wireless energy supply | |
| JP4796275B2 (en) | System and method for controlling an in-vivo device | |
| Lien et al. | Magnetic control system targeted for capsule endoscopic operations in the stomach—design, fabrication, and in vitro and ex vivo evaluations | |
| Basar et al. | Ingestible wireless capsule technology: A review of development and future indication | |
| US8731637B2 (en) | Intra-subject medical system, method of operating body-insertable apparatus and operative treatment | |
| US6776165B2 (en) | Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles | |
| Wang et al. | An earthworm-like robotic endoscope system for human intestine: design, analysis, and experiment | |
| JP5983736B2 (en) | Capsule medical device | |
| CN2603657Y (en) | Medical capsule type radio endoscopic pick-up device | |
| CN211749482U (en) | Magnetic spiral capsule endoscope and control system of capsule endoscope | |
| CN103356150A (en) | Capsule endoscope magnetic field driving system under orientation tracking guide | |
| CN103949008B (en) | Intelligent electric based on the external magnetic control of video image navigation stimulates capsule system | |
| Chen et al. | Magnetically actuated capsule robots: A review | |
| CN102139137B (en) | External magnetic control drug release capsule system based on digital image navigation | |
| Kim et al. | Prototype modular capsule robots for capsule endoscopies | |
| KR101256409B1 (en) | Actuation control system of capsule endoscope | |
| KR100540758B1 (en) | Capsule type robot system | |
| CN102160774A (en) | Wireless energy supply video image capsule system | |
| CN202489952U (en) | Drive device of capsule endoscope | |
| CN102085084B (en) | Sampling capsule system based on wireless energy supply extracorporeal magnetic control | |
| CN102085086B (en) | In-vitro magnetic control heat therapy capsule system based on wireless energy supply | |
| CN102085085B (en) | In vitro magnetic control thermal therapy capsule system based on digital image navigation | |
| CN102160773A (en) | In-vitro magnetic control sampling capsule system based on digital image guidance | |
| WO2021129221A1 (en) | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method therefor | |
| TW200920301A (en) | Capsular endoscope for intestine inspection with functions of movement forward and backward |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121121 Termination date: 20150304 |
|
| EXPY | Termination of patent right or utility model |