CN105852783B - A kind of capsule endoscope control system - Google Patents
A kind of capsule endoscope control system Download PDFInfo
- Publication number
- CN105852783B CN105852783B CN201610254857.5A CN201610254857A CN105852783B CN 105852783 B CN105852783 B CN 105852783B CN 201610254857 A CN201610254857 A CN 201610254857A CN 105852783 B CN105852783 B CN 105852783B
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- capsule endoscope
- control
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- magnet
- alimentary canal
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- 239000002775 capsule Substances 0.000 title claims abstract description 168
- 230000033001 locomotion Effects 0.000 claims abstract description 26
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- 230000007246 mechanism Effects 0.000 claims description 64
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- 238000001514 detection method Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000001035 gastrointestinal tract Anatomy 0.000 description 4
- 238000001727 in vivo Methods 0.000 description 4
- 241000167880 Hirundinidae Species 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000029087 digestion Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 244000144985 peep Species 0.000 description 1
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- 230000002393 scratching effect Effects 0.000 description 1
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- 210000000813 small intestine Anatomy 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00105—Constructional details of the endoscope body characterised by modular construction
-
- 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
- A61B1/00131—Accessories for endoscopes
-
- 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
-
- 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
-
- 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
- A61B1/2736—Gastroscopes
-
- 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
- A61B1/31—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 rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
Abstract
The invention discloses a kind of capsule endoscope control systems, including：Capsule endoscope for the alimentary canal information for acquiring person under test, capsule endoscope is interior to be equipped with permanent magnet；The capsule control device of capsule endoscope motion is controlled by permanent magnet；Location information for receiving and showing alimentary canal information and capsule endoscope, and control the control terminal of capsule control device work.After capsule endoscope motion to first position to be measured being controlled by capsule control device, the alimentary canal information of detect first position to be measured can be sent to control terminal and shown by capsule endoscope, and medical staff can be made to be clearly observed the alimentary canal situation of person under test.Then capsule endoscope is moved to be detected to second position to be measured, and alimentary canal information is sent to control terminal, it can detect whole positions to be measured according to this, wherein control terminal can also show the position of capsule endoscope, therefore can movement that is more accurate and easily controlling capsule endoscope.
Description
Technical field
The present invention relates to medical instruments fields, more particularly to a kind of capsule endoscope control system.
Background technology
With the progress of science and technology, medical instrument also has been greatly developed, wherein capsule endoscope is as diagnosis
The instrument of disease of digestive tract, due to it is painless, without cross-infection, do not influence the advantages that normal life or work of patient, obtain
It is extensive to use.Capsule endoscope is oral by subject, so that it is moved in alimentary canal by peristalsis of the digest tract, passes through capsule
The camera shooting of endoscope and signal transmitting apparatus, the digestion that doctor can understand subject by the external recorder of subject are chanted folk tales to the accompaniment of simple percussion instruments
Condition.
But current capsule endoscope usually relies on the wriggling of stomach to be moved, therefore capsule endoscope is in stomach
The control of the movement and time not examinate person of the inside, so inspection is more passive, such as：If capsule endoscope quickly into
Enter small intestine, is difficult to carry out detailed inspection to stomach.
Therefore capsule endoscope how is accurately controlled in movement in the digestive tract, is that those skilled in the art are badly in need of solving
Technical problem.
Invention content
The object of the present invention is to provide a kind of capsule endoscope control systems, can accurately control capsule endoscope and digest
Movement in road.
In order to solve the above technical problems, the present invention provides following technical solutions：
A kind of capsule endoscope control system, including：
Capsule endoscope for the alimentary canal information for acquiring person under test, capsule endoscope is interior to be equipped with permanent magnet and positioning mould
Block；
The capsule control device of capsule endoscope motion is controlled by permanent magnet；
Location information for receiving and showing alimentary canal information and capsule endoscope, and control capsule control device work
The control terminal of work.
Preferably, capsule control device includes：
Control the active magnet of capsule endoscope motion；
Robot arm for controlling active magnet movement；
Bottom is equipped with the switch board of idler wheel, and switch board is equipped with the whirler that control robot arm rotates in the horizontal plane
Structure；
Drive rotating mechanism and/or the driver of robot arm operation；
It is arranged in the switch board, receives the control signal of control terminal, and send corresponding control command to the drive
The controller of dynamic device.
Preferably, robot arm includes：
The magnet support frame being connect with active magnet by horizontally hinged axis；
The swing arm that control magnet support frame is rotated in horizontal plane, magnet support frame are connect by vertical articulation axis with swing arm,
Swing arm is equipped with the magnet switching mechanism of controlled level articulated shaft rotation, and swing arm is equipped with the dynamic magnet of control vertical articulation shaft rotation
Rotating mechanism.
Preferably, the robot arm further includes：
Control the oscillating arm mechanisms that the swing arm rotates in the horizontal plane；
Control the level-ling mechanism in horizontality when the oscillating arm mechanisms move up and down；
Control the elevation control mechanism therefor that the level-ling mechanism is swung up and down；
The elevation control mechanism therefor is connect with the rotating mechanism.
Preferably, capsule control device is equipped with the range sensor for detecting active magnet to the distance between person under test.
Preferably, control terminal includes：
The operating platform of control signal is sent to controller；
The location information of alimentary canal information and capsule endoscope is received, and by the position of alimentary canal information and capsule endoscope
Information is sent to the capsule signal receiver of the operating platform.
Preferably, capsule endoscope includes：
Acquire the camera lens of gastral image information；
Image information is sent to the radio-frequency module of capsule signal receiver；
The battery module being connect with locating module and permanent magnet.
Preferably, operating platform includes：Show the position of the first display and display capsule endoscope of alimentary canal information
The second display of information.
Preferably, locating module includes：
Magnetic field processor of the detection capsule endoscope to the distance between active magnet；
The gravity accelerometer of the direction of detector lens.
Preferably, further include：The sick bed of person under test, sick bed bottom is supported to be equipped with the control machine that control sick bed is mobile and overturns
Structure.
Compared with prior art, above-mentioned technical proposal has the following advantages：
A kind of capsule endoscope control system provided by the present invention, including：Alimentary canal information for acquiring person under test
Capsule endoscope, permanent magnet is equipped in capsule endoscope；The capsule control that capsule endoscope motion is controlled by permanent magnet is set
It is standby；Location information for receiving and showing alimentary canal information and capsule endoscope, and control capsule control device work
Control terminal.After person under test swallows capsule endoscope in vivo, medical staff is controlled in capsule by capsule control device and is peeped
After mirror moves to first position to be measured, capsule endoscope can send out the alimentary canal information of detect first position to be measured
It is sent to control terminal and is shown, medical staff can be made to be clearly observed the alimentary canal situation of person under test.Then it moves
Capsule endoscope is detected to second position to be measured, and sends alimentary canal information to control terminal, can detect according to this complete
The position to be measured in portion, wherein control terminal can also show the position of capsule endoscope, therefore can more accurately and easily
Control the movement of capsule endoscope.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of capsule endoscope control system structural scheme of mechanism that specific implementation mode is provided of the present invention；
Fig. 2 is a kind of structural schematic diagram for the capsule endoscope that specific implementation mode is provided of the present invention.
Specific implementation mode
A kind of capsule endoscope control system provided by the present invention, after person under test swallows capsule endoscope in vivo,
After medical staff controls capsule endoscope motion to first position to be measured by capsule control device, capsule endoscope can incite somebody to action
The alimentary canal information of first position to be measured detected is sent to control terminal and is shown, medical staff can be made to understand
Observe the alimentary canal situation of person under test in ground.Then it moves capsule endoscope to be detected to second position to be measured, and sends
Alimentary canal information can detect whole positions to be measured according to this to control terminal, and wherein control terminal can also be shown in capsule
The position of sight glass, therefore can movement that is more accurate and easily controlling capsule endoscope.
It is understandable in order to enable the above objects, features and advantages of the present invention to become apparent, below in conjunction with the accompanying drawings to this hair
Bright specific implementation mode is described in detail.
Detail is elaborated in the following description in order to fully understand the present invention.But the present invention can with it is a variety of not
Other manner described here is same as to implement, those skilled in the art can do class without violating the connotation of the present invention
Like popularization.Therefore the present invention is not limited by following public specific implementation mode.
It please refers to Fig.1 and Fig. 2, Fig. 1 is a kind of capsule endoscope control system that specific implementation mode is provided of the present invention
Structural scheme of mechanism；Fig. 2 is a kind of structural schematic diagram for the capsule endoscope that specific implementation mode is provided of the present invention.
A kind of specific implementation mode of the present invention provides a kind of capsule endoscope control system, including：It is waited for for acquiring
The capsule endoscope 13 of the alimentary canal information of survey person, capsule endoscope 13 is interior to be equipped with permanent magnet 9 and locating module 4；Pass through permanent magnetism
Iron 9 controls the capsule control device 10 that capsule endoscope 13 moves；For receiving and showing alimentary canal information and capsule endoscope
13 location information, and control the control terminal 12 of 10 work of capsule control device.
In the present embodiment, after person under test swallows capsule endoscope 13 in vivo, medical staff is set by capsule control
After standby 10 control capsule endoscope 13 moves to first position to be measured, capsule endoscope 13 can wait detect first
The alimentary canal information that location is set is sent to control terminal 12 and is shown, medical staff can be made to be clearly observed person under test
Alimentary canal situation.Then the position to be measured of capsule endoscope 13 to the second is moved to be detected, and send alimentary canal information to
Control terminal 12 can detect whole positions to be measured according to this, and wherein control terminal 12 can also be by sending out with locating module 4
Signal show the position of capsule endoscope 13, therefore can fortune that is more accurate and easily controlling capsule endoscope 13
It is dynamic.
In the present embodiment, by the locating module 4 in capsule endoscope 13, capsule endoscope 13 can be obtained to be measured
Person's location information in the digestive tract, control terminal 12 can be controlled more accurately by the location of capsule endoscope 13 information
Capsule endoscope 13 processed moves in alimentary canal.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, capsule control device 10 include：Control glue
The active magnet 23 that intracapsular sight glass 13 moves；Robot arm for controlling the movement of active magnet 23；Bottom is equipped with idler wheel 26
Switch board 25, switch board 25 is equipped with the rotating mechanism 15 that rotates in the horizontal plane of control robot arm；Drive whirler
Structure 15 and/or the driver of robot arm operation；It is arranged in the switch board, receives the control signal of control terminal 12,
And send controller of the corresponding control command to the driver.
In the present embodiment, the control of the movement of control capsule endoscope 13 or rotation is sent to controller by control terminal 12
Then signal processed, controller send control command according to control signal to driver, then driver driving rotating mechanism 15 is transported
Row, to make robot arm rotate in the horizontal plane, wherein rotating mechanism 15 includes the pedestal 14 of support robot arm, when
After robot arm reaches designated position, robot arm is moved by controlling active magnet 23, causes active magnet 23 to glue
Permanent magnet 9 in intracapsular sight glass 13 acts power, to make permanent magnet 9 that capsule endoscope 13 be driven to be moved in alimentary canal,
The wherein preferably spherical or close to spherical shape magnet of active magnet 23, because the Distribution of Magnetic Field on each surface of spherical magnet is more equal
Even, the poles N of magnet are located above, and the poles S are located at lower section.Wherein, the bottom of switch board 25 is equipped with idler wheel 26, therefore can facilitate shifting
Dynamic capsule control device 10.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, robot arm include：It is cut with scissors by level
The magnet support frame 22 that spindle is connect with active magnet 23；Control swing arm 21 of the magnet support frame 22 in horizontal plane rotation, magnet
Supporting rack 22 is connect by vertical articulation axis with swing arm 21, and swing arm 21 is equipped with the magnet tipper of controlled level articulated shaft rotation
Structure 19, swing arm 21 are equipped with the dynamic magnet rotating mechanism 18 of control vertical articulation shaft rotation；Control swing arm 21 rotates in the horizontal plane
Oscillating arm mechanisms 17；Level-ling mechanism 20 in horizontality when control oscillating arm mechanisms 17 move up and down；Controlled level is protected
Hold the elevation control mechanism therefor 16 that mechanism 20 is swung up and down；Elevation control mechanism therefor 16 is connect with rotating mechanism 15.
In the present embodiment, active magnet 23 is hinged on magnet support frame 22 by horizontally hinged axis, wherein horizontal hinge
Spindle can pass through the central axes of active magnet 23, and active magnet 23 is fixed on horizontally hinged axis, by swing arm 21
Magnet switching mechanism 19 can be rotatable around its axis with controlled level articulated shaft, and then active magnet 23 can be overturn, to adjust
The position of the poles N and the poles S of active magnet 23 is changed.Magnet support frame can be controlled by the magnet rotating mechanism 18 in swing arm 21
22 rotate around vertical articulation axis, and then active magnetic iron 23 can be made to be rotated around vertical articulation axis.It can be made by oscillating arm mechanisms 17
Swing arm 21 rotates in the horizontal plane, to make active magnet 23 rotate in the horizontal plane.It is level by elevation control mechanism therefor 16
Holding mechanism 20 provides power, and wherein level-ling mechanism 20 can be parallelogram framework, by parallelogram framework
Bottom edge is horizontally fixed on elevation control mechanism therefor 16, then the bottom edge phase of elevation control mechanism therefor 16 control and parallelogram framework
Adjacent rotation on one side, at this time the top of parallelogram remain horizontality and can move up and down, therefore by swing arm machine
Structure 17 is fixed on the height that can be adjusted oscillating arm mechanisms 17 with the top of parallelogram, and is horizontal always, from
And so that the swing arm 21 connected with oscillating arm mechanisms 17 is horizontal, and then active magnet 23 is made to be protected always when moving up and down
Water holding level state.Elevation control mechanism therefor 16 is connect with rotating mechanism 15, elevation control mechanism therefor 16 can be made to revolve in the horizontal plane
Turn, to make level-ling mechanism 20 and oscillating arm mechanisms connected to it 17 that can also rotate in the horizontal plane, therefore can be with
So that active magnet 23 is moved freely in the horizontal plane, avoids traditional by cross slide way, longitudinal rail and vertical guide rail
The free-moving bulky structure in the horizontal plane of active magnet 23 can just be made.
In the present embodiment, elevation control mechanism therefor comments the bottom on holding mechanism by the rotation of motor internal to control the first day of the lunar month
It is dynamic, to control moving up and down for active magnet, to determine the position of z-axis direction (vertical direction)；Oscillating arm mechanisms are revolved along axis
When turning, swing arm can be enabled to move in a circle in the horizontal direction, oscillating arm mechanisms determine horizontal x, y of active magnet together with rotating mechanism
The position of axis direction.Thus, the sky of active magnet is determined by the movement of rotating mechanism, elevation control mechanism therefor and oscillating arm mechanisms
Between coordinate, to accurately control the movement of capsule endoscope.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, capsule control device 10 are equipped with detection and lead
Range sensor 24 of the moving magnet 23 to the distance between person under test.
In the present embodiment, active magnet 23 is detected by range sensor 24 and arrives the distance between person under test, can made
Capsule control device 10 keeps certain safe distance between person under test always, avoids capsule control device 10 from scratching to be measured
Person ensure that the safety of person under test, wherein range sensor 24 can pass through supersonic sounding or infrared distance measurement.
13 control system of a kind of capsule endoscope that the embodiment of the present invention is provided, control terminal 12 include：To controller
Send the operating platform 12 of control signal；The location information of alimentary canal information and capsule endoscope 13 is received, and alimentary canal is believed
The location information of breath and capsule endoscope 13 is sent to the capsule signal receiver 32 of operating platform 12.
In the present embodiment, control signal is sent to controller by operating platform 12, wherein can be in operating platform 12
Upper setting moving operation bar 30 and rotation process bar 31 send control active magnet 23 to controller by moving operation bar 30 and move
Dynamic control signal, control robot arm movement, that is, adjust rotating mechanism, elevation control mechanism therefor and oscillating arm mechanisms rotation with
Active magnet is accurately positioned in the coordinate in three directions of space x, y, z, passes through active magnet and capsule endoscope inner magnet
Interaction, can position position and posture of the capsule endoscope in alimentary canal.It is sent to controller by rotation process bar 31
The control signal for controlling 23 rotation of active magnet, adjusts each spinning of magnet switching mechanism and magnet rotating mechanism, with adjustment
The pole N, S distribution of active magnet in space, to further adjust the posture of capsule endoscope, to change the position of camera lens
It sets.Therefore it is convenient for medical staff's operation control platform 12.Capsule signal receiver 32 is worn on person under test, can be facilitated
Receive the location information of alimentary canal information and capsule endoscope 13.Control capsule control is wherein also provided on operating platform to set
The power switches and emergency stop switch of standby 10 work and other facilitate the control button 29 that medical staff operates.
It should be noted that in controller predetermined movement control module, motion-control module machine can be passed through
Human arm control capsule endoscope 13 is moved to a commitment positions in the digestive tract, and position control module judges this commitment positions
Whether it is position to be measured, this position to be measured is checked if so, starting capsule endoscope 13, and acquire corresponding alimentary canal
Then alimentary canal information is sent to control terminal 12 by capsule signal receiver 32 and shown, will peeped in capsule by information
The position of mirror 13 and posture information are sent to controller, by the position control module of controller to the position of capsule endoscope 13
It after being handled with posture information, is shown by control terminal 12, then moves capsule endoscope 13 to next to be measured
Position；It is moved in alimentary canal if it is not, then continuing through robot arm control capsule endoscope 13, until position to be measured is stopped
Under, therefore the reponse system of a closed loop is constituted, capsule endoscope 13 has acquired the alimentary canal information of all positions to be measured
Afterwards, when control capsule endoscope 13 arrives a last commitment positions, detection terminates.Therefore, by equipped with motion-control module
Automatically controlling for capsule endoscope 13 may be implemented in controller, avoids positioning of the manual control caused by the shake of hand
Inaccurate problem, but manually controlling can make medical staff carry out rechecking to the position of concern, therefore automatically control
Medical staff can be made more accurately to obtain the alimentary canal information of person under test with the combination manually controlled.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, capsule endoscope 13 include：Acquisition digestion
The camera lens 1 of the image information in road；Image information is sent to the radio-frequency module 5 of capsule signal receiver 32；With locating module 4 and
The battery module 7 that permanent magnet 9 connects.
In the present embodiment, it will be sent out by 1 the image collected information of camera lens of capsule endoscope 13 by radio-frequency module 5
Capsule signal transceiver 32 is given, wherein can believe the simulation of capsule image by imaging sensor 2 and image processing module 3
Number digital signal is converted to, radio-frequency module 5 can distinguish digital data transmission to capsule signal receiver 32, battery module 7
There is provided electric power to locating module 4 and permanent magnet 9, capsule endoscope 13 further includes a capsule shell 6, and with capsule shell 6
The optics protecgulum 8 of docking, optics protecgulum 8 can protect camera lens 1 to acquire gastral image information.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, operating platform 12 include：Show alimentary canal
The second display 27 of first display 28 of information and the location information of display capsule endoscope 13.
In the present embodiment, by by alimentary canal presentation of information in the first display 28, by the position of capsule endoscope 13
On the one hand presentation of information can be such that medical staff is visually observed that in alimentary canal information and capsule and peep on second display 27
On the other hand the location information of mirror 13 can clearly distinguish information, avoid maloperation.
A kind of capsule endoscope control system that the embodiment of the present invention is provided, locating module 4 include：It is peeped in detection capsule
Magnetic field processor of the mirror 13 to the distance between active magnet 23；The gravity accelerometer of the direction of detector lens.
In the present embodiment, magnetic field processor can detect active magnet 23 by magnetic field sensor and arrive magnetic field sensor
Magnetic force, magnetic force include magnetic force size and direction vector, show that capsule endoscope 13 arrives active magnet 23 by formula of magnetic field algorithm
Distance, gravity accelerometer can detect the posture of capsule endoscope 13, so that it is determined that the camera lens 1 of capsule endoscope 13
Direction.
A kind of capsule endoscope control system that the embodiment of the present invention is provided further includes：The sick bed 11 of person under test is supported,
11 bottom of sick bed is equipped with the control mechanism of control sick bed 11 movement and overturning.
In the present embodiment, sick bed 11 can be made to move and overturn by control mechanism, therefore can adjusted positioned at disease
The center of gravity of person under test on bed 11, allows capsule endoscope 13 to be moved in alimentary canal.
In conclusion the capsule endoscope control system that the embodiment of the present invention is provided, person under test gulp down capsule endoscope
Enter in vivo after, medical staff by capsule control device control capsule endoscope motion to first position to be measured after, capsule
The alimentary canal information of detect first position to be measured can be sent to control terminal and shown by endoscope, can be made
Medical staff is clearly observed the alimentary canal situation of person under test.Then capsule endoscope is moved to carry out to second position to be measured
Detection, and send alimentary canal information to control terminal, the position to be measured of i.e. detectable whole according to this, wherein control terminal can be with
Show the position of capsule endoscope, therefore can movement that is more accurate and easily controlling capsule endoscope.
A kind of capsule endoscope control system provided by the present invention is described in detail above.Tool used herein
Principle and implementation of the present invention are described for body example, and the explanation of above example is only intended to help to understand this hair
Bright core concept.It should be pointed out that for those skilled in the art, before not departing from the principle of the invention
It puts, can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the guarantor of the claims in the present invention
It protects in range.
Claims (4)
1. a kind of capsule endoscope control system, which is characterized in that including：
Capsule endoscope for the alimentary canal information for acquiring person under test, the capsule endoscope is interior to be equipped with permanent magnet and positioning mould
Block；
The capsule control device of the capsule endoscope motion is controlled by the permanent magnet；
Location information for receiving and showing the alimentary canal information and the capsule endoscope, and the control capsule control
The control terminal of control equipment work；
Wherein, the capsule control device includes the active magnet for controlling capsule endoscope motion；The capsule endoscope includes
Acquire the camera lens of gastral image information；The locating module include detect the capsule endoscope to the active magnet it
Between the magnetic field processor of distance, detector lens direction gravity accelerometer；
The capsule control device includes：
Control the active magnet of the capsule endoscope motion；
Robot arm for controlling the active magnet movement；
Bottom is equipped with the switch board of idler wheel, and the switch board, which is equipped with, controls the rotation that the robot arm rotates in the horizontal plane
Rotation mechanism；
The driver for driving the rotating mechanism and/or the robot arm to run；
It is arranged in the switch board, receives the control signal of the control terminal, and send corresponding control command to the drive
The controller of dynamic device；
The robot arm includes：
The magnet support frame being connect with the active magnet by horizontally hinged axis；
The swing arm that the magnet support frame is rotated in horizontal plane is controlled, the magnet support frame passes through vertical articulation axis and the pendulum
Arm connects, and the swing arm, which is equipped with, controls the dynamic magnet switching mechanism of the horizontally hinged shaft rotation, and the swing arm is equipped with control
The dynamic magnet rotating mechanism of the vertical articulation shaft rotation；
The robot arm further includes：
Control the oscillating arm mechanisms that the swing arm rotates in the horizontal plane；
Control the level-ling mechanism in horizontality when the oscillating arm mechanisms move up and down；
Control the elevation control mechanism therefor that the level-ling mechanism is swung up and down；
The elevation control mechanism therefor is connect with the rotating mechanism.
2. capsule endoscope control system according to claim 1, which is characterized in that the capsule control device is equipped with
Detect the active magnet to the distance between the person under test range sensor.
3. capsule endoscope control system according to claim 2, which is characterized in that the control terminal includes：
The operating platform of the control signal is sent to the controller；
Receive the location information of the alimentary canal information and the capsule endoscope, and by the alimentary canal information and the capsule
The location information of endoscope is sent to the capsule signal receiver of the operating platform.
4. capsule endoscope control system according to claim 3, which is characterized in that the operating platform includes：
It shows the first display of the alimentary canal information and shows the second display of the location information of the capsule endoscope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610254857.5A CN105852783B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope control system |
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| CN201610254857.5A CN105852783B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope control system |
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| CN105852783A CN105852783A (en) | 2016-08-17 |
| CN105852783B true CN105852783B (en) | 2018-10-30 |
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| US10478048B2 (en) * | 2016-09-23 | 2019-11-19 | Ankon Medical Technologies (Shanghai) Co., Ltd. | System and method for using a capsule device |
| 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 |
| CN106725272B (en) * | 2016-12-21 | 2019-02-12 | 重庆金山医疗器械有限公司 | Capsule endoscope |
| CN106618456B (en) * | 2016-12-21 | 2019-02-12 | 重庆金山医疗器械有限公司 | Capsule endoscope control system |
| CN107049213A (en) * | 2017-03-28 | 2017-08-18 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope control method and device |
| CN107361722A (en) * | 2017-06-28 | 2017-11-21 | 重庆金山医疗器械有限公司 | Alimentary canal diagnostic equipment and capsule endoscope display image visual angle regulating method and system |
| CN107468202A (en) * | 2017-09-06 | 2017-12-15 | 深圳市资福技术有限公司 | A kind of disease of stomach inspection, diagnostic system |
| CN108175368A (en) * | 2017-11-28 | 2018-06-19 | 重庆金山医疗器械有限公司 | A kind of control system of capsule endoscopic |
| CN107981830A (en) * | 2017-12-12 | 2018-05-04 | 重庆财玺科技有限公司 | A kind of capsule endoscope detector |
| CN108354576A (en) * | 2018-01-02 | 2018-08-03 | 重庆金山医疗器械有限公司 | A kind of magnetic force attitude controller |
| CN108245122B (en) * | 2018-01-12 | 2020-04-28 | 北京理工大学 | Magnetic guiding type capsule endoscope system and track planning method |
| 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 |
| CN109259715B (en) * | 2018-09-04 | 2021-04-27 | 北京理工大学 | Capsule endoscope magnetic guide control device integrating interaction function |
| CN109259716B (en) * | 2018-09-04 | 2021-03-09 | 北京理工大学 | Capsule endoscope magnetic guide control device |
| CN109708851B (en) * | 2018-12-27 | 2021-06-08 | 重庆大学 | Capsule endoscope dynamic imaging performance detection system |
| CN110236474B (en) * | 2019-06-04 | 2020-10-27 | 北京理工大学 | Active magnetic control capsule robot detection system and detection method |
| CN110292347B (en) * | 2019-07-24 | 2022-06-03 | 河南省人民医院 | Auxiliary examination device for digestive system department |
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| 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 |
| CN117378987A (en) * | 2022-07-04 | 2024-01-12 | 安翰科技(武汉)股份有限公司 | Quantitative control method, system and storage medium for first visual angle of capsule endoscope |
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