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WO2008016196A1 - ENDOSCOPE ET SON PROCÉDÉ DE MANœUVRE DE L'ENDOSCOPE - Google Patents

ENDOSCOPE ET SON PROCÉDÉ DE MANœUVRE DE L'ENDOSCOPE Download PDF

Info

Publication number
WO2008016196A1
WO2008016196A1 PCT/KR2006/003041 KR2006003041W WO2008016196A1 WO 2008016196 A1 WO2008016196 A1 WO 2008016196A1 KR 2006003041 W KR2006003041 W KR 2006003041W WO 2008016196 A1 WO2008016196 A1 WO 2008016196A1
Authority
WO
WIPO (PCT)
Prior art keywords
endoscope
fluid
endoscope body
tube
unit
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.)
Ceased
Application number
PCT/KR2006/003041
Other languages
English (en)
Inventor
Han Bo Shim
Won Woo Cho
Jung Jin Hwang
Kwang Seop Kim
Young Dae Seo
Eun Young Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intromedic Co Ltd
Original Assignee
Intromedic Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Intromedic Co Ltd filed Critical Intromedic Co Ltd
Priority to PCT/KR2006/003041 priority Critical patent/WO2008016196A1/fr
Publication of WO2008016196A1 publication Critical patent/WO2008016196A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging

Definitions

  • the present invention relates to an endoscope, and more particularly, to an apparatus and method for moving the endoscope .
  • An endoscope is an instrument that can be inserted into an intestine, lesion of which cannot be observed without a surgical operation " or a postmortem examination, to observe the intestine.
  • the endoscope may be classified as a direct delivery endoscope having a single tube to directly observe an intestine with the naked eye, an endoscope using a lens system, an endoscope having a camera that can be directly inserted into the intestine (a stomach camera) , or a fiber scope using glass fiber.
  • An endoscope for digestive organs, especially a stomach has been developed to a high degree. For this reason, the endoscope generally refers to the stomach camera or the stomach fiber scope.
  • a means for easily moving the endoscope in the intestine of a human body is necessary so as to solve problems related to the use of the endoscope, to eliminate pain suffered by patients, or to solve technical problems related to the skillfulness of an operator.
  • mechanical legs are mounted at the surface of the endoscope, it is difficult to move the endoscope in the internal part of the complicated small intestine, and the internal part of the small intestine may be injured.
  • An object of the present invention devised to solve the problem lies on an endoscope that is capable of easily moving in the internal part of an intestine of a human body and a method for moving the same.
  • Another object of the present invention devised to solve the problem lies on an endoscope that does not injure the internal part of an intestine of a human body, when the endoscope moves in the internal part of the intestine, and a method for moving the same.
  • the object of the present invention can be achieved by providing an endoscope comprising: an endoscope body having an image information acquisition unit, a data processing unit, and a light source; a fluid supplying unit for supplying a fluid into the endoscope body; and at least one fluid injecting unit for injecting the fluid from the endoscope body into an intestine so as to supply power to the endoscope body.
  • the endoscope further comprises: a fluid discharging unit for discharging the fluid injected from the endoscope body out of the intestine.
  • the fluid supplying unit comprises at least one tube . More preferably, the at least one tube has elasticity.
  • the at least one tube is provided at one side thereof with at least one opening, the opening being closed when the fluid is supplied into the endoscope body and opened when the fluid is discharged from the endoscope body.
  • the endoscope further comprises: a first electric wire disposed in the at least one tube for supplying power to the endoscope body.
  • the endoscope further comprises: a second electric wire disposed in the at least one tube for processing image data.
  • the at least one tube comprises a first tube and a second tube, the first tube serving to supply the fluid into the endoscope body and the second tube serving to discharge the fluid injected from the endoscope body out of the intestine.
  • the endoscope body is formed in the shape of a capsule, and the at least one fluid injecting unit is mounted at the surface of the endoscope body.
  • the at least one fluid injecting unit includes two fluid injecting units , mounted at the surface of the endoscope body adjacent to the fluid supplying unit for controlling the lateral movement of the endoscope body.
  • the at least one fluid injecting unit includes four fluid injecting units mounted at the surface of the endoscope body for controlling the forward and backward movement of the endoscope body as well as the lateral movement of the endoscope body.
  • the endoscope further comprises: a membrane for separating the image information acquisition unit, the data processing unit, and the light source, which are mounted in the endoscope body, from the fluid supplied into the endoscope body.
  • the endoscope further comprises: at least one cover, the number of which is equal to that of the at least one fluid injecting unit, for covering the at least one fluid injecting unit.
  • the endoscope body includes a metal member, whereby the endoscope body is moved by a magnet.
  • the endoscope further comprises: propelling members mounted at the surface of the endoscope body such that the propelling members are rotated by the fluid supplied into the endoscope body so as to supply power to the endoscope body.
  • a method for moving an endoscope comprising: supplying a fluid into an endoscope body; and injecting the fluid from the endoscope body into an intestine so as to supply power to the endoscope body.
  • the endoscope body illuminates light on a subject and acquires and , processes image information of the subject .
  • the method further comprises : discharging the fluid injected from the endoscope body out of the intestine.
  • the endoscope body includes a metal member, and the method further comprises: changing a magnetic force outside the endoscope body so as to supply power to the endoscope body.
  • the method further comprises: rotating propelling members mounted at the sides of the endoscope body, in accordance with the flow of the fluid supplied into the endoscope body, so as to supply power to the endoscope body.
  • the supplying power to the endoscope body includes injecting the fluid supplied into the endoscope body from at least one side of the endoscope body so as to supply power to the endoscope body in at least one of the lateral, forward, and backward directions.
  • the fluid is supplied into the endoscope body through a tube connected to the endoscope body, the tube having at least two electric wires mounted therein, and the method further comprises: supplying power to the endoscope body and transmitting image data out of a human body through the at least two electric wires.
  • the endoscope can easily move in the internal part of the intestine of the human body. Also, the endoscope does not injure the internal part of the intestine of the human body during movement of the endoscope. Furthermore, it is possible to control the injection direction of a fluid, and therefore, to easily control the movement direction of the endoscope in all directions .
  • FIGs. 1 to 12 are views typically illustrating endoscopes according to various embodiments of the present invention.
  • FIG. 13 is a view illustrating a method for moving an endoscope according to an embodiment of the present invention.
  • An endoscope according to the present invention is characterized in that the endoscope can perform various operations, such as treatment, diagnosis, and examination, in the internal part of an intestine of a human body.
  • the endoscope according to the present invention is used in the internal part of an intestine of an animal as well as in the internal part of the intestine of the human body.
  • the endoscope requires power when the endoscope moves in the internal part of the intestine.
  • the present invention is characterized in that a fluid is supplied into the endoscope, and the fluid is injected from the endoscope into the intestine, whereby the endoscope is provided with power.
  • the fluid is a gas or a liquid.
  • FIGs. 1 to 3 are views typically illustrating various embodiments of the endoscope according to the present invention. Hereinafter, the various embodiments of the endoscope according to the present invention will be described with reference to FIGs. 1 to 3.
  • the endoscope includes an endoscope body 100, a fluid supplying unit 110 for supplying a fluid 125 into the endoscope body 100, and a fluid injecting unit 120 for injecting the fluid 125 out of the endoscope body 100.
  • the fluid supplying unit 110 is formed in the shape of a tube, as shown in FIG. 1. More preferably, the fluid supplying unit 110 has elasticity. The tube is introduced into a human body along with the endoscope body 100. For this reason, the tube must be made of a material harmless to the human body.
  • the tube must be made of a flexible material, such as vinyl, such that patients do not feel uncomfortable and suffer pain when a medical operation is performed using the endoscope. Also, when the endoscope is withdrawn out of the human body, it is preferable to pull the tube in addition to the power generated by the injection of the fluid. Consequently, it is necessary that the tube is not easily deformed or cut.
  • FIG. 2 illustrates another embodiment characterized by two fluid supplying units 110 and 110', each of which is formed in the shape of a tube.
  • FIG. 3 illustrates another embodiment characterized by five fluid injecting units 120 in addition to the two fluid supplying units 110 and 110' , each of which is formed in the shape of a tube.
  • the fluid supplying unit may be constructed in a single tube, it is possible to easily control the amount of fluid supplied using two or more fluid supplying units.
  • the fluid When the fluid is injected from the endoscope body through the fluid injecting units, the endoscope body moves in the direction opposite to the injection direction of the fluid 125.
  • the two fluid injecting units 120 are mounted at the surface of the endoscope body 100, to which the fluid supplying units 110 and 110' are connected. Consequently, the lateral movement of the endoscope body 100 can be controlled, during the forward movement of the endoscope body 100, according to the injection direction of the fluid.
  • the five fluid injection units 120 are mounted at opposite sides of the endoscope body 100. Consequently, when the fluid is injected into an intestine through only some of the five fluid injection units 120, it is possible to control the forward and backward movement of the endoscope body as well as to control the lateral movement of the endoscope body. However, the backward movement of the endoscope 100 is performed in the direction in which the endoscope is withdrawn out of the intestine. Consequently, the backward moment of the endoscope 100. is also accomplished by pulling the fluid supplying units 110 and 110' , each of which is formed in the shape of a tube. In addition, it is preferable that the fluid injection units 120 be provided at four corners of the endoscope body 100 to control the movement direction of the endoscope.
  • FIG. 4 is a view typically illustrating the internal structure of the endoscope body of the endoscope according to the present invention.
  • the internal structure of the endoscope body will be described in detail with reference to FIG. 4.
  • a light source 20, a camera 30, a lens 40, an aperture 50, and an image processing unit 60 are mounted in the endoscope body 100.
  • the fluid supplying unit is formed at a surface 10 of the endoscope body opposite to the light source 20.
  • the endoscope body 100 serves to receive the camera 30 in an integrated fashion.
  • the endoscope body 10 may be constructed in other types different from a capsule type so long as internal components of the endoscope can be mounted in the endoscope body 100.
  • the endoscope body 100 may have a circular or polygonal section. However, it is preferable that the endoscope body 100 be constructed in a capsule structure having a circular section in consideration of ease of use or removal of pain during the introduction of the endoscope body 100 into the human body.
  • the camera 30 serves to photograph images of a subject, such as digestive organs of the human body.
  • an image sensor such as a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS), is used as the camera 30, although other different optical devices may be used as the camera 30.
  • the lens 40 is a device for projecting light emitted from the subject and incident through the aperture 40 to the camera 30. As shown in FIG. 4, the lens 40 is a convex lens. However, any other lens may be used so long as the focus of the image of the subject can be adjusted by the lens.
  • the aperture 50 is a space defined in the light source 20.
  • the aperture 50 is formed in the shape of a circle, although the aperture 50 may be formed in other different shapes, such as a polygon.
  • the image processing unit 60 serves to transmit image information obtained by the camera 30 or to process the image information according to the command of a user.
  • the image process unit 50 may transmit the image of the subject to a server of the user without modification, or may process, for example, compress, the image of the subject and transmit the compressed image of the subject.
  • the image processing unit 60 have only the transmitting function in consideration of the fact that the capsule-type endoscope is small-sized and lightweight.
  • the endoscope according to the present invention further include a driving unit for driving the camera 30, which is apparent to those skilled in the art to which the present invention pertains, and therefore, a further detailed description thereof will not be given.
  • the endoscope further include a reflecting plate.
  • the reflecting plate is disposed between the light source 20 and the endoscope body 100 for reflecting light, emitted from the light source 20 and propagating to the endoscope body 100, to the front.
  • the "front” means the direction in which most of light emitted from the light source 20 propagates. In other words, the “front” means the direction opposite to the direction in which the light emitted from the light source 20 propagates to the endoscope body 100.
  • the fluid supplying unit is mounted in the direction opposite to the front, as described above.
  • the reflection plate is made of epoxy containing a material for easily reflecting light, such as glass.
  • the reflecting plate which is made of epoxy
  • the endoscope body 100 which is made of polychlorinated biphenyl (PCB)
  • PCB polychlorinated biphenyl
  • the angle of the reflecting plate is adjusted to control the dispersion of the light.
  • the light source is used to illuminate internal digestive organs of the human body and to photograph images of the internal digestive organs. Accordingly, it is preferable that the light source emit white light. When specific regions are illuminated and photographed, however, the light source may be constructed to emit visible rays of a specific wavelength range.
  • the light source 20 is used to illuminate the subject. Consequently, it is preferable that the light source 20 be mounted at the front surface of an endoscope body 100. Of course, light emitted from the endoscope may be reflected and projected to a subject, or light incident from the subject may be reflected and projected to the camera. For a simplified structure, it is preferable to dispose the light source 20 in the same direction as the aperture, through which the image of the subject is introduced.
  • the space defined in the light source 20 constitutes the aperture 50, which is a channel for guiding the image of the subject into the endoscope body.
  • the light source 20 is a light emitting diode (LED) .
  • the LED has high light efficiency, high directionality, and low power consumption. Consequently, the LED is preferable to use as the light source.
  • a membrane 105 is formed inside the endoscope body 100 for separating intestine photographing equipment mounted in the endoscope body 100 from the fluid.
  • the intestine photographing equipment includes an image information acquisition unit, such as a camera, a data processing unit, and a light source.
  • the respective fluid injecting units 120 are provided with covers 120a to 12Od. When the fluid injecting units 120 are covered by the respective covers 120a to 12Od, the fluid is injected into an intestine through the remaining fluid injecting unit 120 to control the movement direction of the endoscope.
  • the endoscope further includes a fluid discharging unit 130 for discharging fluid supplied into the endoscope body 100 and injected from the endoscope body 100 out of the intestine.
  • the fluid supplying unit 100 is constructed in the shape of a tube.
  • one side of the tube 110 is formed at least one opening, which is opened or closed by a flap 111 or 111' .
  • the flap 111 or 111' mounted to the tube 110 such that the opening of the tube 110 can be opened and closed by the flap 111 or 111' .
  • the opening of the tube is closed by the flap 111.
  • the opening of the tube is opened by the flap 111' , and therefore, the fluid is discharged out of the tube 110. That is to say, this embodiment is characterized in that the supply and discharge of a fluid are accomplished using a single tube according to the movement direction of the fluid.
  • two electric wires are disposed in the fluid supplying unit 110.
  • One electric wire 150 serves to supply power to the endoscope body, and the other electric wire 160 serves to process image data.
  • batteries may be mounted in the endoscope, it is preferable to supply power into the endoscope body from the outside of the endoscope body in order to perform long-duration treatment or diagnosis. Consequently, the electric wire 150 is provided to supply power into the endoscope body.
  • the electric wire 160 is provided to transmit image data photographed by the camera .
  • the fluid supplying unit 110 is partitioned into a first inner pipe 170 and a second outer pipe 180.
  • the first inner pipe 170 serves to supply a fluid into the endoscope body 100.
  • the second outer pipe 180 serves to discharge the fluid injected from the endoscope body 100 out of the intestine.
  • the fluid supplying unit 110 also serves to discharge the fluid injected from the endoscope body 110 out of the intestine.
  • FIG. 10 is a view concretely illustrating the function of the membrane 105 disposed in the endoscope body 100 and the covers 120a to 12Od for the fluid injecting units 120.
  • a fluid supplied into the endoscope body through the fluid supplying unit 110 is isolated from the other parts of the endoscope body 100 by the membrane 105.
  • the covers 120a to 12Od are provided at the respective fluid injecting units 120. The injection direction of the fluid is changed by the opening and closing of the respective covers 120a to 12Od, and, as a result, the movement direction of the endoscope is changed.
  • FIG. 11 is a view illustrating an endoscope having a moving unit, which can move using a magnetic force, according to an embodiment of the present invention.
  • a metal member 100' is mounted in the endoscope body 100.
  • FIG. 12 is a view illustrating an endoscope having propelling members, which supply power to the endoscope body, according to an embodiment of the present invention.
  • the propelling members 400 are provided at opposite sides of the endoscope body 100.
  • the propelling members 400 are rotated according to the flow of the fluid supplied into the endoscope body 100 through the fluid supplying unit 110.
  • friction occurs between the propelling members 400 disposed outside the endoscope body 100 and the digestive fluid of the corresponding intestine.
  • power is supplied to the endoscope .
  • the endoscope moves in an intestine according to law of momentum conservation. Consequently, the endoscope can be easily operated while discomfort and pain in the intestine are IS reduced. Also, it is possible to control the movement direction of the endoscope, such that the endoscope can move in the lateral direction as well as in the forward and backward directions, according to the injection direction of the fluid. Furthermore, the power for moving the endoscope is increased by using the magnetic force or the propelling members .
  • the endoscope moving method includes supplying a fluid into the endoscope body (SlOO), injecting the fluid from the endoscope body into an intestine (SIlO), and discharging the fluid injected from the endoscope body, i.e., the fluid injected into the internal part of the intestine, out of the intestine (S120) .
  • the metal member may be mounted in the endoscope body.
  • the endoscope moving method according to the present invention may further include changing a magnetic force from the outside of the intestine to supply power to the endoscope body according to the change of the external magnetic field.
  • the propelling members may be mounted at the opposite sides of the endoscope body.
  • the endoscope moving method according to the present invention may further include rotating the propelling members to supply power to the endoscope body.
  • the endoscope moving method according to the present invention may further include discharging the fluid injected from the endoscope body out of the intestine and illuminating light on a subject to acquire image information of the subject. Furthermore, the injection direction of the fluid may be changed, when the fluid is injected into the intestine, so as to change the movement direction of the endoscope.
  • the endoscope can easily move in the internal part of the intestine of the human body. Also, the endoscope does not injure the internal part of the intestine of the human body during movement of the endoscope. Consequently, the usefulness of the endoscope as a means for diagnosis and treatment is very high.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un endoscope qui comprend un corps de l'endoscope (100) équipé d'une unité d'acquisition de données d'image (30), d'une unité de traitement de données (60), et d'une source lumineuse (20), d'une unité d'alimentation en liquide (110) pour alimenter le corps de l'endoscope en liquide, et d'une unité d'injection de liquide (120) pour injecter le liquide à l'intérieur d'un intestin depuis le corps de l'endoscope, de façon à alimenter ce dernier en énergie. Selon l'invention, l'endoscope se déplace facilement à l'intérieur de l'intestin.
PCT/KR2006/003041 2006-08-02 2006-08-02 ENDOSCOPE ET SON PROCÉDÉ DE MANœUVRE DE L'ENDOSCOPE Ceased WO2008016196A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2006/003041 WO2008016196A1 (fr) 2006-08-02 2006-08-02 ENDOSCOPE ET SON PROCÉDÉ DE MANœUVRE DE L'ENDOSCOPE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2006/003041 WO2008016196A1 (fr) 2006-08-02 2006-08-02 ENDOSCOPE ET SON PROCÉDÉ DE MANœUVRE DE L'ENDOSCOPE

Publications (1)

Publication Number Publication Date
WO2008016196A1 true WO2008016196A1 (fr) 2008-02-07

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PCT/KR2006/003041 Ceased WO2008016196A1 (fr) 2006-08-02 2006-08-02 ENDOSCOPE ET SON PROCÉDÉ DE MANœUVRE DE L'ENDOSCOPE

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170245741A1 (en) * 2014-09-09 2017-08-31 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
US10485409B2 (en) 2013-01-17 2019-11-26 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
US11122965B2 (en) 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
JP7077467B1 (ja) 2021-06-09 2022-05-30 弘幸 中西 内視鏡システム、カプセル内視鏡の操作器具およびカプセル内視鏡システム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004041068A2 (fr) * 2002-10-31 2004-05-21 Regents Of The University Of Colorado Capsule guidee pour liberation de medicament, biopsie et endoscopie sans fil
WO2005045011A1 (fr) * 2003-11-11 2005-05-19 Histostem Corp Methode d'isolation et de culture de cellules souches mesenchymateuses derivees de sang de cordon ombilical cryopreserve

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004041068A2 (fr) * 2002-10-31 2004-05-21 Regents Of The University Of Colorado Capsule guidee pour liberation de medicament, biopsie et endoscopie sans fil
WO2005045011A1 (fr) * 2003-11-11 2005-05-19 Histostem Corp Methode d'isolation et de culture de cellules souches mesenchymateuses derivees de sang de cordon ombilical cryopreserve

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10485409B2 (en) 2013-01-17 2019-11-26 Vanderbilt University Real-time pose and magnetic force detection for wireless magnetic capsule
US20170245741A1 (en) * 2014-09-09 2017-08-31 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
CN107205623A (zh) * 2014-09-09 2017-09-26 范德比尔特大学 用于低资源地区中的胃癌筛查的喷液式胶囊内窥镜和方法
EP3190945A4 (fr) * 2014-09-09 2018-06-27 Vanderbilt University Capsule endoscopique introduite par hydro-jet et méthodes de dépistage d'un cancer de l'estomac faisant appel à des réglages à faibles ressources
US10758111B2 (en) 2014-09-09 2020-09-01 Vanderbilt University Hydro-jet endoscopic capsule and methods for gastric cancer screening in low resource settings
US11122965B2 (en) 2017-10-09 2021-09-21 Vanderbilt University Robotic capsule system with magnetic actuation and localization
JP7077467B1 (ja) 2021-06-09 2022-05-30 弘幸 中西 内視鏡システム、カプセル内視鏡の操作器具およびカプセル内視鏡システム
WO2022259737A1 (fr) * 2021-06-09 2022-12-15 弘幸 中西 Système endoscopique, dispositif de commande de capsule endoscopique, et système de capsule endoscopique
JP2022188728A (ja) * 2021-06-09 2022-12-21 弘幸 中西 内視鏡システム、カプセル内視鏡の操作器具およびカプセル内視鏡システム

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