CN211749482U - Magnetic spiral capsule endoscope and control system of capsule endoscope - Google Patents
Magnetic spiral capsule endoscope and control system of capsule endoscope Download PDFInfo
- Publication number
- CN211749482U CN211749482U CN201922365782.XU CN201922365782U CN211749482U CN 211749482 U CN211749482 U CN 211749482U CN 201922365782 U CN201922365782 U CN 201922365782U CN 211749482 U CN211749482 U CN 211749482U
- Authority
- CN
- China
- Prior art keywords
- magnetic
- capsule endoscope
- permanent magnet
- control system
- magnetic spiral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Endoscopes (AREA)
Abstract
The utility model provides a control system of magnetism spiral type capsule scope and this capsule scope. The magnetic spiral capsule endoscope comprises a capsule endoscope body and a magnetic shell layer arranged on the periphery of the capsule endoscope body, wherein a magnetizable material is spirally wound on the surface of the magnetic shell layer. The magnetic spiral capsule endoscope control system comprises an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral capsule endoscope; the permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture. The magnetic spiral capsule endoscope control system realizes effective control on movement and posture maintenance of the magnetic spiral capsule endoscope.
Description
Technical Field
The utility model relates to the field of medical equipment, concretely relates to control system of magnetism spiral capsule scope and this capsule scope.
Background
Currently, digestive system diseases are the most common diseases in clinic, with gastrointestinal diseases accounting for the greatest proportion. Traditionally, both the upper and lower digestive tracts have been examined by mechanical insertion, which can cause discomfort and pain to the patient, reduce patient compliance to some extent, and sometimes even require anesthesia. Wireless capsule endoscopy has the advantages of being noninvasive, painless, free of cross infection and the like, overcomes the defects of traditional endoscopes such as gastroscopes, and has been used as a first-line examination means for small intestine diseases in many regions of the world.
The capsule type endoscope assembly generally comprises a capsule, a built-in micro camera, a visual angle of 160 degrees, a cruising ability of more than 8 hours, a data recorder and image data analysis software. At present, most capsule endoscopes in many places are passive, advance along with gastrointestinal peristalsis, have instability and uncertainty, have no treatment function, and the deficiency of active control makes the capsule difficult to accurately position a pathological change position, is mainly used for small intestine examination, and is not suitable for stomach examination with a large cavity and a complex cavity.
The active control methods of capsule endoscopes currently under investigation are divided into internal and external drive modes. The internal driving is a driving mode for moving by utilizing the energy source and the mechanical structure of the capsule endoscope, and mainly comprises the following steps: shape memory alloy drive, micro motor drive, magnetostriction drive, pneumatic drive, peristaltic drive, multi-foot drive, electrostatic drive, bionic drive and the like, and most of the processing principles are researched. The internal drive has several disadvantages: 1. the driving is dependent on a motor, which may cause insufficient battery power; 2. the structure of the microcapsule endoscope becomes complex, the production is difficult, and the cost is higher; 3. motor structures may cause damage to the digestive tract; 4. the capsule endoscope movement can not be accurately controlled and has not fast speed.
The external drive is a drive mode for providing power for the movement of the capsule endoscope through external equipment. The conventional available non-contact force is only gravity (universal gravitation) and electromagnetic force, the gravity is basically uncontrollable, and the electromagnetic force still does not research a scheme capable of well controlling the movement of the capsule endoscope at present.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects in the prior art, the utility model aims to provide a control system of magnetic spiral capsule endoscope and capsule endoscope.
In order to realize the utility model discloses an above-mentioned purpose, the utility model provides a magnetism spiral capsule scope, include capsule scope body and locate the magnetism shell layer of capsule scope body periphery, magnetism shell layer surface spiral is around being equipped with magnetizable material.
The magnetic spiral capsule endoscope has the advantages of simple structure and low manufacturing cost, and can rotate, move and maintain the posture according to the change of the direction, the strength and the like of an external magnetic field.
The utility model also provides a magnetic spiral capsule endoscope control system, which comprises an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral capsule endoscope;
the permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture.
This magnetism spiral capsule scope control system is rotatory through controlling outside permanent magnet, realizes the rotation control to magnetism spiral capsule scope to turning into linear motion with magnetism spiral capsule scope rotary motion, having promoted the application of magnetism spiral capsule scope in intestines and stomach, realized the effective control to magnetism spiral capsule scope motion, gesture keep.
The preferable scheme of the magnetic spiral capsule endoscope control system is as follows: the magnetic sensor array is used for acquiring external magnetic field parameters, and the data acquisition units are connected with the magnetic sensor array in a one-to-one correspondence manner; and the data output end of the data acquisition unit is connected to a PC.
The PC can realize the position and the posture of the magnetic spiral capsule endoscope in the gastrointestinal tract of a human body according to the data collected by the magnetic sensor array, and realize the fixed-point suspension and the accurate motion control of the magnetic spiral capsule endoscope through the permanent magnet control mechanism.
The preferable scheme of the magnetic spiral capsule endoscope control system is as follows: the permanent magnet control mechanism comprises a single chip microcomputer and a stepping motor, wherein the single chip microcomputer controls the stepping motor to work and drives the magnetic spiral capsule endoscope to rotate forwards, reversely, accelerate and decelerate.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view showing a structure of a magnetic spiral type capsule endoscope;
FIG. 2 is a schematic diagram of a magnetic spiral type capsule endoscope control system;
FIG. 3 is a schematic diagram of a magnetic sensor array;
fig. 4 is a perspective view of an external permanent magnet and a permanent magnet control mechanism.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, or may be connected between two elements through an intermediate medium, or may be directly connected or indirectly connected, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the utility model provides a magnetism spiral capsule scope, it includes capsule scope body 1 and locates the magnetism shell layer 3 of capsule scope body 1 periphery, and 3 surperficial spirals in magnetism shell layer are equipped with magnetizable material 2.
The magnetic shell layer 3 is preferably coated on the periphery of the capsule endoscope body 1, the magnetizable material 2 is preferably but not limited to an iron wire, the iron wire can be coated with an anti-corrosion and harmless protective layer, and two ends of the iron wire are fixed at the end part of the magnetic shell layer 3, for example, two ends of the iron wire are fixed at the end part of the magnetic shell layer 2 through hot melt adhesive.
The magnetic spiral capsule endoscope is arranged in the alimentary canal of a human body, particularly in the intestinal tract, and the synchronous rotating motion of the magnetic spiral capsule endoscope can be controlled by arranging a rotatable magnetic field outside the human body so as to realize the fixed-point suspension and the motion control of the magnetic capsule endoscope in the alimentary canal of the human body.
As shown in fig. 2, the utility model also provides a magnetism spiral capsule scope control system, including outside permanent magnet, permanent magnet control mechanism and above-mentioned magnetism spiral capsule scope.
The permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture.
The magnetic spiral capsule endoscope control system also has the preferable scheme that: the magnetic spiral capsule endoscope control system also comprises at least one magnetic sensor array for acquiring external magnetic field parameters and data acquisition units which are connected with the magnetic sensor array in a one-to-one corresponding mode; and the data output end of the data acquisition unit is connected to a PC.
The magnetic spiral capsule endoscope is used for detecting gastrointestinal tracts of human bodies, the magnetic sensor array is used for detecting space magnetic field parameters, the data collector is used for receiving data sent by the magnetic sensor array, the PC receives the data sent by the data collector, and the position and direction angle parameters of the magnetic spiral capsule endoscope can be calculated according to a data processing and positioning algorithm.
The external permanent magnet and the permanent magnet control mechanism are preferably but not limited to be arranged above the magnetic spiral capsule endoscope and are used for generating and controlling a magnetic field for driving the magnetic spiral capsule endoscope to rotate, so that the capsule endoscope synchronously rotates along with the external permanent magnet and the permanent magnet control mechanism to realize fixed-point suspension and accurate motion control of the magnetic capsule endoscope in the gastrointestinal tract of a human body. The external permanent magnet may be hand held or may be supported by other mechanical structures.
As shown in fig. 3, in this embodiment, the magnetic sensor array includes a magnetic field sensing module, an analog-to-digital converter, and a serial port communicator, an output end of the magnetic field sensing module is connected to an input end of the analog-to-digital converter, an output end of the analog-to-digital converter is connected to an input end of the serial port communicator, and an output end of the serial port communicator is connected to the data collector. The analog-to-digital converter performs analog-to-digital conversion on the spatial magnetic field data measured by the magnetic field sensing module, and the serial port communicator transmits a digital signal obtained by the conversion of the analog-to-digital converter to the data acquisition unit, wherein the magnetic field sensing module is preferably but not limited to a magnetic positioning array consisting of a three-axis magnetic sensor (HMC 1053).
The permanent magnet control mechanism comprises a single chip microcomputer and a stepping motor, and as shown in fig. 4, the external permanent magnet is used for providing a static basic magnetic field. The stepping motor is controlled to move by pressing a key, the speed is reduced by pressing a speed reduction button 5, the speed is increased by pressing an acceleration button 6, the stepping motor moves forwards by pressing a forward button 7, the stepping motor moves backwards by pressing a backward button 8, the stepping motor starts and stops by pressing a start stop button 9, and the button 10 is a power supply button. In the control process, the forward and backward movement of the magnetic spiral capsule endoscope in the intestinal tract can be controlled by the external permanent magnet which rotates positively and negatively. The speed of the magnetic spiral type capsule endoscope in the forward or backward movement can be changed by changing the rotating speed of the external permanent magnet. The rotary motion of the external permanent magnet 4 is driven by a stepping motor controlled by a single chip microcomputer 11, and the rotating speed and direction of the stepping motor are adjustable. The singlechip controls the step motor to work so as to drive the magnetic spiral capsule endoscope to rotate forwards, reversely, accelerate and decelerate, and the prior art or the method is adopted.
In this embodiment, the PC is communicably connected to the single chip, after the PC calculates the current position and posture of the magnetic spiral capsule endoscope through the existing algorithm, the PC gives a motion path or a motion scheme according to the existing technical method and sends the motion path or the motion scheme to the single chip, the single chip controls the stepper motor to work, thereby controlling the forward and reverse rotation, acceleration and deceleration of the permanent magnet, so that the magnetic spiral capsule endoscope reaches a designated position or maintains a posture, and of course, an operator can input an instruction to the single chip through a manual mode (such as a button and a handle) by referring to an image or data on the PC, and the single chip controls the magnitude and direction of the output current according to the input instruction, thereby controlling the forward and reverse rotation, the rotation speed and start and stop of the stepper motor.
The external permanent magnet preferably remains placed directly above the magnetic spiral-type capsule endoscope. Under the action of the magnetic field of the external permanent magnet, the magnetic spiral capsule endoscope can make corresponding forward and reverse rotation acceleration and deceleration movement at the rotating speed which is synchronous with the external permanent magnet, so that the active control of the planar movement of the magnetic spiral capsule endoscope is realized.
In addition, in order to ensure the control effect and achieve the purpose of accurate positioning, the magnetic field interference of an external permanent magnet in magnetic positioning needs to be filtered. The same magnetic sensor array is arranged right above and right below the external permanent magnet, the magnetic sensor array positioned right below is used for detecting the intensity of the mixed magnetic field of the magnetic spiral capsule endoscope and the external permanent magnet, and the magnetic sensor array positioned right above is used for detecting the position and the posture of the external permanent magnet. The magnetism of the magnetic spiral capsule endoscope is far smaller than that of the external permanent magnet, and the noise brought by the magnetic field of the magnetic spiral capsule endoscope to the positioning environment of the external permanent magnet is almost negligible as the magnetic sensor array positioned right above the magnetic spiral capsule endoscope is far away from the external permanent magnet. The magnetic field intensity of the external permanent magnet can be reversely solved by utilizing the position and the posture of the external permanent magnet, the magnetic sensor array positioned right below detects the mixed magnetic field intensity, the magnetic field intensity of the external permanent magnet is subtracted from the mixed magnetic field intensity to obtain the magnetic field intensity of the magnetic spiral capsule endoscope, the magnetic field intensity is transmitted into a PC (personal computer) by a data acquisition unit, and the spatial position information and the direction angle information of the magnetic spiral capsule endoscope are obtained by calculating through a matlab algorithm.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. A magnetic spiral type capsule endoscope is characterized in that: the magnetic shell comprises a capsule endoscope body and a magnetic shell layer arranged on the periphery of the capsule endoscope body, wherein a magnetizable material is spirally wound on the surface of the magnetic shell layer.
2. The magnetic spiral type capsule endoscope of claim 1, wherein: the magnetic shell layer is coated on the periphery of the capsule endoscope body.
3. The utility model provides a magnetic spiral type capsule scope control system which characterized in that: comprising an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral type capsule endoscope of claim 1 or 2;
the permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture.
4. The control system for a magnetic spiral type capsule endoscope according to claim 3, wherein: the magnetic field sensor array is used for acquiring external magnetic field parameters, and the data acquisition units are correspondingly connected with the magnetic sensor array one by one; and the data output end of the data acquisition unit is connected to a PC.
5. The control system for a magnetic spiral type capsule endoscope according to claim 4, wherein: the same magnetic sensor arrays are respectively arranged right above and right below the external permanent magnet.
6. The control system for a magnetic spiral type capsule endoscope according to claim 4, wherein: the magnetic sensor array comprises a magnetic field sensing module, an analog-to-digital converter and a serial port communicator, wherein the analog-to-digital converter performs analog-to-digital conversion on the spatial magnetic field data measured by the magnetic field sensing module, and the serial port communicator sends digital signals obtained by conversion of the analog-to-digital converter to the data acquisition unit.
7. The control system for a magnetic spiral type capsule endoscope according to claim 3, wherein: the permanent magnet control mechanism comprises a single chip microcomputer and a stepping motor, wherein the single chip microcomputer controls the stepping motor to work and drives the magnetic spiral capsule endoscope to rotate forwards, reversely, accelerate and decelerate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922365782.XU CN211749482U (en) | 2019-12-25 | 2019-12-25 | Magnetic spiral capsule endoscope and control system of capsule endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922365782.XU CN211749482U (en) | 2019-12-25 | 2019-12-25 | Magnetic spiral capsule endoscope and control system of capsule endoscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211749482U true CN211749482U (en) | 2020-10-27 |
Family
ID=72979256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922365782.XU Active CN211749482U (en) | 2019-12-25 | 2019-12-25 | Magnetic spiral capsule endoscope and control system of capsule endoscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211749482U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021129221A1 (en) * | 2019-12-25 | 2021-07-01 | 江苏势通生物科技有限公司 | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method therefor |
| CN113116278A (en) * | 2021-04-20 | 2021-07-16 | 河南工学院 | Magnetic coupling control device, system and method of capsule robot |
| CN113116279A (en) * | 2021-04-20 | 2021-07-16 | 河南工学院 | Magnetic coupling starting control device, system and method of magnetic control capsule robot |
| CN113303909A (en) * | 2021-05-18 | 2021-08-27 | 中国矿业大学 | Magnetic control capsule robot positioning method and system based on magnetic sensor array |
-
2019
- 2019-12-25 CN CN201922365782.XU patent/CN211749482U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021129221A1 (en) * | 2019-12-25 | 2021-07-01 | 江苏势通生物科技有限公司 | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method therefor |
| CN113116278A (en) * | 2021-04-20 | 2021-07-16 | 河南工学院 | Magnetic coupling control device, system and method of capsule robot |
| CN113116279A (en) * | 2021-04-20 | 2021-07-16 | 河南工学院 | Magnetic coupling starting control device, system and method of magnetic control capsule robot |
| CN113303909A (en) * | 2021-05-18 | 2021-08-27 | 中国矿业大学 | Magnetic control capsule robot positioning method and system based on magnetic sensor array |
| CN113303909B (en) * | 2021-05-18 | 2022-07-15 | 中国矿业大学 | Magnetic control capsule robot positioning method and system based on magnetic sensor array |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211749482U (en) | Magnetic spiral capsule endoscope and control system of capsule endoscope | |
| Sendoh et al. | Fabrication of magnetic actuator for use in a capsule endoscope | |
| Wang et al. | A wireless robotic endoscope for gastrointestine | |
| Wang et al. | An earthworm-like robotic endoscope system for human intestine: design, analysis, and experiment | |
| CN113081075B (en) | Magnetic control capsule with active biopsy and drug delivery functions | |
| CN103169443A (en) | Magnetic control active capsule endoscope motion control system based on smart robot | |
| CN203244366U (en) | Magnetic control active type capsule endoscope motion control system based on flexible robot | |
| ITFI20080195A1 (en) | REMOTE ENDOSCOPIC CAPS WITH HYBRID ACTIVE LOCOMOTION | |
| Sun et al. | Preliminary study of a legged capsule robot actuated wirelessly by magnetic torque | |
| Wang et al. | A locomotion mechanism with external magnetic guidance for active capsule endoscope | |
| CN103356150A (en) | Capsule endoscope magnetic field driving system under orientation tracking guide | |
| CN204618172U (en) | Based on the hand-held capsule endoscope control device of magnetic active control | |
| CN216963281U (en) | Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot | |
| CN101732026A (en) | Magnetic-navigation motion control system for use in capsule endoscopy | |
| CN102139137B (en) | External magnetic control drug release capsule system based on digital image navigation | |
| Bourbakis et al. | Design of new-generation robotic capsules for therapeutic and diagnostic endoscopy | |
| CN202489952U (en) | Drive device of capsule endoscope | |
| KR100540758B1 (en) | Capsule type robot system | |
| CN113017542A (en) | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method thereof | |
| WO2017071150A1 (en) | External controller for positional fixing, directional turning, and displacement of in-vivo microminiature device | |
| CN102871632B (en) | Self-assembling modular robot system, and connector thereof | |
| CN105395160A (en) | Capsule endoscopy having accurate positioning function | |
| CN102160774A (en) | Wireless energy supply video image capsule system | |
| CN110604536A (en) | Capsule robot magnetic drive and measurement system | |
| CN215017030U (en) | Magnetic coupling control device and magnetic coupling system of capsule robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |