CN111528772A - Magnetic control capsule gastroscopy vehicle and control method thereof - Google Patents
Magnetic control capsule gastroscopy vehicle and control method thereof Download PDFInfo
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- CN111528772A CN111528772A CN202010301599.8A CN202010301599A CN111528772A CN 111528772 A CN111528772 A CN 111528772A CN 202010301599 A CN202010301599 A CN 202010301599A CN 111528772 A CN111528772 A CN 111528772A
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- 238000001514 detection method Methods 0.000 claims abstract description 40
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Abstract
The invention discloses a magnetic control capsule gastroscopy vehicle and a control method thereof. The magnetic control capsule gastroscopy vehicle comprises a vehicle body, wherein the vehicle body comprises a carriage, the interior of the carriage is divided into a front cavity and a rear cavity which are arranged in the front and the rear through an isolating door, the front cavity is a medical staff control area for the movement of medical staff, and the rear cavity is a patient disinfection and detection area for the movement of patients; the isolation door is a push-pull glass isolation door; the front end of the carriage is provided with a front door for entering the front cavity, the rear end of the carriage is provided with a rear door for entering the rear cavity, and the rear side of the carriage is also provided with a general rear door for sealing the rear end of the rear cavity; the back cavity is detachably provided with an inspection bed, and a magnetic body movement mechanism is arranged beside the inspection bed; the front cavity is provided with a control console which is connected with a magnetic body movement mechanism in a control way. The gastrointestinal disease census is flexibly and flexibly performed, non-contact examination is realized, the working range is expanded, beneficial people can be benefited, and medical assistance can be provided in special environments such as infectious diseases, war and the like.
Description
Technical Field
The invention relates to the technical field of gastroscopy, in particular to a magnetic control capsule gastroscopy vehicle and a control method thereof.
Background
The traditional gastroscope is a common method for diagnosing esophagus, stomach and duodenum diseases at present, but obvious discomfort can be generated due to the invasion of the traditional gastroscope, and serious complications such as infection, bleeding, perforation and the like exist; painless gastroscopes also have the risk of anesthesia accidents and are not suitable for patients with poor heart and lung functions and severe liver cirrhosis.
In 2013, the magnetic control capsule gastroscope independently developed in China is produced, and the magnetic control capsule gastroscope can be accurately controlled and positioned, so that the high visualization of the gastric mucosa can be realized, the diagnosis accuracy rate is highly consistent with that of the traditional gastroscope, the small intestine can be further checked after the stomach is checked, the magnetic control capsule gastroscope is painless and noninvasive, simple, convenient and comfortable, has lower risk and does not need anesthesia and disinfection, and is widely applied clinically as a novel gastrointestinal diagnosis tool.
However, the magnetic control capsule gastroscope is generally developed at the outpatient department of the upper-level hospital at present, has fixed working space and is not flexible enough, is not beneficial to participating in the triage of the emergency stomach diseases and is also not beneficial to the general investigation of the large-scale stomach diseases.
At present, an inspection vehicle for carrying a traditional gastroscope device (such as a movable modular endoscope detection system disclosed in CN201820071741 and a movable endoscope decontamination vehicle disclosed in CN 201621053214) exists in China, and has the defects of large volume, complex structure and the like due to the functions of decontamination, drying, negative pressure suction and the like, and meanwhile, the traditional gastroscope operation cannot realize non-contact inspection, so that the risk of medical care infection in special periods such as epidemic infectious diseases and the like is high.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a magnetic control capsule gastroscope inspection vehicle, which aims to solve the technical problems that the working space of a magnetic control capsule gastroscope is relatively fixed and the inspection vehicle cannot carry out non-contact inspection.
The invention also provides a control method of the magnetic control capsule gastroscope inspection vehicle, which aims to solve the technical problems that the working space of the magnetic control capsule gastroscope is relatively fixed and the detection vehicle cannot carry out non-contact inspection.
The technical scheme of the invention is as follows: the magnetic control capsule gastroscopy vehicle comprises a vehicle body, wherein the vehicle body comprises a carriage, and is characterized in that the interior of the carriage is divided into a front cavity and a rear cavity which are arranged in the front and at the back through an isolation door, the front cavity is a medical personnel control area for the movement of medical personnel, and the rear cavity is a patient disinfection and detection area for the movement of patients;
the isolating door is a push-pull glass isolating door;
the front end of the carriage is provided with a front door for entering the front cavity, the rear end of the carriage is provided with a rear door for entering the rear cavity, and the rear side of the carriage is also provided with a general rear door for sealing the rear end of the rear cavity;
the top parts of the front cavity and the rear cavity are respectively provided with an ultraviolet germicidal lamp;
the rear cavity is detachably provided with an inspection bed, a magnetic body movement mechanism for magnetically driving the magnetic control capsule to move is arranged beside the inspection bed, and the inspection bed is positioned in the rear cavity and close to the side of the isolation door;
the control console is positioned in the front cavity and is adjacent to the side of the isolation door, the control console comprises a computer host and a display screen, the computer host is in control connection with the magnetic body movement mechanism, and the computer host is also in control connection with the display screen;
the camera monitoring system is arranged at the top of the rear cavity and is in control connection with the computer host;
the voice communication system comprises a first loudspeaker and a first microphone which are arranged in the front cavity, and the voice communication system also comprises a first loudspeaker and a second microphone which are arranged in the later stage;
and the computer host is connected with the voice communication system in a control way.
The magnetic control capsule gastroscope is disposable, does not need repeated disinfection, does not need functional equipment such as anesthesia, negative pressure suction and the like, and has the advantages of small occupied space and high utilization rate. The invention combines the magnetic control capsule gastroscope with the inspection vehicle, is convenient for flexibly and flexibly carrying out large-scale general investigation on stomach diseases, and expands the working range and beneficial people.
By optimizing the structural layout of the carriage, the magnetic control capsule gastroscopy can be isolated and realized in the examination vehicle, and medical care personnel can be effectively protected in special periods such as epidemic infectious diseases and the like. Meanwhile, the medical aid can be provided in special periods such as wartime.
Through the design of total back door, the back chamber is put into to the magnetic substance motion of being convenient for etc. increases the transport space for the back door.
Through the ultraviolet sterilizing lamp, when no special condition exists in the ordinary day, the ultraviolet sterilization of the front cavity and the back cavity is carried out for 1-2 hours in a conventional way every day. In infectious disease high risk period, close plug-type glass isolation door for medical staff control area and disease disinfection are kept apart with the complete physics of detection zone, and medical care accessible speech transfer system examines the patient and guides, thereby realizes contactless magnetic control capsule scope inspection, protection patient and medical personnel's safety. In addition, the sterilizing time of the ultraviolet rays and the air cleaner should be extended.
Further preferably, the camera monitoring system comprises a panoramic camera;
the control console comprises a computer host and at least two display screens, the computer host is connected with all the display screens, and the computer host is connected with the panoramic camera in a control mode.
Is convenient for medical workers to see patients in all directions.
Further preferably, the magnetic body movement mechanism comprises a magnetic body and a three-dimensional movement mechanism for driving the magnetic body to move back and forth, left and right and up and down;
the three-dimensional motion mechanism comprises a first linear sliding table mechanism for driving the magnetic body to move back and forth, a second linear sliding table mechanism for driving the magnetic body to move left and right, and an electric control telescopic rod for driving the magnetic body to move up and down;
the base of the first linear sliding table mechanism is arranged at the top of the rear cavity;
a base of the second linear sliding table mechanism is arranged on a sliding platform of the first linear sliding table mechanism;
the top of the electric control telescopic rod is installed on a sliding platform of the second linear sliding table mechanism, and the magnetic body is installed at the bottom of the electric control telescopic rod.
The magnetic body can be driven to move in three dimensions conveniently. The magnetic body movement mechanism is arranged at the top of the back cavity, so that the occupied space is saved, and the magnetic body movement mechanism is suitable for controlling the magnetic bodies of the patients lying prone and standing. The magnetic control motion structure solves the problems that the existing magnetic control motion structure has larger integral volume, the control of the magnetic field force is only changed by the distance between the magnetic field force and the capsule, and the like.
Or the magnetic body motion mechanism comprises a magnetic body and a three-dimensional motion mechanism for driving the magnetic body to move back and forth, left and right and up and down;
the three-dimensional motion mechanism comprises a first linear sliding table mechanism for driving the magnetic body to move back and forth, a second linear sliding table mechanism for driving the magnetic body to move left and right, and an electric control telescopic rod for driving the magnetic body to move up and down;
the base of the first linear sliding table mechanism is arranged on the rack of the inspection bed;
the examination bed comprises a glass plate, and the magnetic body is positioned below the glass plate;
a base of the second linear sliding table mechanism is arranged on a sliding platform of the first linear sliding table mechanism;
the top of the electric control telescopic rod is installed on a sliding platform of the second linear sliding table mechanism, and the magnetic body is installed at the bottom of the electric control telescopic rod.
The magnetic body can be driven to move in three dimensions conveniently. The magnetic body movement mechanism is arranged on the examination bed, so that the occupied space is saved.
The magnetic body comprises a permanent magnet and a variable magnet with variable magnetism;
the variable magnet comprises a circular magnet and an annular sheath made of Teflon, the annular sheath is arranged on an installation plate, the installation plate is in transmission connection with a rotating shaft of a rotating motor, and a machine body of the rotating motor is connected with the bottom of the electric control telescopic rod;
the magnet is positioned on the inner side of the annular sheath, four magnetic poles are annularly arranged in the magnet, and each magnetic pole is sleeved with an electromagnetic coil;
the permanent magnet is installed in the interior of the circular ring-shaped magnet, the permanent magnet is installed at the telescopic end of a telescopic mechanism, and the telescopic mechanism is installed on the installation plate.
The combined use of the permanent magnet and the variable magnetic field is convenient to realize. After the electromagnetic coil is electrified, a magnetic field can be generated in the annular structure of the magnet, and the capsule endoscope is internally provided with the magnet which is subjected to the magnetic force of the magnetic field, so that the capsule endoscope is driven to move.
The magnetic control motion structure solves the problems that the existing magnetic control motion structure has larger integral volume, the control of the magnetic field force is only changed by the distance between the magnetic field force and the capsule, and the like.
Preferably, the magnet is provided with an insertion opening for axially inserting the magnetic pole, and the magnet is further provided with an annular groove communicated with the insertion opening. The annular groove is connected with the magnetic poles in a sliding mode in the circumferential direction. The adjustment of the circumferential position of the magnetic pole is convenient to realize. Meet different magnetic requirements.
Further preferably, the permanent magnet comprises at least two axially arranged sub-permanent magnets, and a magnetic shielding mechanism is arranged between the adjacent sub-permanent magnets and at the front end of the permanent magnet;
the magnetic shielding mechanism comprises a circular shielding plate formed by splicing four fan-shaped shielding plates, and a driven gear is arranged on the outer sides of the four fan-shaped shielding plates;
the magnetic shielding mechanism also comprises a rotating ring for driving the driven gear to rotate, and the inner wall of the rotating ring is provided with a dentate bulge meshed with the driven gear;
the magnetic shielding mechanism also comprises a driving mechanism for driving the rotating ring to rotate, and the driving mechanism is in transmission connection with the rotating ring;
the mounting plate is provided with a plastic sleeve, the plastic sleeve is provided with an arc-shaped notch for turning the fan-shaped shielding plate out, the rotating ring is rotatably arranged on the plastic sleeve, and each driven gear is hinged with the plastic sleeve through a rotating shaft.
The rotation through rotatory ring of being convenient for, and then realize that circular shield plate carries out the shielding of sub-permanent magnet and not shielding switching between, and then realize the adjustment of magnetic force size. The sub permanent magnet is exposed out of the plastic sleeve through the extension and retraction of the extension mechanism, and then exceeds the magnet.
The driving mechanism comprises a driving gear for driving the rotating ring to rotate; the plastic sleeve is further provided with a notch for the driving gear to pass through, and the driving gear passes through the notch and is meshed with the rotating ring.
Or the magnetic body comprises a permanent magnet, the permanent magnet comprises at least two axially arranged sub-permanent magnets, and a magnetic shielding mechanism is arranged between the adjacent sub-permanent magnets and at the front end of the permanent magnet;
the magnetic shielding mechanism comprises a circular shielding plate formed by splicing four fan-shaped shielding plates, and a driven gear is arranged on the outer sides of the four fan-shaped shielding plates;
the magnetic shielding mechanism also comprises a rotating ring for driving the driven gear to rotate, and the inner wall of the rotating ring is provided with a dentate bulge meshed with the driven gear;
the magnetic shielding mechanism also comprises a driving mechanism for driving the rotating ring to rotate, and the driving mechanism is in transmission connection with the rotating ring;
the mounting plate is provided with a plastic sleeve, the plastic sleeve is provided with an arc-shaped notch for turning the fan-shaped shielding plate out, the rotating ring is rotatably arranged on the plastic sleeve, and each driven gear is hinged with the plastic sleeve through a rotating shaft.
The rotation through rotatory ring of being convenient for, and then realize that circular shield plate carries out the shielding of sub-permanent magnet and not shielding switching between, and then realize the adjustment of magnetic force size. The sub permanent magnet is exposed out of the plastic sleeve through the extension and retraction of the extension mechanism, and then exceeds the magnet.
The driving mechanism comprises a driving gear for driving the rotating ring to rotate; the plastic sleeve is further provided with a notch for the driving gear to pass through, and the driving gear passes through the notch and is meshed with the rotating ring.
Further preferably, the push-pull glass isolation door is an electric glass isolation door;
the electric glass isolation door comprises a frame, wherein a fixed glass door is fixed at one end of the frame, and a channel for walking is formed in the other end of the frame;
the electric glass isolation door also comprises a movable glass door, and the movable glass door is used for plugging the channel;
the upper end and the lower end of the frame are respectively provided with a roller for guiding the movable glass door to slide left and right;
a spur rack with the guiding direction in the left-right direction is installed in the center of the movable glass door;
the frame is provided with a driving mechanism for driving the movable glass door;
the driving mechanism comprises a driving motor and a driving gear arranged on a rotating shaft of the driving motor, and the driving gear is meshed with a spur rack in the center of the movable glass door;
and a control switch for controlling the driving mechanism is arranged on the front cavity.
The electric control glass isolating door is convenient to open and close.
Further preferably, the console is electrically connected with the magnetic body movement mechanism through a cable, a through hole for penetrating the cable is formed in the carriage, and the through hole is connected with the cable through a sealing ring.
Facilitating the sealing between the front and rear chambers.
Further preferably, the front door is located at the right side of the front end portion of the front chamber, and the rear door is located at the left side or the right side of the rear end portion of the rear chamber.
The distance between the front door and the rear door is controlled, and the probability of cross infection is reduced.
Further preferably, a wall of the rear cavity is detachably provided with a wall cabinet. Is convenient for placing articles.
Further preferably, the wall cupboard comprises a support frame detachably mounted on the side wall of the rear cavity, and the support frame comprises at least two sliding chutes which are vertically arranged;
the hanging cabinet also comprises at least two vertical plates which are in sliding connection with the sliding grooves, and the adjacent vertical plates are connected through at least one piece of cotton cloth which is longitudinally arranged;
the vertical plate is detachably connected with the sliding groove through a locking mechanism;
the bottom of the vertical plate on the right side in the two adjacent vertical plates is hinged with a supporting plate, and the bottom of the vertical plate on the left side in the two adjacent vertical plates is hinged with a limiting strip for supporting the supporting plate;
the supporting plate is provided with a clamping groove for rotationally clamping the limiting strip;
when the supporting plate is horizontally placed, the clamping groove is located in the bottom of the supporting plate, the limiting strip is connected with the clamping groove in a clamped mode, and the limiting strip abuts against the bottom face of the supporting plate.
Be convenient for realize that the below adopts the backup pad to support, and the upper strata adopts the cotton to support. The articles with different weights can be conveniently placed. In addition, through the structural optimization of wall cabinet, practice thrift the space. The switching of the storage and the expansion is convenient.
Further preferably, a conference workbench is detachably connected in the front cavity;
and a liquid crystal display screen is arranged on the inner wall of the front cavity, which is adjacent to the conference worktable.
It is convenient to provide space for the conference call to proceed.
Further preferably, the front cavity and the rear cavity are provided with power sockets, the front cavity and the power socket of the rear cavity are connected with a power supply system, the power supply system comprises an electric storage device, and the electric storage device is located below the carriage.
Electric energy is conveniently supplied to the electric equipment of the front cavity and the rear cavity through the electric storage device.
Further preferably, the rear cavity is provided with a pre-inspection disinfection cavity;
the back door is taken as an inlet of the pre-detection disinfection cavity, and an electric control door is arranged on the pre-detection disinfection cavity;
the top of the pre-detection disinfection cavity is provided with an infrared camera device, the pre-detection disinfection cavity is also provided with an air purification system, the air purification system comprises air outlets arranged at the top and the side part of the pre-detection disinfection cavity, the air outlets are connected with a purification channel, and a fan and a filtering mechanism are arranged in the purification channel;
the air purification system also comprises an air outlet which is positioned at the bottom of the pre-detection disinfection cavity and communicated with the inlet end of the purification channel;
the inlet end of the purification channel is connected with two inlet and one outlet valves, and two inlets of the two inlet and one outlet valves are respectively communicated with the atmosphere and the exhaust port.
The pre-detection disinfection is convenient to realize.
Further preferably, a pedal mechanism is mounted at the rear door of the rear cavity, and two shoe cover machines are mounted on the pedal mechanism. The shoe cover can be conveniently worn when entering the carriage.
The control method of the magnetic control capsule gastroscopy vehicle is characterized by comprising the following steps:
step one, pre-inspecting and disinfecting a pre-inspection disinfection cavity;
step two, a second loudspeaker playing detection procedure step;
and step three, the console controls the magnetic body movement mechanism to perform magnetic control capsule gastroscope detection.
And step four, the console generates a detection report.
Drawings
FIG. 1 is a schematic diagram of an arrangement according to embodiment 1 of the present invention;
fig. 2 is a partial structural schematic view of a magnetic body movement mechanism according to embodiment 2 of the present invention;
FIG. 3 is a schematic diagram of a partial structure of an examining table with a wireless recorder according to an embodiment 3 of the present invention;
fig. 4 is a schematic structural diagram of a magnetic shielding mechanism according to embodiment 4 of the present invention in a closed state;
fig. 5 is a schematic structural diagram of a magnetic shielding mechanism according to embodiment 4 of the present invention in an open state;
FIG. 6 is a schematic view showing a structure of a magnetic body according to embodiment 4 of the present invention;
FIG. 7 is another schematic structural view of a magnetic body according to embodiment 4 of the present invention;
FIG. 8 is a schematic structural view of an electric glass isolating door according to embodiment 5 of the present invention;
FIG. 9 is a schematic structural diagram of a wall cabinet according to embodiment 6 of the present invention;
fig. 10 is a schematic structural view of a supporting frame according to embodiment 6 of the present invention;
FIG. 11 is a schematic view showing the construction of a pre-test sterilization chamber according to embodiment 7 of the present invention;
in the figure: 1 is a front door, 2 is a back door, 3 is a general back door, 4 is a control console, 5 is a camera monitoring system, 6 is a magnetic body movement mechanism, 7 is an examination bed, 8 is a hanging cabinet, 9 is a push-pull glass isolation door, 10 is a liquid crystal display screen, 11 is an air purifier, 12 is a first-aid cart, 13 is an Hp detection platform, 14 is a foldable tour guide chair, 15 is an AI-box, 16 is an ultraviolet germicidal lamp, 17 is a conference worktable, 18 is a rotary platform, 41 is a rotary disk mechanism, 42 is a pre-examination disinfection chamber, 43 is a purification channel, 44 is an infrared camera device, 45 is a linear sliding table, 46 is a fan, 61 is a first linear sliding table mechanism, 62 is a second linear sliding table mechanism, 63 is an electric control telescopic rod, 64 is a magnetic body, 71 is a wireless receiving device, 72 is a controller, 81 is a vertical plate, 82 is a support frame, 83 is cotton cloth, 84 is a support plate, 85 is a clamping groove, 86 is a limit strip, 91 is a fixed glass door, 92 is a movable glass door, 93 is a spur rack, 94 is a driving gear, 95 is a frame, 96 is a roller, 641 is an annular sheath, 642 is a magnet, 643 is a magnetic pole, 644 is an electromagnetic coil, 645 is a sub-permanent magnet, 646 is a driven gear, 647 is a sector shielding plate, 648 is a rotating ring, and 649 is a mounting plate.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, in the embodiment 1, a magnetic control capsule gastroscopy vehicle and a control method thereof comprise a vehicle body, wherein the vehicle body comprises a carriage, the interior of the carriage is divided into a front cavity and a rear cavity which are arranged in front and at back through an isolation door, the front cavity is a medical staff control area for the activities of medical staff, and the rear cavity is a patient disinfection and detection area for the activities of patients; the isolation door is a push-pull glass isolation door 9; the front end of the carriage is provided with a front door 1 for entering the front cavity, the rear end of the carriage is provided with a rear door 2 for entering the rear cavity, and the rear side of the carriage is also provided with a general rear door 3 for sealing the rear end of the rear cavity; the top parts of the front cavity and the rear cavity are respectively provided with an ultraviolet germicidal lamp 16, and the front cavity and the rear cavity are respectively provided with an air purifier 11; an examination bed 7 is detachably arranged in the rear cavity, a magnetic body movement mechanism 6 for magnetically driving the magnetic control capsule to move is arranged beside the examination bed 7, and the examination bed 7 is positioned in the rear cavity and close to the side of the isolation door; the control console 4 is arranged in the front cavity and used for controlling the magnetic body movement mechanism 6 to move, the control console 4 is located in the front cavity and close to the side of the isolation door, the control console comprises a computer host and a display screen, the computer host is in control connection with the magnetic body movement mechanism, and the computer host is also in control connection with the display screen.
The camera monitoring system is arranged at the top of the rear cavity and is in control connection with the computer host.
The voice communication system comprises a first loudspeaker and a first microphone which are arranged in the front cavity, and the voice communication system also comprises a first loudspeaker and a second microphone which are arranged in the later stage; the computer host is connected with the voice communication system in a control way.
The magnetic control capsule gastroscope is disposable, does not need repeated disinfection, does not need functional equipment such as anesthesia, negative pressure suction and the like, and has the advantages of small occupied space and high utilization rate. The invention combines the magnetic control capsule gastroscope with the inspection vehicle, is convenient for flexibly and flexibly carrying out large-scale general investigation on stomach diseases, and expands the working range and beneficial people.
By optimizing the structural layout of the carriage, the magnetic control capsule gastroscopy can be isolated and realized in the examination vehicle, and medical care personnel can be effectively protected in special periods such as epidemic infectious diseases and the like.
Through the design of total back door 3, the back chamber is put into to the magnetic substance motion of being convenient for 6 etc. for back door 2 increases the transport space.
Through the combination of the ultraviolet sterilizing lamp and the air purifier, when no special condition exists in weekdays, the ultraviolet sterilization of the front cavity and the rear cavity is carried out for 1-2 hours in a conventional mode every day, and meanwhile, the air purifier with the sterilization function is started in a conventional mode. In infectious disease high risk period, close plug-type glass isolation door for medical staff control area and disease disinfection are kept apart with the complete physics of detection zone, and medical care accessible speech transfer system examines the patient and guides, thereby realizes contactless magnetic control capsule scope inspection, protection patient and medical personnel's safety. In addition, the sterilizing time of the ultraviolet rays and the air cleaner should be extended.
The left front part of the front cavity is provided with a driving area for a driver to ride.
The rear cavity is provided with an Hp detection table 13. The Hp detection platform 13 is also a helicobacter pylori detection platform, other digestive examination functions are added, and the helicobacter pylori infection condition can be quickly judged about 1h through a carbon breath test.
The back cavity is provided with an emergency trolley 12 for storing emergency medicine. Both the front and rear chambers are fitted with collapsible tour guide chairs 14.
The front chamber and the rear chamber are provided with independent air conditioning systems. Facilitating comfort for the front as well as the rear cavity user.
A conference worktable 17 is also detachably connected in the front cavity; a liquid crystal display screen 10 is mounted on the inner wall of the front chamber adjacent the conference table 17. It is convenient to provide space for the conference call to proceed.
The front cavity and the rear cavity are provided with power sockets, the front cavity and the power socket of the rear cavity are connected with a power supply system, the power supply system comprises an electric power storage device, and the electric power storage device is located below the carriage. The electric energy supplied to the electric equipment of the front cavity and the rear cavity by the electric storage device is convenient.
The length of the carriage in the front-rear direction is 5.8 m to 6 m. The length of the carriage in the left and right direction is 2.5 meters. The height is 2.2 meters to 2.4 meters.
Size of console 4: the length is 1190 +/-20 mm, the width is 840 +/-20 mm, and the height is 790 +/-20 mm.
Size of magnetic substance movement mechanism 6: the length is 2140 + -20 mm, the width is 1850 + -20 mm, and the height is 1930 + -20 mm.
The camera monitoring system comprises a panoramic camera; the console 4 comprises at least two display screens, a computer host is connected with all the display screens, and the computer host is connected with the panoramic camera in a control mode. Is convenient for medical workers to see patients in all directions.
The computer host is also connected with an AI-box 15. The AI-box15 may be selected from AI-boxes manufactured by Anhn's science (Wuhan) Inc. And intelligent auxiliary diagnosis is realized.
The magnetic body motion mechanism may be a magnetic body motion mechanism manufactured by Anhan science and technology (Wuhan) Inc.
Referring to fig. 1 and fig. 2, an embodiment 2 is different from the embodiment 1 in that the magnetic body movement mechanism includes a magnetic body 64 and a three-dimensional movement mechanism for driving the magnetic body 64 to move back and forth, left and right, and up and down; the three-dimensional motion mechanism comprises a first linear sliding table mechanism 61 for driving the magnetic body 64 to move back and forth, a second linear sliding table mechanism 62 for driving the magnetic body to move left and right, and an electric control telescopic rod 63 for driving the magnetic body to move up and down; a base of the first linear sliding table mechanism is arranged at the top of the rear cavity; a base of a second linear sliding table mechanism 62 is arranged on a sliding platform of the first linear sliding table mechanism 61; the top of the electric control telescopic rod 63 is installed on the sliding platform of the second linear sliding table mechanism 62, and a magnetic body is installed at the bottom of the electric control telescopic rod 63. So as to realize the three-dimensional motion of the magnetic body 64. The magnetic body movement mechanism is arranged at the top of the back cavity, so that the occupied space is saved, and the magnetic body movement mechanism is suitable for controlling the magnetic bodies of the patients lying prone and standing. The bottom of the rear cavity is also provided with a rotating platform 18 which can rotate 360 degrees when the human body stands for checking.
Referring to fig. 3, an embodiment 3 is different from the embodiment 1 in that the magnetic body movement mechanism includes a magnetic body and a three-dimensional movement mechanism for driving the magnetic body to move back and forth, left and right, and up and down; the three-dimensional motion mechanism comprises a first linear sliding table mechanism for driving the magnetic body to move back and forth, a second linear sliding table mechanism for driving the magnetic body to move left and right, and an electric control telescopic rod for driving the magnetic body to move up and down; the base of the first linear sliding table mechanism is arranged on the frame of the examination bed; the examination bed can comprise a glass plate, and the magnetic body is positioned below the glass plate; a sliding platform of the first linear sliding table mechanism is provided with a base of the second linear sliding table mechanism; the top of an electric control telescopic rod is installed on a sliding platform of the second linear sliding table mechanism, and a magnetic body is installed at the bottom of the electric control telescopic rod. The magnetic body can be driven to move in three dimensions conveniently. The magnetic body movement mechanism is arranged on the examination bed, so that the occupied space is saved.
And a wireless recorder for wirelessly receiving the picture information acquired by the magnetic control capsule is arranged below the glass plate, the wireless recorder is in wireless communication connection with the magnetic control capsule, and the wireless recorder is connected with a computer host. The wireless recorder includes a wireless receiving device 71 and a controller 72. The controller comprises a processor, a wireless transceiver and a storage module. The controller is connected with the wireless receiving device. The picture signal of the magnetic control capsule received by the wireless receiving device is conveniently stored in the storage module, and then the signal is transmitted to the console through the wireless receiving and transmitting device. Intermediate storage of the picture is achieved by the controller. The design can allow the body of a patient to be free from wearing clothes or a waistband containing a wireless recorder during stomach examination, reduce the influence of activities and increase the examination comfort of the patient.
Referring to fig. 4 to 7, embodiment 4, on the basis of embodiment 1, the magnetic body includes a permanent magnet and a variable magnet whose magnetism is variable; the variable magnet comprises a circular magnet 642 and an annular sheath 641 made of Teflon, the annular sheath 641 is arranged on an installation plate, the installation plate is in transmission connection with a rotating shaft of a rotating motor, and a machine body of the rotating motor is connected with the bottom of the electric control telescopic rod; the magnet is positioned on the inner side of the annular sheath 641, four magnetic poles 643 are annularly arranged in the magnet, and an electromagnetic coil 644 is sleeved on each magnetic pole 643; the permanent magnet is installed in the interior of the annular magnet, the permanent magnet is installed at the telescopic end of a telescopic mechanism, and the telescopic mechanism is installed on the installation plate 649. The combined use of the permanent magnet and the variable magnetic field is convenient to realize. After the electromagnetic coil is electrified, a magnetic field can be generated in the annular structure of the magnet, and the capsule endoscope is internally provided with the magnet which is subjected to the magnetic force of the magnetic field, so that the capsule endoscope is driven to move.
The magnet is provided with an insertion opening for axially inserting the magnetic pole, and the magnet is also provided with an annular groove communicated with the insertion opening. The annular groove is connected with the magnetic poles in a sliding mode in the circumferential direction. The adjustment of the circumferential position of the magnetic pole is convenient to realize. Meet different magnetic requirements.
The permanent magnet comprises at least two axially arranged sub-permanent magnets 645, and a magnetic shielding mechanism is arranged between every two adjacent sub-permanent magnets 645 and at the front end of each permanent magnet; the magnetic shielding mechanism comprises a circular shielding plate formed by splicing four fan-shaped shielding plates, and a driven gear is arranged on the outer side of each of the four fan-shaped shielding plates 647; the magnetic shielding mechanism further comprises a rotating ring 648 for driving the driven gear to rotate, and the inner wall of the rotating ring is provided with a dentate protuberance meshed with the driven gear 646; the magnetic shielding mechanism also comprises a driving mechanism for driving the rotating ring to rotate, and the driving mechanism is in transmission connection with the rotating ring; the mounting plate 649 is provided with a plastic sleeve, the rotating ring is rotatably arranged on the plastic sleeve, and each driven gear is hinged with the plastic sleeve through a rotating shaft. The rotation through rotatory ring of being convenient for, and then realize that circular shield plate carries out the shielding of sub-permanent magnet and not shielding switching between, and then realize the adjustment of magnetic force size. The sub permanent magnet is exposed out of the plastic sleeve through the extension and retraction of the extension mechanism, and then exceeds the magnet. The plastic sleeve is provided with an arc-shaped notch driving mechanism for turning the fan-shaped shielding plate out, and the arc-shaped notch driving mechanism comprises a driving gear for driving the rotating ring to rotate; still set up a breach that is used for the driving gear to pass on the plastic sleeve, the driving gear passes breach and rotatory ring toothing.
The sector shield plate is a metal plate. The magnetic shielding is realized when the permanent magnet is positioned between the shielding plate and the mounting plate. The adjacent sub permanent magnets are connected through a connecting piece. The sector shielding plate is provided with 1/4 round notches for accommodating the connecting pieces.
When the telescopic mechanism is at the maximum extension, the permanent magnet exceeds the magnet and is positioned at one end of the magnet, which is far away from the mounting plate. Facilitating the permanent magnet to be on the side closer to the human body than the magnet.
When the telescoping mechanism is at a minimum extension, the permanent magnet is located inside the magnet and in the area between the solenoid coil and the mounting plate. Facilitating the magnet to be located closer to the human body side than the permanent magnet.
Referring to fig. 7, the annular sheath 641 may be integrally formed with the plastic sleeve as a stepped sleeve having a gradually changing inner diameter. Thereby screwing and unscrewing the shielding plate from the annular sheath 641. At this time, the axial length of the magnet is smaller than that of the annular sheath.
The magnetic body may include a permanent magnet, and the permanent magnet may adopt the above-mentioned magnetic shielding mechanism.
Referring to fig. 8, in embodiment 5, on the basis of embodiment 1, the push-pull glass isolation door 9 is an electric glass isolation door; the electric glass isolation door comprises a frame 95, wherein one end of the frame 95 is fixed with a fixed glass door 91, and the other end of the frame 95 is provided with a channel for walking; the electric glass isolation door also comprises a movable glass door 92, and the movable glass door 92 is used for plugging a channel; the upper and lower ends of the frame are provided with rollers 96 for guiding the movable glass door 92 to slide left and right; a spur rack 93 with the left-right direction as the guiding direction is arranged at the center of the movable glass door 92; a driving mechanism for driving the movable glass door 92 is mounted on the frame; the driving mechanism comprises a driving motor and a driving gear 94 arranged on a rotating shaft of the driving motor, and the driving gear 94 is meshed with a spur rack 93 in the center of the movable glass door 92; the front cavity is provided with a control switch for controlling the driving mechanism. The electric control glass isolating door is convenient to open and close.
The control console 4 is electrically connected with the magnetic body movement mechanism 6 through a cable, a through hole for penetrating the cable is formed in the carriage, and the through hole is connected with the cable through a sealing ring. Facilitating the sealing between the front and rear chambers.
The front door 1 is located on the right side of the front end portion of the front chamber, and the rear door 2 is located on the left or right side of the rear end portion of the rear chamber. The distance between the front door 1 and the rear door 2 is controlled, and the probability of cross infection is reduced.
Referring to fig. 9 and 10, in embodiment 6, on the basis of embodiment 1, a wall of the rear cavity is detachably mounted with a wall cabinet 8. Is convenient for placing articles. The wall cupboard 8 comprises a support frame 82 which is detachably arranged on the side wall of the rear cavity, and the support frame 82 comprises at least two sliding chutes which are vertically arranged; the hanging cabinet 8 also comprises at least two vertical plates which are in sliding connection with the sliding grooves, and the adjacent vertical plates 81 are connected through at least one piece of cotton cloth 83 which is longitudinally arranged; the vertical plate 81 is detachably connected with the sliding groove through a locking mechanism; the bottom that lies in the riser on right side in two adjacent risers articulates there is a backup pad 84, and the bottom that lies in the riser on left side in two adjacent risers articulates there is spacing 86 that supports backup pad 84. The spacing is equipped with two, and two spacing are articulated for the front and back both ends that are located left riser respectively. The clamping groove is a U-shaped clamping groove with a forward opening. The clamping groove is formed by connecting an L-shaped rod and a supporting plate. The supporting plate is provided with a clamping groove 85 for rotationally clamping the limiting strip 86; when the supporting plate 84 is horizontally placed, the clamping groove 85 is located at the bottom of the supporting plate 84, the limiting strip 86 is clamped with the clamping groove 85, and the limiting strip abuts against the bottom surface of the supporting plate. Be convenient for realize that the below adopts the backup pad to support, and the upper strata adopts the cotton to support. The articles with different weights can be conveniently placed. In addition, through the structural optimization of wall cupboard 8, practice thrift the space. The switching of the storage and the expansion is convenient.
Referring to fig. 11, in embodiment 7, on the basis of embodiment 1, the rear cavity is provided with a pre-detection disinfection cavity 42; the back door is an inlet of the pre-detection disinfection cavity, and the pre-detection disinfection cavity 42 is provided with an electric control door; the top of the pre-examination disinfection chamber is provided with an infrared camera device 44, the pre-examination disinfection chamber is also provided with an air purification system, the air purification system comprises air outlets arranged at the top and the side of the pre-examination disinfection chamber, the air outlets are connected with a purification channel 43, and a fan 46 and a filtering mechanism are arranged in the purification channel 43; the air purification system also comprises an air outlet which is positioned at the bottom of the pre-detection disinfection cavity and communicated with the inlet end of the purification channel; the inlet end of the purifying channel is connected with two inlet and one outlet valves, and two inlets of the two inlet and one outlet valves are respectively communicated with the atmosphere and the exhaust port. The pre-detection disinfection is convenient to realize.
An active carbon filter layer, an ultraviolet germicidal lamp, an electric heating wire and an HEPA filter layer are sequentially arranged in the purification channel along the flow guide direction. The filtering precision is convenient to guarantee. The electric heating wire is spiral, and the purification channel is provided with the spiral channel at the position of the electric heating wire.
The infrared camera device is arranged on a straight line sliding table 45 which moves vertically, and a rotating disc mechanism 41 which is used for 360-degree rotation of a human body is arranged at the bottom of the pre-detection disinfection chamber. The longitudinal movement of the infrared camera device is convenient, and the three-dimensional scanning of the human body is realized.
The linear sliding table comprises a driving motor and a screw rod sliding block mechanism, and a power output shaft of the driving motor is in transmission connection with the screw rod sliding block mechanism. The blades are arranged on the rotating shaft of the driving motor, so that the fan is formed. The vertical motion of straight line slip table is realized to corotation through driving motor convenient to, and then realizes that after the preliminary examination disinfection, driving motor rises, realizes infrared camera device's return.
The magnetic body motion mechanism comprises a magnetic body and a three-dimensional driving mechanism used for driving the magnetic body to move in a three-dimensional mode, and a grating sensor used for detecting three-dimensional motion tracks is installed on the three-dimensional driving mechanism. The magnetic body may be an electromagnet. The magnetic field intensity is convenient to be adjustable.
The inspection bed is provided with a vertical plate which is vertically arranged. Realizing the prepositioning of the human body.
An image pickup device is arranged beside the magnetic body. The position of the magnetic body movement (data detected by the three-dimensional grating sensor) is stored in correspondence with the shape of the human body photographed by the image pickup device.
The control host machine acquires the human body three-dimensional model through the infrared camera device, combines the human body three-dimensional model with the pictures acquired by the magnetic control capsule endoscope to obtain an electronic database, and the pictures of the magnetic control capsule endoscope under the human body three-dimensional coordinates are stored in the electronic database.
A pedal mechanism is arranged at the rear door of the rear cavity; two shoe cover machines are arranged on the pedal mechanism. The shoe cover can be conveniently worn when entering the carriage.
The control method of the magnetic control capsule gastroscopy vehicle comprises the following steps:
step one, pre-inspecting and disinfecting a pre-inspection disinfection cavity;
step two, a second loudspeaker playing detection procedure step;
and step three, the console controls the magnetic body movement mechanism to perform magnetic control capsule gastroscope detection.
And step four, the console generates a detection report.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. The magnetic control capsule gastroscopy vehicle comprises a vehicle body, wherein the vehicle body comprises a carriage, and is characterized in that the interior of the carriage is divided into a front cavity and a rear cavity which are arranged in the front and at the back through an isolation door, the front cavity is a medical personnel control area for the movement of medical personnel, and the rear cavity is a patient disinfection and detection area for the movement of patients;
the isolating door is a push-pull glass isolating door;
the front end of the carriage is provided with a front door for entering the front cavity, the rear end of the carriage is provided with a rear door for entering the rear cavity, and the rear side of the carriage is also provided with a general rear door for sealing the rear end of the rear cavity;
the top parts of the front cavity and the rear cavity are respectively provided with an ultraviolet germicidal lamp;
the rear cavity is detachably provided with an inspection bed, a magnetic body movement mechanism for magnetically driving the magnetic control capsule to move is arranged beside the inspection bed, and the inspection bed is positioned in the rear cavity and close to the side of the isolation door;
the control console is positioned in the front cavity and is adjacent to the side of the isolation door, the control console comprises a computer host and a display screen, the computer host is in control connection with the magnetic body movement mechanism, and the computer host is also in control connection with the display screen;
the camera monitoring system is arranged at the top of the rear cavity and is in control connection with the computer host;
the voice communication system comprises a first loudspeaker and a first microphone which are arranged in the front cavity, and the voice communication system also comprises a first loudspeaker and a second microphone which are arranged in the later stage;
and the computer host is connected with the voice communication system in a control way.
2. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the magnetic body motion mechanism comprises a magnetic body and a three-dimensional motion mechanism for driving the magnetic body to move back and forth, left and right and up and down;
the three-dimensional motion mechanism comprises a first linear sliding table mechanism for driving the magnetic body to move back and forth, a second linear sliding table mechanism for driving the magnetic body to move left and right, and an electric control telescopic rod for driving the magnetic body to move up and down;
the base of the first linear sliding table mechanism is arranged at the top of the rear cavity;
a base of the second linear sliding table mechanism is arranged on a sliding platform of the first linear sliding table mechanism;
the top of the electric control telescopic rod is installed on a sliding platform of the second linear sliding table mechanism, and the magnetic body is installed at the bottom of the electric control telescopic rod.
3. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the magnetic body motion mechanism comprises a magnetic body and a three-dimensional motion mechanism for driving the magnetic body to move back and forth, left and right and up and down;
the three-dimensional motion mechanism comprises a first linear sliding table mechanism for driving the magnetic body to move back and forth, a second linear sliding table mechanism for driving the magnetic body to move left and right, and an electric control telescopic rod for driving the magnetic body to move up and down;
the base of the first linear sliding table mechanism is arranged on the rack of the inspection bed;
the examination bed comprises a glass plate, and the magnetic body is positioned below the glass plate;
a base of the second linear sliding table mechanism is arranged on a sliding platform of the first linear sliding table mechanism;
the top of the electric control telescopic rod is installed on a sliding platform of the second linear sliding table mechanism, and the magnetic body is installed at the bottom of the electric control telescopic rod.
4. The magnetically controlled capsule gastroscopy vehicle of claim 2 or 3, wherein: the magnetic body comprises a permanent magnet and a variable magnet with variable magnetism;
the variable magnet comprises a circular magnet and an annular sheath made of Teflon, the annular sheath is arranged on an installation plate, the installation plate is in transmission connection with a rotating shaft of a rotating motor, and a machine body of the rotating motor is connected with the bottom of the electric control telescopic rod;
the magnet is positioned on the inner side of the annular sheath, four magnetic poles are annularly arranged in the magnet, and each magnetic pole is sleeved with an electromagnetic coil;
the permanent magnet is arranged in the annular magnet, the permanent magnet is arranged at the telescopic end of a telescopic mechanism, and the telescopic mechanism is arranged on the mounting plate;
the permanent magnet comprises at least two axially arranged sub-permanent magnets, and a magnetic shielding mechanism is arranged between the adjacent sub-permanent magnets and at the front end of the permanent magnet;
the magnetic shielding mechanism comprises a circular shielding plate formed by splicing four fan-shaped shielding plates, and a driven gear is arranged on the outer sides of the four fan-shaped shielding plates;
the magnetic shielding mechanism also comprises a rotating ring for driving the driven gear to rotate, and the inner wall of the rotating ring is provided with a dentate bulge meshed with the driven gear;
the magnetic shielding mechanism also comprises a driving mechanism for driving the rotating ring to rotate, and the driving mechanism is in transmission connection with the rotating ring;
the mounting plate is provided with a plastic sleeve, the plastic sleeve is provided with an arc-shaped notch for turning the fan-shaped shielding plate out, the rotating ring is rotatably arranged on the plastic sleeve, and each driven gear is hinged with the plastic sleeve through a rotating shaft.
5. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the camera monitoring system comprises a panoramic camera;
the computer host is connected with the panoramic camera in a control way;
a conference workbench is detachably connected in the front cavity;
a liquid crystal display screen is arranged on the inner wall of the front cavity, which is adjacent to the conference worktable;
the front cavity and the rear cavity are provided with power sockets, the front cavity is connected with the power socket of the rear cavity through a power supply system, the power supply system comprises an electric storage device, and the electric storage device is located below the carriage.
6. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the push-pull glass isolation door is an electric glass isolation door;
the electric glass isolation door comprises a frame, wherein a fixed glass door is fixed at one end of the frame, and a channel for walking is formed in the other end of the frame;
the electric glass isolation door also comprises a movable glass door, and the movable glass door is used for plugging the channel;
the upper end and the lower end of the frame are respectively provided with a roller for guiding the movable glass door to slide left and right;
a spur rack with the guiding direction in the left-right direction is installed in the center of the movable glass door;
the frame is provided with a driving mechanism for driving the movable glass door;
the driving mechanism comprises a driving motor and a driving gear arranged on a rotating shaft of the driving motor, and the driving gear is meshed with a spur rack in the center of the movable glass door;
and a control switch for controlling the driving mechanism is arranged on the front cavity.
7. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the side wall of the rear cavity is detachably provided with a hanging cabinet;
the hanging cabinet comprises a support frame which is detachably arranged on the side wall of the rear cavity, and the support frame comprises at least two sliding chutes which are vertically arranged;
the hanging cabinet also comprises at least two vertical plates which are in sliding connection with the sliding grooves, and the adjacent vertical plates are connected through at least one piece of cotton cloth which is longitudinally arranged;
the vertical plate is detachably connected with the sliding groove through a locking mechanism;
the bottom of the vertical plate on the right side in the two adjacent vertical plates is hinged with a supporting plate, and the bottom of the vertical plate on the left side in the two adjacent vertical plates is hinged with a limiting strip for supporting the supporting plate;
the supporting plate is provided with a clamping groove for rotationally clamping the limiting strip;
when the supporting plate is horizontally placed, the clamping groove is located in the bottom of the supporting plate, the limiting strip is connected with the clamping groove in a clamped mode, and the limiting strip abuts against the bottom face of the supporting plate.
8. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the rear cavity is provided with a pre-detection disinfection cavity;
the back door is taken as an inlet of the pre-detection disinfection cavity, and an electric control door is arranged on the pre-detection disinfection cavity;
the top of the pre-detection disinfection cavity is provided with an infrared camera device, the pre-detection disinfection cavity is also provided with an air purification system, the air purification system comprises air outlets arranged at the top and the side part of the pre-detection disinfection cavity, the air outlets are connected with a purification channel, and a fan and a filtering mechanism are arranged in the purification channel;
the air purification system also comprises an air outlet which is positioned at the bottom of the pre-detection disinfection cavity and communicated with the inlet end of the purification channel;
the inlet end of the purification channel is connected with two inlet and one outlet valves, and two inlets of the two inlet and one outlet valves are respectively communicated with the atmosphere and the exhaust port.
9. The magnetically controlled capsule gastroscopy cart of claim 1, wherein: the control console is electrically connected with the magnetic body movement mechanism through a cable, a through hole used for penetrating the cable is formed in the carriage, and the through hole is connected with the cable through a sealing ring.
10. The method of controlling a magnetically controlled capsule gastroscopy cart according to claim 8, comprising the steps of:
step one, pre-inspecting and disinfecting a pre-inspection disinfection cavity;
step two, a second loudspeaker playing detection procedure step;
and step three, the console controls the magnetic body movement mechanism to perform magnetic control capsule gastroscope detection.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310675089.0A CN116671848A (en) | 2020-04-16 | 2020-04-16 | Permanent magnet magnetism adjustable magnetic control capsule gastroscopy vehicle |
| CN202010301599.8A CN111528772B (en) | 2020-04-16 | 2020-04-16 | Magnetic control capsule gastroscopy vehicle and control method thereof |
| CN202310675093.7A CN116725460A (en) | 2020-04-16 | 2020-04-16 | Magnetic control capsule gastroscopy vehicle and magnetic body for magnetically driving magnetic control capsule |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010301599.8A CN111528772B (en) | 2020-04-16 | 2020-04-16 | Magnetic control capsule gastroscopy vehicle and control method thereof |
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| CN202310675089.0A Division CN116671848A (en) | 2020-04-16 | 2020-04-16 | Permanent magnet magnetism adjustable magnetic control capsule gastroscopy vehicle |
| CN202310675093.7A Division CN116725460A (en) | 2020-04-16 | 2020-04-16 | Magnetic control capsule gastroscopy vehicle and magnetic body for magnetically driving magnetic control capsule |
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| CN111528772A true CN111528772A (en) | 2020-08-14 |
| CN111528772B CN111528772B (en) | 2023-08-01 |
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| CN202310675093.7A Pending CN116725460A (en) | 2020-04-16 | 2020-04-16 | Magnetic control capsule gastroscopy vehicle and magnetic body for magnetically driving magnetic control capsule |
| CN202310675089.0A Pending CN116671848A (en) | 2020-04-16 | 2020-04-16 | Permanent magnet magnetism adjustable magnetic control capsule gastroscopy vehicle |
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| CN202310675093.7A Pending CN116725460A (en) | 2020-04-16 | 2020-04-16 | Magnetic control capsule gastroscopy vehicle and magnetic body for magnetically driving magnetic control capsule |
| CN202310675089.0A Pending CN116671848A (en) | 2020-04-16 | 2020-04-16 | Permanent magnet magnetism adjustable magnetic control capsule gastroscopy vehicle |
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Cited By (2)
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| CN112998637A (en) * | 2021-02-04 | 2021-06-22 | 北京科技大学 | Self-propelled capsule endoscope based on rotation and impact dual-drive mode |
| WO2023143167A1 (en) * | 2022-01-27 | 2023-08-03 | 上海安翰医疗技术有限公司 | Shielding device, and magnetic control capsule endoscope system |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN116725460A (en) | 2023-09-12 |
| CN111528772B (en) | 2023-08-01 |
| CN116671848A (en) | 2023-09-01 |
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