CN105615817B - A kind of medical capsule scope magnetic control guider - Google Patents
A kind of medical capsule scope magnetic control guider Download PDFInfo
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- CN105615817B CN105615817B CN201510975664.4A CN201510975664A CN105615817B CN 105615817 B CN105615817 B CN 105615817B CN 201510975664 A CN201510975664 A CN 201510975664A CN 105615817 B CN105615817 B CN 105615817B
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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
- A61B1/00147—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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a kind of medical capsule scope magnetic control guider, for the motion of the active control capsule during using capsule endoscope, to realize the comprehensively and effectively inspection to coat of the stomach.The present invention mainly includes hybrid magnetic field generator, movement mechanism with multiple degrees of freedom and controller, and wherein movement mechanism with multiple degrees of freedom moves to adjust the spatial distribution in magnetic field for delivering hybrid magnetic field generator in inspection area；Hybrid magnetic field generator includes permanent magnet and magnet coil, can produce the high-intensity magnetic field moved for guide capsule, and can adjust the intensity in magnetic field to a certain extent according to control signal；Controller by receive operator control instruction and sensor feedback signal control multiple-degree-of-freedom mechanism move, and hybrid magnetic field generator coil current.The device can realize the fixed mode motions such as floating, fixed point suspension, pose adjustment with guide capsule scope in human stomach, realize automation all standing inspection of the capsule endoscope to whole coat of the stomach.
Description
Technical field
The present invention relates to field of medical device, more particularly to a kind of auxiliary of use capsule endoscope progress stomach inspection are automatic
Change mechanical device, specifically a kind of medical capsule scope magnetic control guider, available for controlling, guide capsule scope is in human body
Interior motion and inspection.
Background technology
Capsule endoscope be a kind of size shape be similar to capsule pill, be but integrated with complete set photo-optic system,
The human body alimentary canal checking tool of wireless telecommunication system and electric supply system.Capsule will be in gastro-intestinal digestion after being swallowed by person under inspection
Moved in road, carry out shooting inspection to gastro-intestinal tract inwall on the way, and image is sent to exterior terminal.Doctor can be by connecing
The image of receipts, is positioned and is diagnosed to focus.
The energy that the capsule endoscope product in actual use is not all moved in itself using passive movement mode, i.e. capsule at present
Power, need to be moved by the natural wriggling of enteron aisle.The main of passive type capsule endoscope has the disadvantage：Capsule endoscope is in human body
Can only random motion, shoot, it is difficult to reach specified location according to the instruction of doctor, can not be stopped in privileged site, thus deposit
Blind area is being checked, is having missing inspection may.Therefore it is currently used primarily in the detection of disease of intestine, it is impossible to applied to stomach detection.Therefore
The active control technology of capsule endoscope turns into the area research focus.
The active control of the capsule endoscope in research is divided into inside and outside driving two ways at present.Internal drive is exactly
A kind of type of drive moved using the energy and mechanical structure of capsule itself, is mainly included：Marmem driving,
Micromachine driving, magnetostriction driving, pneumatic actuation, driving of wriggling, polypody driving, electrostatic drive and bionical driving etc., greatly
Part handling principle conceptual phase.Internal drive has following shortcoming：1st, driving needs to consume substantial amounts of energy in itself, may
Cause battery electric quantity inadequate；2nd, microencapsulation is complicated, and production is difficult, high expensive；3rd, motion structure may be to digestion
Road produces damage；4th, capsule motion is difficult to control to and speed is slow.
External drive is to move the type of drive for providing power for internal capsule by external device.Conventional contactless force
Only realized by gravitational field (gravitation), electric field and magnetic field.Gravitational field is uncontrollable；Human body fluid is conductive, to electricity
Field influence is big, and electric field also has an impact to human-body biological electrical activity；Only magnetostatic field (or low frequency magnetic field) can be substantially without hindrance
Ground passes through human body, and people is had no adverse effects, comparatively safe.The magnetic conductivity of human body will not be made close to vacuum to Distribution of Magnetic Field
Into distortion.Mode according to magnetic field is produced can be divided into electromagnetic drive and permanent magnetic drive again.
Chinese Ankon Photoelectric Technology (Wuhan) Co., Ltd. invented a kind of use spherical permanent magnet control capsule suspension and
The device of motion, and applied for patent (patent No. 201310136094.0).The device, which is utilized, controls permanent magnet to move so that magnetic
Power and gravity, buoyant equilibrium, can set up stable floating system, capsule endoscope can be driven to move, rotate in human body.But
It is that the equipment mechanism is more huge, cumbersome, malfunction.And Distribution of Magnetic Field is only changed by the mechanical movement of permanent magnet,
Delay of response.Artificial manipulation is completely dependent in actual use, difficulty is manipulated, high is required to skill of operator, when operator learns
Between it is long.
Shenzhen graduate school of Harbin Institute of Technology proposes a kind of active capsule endoscope motion control of magnetic control based on handyman
System (patent No. 201320151833.9), including handyman, the first magnetic field generator, two-degree-freedom turntable, the second magnetic
Field generator and control unit etc..Pass through the position and appearance of handyman and two-degree-freedom turntable two magnetic field generators of change
State, so as to change spatial magnetic field, guide capsule is moved in vivo.But the system is relatively complicated, two sets of magnetic fields are contained
Generating means and motion platform；And so-called handyman does not provide specific implementation.
Therefore, those skilled in the art is directed to developing a kind of medical capsule scope magnetic control guider, is avoiding
While the structural defect of internal drive, the equipment mechanism for solving existing external drive capsule endoscope generally existing is larger,
Operation is complicated, the problems such as delay of response.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention be how using mixed magnetic field from
Human external efficiently controls capsule endoscope.
To achieve the above object, the invention provides a kind of medical capsule scope magnetic control guider, in capsule
Active movement control of the mirror in checking process, the capsule endoscope magnetic control guider includes permanent magnet capsule endoscope, mixing
Formula magnetic field generator, five degree of freedom motion and controller, the permanent magnet capsule endoscope are located in patient's body, the mixing
Formula magnetic field generator is installed on the five degree of freedom motion, and the controller is configured as controlling the five degree of freedom to transport
The motion of motivation structure and the hybrid magnetic field generator produce the power in magnetic field, so as to control the permanent magnet capsule endoscope to exist
Position and posture in patient's body.
Further, the hybrid magnetic field generator includes permanent magnet and magnet coil, and the permanent magnet is arranged on institute
The top of magnet coil is stated, the permanent magnet is configured to form stronger basic magnetic field, and the magnet coil is configured as leading to
Cross the application variable current formation adjustable auxiliary magnetic field of intensity, the basic magnetic field and the auxiliary magnetic field combine to form intensity can
The mixed magnetic field of tune.
Further, the five degree of freedom motion includes movable base, large arm, forearm, vertical shift mechanism, perpendicular
D-axis rotating mechanism and trunnion axis rotating mechanism.
Further, the movable base includes wheel and support feet；The controller is installed on the removable base
Seat.
Further, it is connected as the first joint by horizontally rotating joint between the large arm and the movable base；Institute
State between forearm and the large arm and to be connected as second joint by horizontally rotating joint, first joint and the second joint
Motion is configured as realizing the motion of the hybrid magnetic field generator in the horizontal direction；The vertical shift mechanism is the 3rd pass
Section, installed in the forearm end, the 3rd joint is configured as realizing the hybrid magnetic field generator in vertical direction
Motion；The vertical axes rotating mechanism is the 4th joint, and the 4th joint is configured as realizing the hybrid magnetic field hair
Rotary motion of the raw device around vertical axis；The trunnion axis rotating mechanism is the 5th joint, and the 5th joint is configured as reality
Show rotary motion of the hybrid magnetic field generator around horizontal axis, the horizontal axis of rotation and the vertical-rotation-axis
Intersect vertically；The hybrid magnetic field generator is installed on the trunnion axis rotating mechanism.
Further, the architecture of the controller is that industrial control computer, multi-axis motion control card and servo are driven
Dynamic device tertiary structure.
Further, the controller includes industrial computer, human-computer interaction device, one piece of multi-axis motion control card, five
Platform AC servo driver.
Further, the controller also includes D/A converter and current amplifier, and the current amplifier is configured as
Electric current in the hybrid magnetic field generator is provided.
Further, the industrial computer is configured as obtaining the information that operator inputs by human-computer interaction device, and will
Equipment running status information is output to human-computer interaction device；The industrial computer is configured as completing machine according to the instruction of operator
People's motion planning, is sent to the multi-axis motion control card by planning instruction, machine is implemented by the multi-axis motion control card
The motion control of device people；The industrial computer is configured as with sensor being connected by I/O port, and is exported by D/A converter
Signal controls the electric current produced by the current amplifier, so as to control the magnetic induction intensity of the hybrid magnetic field generator.
Further, the core control of the industrial computer includes motion control and current control, and the motion control refers to
Multi-axis motion control, including point position control and straight line, circular arc, SPL TRAJECTORY CONTROL；The current control refers to according to anti-
Control algolithm control coil electric current is presented, so as to control magnetic field intensity.
The present invention proposes that a kind of new five degree of freedom medical capsule scope magnetic control is led on the basis of prior art achievement
Navigate device, in order to solves initiative control when capsule endoscope is checked in human body.
The present invention includes：Permanent magnet capsule endoscope, hybrid magnetic field generator, five degree of freedom motion, and control
Device.Realized especially by following technical proposals：
Described permanent magnet capsule endoscope, i.e., the capsule endoscope of built-in permanent-magnet material, function is identical with general capsule endoscope,
But it is a small permanent magnet in itself.Permanent magnet capsule endoscope is the controlled device guided.
Described hybrid magnetic field generator, the magnetic field of intensity variable can be produced in the range of certain space, one is included
Individual strong permanent magnets, a magnet coil, up, magnet coil is in lower section, the distance between coil and permanent magnet for permanent magnet
It is adjustable；The stronger basic magnetic field of permanent magnet formation, coil forms the adjustable auxiliary magnetic field of intensity by applying variable current, both
Combination forms the adjustable magnetic field of intensity.
Described five degree of freedom motion, for driving hybrid magnetic field generator in spatial movement, adjusts its position
And posture, so as to change the spatial distribution in magnetic field, and then realize the motion control to capsule.Described five degree of freedom motion
Include the main portion such as movable base, large arm, forearm, vertical shift mechanism, vertical axes rotating mechanism, trunnion axis rotating mechanism
Point.
Described movable base is the pedestal of whole device.There is wheel to facilitate the mobile fortune of whole device below
It is defeated.Operationally wheel departs from ground, is landed by support foot, pedestal is stably fixed to ground, to obtain higher positioning
Precision.Base interior space, which can be disposed, installs five degree of freedom motion above controller, pedestal.
By horizontally rotating joint connection, referred to as the first joint between the large arm and pedestal；Between forearm and large arm also by
Horizontally rotate joint connection, referred to as second joint.The motion in the two joints can realize the magnetic field generator in level side
To motion.
The vertical shift mechanism is the 3rd joint, is a straight line slide unit, described for realizing installed in forearm end
Motion of the magnetic field generator in vertical direction.
Described vertical axes rotating mechanism is the 4th joint, for realizing rotation of the magnetic field generator around vertical axis
Motion.
Described trunnion axis rotating mechanism is the 5th joint, for realizing rotation of the magnetic field generator around horizontal axis
Motion, horizontal axis of rotation intersects vertically with vertical-rotation-axis.
Described magnetic field generator is installed on trunnion axis rotating mechanism, is installed at the centre of sphere for ensureing its spherical permanent magnet
In horizontal axis of rotation and vertical-rotation-axis intersection point, the magnetic pole direction of magnetization and horizontal axis perpendicular quadrature.
The linkage of first to the 3rd joint can determine the position (spherical permanent magnet center) of magnetic field generator completely, and the 4th closes
Section and the linkage of the 5th joint may decide that magnetic field generator posture (sensing of field axis), and magnetic field space is distributed so as to realize
Control.The position of one object of determination and posture need 6 frees degree completely, but are due to that the magnetic field generator is rotation
Symmetrically, rotated around its symmetry axis (field axis), Distribution of Magnetic Field is constant, so actual at least need 5DOF to move.From effect
Seen on fruit, it is uncontrolled, the free degree that other can be controlled just 5 that capsule rotates around own longitudinal axes.
Described controller, based on the tertiary structure of industrial control computer/multi-axis motion control card/servo-driver,
Including an industrial computer, human-computer interaction device, one piece of multi-axis motion control card, five AC servo drivers, and other biographies
Sensor；Also including a D/A converter and a current amplifier is used to provide magnet coil in hybrid magnetic field generator
Electric current.
The industrial computer is the core of control system, and it obtains the information that operator inputs by human-computer interaction device, and
Equipment running status information is output to human-computer interaction device.Industrial computer completes robot motion's rule according to the instruction of operator
Draw, planning instruction is sent to multi-axis motion control card, motion planning and robot control is implemented by multi-axis motion control card.Industry control
Machine is connected by I/O port with each sensor signal, and by produced by D/A converter output signal control electric current amplifier
Electric current, so as to control the magnetic induction intensity of magnetic field generator.The core control algolithm of industrial computer includes motion control and electric current
Control, the former realizes conventional Multi-axis motion control, including the precise trajectory control such as point position control and straight line, circular arc, SPL
System；The latter is according to specific feedback control algorithm control coil electric current, so as to control magnetic field intensity.Industrial computer is also soft by system
Part realizes Capsule Endoscopy function.
The human-computer interaction device includes keyboard, mouse, control stick and display, and the input for obtaining operator is believed
Breath, and show the state parameter of robot.
It is connected on the multi-axis motion control card with industrial computer, it is lower to be connected with AC servo driver, receive to come from industry control
The motion planning information of machine, interpolation operation is completed according to certain control algolithm, is generated specific drive signal and is sent to each friendship
Servo-driver is flowed, controls the motor movement in each joint to complete planning action.
The AC servo driver is AC servo motor auxiliary products, the driving for AC servo motor.On it
It is connected with multi-axis motion control card, it is lower to be connected with AC servo motor.Receive the control letter from multi-axis motion control card
Number, according to the motion of control signal motor.
The D/A converter and current amplifier are used to control coil size of current, so as to produced by magnetic field generator
The magnetic induction intensity in magnetic field be adjusted.
Hybrid magnetic field generator proposed by the invention, by the way of powerful permanent magnetic iron is superimposed with magnet coil.Forever
More than magnet surface magnetic induction intensity 1.2T, to the reachable 20cm of attraction distance of capsule, can be realized in control human body in vitro
Permanent magnetism body capsule is moved.Magnet coil can be then realized to the trickle of magnetic induction intensity by the change in control electric current size direction
Regulation, because electric signal is more faster than mechanical movement, therefore than causing changes of magnetic field faster by magnet movement merely, also more
Accurately.
Five degree of freedom motion proposed by the invention, compact conformation, light and flexible operates more easy.Water
The configuration in flat joint cause machine completely it is out of control in the case of will not also hit human body, it is safe.
By the regulation to magnetic field generator locus, posture, and the regulation to coil current, capsule can be adjusted
The size direction of suffered magnetic force, is allowed to balance each other with gravity, buoyancy, capsule can be controlled stably to realize various postures under one's belt
Floating and sink to the bottom, rotation adjustment posture to control the direction of capsule lens, can also may be used in the case where holding position is stable
To control capsule to be cruised under one's belt by the track planned according to pre-set programs, realization is exhaustively checked whole coat of the stomach.Can
To control capsule optional position hovering in water specifically to check needs to meet.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the overall schematic of the preferred embodiment of the present invention；
Fig. 2 is the use state schematic diagram of the preferred embodiment of the present invention；
Fig. 3 is the rotational slide combined sleeve schematic diagram of the preferred embodiment of the present invention；
Fig. 4 is the vertical shift structural scheme of mechanism of the preferred embodiment of the present invention；
Fig. 5 is the tail house and magnetic field generator schematic diagram of the preferred embodiment of the present invention；
In figure, 1. movable base, 2. large arm, 3. forearm, 4. 3 layers of gear pair rotation of 5. vertical shift mechanism of sleeve pipe 6.
The middle level of 11. outer layer sleeve of rotation mechanism 7. tail house, 8. magnetic field generator, 9. outer cover, 10. magnetic field generator outer cover 12. covers
The motor 19. of 17. horizontal bush of pipe 13. inner layer sleeve, 14. vertical shift sliding block, 15. synchronous pulley, 16. tensioning wheel 18.
The coil of permanent magnet 20..
Embodiment
Below in conjunction with the accompanying drawings with specific embodiment to the present invention make further in detail explaination, but the present invention be not limited to it is following
Embodiment.
A kind of embodiment of the present invention, includes permanent magnet capsule endoscope, hybrid magnetic field generator, five degree of freedom fitness machine
Tool and controller.
Permanent magnetism body capsule：It is a kind of capsule endoscope product, its shell is surrounded by one layer of powerful permanent material and by magnetization, phase
When in a small cylindrical magnet.
Mixing type magnetic field generator：As shown in figure 5, being made up of the spherical permanent magnet and magnet coil of NdFeB material.If
Meter requires diameter 150mm, surface induction intensity 1.2T, because big spherical permanent magnet is difficult in actual use, uses
The mode of polylith pie permanent magnet superposition.By FEM calculation, beyond magnet surface 5cm, the magnetic with spherical magnet
Field distribution is highly approximate, can substitute and use.
As shown in figure 1, five degree of freedom motion body：Include stand, pedestal, large arm, forearm, rotational slide combination set
Cylinder, guide rail slide block drive module, gear wheel drive module, end timing belt drive module, outer cover.Install the bottom of movable base 1
Four universal wheels with spike, spike is packed up when mobile, and wheel is rolled；Landed during work by support foot, make the stable fixation of pedestal
In ground.Base interior space is used to place electrical control cubicles.Top mounting robot base, comprising manual height adjusting means, is used
In regulation altitude datum manually, the person under inspection of special type is adapted to.Base interior is provided with the servomotor in the first joint
And decelerator.The end of large arm 2 connects forearm front end by bearing.The servomotor of second joint is installed in the front end of forearm 3, slows down
Device.There is circular port close to forearm end, rotational slide combined sleeve is extended there through.Install on vertical side plate, side plate forearm end
It is fixed with the guide rail slide block drive module in the 3rd joint.
As shown in figure 3, rotational slide combined sleeve is made up of inner layer sleeve 13, outer layer sleeve 11 and middle casing 12, it is interior
Layer sleeve pipe 13 is the bar with four splines, is driven by top gear, realizes being rotated around vertical direction for the 4th axle；Outer layer jacket
Pipe 11 and the sliding block of Linear Moving Module are fixed, and realize the overall vertical direction translational motion of the 3rd axle；Middle casing 12 with it is outer
It is connected between layer sleeve pipe 11 with bearing, can relatively rotates and relative can not slide, it is together vertically movable with outer layer sleeve 11；Middle level covers
It is connected between pipe 12 and inner layer sleeve 13 with spline, relative can slides and can not relatively rotate, fortune is rotated together with inner layer sleeve 13
It is dynamic；The lower section of middle casing 12 is fixed with tail house 7.
As shown in figure 1, guide rail slide block drive module 5 includes screw mandrel sliding block Linear Moving Module, motor drive screw drives
Sliding block moves along a straight line, installed in the end of forearm 2；The sliding block 14 of rail module is fixed with outer layer sleeve 11, drives outer layer sleeve
11 move in vertical direction；Transverse slat, the gear wheel drive module 6 for fixing the 4th joint are installed close to top.
As shown in figure 1, gear wheel drive module 6 includes a pair of gear pairs, guide rail slide block module is horizontally arranged at by bearing
Above top cross plate；Inner side is driving wheel, is driven by being vertically installed at the servomotor of side-lower in transverse slat, harmonic speed reducer；
Outside is driven pulley, is connected by spline with the bar of lower section inner layer sleeve 13, drives it to rotate.
As shown in figure 5, tail house 7 includes a horizontal bush 17, motor, decelerator are installed in inside；Two ends Liang Ge sides
Plate, is provided with bearing, to fixed magnetic field generator 8；Side plate is externally provided with synchronous belt transmission device, and motor is driven by timing belt
Magnetic field generator rotates.
Outer cover 9：By third and fourth, five axles packaging wherein, realize mechanism security protection；The power line of three, four and five shafts, control
The unified switch board drawn from cover upper, access base of line processed.
As shown in figure 1, hybrid magnetic field generator 8, main body is by three pieces of axially magnetizing circular column body set of permanent magnets into being closed with aluminium
Gold makes shell, and installs fixing device additional on both sides, on the bearing that can be fixed on tail house side plate.
Described controller：Based on the tertiary structure of industrial control computer/multi-axis motion control card/servo-driver,
Including an industrial computer, human-computer interaction device, one piece of multi-axis motion control card, five AC servo drivers, and other biographies
Sensor；Also including a D/A converter and a current amplifier is used to provide magnet coil in hybrid magnetic field generator
Electric current.Industrial computer and human-computer interaction device are positioned over operator institute on the table, and industrial computer is connected to electricity by signal cable
Control cabinet.
The industrial computer is the core of control system, and its function is realized by system controlling software therein is run
's.The information that operator inputs is obtained by human-computer interaction device, and equipment running status information is output to man-machine interaction and is set
It is standby.Robot motion planning is completed according to the instruction of operator, planning instruction is sent to multi-axis motion control card, transported by multiaxis
Dynamic control card implements motion planning and robot control.Industrial computer is connected by I/O port with each sensor signal, and passes through D/A
Electric current produced by converter output signal control electric current amplifier, so as to control the magnetic induction intensity of magnetic field generator.Core
Control algolithm includes motion control and current control, and the former realizes conventional Multi-axis motion control, including point position control and straight line,
The precise trajectories such as circular arc, SPL are controlled；The latter is according to specific feedback control algorithm control coil electric current, so as to control magnetic
Field intensity.Industrial computer also realizes Capsule Endoscopy function by system software.
The human-computer interaction device is common computer keyboard, mouse, control stick and display, for obtaining operator
Input information, and show the state parameter of robot.
The multi-axis motion control card is installed on the slot on industrial computer, lower to be connected with AC servo driver, receives to come
From the motion planning information of industrial computer system software, the computing of motion control signal, generation are completed according to certain control algolithm
Specific drive signal is sent to each AC servo driver, controls the motor movement in each joint to complete planning action.
The AC servo driver is AC servo motor auxiliary products, for the driving of AC servo motor, is installed
In in electrical control cubicles.It is above connected with multi-axis motion control card, lower to be connected with AC servo motor.Receive to come from multiaxial motion
The control signal of control card, according to the motion of control signal motor.
The D/A converter and current amplifier are used to control coil size of current, so as to produced by magnetic field generator
The magnetic induction intensity in magnetic field be adjusted.It is installed in electrical control cubicles.
Preferred embodiment of the invention described in detail above.It should be appreciated that the ordinary skill of this area is without wound
The property made work just can make many modifications and variations according to the design of the present invention.Therefore, all technical staff in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (7)
1. a kind of medical capsule scope magnetic control guider, for active movement control of the capsule endoscope in checking process,
Characterized in that, the capsule endoscope magnetic control guider includes permanent magnet capsule endoscope, hybrid magnetic field generator, five freely
Motion and controller are spent, the permanent magnet capsule endoscope is located in patient's body, and the hybrid magnetic field generator is installed on
On the five degree of freedom motion, the controller is configured as controlling the motion of the five degree of freedom motion and described
Hybrid magnetic field generator produces the power in magnetic field, so as to control position and appearance of the permanent magnet capsule endoscope in patient's body
State；
The hybrid magnetic field generator includes permanent magnet and magnet coil, and the permanent magnet is arranged on the upper of the magnet coil
Side, the permanent magnet is configured to form stronger basic magnetic field, and the magnet coil is configured as by applying variable current
The adjustable auxiliary magnetic field of intensity is formed, the basic magnetic field and the auxiliary magnetic field combine to form the adjustable mixed magnetic field of intensity；
The five degree of freedom motion includes movable base, large arm, forearm, vertical shift mechanism, vertical axes rotating mechanism
With trunnion axis rotating mechanism；
Between the large arm and the movable base the first joint is connected as by horizontally rotating joint；The forearm with it is described big
Second joint is connected as by horizontally rotating joint between arm, the motion in first joint and the second joint is configured as reality
The existing motion of the hybrid magnetic field generator in the horizontal direction；The vertical shift mechanism is the 3rd joint, installed in described
Forearm end, the 3rd joint is configured as realizing motion of the hybrid magnetic field generator in vertical direction；It is described perpendicular
D-axis rotating mechanism is the 4th joint, and the 4th joint is configured as realizing the hybrid magnetic field generator around vertical axis
Rotary motion；The trunnion axis rotating mechanism is the 5th joint, and the 5th joint is configured as realizing the hybrid magnetic
Field generator is around the rotary motion of horizontal axis, and the horizontal axis of rotation intersects vertically with the vertical-rotation-axis；It is described
Hybrid magnetic field generator is installed on the trunnion axis rotating mechanism；
The five degree of freedom motion also includes rotational slide combined sleeve, and the rotational slide combined sleeve is by internal layer set
Pipe, outer layer sleeve and middle casing composition, wherein, the inner layer sleeve is the bar with four splines, is driven by top gear
It is dynamic, realize being rotated around vertical direction for the 4th joint；The outer layer sleeve and the sliding block of Linear Moving Module are fixed, and are realized
The overall vertical direction translational motion in the 3rd joint；It is connected between the middle casing and the outer layer sleeve with bearing,
It can relatively rotate and relative can not slide, the middle casing is together vertically movable with the outer layer sleeve；The middle casing with
It is connected between the inner layer sleeve with spline, relative can slides and can not relatively rotate, the middle casing and the inner layer sleeve
Rotate together with motion；The lower section of the middle casing is fixed with tail house.
2. medical capsule scope magnetic control guider as claimed in claim 1, it is characterised in that the movable base bag
Include wheel and support feet；The controller is installed on the movable base.
3. medical capsule scope magnetic control guider as claimed in claim 1, it is characterised in that the system of the controller
Structure is industrial control computer, multi-axis motion control card and servo-driver tertiary structure.
4. medical capsule scope magnetic control guider as claimed in claim 1, it is characterised in that the controller includes one
Platform industrial computer, human-computer interaction device, one piece of multi-axis motion control card, five AC servo drivers.
5. medical capsule scope magnetic control guider as claimed in claim 4, it is characterised in that the controller also includes
D/A converter and current amplifier, the current amplifier are configured to supply the electric current in the hybrid magnetic field generator.
6. medical capsule scope magnetic control guider as claimed in claim 5, it is characterised in that the industrial computer is configured
Set to obtain the information that operator inputs by human-computer interaction device, and equipment running status information being output into man-machine interaction
It is standby；The industrial computer is configured as completing robot motion planning according to the instruction of operator, planning instruction is sent to described
Multi-axis motion control card, the motion control of robot is implemented by the multi-axis motion control card；The industrial computer is configured
To be connected by I/O port with sensor, and by produced by the D/A converter output signal control current amplifier
Electric current, so as to control the magnetic induction intensity of the hybrid magnetic field generator.
7. medical capsule scope magnetic control guider as claimed in claim 4, it is characterised in that the core of the industrial computer
Control includes motion control and current control, and the motion control refers to Multi-axis motion control, including point position control and straight line, circle
Arc, SPL TRAJECTORY CONTROL；The current control refers to according to feedback control algorithm control coil electric current, so as to control magnetic field
Intensity.
Priority Applications (1)
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| CN106109022B (en) * | 2016-07-21 | 2018-11-02 | 青岛市市立医院 | A kind of novel enteron lesion scope positioning device |
| US10478047B2 (en) * | 2016-09-23 | 2019-11-19 | Ankon Medical Technologies (Shanghai) Co., Ltd | System and method for using a capsule device |
| CN106580240B (en) * | 2016-11-15 | 2018-05-22 | 深圳市资福医疗技术有限公司 | A kind of capsule gastroscope magnetic control system |
| CN107773205A (en) * | 2017-10-31 | 2018-03-09 | 嘉兴复尔机器人有限公司 | A kind of capsule endoscopic magnetic control system |
| CN108720793A (en) * | 2018-03-02 | 2018-11-02 | 重庆金山医疗器械有限公司 | A kind of control system and method for capsule endoscope |
| KR102505217B1 (en) * | 2018-06-02 | 2023-02-28 | 안콘 메디컬 테크놀로지스 (상하이) 컴퍼니 리미티드 | Capsule endoscope control system |
| US11426059B2 (en) | 2018-06-02 | 2022-08-30 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Control system for capsule endoscope |
| KR102566761B1 (en) * | 2018-06-02 | 2023-08-11 | 안콘 메디컬 테크놀로지스 (상하이) 컴퍼니 리미티드 | Control device for capsule endoscope |
| CN108670681B (en) * | 2018-06-04 | 2019-10-18 | 青岛大学附属医院 | A kind of working method of medical capsule scope auxiliary examination bed |
| CN110680318A (en) * | 2018-07-04 | 2020-01-14 | 王辉山 | Magnetic field generator support frame |
| CN109044250A (en) * | 2018-08-28 | 2018-12-21 | 深圳市资福医疗技术有限公司 | A kind of capsule endoscope motion control method, device and terminal device |
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| CN112294240A (en) * | 2019-07-25 | 2021-02-02 | 北京微纳灵动科技有限公司 | Magnetic control method of capsule robot |
| CN112336293A (en) * | 2019-08-08 | 2021-02-09 | 上海安翰医疗技术有限公司 | Remote control system and remote control method of magnetic capsule endoscope |
| CN112336295A (en) * | 2019-08-08 | 2021-02-09 | 上海安翰医疗技术有限公司 | Method and device for controlling magnetic capsule endoscope, storage medium, and electronic device |
| CN111513847B (en) * | 2020-04-28 | 2022-05-24 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic field system, magnetic navigation system and control method of catheter movement |
| CN111494010B (en) * | 2020-04-28 | 2022-03-29 | 绍兴梅奥心磁医疗科技有限公司 | Magnetic navigation system |
| CN112515611B (en) * | 2020-11-30 | 2022-02-11 | 元化智能科技(深圳)有限公司 | Positioning method and device of wireless capsule endoscope and terminal equipment |
| CN112493970B (en) * | 2020-11-30 | 2021-10-22 | 元化智能科技(深圳)有限公司 | Tracking and positioning method and system of wireless capsule endoscope |
| CN113100940B (en) * | 2021-04-09 | 2022-09-13 | 哈尔滨工业大学（深圳） | Multi-point magnetic control catheter navigation system and use method thereof |
| CN115067863B (en) * | 2022-05-31 | 2023-03-14 | 元化智能科技(深圳)有限公司 | Wireless capsule endoscope driving system based on spherical driver |
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