CN103892787A - Autonomous motion type capsule endoscope and autonomous motion method - Google Patents
Autonomous motion type capsule endoscope and autonomous motion method Download PDFInfo
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- CN103892787A CN103892787A CN201410078434.3A CN201410078434A CN103892787A CN 103892787 A CN103892787 A CN 103892787A CN 201410078434 A CN201410078434 A CN 201410078434A CN 103892787 A CN103892787 A CN 103892787A
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- capsule endoscope
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Abstract
The invention discloses an autonomous motion type capsule endoscope and an autonomous motion method. The autonomous motion type capsule endoscope comprises a motion propelling mechanism, a steering mechanism, a control circuit and a battery, wherein the motion propelling mechanism comprises a current controllable coil, an arc-shaped armature and an elastic outer shell. The elastic outer shell seals the motion propelling mechanism to form an inner cavity, the inner cavity is filled with insulating fluid, the arc-shaped armature is attached to the inner wall of the elastic outer shell and is symmetric with the middle axis of the capsule endoscope, the current controllable coil is symmetric with the center axis of the capsule endoscope and is arranged on the top of the steering mechanism, the steering mechanism comprises at least three steering bars which are in axial symmetry, the control circuit controls the propelling speed of the capsule endoscope by changing the frequency and amplitude of currents passing through the current controllable coil, and the included angle between the center line of the propelling mechanism and the axis of the capsule endoscope is controlled by controlling the amplitude and direction of voltage applied to the steering bars. The autonomous motion type capsule endoscope is simple in structure and easy to manufacture.
Description
Technical field
The present invention relates to biomedical sector, particularly a kind of autonomic movement formula capsule endoscope and autonomic movement method.
Background technology
Along with the raising of quality of life, people are more and more higher to the requirement of medical apparatus and instruments, and reduce as much as possible patient in the time of physical examination because the discomfort that checkout facility causes becomes the important requirement of people to medical apparatus and instruments day by day.Traditional endoscope is inevitably with various pipelines, and these pipelines are due to flexible not enough, can bring larger misery to patient.Meanwhile, traditional endoscope also has possibility and brings the drawback of cross infection.Though existing capsule endoscope has solved these above-mentioned problems, but also exist capsule endoscope to get rid of the problem such as speed and attitude that the external time is long, be difficult to controlled motion.Consider above-mentioned problem, be necessary to seek the capsule endoscope of a kind of controlled motion speed automatically and comprehensive adjustment attitude.
Summary of the invention
The shortcoming and deficiency that exist in order to overcome prior art, the invention provides a kind of autonomic movement formula capsule endoscope and autonomic movement method, and this apparatus structure is simple, volume is little, can control movement velocity and the comprehensive adjustment attitude of capsule endoscope in the intestines and stomach.
The present invention adopts following technical scheme:
A kind of autonomic movement formula capsule endoscope, comprises from top to bottom successively
Motion propulsive mechanism, described motion propulsive mechanism comprises the controlled coil of electric current, arc armature, elastic housing, described elastic housing sealing motion propulsive mechanism forms inner chamber, and inner chamber is full of iknsulating liquid, described arc armature is close on the inwall of elastic housing, and about capsule endoscope axis symmetry, the controlled coil of described electric current is arranged on the top of steering mechanism along capsule endoscope axis symmetry;
Steering mechanism, described steering mechanism comprises that at least 3 become the equally distributed turner bar of axial symmetry;
Control circuit, described control circuit is connected with the controlled coil of electric current and turner bar respectively, for controlling current intensity and the persistent period of the controlled coil of electric current and then controlling its length for turner bar being applied to voltage;
And be built in the battery of capsule.
Described turner bar is made up of piezoelectric or ion exchange polymer/metallic composite materials.
A kind of capsule endoscope autonomic movement method, comprises as follows:
When the controlled coil electricity of electric current, attract arc armature, the liquid in compressional movement propulsive mechanism inner chamber is to elastic housing edge, and the outer deformation of elastic housing is flat, and now motion propulsive mechanism is in contraction state;
Capsule endoscope is in the time of advanced state: after the controlled circuit control of the controlled coil of electric current power-off, liquid in inner chamber is subject to the active force of elastic housing, axis direction toward capsule endoscope impacts, thereby capsule endoscope is obtained along the propulsive force of the propulsive mechanism centrage that moves, propulsive force direction and capsule endoscope dead in line, now motion propulsive mechanism is in release conditions;
When capsule endoscope turns to: control circuit applies voltage to turner bar two ends, make the turner bar length in steering mechanism inconsistent, thereby make the centrage of motion propulsive mechanism and the axis of capsule endoscope become angle, propulsive force direction also no longer with the dead in line of capsule endoscope, finally make the attitude of capsule endoscope be adjusted.
In the contraction state or release conditions of described motion propulsive mechanism, the inner chamber of motion propulsive mechanism is all the time about capsule axis symmetry.
Beneficial effect of the present invention:
Method of the present invention is the propulsive force that the orientation of liquid impacts to obtain capsule endoscope, utilizes the distortion of turner bar to make the comprehensive adjustment attitude of capsule endoscope simultaneously, and its frame for movement is simple, easily manufactures.
Brief description of the drawings
Fig. 1 (a)-Fig. 1 (b) is the structural representation of a kind of autonomic movement formula of the present invention capsule endoscope, wherein Fig. 1 (a) be the present invention in contraction state, Fig. 1 (b) is that the present invention is in release conditions.
Shown in figure:
The controlled coil of 1-electric current, 2-arc armature, 3-elastic housing, 4-turner bar, 5-battery, 6-control circuit;
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment
As shown in Fig. 1 (a)-Fig. 1 (b), a kind of autonomic movement formula capsule endoscope, according to order from top to bottom, comprise successively motion propulsive mechanism, steering mechanism, control circuit 6 and battery, described motion propulsive mechanism is arranged in steering mechanism, and described control circuit is positioned at steering mechanism below, described battery is for powering to control circuit, and described battery and control circuit are all positioned at the afterbody of capsule.
Described motion propulsive mechanism comprises the controlled coil 1 of electric current, arc armature 2, elastic housing 3, described elastic housing 3 seals motion propulsive mechanism and forms inner chamber, and inner chamber is full of iknsulating liquid, described arc armature 2 is close on the inwall of elastic housing 3, and about capsule endoscope axis symmetry, the controlled coil 1 of described electric current is arranged on the top of steering mechanism along capsule endoscope axis symmetry;
When the controlled coil electricity of electric current, attract arc armature 2, thus the liquid of extruding in inner chamber to edge, elastic housing 3 is out of shape, the outer deformation of elastic housing 3 is flat, now motion propulsive mechanism is in contraction state, as shown in Fig. 1 (a);
After the controlled power-off of the controlled coil 1 of electric current, elastic housing has the trend of reinstatement, liquid in inner chamber is subject to the active force of elastic housing, axis direction toward capsule endoscope impacts, thereby make capsule endoscope obtain propulsive force, now motion propulsive mechanism is in release conditions, and capsule endoscope is in advanced state, as shown in Fig. 1 (b).
When capsule endoscope is during in advanced state, the thrust direction of propulsive mechanism and the dead in line of capsule endoscope, capsule endoscope obtains thrust forward;
Capsule endoscope is in the time adjusting the state of attitude, and the thrust direction of propulsive mechanism and the axis of capsule endoscope form an angle, and capsule endoscope obtains a torque that its attitude is changed.
The described inner chamber that is full of dielectric fluid, thus cavity shape changed by changing electrical current intensity in coil, and the inner chamber of motion propulsive mechanism is all the time about capsule axis symmetry.
Described steering mechanism comprises that at least 3 become the equally distributed turner bar 4 of axial symmetry, for example 3 turner bar interval 120 degree distributions between two, the intellectual material that turner bar 4 can be realized by loading different voltage or electric current distortion by piezoceramic material or ion exchange polymer/metallic composite materials etc. be made.In the time that the two ends of turner bar 4 apply certain voltage, can deform, thereby turner bar deforms; The deflection of turner bar becomes certain functional relationship with the voltage applying, conventionally by attribute and the design parameter determination of piezoelectric.When needs are during to certain directional steering, can control by control circuit 6 voltage strength of the turner bar of required distortion, thereby the centrage of motion propulsive mechanism and the axis of capsule endoscope form an angle, turn to thereby realize.
Described control circuit 6 is powered by the battery 5 that is built in capsule endoscope, and it can receive outside control signal, and control circuit 6 flows through frequency and the big or small fltting speed of controlling capsule endoscope of the electric current of coil by change.Control circuit 6 can also be applied to voltage swing on turner bar 4 and direction and be come by change the angle of the centrage of controlled motion propulsive mechanism and the axis of capsule endoscope.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not limited by the examples; other any do not deviate from change, the modification done under spirit of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (4)
1. an autonomic movement formula capsule endoscope, is characterized in that, comprises successively from top to bottom
Motion propulsive mechanism, described motion propulsive mechanism comprises the controlled coil of electric current, arc armature, elastic housing, described elastic housing sealing motion propulsive mechanism forms inner chamber, and inner chamber is full of iknsulating liquid, described arc armature is close on the inwall of elastic housing, and about capsule endoscope axis symmetry, the controlled coil of described electric current is arranged on the top of steering mechanism along capsule endoscope axis symmetry;
Steering mechanism, described steering mechanism comprises that at least 3 become the equally distributed turner bar of axial symmetry;
Control circuit, described control circuit is connected with the controlled coil of electric current and turner bar respectively;
And be built in the battery of capsule.
2. a kind of autonomic movement formula capsule endoscope according to claim 1, is characterized in that, described turner bar is made up of piezoelectric or ion exchange polymer/metallic composite materials.
3. the autonomic movement method based on a kind of autonomic movement formula capsule endoscope described in claim 1-2 any one, is characterized in that, comprises as follows:
When the controlled coil electricity of electric current, attract arc armature, the liquid in compressional movement propulsive mechanism inner chamber is to elastic housing edge, and the outer deformation of elastic housing is flat, and now motion propulsive mechanism is in contraction state;
Capsule endoscope is in the time of advanced state: after the controlled circuit control of the controlled coil of electric current power-off, liquid in inner chamber is subject to the active force of elastic housing, axis direction toward capsule endoscope impacts, thereby capsule endoscope is obtained along the propulsive force of the propulsive mechanism centrage that moves, propulsive force direction and capsule endoscope dead in line, now motion propulsive mechanism is in release conditions;
When capsule endoscope turns to: control circuit applies voltage to turner bar two ends, make the turner bar length in steering mechanism inconsistent, thereby make the centrage of motion propulsive mechanism and the axis of capsule endoscope become angle, propulsive force direction also no longer with the dead in line of capsule endoscope, finally make the attitude of capsule endoscope be adjusted.
4. method according to claim 3, is characterized in that, in the contraction state or release conditions of described motion propulsive mechanism, the inner chamber of motion propulsive mechanism is all the time about capsule axis symmetry.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410078434.3A CN103892787B (en) | 2014-03-05 | 2014-03-05 | A kind of autonomic movement formula capsule endoscope and autonomic movement method |
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| CN201410078434.3A CN103892787B (en) | 2014-03-05 | 2014-03-05 | A kind of autonomic movement formula capsule endoscope and autonomic movement method |
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| CN103892787A true CN103892787A (en) | 2014-07-02 |
| CN103892787B CN103892787B (en) | 2016-07-06 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667422A (en) * | 2016-08-04 | 2017-05-17 | 北京千安哲信息技术有限公司 | Capsule endoscope, and control device, system and detection method of same |
| CN110638413A (en) * | 2019-09-29 | 2020-01-03 | 华中科技大学鄂州工业技术研究院 | Automatic turning endoscope |
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| CN1586388A (en) * | 2004-09-02 | 2005-03-02 | 上海交通大学 | Active intestinal endoscope robot system |
| JP2006280638A (en) * | 2005-03-31 | 2006-10-19 | Toin Gakuen | Travelling capsule |
| JP2006305695A (en) * | 2005-04-28 | 2006-11-09 | Tokyo Denki Univ | Small robot without movable part at the outside |
| US20080071139A1 (en) * | 2006-07-05 | 2008-03-20 | Olympus Medical Systems Corp. | Capsule endoscope and intrasubject medical system using same |
| CN101622773A (en) * | 2007-02-26 | 2010-01-06 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
| CN101669809A (en) * | 2009-09-24 | 2010-03-17 | 上海交通大学 | Active controllable type capsule endoscope robot system |
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
| CN203815415U (en) * | 2014-03-05 | 2014-09-10 | 华南理工大学 | Autokinetic movement-type capsule endoscope |
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2014
- 2014-03-05 CN CN201410078434.3A patent/CN103892787B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1586388A (en) * | 2004-09-02 | 2005-03-02 | 上海交通大学 | Active intestinal endoscope robot system |
| JP2006280638A (en) * | 2005-03-31 | 2006-10-19 | Toin Gakuen | Travelling capsule |
| JP2006305695A (en) * | 2005-04-28 | 2006-11-09 | Tokyo Denki Univ | Small robot without movable part at the outside |
| US20080071139A1 (en) * | 2006-07-05 | 2008-03-20 | Olympus Medical Systems Corp. | Capsule endoscope and intrasubject medical system using same |
| CN101622773A (en) * | 2007-02-26 | 2010-01-06 | 奥林巴斯医疗株式会社 | Magnetic actuator, magnetic actuator operation method, and encapsulated endoscope using the same |
| CN101669809A (en) * | 2009-09-24 | 2010-03-17 | 上海交通大学 | Active controllable type capsule endoscope robot system |
| CN102048517A (en) * | 2011-01-05 | 2011-05-11 | 华南理工大学 | Screw-type active-thrust capsule-like robot |
| CN203815415U (en) * | 2014-03-05 | 2014-09-10 | 华南理工大学 | Autokinetic movement-type capsule endoscope |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106667422A (en) * | 2016-08-04 | 2017-05-17 | 北京千安哲信息技术有限公司 | Capsule endoscope, and control device, system and detection method of same |
| CN110638413A (en) * | 2019-09-29 | 2020-01-03 | 华中科技大学鄂州工业技术研究院 | Automatic turning endoscope |
| CN110638413B (en) * | 2019-09-29 | 2021-06-25 | 华中科技大学鄂州工业技术研究院 | Automatic turning endoscope |
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| CN103892787B (en) | 2016-07-06 |
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