CN102743174B - A kind of method controlling capsule or probe motion - Google Patents
A kind of method controlling capsule or probe motion Download PDFInfo
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- CN102743174B CN102743174B CN201210223444.2A CN201210223444A CN102743174B CN 102743174 B CN102743174 B CN 102743174B CN 201210223444 A CN201210223444 A CN 201210223444A CN 102743174 B CN102743174 B CN 102743174B
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Abstract
The invention provides a kind of method controlling capsule or probe motion, comprise the following steps: step one: place a capsule or probe in 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 is handled capsule or probe and moved in any direction along flexible shaft.The method of control capsule provided by the invention or probe motion, it is possible to controlling capsule or probe in real time in the position of a closed area, required magnetic field is relatively low, and equipment is simple.
Description
Technical field
The present invention relates to capsule endoscope field, particularly relate to a kind of method controlling capsule or probe motion.
Background technology
The power of digestive tract function is directly connected to human body to the absorption of desired nutritional material and utilization, is related to the health of the mankind.Along with the change of quickening and the dietary structure of people's rhythm of life, the sickness rate of intestinal and disease of stomach raises increasingly.Digestive tract disease has become as one of the most multiple the most common disease, and gastric cancer is one of modal malignant tumor in world wide, there are about 640,000 people every year because of mortality of gastric carcinoma, according to the second of the cancer cause of the death；The sickness rate of intestinal cancer just rises with the speed of annual 2% in the world, is often close on 500000 people and dies from intestinal cancer, and the speedup of China's intestinal cancer sickness rate is the twice of world standard, and mortality rate occupies the cancer cause of the death the 3rd.Inspection to intestinal tract disease and gastropathy, the most frequently used at present and the most direct effective method is exactly splanchnoscopy, and it plays particularly important effect in the diagnosis of digestive tract disease.But intestinal endoscope conventional clinically at present or gastroscope are all direct-insert from oral cavity or anus, owing to Digestive Tract Stenosis is tortuous, distance is inserted exists very big difficulty, and the small intestinal being positioned at digestive tract middle part becomes " blind area " of inspection；On the other hand, during insertion, patient bears great pain, it is also possible to cause many complication: pharyngeal scratch, esophagus and cardia mucosa are torn, acute gastric dilatation, gastrointestinal perforation.Along with the further development of Medical Technology, capsule endoscope is increasingly widely used in medical diagnosis on disease, greatly improves the reliability that disease is made a definite diagnosis.Research capsule endoscope, inevitably mentions and how to control capsule endoscope in our internal motion.The capsule endoscope that many mechanisms develop at present relies primarily on the wriggling of organ in human body and has shunk along gastrointestinal motor, and movement velocity is very slow, and detection efficiency is low, there is blind area simultaneously.The method of control capsule provided by the invention or probe motion, it is possible to controlling capsule or probe in real time in the position of a closed area, required magnetic field is relatively low, and equipment is simple.
Summary of the invention
The technical problem to be solved in the present invention is to overcome existing defect, it is provided that a kind of method controlling capsule or probe motion, utilizes outside rotating excitation field that the capsule or probe that have magnetic field carry out the motor control in Arbitrary 3 D space.The method of control capsule provided by the invention or probe motion, it is possible to control in real time capsule or probe in the position of a closed area, also operable in capsule or probe are without electricity situation, required magnetic field is relatively low, and process device is simple.
As it is shown in figure 1, capsule lies low receives gravity mg straight down, the holding power N being perpendicular to surface upwards, externally-applied magnetic field 101 the pulling force fg to the left provided and and the contrary frictional force f of direction of pull when region surface.Use the mode directly pulled, it is desirable to overcome bigger stiction, the requirement of magnetic field force is higher, it is achieved stable comparatively difficulty of advancing.
In order to solve above-mentioned technical problem, the invention provides following technical scheme:
A kind of method controlling capsule or probe motion, comprises the following steps:
Step one: place a capsule or probe in enclosed area；
Step 2: adopt an outside rotating excitation field, apply revolving force on capsule or probe along flexible shaft, described outside rotating excitation field is to be provided moveable external magnet to produce by a control mechanism；
Step 3: mobile external magnetic field is handled capsule or probe and utilizes the frictional force that capsule or probe and contact surface produce to make capsule or probe move in any direction along flexible shaft, and the motion in space of capsule or probe is tumbling motion, and fulcrum is continually changing.
Further, described capsule or probe are two ends is hemispheric cylinder, or other suitable shape or combined shaped.
Further, described capsule or probe contain magnetic dipole.
Further, described capsule or the probe contact surface with enclosed environment when motion has one or more strong point.When capsule or probe motion contact with surface, closed area, outside rotating excitation field causes magnetic dipole to rotate, thus changing capsule or probe and the strong point on surface, enclosed area, external magnetic field controls capsule or probe upper motion in any direction.
The method of control capsule provided by the invention or probe motion, it is possible to controlling in real time capsule or the probe motion in a closed area, location Quasi velosity is fast, and process device is simple, in capsule or probe are without electricity situation also can, there is very strong practicality.
Accompanying drawing explanation
Accompanying drawing is for providing a further understanding of the present invention, and constitutes a part for description, is used for together with embodiments of the present invention explaining the present invention, is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is that a capsule couches the schematic diagram in direction of the stressing conditions when the surface of contact area and various power；
Fig. 2 is that a capsule is subject to the pulling force of an outside rotating excitation field and produces the schematic diagram moved；
Fig. 3 is that a capsule is subject to the pulling force of outside rotating excitation field rightabout with Fig. 2 and produces the schematic diagram moved；
Fig. 4 is a capsule moves horizontally state diagram what three dimensions exchanged fulcrum；
Fig. 5 is a capsule moves horizontally state diagram what three dimensions exchanged fulcrum；
Fig. 6 is a capsule moves horizontally state diagram what three dimensions exchanged fulcrum；
Fig. 7 is a capsule moves horizontally state diagram what three dimensions exchanged fulcrum.
Detailed description of the invention
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are illustrated, it will be appreciated that preferred embodiment described herein is merely to illustrate and explains the present invention, is not intended to limit the present invention.
As in figure 2 it is shown, capsule 200 is more or less overturn (shown in arrow v) along movement locus.External magnets 201 is along movement locus v transverse rotation and movement, and consequent magnetic force is applied between external magnets and capsule dipole and causes the strong point 202 and the alternately rolling of the other end strong point along the movement locus v capsule 200 moved.Here we have seen that external magnets is to rotate up in the side consistent with its transverse movement.It is found that the forward travel in order to obtain the best, the relation for external magnets, movement velocity v and rotary speed w should be v=wL.Under the rough environment of movement, be conducive to overcoming barrier when improving the method for this motion.Another one example, between external control magnet and capsule magnetic field force sufficiently large time, capsule 200 can be floated to upper wall by magnetcisuspension, and carries out horizontal movement.Stiction between capsule and " wall " of working environment, such as the small intestinal stomach function regulating as internal digestion, it is possible to be used to stable capsule.This strong point " walking " technology alternately of capsule also can be used under such circumstances, and surface that is vertical or that tilt climbed up by such as capsule, or causes that capsule is advanced along a stopping surface.
As it is shown on figure 3, capsule 300 is rotated along stopping surface and is laterally moved forward by the manipulation of external magnets simultaneously.Here we have seen that external magnets is to rotate in the direction in opposite direction with Fig. 2 peripheral magnet.
Moving horizontally schematic diagram if Fig. 4, Fig. 5, Fig. 6 and Fig. 7 are a capsule what three dimensions exchanged fulcrum, capsule has moved horizontally certain distance.One of them fulcrum from 400,404,410 to 412, another fulcrum from 402,406,408 to 414, this motion mode can complete in overall compact space.
The method of control capsule provided by the invention or probe motion, it is possible to controlling in real time capsule or the probe motion in an enclosed area, location Quasi velosity is fast, and required magnetic field is relatively low, and process device is simple, in capsule or probe are without electricity situation also can, there is very strong practicality.
The foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention, although the present invention being described in detail with reference to previous embodiment, for a person skilled in the art, technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature carries out equivalent replacement.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (3)
1. the method controlling capsule or probe motion, it is characterised in that: comprise the following steps:
Step one: place a capsule or probe in enclosed area；
Step 2: adopt an outside rotating excitation field, apply revolving force on capsule or probe along flexible shaft, described outside rotating excitation field is to be provided moveable external magnet to produce by a control mechanism；
Step 3: mobile external magnet is handled capsule or probe and utilizes the frictional force that capsule or probe and contact surface produce to make capsule or probe move in any direction along flexible shaft, and the motion in space of capsule or probe is tumbling motion, and fulcrum is continually changing；
Described capsule or the probe contact surface with enclosed area when motion has one or more strong point；When capsule or probe motion contact with surface, closed area, outside rotating excitation field causes capsule or probe to rotate, thus changing capsule or probe and the strong point on surface, enclosed area, outside rotating excitation field controls capsule or probe upper motion in any direction.
2. a kind of method controlling capsule or probe motion according to claim 1, it is characterised in that: described capsule or probe are two ends is hemispheric cylinder.
3. a kind of method controlling capsule or probe motion according to claim 1, it is characterised in that: described capsule or probe contain magnetic dipole, and described outside rotating excitation field causes magnetic dipole to rotate to cause capsule or probe to rotate.
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| CN201210223444.2A CN102743174B (en) | 2012-06-30 | 2012-06-30 | A kind of method controlling capsule or probe motion |
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| CN102743174A CN102743174A (en) | 2012-10-24 |
| CN102743174B true CN102743174B (en) | 2016-06-29 |
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| US10070854B2 (en) * | 2015-05-14 | 2018-09-11 | Ankon Medical Technologies (Shanghai), Ltd. | Auxiliary apparatus for minimally invasive surgery and method to use the same |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| GB2554354B (en) | 2016-09-21 | 2021-06-02 | Vibrant Ltd | Systems for adaptive treatment of disorders in the gastrointestinal tract |
| US10905378B1 (en) | 2017-01-30 | 2021-02-02 | Vibrant Ltd | Method for treating gastroparesis using a vibrating ingestible capsule |
| US10888277B1 (en) | 2017-01-30 | 2021-01-12 | Vibrant Ltd | Method for treating diarrhea and reducing Bristol stool scores using a vibrating ingestible capsule |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
| 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 |
| 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 |
| GB201900780D0 (en) | 2019-01-21 | 2019-03-06 | Vibrant Ltd | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| GB201901470D0 (en) | 2019-02-04 | 2019-03-27 | Vibrant Ltd | Vibrating capsule for gastrointestinal treatment, and 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 |
| CN112089384B (en) * | 2019-06-17 | 2021-12-28 | 深圳硅基智控科技有限公司 | Magnetic control device of capsule endoscope |
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| 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 |
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| EP1428178A4 (en) * | 2001-09-05 | 2009-01-14 | Given Imaging Ltd | System and method for three dimensional display of body lumens |
| JP4891535B2 (en) * | 2004-09-21 | 2012-03-07 | オリンパス株式会社 | Medical device guidance system |
| JP4796075B2 (en) * | 2005-12-02 | 2011-10-19 | オリンパス株式会社 | Medical device position detection system and medical device guidance system |
| CN101351148B (en) * | 2005-12-28 | 2010-09-08 | 奥林巴斯医疗株式会社 | Intra-subject observation system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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