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WO2022016736A1 - 一种胶囊内窥镜的通信方法 - Google Patents

一种胶囊内窥镜的通信方法 Download PDF

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Publication number
WO2022016736A1
WO2022016736A1 PCT/CN2020/125745 CN2020125745W WO2022016736A1 WO 2022016736 A1 WO2022016736 A1 WO 2022016736A1 CN 2020125745 W CN2020125745 W CN 2020125745W WO 2022016736 A1 WO2022016736 A1 WO 2022016736A1
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WIPO (PCT)
Prior art keywords
capsule endoscope
parameter information
data
transmission
image data
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PCT/CN2020/125745
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English (en)
French (fr)
Inventor
宁浩
王建平
阚述贤
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深圳市资福医疗技术有限公司
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Publication of WO2022016736A1 publication Critical patent/WO2022016736A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet

Definitions

  • the invention relates to the field of communication, in particular to a communication method for a capsule endoscope.
  • Capsule endoscopy as an emerging gastrointestinal inspection method, is gradually being accepted by the market. After the capsule endoscope is swallowed orally, it passes through the esophagus, stomach, small intestine and large intestine accordingly. For different abdominal parts, due to the shape of the part , The size of the channel is different, and the speed of the capsule passing is also different. In order to clearly capture the image of the body tissue, it is convenient for the doctor to accurately diagnose whether there is a disease through the image. The capsule endoscope needs to use different shooting frame rates according to different abdominal parts. . For the common adjustment of the frame rate of capsule endoscope, on the one hand, the data can be obtained through its own built-in sensor, and the judgment adjustment can be carried out in combination with the software algorithm; .
  • capsule endoscopes have been used in capsule endoscopes one after another, such as magnetic sensors, pressure sensors, IMU (Inertial Measurement Unit, Inertial Measurement Unit), etc., which enables the capsule endoscope to achieve accurate positioning in the human body, by reading the parameter information of the capsule endoscope multiple times, and reading the angular velocity and acceleration information in the IMU data at the same time, Combined with the magnet position information of the external magnetic control equipment, the accurate position of the capsule endoscope in the human body can be obtained through the software algorithm.
  • the capsule endoscope continuously collects parameter information and captures in vivo images.
  • the built-in MCU Micro Control Unit, micro-control unit
  • the working frequency band or bandwidth used for radio frequency signal transmission is also a fixed value.
  • the image frame rate of the capsule endoscope is 2 ⁇ 35 frames/ Between seconds, the data collection frequency of the sensor is usually ⁇ 20 times/second; this leads to low data processing efficiency and low reliability of wireless transmission of the capsule endoscope, and the data interaction with external storage devices and image processing devices cannot be achieved. To meet the requirements, it is difficult to realize the functions of timely adjustment and accurate positioning of the frame rate of the capsule endoscope.
  • the present invention proposes an image method of the capsule endoscope.
  • the present invention provides a communication method for a capsule endoscope, including a capsule endoscope and an external signal transceiving device, wherein the capsule endoscope includes an electrically connected camera unit, a power supply unit, a sensor unit, and an image processing unit and radio frequency transmission unit, including the following steps:
  • Capsule endoscope starts sensor initialization and image capture
  • the wideband bandwidth is ⁇ 1MHz, and the narrowband bandwidth is less than or equal to 200KHz.
  • image data and parameter information are transmitted using the same working frequency.
  • the image frame rate of the capsule endoscope is between 2 and 35 frames per second.
  • the parameter information is data whose data packet is less than or equal to 1KB.
  • the present invention provides a communication method for a capsule endoscope, including a capsule endoscope and a signal transceiving device, wherein the capsule endoscope includes an electrically connected camera unit, a power supply unit, a sensor unit, an image processing unit and a
  • the radio frequency transmission unit further includes the following steps:
  • the capsule endoscope starts sensor initialization and image capture, and obtains parameter information
  • the image frame rate of the capsule endoscope is between 2 and 35 frames per second.
  • the wideband bandwidth is ⁇ 1MHz, and the narrowband bandwidth is less than or equal to 200KHz.
  • image data and parameter information are transmitted using different operating frequencies.
  • the parameter information is data whose data packet is less than or equal to 1KB.
  • the communication method of the present invention By adopting the communication method of the present invention, according to the actual situation of different budgets of the upper and lower links of the radio frequency unit of the capsule endoscope system, and the characteristics of the large difference in the amount of image information and sensor information of the capsule endoscope, under the same working frequency, flexible operation can be achieved. Adjusting the radio frequency bandwidth improves the reliability of radio frequency transmission and reception of the capsule endoscope system; in the case of different operating frequencies, the center frequency can be flexibly set for data transmission, and different data are transmitted in different channels, and the data transmission is reliable and stable.
  • the processing adopts the parallel processing method, and the transmission efficiency is high.
  • Figure 1 A flow chart of a first embodiment of the present invention.
  • Figure 2 A flow chart of a second embodiment of the present invention.
  • Fig. 3 Schematic diagram of serial data processing of the present invention.
  • FIG. 4 Schematic diagram of data parallel processing of the present invention.
  • Fig. 5 Schematic diagram of the composition of the capsule endoscope system of the present invention.
  • Fig. 6 is a schematic diagram of the composition of the magnetic control capsule endoscope system of the present invention.
  • the data communication method of the present invention uses the same working frequency and different bandwidths to communicate data.
  • the capsule endoscope enters the human body in step 101
  • the capsule endoscope in step 102
  • the endoscope synchronously initializes the sensor and starts image capture
  • step 103 further determines whether to start sending image data, if it is determined that image data needs to be transmitted
  • step 104 performs broadband transmission of the image data; The data is equal to 1KB.
  • step 105 starts the narrowband transmission, and transmits the parameter information through the radio frequency unit.
  • step 106 further judges whether the data transmission is completed.
  • step 107 judging whether it is necessary to receive an external device control command, so as to further determine whether to adjust the operating parameters of the capsule endoscope.
  • the operating parameters are adjusted; if it is determined in step 107 that it is not necessary to receive a control command of an external device, then proceed to step 108 to continue collecting image data and parameter information.
  • the receiving sensitivity of the capsule endoscope is usually low. , by reducing the bandwidth, the receiving sensitivity of the capsule can be improved, which can better ensure that the capsule receives data correctly; on the other hand, in the actual medical environment, since there may be cases where patients gather together for examination, for the image receiving memory, due to To improve the sensitivity of the capsule, under the condition that the capsule can be received normally, the transmit power can be appropriately reduced to reduce the risk of the image receiving memory interfering with other devices.
  • the same operating frequency and different bandwidths are used for data communication.
  • the operating frequency or center frequency is set to 434MHz
  • the operating frequency band with a wideband bandwidth of 1MHz is 433.5MHz ⁇ 434.5MHz
  • the narrowband bandwidth is 100KHz
  • the working frequency band is: 433.95MHz ⁇ 434.05MHz.
  • the communication method of the present invention preferentially selects different frequency bands for data communication.
  • step 201 the capsule endoscope starts sensor initialization and image capture, step 202 starts to capture images, and synchronously acquires parameter information, which is data with a data packet less than or equal to 1KB, and then step 203 determines whether image data needs to be transmitted, if If it is judged that data transmission is required, step 204 sets the broadband center frequency to f1, and starts the broadband transmission of image data; if step 203 determines that the parameter information needs to be transmitted, then enter step 205 to start the narrowband transmission parameter information, and set the narrowband center frequency of the capsule endoscope to f2, in the process of image data and parameter information transmission, step 206 further judges whether the data transmission is completed, if it is necessary to continue to transmit image data and parameter information, then return to step 201 to continue to execute the collection of image data and parameter information; When the transmission of the sum parameter information is completed, go to step 207 to further judge whether to receive the external device control command, if so, step 209 receives the external device control command to adjust the operating parameters of the capsule end
  • the wideband bandwidth is ⁇ 1 MHz
  • the narrowband bandwidth is ⁇ 200 KHz.
  • FIG. 3 a schematic diagram of serial data processing in the present invention.
  • the usual capsule endoscope MCU is a serial processing mechanism.
  • the present invention sets the MCU as the parallel processing mechanism. Compared with the serial processing mechanism, the time required to process the same amount of data is each data packet. The longest processing time in , which meets the timeliness requirements of capsule endoscopy data.
  • FIG. 5 a schematic diagram of the composition of the capsule endoscope system of the present invention.
  • the capsule endoscope system of the present invention is composed of a capsule endoscope 10 , an image receiving memory 20 and an image workstation 30 , wherein the capsule endoscope 10 further includes an image sensor 1001 , a magnetic sensor 1002 , an IMU unit 1003 , an MCU unit 1004 and a first RF transceiver unit 1005 .
  • the image receiving memory 20 further includes a second RF transceiver unit 2001, an MCU unit 1004, a data storage unit 2003 and a data transmission unit 2004.
  • FIG. 6 a schematic diagram of the composition of the magnetic control capsule endoscope system of the present invention.
  • the magnetic control capsule endoscope system includes a capsule endoscope 10 , a magnetic control device 40 and an image workstation 30 , wherein the composition of the capsule endoscope 10 is the same as that of the image workstation 30 .
  • the magnetic control device 40 further includes a second RF transceiver unit 2001 , an electrical control cabinet 4001 , a motor unit 4002 , a magnetic head module 4003 and a data transmission unit 2004 .

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Abstract

本发明公布了一种胶囊内窥镜的通信方法，可以根据胶囊内窥镜系统射频单元上下链路的预算不同的现实情况，以及胶囊内窥镜图像数据和参数信息大小差异较大的特点，在工作频率相同情况下，灵活调整射频带宽，提高了胶囊式内窥镜系统射频收发可靠性；工作频率不同的情况下，灵活设定中心频率进行数据传输，对图像数据采用宽带传输，对参数信息进行窄带传输，数据传输可靠、稳定，同时，数据处理采用并行处理方式，传输效率高，保证了图像数据和参数信息同时传输，利于胶囊精确定位。

Description

一种胶囊内窥镜的通信方法 技术领域
本发明涉及通信领域，具体涉及到一种胶囊内窥镜的通信方法。
 背景技术
胶囊内窥镜作为新兴的胃肠道检查方式，正在逐步的被市场接受，胶囊内窥镜通过口服方式吞咽后，依此通过食道、胃、小肠和大肠，对于不同的腹腔部位，由于部位形状、通道大小不同，胶囊通过的速度也不同，为了能清晰的拍摄到体内组织的图像，方便医生通过图像准确诊断是否有病变，需要胶囊内窥镜根据不同的腹腔部位，采用不同的拍摄帧率。常见的对于胶囊内窥镜帧率的调节，一方面可通过自身内置的传感器获取数据，结合软件算法进行判定调节；另一方面，可通过体外的图像接收传感器或磁控设备下发命令进行调节。
随着集成电路技术的发展成熟，各种微型传感器相继应用于胶囊内窥镜，例如磁传感器、压力传感器、IMU(Inertial Measurement Unit，惯性测量单元)等，这就使得胶囊内窥镜可以在人体内的实现准确定位，通过多次读取胶囊内窥镜的参数信息，同时读取IMU数据中的角速度和加速度信息，结合外部磁控设备的磁铁位置信息，通过软件算法可以获取胶囊内窥镜在人体内的准确位置。在测量和计算的过程中，胶囊内窥镜持续采集参数信息和拍摄体内图像。
 但是由于胶囊内窥镜内置的MCU（Micro Control Unit，微控制单元）对图像信息处理和参数信息都是采用串行处理的方式，且射频信号发射采用的工作频段或带宽也是固定值，胶囊内窥镜的图像帧率在2~35帧/秒之间，传感器的数据采集频率通常≥20次/秒；这就导致了胶囊内窥镜的数据处理效率低，无线传输可靠性低，进而与外部存储设备及图像处理设备的数据交互达不到要求，难以实现胶囊内窥镜帧率的及时调整和准确定位等功能。
 因此，有必要开发新的胶囊内窥镜的通信方法，提高数据的处理效率和传输可靠性，保证图像数据和参数信息同时传输，利于胶囊精确定位，提升产品的竞争力。
 技术问题
为了解决胶囊内窥镜数据的处理效率和传输可靠性的不足，本发明提出一种胶囊内窥镜的图像方法。
 技术解决方案
第一方面，本发明提供一种胶囊内窥镜的通信方法，包括胶囊内窥镜和外部信号收发设备，其中胶囊内窥镜包括电性连接的摄像单元，电源单元，传感器单元，图像处理单元及射频传输单元，包括以下步骤：
胶囊内窥镜启动传感器初始化及图像拍摄；
判断需要通过射频传输的数据类型，若判断需要传输图像数据，启动图像数据的宽带传输，若判断需要传输参数信息，则启动窄带传输；
进一步判断数据传输是否完成，如果数据传输完成，进一步判断是否需要接收外部设备控制命令，如果需要接收外部设备控制命令，则接收并执行该外部设备控制命令，对胶囊内窥镜的运行参数进行调整；
若否，则继续采集图像数据和参数信息。
进一步的，所述的宽带带宽≥1MHz，窄带带宽≤200KHz。
进一步的，所述的图像数据和参数信息采用相同工作频率传输。
进一步的，所述的胶囊内窥镜的图像帧率在2~35帧/秒之间。
进一步的，所述的参数信息为数据包小于等于1KB的数据。
第二方面， 本发明提供一种胶囊内窥镜的通信方法，包括胶囊内窥镜和信号收发设备，其中胶囊内窥镜包括电性连接的摄像单元，电源单元，传感器单元，图像处理单元及射频传输单元，进一步包括以下步骤：
胶囊内窥镜启动传感器初始化和图像拍摄，并获取参数信息；
判断需要通过射频传输的数据类型；
如果判断需要传输图像数据，则设置宽带中心频率，启动宽带传输图像数据；
如果判断需要传输参数信息，则设置窄带中心频率，启动窄带传输参数信息；
进一步判断图像数据或参数信息传输是否完成，如果需要继续传输数据，则返回继续执行图像数据和参数信息的采集；
当判断图像数据和参数信息传输完成时，进一步判断是否接收外部设备控制命令，如果需要接收外部控制命令，则接收并执行外部设备控制命令；若否，
则继续执行图像数据和参数信息的采集。
进一步的，所述的胶囊内窥镜的图像帧率在2~35帧/秒之间。
进一步的，所述的宽带带宽≥1MHz，窄带带宽≤200KHz。
进一步的，所述的图像数据和参数信息采用不同工作频率传输。
进一步的，所述的参数信息为数据包小于等于1KB的数据。
 有益效果
采用本发明的通信方法，可以根据胶囊内窥镜系统射频单元上下链路的预算不同的现实情况，以及胶囊内窥镜图像信息和传感器信息量大小差异大的特点，工作频率相同情况下，灵活调整射频带宽，提高了胶囊式内窥镜系统射频收发可靠性；工作频率不同的情况下，灵活设定中心频率进行数据传输，不同数据在不同信道进行传输，数据传输可靠、稳定，同时，数据处理采用并行处理方式，传输效率高。
 附图说明
图1：本发明第一实施例的流程图。
图2：本发明第二实施例的流程图。
图3：本发明的数据串行处理示意图。
图4：本发明的数据并行处理示意图。
图5：本发明的胶囊内窥镜系统组成示意图。
图6：本发明的磁控胶囊内窥镜系统组成示意图。
 本发明的最佳实施方式
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
请参考图1本发明第一实施例的流程图，本发明的数据通信方法采用相同工作频率、不同带宽的方式进行数据通信，步骤101当胶囊内窥镜进入人体内时，步骤102的胶囊内窥镜同步初始化传感器及启动图像拍摄，步骤103进一步判断是否开始发送图像数据，若判断需要传输图像数据，步骤104进行图像数据的宽带传输；若判断需要传输参数信息，该参数信息为数据包小于等于1KB的数据，此时步骤105启动窄带传输，将参数信息通过射频单元进行传输，在步骤104或步骤105传输数据时，步骤106进一步判断数据传输是否完成，如果数据传输完成，则进入步骤107，判断是否需要接收外部设备控制命令，以便进一步判断是否需要调整胶囊内窥镜的运行参数，如果需要接收外部设备控制命令，则步骤109接收并执行该外部设备控制命令，对胶囊内窥镜的运行参数进行调整；如果步骤107判断不需要接收外部设备控制命令，则进入步骤108继续采集图像数据和参数信息。
在第一实施例中，由于受胶囊内窥镜的尺寸限制，胶囊内窥镜的接收灵敏度通常偏低，在图像接收存储器向胶囊内窥镜下发命令时，在收发链路相同的情况下，通过减少带宽，可以提高胶囊的接收灵敏度，可以更好保证胶囊正确接收数据；另一方面，在实际的医疗环境中，由于可能存在患者聚集在一起检查的情况，因此对于图像接收存储器，由于胶囊灵敏度的提高，在保证胶囊可正常接收的情况下，可以适当降低发射功率，降低图像接收存储器干扰其他设备的风险，射频单元的接收灵敏度S采用公式：S=-174+10lgBW+NF+SNR，其中BW表示带宽，NF表示噪声系数，SNR表示信噪比。
本发明第一实施例中采用相同工作频率、不同带宽的方式进行数据通信，例如工作频率或中心频率设置为434MHz，对宽带带宽为1MHz的工作频段为433.5MHz~434.5MHz，对于窄带带宽为100KHz的工作频段为：433.95MHz~434.05MHz。
请参考图2本发明第二实施例的流程图，当采用不同工作频率，不同带宽进行数据通信时，由于胶囊内窥镜拍摄图像的帧率通常在2~35fps之间，而对其他传感器读数频率很高，甚至需要实时和外部磁控设备进行数据通信，此时需要通过不同工作频率，不同带宽解决，例如设置中心频率2.48GHz，宽带带宽为6MHz的宽带传输通道和中心频率433.1MHz，窄带带宽为100KHz的窄带通道方案进行数据通信，此处的宽带工作频段为2.45GHz~2.411GHz，窄带工作频段为433.05MHz~433.15MHz。
特别地，为了防止出现邻频干扰问题，同时从降低硬件设计难度和成本考量，本发明的通信方法优先选择不同频段进行数据通信。
 步骤201中，胶囊内窥镜启动传感器初始化和图像拍摄，步骤202开始拍摄图像，并同步获取参数信息，该参数信息为数据包小于等于1KB的数据，接着步骤203判断是否需要传输图像数据，如果判断需要传输数据，步骤204设置宽带中心频率为f1，启动宽带传输图像数据；如果步骤203判断需要传输参数信息，则进入步骤205启动窄带传输参数信息，将胶囊内窥镜的窄带中心频率设置为f2，在图像数据和参数信息传输的过程中，步骤206进一步判断数据传输是否完成，如果需要继续传输图像数据和参数信息，则返回步骤201继续执行图像数据和参数信息的采集；当判断图像数据和参数信息传输完成时，进入步骤207，进一步判断是否接收外部设备控制命令，若是，则步骤209接收外部设备控制命令调整胶囊内窥镜的运行参数；若否，则步骤208继续执行图像数据和参数信息的采集。
 特别的，上述本发明第一实施例和第二实施例中的宽带带宽≥1MHz，窄带带宽≤200KHz。
 请参考图3本发明的数据串行处理示意图，通常的胶囊内窥镜MCU为串行处理机制，对于不同传感器的数据，分别在不同的时间点读取数据，整个参数信息的传输时间为t0=T0+T1+……Tn，胶囊内窥镜对图像数据和参数信息的处理效率较低。
    请参考图4本发明的数据并行处理示意图，为了解决串行处理机制的不足，本发明将MCU设置为并行处理机制，与串行处理机制比较，处理同样数据量所需的时间为各个数据包中的最长处理时间，满足了胶囊内窥镜数据的时效性要求。
 请参考图5本发明的胶囊内窥镜系统组成示意图，本发明的胶囊内窥镜系统由胶囊内窥镜10、图像接收存储器20及图像工作站30组成，其中胶囊内窥镜10进一步包括图像传感器1001、磁传感器1002、IMU单元1003，MCU单元1004及第一RF收发单元1005。
 图像接收存储器20进一步包括第二RF收发单元2001，MCU单元1004，数据存储单元2003及数据传输单元2004。
 请参考图6本发明的磁控胶囊内窥镜系统组成示意图，该磁控胶囊内窥镜系统包括胶囊内窥镜10，磁控设备40及图像工作站30，其中胶囊内窥镜10的组成与图5相同，不再赘述，磁控设备40进一步包括第二RF收发单元2001，电气控制柜4001，电机单元4002，磁头模组4003及数据传输单元2004。
 以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种胶囊内窥镜的通信方法，包括胶囊内窥镜和外部信号收发设备，其中胶囊内窥镜包括电性连接的摄像单元，电源单元，传感器单元，图像处理单元及射频传输单元，其特征在于，包括以下步骤：
    胶囊内窥镜启动传感器初始化及图像拍摄；
    判断需要通过射频传输的数据类型，若判断需要传输图像数据，启动图像数据的宽带传输，若判断需要传输参数信息，则启动窄带传输；
    进一步判断数据传输是否完成，如果数据传输完成，进一步判断是否需要接收外部设备控制命令，如果需要接收外部设备控制命令，则接收并执行该外部设备控制命令，对胶囊内窥镜的运行参数进行调整；
    若否，则继续采集图像数据和参数信息。
  2. 如权利要求1所述的胶囊内窥镜的通信方法，其特征在于，所述的宽带带宽≥1MHz，窄带带宽≤200KHz。
  3. 如权利要求1所述的胶囊内窥镜的通信方法，其特征在于，所述的图像数据和参数信息采用相同工作频率传输。
  4. 如权利要求1所述的胶囊内窥镜的通信方法，其特征在于，所述的胶囊内窥镜的图像帧率在2~35帧/秒之间。
  5. 如权利要求1所述的胶囊内窥镜的通信方法，其特征在于，所述的参数信息为数据包小于等于1KB的数据。
  6. 一种胶囊内窥镜的通信方法，包括胶囊内窥镜和信号收发设备，其中胶囊内窥镜包括电性连接的摄像单元，电源单元，传感器单元，图像处理单元及射频传输单元，其特征在于，进一步包括以下步骤：
    胶囊内窥镜启动传感器初始化和图像拍摄，并获取参数信息；
    判断需要通过射频传输的数据类型；
    如果判断需要传输图像数据，则设置宽带中心频率，启动宽带传输图像数据；
    如果判断需要传输参数信息，则设置窄带中心频率，启动窄带传输参数信息；
    进一步判断图像数据或参数信息传输是否完成，如果需要继续传输数据，则返回继续执行图像数据和参数信息的采集；
    当判断图像数据和参数信息传输完成时，进一步判断是否接收外部设备控制命令，如果需要接收外部控制命令，则接收并执行外部设备控制命令；若否，
    则继续执行图像数据和参数信息的采集。
  7. 如权利要求6所述的胶囊内窥镜的通信方法，其特征在于，所述的胶囊内窥镜的图像帧率在2~35帧/秒之间。
  8. 如权利要求6所述的胶囊内窥镜的通信方法，其特征在于，所述的宽带带宽≥1MHz，窄带带宽≤200KHz。
  9. 如权利要求6所述的胶囊内窥镜的通信方法，其特征在于，所述的图像数据和参数信息采用不同工作频率传输。
  10. 如权利要求6所述的胶囊内窥镜的通信方法，其特征在于，所述的参数信息为数据包小于等于1KB的数据。
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