A MICRO-ROBOT SYSTEM AND CAPSULE ENDOSCOPE SYSTEM FOR DIAGNOSING OF TUBULAR DIGESTIVE ORGAN

摘要

PURPOSE: the system and capsule-type endoscope system of a kind of microrobot are used to check that the tubulose digestive organs on the wall surface that tubulose digestive organs are provided to accurately to check that disease is existing to pass through the cylindrical wall surface microrobot of installation video camera. ;CONSTITUTION: encapsulated endoscopic mirror unit (100) includes that magnet module (110 ") have than the direction of magnetization. The unit of capsule endoscopic microrobot, this unit include with when being rotationally advancing along wall surface by precession rotating excitation field. The unit that alignment direction microrobot is arranged in electromagnetic field generating device (200) has certain angle with the direction of magnetization. The magnetic filed generation unit in magnetic field is generated in orientation and the unit of microrobot. Magnetic filed generation unit includes uniform magnetic field generation module (210) and gradient magnetic generation module (220). Imaging unit (300) receives and shows position and encapsulated endoscopic mirror unit of the described image shooting unit by capsule type endoscope. Imaging unit includes data receiver module (310) and display module (320). ;The 2013 of copyright KIPO submissions;The encapsulated endoscopic mirror unit of [Reference numerals] (100 "); (110 ") magnet module; The camera model of (120 "); The data transmission module of (130 "); The illumination module of (140 "); (200) Electromagnetic electric field generating unit; (210) uniform magnetic field electricity generation module; (211) Helmholtz coil unit; (212) fixed uniform saddle coil unit; (220) magnetic field gradient generation module; (221) Maxwell's coil unit; (222) gradient saddle coil unit is rotated; (300) imaging unit; (310) data receiver receiver module; (320) display module