CN102743174A - Method for controlling capsule or probe movement - Google Patents
Method for controlling capsule or probe movement Download PDFInfo
- Publication number
- CN102743174A CN102743174A CN2012102234442A CN201210223444A CN102743174A CN 102743174 A CN102743174 A CN 102743174A CN 2012102234442 A CN2012102234442 A CN 2012102234442A CN 201210223444 A CN201210223444 A CN 201210223444A CN 102743174 A CN102743174 A CN 102743174A
- Authority
- CN
- China
- Prior art keywords
- capsule
- probe
- controlling
- motion
- magnetic field
- 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.)
- Granted
Links
Images
Abstract
The invention provides a method for controlling capsule or probe movement. The method comprises the following steps that 1, a capsule or a probe is placed into a sealed region; 2, an external rotating magnetic field is adopted, and the rotating force is exerted onto the capsule or the probe along a variable axis; and 3, the capsule or the probe is controlled to move in any direction of the variable axis by moving the external magnetic field. The method for controlling the capsule or probe movement provided by the invention can be used for controlling the position of the capsule or the probe in the sealed region in real time, the required magnetic field is low, and the equipment is simple.
Description
Technical field
The present invention relates to the capsule endoscope field, relate in particular to a kind of method of controlling capsule or probe motion.
Background technology
The power of digestive tract function is directly connected to absorption and the utilization of human body to the desired nutritional material, is related to human beings'health.The quickening of Along with people's rhythm of life and the variation of dietary structure, the sickness rate of intestinal and disease of stomach raises day by day.Digestive tract disease has become one of the most multiple the most common disease, and gastric cancer is one of modal malignant tumor in the world wide, 640,000 people is arranged approximately because of mortality of gastric carcinoma every year, according to second of the cancer cause of the death; The sickness rate of intestinal cancer just rises with the speed in every year 2% in the world, and annual nearly 500,000 people die from intestinal cancer, and the speedup of China's intestinal cancer sickness rate is the twice of world standard, and mortality rate occupies the 3rd of the cancer cause of the death.To the inspection of intestinal tract disease and gastropathy, the most frequently used and the most direct at present effective method is exactly a splanchnoscopy, and it plays a part very important in the diagnosis of digestive tract disease.Yet intestinal endoscope at present commonly used clinically or gastroscope all be from the oral cavity or anus direct-insert because the narrow complications of digestive tract, long distance is inserted and is had very big difficulty, the small intestinal that is positioned at the digestive tract middle part becomes " blind area " of inspection; On the other hand, during insertion, patient bears huge misery, also might cause many complication: pharyngeal scratch, esophagus and cardia mucosa are torn, acute gastric dilatation, gastrointestinal perforation.
Be accompanied by further developing of Medical Technology, capsule endoscope more and more widely be applied to medical diagnosis on disease, improved the reliability that disease is made a definite diagnosis greatly.The research capsule endoscope will be mentioned inevitably and how control capsule endoscope in our intravital motion.The capsule endoscope that at present many mechanisms develop is main in human body to rely on the wriggling of organ and contraction to accomplish along gastrointestinal motor, and movement velocity is very slow, and detection efficiency is low, exists the blind area simultaneously.The method of control capsule provided by the invention or probe motion can be controlled capsule or probe in real time in the position of a closed area, and required magnetic field is lower, and equipment is simple.
Summary of the invention
The technical problem that the present invention will solve is to overcome existing defective, and a kind of method of controlling capsule or probe motion is provided, and utilizes outside rotating excitation field that capsule or the probe that magnetic field is arranged carried out any three-dimensional motor control.The method of control capsule provided by the invention or probe motion can be controlled capsule or probe in real time in the position of a closed area, does not have under the electric situation at capsule or probe and also can operate, and required magnetic field is lower, and process device is simple.
As shown in Figure 1, capsule lie low the pulling force fg left that when region surface, received gravity mg straight down, the holding power N that makes progress, provide by externally-applied magnetic field 101 and the frictional force f opposite with direction of pull perpendicular to the surface.Use the mode that directly pulls, need overcome bigger stiction,, realize the stable comparatively difficulty of advancing having relatively high expectations of magnetic field force.
In order to solve the problems of the technologies described above, the invention provides following technical scheme:
The invention provides a kind of method of controlling capsule or probe motion, may further comprise the steps:
Step 1: place a capsule or probe in the enclosed area;
Step 2: adopt an outside rotating excitation field, apply revolving force on capsule or probe along flexible shaft;
Step 3: mobile external magnetic field handles capsule or probe moves in any direction along flexible shaft.
Further, said capsule or probe are that two ends are hemispheric cylinders, perhaps other suitable shape or combined shaped.
Further, said capsule or probe contain magnetic dipole.
Further, said capsule or probe have one or more strong points at the contact surface of when motion and enclosed environment.When capsule or probe motion contacts with the surface, closed area, outside rotating excitation field caused the magnetic dipole rotation, thereby changed the strong point on capsule or probe and surface, enclosed area, and external magnetic field control capsule or probe upward move in any direction.
Further, to move in any direction along flexible shaft be the frictional force of utilizing capsule or probe and contact surface to produce for said step 3 capsule or probe.
Further, the outside rotating excitation field described in the said step 2 is by a control mechanism movably external magnet generation to be provided.
The method of control capsule provided by the invention or probe motion can be controlled the motion in a closed area of capsule or probe in real time, and it is fast to locate accurate speed, and process device is simple, capsule or probe also do not have under the electric situation can, have very strong practicality.
Description of drawings
Accompanying drawing is used to provide further understanding of the present invention, and constitutes the part of description, is used to explain the present invention with embodiments of the invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the couch sketch map of direction of stressing conditions and various power when contact area surperficial of a capsule;
Fig. 2 is that a capsule receives the pulling force of an outside rotating excitation field and produces the sketch map of motion;
Fig. 3 is that a capsule receives with the pulling force of the rightabout outside rotating excitation field of Fig. 2 and produces the sketch map of motion;
Fig. 4 is the move horizontally state diagram of a capsule at three dimensions exchange fulcrum;
Fig. 5 is the move horizontally state diagram of a capsule at three dimensions exchange fulcrum;
Fig. 6 is the move horizontally state diagram of a capsule at three dimensions exchange fulcrum;
Fig. 7 is the move horizontally state diagram of a capsule at three dimensions exchange fulcrum.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for explanation and explains the present invention, and be not used in qualification the present invention.
As shown in Figure 2, capsule 200 more or less is along movement locus upset (shown in the arrow v).External magnets 201 is along laterally rotation and mobile of movement locus v, and consequent magnetic force is applied to external magnets and capsule causes the strong point 202 and the other end strong point of the capsule 200 that moves along movement locus v alternately to roll between dipole.Here we see that external magnets is on the direction consistent with its transverse movement, to rotate.It is found that for external magnets, the relation of movement velocity v and rotary speed w should be v=wL in order to obtain best forward travel.Under the rough environment that moves, help the thing that overcomes obstacles when improving the method for this motion.The another one example, when between external control magnet and the capsule magnetic field force when enough big, capsule 200 can be floated to upper wall by magnetcisuspension, and carries out horizontal movement.Stiction between " wall " of capsule and working environment as as the small intestinal stomach function regulating that digests in the body, can be used to stablize capsule.This alternative strong point of capsule " walking " technology also can be used under such situation, climbs up surface vertical or that tilt such as capsule, or causes capsule to fall face along one advancing.
As shown in Figure 3, capsule 300 also laterally moves forward through the manipulation of external magnets along the rotation of falling the face simultaneously.Here we see external magnets be with Fig. 2 in the rotation of external magnets direction in the opposite direction.
Like Fig. 4, Fig. 5, Fig. 6 and Fig. 7 is the move horizontally sketch map of a capsule at three dimensions exchange fulcrum, and capsule has moved horizontally certain distance.One of them fulcrum is from 400,404, and 410 to 412, another fulcrum is from 402,406, and 408 to 414, this motion mode can be accomplished in compact more space.
The method of control capsule provided by the invention or probe motion can be controlled the motion in an enclosed area of capsule or probe in real time, and it is fast to locate accurate speed; Required magnetic field is lower; Process device is simple, capsule or probe also do not have under the electric situation can, have very strong practicality.
The above is merely the preferred embodiments of the present invention; Be not limited to the present invention; Although the present invention has been carried out detailed explanation with reference to previous embodiment; For a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. method of controlling capsule or probe motion may further comprise the steps:
Step 1: place a capsule or probe in the enclosed area;
Step 2: adopt an outside rotating excitation field, apply revolving force on capsule or probe along flexible shaft;
Step 3: mobile external magnetic field handles capsule or probe moves in any direction along flexible shaft.
2. a kind of method of controlling capsule or probe motion according to claim 1 is characterized in that: said capsule or probe are that two ends are hemispheric cylinders.
3. a kind of method of controlling capsule or probe motion according to claim 1, it is characterized in that: said capsule or probe contain magnetic dipole.
4. a kind of method of controlling capsule or probe motion according to claim 1 is characterized in that: said capsule or probe have one or more strong points at the contact surface of when motion and enclosed area; When capsule or probe motion contacts with the surface, closed area, outside rotating excitation field caused the magnetic dipole rotation, thereby changed the strong point on capsule or probe and surface, enclosed area, and external magnetic field control capsule or probe upward move in any direction.
5. a kind of method of controlling capsule or probe motion according to claim 1 is characterized in that: it is the frictional force of utilizing capsule or probe and contact surface to produce that said step 3 capsule or probe move in any direction along flexible shaft.
6. a kind of method of controlling capsule or probe motion according to claim 1 is characterized in that: the outside rotating excitation field described in the step 2 is by a control mechanism movably external magnet generation to be provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210223444.2A CN102743174B (en) | 2012-06-30 | 2012-06-30 | A kind of method controlling capsule or probe motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210223444.2A CN102743174B (en) | 2012-06-30 | 2012-06-30 | A kind of method controlling capsule or probe motion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102743174A true CN102743174A (en) | 2012-10-24 |
| CN102743174B CN102743174B (en) | 2016-06-29 |
Family
ID=47023933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210223444.2A Active CN102743174B (en) | 2012-06-30 | 2012-06-30 | A kind of method controlling capsule or probe motion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102743174B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016179955A1 (en) * | 2015-05-14 | 2016-11-17 | Ankon Medical Technologies (Shanghai) Co., Ltd | Auxiliary apparatus for minimally invasive surgery and method to use the same |
| CN109645938A (en) * | 2019-02-26 | 2019-04-19 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope cruise control method and capsule endoscope system |
| CN110403567A (en) * | 2018-04-27 | 2019-11-05 | 西安交通大学医学院第一附属医院 | A kind of device of magnet and " awn of wheat " bionical reverse colonoscopy of combined power downlink |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
| US10814113B2 (en) | 2019-01-03 | 2020-10-27 | Vibrant Ltd. | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| US10888277B1 (en) | 2017-01-30 | 2021-01-12 | Vibrant Ltd | Method for treating diarrhea and reducing Bristol stool scores using a vibrating ingestible capsule |
| US10905378B1 (en) | 2017-01-30 | 2021-02-02 | Vibrant Ltd | Method for treating gastroparesis using a vibrating ingestible capsule |
| US11020018B2 (en) | 2019-01-21 | 2021-06-01 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| US11052018B2 (en) | 2019-02-04 | 2021-07-06 | Vibrant Ltd. | Temperature activated vibrating capsule for gastrointestinal treatment, and a method of use thereof |
| US11478401B2 (en) | 2016-09-21 | 2022-10-25 | Vibrant Ltd. | Methods and systems for adaptive treatment of disorders in the gastrointestinal tract |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| US11510590B1 (en) | 2018-05-07 | 2022-11-29 | Vibrant Ltd. | Methods and systems for treating gastrointestinal disorders |
| US11638678B1 (en) | 2018-04-09 | 2023-05-02 | Vibrant Ltd. | Vibrating capsule system and treatment method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1636230A (en) * | 2001-09-05 | 2005-07-06 | 吉温成象有限公司 | System and method for three dimensional display of body lumens |
| WO2006033306A1 (en) * | 2004-09-21 | 2006-03-30 | Olympus Corporation | Medical device guiding system |
| CN1829466A (en) * | 2003-08-06 | 2006-09-06 | 奥林巴斯株式会社 | Medical device, medical device guide system, capsule-type medical device, and capsule-type medical device guide device |
| CN101351148A (en) * | 2005-12-28 | 2009-01-21 | 奥林巴斯医疗株式会社 | Intra-subject observation system and intra-subject observation method |
| US20090171190A1 (en) * | 2005-12-02 | 2009-07-02 | Akio Uchiyama | Medical device position detecting system, medical device guiding system, and position detecting method for medical device |
-
2012
- 2012-06-30 CN CN201210223444.2A patent/CN102743174B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1636230A (en) * | 2001-09-05 | 2005-07-06 | 吉温成象有限公司 | System and method for three dimensional display of body lumens |
| CN1829466A (en) * | 2003-08-06 | 2006-09-06 | 奥林巴斯株式会社 | Medical device, medical device guide system, capsule-type medical device, and capsule-type medical device guide device |
| WO2006033306A1 (en) * | 2004-09-21 | 2006-03-30 | Olympus Corporation | Medical device guiding system |
| US20090171190A1 (en) * | 2005-12-02 | 2009-07-02 | Akio Uchiyama | Medical device position detecting system, medical device guiding system, and position detecting method for medical device |
| CN101351148A (en) * | 2005-12-28 | 2009-01-21 | 奥林巴斯医疗株式会社 | Intra-subject observation system and intra-subject observation method |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016179955A1 (en) * | 2015-05-14 | 2016-11-17 | Ankon Medical Technologies (Shanghai) Co., Ltd | Auxiliary apparatus for minimally invasive surgery and method to use the same |
| US11478401B2 (en) | 2016-09-21 | 2022-10-25 | Vibrant Ltd. | Methods and systems for adaptive treatment of disorders in the gastrointestinal tract |
| US10888277B1 (en) | 2017-01-30 | 2021-01-12 | Vibrant Ltd | Method for treating diarrhea and reducing Bristol stool scores using a vibrating ingestible capsule |
| US10905378B1 (en) | 2017-01-30 | 2021-02-02 | Vibrant Ltd | Method for treating gastroparesis using a vibrating ingestible capsule |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
| US10543348B2 (en) | 2018-04-09 | 2020-01-28 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of an an ailment of the GI tract |
| US11638678B1 (en) | 2018-04-09 | 2023-05-02 | Vibrant Ltd. | Vibrating capsule system and treatment method |
| CN110403567B (en) * | 2018-04-27 | 2021-06-08 | 西安交通大学医学院第一附属医院 | Magnet and 'wheat and mango' bionic combined power down reverse colon examination device |
| CN110403567A (en) * | 2018-04-27 | 2019-11-05 | 西安交通大学医学院第一附属医院 | A kind of device of magnet and " awn of wheat " bionical reverse colonoscopy of combined power downlink |
| US11510590B1 (en) | 2018-05-07 | 2022-11-29 | Vibrant Ltd. | Methods and systems for treating gastrointestinal disorders |
| US10814113B2 (en) | 2019-01-03 | 2020-10-27 | Vibrant Ltd. | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| US11020018B2 (en) | 2019-01-21 | 2021-06-01 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| US11052018B2 (en) | 2019-02-04 | 2021-07-06 | Vibrant Ltd. | Temperature activated vibrating capsule for gastrointestinal treatment, and a method of use thereof |
| CN109645938A (en) * | 2019-02-26 | 2019-04-19 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope cruise control method and capsule endoscope system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102743174B (en) | 2016-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102743174A (en) | Method for controlling capsule or probe movement | |
| Mapara et al. | Medical capsule robots: A renaissance for diagnostics, drug delivery and surgical treatment | |
| Shamsudhin et al. | Magnetically guided capsule endoscopy | |
| Munoz et al. | A review of drug delivery systems for capsule endoscopy | |
| Sendoh et al. | Fabrication of magnetic actuator for use in a capsule endoscope | |
| Hoang et al. | Untethered robotic motion and rotating blade mechanism for actively locomotive biopsy capsule endoscope | |
| Kwack et al. | Current status and research into overcoming limitations of capsule endoscopy | |
| CN105476593A (en) | Capsule endoscope for examining esophageal diseases | |
| Goffredo et al. | Swallowable smart pills for local drug delivery: present status and future perspectives | |
| Chen et al. | Magnetically actuated capsule robots: A review | |
| CN104873166A (en) | Capsule endoscope based on IPMC (ionic polymer metal composite) driving and driving method thereof | |
| Cui et al. | The study of a remote-controlled gastrointestinal drug delivery and sampling system | |
| Bourbakis et al. | Design of new-generation robotic capsules for therapeutic and diagnostic endoscopy | |
| JP5963158B2 (en) | Self-propelled capsule endoscope | |
| CN104027060B (en) | For gastrointestinal capsule-type Nei Kui robot | |
| CN104434008B (en) | Endoscope robot | |
| Sun et al. | Multi-applications of a magnet configuration in actuating capsule endoscope | |
| Chiba et al. | Magnetic actuator for a capsule endoscope navigation system | |
| Woods et al. | Towards a micropositioning system for targeted drug delivery in wireless capsule endoscopy | |
| Wang et al. | Design and testing of a novel gastrointestinal microrobot | |
| CN103117606A (en) | Electromagnetic micro-actuator for gastrointestinal robot | |
| Norton et al. | RollerBall: a mobile robot for intraluminal locomotion | |
| Du et al. | A magnetically-triggered soft capsule for on-demand mucus collection | |
| Guo et al. | The structural design of a magnetic driven wireless capsule robot for drug delivery | |
| Guo et al. | Design of a novel drug-delivery capsule robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 430000 No. 666 High-tech Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Anhan Science and Technology (Wuhan) Co., Ltd. Address before: 430000 No. 666 High-tech Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee before: Ankon Photoelectric Technology (Wuhan) Co., Ltd. |