CN105919542A - Endoscope capsule controller and magnet universal rotating device thereof - Google Patents
Endoscope capsule controller and magnet universal rotating device thereof Download PDFInfo
- Publication number
- CN105919542A CN105919542A CN201610256060.9A CN201610256060A CN105919542A CN 105919542 A CN105919542 A CN 105919542A CN 201610256060 A CN201610256060 A CN 201610256060A CN 105919542 A CN105919542 A CN 105919542A
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- China
- Prior art keywords
- magnet
- decelerator
- rolling
- input
- rotary device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- 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
Abstract
The invention discloses a magnet universal rotating device, which comprises a reducer base, and further comprises a rotating motor which is used for controlling a magnet to rotate in a horizontal direction, and a turning-over motor which is used for controlling the magnet to turn over, wherein the reducer base is connected to the magnet in a rotatable mode; the magnet is arranged at the end, away from a swing arm, of the reducer base; a first reducer is connected between the rotating motor and the reducer base; a second reducer is connected between the turning-over motor and the magnet; and both the rotating motor and the turning-over motor are arranged on the swing arm. According to the magnet universal rotating device provided by the invention, rotating control on the magnet is achieved by virtue of the rotating motor and turning-over control on the magnet is achieved by virtue of the turning-over motor, so that the magnet can move by all angles; meanwhile, since both the rotating motor and the turning-over motor are arranged on the swing arm, namely on the positions away from the magnet, interference of a magnetic field on the motors is effectively reduced or eliminated, so that the normal and reliable operation of the device is guaranteed. The invention also discloses an endoscope capsule controller comprising the magnet universal rotating device.
Description
Technical field
The present invention relates to capsule endoscope and control apparatus field, particularly relate to a kind of Magnet Universal rotary
Device.Moreover, it relates to a kind of capsule endoscope including above-mentioned Magnet Universal rotary device
Controller.
Background technology
The active drive of oral capsule endoscope has become of Wicresoft or noinvasive Clinics with control
Study hotspot and forward position, can significantly reduce the misery of diagnosis and treatment cycle and patient.Capsule endoscope is at body
The active accommodation of interior attitude and the active of walking control to solve this difficulty of vision dead zone of intervention diagnosis
Topic is therefore significant to clinical diagnosis technology.
Currently for the control of capsule endoscope, external magnet formula Non-follow control can be used, but
In clinic, there is the problems such as positioning precision is the highest, operator's training time is longer in Non-follow control, and
And there is bigger blind area in the inspection of capsule.Therefore, generally use robot arm, replace manual operation,
Capsule endoscope motion under one's belt, capsule endoscope machine is controlled by being accurately positioned of robot arm
Device people uses Magnet to guide it to move in human body.
Capsule endoscope controller of the prior art, including motor, decelerator, Magnet and control
The parts such as device, and motor is typically mounted on decelerator, but, due to decelerator and Magnet
Close together, motor is arranged on decelerator, can cause Magnet that motor produces interference, impact electricity
The normal use of machine.
It addition, for the all-around mobile realizing capsule endoscope, capsule endoscope controller also should
The movement of full gesture stability Magnet, it is achieved the universal continuous motion of Magnet.
Therefore, the reliability of Magnet Universal rotary device how is improved, it is achieved the universal continuous fortune of Magnet
Dynamic, it is that those skilled in the art are presently required and solve the technical problem that.
Summary of the invention
It is an object of the invention to provide a kind of Magnet Universal rotary device, this Magnet Universal rotary device leads to
Crossing combined type and rotate layout, reduce or eliminate the Magnet interference to motor, dependability is strong.This
The another object of invention is to provide a kind of capsule endoscope including above-mentioned Magnet Universal rotary device and controls
Device.
For solving above-mentioned technical problem, the present invention provides following technical scheme:
A kind of Magnet Universal rotary device, the swing arm with capsule endoscope controller is connected, including slowing down
Device seat, described speed reducer base is connected with magnet rotors, described Magnet be arranged on described speed reducer base away from
One end of described swing arm, also includes:
For controlling the electric rotating machine of described Magnet horizontal rotation, described electric rotating machine and described decelerator
Connect between Zuo and have the first decelerator；
For controlling the rolling motor of described Magnet rolling, connect between described rolling motor and described Magnet
It is connected to the second decelerator；
Described electric rotating machine and described rolling motor are installed in described swing arm.
Preferably, described first decelerator and described second decelerator are harmonic speed reducer.
Preferably, it is connected by rotation input belt wheel between described electric rotating machine with described first decelerator,
Described rotation input belt wheel is fixing with the input of described first decelerator to be connected；Described electric rotating machine with
Described rotation is provided with between input belt wheel for changing the described transition wheel rotating input belt wheel setting height(from bottom).
Preferably, the slip ring for gathering the described Magnet anglec of rotation, one end of described slip ring are also included
Fixing with described swing arm and be connected, the other end is fixing with described speed reducer base to be connected.
Preferably, also include for the Magnet mounting seat installing Magnet and described second decelerator is defeated
Go out rolling output shaft and the rolling power shaft that is connected with described Magnet mounting seat that end connects, described in turn over
Rolling output shaft is connected by belt with described rolling power shaft.
Preferably, it is connected between described rolling motor with described second decelerator and has for by described rolling
The rotation of motor passes to the input shaft of described second decelerator, and described input shaft is with described
The input engagement of the second decelerator；Described input shaft runs through the inside of described first decelerator.
Preferably, the bearing of trend of described rolling power shaft hangs down with the transmission direction of described second decelerator
Directly.
Preferably, also include for the rotation of described rolling motor is passed to described input shaft
Rolling input belt wheel.
Preferably, it is connected by expansion sleeve between described input shaft with described rolling input belt wheel.
The present invention also provides for a kind of capsule endoscope controller, including the Magnet described in above-mentioned any one
Universal rotary device.
Magnet Universal rotary device provided by the present invention, including speed reducer base, described speed reducer base with
Described magnet rotors connects, and described Magnet is arranged on described speed reducer base one end away from described swing arm,
Also include the electric rotating machine for controlling the horizontal rotation of described Magnet, described electric rotating machine and described deceleration
Connect between device seat and have the first decelerator；For control described Magnet rolling rolling motor, described in turn over
It is connected between rolling motor and described Magnet and has the second decelerator；Described electric rotating machine and described rolling motor
It is installed in described swing arm.This Magnet Universal rotary device passes through described electric rotating machine respectively with described
Rolling motor realizes the rotation to described Magnet and rolling controls, it is achieved the full angle of Magnet moves, with
Time, by described electric rotating machine and described rolling motor are installed in described swing arm, i.e. it is arranged on
Away from the position of described Magnet, effectively reduce or eliminate the magnetic field interference to motor, it is ensured that this dress
The normal reliable put is run.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below by right
In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that,
Accompanying drawing in describing below is only some embodiments of the present invention, for those of ordinary skill in the art
From the point of view of, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
Fig. 1 is that the structure of a kind of detailed description of the invention of capsule endoscope controller provided by the present invention is shown
It is intended to；
Fig. 2 is that the structure of Magnet a kind of detailed description of the invention of Universal rotary device provided by the present invention is shown
It is intended to；
Wherein: 1-electric rotating machine, 2-rolling motor, 3-rolling input belt wheel, 4-input shaft, 5-
Rotate input belt wheel, 6-1-the first decelerator input, the fixing end of 6-2 the first decelerator, 6-3-first
Decelerator outfan, 7-swing arm, 8-rotating output shaft, 9-slip ring, 10-speed reducer base, 11-input tooth
The fixing end of wheel, 12-output gear, 13-1-the second decelerator input, 13-2-the second decelerator, 13-3-
Second decelerator outfan, 14-bearing block, 15-rolling power shaft, 16-driving pulley, 17-bearing,
18-Timing Belt, 19-roll output shaft, 20-driven pulley, 21-right-hand rotation seat, 22-Magnet mounting seat, 23-
Magnet, 24-left-hand rotation seat.
Detailed description of the invention
The core of the present invention is to provide a kind of Magnet Universal rotary device, and this Magnet Universal rotary device leads to
Cross combined type and rotate layout, can effectively reduce or eliminate the Magnet interference to motor, dependability
It is obviously enhanced.Another core of the present invention is to provide and a kind of includes the interior of above-mentioned Magnet Universal rotary device
Sight glass capsule controller.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawings and tool
The present invention is described in further detail for body embodiment.
Refer to Fig. 1 and Fig. 2, Fig. 1 is that capsule endoscope controller provided by the present invention is a kind of concrete
The structural representation of embodiment, Fig. 2 is Magnet Universal rotary device one provided by the present invention tool
The structural representation of body embodiment.
In this embodiment, Magnet Universal rotary device includes for installing Magnet 23 band moving magnet
23 speed reducer bases 10 rotated, and for controlling the electric rotating machine 1 of Magnet 23 horizontal rotation and using
In the rolling motor 2 controlling Magnet 23 rolling.
Wherein, speed reducer base 10 is rotationally connected with Magnet 23, and Magnet 23 is arranged on speed reducer base 10
Away from one end of swing arm 7, concrete, also include that Magnet mounting seat 22, Magnet 23 are arranged on Magnet peace
In dress seat 22, the two ends of Magnet mounting seat 22 are hung on speed reducer base 10, Magnet mounting seat 22
And it is rotationally connected between speed reducer base 10.The setting of Magnet mounting seat 22 is possible not only to protect Magnet 23
From ectocine, and can ensure that the magnetic pole of Magnet 23, towards outside, facilitates Magnet 23 to glue
The control of capsule.
The first decelerator is had it addition, be connected between electric rotating machine 1 with speed reducer base 10；Rolling motor 2
It is connected with between Magnet 23 and has the second decelerator；Electric rotating machine 1 is installed in swing arm with rolling motor 2
On 7.
This Magnet Universal rotary device is realized Magnet 23 with rolling motor 2 by electric rotating machine 1 respectively
Rotation and rolling control, it is achieved the full angle of Magnet 23 moves, meanwhile, by by electric rotating machine 1
It is installed in swing arm 7 with rolling motor 2, is i.e. mounted remotely from the position of Magnet 23, effectively drops
Low or eliminate the magnetic field interference to motor, it is ensured that the normal reliable of this device is run.
Concrete, the first decelerator and the second decelerator are harmonic speed reducer, and harmonic speed reducer is not only
Volume is little, lightweight, and precision is high, and parts are few, it is simple to install.
Further, it is connected by rotation input belt wheel 5 between electric rotating machine 1 with the first decelerator, rotation
Transfer and is connected into belt wheel 5 and the first decelerator input 6-1 are fixing, be used for the rotation of electric rotating machine 1
Pass to the first decelerator, concrete, rotate between input belt wheel 5 and the first decelerator input 6-1
Screw can be used to connect.
Electric rotating machine 1 and rotate input belt wheel 5 between be provided with for change rotation input belt wheel 5 install
The transition wheel of height, as it is shown in figure 1, by increasing between electric rotating machine 1 and rotation input belt wheel 5
Transition wheel, the installation of the input belt wheel 3 that can conveniently roll.
It addition, this device also includes the rolling output shaft 19 being connected with the second decelerator outfan 13-3
And the rolling power shaft 15 being connected with Magnet mounting seat 22, rolling output shaft 19 and rolling power shaft
15 are connected by belt.
The peripheral part of the second decelerator is provided with bearing block 14, and bearing block 14 inner circumferential is provided with bearing 17, uses
In undertaking moment of flexure, protect the second decelerator.
Further, rolling to be connected between motor 2 and the second decelerator has for turning rolling motor 2
The dynamic input shaft 4 passing to the second decelerator, input shaft 4 and the second decelerator input
13-1 engages；Input shaft 4 runs through the inside of the first decelerator, forms combined type hollow structure.
Concrete, by input gear 11 between input shaft 4 and the second decelerator input 13-1
The gear pair formed with output gear 12 is connected, and input gear 11 is fixing with input shaft 4 to be connected,
Output gear 12 is fixing with the second decelerator input 13-1 to be connected, input gear 11 and output gear
12 engagements.
Meanwhile, the bearing of trend of input shaft 4 is vertical with the transmission direction of the second decelerator, it is achieved
The transformation of transmission direction, and then realize the control of the rolling to Magnet 23, i.e. input gear 11 and input
The angle of inclination sum of gear 11 is 90 °.
Certainly, being provided with rolling input belt wheel 3 between rolling motor 2 and input shaft 4, i.e. roll electricity
The rotation of machine 2 is delivered to rolling input belt wheel 3 by transition wheel, and then rotation is passed by rolling input belt wheel 3
Pass input shaft 4.
Preferably, it is connected by expansion sleeve between input shaft 4 with rolling input belt wheel 3, swelling
Set connects for pin connects or be bonded, and gapless, transmission accuracy is higher.
On the other hand, owing to this apparatus structure is complicated, the anglec of rotation for Magnet 23 observes difficulty,
Therefore, for the ease of gathering the anglec of rotation of Magnet 23, this device also includes for gathering Magnet 23
The slip ring 9 of the anglec of rotation, one end of slip ring 9 is fixing with swing arm 7 to be connected, the other end and speed reducer base
10 fixing connections.Certainly, on slip ring 9, connection has the detection device for gathering rotational angle.
Universal magnet 23 rotary apparatus that the present embodiment is provided, including the Spin Control to Magnet 23
With rolling control.
Wherein, rotary drive principle is:
Electric rotating machine 1 is fixed in swing arm 7, and electric rotating machine 1 is transferred to rotate by rotation synchronization belt
Input belt wheel 5, is tightened together by screw and the first decelerator input 6-1, and the first decelerator is solid
Fixed end 6-2 is fixed by screws in swing arm 7, rotating output shaft 8 and the first decelerator outfan 6-3
Connecting with screw, rotating output shaft 8 is fixing with speed reducer base 10 to be connected, and Magnet 23 is pacified by Magnet
Dress seat 22 is connected on speed reducer base 10；Electric rotating machine 1 is transferred to first by rotation synchronization belt and subtracts
On the power shaft of speed device, being transferred to rotating output shaft 8 after slowing down, rotating output shaft 8 drives decelerator
Seat 10 rotates, thus the rotation of band moving magnet 23.
Rolling transmission principle is: rolling motor 2 inputs belt wheel 3 by rolling toothed belt transmission to rolling
On, rolling input belt wheel 3 is fixed on input shaft 4 by expansion sleeve, input shaft 4
The other end fastens with input gear 11, and input gear 11 and output gear 12 constitute gear pair transmission,
Output gear 12 is fixing with the second decelerator input 13-1 to be connected, the second decelerator fixing end 13-2
It is screwed on speed reducer base 10, the second decelerator outfan 13-3 screw and rolling power shaft
15 are secured together to, and bearing 17 is arranged on bearing block 14, and bearing block 14 is fastened on deceleration with screw
On device seat 10, driving pulley 16 is fixed on rolling power shaft 15, the synchronized band of driving pulley 16
18 link together with driven pulley 20, and driven pulley 20 is fixed on rolling output shaft 19, rolling
Output shaft 19 is fastened in Magnet mounting seat 22, and Magnet 23 is fixed in Magnet mounting seat 22, right
Swivel base 21 screw is fastened on bearing block 14, and left-hand rotation seat 24 is fixed on speed reducer base 10 equally,
Magnet 23 is suspended between right-hand rotation seat 21 and left-hand rotation seat 24；Rolling motor 2 rotates through rolling Timing Belt
Being delivered on input shaft 4, the input gear 11 on input shaft 4 is defeated with the second decelerator
Enter the output gear 12 on axle and constitute gear pair transmission, then after the second decelerator slows down, be transferred to rolling
Power shaft 15, the driving pulley 16 on rolling power shaft 15 is transferred to driven pulley 20 and then is delivered to
Roll output shaft 19, and rolling output shaft 19 is fixed be connected with Magnet mounting seat 22, Magnet 23, thus
Band moving magnet 23 rolls.
Capsule endoscope controller disclosed in the present embodiment uses hollow harmonic wave composite structure, by electricity
Machine is arranged on the mechanical arm away from Magnet 23, can be prevented effectively from strong magnetic disturbance.Meanwhile, use
Combined type rolling is arranged, it is achieved the angle of pitch of Magnet 23 and the control of azimuth two-freedom, and,
Capsule endoscope controller uses the square crossing axle construction that combined type rolling is arranged, can provide simultaneously
Two-way power source, it is achieved two-freedom independently controls.
In addition to above-mentioned Magnet Universal rotary device, present invention also offers one and include above-mentioned Magnet
The capsule endoscope controller of Universal rotary device, other each several parts knot of this capsule endoscope controller
Structure refer to prior art, repeats no more herein.
In this specification, each embodiment uses the mode gone forward one by one to describe, and each embodiment stresses
Being all the difference with other embodiments, between each embodiment, identical similar portion sees mutually i.e.
Can.
Above Magnet Universal rotary device provided by the present invention is described in detail.Herein should
By specific case, principle and the embodiment of the present invention are set forth, the explanation of above example
It is only intended to help to understand method and the core concept thereof of the present invention.It should be pointed out that, and this technology is led
For the those of ordinary skill in territory, under the premise without departing from the principles of the invention, it is also possible to the present invention
Carrying out some improvement and modification, these improve and modify the protection domain also falling into the claims in the present invention
In.
Claims (10)
1. a Magnet Universal rotary device, the swing arm (7) with capsule endoscope controller is even
Connecing, including speed reducer base (10), described speed reducer base (10) is rotationally connected with Magnet (23),
Described Magnet (23) is arranged on described speed reducer base (10) one end away from described swing arm (7),
It is characterized in that, also include:
For controlling the electric rotating machine (1) that described Magnet (23) horizontally rotates, described electric rotating
It is connected between machine (1) with described speed reducer base (10) and has the first decelerator；
For controlling the rolling motor (2) that described Magnet (23) rolls, described rolling motor (2)
It is connected with between described Magnet (23) and has the second decelerator；
Described electric rotating machine (1) and described rolling motor (2) are installed in described swing arm (7)
On.
Magnet Universal rotary device the most according to claim 1, it is characterised in that institute
State the first decelerator and described second decelerator is harmonic speed reducer.
Magnet Universal rotary device the most according to claim 2, it is characterised in that institute
State and be connected by rotation input belt wheel (5) between electric rotating machine (1) with described first decelerator,
Described rotation input belt wheel (5) is fixing with described first decelerator input (6-1) to be connected；
It is provided with for changing described between described electric rotating machine (1) and described rotation input belt wheel (5)
Rotate the transition wheel of input belt wheel (5) setting height(from bottom).
Magnet Universal rotary device the most according to claim 3, it is characterised in that also
Including the slip ring (9) for gathering described Magnet (23) anglec of rotation, described slip ring (9)
One end is fixing with described swing arm (7) to be connected, and the other end is fixing with described speed reducer base (10) even
Connect.
Magnet Universal rotary device the most according to claim 1, it is characterised in that also
Including for installing the Magnet mounting seat (22) of Magnet (23) and described second decelerator output
End (13-3) the rolling output shaft (19) that connects and with described Magnet mounting seat (22) even
The rolling power shaft (15) connect, described rolling output shaft (19) and described rolling power shaft (15)
Connected by belt.
Magnet Universal rotary device the most according to claim 5, it is characterised in that institute
The bearing of trend stating rolling power shaft (15) is vertical with the transmission direction of described second decelerator.
7. according to the Magnet Universal rotary device described in claim 1 to 6 any one, its
Being characterised by, being connected between described rolling motor (2) and described second decelerator has for by institute
The rotation stating rolling motor (2) passes to the input shaft (4) of described second decelerator, institute
State input shaft (4) to engage with described second decelerator input (13-1)；Described input
Power transmission shaft (4) runs through the inside of described first decelerator.
Magnet Universal rotary device the most according to claim 7, it is characterised in that also
Including for the rotation of described rolling motor (2) is passed to described input shaft (4)
Rolling input belt wheel (3).
Magnet Universal rotary device the most according to claim 8, it is characterised in that institute
State and be connected by expansion sleeve between input shaft (4) with described rolling input belt wheel (3).
10. a capsule endoscope controller, including Magnet Universal rotary device, its feature exists
In, described Magnet Universal rotary device is the Magnet ten thousand described in claim 1 to 9 any one
To rotary apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256060.9A CN105919542B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller and its magnet Universal rotary device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610256060.9A CN105919542B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller and its magnet Universal rotary device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105919542A true CN105919542A (en) | 2016-09-07 |
| CN105919542B CN105919542B (en) | 2018-09-18 |
Family
ID=56839741
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610256060.9A Active CN105919542B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller and its magnet Universal rotary device |
Country Status (1)
| Country | Link |
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| CN (1) | CN105919542B (en) |
Cited By (3)
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|---|---|---|---|---|
| CN107307838A (en) * | 2017-07-05 | 2017-11-03 | 上海楠青自动化科技有限公司 | A kind of external guider of capsule endoscopic |
| CN107374572A (en) * | 2017-07-05 | 2017-11-24 | 上海楠青自动化科技有限公司 | A kind of magnet Universal rotary device to be navigated in vitro for capsule endoscopic |
| CN110809425A (en) * | 2018-06-02 | 2020-02-18 | 上海安翰医疗技术有限公司 | Capsule endoscope control apparatus |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105919542B (en) | 2018-09-18 |
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