CN103181748A - Control system and control method for operation posture of capsule endoscope - Google Patents
Control system and control method for operation posture of capsule endoscope Download PDFInfo
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- CN103181748A CN103181748A CN2012105589155A CN201210558915A CN103181748A CN 103181748 A CN103181748 A CN 103181748A CN 2012105589155 A CN2012105589155 A CN 2012105589155A CN 201210558915 A CN201210558915 A CN 201210558915A CN 103181748 A CN103181748 A CN 103181748A
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Abstract
The invention provides a control system and a control method for the operation posture of a capsule endoscope. The control system comprises an electromagnet power supply system, an electromagnetic coil and a capsule endoscope with a magnet, wherein the electromagnet power supply system is electrically connected with the electromagnetic coil and is used for supplying power to the electromagnetic coil and controlling current direction; and when a human body swallowing the capsule endoscope enters the magnetic field generated by the energized electromagnetic coil, the electromagnet power supply system changes the magnetic flux direction in the magnetic field by supplying current with different directions to the electromagnetic coil, so as to generate adsorption from different direction to the magnet in the capsule endoscope to change the operation posture of the human body in the capsule endoscope. The electromagnet power supply system controls the current direction in the energized electromagnetic coil so as to provide positive or negative energizing current, so that the electromagnetic coil generates a positive or negative magnetic line, the operation posture of the capsule endoscope in the stomach is changed, the capsule endoscope is controlled to close to a specific stomach wall surface so as to pickup the stomach wall in a specific position and obtain a clear stomach wall image.
Description
Technical field
The present invention relates to capsule endoscope, refer to especially a kind ofly can control control system and method with conversion to operation attitude in the stomach of capsule endoscope.
Background technology
Capsule endoscopic is the scientific and technological new product of medical development, it day by day is widely used in the medically clinical diagnosis of various diseases, adopt painless AT monitoring, diagnosing, enter after oral in human stomach or the intestinal, by its inner stomach of its lens assembly shooting at close range or intestinal wall situation, to carry out clinical diagnosis, alleviate patient's clinical misery.
After capsule endoscope enters in the body, need carry out image to the stomach of human body, because capsule endoscope is in free state, free-floating in body fluid, because its position is uncertain, captured image has too big randomness, people are difficult to judge the orientation of the image of taking the photograph sometimes, be difficult to judge the integral status in the stomach, or institute's tumor of taking the photograph is in its position where, how to determine the image of taking the photograph orientation under one's belt be a major issue that needs to be resolved hurrily.
Therefore, be necessary to provide a kind of and can control capsule endoscope shooting attitude under one's belt, to control control system and the method that it is taken clearly to required coat of the stomach, improve accuracy and the degree of accuracy of medical diagnosis.
Summary of the invention
Based on the deficiencies in the prior art, main purpose of the present invention is to provide a kind of system and method for capsule endoscope operation attitude being controlled by the solenoid of the changeable sense of current.
The invention provides a kind of control system of capsule endoscope operation attitude, the electric magnet electric power system and the solenoid that comprise mutual electrical connection, the electric magnet electric power system is to solenoid power supply and control sense of current, when the human body of the capsule endoscope of swallowing carry magnet enters in the magnetic field that the energising solenoid produces, the electric current of different directions is provided to solenoid by the electric magnet electric power system, change the flow direction in the magnetic field, to the attraction of the generation of the Magnet in capsule endoscope different directions, with the operation attitude of conversion capsule endoscope.
Preferably, described electric magnet electric power system is provided with two on-off circuits, by switching different on-off circuits, electric current is changed flow to, and changes the direction of the magnetic line of force, and then changes the operation attitude of the capsule endoscope of carry magnet in the body.
Described Magnet is sheathed on the middle part of capsule endoscope, makes the two ends counterweight of capsule endoscope equate that axle center and the center of gravity of capsule endoscope coincide, and like this, but guarantees capsule endoscope held stationary ground operation in gastric juice.
The one or both ends of described capsule endoscope are provided with camera lens, and described antenna jacket is located on the end mirror head.Two camera lenses are set, optionally specific coat of the stomach are clearly taken.
The number of turn of described solenoid is between the 300-2000 circle, and described capsule endoscope is built in the magnetic field that produces of energising solenoid, and perpendicular in the draw direction of solenoid.
In the present invention, also further provide a kind of control method of capsule endoscope operation attitude, it may further comprise the steps:
Step 1) allows the patient swallow the capsule endoscope of carry magnet, and capsule endoscope enters in patient's stomach;
Step 2) by the electric magnet electric power system solenoid is switched on, make it to produce magnetic field, human body enters and carries out the coat of the stomach detection in the described magnetic field;
Step 3) is switched on to solenoid, and solenoid produces from A the magnetic flux to the B direction, and the capsule endoscope attitude under one's belt in the guiding human body is identical with flow direction;
Step 4) is switched solenoid energising direction, and solenoid produces from B the magnetic flux to the A direction, and the capsule endoscope attitude under one's belt in the guiding human body is identical with flow direction;
Wherein, step 3) and step 4) are replaceable, by alternately controlling sense of current, to reach the purpose of the operation attitude that changes capsule endoscope.
Wherein, in step 3), capsule endoscope attitude under one's belt be Magnet the S utmost point down, the N utmost point is up; In step 4), capsule endoscope attitude under one's belt be Magnet the N utmost point down, the S utmost point is up.
Compared with prior art, the control system of capsule endoscope operation attitude of the present invention, by the sense of current in the solenoid of electric magnet electric power system control energising, electrical current forward or backwards is provided, make solenoid produce the magnetic line of force forward or backwards, be subjected to the attraction force acts of solenoid with the capsule endoscope in the control human stomach, move in the same way with the magnetic line of force, thereby make capsule endoscope externally the sense of current of solenoid change down, can change capsule endoscope operation attitude under one's belt, make it and to take the coat of the stomach of particular orientation, to obtain coat of the stomach image more clearly controllably near specific coat of the stomach face; Accuracy and controllability with further raising gastric filming image.
Description of drawings
Fig. 1 is the structural representation of capsule endoscope of the present invention;
Fig. 2 is the magnetic flux state embodiment one of solenoid of the present invention;
Fig. 3 is the magnetic flux state embodiment two of solenoid of the present invention;
Fig. 4 is the running status figure of capsule endoscope of the present invention at magnetic flux state embodiment one;
Fig. 5 is the running status figure of capsule endoscope of the present invention at magnetic flux state embodiment two;
Fig. 6 is the current status figure one of the solenoid of the control system of capsule endoscope running orbit of the present invention;
Fig. 7 is the current status figure two of the solenoid of the control system of capsule endoscope running orbit of the present invention.
The specific embodiment
Referring to figs. 1 through shown in Figure 3, the invention provides a kind of control system 100 of capsule endoscope operation attitude, the electric magnet electric power system 10 and the solenoid 20 that comprise mutual electrical connection, electric magnet electric power system 10 is to solenoid 20 power supplies and control sense of current, when the human body of the capsule endoscope 30 of swallowing carry magnet enters in the magnetic field that energising solenoid 20 produces, the electric current of different directions is provided to solenoid 20 by electric magnet electric power system 10, change the flow direction in the magnetic field, to the attraction of the generation of the Magnet in the capsule endoscope 30 different directions, with the operation attitude of conversion capsule endoscope 30.
Wherein, described electric magnet electric power system 10 can be controlled energising or the disconnection of each solenoid 20 by phased manner, described solenoid 20 is surrounded on the human body periphery, be subjected to when described solenoid 20 to switch under the control of electric magnet electric power system 10, produce magnetic field, the capsule endoscope of carry magnet moves to the strongest position of magnetic force in the human body.Wherein, the current intensity of electric magnet electric power system 10 and direction can be controlled respectively, by importing the electric current of different directions, make the solenoid 20 of energising produce the magnetic flux of different directions, capsule endoscope with carry magnet in the control human body is subjected to the action of a magnetic field, moves in the same way with magnetic flux, by changing sense of current, change the direction of magnetic flux in the magnetic field, to reach the purpose of the operation attitude of controlling capsule endoscope; The electric current that varies in size by importing, and produce strong and weak different magnetic field, move by certain speed in vivo with the control capsule endoscope, reach the purpose to the motion track constant speed control of capsule endoscope.
Described capsule endoscope 30 comprises capsule housing 1 and is packaged in wherein light source 2, camera lens 3, antenna 4, battery 5, main control board 6 and Magnet 7, camera lens 3 is arranged at the one or both ends of battery 5, it is other that light source 2 is installed in camera lens 3, antenna 4 is sheathed on the camera lens 3, main control board 6 and battery 5 are electrically connected with each module respectively, described Magnet 7 is sheathed on the periphery of battery 5, produces with the magnetic field with outside hot-wire coil generation to interact, and changes capsule endoscope operation attitude under one's belt.
Wherein, described Magnet 7 is arranged at the middle part of capsule endoscope, is sheathed on the battery of capsule endoscope, makes the two ends counterweight of capsule endoscope equate that axle center and the center of gravity of capsule endoscope coincide.Like this, when capsule endoscope moves under one's belt, can keep integral level, the camera lens of capsule endoscope parallels with the horizontal plane of gastric juice, makes it to take reposefully the wall situation of two ends coat of the stomach.Preferably, the two ends of Magnet 7 are held in the inwall of main control board 6, like this, in the level run process of capsule endoscope, Magnet 7 can not cause the capsule endoscope operation not steady because posture changing rocks, guarantee the stability that capsule endoscope moves in gastric juice, thereby obtained more stable distinct image data.
Preferably, described capsule endoscope 30 is provided with two camera lenses 3 that are divided into its two ends, can absorb the wall situation of two side in the stomach by two camera lenses 3, and can change the operation attitude of capsule endoscope by the control rotation, optionally required coat of the stomach is taken.Certainly, capsule endoscope 30 also can be single-lens, by its operation attitude is carried out switching controls, can take the inwall of the intestines and stomach with the control camera end.
Shown in Fig. 6-7, described electric magnet electric power system 10 is provided with two on-off circuits, by switching different on-off circuits, electric current is changed flow to, and changes the direction of the magnetic line of force, and then changes the operation attitude of the capsule endoscope of carry magnet in the body.With reference to shown in Figure 6, in a current status figure of solenoid, when switch 1 switches to negative pole (-), switch 2 switches to positive pole (+), then current direction is counterclockwise, and the magnetic field that solenoid produces is N under the last S, and magnetic line of force direction is pointed to the N utmost point by the S utmost point, the attitude that namely drives the capsule endoscope of carry magnet be Magnet the S utmost point down, the N utmost point is up; With reference to shown in Figure 7, in a current status figure two of solenoid, when switch 1 switches to positive pole (+), switch 2 switches to negative pole (-), then current direction is clockwise, and the magnetic field that solenoid produces is S under the last N, and magnetic line of force direction is pointed to the S utmost point by the N utmost point, the attitude that namely drives the capsule endoscope of carry magnet be Magnet the N utmost point down, the S utmost point is up.Like this, by changing the direction that the sense of current changes magnetic field, to change the operation attitude of capsule endoscope, control a certain camera lens better the intestines and stomach wall is taken.
The number of turn of solenoid is more big, and energising intensity is more big, and the electromagnetic field intensity that produces is more big, and is more big to the magnetic force of capsule endoscope, and is more high to the sensitivity of its operation attitude control.In the present invention, the number of turn of described solenoid is between the 300-2000 circle.Described capsule endoscope is built in the magnetic field that the solenoid of energising produces, and perpendicular in the draw direction of solenoid.Like this, when capsule endoscope enters in the human stomach, it is free-running operation in gastric juice, in the time of in entering the magnetic field that solenoid produces, solenoid 20 is tangent with capsule endoscope, the magnetic flux that solenoid 20 produces parallels with the operation of capsule endoscope, makes it to produce graviational interaction and to cause it to move the change of attitude capsule endoscope.
A kind of control method of capsule endoscope operation attitude also is provided among the present invention, and it may further comprise the steps:
Step 1) allows the patient swallow the capsule endoscope of carry magnet, and capsule endoscope enters in patient's stomach;
Step 2) by the electric magnet electric power system solenoid is switched on, make it to produce magnetic field, human body enters and carries out the coat of the stomach detection in the described magnetic field;
Step 3) is switched on to solenoid, and solenoid produces from A the magnetic flux to the B direction, and the capsule endoscope attitude under one's belt in the guiding human body is identical with flow direction;
Step 4) is switched solenoid energising direction, and solenoid produces from B the magnetic flux to the A direction, and the capsule endoscope attitude under one's belt in the guiding human body is identical with flow direction;
Wherein, step 3) and step 4) are replaceable, by alternately controlling sense of current, to reach the purpose of the operation attitude that changes capsule endoscope.
Wherein, in step 3), capsule endoscope attitude under one's belt be Magnet the S utmost point down, the N utmost point is up; In step 4), capsule endoscope attitude under one's belt be Magnet the N utmost point down, the S utmost point is up.
In conjunction with reference to Fig. 4 and shown in Figure 5, after capsule endoscope is swallowed in the human body, it can freely move in the human body abdomen, for the operation attitude to capsule endoscope is controlled, enter in the magnetic field that the solenoid of energising produces, with reference to shown in Figure 4, when the electric magnet electric power system transmits from I1 the electric current to I2 to solenoid, then produce the magnetic line of force that points to from left to right, the N utmost point of the S utmost point of the left side generation Magnet of coil and the Magnet of capsule endoscope attracts each other, under the graviational interaction from left to right that produces of solenoid, make capsule endoscope operation attitude and magnetic flux in the same way, camera lens near the Magnet N utmost point points to the right side coat of the stomach, the camera lens of the close Magnet N utmost point is under the magneticaction of solenoid in the capsule endoscope, can carry out clear shooting to the right side coat of the stomach gradually near right side wall, and then by the camera lens near the Magnet N utmost point.Vice versa, with reference to shown in Figure 5, when the electric magnet electric power system transmits from I2 the electric current to I1 to solenoid, then produce the magnetic line of force that points to from right to left, the Magnet S utmost point that the left side of coil produces the Magnet N utmost point and capsule endoscope attracts each other, under the graviational interaction of the right-to-left that produces of solenoid, make the operation attitude of capsule endoscope and magnetic flux in the same way, but the operation attitude of capsule endoscope is turned, the camera lens of the N utmost point of close Magnet points to the left side coat of the stomach, in the capsule endoscope near the camera lens of the Magnet N utmost point under the magneticaction of solenoid, gradually near left side wall, and then can carry out clear shooting to the left side coat of the stomach by the camera lens near the Magnet S utmost point.Like this, by the control to the energising direction of electric magnet electric power system, with the conduct current in the control solenoid, when the magnetic line of force in magnetic field that solenoid produces from left to right the time, the Magnet N utmost point in the capsule endoscope is subjected to magnetic line of force sucking action, the camera lens of the close Magnet N utmost point is along the coat of the stomach operation to the right of magnetic line of force direction, to take the wall situation of right side coat of the stomach.And then the Magnet by external electromagnetic field and capsule endoscope interacts, with continuous change capsule endoscope operation attitude under one's belt, to control specific camera lens the coat of the stomach of particular orientation is taken, and then obtain image or the image data of different coat of the stomach as required, so that absorb the image in required orientation by control capsule endoscope attitude under one's belt.
The control system of capsule endoscope operation attitude of the present invention, by the sense of current in the solenoid of electric magnet electric power system control energising, electrical current forward or backwards is provided, make solenoid produce the magnetic line of force forward or backwards, be subjected to the attraction force acts of solenoid with the capsule endoscope in the control human stomach, move in the same way with the magnetic line of force, thereby make capsule endoscope externally the sense of current of solenoid change down, can change capsule endoscope operation attitude under one's belt, making it can be controllably near specific coat of the stomach face, to take the coat of the stomach of particular orientation, obtain coat of the stomach image more clearly.
Claims (8)
1. the control system of capsule endoscope operation attitude, it is characterized in that: the electric magnet electric power system and the solenoid that comprise mutual electrical connection, the electric magnet electric power system is to solenoid power supply and control sense of current, when the human body of the capsule endoscope of swallowing carry magnet enters in the magnetic field that the energising solenoid produces, the electric current of different directions is provided to solenoid by the electric magnet electric power system, change the flow direction in the magnetic field, to the attraction of the generation of the Magnet in capsule endoscope different directions, with the operation attitude of conversion capsule endoscope.
2. capsule endoscope according to claim 1 moves the control system of attitude, it is characterized in that: described electric magnet electric power system is provided with two on-off circuits, by switching different on-off circuits, electric current is changed to be flowed to, change the direction of the magnetic line of force, and then change the operation attitude of the capsule endoscope of carry magnet in the body.
3. capsule endoscope according to claim 2 moves the control system of attitude, and it is characterized in that: described Magnet is sheathed on the middle part of capsule endoscope, makes the two ends counterweight of capsule endoscope equate that axle center and the center of gravity of capsule endoscope coincide.
4. capsule endoscope according to claim 3 moves the control system of attitude, and it is characterized in that: the one or both ends of described capsule endoscope are provided with camera lens, and described antenna jacket is located on the end mirror head.
5. capsule endoscope according to claim 2 moves the control system of attitude, and it is characterized in that: the number of turn of described solenoid is between the 300-2000 circle.
6. according to the control system of each described capsule endoscope operation attitude among the claim 1-5, it is characterized in that: described capsule endoscope is built in the magnetic field that the energising solenoid produces, and perpendicular in the draw direction of solenoid.
7. adopt a kind of control method of control system of capsule endoscope operation attitude according to claim 1, it is characterized in that may further comprise the steps:
Step 1) allows the patient swallow the capsule endoscope of carry magnet, and capsule endoscope enters in patient's stomach;
Step 2) by the electric magnet electric power system solenoid is switched on, make it to produce magnetic field, human body enters and carries out the coat of the stomach detection in the described magnetic field;
Step 3) is switched on to solenoid, and solenoid produces from A the magnetic flux to the B direction, and the capsule endoscope attitude under one's belt in the guiding human body is identical with flow direction;
Step 4) is switched solenoid energising direction, and solenoid produces from B the magnetic flux to the A direction, and the capsule endoscope attitude under one's belt in the guiding human body is identical with flow direction;
Wherein, step 3) and step 4) are replaceable.
8. according to the control method of the capsule endoscope in the claim 7 operation attitude, it is characterized in that: in step 3), capsule endoscope attitude under one's belt be Magnet the S utmost point down, the N utmost point is up; In step 4), capsule endoscope attitude under one's belt be Magnet the N utmost point down, the S utmost point is up.
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| CN103405211A (en) * | 2013-08-14 | 2013-11-27 | 深圳市资福技术有限公司 | System and method for controlling running state of capsule endoscope in body |
| CN109349985A (en) * | 2018-11-30 | 2019-02-19 | 重庆金山医疗器械有限公司 | A kind of power supply structure and capsule endoscope |
| CN111956168A (en) * | 2020-07-22 | 2020-11-20 | 上海安翰医疗技术有限公司 | Capsule endoscope system and distance measuring method for capsule endoscope |
| CN112089386A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Capsule endoscope system |
| WO2023203510A1 (en) * | 2022-04-20 | 2023-10-26 | Multi-Scale Medical Robotics Center Limited | Magnetic anchored and actuated system and manufacturing method thereof |
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Application publication date: 20130703 |