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

摘要

PURPOSE: A microrobot system and a capsule type endoscope system for the inspection of tubular digestive organs are provided to accurately inspect diseases existing on the wall surfaces of tubular digestive organs by installing a camera on the cylindrical wall surface of the microrobot. CONSTITUTION: A capsule type endoscope unit(100') comprises a magnet module(110') having a specific magnetization direction. The capsule type endoscope unit comprises a microrobot unit which progresses with the rotation along the wall surface by the precession rotating magnetic field. An electromagnetic field generating unit(200) set up the alignment direction of the microrobot unit to have a magnetization direction with a certain angle. The electromagnetic field generating unit generates the magnetic field in the alignment direction and operates the microrobot unit. The electromagnetic field generating unit includes a uniform magnetic field generation module(210) and a gradient magnetic field generation module(220). An imaging unit(300) receives and displays the images taken by the capsule type endoscope unit and the position of the capsule type endoscope unit. The imaging unit includes a data receiver module(310) and a display module(320). [Reference numerals] (100') Capsule type endoscope unit; (110') Magnet module; (120') Camera module; (130') Data transmission module; (140') Lighting module; (200) Electromagnetic field generating unit; (210) Uniform magnetic field generation module; (211) Helmholtz coil unit; (212) Fixed uniform saddle coil unit; (220) Gradient magnetic field generation module; (221) Maxwell coil unit; (222) Rotary gradient saddle coil unit; (300) Imaging unit; (310) Data receiver module; (320) Display module