CN105559738A - Capsule endoscope motion control method based on magnetic field spatial distribution change - Google Patents
Capsule endoscope motion control method based on magnetic field spatial distribution change Download PDFInfo
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- CN105559738A CN105559738A CN201510974052.3A CN201510974052A CN105559738A CN 105559738 A CN105559738 A CN 105559738A CN 201510974052 A CN201510974052 A CN 201510974052A CN 105559738 A CN105559738 A CN 105559738A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
Abstract
The invention discloses a medical capsule endoscope motion control method, aims to solve the problem of external active control on a capsule endoscope during internal examinations by the permanent magnet capsule endoscope, and provides a method for changing spatial magnetic field distribution change on the basis of magnetic field motion to change magnetic force borne by the permanent magnet capsule endoscope so as to control the permanent magnet capsule endoscope to move in human bodies. The method comprises position attitude control in the sinking state of the capsule endoscope, position attitude control in the floating state of the capsule endoscope, automatic control from the sinking state to the floating state of the capsule endoscope, dynamic jumping motion in the fixed mode of the capsule endoscope and program control in the whole examination process.
Description
Technical field
The present invention relates to field of medical device, particularly relate to a kind of external control method using capsule endoscope to carry out stomach inspection, a specifically medical capsule scope magnetic control navigation control method, can be used for controlling, the motion of guide capsule scope in human body and inspection.
Background technology
Capsule endoscope is that a kind of size shape is similar to capsule pill, is but integrated with the human body alimentary canal checking tool of the photo-optic system of complete set, wireless telecommunication system and electric supply system.Capsule will move after being swallowed by person under inspection in gastro-intestinal tract, carry out shooting inspection on the way to gastro-intestinal tract inwall, and externally terminal sends image.Doctor by the image received, can position focus and diagnoses.
Capsule endoscope product during current reality uses all adopts passive movement mode, and namely capsule itself does not have the ability of movement, need move by naturally wriggling of intestinal.The main shortcoming of passive type capsule endoscope is: capsule endoscope in human body can only random motion, shooting, be difficult to according to doctor instruction arrive assigned address, can not stop at specific part, thus exist check blind area, have undetected may.Therefore be mainly used in the detection of disease of intestine at present, stomach and large intestine detection cannot be applied to.Therefore the active control technology of capsule endoscope becomes this area research focus.
The ACTIVE CONTROL of the capsule endoscope in current research is divided into inside and outside driving two kinds of modes.Internal drive is exactly utilize the energy of capsule self and frame for movement to carry out a kind of type of drive of moving, mainly comprise: marmem driving, micromachine driving, magnetostriction driving, pneumatic actuation, wriggling driving, polypody driving, electrostatic driving and bionical driving etc., most of handling principle conceptual phase.Internal drive has following shortcoming: 1, driving itself needs to consume a large amount of energy, and battery electric quantity may be caused inadequate; 2, the structure of microencapsulation becomes complicated, produces difficulty, high expensive; 3, motion structure may produce damage to digestive tract; 4, capsule motion be difficult to control and speed is slow.
External drive provides the type of drive of power by external equipment for capsule moves.Conventional available contactless force only has gravity (gravitation) and electromagnetic force, gravity is substantially uncontrollable, human body fluid is conduction, and electric field has impact to human-body biological electrical activity, only have magnetostatic field (or low frequency variations magnetic field) substantially unhinderedly can pass human body, and people is had no adverse effects, comparatively safe.
The mode producing magnetic field mainly can be divided into solenoid and permanent magnet two kinds.From the angle being easy to control, solenoid can control magnetic induction by control coil electric current, more convenient, also has many relevant achievements in research both at home and abroad.But because capsule is at inside of human body, in vitro, equipment is to the distance of capsule at about 10-20cm, and magnetic field is decay by the cube of distance to the captivation that small magnet produces substantially for equipment.Produce the magnetic field that operating distance is enough far away, the equivalent current of equipment end magnetic field generator reaches hundreds thousand of ampere, general copper conductor is difficult to support so high electric current density, and uses superconducting coil to relate to the problems such as ultralow temperature cooling, and system is huge and equipment cost is very high.Along with the invention of Nd-Fe-B rare earth permanent magnetic material, superpower permanet magnetic body can be obtained and cheap.Therefore permanent magnet is used to become inevitable principle as main Magnetic Field Source.
Because magnetostatic field is a kind of passive rotational field, there is essence different from gravitational field, electrostatic field etc., scleronomic constraint can not be formed to permanent magnet or ferromagnet separately.This is also identical with life experience: Magnet always accelerates ferrous material to be attracted to oneself surface, and can not be stabilized on certain distance, unless there are other power effects.And in human body abdomen, there is no other controllable force effects, it is unmanageable for which results in permanent magnet to capsule.
A kind of device using spherical permanent magnet to control capsule suspension and motion has been invented by Ankon Photoelectric Technology (Wuhan) Co., Ltd. of China, and has applied for patent (patent No. 201310136094.0).This device utilizes and controls magnet movement, and make magnetic force and gravity, buoyant equilibrium, can set up stable floating system, capsule endoscope can move, rotate in human body.But do not clearly state the method controlling capsule motion in patent, practical operation relies on operator's feel, and effect differs greatly according to different operating person, and the training cycle is long.
Shenzhen graduate school of Harbin Institute of Technology proposes the active capsule endoscope kinetic control system of a kind of magnetic control based on handyman (patent No. 201320151833.9), comprises handyman, the first magnetic field generator, two-degree-freedom turntable, the second magnetic field generator and control unit etc.Changed position and the attitude of two magnetic field generators by handyman and two-degree-freedom turntable, thus change spatial magnetic field, guide capsule moves in vivo.But this patent of invention does not systematically illustrate the operational approach controlling capsule motion equally.
Therefore, those skilled in the art is devoted to develop a kind of new capsule endoscope motion control method, by the motion of magnetic capsule in the motion guidance body of manipulation external magnetic field generator, thus solves initiative control when capsule endoscope checks in human body.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is position when how to facilitate that ACTIVE CONTROL capsule endoscope checks in human body compactly and attitude.
For achieving the above object, the invention provides a kind of capsule endoscope motion control method based on magnetic field space changes in distribution, to sink to the bottom for making capsule endoscope or position and attitude under floating state controls, comprise the following steps:
The motion controller of permanent magnet capsule endoscope, magnetic field generator, movement mechanism with multiple degrees of freedom and correspondence is provided;
The relative position curve of described magnetic field generator and described permanent magnet capsule endoscope is obtained according to theoretical modeling and experiment;
In running, change the deflection angle of described magnetic field generator, simultaneously according to its vertical, horizontal level of curve compensation, realize described permanent magnet capsule endoscope invariant position, attitude angle changes;
Control the vertical axes of described magnetic field generator around described permanent magnet capsule endoscope place to rotate, realize the rotation of capsule deflection;
Control described magnetic field generator attitude constant, keep the height of described permanent magnet capsule endoscope constant, move horizontally described magnetic field generator, realize the translational motion of traction described permanent magnet capsule endoscope.
Present invention also offers a kind of capsule endoscope motion control method based on magnetic field space changes in distribution, for making permanent magnet capsule endoscope from sinking to the bottom state motion to floating state, comprising the following steps:
The motion controller of permanent magnet capsule endoscope, magnetic field generator, movement mechanism with multiple degrees of freedom and correspondence is provided;
The described magnetic field generator curve movement that described permanent magnet capsule endoscope plays drift process is controlled under calculating different depth;
Described movement mechanism with multiple degrees of freedom controls described magnetic field generator, first drops to extreme lower position in initial position; Then move to a little higher than final states position on, finally drop to final states position, planning and constructing becomes curve movement storehouse;
During inspection, find extreme lower position Zs, controlling magnetic field generator declines rapidly and then gos up rapidly, judges whether permanent magnet capsule endoscope occurs jumping, successively force down minimum point until permanent magnet capsule endoscope jumps from the image of permanent magnet capsule endoscope feedback;
After determining extreme lower position, namely progressively souning out according to precalculated series of curves, until find match curve, making permanent magnet capsule endoscope from sinking to the bottom state motion to floating state.
Further, realize the motion of capsule endoscope fixed model dynamic jump, comprise the following steps:
Find motion minimum point Zs position;
Controlling magnetic field generator does two sections of motions continuously:
I. vertical direction drops to Zs position by initial position, and horizontal direction is motionless, makes permanent magnet capsule endoscope start to float;
Ii. then vertical direction rises to elemental height by Zs position, motion respective distance during horizontal direction etc.
Present invention also offers a kind of capsule endoscope motion control method based on magnetic field space changes in distribution, realize the programme-control of whole check process, comprise the following steps:
The motion controller of permanent magnet capsule endoscope, magnetic field generator, movement mechanism with multiple degrees of freedom and correspondence is provided;
The described magnetic field generator curve movement that described permanent magnet capsule endoscope plays drift process is controlled under calculating different depth;
Described movement mechanism with multiple degrees of freedom controls described magnetic field generator, first drops to extreme lower position in initial position; Then move to a little higher than final states position on, finally drop to final states position, planning and constructing becomes curve movement storehouse;
During inspection, find extreme lower position Zs, controlling magnetic field generator declines rapidly and then gos up rapidly, judges whether permanent magnet capsule endoscope occurs jumping, successively force down minimum point until permanent magnet capsule endoscope jumps from the image of permanent magnet capsule endoscope feedback;
After determining extreme lower position, namely progressively souning out according to precalculated series of curves, until find match curve, making permanent magnet capsule endoscope from sinking to the bottom state motion to floating state;
In running, change the deflection angle of described magnetic field generator, simultaneously according to its vertical, horizontal level of curve compensation, realize described permanent magnet capsule endoscope invariant position, attitude angle changes;
Control the vertical axes of described magnetic field generator around described permanent magnet capsule endoscope place to rotate, realize the rotation of capsule deflection;
Control described magnetic field generator attitude constant, keep the height of described permanent magnet capsule endoscope constant, move horizontally described magnetic field generator, realize the translational motion of traction described permanent magnet capsule endoscope;
Switching field generator magnetic pole, and capsule endoscope is sunk to the bottom;
In running, change the deflection angle of described magnetic field generator, simultaneously according to its vertical, horizontal level of curve compensation, realize described permanent magnet capsule endoscope invariant position, attitude angle changes;
Control the vertical axes of described magnetic field generator around described permanent magnet capsule endoscope place to rotate, realize the rotation of capsule deflection;
Control described magnetic field generator attitude constant, keep the height of described permanent magnet capsule endoscope constant, move horizontally described magnetic field generator, realize the translational motion of traction described permanent magnet capsule endoscope.
Further, further comprising the steps of:
Manipulation permanent magnet capsule endoscope carries out retake to assigned address.
The method that the present invention proposes, controlled device is a kind of permanent magnet capsule endoscope, the i.e. capsule endoscope of built-in permanent magnet material, and function is identical with general capsule endoscope, but itself is a little permanent magnet.
The method that the present invention proposes, based on the system of complete set, comprises a magnetic field generator, a movement mechanism with multiple degrees of freedom, and the motion controller of correspondence.Described magnetic field generator, is a spherical magnet, can produces the Distribution of Magnetic Field shown in accompanying drawing 3.Described movement mechanism with multiple degrees of freedom can carry magnetic field generator motion, degree of freedom >=5, this is because determine that the position of an object and attitude need 6 degree of freedom, but because described magnetic field generator is rotational symmetric, rotate around its axis of symmetry, Distribution of Magnetic Field is constant, so need to realize at least 5DOF motion.
Because magnetostatic field can not form scleronomic constraint to capsule separately, other external force therefore can only be utilized to participate in implementing indirectly to control.The stressed of capsule has gravity, buoyancy, magnetic force, has support force and frictional force when sinking to the bottom, and balance when these power reach, capsule is in stable state.Gravity is constant, buoyancy is only variable at floating state, support force is sinking to the bottom state variable, and therefore capsule is only floating and sink to the bottom state and just may stablize, and other are then unstable state.Analyze based on these, the method that the present invention proposes can realize: 1, capsule endoscope sinks to the bottom the position and attitude control under state; 2, capsule endoscope floating under position and attitude control; 3, capsule endoscope is realized from sinking to the bottom the automatic control of state to floating state; 4, the motion of capsule endoscope fixed model dynamic jump is realized; 5, the programme-control of whole check process is realized.
Known spherical permanent magnet size and surface induction intensity, its periphery any point magnetic induction can pass through finite element software simulation calculation.In like manner permanent magnet capsule can simulation modeling.The stressing conditions of capsule under spherical permanent magnet Magnetic Field Source periphery optional position and attitude condition can obtain theoretical approximation by simulation calculation.When other external force such as known gravity, buoyancy, can determine required magnetic force according to static balance condition, then under employing steepest, the iterative algorithm of degradation routine calculates the relative position of now spherical permanent magnet and capsule.This method is the basis of following control method.
1, described capsule endoscope sinks to the bottom state, capsule vertical direction stressing conditions as shown in Figure 1: magnetic force=gravity-buoyancy-support force, as long as magnetic force≤gravity-buoyancy, capsule just can keep stable.Horizontal direction, magnetic force component is close to zero, and non-vanishingly also can be offset by the frictional force that contacts at the bottom of stomach.Equilibrium of couples, magnetic force couple and contact force couple balance each other.
The described position and attitude sunk to the bottom under state controls, controlling magnetic field generator moves, and makes it keep the motion shown in accompanying drawing 3 curve 1 relative to capsule, namely keeps the position of capsule relative magnetic field generator to be on curve 1, then can realize capsule invariant position, attitude angle adjusts.Its basic feature is that attitude angle has angle with magnetic line of force direction, local, the balance that when moment of torsion that this angle causes and capsule are in this attitude, support force causes.This curve can be calculated by theoretical simulation and data correction is demarcated by experiment.
As shown in Figure 5, the vertical axes of controlling magnetic field generator around capsule place rotates, and can realize the rotation of capsule deflection.Controlling magnetic field generator attitude is constant, and the height remaining to capsule is constant, moves horizontally magnetic field generator and can draw capsule and realize translational motion.Several movement combination above, can realize capsule and sink to the bottom the various motions under state.
2, described capsule endoscope floating state, capsule vertical direction stressing conditions as shown in Figure 2: magnetic force=gravity-buoyancy, as long as satisfy condition: gravity > magnetic force > gravity-maximum buoyancy, capsule just can keep stable.Horizontal direction, because the damping of water is very little, the horizontal component of magnetic force must close to zero.Equilibrium of couples, magnetic force couple and buoyancy couple balance each other.
Position and attitude under described floating state controls, controlling magnetic field generator moves, and makes it keep the motion shown in accompanying drawing 4 curve 2 relative to capsule, namely keeps the position of capsule relative magnetic field generator to be on curve 2, then can realize capsule invariant position, attitude angle adjusts.Its basic feature is that attitude angle has angle with magnetic line of force direction, local, the balance that when moment of torsion that this angle causes and capsule are in this attitude, buoyancy causes.This curve can by Theoretical Calculation also data correction demarcation by experiment.
As shown in Figure 5, the vertical axes of controlling magnetic field generator around capsule place rotates, and can realize the rotation of capsule deflection.Controlling magnetic field generator attitude is constant, and the height remaining to capsule is constant, moves horizontally magnetic field generator and can draw capsule and realize translational motion.Several movement combination above, can realize the various motions of capsule under floating state.
3, described capsule endoscope controls automatically from sinking to the bottom the floating process of state to floating state, is mainly used in overcoming manually operated difficulty.This difficulty is: when capsule is from water-bed floating, along with uphill process, and capsule distance magnetic pole is more and more nearer, and magnetic force sharply increases, and when capsule arrives the water surface, magnetic force is much larger than gravity, and capsule departs from the water surface and flies out, and is adsorbed on coat of the stomach upper surface.Solution is, with the rising of capsule, Synchronous lifting magnetic field generator, makes capsule substantially constant to pole pitch.This move completes very difficult by operator by hand, and this is also the existing main cause utilizing permanent magnet to control the equipment poor effect of capsule endoscope.
Described capsule endoscope controls automatically from sinking to the bottom the floating process of state to floating state, first precalculates the magnetic field generator curve movement controlling capsule floating process.As shown in Figure 6, magnetic field generator axis vertical, capsule is immediately below magnetic field generator, and the longitudinal axis is Z axis, and transverse axis is time t.Magnetic field generator motor process is divided into three phases, first quickly falls to extreme lower position, this position magnetic force > gravity-buoyancy, and capsule departs from bottom to start to float; Then a little higher than final states position is risen to certain speed; Finally drop to final states position, final states position and floating settling position.The gravity of capsule under critical drift state and floating state and buoyancy are determined, due to stress balance, also determine at the magnetic force of these two positions, thus the distance of magnetic field generator and capsule is also determined, Zs and Zf-Zw namely in Fig. 6 determines.For different water depth degree Zw, three section motion curve feature similarities and design parameter is different, are built into curve movement storehouse by above-mentioned motion planning.
First find extreme lower position Zs in practical operation, controlling magnetic field generator declines rapidly and then gos up rapidly, judges that whether capsule occurs jumping, and successively forces down minimum point until capsule jumps from the image of capsule endoscope feedback at every turn.This minimum point is actual minimum point.Why repeatedly souning out is because the image of capsule endoscope feedback has hysteresis quality, if judge that capsule starts floating and makes magnetic field generator rise again, usually late.
After determining extreme lower position, namely progressively souning out according to precalculated series of curves, until find match curve, making capsule endoscope from sinking to the bottom state motion to floating state.Sound out order by the curve that maximum water depth is corresponding, successively reduce the degree of depth, can ensure that capsule can not fly out the water surface.The image whether success is fed back by capsule endoscope judges.Successful result instead can push away and judge general water depth.
This method does not need people to manipulate the motion of magnetic field generator directly, but in searching extreme lower position, and sound out in the process of floating, need the image according to capsule endoscope to judge qualitatively capsule kinestate.Can use machine vision image recognition technology, also can be judged according to display frame by operator, the present invention does not relate to image recognition technology.
4, described capsule endoscope fixed model dynamic jump motion, its role is to the inspection to coat of the stomach lower surface.When capsule sinks to the bottom, camera lens approaches lower surface, and the visual field is too little, and checking efficiency is too low, needs capsule to rise certain altitude.But as previously mentioned, middle suspended state buoyancy is constant, do not have support force, is unstable.Therefore the mode of dynamic jump motion is adopted to realize this demand.
Described capsule endoscope fixed model dynamic jump motion, as shown in Figure 7, its control model is similar at aforementioned 3rd and moves from sinking to the bottom the floating of state to floating state, and its difference is:
At vertical direction, use the curve movement being greater than actual grade all the time, make capsule can not reach floating state and namely sink once again; In uphill process, magnetic field generator moves in the horizontal direction simultaneously, and guide capsule occurred level moves.The jumping exercise of final formation capsule continuous print m type, completes the inspection to coat of the stomach lower surface in the process.
5, the described programme-control realizing whole check process, is characterized in that:
Utilize aforesaid several relatively independent control method to carry out permutation and combination and linking, the automatic execution sequence of setting program, realize the inspection to whole coat of the stomach, flow process as shown in Figure 8.
1) because floating process need repeatedly sounds out action, generally the part started most can be placed on.Successfully complete the degree of depth that floating process can obtain extreme lower position and water, the depth parameter that can contrast water selects the auto-programming preset to number.
2), after completing stable floating state, the automatic guide capsule of pre-set programs, in water surface translation, completes the inspection to coat of the stomach upper surface.At edge near the position of sidewall, capsule attitude can be regulated, make it to detect coat of the stomach upper lateral part.Check that path pre-sets according to the body of stomach shape of common people.
3) enter the pattern of sinking to the bottom, change pole orientation and make photographic head downward, complete the inspection to coat of the stomach lower surface with fixed model jumping mode.Same at edge near the position of sidewall, capsule attitude can be regulated, make it to detect coat of the stomach side lower part.Check that path pre-sets according to the body of stomach shape of common people.
Whole coat of the stomach photo can be obtained by auto-programming, if still have omission, can by the self contained function pattern of operator according to aforementioned 1-4, manipulation capsule carries out retake to assigned address.
The examination scope of each checking mode as shown in Figure 9.
The present invention contrasts prior art and has following innovation, according to capsule endoscope shooting image, achieves the automatic decision whether capsule endoscope is floating; Realize capsule endoscope from sinking to the bottom the automatic control of state to floating state; Realize the motion of capsule endoscope fixed model dynamic jump; Program one key realizing whole check process controls automatically.Capsule endoscope is floating, sink to the bottom state under position and attitude control flexible and convenient more; Achieve the automatic decision of capsule endoscope floating state; Achieve capsule endoscope from the state that sinks to the bottom to floating state, the motion of fixed model dynamic jump and the automatic control of whole check process, manual operation greatly reduces, convenient, safe, reliably.
Be described further below with reference to the technique effect of accompanying drawing to design of the present invention, concrete structure and generation, to understand object of the present invention, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is under the capsule of a preferred embodiment of the present invention is in the state of sinking to the bottom, the magnetic line of force vertically or deflection time, capsule endoscope stressing conditions schematic diagram;
Fig. 2 is under the capsule of a preferred embodiment of the present invention is in floating state, the magnetic line of force vertically or deflection time, capsule endoscope stressing conditions schematic diagram;
Fig. 3, under the capsule of a preferred embodiment of the present invention is in the state of sinking to the bottom, fixes its position, adjusts the method schematic diagram of its attitude angle;
Fig. 4, under the capsule of a preferred embodiment of the present invention is in floating state, fixes its position, adjusts the method schematic diagram of its attitude angle;
Fig. 5 is that the capsule of a preferred embodiment of the present invention is in and sinks to the bottom or under floating state, controls capsule and rotates and control the method schematic diagram that capsule moves horizontally around z-axis;
Fig. 6 is the control capsule floating process magnetic field generator curve movement schematic diagram of a preferred embodiment of the present invention;
Fig. 7 is the control capsule jumping exercise schematic diagram of a preferred embodiment of the present invention;
Fig. 8 is the automatic check flow chart of a preferred embodiment of the present invention;
Fig. 9 is the examination scope figure of the various control models of a preferred embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, explaination is in detail done further to the present invention, but the present invention is not limited to following examples.
The method that the present invention proposes, based on the system of complete set, comprises a magnetic field generator, a movement mechanism with multiple degrees of freedom, and the motion controller of correspondence.A kind of embodiment of described magnetic field generator is the combination adopting permanent magnet cylinder, by one piece of diameter 120mm, high 40mm; Two pieces of diameter 100mm, high 25mm; The set of permanent magnets of two pieces of diameter 50mm, high 15mm becomes symmetrical globoid, and when operating distance is far away, the distribution of its magnetic line of force is seemingly ball with magnetic.Derive according to Biot's Sa farr's law, diameter is D, highly is the axially magnetizing circular column permanent magnet that L, surface remanence are Br, magnetic field B and meet following formula apart from the relation of the distance z on its surface on its axis:
Magnetic field meets principle of stacking, and therefore combination cylinder permanent magnet produces magnetic field is the superposition that five pieces of cylinder permanent magnets produce separately magnetic field.Capsule endoscope inside comprises a hollow cylinder permanent magnet, according to permanent magnet suffered Law of Magnetic Force in magnetic field, and the relation of capsule endoscope suffered magnetic force and capsule endoscope center and permanent magnet lower surface distance on above-mentioned permanent magnet axis of can deriving:
Described five degree of freedom mechanism, a kind of embodiment is the robot with five degrees of freedom of SCARA type.Comprise pedestal, large arm, forearm, vertical linear joint, two rotary joints; First, second joint is cradle head, for the horizontal level of controlling magnetic field generator; 3rd joint is linear joint, and for controlling magnetic field generator vertical direction position, due to close end joint, load is less, comparatively flexible, can realize snap-action; Four, the 5th joint is cradle head, for the attitude of controlling magnetic field generator, comprises the rotation of z and y both direction.A kind of embodiment of described controller is: comprise an industrial computer, and a set of Multi-shaft servo control card and driver are for controlling 5 joint motions;
In use, first person under inspection must empty digestive tract to this inventive method, and takes in enough clear water, then magnetic capsule endoscope is swallowed, and when capsule endoscope arrives stomach, can use and change method and realize the control that capsule endoscope moves at stomach.
A kind of embodiment of the control method that the present invention proposes, comprise: the position and attitude that capsule endoscope sinks to the bottom under state controls, position and attitude under capsule endoscope floating state controls, capsule endoscope is from sinking to the bottom the automatic control of state to floating state, capsule endoscope fixed model dynamic jump is moved, capsule endoscope automatic check flow process.
Described capsule endoscope sinks to the bottom position and attitude under state and controls, and comprises the adjustment of capsule fixed point attitude angle, capsule moves around z-axis fixed point rotary, capsule horizontal direction.Described capsule fixed point pose adjustment, namely controlling magnetic field generator angle and position motion, make it keep the motion shown in Fig. 3 curve 1 relative to capsule, namely keeps the position of capsule relative magnetic field generator to be on curve 1, then can realize capsule invariant position, attitude angle adjusts.Concrete enforcement comprises two aspects: 1. angle: by the 5th joint motions of five degree of freedom mechanism, make magnetic field generator axis and z-axis deflect certain angle, capsule endoscope attitude angle is tilted; 2. position compensation: simultaneously by the interlock of first three joint, the position of shifting magnetic field generator, thus the change of compensation capsule center in the horizontal direction, on vertical direction, realize the fixed point pose adjustment of capsule endoscope; The relation of displacement x, Δ z that level, vertical direction compensate and magnetic field generator deflection angle θ meets:
Δx＝∑ai·sin(bi·θ+ci)
Δz＝a·cos(θ)+b
Wherein a, b, c, ai, bi, ci are for determine parameter by experiment.Described capsule is around z-axis fixed point rotary, namely after completing above-mentioned capsule fixed point attitude angle, link in five degree of freedom mechanism the first two joint, controlling magnetic field generator with Δ x for radius rotates around z-axis, 4th joint synchronous axial system equal angular with it simultaneously, as shown in Figure 5, capsule endoscope can be realized around z-axis Fixed-point Motion of A.Described capsule horizontal direction moves, i.e. five degree of freedom mechanism the first two joint interlock, the movement in the horizontal direction of controlling magnetic field generator, thus drives capsule endoscope movement in the horizontal direction.
Position and attitude under described capsule endoscope floating state controls, and comprises the adjustment of capsule fixed point attitude angle, capsule moves around z-axis fixed point rotary, capsule horizontal direction.Described capsule fixed point pose adjustment, namely controlling magnetic field generator angle and position motion, make it keep the motion shown in Fig. 4 curve 1 relative to capsule, namely keeps the position of capsule relative magnetic field generator to be on curve 1, then can realize capsule invariant position, attitude angle adjusts.Concrete enforcement comprises two aspects: 1. angle: by the 5th joint motions of five degree of freedom mechanism, make magnetic field generator axis and z-axis deflect certain angle, capsule endoscope attitude angle is tilted; 2. position compensation: simultaneously by the interlock of first three joint, the position of shifting magnetic field generator, thus the change of compensation capsule center in the horizontal direction, on vertical direction, realize the fixed point pose adjustment of capsule endoscope; The relation of displacement x, Δ z that level, vertical direction compensate and magnetic field generator deflection angle θ meets:
Δx＝∑ai·sin(bi·θ+ci)
Δz＝a·cos(θ)+b
Wherein a, b, c, ai, bi, ci are for determine parameter by experiment.Described capsule is around z-axis fixed point rotary, namely after completing above-mentioned capsule fixed point attitude angle, link in five degree of freedom mechanism the first two joint, controlling magnetic field generator with Δ x for radius rotates around z-axis, 4th joint synchronous axial system equal angular with it simultaneously, as shown in Figure 5, capsule endoscope can be realized around z-axis Fixed-point Motion of A.Described capsule horizontal direction moves, i.e. five degree of freedom mechanism the first two joint interlock, and the movement in the horizontal direction of controlling magnetic field generator as shown in Figure 5, thus drives capsule endoscope movement in the horizontal direction.
Described capsule endoscope, from sinking to the bottom the automatic control of state to floating state, comprises and builds curve movement storehouse, actual drift implementation procedure in advance.The described curve movement of structure in advance storehouse, namely will according to different water depth, planning magnetic field generator curve movement as shown in Figure 6, and curve comprises three sections, first moves to Zs position from initial position decline Down distance; Then Zf+Up position is risen to from Zs position; Finally drop to Zf position.The physical planning step of curve is: the relation first producing magnetic force and distance according to stress balance and magnetic field generator determines the size of Zs and Zf-Zw, then under different depth of water Zw, Zf is calculated, and planning can realize Down and the Up distance parameter of drift by experiment, defines the curve movement storehouse under different water depth.Described reality plays drift implementation procedure, comprise two steps: 1. the position of first having determined to float position Zs by heuristic, concrete grammar makes magnetic field generator drop to certain minimum point to rise again, each reduction lowest point, this lowest point, until capsule endoscope jumps, has been considered as floating position Zs by successive trials; 2. adopting the curve movement of different water depth to go to sound out, until find match curve, making capsule endoscope from sinking to the bottom state motion to floating state.Sound out order by the curve that maximum water depth is corresponding, successively reduce the degree of depth, can ensure that capsule can not fly out the water surface.The image whether success is fed back by capsule endoscope judges.Successful result instead can push away and judge general water depth.
Described capsule endoscope fixed model dynamic jump motion, comprises two parts: 1. first permanent magnet moves to extreme lower position Zs from initial position Zs+Down point-to-point; 2. then permanent magnet does compound motion: vertical direction does the back and forth movement between Zs point and Zs+Down point; Toward any direction in horizontal direction, point-to-point motion respective distance, must ensure time and vertical direction synchronized movement, so can realize the fixed model jumping exercise of capsule endoscope.
Described capsule endoscope automatic check flow process, utilize aforesaid several relatively independent control method to carry out permutation and combination and linking, the automatic execution sequence of setting program, realizes the inspection to whole coat of the stomach.Specifically comprise: 1. according to above-mentioned capsule endoscope, from sinking to the bottom the autocontrol method of state to floating state, to realize capsule endoscope floating; 2. control according to the position and attitude under above-mentioned capsule endoscope floating state: guide capsule is in water surface translation automatically, completes the inspection to coat of the stomach upper surface.At edge near the position of sidewall, capsule attitude can be regulated, make it to detect coat of the stomach upper lateral part.Check that path pre-sets according to the body of stomach shape of common people; 3. switching field generator magnetic pole, and capsule endoscope is sunk to the bottom; 4. the position and attitude sunk to the bottom under state according to above-mentioned capsule endoscope controls: complete the inspection to coat of the stomach lower surface with fixed model jumping mode, same at edge near the position of sidewall, capsule attitude can be regulated, make it to detect coat of the stomach side lower part, check that path pre-sets according to the body of stomach shape of common people; 5., according to practical situation, utilize said method to manipulate capsule and carry out retake to assigned address.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that the ordinary skill of this area just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (5)
1., based on a capsule endoscope motion control method for magnetic field space changes in distribution, it is characterized in that, comprise the following steps:
The motion controller of permanent magnet capsule endoscope, magnetic field generator, movement mechanism with multiple degrees of freedom and correspondence is provided;
The relative position curve of described magnetic field generator and described permanent magnet capsule endoscope is obtained according to theoretical modeling and experiment;
In running, change the deflection angle of described magnetic field generator, simultaneously according to its vertical, horizontal level of curve compensation, realize described permanent magnet capsule endoscope invariant position, attitude angle changes;
Control the vertical axes of described magnetic field generator around described permanent magnet capsule endoscope place to rotate, realize the rotation of permanent magnet capsule endoscope deflection;
Control described magnetic field generator attitude constant, keep the height of described permanent magnet capsule endoscope constant, move horizontally described magnetic field generator, realize the translational motion of traction described permanent magnet capsule endoscope.
2., based on a capsule endoscope motion control method for magnetic field space changes in distribution, it is characterized in that, comprise the following steps:
The motion controller of permanent magnet capsule endoscope, magnetic field generator, movement mechanism with multiple degrees of freedom and correspondence is provided;
The described magnetic field generator curve movement that described permanent magnet capsule endoscope plays drift process is controlled under calculating different depth;
Described movement mechanism with multiple degrees of freedom controls described magnetic field generator, first drops to extreme lower position in initial position; Then move to a little higher than final states position on, finally drop to final states position, planning and constructing becomes curve movement storehouse;
During inspection, find extreme lower position Zs, controlling magnetic field generator declines rapidly and then gos up rapidly, judges whether permanent magnet capsule endoscope occurs jumping, successively force down minimum point until permanent magnet capsule endoscope jumps from the image of permanent magnet capsule endoscope feedback;
After determining extreme lower position, namely progressively souning out according to precalculated series of curves, until find match curve, making permanent magnet capsule endoscope from sinking to the bottom state motion to floating state.
3., as claimed in claim 2 based on the capsule endoscope motion control method of magnetic field space changes in distribution, it is characterized in that, comprise the following steps:
Method finds motion minimum point Zs position as claimed in claim 2;
Controlling magnetic field generator does two sections of motions continuously:
I. vertical direction drops to Zs position by initial position, and horizontal direction is motionless, makes permanent magnet capsule endoscope start to float;
Ii. then vertical direction rises to elemental height by Zs position, motion respective distance during horizontal direction etc.
4., based on a capsule endoscope motion control method for magnetic field space changes in distribution, it is characterized in that, comprise the following steps:
The motion controller of permanent magnet capsule endoscope, magnetic field generator, movement mechanism with multiple degrees of freedom and correspondence is provided;
The described magnetic field generator curve movement that described permanent magnet capsule endoscope plays drift process is controlled under calculating different depth;
Described movement mechanism with multiple degrees of freedom controls described magnetic field generator, first drops to extreme lower position in initial position; Then move to a little higher than final states position on, finally drop to final states position, planning and constructing becomes curve movement storehouse;
During inspection, find extreme lower position Zs, controlling magnetic field generator declines rapidly and then gos up rapidly, judges whether permanent magnet capsule endoscope occurs jumping, successively force down minimum point until permanent magnet capsule endoscope jumps from the image of permanent magnet capsule endoscope feedback;
After determining extreme lower position, namely progressively souning out according to precalculated series of curves, until find match curve, making permanent magnet capsule endoscope from sinking to the bottom state motion to floating state;
In running, change the deflection angle of described magnetic field generator, simultaneously according to its vertical, horizontal level of curve compensation, realize described permanent magnet capsule endoscope invariant position, attitude angle changes;
Control the vertical axes of described magnetic field generator around described permanent magnet capsule endoscope place to rotate, realize the rotation of permanent magnet capsule endoscope deflection;
Control described magnetic field generator attitude constant, keep the height of described permanent magnet capsule endoscope constant, move horizontally described magnetic field generator, realize the translational motion of traction described permanent magnet capsule endoscope;
Switching field generator magnetic pole, and permanent magnet capsule endoscope is sunk to the bottom;
In running, change the deflection angle of described magnetic field generator, simultaneously according to its vertical, horizontal level of curve compensation, realize described permanent magnet capsule endoscope invariant position, attitude angle changes;
Control the vertical axes of described magnetic field generator around described permanent magnet capsule endoscope place to rotate, realize the rotation of permanent magnet capsule endoscope deflection;
Control described magnetic field generator attitude constant, keep the height of described permanent magnet capsule endoscope constant, move horizontally described magnetic field generator, realize the translational motion of traction described permanent magnet capsule endoscope.
5. capsule endoscope motion control method as claimed in claim 4, is characterized in that, further comprising the steps of:
Manipulation permanent magnet capsule endoscope carries out retake to assigned address.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106691366A (en) * | 2016-12-13 | 2017-05-24 | 重庆金山医疗器械有限公司 | Controllable capsule endoscopy control method |
| 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 |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN111513848A (en) * | 2020-04-28 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for individually setting working magnetic field intensity and magnetic navigation system |
| CN113400317A (en) * | 2021-07-13 | 2021-09-17 | 上海交通大学 | Decoupling type control mechanism for magnetic field strong point and magnetic line direction |
| CN115089092A (en) * | 2022-06-20 | 2022-09-23 | 元化智能科技(深圳)有限公司 | Capsule endoscope motion control device |
| WO2024032624A1 (en) * | 2022-08-08 | 2024-02-15 | 安翰科技(武汉)股份有限公司 | Control method and device for magnetic control capsule system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106691366A (en) * | 2016-12-13 | 2017-05-24 | 重庆金山医疗器械有限公司 | Controllable capsule endoscopy control method |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| CN110809425B (en) * | 2018-06-02 | 2022-05-27 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
| 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 |
| CN111513848A (en) * | 2020-04-28 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for individually setting working magnetic field intensity and magnetic navigation system |
| CN111513848B (en) * | 2020-04-28 | 2022-03-29 | 绍兴梅奥心磁医疗科技有限公司 | Method and device for individually setting working magnetic field intensity and magnetic navigation system |
| CN113400317A (en) * | 2021-07-13 | 2021-09-17 | 上海交通大学 | Decoupling type control mechanism for magnetic field strong point and magnetic line direction |
| CN113400317B (en) * | 2021-07-13 | 2022-09-06 | 上海交通大学 | Decoupling type control mechanism for magnetic field strong point and magnetic line direction |
| CN115089092A (en) * | 2022-06-20 | 2022-09-23 | 元化智能科技(深圳)有限公司 | Capsule endoscope motion control device |
| WO2024032624A1 (en) * | 2022-08-08 | 2024-02-15 | 安翰科技(武汉)股份有限公司 | Control method and device for magnetic control capsule system |
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