阅读说明：本技术 一种消化道动力检测方法、系统和胶囊 (Digestive tract dynamic detection method, digestive tract dynamic detection system and digestive tract dynamic detection capsule ) 是由 怀效宁 于 2021-11-03 设计创作，主要内容包括：本发明提供了一种基于消化道胶囊的消化道动力检测系统和胶囊,包括数据采集模块、数据处理模块。用于获取消化道内壁的深度图或点云,提取形态特征,包括消化道的曲率、内径和容积,作为消化道动力评估的一个参照。本发明还提供了一种消化道动力磁控检测系统,包括：控制模块、磁驱动模块、磁定位模块、胶囊；磁驱动模块驱动胶囊在消化道中运动；控制模块根据胶囊在胃肠动力和磁力作用下的位置和运动数据和驱动磁力估计胃肠动力。(The invention provides a digestive tract dynamic detection system based on a digestive tract capsule and the digestive tract dynamic detection system based on the digestive tract capsule. The method is used for acquiring a depth map or a point cloud of the inner wall of the digestive tract, and extracting morphological characteristics including the curvature, the inner diameter and the volume of the digestive tract to be used as a reference for evaluating the kinetic force of the digestive tract. The invention also provides a magnetic control detection system for the digestive tract power, which comprises: the device comprises a control module, a magnetic driving module, a magnetic positioning module and a capsule; the magnetic driving module drives the capsule to move in the digestive tract; the control module estimates gastrointestinal motility according to the position and movement data of the capsule under the action of the gastrointestinal motility and the magnetic force and the driving magnetic force.)