1286926 九、發明說明： 【發明所屬之技術領域】 本創作係有關於一種磁浮膠囊内視鏡裝置及其磁浮控 制方法，尤指一種以控制外部磁場大小及方向，用以改變 該磁浮膠囊内視鏡裝置之所在位置及一鏡頭之俯仰角度， 並藉由裝設於該磁浮膠囊内視鏡裝置末端接觸面之一壓力 感測元件，用以感測該磁浮膠囊内視鏡裳置之附著力量大 小及判斷该磁浮膠囊内視鏡裝置是否正確定位之磁浮膠嚢 内視鏡裝置及其磁浮控制方法。 【先前技術】 茲將磁浮、影像系統、以及膠囊内視鏡相關先前技術 加以說明及介紹。磁浮技術之運用非常廣泛，主要有磁浮 列車、低摩擦磁浮轴承(low friction bearing)，以及能量儲存 (magnetically levitated flywheel energy storage)等等。磁浮力 之運用方式主要有吸力（attractive)及斥力（repulsive)兩種方 式。吸力型之磁浮運用方式主要是利用磁力源來吸引待控 制之物體’如德國之EMS磁浮列車系統(Electromagnetic Suspension Maglev System);而斥力型之磁浮運用方式主要 是利用導體感應電流，進而產生磁浮力，如曰本之EDS磁 浮列車糸統(Electrodynamic Suspension Maglev System) 〇 磁浮力之產生方式主要有下列幾種： 1、 利用反磁材料之方式··在磁動勢之下使其感應反磁 場，而產生推斥力； 2、 利用永久磁鐵之方式：利用永久磁鐵產生磁浮力， 1286926 可依照磁鐵擺設方式產生相吸及相斥之磁浮力； 3、利用電磁鐵方式：·電磁鐵之方式產生磁浮力， 一種為利用感應之方式，另一種為直接驅動之方式，其中， 利用感應之方式係為利用交流電流通過電磁線圈產生磁 通二進而使金屬板等物體感應出渦流(eddy咖細），而產生 磁浮力達_浮之效果；而直接驅動之方式 直流電流通入電磁線圈，並控制其電流大小及^向而產生 相吸及相斥之磁浮力去控制物體位移；及 、4、利用永久磁鐵與電磁鐵混合方式：彻電磁鐵加上 永久磁鐵作為磁力來源，來產生磁浮力。 影像處理系統作業流程是以影像感_器取得影像，再 由數位影像處理方法，經過適當運算與影像儲#，將 中欲取得之資料經由演算法萃取出來，提供給使用者^ 進一步影像處理後端作業。故影像處理作業可分前端及^ 端兩部分，其中，前端作業包括數位影像擷取、影像動熊 處理及影像貧料儲存三大部分。H數位影像擷取主要 是利用影像感測器（image sensor)來擷取數位影像，目前奢 像感測裔發展主流有兩種，分別為電荷耦合元件(CCD， charge-couple devices)影像感測器，以及互補金屬氧化半導 體(CMOS ’ complementary metal-oxide-semiconductors)影像 感測器；影像動態處理主要是將影像感測器所輸出之影像 資料傳輸至影像處理系統内部，執行影像比較、壓縮及切 割等功能；而影像資料儲存係當影像資料經過影像處理= 濾後，可經由記憶體作適當之儲存工作。 ^ 1286926 练觀内視鏡之先前技術文獻及國内外使用情況而論， 一般所謂之胃鏡檢查，其全名應該為「上消化道内視鏡檢查」， 乃是彻-條直徑約—公分的黑色塑膠包料光及目視纖維的 細長軟管，前端裝有内視鏡由口腔放入胃内，可用以檢查食道、 胃、十二指腸球部及十二指腸第二部分。藉由光源器所發出之強 光，經由導光纖維可使光轉彎，讓醫師從另一端清楚地觀察上消 化道内各部位的健康狀況。必要時，可由胃鏡上的小洞伸入夾子 做切片檢查。早期胃鏡的發現靈感絲自於吞劍師吞劍的動作， 因而發明出以油燈做光源的硬式内視鏡，後來經多年逐漸改良， 由胃照相機到光纖内視鏡，一直演變至現在所普遍使用之電子内 視鏡胃鏡。胃鏡檢查的優點為，能很清楚的看出上消化道之疾 病，如食道炎、胃炎、食道潰瘍、胃潰瘍及十二指腸潰瘍等等， 其診斷效果相當可靠。而其缺點為，由於導管直徑較粗，易造成 病人恐懼與不適，例如胃鏡檢查時若病人咽喉反射太強，會有一 直咳漱或唱吐情形，則在胃鏡檢查後會有喉痛之情形發生；再 者，胃鏡無法完全深入小腸，只能檢查小腸前端之一小部分。 近年來，由於積體電路技術、無線通訊、以及微機電技術的 快速發展並逐漸成熟，使得運用超小型電子元件來組合成内視鏡 糸統之構想得以實現，因而促成無線膠囊内視鏡產品之研發與上 市，且目前已應用於實際人體醫療。 1286926 目前廠商所研發出之無__視鏡主制來診斷小腸疾 病，尤其是小腸出血，其優點為檢查方法簡單、無痛、無侵襲性， 如同吞服藥丸以及敏感度高，影像清晰，腸道的檢查不再有黑 洞；但其最大之缺點在於無法針對胃部進行詳細檢查。…、 2 於人體小腸（small bowel)的内徑报小，平均直徑約 敕a刀，因此，膠展内視鏡隨著小腸蠕動而前進，可以對 ς個^腸的管腔攝影。㈣，在進到小腸之前㈣3〇分鐘， >屣内視鏡係在人體胃部（stomach)裡面隨著胃的蠕動而 滾動，而且隨著胃在體内的大小改變，至少有3〇〇mi 中里（亦可擴張到l，5〇〇mi容量），因此，該膠囊内視鏡在胃 &並無法進行定點觀看或來回觀看同一部位的功效，也將 =成人體胃部有些部位無法獲得影像㈣，且更無法定點 墩測影像資料，將嚴重影響醫師診斷結果。 ，外，該膠囊内視鏡裝置須長時間在人體内進行工 =\每一次完整的檢查時間須超過8小時，在檢查過程中， 該=囊内視鏡裝置進行照明、影像感測、即時(reaMime)* ^二料傳送等工作，須消耗大量功率，將造成該膠囊内視 見衣置内部之電池在檢查過程中有消耗殆盡之虞。 一主睛參閱第一圖所示，其係為習知電子式内視鏡裝置之 不思圖。由圖可知，該電子式内視鏡裝置2a係包括有一光 二。s21a，一裝置於該光纖導管21a前端之一鏡頭22a。 又=子式内視鏡裝置2a作胃鏡檢查，係利用一條直徑約一 A分之黑色塑膠包裹之該光纖導管21a，並將該光纖導管21a 1286926 之前端裝設該鏡頭瓜由口腔放入胃内，可用以檢查食道、胃、 十二指腸球部及十二指腸第二部分，藉由光源器所發出之強光， 經由該光纖導管21a可使光轉彎，讓醫師從另-端清楚地觀察 上请化道内各部㈣健絲況。但⑽該光纖導管…之奸 較粗’易造成病人恐雜不適，例如胃鏡檢查時若病人咽喉反^ 太強’會有-直咳诚呕吐情形，則在胃鏡檢查後會有喉痛之情 形發生；再者，胃鏡無法完全深人小腸，只能檢查小腸前端之一 小部分。 請參閱第二圖所示，其係為習知膠囊内視鏡裝置之示 意圖。由圖可知，該膠囊内視鏡裝置la係包括有一膠囊形 外又11a、發光元件12a、一鏡頭13a、一影像感測器14a、 電池15a，以及一無線電發送器16a。其中，發光元件12&， 係容置於該膠囊形外殼lla内，並與該電池15a電性連接， 用以產生一光源，該影像感測器14a，係容置於該膠囊形外 殼lla内，並與該電池15a電性連接，用以接收影像；及該 電/也15a，係容置於該膠囊形外殼na内，用以提供該膠囊 内視鏡内部裝置la之電力來源。 惟一般習知之膠囊内視鏡裝置係具有下列之缺點： 1、由於該膠囊内視鏡裝置la係藉由小腸蠕動使其通 過整個腸道，但由於胃在體内的大小改變，使該膠囊内視 鏡裝置la在胃中容易到處滾動，使該鏡頭13a在胃中並無 法進行定點觀看或來回觀看同一部位的功效，也將造成人 體胃部有些部位無法獲得影像資料，且該影像感測器14a 更無法定點感測並接收影像資料，其造成該膠囊内視鏡裝 ^286926 置la於人體胃中定位上之不準確性，對於以發現胃病變為 主要目的之上消化道内視鏡檢查而言，一般習知之膠囊内 視鏡並不適用。 2、 由於該膠囊内視鏡裝置la須長時間在人體内進行 照明、影像感測、即時(real-time)影像資料傳送工作，其造 成該膠囊内視鏡裝置内部之電池15a在檢查過程中有消耗 殆盡之虞。 3、 在小體積之膠囊内視鏡裝置la中，包含該發光元 件12a、該鏡頭13a、該影像感測器14a、該電池15a，以及 該無線電發送器16a，尤以該電池15a所佔該膠囊内視鏡裝 置la之空間比例不低，因此，其造成該膠囊内視鏡裝置la 於體積小型化之瓶頸，仍易造成患者於吞服該膠囊内視鏡 裝置la之困難性。 是以根據前述先前技術内容可知，上述習知之膠囊内 視鏡裝置，在實際使用上，顯然具有不便與缺失存在，而 有待加以改善者。 因此，為改善目前一般傳統電子式胃鏡檢查因管鏡過粗容易 對病人造成不適與恐懼之缺點，並且克服無線膠囊内視鏡無法像 傳統電子式胃鏡-般來回觀看—個地方，詳細檢查胃部之缺點， 故本發明提出-種設計合理且有效改善膠囊内視鏡裝置以及 電子式胃鏡缺失，且能達成舒適且方便快速之胃鏡檢查裝置。 1286926 【發明内容】 本發明主要乃是整合縣__理論和方法，以及影像擷 取與影像處_域之_研究與技術剌；勤運用磁浮控制理 論與技術，充分_磁力耗方式來達成膠_視鏡移動及定位 動作’並透過膠囊内視鏡之影賴取系統，將影像傳回至監視器 畫面。同時亦針對人機介面之控做術進行研究與顧，以使系 統操控人討以藉由搖桿、監視n以及軟體程式晝面等人機介面 裝置，對膠_視鏡進行難，_更方便快速且詳細地執行胃 鏡檢查任務。 、本务明之其一目的係提供一種磁浮膠囊内視鏡裝置及 其磁浮控制方法，其利用裝設於該磁浮膠囊内視鏡裝置末 端之一第一磁性元件以及置於人體外部之磁力控制裝置， 提供該磁浮膠囊内視鏡裝置附著及控制—鏡頭與至少—發 光元件俯仰角度動作所需之磁力；並利用裝設於該磁浮膠 囊内視鏡裝置末端接觸面之一壓力感測元件，感測該磁浮 膠囊内視鏡裝置之附著力量大小及判斷該磁浮膠囊内視鏡 裝置是否正確定位。 本發明之其二目的係提供一種磁浮膠囊内視鏡裝置及 其磁浮控制方法，其係利用一傳輸線提供電源之傳輸，作 為該磁浮膠囊内視鏡裝置之所有電源消耗元件使用，用以 維持該磁浮膠囊内視鏡裝置在檢查過程中之電源充足。 本發明之其三目的係提供一種磁浮膠囊内視鏡裝置及 其磁浮控制方法，其係利用線徑極小之傳輸線提供電源與 1286926 影像資料之傳輸’不但有效縮小該磁浮膠囊内視鏡裝置之 體積’且其傳輸線線徑約僅為傳統電子式内視鏡管徑的 1/15倍小，因此增加患者吞服該磁浮膠囊内視鏡裝置之簡 易性與方便性，以達到無痛之内視鏡檢查之目的。 為了達成上述之所有目的，本創作係提供一種磁浮膠 囊内視鏡裝置，包括有一膠囊形外殼（capsule_type dummy); —傳輸線，其係用以作為提供外部電源之傳輸及 影像訊號之傳輸；一内部控制電路，其係裝設於該磁浮膠 囊内視鏡裝置之中央部位，並連接於該傳輸線，用以轉換 則象訊號及處理壓力感測信號；—鏡頭，其係裝設於該磁 浮膠展内視鏡1置之前端，並電連接於該内部控制電路， 用以擁取影像；1彡像❹]元件，其錢接於該鏡頭與該 内部控制電路，制以作為光學對焦及接收影像訊號；至 少-發光元件，其係裝設於該磁轉_視鏡裝置之前 端’並連接於該㈣㈣，並裝設㈣影像感測元件 兩侧，用以產生發光照明光源；—第—磁性元件，豆 設於該磁浮㈣内賊裝置之末端，配㈣、磁 力控制裝置’用以提供該磁浮膠囊内視料置 該鏡頭與該發光元件俯仰角度動_需之 = 感測元件’錢裝設於該磁浮膠_視鏡 二 面，用以制該磁轉油視鏡裝置之附++ j末、接觸 斷該磁浮膠囊内視鏡裝置是否正確定位。者力里大小及判 為了達成上述之目的，本發明係提供 法，包括以下步驟： 種磁/予控制方 12 1286926 (a) 啟動電磁線圈； (b) 判斷該磁浮膠囊内視鏡裝置是否達到定位； (c) 該鏡頭進行攝影； ’ (d) 判斷是否調整磁場； ⑹藉由磁力控制使該磁浮膠囊内视鏡裝 進行攝影； w當内視鏡檢查工作結束時，判斷是否結束磁場控制。 (g)停止電磁線圈供電。 為了能更進-步清楚明確地揭露本發明為達成預定目籲 含所，之技術、手段及功效’請參閱以下有關本創作之 平儿兒0月與附圖，透由本創作之目的、特徵與特點之閣明， 可由此得到深入且具體之瞭解，然而所附圖式僅提供參考 ^ 與說明用，並非用來對本創作加以限制。 【實施方式】 · 請參閱第三圖與第四圖所示，其中，該第三圖係為本 务明磁浮膠囊内視鏡裝置最佳實施例之示意圖；該第四圖 係為本發明磁浮膠囊内視鏡裝置另一實施例之示意圖。由 鲁 圖可知，本發明係提供一種磁浮膠囊内視鏡裝置丨，包括有 一膠囊形外殼(capsule-type dummy)ll、一傳輸線 12、一内 部控制電路13、鏡頭14、一影像感測元件15、至少一發光 元件16、一第一磁性元件17，及一壓力感測元件18。 其中，該影像感測元件15係可為一互補金屬氧化物半 導體影像感測器（CMOS image sensor，complementary metal oxide semiconductor image sensor);另該影像感測元件 15 13 1286926 亦可為一電荷耦合元件影像感測器（CCD image sens〇r， charge-coupled device image sensor)。並該等發光元件 ι6 係 可為發光二極體(LED，Light Emitting Diode)，且該第一磁性 元件17與該第二磁性元件17’係可為铷鐵綳(Nd_Fe-B)合金 之永久磁鐵。 其中，該傳輸線12係用以作為提供外部電源之傳輸及 影像訊號之傳輸；該内部控制電路13係裝設於該磁浮膠囊 内視鏡裝置1之中央部位，並電連接於該傳輸線12，用以 轉換影像訊號及處理壓力感測信號；該鏡頭14係裝設於該 _ 磁浮膠囊内視鏡裝置1之前端，並電連接於該内部控制電 路13，用以擷取影像；該影像感測元件15係電連接於該鏡 頭14與該内部控制電路13，係用以作為光學對焦及接收影 像虎，該發光το件16，其係裝設於該磁浮膠囊内視鏡裝 置1之如端，並電連接於該内部控制電路13，並裝設於該 影像感測兀件15周圍，用以產生發光照明光源；該第一磁 性το件17係裝設於該磁浮膠囊内視鏡裝置丨之末端，用以 提供該磁浮膠囊内視鏡|置丨附著及控制該鏡頭14與該發· 光元件16俯仰角度動作所需之磁力；以及該壓力感測元件 18係裝設於該磁浮膠囊内視鏡裝置j之末端接觸面，用以 感測該磁浮膠囊内視鏡裝置i之附著力量大小及判斷該磁 浮膠囊内視鏡裝置1是否正確定位。 另，該磁浮膠囊内視鏡裝置1，更進一步包括至少一第 -磁性το件17’，其係裝設於該磁浮膠囊内視鏡裝置】之内 侧面’用以控職鏡頭14與該發光元件16俯仰角度動作 14 1286926 所需之磁動力。 。月參閱苐五圖所示，其係為本創作磁浮膠囊内視鏡裝 置及其磁浮控制方法之磁浮控制流程圖。由圖可知，本發 明磁浮控制方法之流程係先啟動電磁線圈（S1)。 然後，該鏡頭14進行攝影(S3)，其中在步驟S1與步驟 S3之間更包含判斷該磁浮膠囊内視鏡裝置丨是否達到定位 (S2)。若該磁浮膠囊内視鏡裝置i尚未達到定位，則重複進 行步驟S2之判斷。其中，步驟S2之定位判斷，係以該壓 力感測元件18之回授訊號決定之。 然後，該磁浮膠囊内視鏡裝置丨移動(S5);最後，停止 電磁線圈供電(S7)，其中在步驟S5與步驟S7之間更包含判 断疋否結束磁場控制（S6)。若尚未結束磁場控制，則重複進 行步驟S2之判斷。 又在步驟S3與步驟S5之間更包含判斷是否調整磁場 (S4)。若不調整磁場，則重複進行步驟％之判斷。其中， 步驟S4之調整磁場，係為改變人體外部電磁線圈磁場方 向’用以旋轉該磁浮膠囊内視鏡裝置1 ;另，步驟S4之調 整磁場’係亦可為改變電磁線圈位置，用以旋轉該磁浮膠 囊内視鏡裝置1。並且，步驟S4之調整磁場，係為改變電 磁線圈位置高度，用以升降該磁浮膠囊内視鏡裝置1。 請參閱第六圖所示，其係為本創作磁浮膠囊内視鏡裝 置及其磁浮控制方法之磁場控制之俯視圖。由圖可知，利 用經特殊設計之電磁線圈，將其通入直流電流後，產生磁 場’進而該將磁浮膠囊内視鏡裝置1吸附於胃壁上，便可 15 1286926 藉由該鏡頭〗4細⑽ 磁力之合成，可改變磁；曰 拍攝，並精由兩個電磁線圈 視鏡裝置1之位置:之方向’進而改變該磁浮膠囊内 置，或是藉由人體本身:鑪叙可藉由改變兩個電磁線圈之位 旋轉該磁轉和視料置i之彳^場残之方式，達到 移動= 吏=二視鏡裝置;能達到三維空間中 降機構之上升或下降’使電磁線圈達動利用該升 並配合旋轉人體本身之動作 ， 能產生三維控制之目的。 轉暴内視鏡裝置！ 請參閲第七圖所示，i 置及其磁浮控制方f轉囊内視縣 意圖。由圖可知，在本^it俯仰角度控制之示 S摘作中，有_t角度㈣之方法： 、利用外部電磁線圈位置改變·· 當外部電磁線圈通入固定電流時 況下，改變電磁_之位置。若電 2持口疋之h 膠嚢内禎锫驻罢”線圈上升，則該磁浮 膠曩内視鏡裝置i糾磁場之吸引，將會向下 鏡頭14與該發光元件16朝向圖中之α位置 二 二降’則該磁浮膠囊内視鏡裝置！受到磁場之^ = 二置^偏轉’使該鏡頭14與該發光元件Μ朝向圖中之0 2、利用外部磁場磁通量改變： 將合場磁通量減弱時，該鏡頭14與該發光元件16 ' ’朝向圖中之α位置；而當外部磁場磁通量 16 1286926 增強時，該鏡頭14與該發光元件16將會向上偏轉，朝向 圖中之β位置。 如此，藉由該兩種角度控制之方法，使該鏡頭14與該 發光元件16上下俯仰之動作控制，可使該磁浮膠囊内視鏡 裝置1之攝影角度更為寬廣。 請參閱第八圖所示，其係為本創作磁浮膠囊内視鏡裝 置及其磁浮控制方法之壓力感測元件動作於胃壁上之示意 圖。由圖可知，該磁浮膠囊内視鏡装置丨之壓力感測元件 18設置於該磁浮膠囊内視鏡裝置i之末端，可用於偵測該 磁浮膠囊内視鏡裝置1是否已附著於胃壁上，並加以確認 該磁浮膠囊内視鏡裝置1是否已經定位，並可量測出磁場 吸附力大小。當该磁浮膠囊内視鏡裝置1被磁力吸附時， 會附著在胃壁上，而受到擠壓變形；當該磁浮膠囊内視鏡 裝置1受到擠壓變形時，會使裝置於該磁浮膠囊内視鏡裝 置1末纟而之壓力感測元件18感測到空氣壓力變化，將壓力 改變值轉換成電壓訊號輸出。 凊參閱第九圖所示，其係為本創作磁浮膠囊内視鏡裝 置及其磁浮控制方法之磁浮膠囊内視鏡裝置動作於胃壁上 之示意圖。由圖可知，數個該磁浮膠囊内視鏡裝置1表示 不同時間下，該磁浮膠囊内視鏡裝置1之位置移動變化。 當該磁浮膠囊内視鏡裝置1進人胃部時，裝設於該磁浮膠 囊内視鏡裝置1末端之第一磁性元件17將受到人體外部電 磁線圈所產生之磁場所吸引’而使磁浮膠囊内視鏡裝置1 產生偏轉’進而吸附至胃壁上；此時，該磁浮膠囊内視鏡 17 1286926 裝置1末端之壓力感測元件18將因受到擠壓，而傳回一壓 力回授訊號，使判斷該磁浮膠囊内視鏡裝置1是否已正確 定位於胃壁上，以期完成該磁浮膠囊内視鏡裝置1定位目 的。 另，須考量該磁浮膠囊内視鏡裝置1在胃部之移動方 式，由於胃壁上充滿許多皺折，並非光滑表面，且胃部形 狀並不規則，約略成J字形，因此，若欲使該磁浮膠囊内視 鏡裝置1受磁％之吸引並使其沿著胃壁移動，顯然比較困 難，並不太可行。因此，本創作係採用磁力吸放之方式來 使該磁浮膠囊内視鏡裝置1產生移動，即是改變磁場之強 度，產生吸附及鬆放之效果，使該磁浮膠囊内視鏡裝置i 產生定點式移動。並，當該磁_肋視鏡裝i i停置於 定點時，可磁力控财歧變魏頭i 4之俯仰角度之 方式，進行胃部影像擷取。 綜上所述 啜乃你/、有下列之優點·· 制方nm"—種磁轉囊w錢裝置及其磁浮控 第一磁性元件，提供該磁浮鏡裝置末端之該 鏡頭與該發光元件俯仰角度動作=料置附著及控制該 於該磁浮膠囊内視鏡裝置末端而切力；並藉由裝設 感測該磁浮膠囊内視鏡裝置之面=該壓力感測元件’ 膠囊内視鏡裝置是否正確定位，、者力量大小及判斷該磁浮 鏡裝置於人體胃中定位上準確性用以增加該磁浮膠囊内視 檢視胃部之功效。 使膠囊内視鏡具有詳細 18 1286926 2、本發明係提供-種磁轉㈣視鏡裝置及其磁浮控 制方法，其係利用該傳輸線提供外部電源之傳輸，作為該 磁洋膠囊内視鏡I置之所有電源消耗元件使用，用以維持 該磁浮膠囊内視鏡裝置在檢查過程巾之電源充足，以改盖 膠囊内視職置内敎電池在檢查擁巾㈣耗殆盡: 〔wMi料㈣喊鏡裝置及其磁浮 J方法係利用極微小線徑傳輸線提供電源與影像之 =^ 小制轉囊喊縣置讀積，且盆 輸線線㈣僅為傳統電子式内視鏡管徑的1/15倍小/、 加患者吞服該磁浮膠囊内視鏡1286926 IX. Description of the invention: [Technical field to which the invention belongs] The present invention relates to a maglev capsule endoscope device and a maglev control method thereof, and more particularly to a method for controlling the magnitude and direction of an external magnetic field for changing the maglev capsule internal view The position of the mirror device and the tilt angle of a lens, and the pressure sensing component mounted on the end contact surface of the maglev capsule endoscope device for sensing the adhesion force of the maglev capsule endoscope The size and the magnetic floating capsule endoscope device for judging whether the maglev capsule endoscope device is correctly positioned and the maglev control method thereof. [Prior Art] The prior art related to maglev, imaging systems, and capsule endoscopes will be described and described. Maglev technology is widely used, mainly including maglev trains, low friction bearings, and magnetically levitated flywheel energy storage. The use of magnetic buoyancy is mainly in the form of attraction and repulsive. The suction type of magnetic levitation mainly uses the magnetic source to attract the object to be controlled, such as the EMS Maglev System (German Electros Suspension Maglev System); and the repulsion type of magnetic levitation mainly uses the conductor to induce current, thereby generating magnetic buoyancy. Such as EDS's Electrodynamic Suspension Maglev System, the main methods of generating the magnetic buoyancy are as follows: 1. Using the method of antimagnetic material · Inductive diamagnetic field under the magnetomotive force, And the repulsive force is generated; 2. The method of using permanent magnets: using the permanent magnet to generate the magnetic buoyancy, 1286926 can generate the magnetic buoyancy of the attracting and repulsive according to the magnet arrangement; 3. Using the electromagnet method: · The electromagnet generates the maglev Force, one is to use the induction method, and the other is the direct drive method, in which the induction method is to generate the magnetic flux through the electromagnetic coil by using the alternating current, so that the object such as the metal plate induces the eddy current (eddy). And the magnetic buoyancy force is _floating effect; and the direct driving mode direct current is passed into the electromagnetic Coils, and control the magnitude of the current and the magnetic buoyancy of the phase and the repulsive to control the displacement of the object; and, 4, the use of permanent magnets and electromagnets mixed: the electromagnet plus permanent magnets as a source of magnetic force, Generate magnetic buoyancy. The image processing system operation process is to acquire the image by the image sensor, and then by the digital image processing method, after appropriate calculation and image storage #, the data to be obtained is extracted by the algorithm and provided to the user ^ after further image processing End job. Therefore, the image processing operation can be divided into two parts: the front end and the second end. Among them, the front end operation includes three parts: digital image capturing, image moving bear processing and image poor material storage. H digital image capture mainly uses image sensor to capture digital images. At present, there are two mainstream developments of luxury image sensing, which are charge-couple device (CCD) image sensing. And CMOS 'complementary metal-oxide-semiconductors' image sensors; image dynamic processing is mainly to transmit the image data output by the image sensor to the image processing system to perform image comparison and compression. Cutting and other functions; while image data storage is performed by image processing = filtering, and can be properly stored via memory. ^ 1286926 In view of the prior art literature of the endoscope, and the use of the domestic and international, the general name of the so-called gastroscopy should be "upper gastrointestinal endoscopy", which is a black with a diameter of about - centimeters. The plastic tube is light and the elongated tube of the visual fiber. The front end is equipped with an endoscope and is placed into the stomach from the mouth. It can be used to check the esophagus, stomach, duodenal bulb and the second part of the duodenum. By the strong light emitted by the light source, the light can be turned through the light guiding fiber, allowing the physician to clearly observe the health of various parts of the upper digestive tract from the other end. If necessary, a small hole in the gastroscope can be inserted into the clip for biopsy. The discovery of the early gastroscope was inspired by the action of the swallowing sword, so the invention of the hard endoscope with the oil lamp as the light source has been gradually improved from the stomach camera to the fiber endoscope. An electronic endoscope gastroscope is used. The advantage of gastroscopy is that it can clearly see the diseases of the upper digestive tract, such as esophagitis, gastritis, esophageal ulcer, gastric ulcer and duodenal ulcer, etc., and its diagnostic effect is quite reliable. The disadvantage is that due to the thick diameter of the catheter, it is easy to cause fear and discomfort to the patient. For example, if the patient's throat reflex is too strong during gastroscopy, there will be a cough or sing, and there will be a sore throat after the gastroscopy. Occurs; in addition, the gastroscope cannot fully penetrate the small intestine, and only a small part of the front end of the small intestine can be examined. In recent years, due to the rapid development and maturity of integrated circuit technology, wireless communication, and MEMS technology, the concept of using ultra-small electronic components to form an endoscope system has been realized, thus contributing to wireless capsule endoscope products. R & D and listing, and has now been applied to actual human health. 1286926 At present, the manufacturer has developed a __ Mirror main system to diagnose small bowel diseases, especially small intestine hemorrhage. Its advantages are simple, painless, non-invasive, like swallowing pills and high sensitivity, clear image, intestines There is no longer a black hole in the inspection of the road; but its biggest drawback is that it cannot be examined in detail for the stomach. ..., 2 The inner diameter of the small bowel is small, and the average diameter is about 敕a knife. Therefore, the rubber-extended endoscope advances with the small intestine peristalsis, and it can photograph the lumen of the intestine. (D), before entering the small intestine (4) 3 minutes, > 屣 endoscopy in the human stomach (stomach) with the stomach creeping, and with the size of the stomach in the body changes, at least 3 〇〇 Mi in the middle (can also expand to l, 5〇〇mi capacity), therefore, the capsule endoscope in the stomach & can not be fixed point viewing or back and forth to view the same part of the effect, will also = some parts of the adult body stomach can not Obtaining the image (4), and even more difficult to determine the image data of the pier, will seriously affect the doctor's diagnosis. In addition, the capsule endoscope device must be used in the human body for a long time =\ every complete inspection time must exceed 8 hours. During the inspection, the capsule endoscope device performs illumination, image sensing, and instant ( reaMime)* ^Two-material transfer and other work, which consumes a lot of power, will cause the battery inside the capsule to be inside the clothing to be exhausted during the inspection process. One of the main eyes is shown in the first figure, which is a conventional electronic endoscope device. As can be seen from the figure, the electronic endoscope device 2a includes a light. S21a, a lens 22a mounted on one of the front ends of the fiber guide 21a. In addition, the sub-mirror device 2a is used for gastroscopy, and the fiber optic catheter 21a is wrapped with a black plastic having a diameter of about one A, and the lens is placed at the front end of the fiber optic catheter 21a 1286926. Inside, it can be used to check the esophagus, stomach, duodenal bulb and the second part of the duodenum, and the light emitted by the light source can be used to bend the light through the fiber guide 21a, so that the doctor can clearly observe from the other end. All the parts of the road (four) health. However, (10) the fiber-optic catheter is relatively thick, which may cause discomfort to the patient. For example, if the patient's throat is too strong during gastroscopy, there will be a case of straight cough and vomiting, and there will be a sore throat after the gastroscopy. Occurs; in addition, the gastroscope cannot be completely deep in the small intestine, and only a small part of the front end of the small intestine can be examined. Please refer to the second figure, which is a schematic view of a conventional capsule endoscope device. As can be seen from the figure, the capsule endoscope device 1a includes a capsule shape 11a, a light-emitting element 12a, a lens 13a, an image sensor 14a, a battery 15a, and a radio transmitter 16a. The light-emitting element 12& is disposed in the capsule-shaped outer casing 11a and electrically connected to the battery 15a for generating a light source. The image sensor 14a is disposed in the capsule-shaped outer casing 11a. And electrically connected to the battery 15a for receiving an image; and the electric/15a is placed in the capsule-shaped housing na for providing a power source of the internal device of the capsule endoscope. However, the conventional capsule endoscope device has the following disadvantages: 1. Since the capsule endoscope device la passes through the entire intestine by peristalsis of the small intestine, the capsule is changed due to the size of the stomach in the body. The endoscope device 1a is easily rolled around in the stomach, so that the lens 13a cannot be fixedly viewed or viewed from the same part in the stomach, and the image data cannot be obtained in some parts of the human stomach, and the image sensing is performed. The device 14a is even more incapable of sensing and receiving the image data, which causes the inaccuracy of positioning the capsule endoscope device in the stomach of the human body, and the endoscope of the digestive tract is mainly used for detecting gastric lesions. In general, conventional capsule endoscopes are not suitable. 2. Since the capsule endoscope device la is required to perform illumination, image sensing, and real-time image data transmission work in the human body for a long time, the battery 15a inside the capsule endoscope device is inspected during the inspection. Exhausted. 3. The small-volume capsule endoscope device 1a includes the light-emitting element 12a, the lens 13a, the image sensor 14a, the battery 15a, and the radio transmitter 16a, especially the battery 15a. The space ratio of the capsule endoscope device la is not low, so that the bottleneck of the capsule endoscope device la is small, which is still easy to cause the patient to swallow the capsule endoscope device la. According to the foregoing prior art, it is apparent that the above-described conventional capsule endoscope device is inconvenient and missing in actual use, and needs to be improved. Therefore, in order to improve the current general traditional electronic gastroscopic examination, because the tube mirror is too thick, it is easy to cause discomfort and fear to the patient, and overcome the wireless capsule endoscope can not be viewed back and forth like a traditional electronic gastroscope - a detailed examination of the stomach The disadvantages of the department are that the present invention proposes a gastroscopic examination device which is reasonable in design and effective in improving the capsule endoscope device and the electronic gastroscope missing, and which can achieve comfort, convenience and speed. 1286926 [Description of the Invention] The present invention mainly integrates the county __theories and methods, as well as the image acquisition and imaging _ domain _ research and technology 剌; diligent use of maglev control theory and technology, full _ magnetic consumption to achieve glue _ Mirror movement and positioning action' and pass the image through the capsule endoscope to return the image to the monitor screen. At the same time, it also conducts research and research on the control of human-machine interface, so that the system controller can make it difficult to use the human-machine interface device such as joystick, monitor n and software program, etc. Perform gastroscopy tasks quickly and easily. The purpose of the present invention is to provide a maglev capsule endoscope device and a maglev control method thereof, which utilize a first magnetic component mounted at the end of the maglev capsule endoscope device and a magnetic control device placed outside the human body Providing the magnetic floating capsule endoscope device attachment and control - the magnetic force required for the lens and at least the elevation angle of the light-emitting element; and using a pressure sensing element mounted on the end contact surface of the maglev capsule endoscope device, the sense Measuring the adhesion strength of the maglev capsule endoscope device and determining whether the maglev capsule endoscope device is correctly positioned. The second object of the present invention is to provide a maglev capsule endoscope device and a maglev control method thereof, which utilize a transmission line to provide power transmission, and are used as all power consumption components of the maglev capsule endoscope device to maintain the The maglev capsule endoscope device has sufficient power during the inspection process. The three objects of the present invention provide a maglev capsule endoscope device and a maglev control method thereof, which utilize a transmission line with a very small wire diameter to provide power and transmission of 1286926 image data, which not only effectively reduces the volume of the maglev capsule endoscope device. 'And its transmission line diameter is only about 1/15 times smaller than the diameter of the traditional electronic endoscope, thus increasing the simplicity and convenience of the patient to swallow the maglev capsule endoscope device to achieve a painless endoscope The purpose of the inspection. In order to achieve all of the above objectives, the present invention provides a maglev capsule endoscope device comprising a capsule-type dummy; a transmission line for transmitting and transmitting image signals for external power supply; a control circuit is disposed at a central portion of the maglev capsule endoscope device and is coupled to the transmission line for converting the signal and processing the pressure sensing signal; the lens is mounted on the magnetic floating glue exhibition The endoscope 1 is placed at the front end and electrically connected to the internal control circuit for capturing an image; the image is connected to the lens and the internal control circuit for optical focusing and receiving images. a signal; at least a light-emitting element, which is mounted on the front end of the magnetic mirror device and connected to the (four) (four), and is provided with (4) two sides of the image sensing element for generating a light-emitting illumination source; a component, the bean is disposed at the end of the maglev (4) inner thief device, and is provided with (4) a magnetic control device for providing the maglev capsule inner view to set the lens and the light element tilt angle _ Required = The sensing element 'money is installed on the two sides of the magnetic repeller _ mirror, used to make the end of the magneto-oil mirror device, and to contact the maglev capsule endoscope device for correct positioning. In order to achieve the above objectives, the present invention provides a method comprising the following steps: a magnetic/pre-control party 12 1286926 (a) starting an electromagnetic coil; (b) determining whether the maglev capsule endoscope device is reached (c) the lens for photography; '(d) determine whether to adjust the magnetic field; (6) mount the maglev capsule endoscope by magnetic control; w. When the endoscope inspection is over, determine whether to end the magnetic field control . (g) Stop the solenoid supply. In order to further clearly and unambiguously disclose the technology, means and efficacy of the present invention in order to achieve the intended purpose, please refer to the following about the creation of the child's child and the drawings, through the purpose and characteristics of the creation. The detailed description and the specific features of the invention can be obtained from the detailed description. However, the drawings are only provided for reference and description, and are not intended to limit the creation. [Embodiment] Please refer to the third and fourth figures, wherein the third figure is a schematic diagram of a preferred embodiment of the maglev capsule endoscope device; the fourth figure is the magnetic float of the present invention. A schematic view of another embodiment of a capsule endoscope device. As shown in the drawings, the present invention provides a magnetic floating capsule endoscope device, comprising a capsule-type dummy 11, a transmission line 12, an internal control circuit 13, a lens 14, and an image sensing element 15. At least one light-emitting element 16, a first magnetic element 17, and a pressure sensing element 18. The image sensing component 15 can be a complementary metal oxide semiconductor image sensor (CMOS image sensor); the image sensing component 15 13 1286926 can also be a charge coupled component. Image sensor (CCD image sens〇r, charge-coupled device image sensor). The light-emitting elements ι6 may be LEDs (Light Emitting Diodes), and the first magnetic element 17 and the second magnetic element 17' may be permanent of the Nd_Fe-B alloy. magnet. The transmission line 12 is used for transmitting the external power source and transmitting the image signal. The internal control circuit 13 is installed at the central portion of the maglev capsule endoscope device 1 and electrically connected to the transmission line 12 for use. To convert the image signal and process the pressure sensing signal; the lens 14 is mounted on the front end of the _ maglev capsule endoscope device 1 and is electrically connected to the internal control circuit 13 for capturing an image; the image sensing The component 15 is electrically connected to the lens 14 and the internal control circuit 13 for optical focusing and receiving image tigers. The light-emitting component 16 is mounted on the end of the maglev capsule endoscope device 1. And electrically connected to the internal control circuit 13 and mounted around the image sensing element 15 for generating a light-emitting illumination source; the first magnetic component 17 is mounted on the magnetic floating capsule endoscope device An end portion for providing the magnetic floating capsule endoscope; a magnetic force required for attaching and controlling the tilting angle of the lens 14 and the light emitting element 16; and the pressure sensing element 18 is disposed in the magnetic floating capsule Vision J tip of the contact surface means to sense the attachment of the capsule endoscope apparatus maglev i and determines the amount of force the endoscope apparatus 1 is a magnetic floating capsule correctly positioned. In addition, the maglev capsule endoscope device 1 further includes at least one first-magnetic τ member 17' mounted on the inner side of the maglev capsule endoscope device for the control lens 14 and the illuminating Element 16 Pitch Angle Action 14 1286926 Required magnetic power. . As shown in Figure 5, this is the flowchart of the maglev control of the maglev capsule endoscope device and its maglev control method. As can be seen from the figure, the flow of the maglev control method of the present invention first activates the electromagnetic coil (S1). Then, the lens 14 performs photographing (S3), wherein between step S1 and step S3, it is further included whether or not the maglev capsule endoscope device is positioned (S2). If the maglev capsule endoscope device i has not reached the position, the determination of step S2 is repeated. The positioning determination of step S2 is determined by the feedback signal of the pressure sensing component 18. Then, the maglev capsule endoscope device moves (S5); finally, the solenoid power supply is stopped (S7), wherein between step S5 and step S7, it is further included whether or not the end magnetic field control is terminated (S6). If the magnetic field control has not been completed, the determination of step S2 is repeated. Further, between step S3 and step S5, it is further determined whether or not to adjust the magnetic field (S4). If the magnetic field is not adjusted, the judgment of step % is repeated. Wherein, the adjusting magnetic field in step S4 is to change the magnetic field direction of the electromagnetic coil of the human body to rotate the maglev capsule endoscope device 1; and the adjusting magnetic field in step S4 may also be to change the position of the electromagnetic coil for rotating The maglev capsule endoscope device 1. Further, the adjustment of the magnetic field in step S4 is to change the height of the electromagnetic coil to raise and lower the maglev capsule endoscope device 1. Please refer to the sixth figure, which is a top view of the magnetic field control of the present maglev capsule endoscope device and its maglev control method. It can be seen from the figure that the magnetic coil is generated by using a specially designed electromagnetic coil, and then the magnetic field is generated, and the magnetic floating capsule endoscope device 1 is adsorbed on the stomach wall, which can be 15 1286926 by the lens (4) The synthesis of magnetic force can change the magnetic; 曰 shooting, and the position of the two electromagnetic coil sight glass device 1: the direction 'and then change the built-in magnetic floating capsule, or by the human body: the furnace can be changed by two The position of the electromagnetic coil rotates the magnetic rotation and the material is placed in the manner of the residual field to achieve the movement = 吏 = two-view mirror device; can reach the rise or fall of the three-dimensional space drop mechanism to make the electromagnetic coil reach the use It can be combined with the action of rotating the human body to produce three-dimensional control. Turn the endoscope device! Please refer to the seventh figure, i set and its maglev control side f. As can be seen from the figure, in the S-pitch angle control S-extraction, there is a method of _t angle (4): Using the position of the external electromagnetic coil to change · When the external electromagnetic coil is connected to a fixed current, change the electromagnetic _ The location. If the electric coil 2 holds the h 嚢 嚢 ” ” ” ” ” ” , , , , , , , 则 则 则 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁 磁The second and second drop 'the magnetic floating capsule endoscope device! The magnetic field ^ = two deflections 'the lens 14 and the light-emitting element Μ toward the figure 0 2, using the external magnetic field to change the magnetic flux: the combined magnetic flux is weakened The lens 14 and the light-emitting element 16 ′′ are oriented toward the α position in the figure; and when the external magnetic field flux 16 1286926 is enhanced, the lens 14 and the light-emitting element 16 will be deflected upward toward the β position in the figure. By the two angle control methods, the operation of controlling the lens 14 and the light-emitting element 16 to tilt up and down can make the maglev capsule endoscope device 1 have a wider imaging angle. The figure is a schematic diagram of the pressure sensing element of the magnetic floating capsule endoscope device and the magnetic floating control method acting on the stomach wall. It can be seen that the pressure sensing element 18 of the magnetic floating capsule endoscope device is disposed on the The end of the maglev capsule endoscope device i can be used to detect whether the maglev capsule endoscope device 1 has been attached to the stomach wall, and to confirm whether the maglev capsule endoscope device 1 has been positioned, and can measure the magnetic field When the magnetic floating capsule endoscope device 1 is magnetically attracted, it will adhere to the stomach wall and be subjected to extrusion deformation; when the magnetic floating capsule endoscope device 1 is subjected to compression deformation, the device will be The pressure sensing element 18 of the maglev capsule endoscope device 1 senses the change of the air pressure, and converts the pressure change value into a voltage signal output. 凊 See the ninth figure, which is the internal view of the magnetic floating capsule. The mirror device and the maglev capsule endoscope device of the maglev control method act on the stomach wall. As can be seen from the figure, several of the maglev capsule endoscope devices 1 indicate the position of the maglev capsule endoscope device 1 at different times. When the maglev capsule endoscope device 1 enters the stomach, the first magnetic element 17 mounted at the end of the maglev capsule endoscope device 1 will be subjected to the external electromagnetic coil of the human body. The generated magnetic field is attracted to cause the magnetic floating capsule endoscope device 1 to deflect and then adsorb to the stomach wall; at this time, the magnetic floating capsule endoscope 17 1286926 the pressure sensing element 18 at the end of the device 1 will be squeezed. And returning a pressure feedback signal to determine whether the maglev capsule endoscope device 1 is positively located on the stomach wall, in order to complete the positioning of the maglev capsule endoscope device 1. In addition, the maglev capsule endoscope must be considered. The movement of the device 1 in the stomach is not a smooth surface due to the filling of many wrinkles on the stomach wall, and the shape of the stomach is irregular, which is approximately J-shaped. Therefore, if the magnetic floating capsule endoscope device 1 is subjected to magnetic % It is obviously difficult and not feasible to attract and move it along the stomach wall. Therefore, the present invention uses magnetic suction to make the maglev capsule endoscope device 1 move, that is, to change the strength of the magnetic field. The effect of adsorption and loosening is generated to cause the maglev capsule endoscope device i to generate a fixed point movement. Moreover, when the magnetic rib lens mount i i is stopped at a fixed point, the tilting angle of the Weitou i 4 can be magnetically controlled to perform image capture of the stomach. In summary, you have the following advantages: · The manufacturer's nm" - a magnetic transfer capsule and its magnetic float control first magnetic element, providing the lens at the end of the magnetic mirror device and the light-emitting element pitching Angle action = material attachment and control of the end of the maglev capsule endoscope device and shear force; and sensing the surface of the maglev capsule endoscope device = the pressure sensing element 'capsule endoscope device Whether the positioning is correct, the strength of the force, and the accuracy of the positioning of the magnetic floating mirror device in the human stomach are used to increase the effect of the maglev capsule on the internal view of the stomach. Capsule endoscope has detailed 18 1286926 2. The present invention provides a magnetic (four) mirror device and a maglev control method thereof, which utilizes the transmission line to provide external power transmission as the magnetic ocean capsule endoscope I All the power consumption components are used to maintain the power supply of the maglev capsule endoscope device in the inspection process towel, so as to change the capping internal view of the inside of the capsule, the battery is inspected (4) exhausted: [wMi material (four) shouting The mirror device and its magnetic floating J method use the extremely small wire diameter transmission line to provide power and image = ^ small system to turn the county to read the count, and the basin transmission line (four) is only 1 / of the traditional electronic endoscope diameter 15 times smaller /, plus the patient swallowed the maglev capsule endoscope
、、、”、、、、此电于式内視鏡管徑的1/15倍小，因 二二磁浮膠囊内視鏡裝置之簡易性與方便性 以達到無痛之内視鏡檢查。 矣二匕Γ 件’完全符合發明專利中請要列 友依專利法提出申請，敬請 明剌 發明者之權益。 W查並賜准本案專利，以保,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,匕Γ 'In full compliance with the invention patent, please ask the friends to apply according to the patent law, please be aware of the rights and interests of the inventor. W check and grant the patent in this case to protect
詳丄二的具體實施例. :::本發明’本發明之所有範圍树::二：: 圍為準，凡合於本發明主一 甲π專利孳 之實施例，皆應包含於本;精神與其類她 藝者在本創作之領域内^ ’何熟悉該項拉 蓋在以下本案之專利軸。…s及之變化或修飾皆可涵 19 1286926 【圖式簡單說明】 第一圖係為習知電子式内視鏡裝置之示意圖； 第二圖係為習知膠囊内視鏡裝置之示意圖； 第三圖係為本發明磁浮膠囊内視鏡裝置最佳實施例之示意 圖； 第四圖係為本發明磁浮膠囊内視鏡裝置另一實施例之示意 圖； ~ 第五圖係為本發明磁浮膠囊内視鏡裝置及其磁浮控制方法 之磁浮控制流程圖； 第六圖係為本發明磁浮膠囊内視鏡裝置及其磁浮控制方法 之磁場控制之俯視圖； 第七圖係為本發明磁浮膠囊内視鏡裝置及其磁浮控制方法 之鏡頭與發光元件俯仰角度控制之示意圖； 第八圖係為本發明磁浮膠囊内視鏡裝置及其磁浮控制方法 之壓力感測元件動作於胃壁上之示意圖；及 第九圖係為本發明磁浮膠囊内視鏡裝置及其磁浮控制方法 之磁浮膠囊内視鏡裝置動作於胃壁上之示意圖。/ 【主要元件符號說明】 [習知] 膠囊内视鏡裝置 la 膠囊形外殼 lla 發光元件 12a 鏡頭 13a 影像感測器 14a 20 1286926 電池 15a 無線電發送器 16a 電子式内視鏡裝置 2a 光纖導管 21a 鏡頭 22a [本創作] 磁浮膠囊内視鏡裝置 1 膠囊形外殼 11 傳輸線 12 内部控制電路 13 鏡頭 14 影像感測元件 15 發光元件 16 第一磁性元件 17 第二磁性元件 17, 壓力感測元件 18DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT. ::: The invention of the invention is to be construed as being in accordance with the scope of the invention. The spirit and her classmates are in the field of this creation ^ 'He is familiar with the patented shaft of the following case in this case. ...s and changes or modifications can be 19 1986926 [Simplified illustration] The first picture is a schematic diagram of a conventional electronic endoscope device; the second picture is a schematic view of a conventional capsule endoscope device; 3 is a schematic view of a preferred embodiment of the maglev capsule endoscope device of the present invention; the fourth figure is a schematic view of another embodiment of the maglev capsule endoscope device of the present invention; ~ the fifth figure is the magnetic floating capsule of the present invention The mirror device and the maglev control method of the maglev control method; the sixth figure is a top view of the magnetic field control of the maglev capsule endoscope device and the maglev control method thereof; and the seventh figure is the maglev capsule endoscope of the present invention The schematic diagram of the lens and the tilting angle control of the light-emitting element of the device and the maglev control method; the eighth figure is a schematic diagram of the magnetic sensing capsule endoscope device and the pressure sensing element of the maglev control method acting on the stomach wall; and the ninth The figure is a schematic view of the magnetic floating capsule endoscope device of the present invention and the maglev capsule endoscope device of the maglev control method acting on the stomach wall. / [Main component symbol description] [Practical] Capsule endoscope device la Capsule-shaped housing lla Light-emitting element 12a Lens 13a Image sensor 14a 20 1286926 Battery 15a Radio transmitter 16a Electronic endoscope device 2a Fiber-optic catheter 21a Lens 22a [This creation] Maglev capsule endoscope device 1 Capsule casing 11 Transmission line 12 Internal control circuit 13 Lens 14 Image sensing element 15 Light-emitting element 16 First magnetic element 17 Second magnetic element 17, Pressure sensing element 18
21twenty one