CN105962876B - A kind of capsule endoscope controller - Google Patents
A kind of capsule endoscope controller Download PDFInfo
- Publication number
- CN105962876B CN105962876B CN201610255993.6A CN201610255993A CN105962876B CN 105962876 B CN105962876 B CN 105962876B CN 201610255993 A CN201610255993 A CN 201610255993A CN 105962876 B CN105962876 B CN 105962876B
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- magnet
- principal arm
- revolving platform
- swing arm
- arm
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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
- A61B1/00147—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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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 kind of capsule endoscope controller, includes the magnet for controlling capsule movement, further include the magnet Universal rotary device for controlling magnet rotors and rolling；It can swing in the horizontal direction, the swing arm for hanging magnet Universal rotary device；It can vertically swing, the principal arm of height for adjusting magnet, principal arm is hinged with swing arm；Revolving platform for installing principal arm and can rotate in the horizontal direction, revolving platform are hinged with principal arm；The horizontal holding rod that horizontality is in for controlling swing arm is hinged on revolving platform.Capsule endoscope controller provided by the present invention is by being arranged magnet Universal rotary device, swing arm, principal arm, revolving platform etc., realize the control of five degree of freedom of magnet, simultaneously, the volume of itself is reduced, also, by the way that horizontal holding rod is arranged, it can not only ensure the precision of swing arm position, and the setting of horizontal motor is saved, the processing cost of the controller has been saved, the market competitiveness can be effectively improved.
Description
Technical field
The present invention relates to capsule endoscope control device fields, more particularly to a kind of capsule endoscope controller.
Background technology
The active drive of oral capsule endoscope has become a research hotspot of minimally invasive or noninvasive Clinics with control
And forward position, diagnosis and treatment period and the pain of patient can be effectively reduced.The capsule endoscope active accommodation of posture and walking in vivo
Active control can solve this problem of the vision dead zone of intervention diagnosis, therefore significant to clinical diagnosis technology.
Currently, the control for capsule endoscope is mainly manually controlled by external magnet formula, but it is manually controlled in and faces
In bed application, control effect is undesirable, positioning accuracy is not high, and operator's training time is longer, the inspection of capsule exist compared with
Big blind area.
In the prior art, for the mobile control effect preferably robot controller of capsule endoscope, robot control
The mobile accuracy of device processed is high, and precise control, existing robot controller includes the knots such as X-axis slide rail, Y-axis sliding rail, Z axis slide rail
The design of structure, sliding rail causes mechanism very huge, needs larger room that could accommodate, inconvenient to use.
Therefore, the volume for how reducing capsule endoscope controller improves its operating flexibility, is those skilled in the art
The technical issues that need to address at present.
Invention content
The object of the present invention is to provide a kind of capsule endoscope controller, which can effectively drop
The low volume of itself, is conveniently operated.
In order to solve the above technical problems, the present invention provides the following technical solutions：
A kind of capsule endoscope controller includes the magnet for controlling capsule movement, further includes：
Magnet Universal rotary device for controlling the magnet rotors and rolling；
It can swing in the horizontal direction, the swing arm for hanging the magnet Universal rotary device；
It can vertically swing, the principal arm of height for adjusting the magnet, the principal arm is hinged with the swing arm；
Preferably, further include revolving platform for installing the principal arm and can rotate in the horizontal direction, the revolution
Platform is hinged with the principal arm；
The horizontal holding rod that horizontality is in for controlling the swing arm is hinged on the revolving platform.
Preferably, between the swing arm and the principal arm be equipped with motor rack, between the motor rack and the principal arm and
Be between the motor rack and the swing arm it is hinged, and the one end of the horizontal holding rod far from the revolving platform with it is described
Motor rack is hinged.
Preferably, the center of rotation of the motor rack and the principal arm, the center of rotation of the principal arm and the revolving platform,
The tie point of the horizontal holding rod and the tie point of the revolving platform and the horizontal holding rod and the motor rack is in flat
Row quadrilateral structure.
Preferably, the junction of the swing arm and the motor rack forms swing arm swinging joint, and the swing arm is swung
Joint is equipped with for swinging the oscillating motor for providing power in the horizontal direction for the swing arm.
Preferably, the junction of the revolving platform and the principal arm forms principal arm pitching joint, principal arm pitching joint
Place is equipped with for vertically swinging the pitching motor for providing power for the principal arm.
Preferably, the lower end of the revolving platform is also associated with the revolving platform rotating part for driving the revolving platform rotation
Part.
Preferably, the revolving platform rotary part includes that retarder fixes disk, retarder transmission shaft and curved for carrying
The pull back device of square.
Preferably, the pull back device includes being set in the retarder transmission shaft peripheral part, being fixed with the retarder
The hollow rotating shaft that disk is fixedly connected；It is set in the bearing block of the hollow rotating shaft peripheral part；Positioned at the hollow rotating shaft with it is described
Bearing between bearing block, for being rotated along the hollow rotating shaft for the bearing block.
Preferably, the magnet Universal rotary device is equipped with the retarder frame for suspending the magnet, and is used for
The mobile motor of power is provided for the movement of the magnet；The mobile motor is mounted in the swing arm.
Capsule endoscope controller provided by the present invention includes the magnet for controlling capsule movement, further includes being used for
Control the magnet rotors and the magnet Universal rotary device of rolling；It can swing in the horizontal direction, for hanging the magnet ten thousand
Swing arm to rotating device；Can vertically swing, the principal arm of height for adjusting the magnet, the principal arm with it is described
Swing arm is hinged；Revolving platform for installing the principal arm and can rotate in the horizontal direction, the revolving platform and the principal arm
It is hinged；The horizontal holding rod that horizontality is in for controlling the swing arm is hinged on the revolving platform.The capsule endoscope
Controller realizes institute by the way that the structures such as the magnet Universal rotary device, the swing arm, the principal arm, the revolving platform are arranged
State the control of five degree of freedom of magnet so that the mobile control of the magnet is more accurate, meanwhile, the controller is without setting
Sliding track mechanism can effectively reduce the volume of itself, and the scope of application is significantly widened, in addition, the controller is also by being arranged institute
Horizontal holding rod is stated, ensures that the swing arm is in horizontality always, the setting of the horizontal holding rod can not only ensure institute
The precision of swing arm position is stated, and saves the setting of horizontal motor, has saved the processing cost of the controller, it can be effective
Improve the market competitiveness.
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 only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of specific implementation mode of capsule endoscope controller provided by the present invention；
Fig. 2 is the enlarged drawing of the principal arm of capsule endoscope controller described in Fig. 1；
Fig. 3 is the enlarged drawing of the magnet Universal rotary device of capsule endoscope controller shown in Fig. 1；
Fig. 4 is the structural simulation schematic diagram of capsule endoscope controller shown in Fig. 1；
Fig. 5 is the simulation trial result schematic diagram of capsule endoscope controller shown in Fig. 1；
Wherein：1- pedestals rotary joint, 2- principal arm pitching joint, 3- swing arms flapping articulation, 4- swing arms swinging joint, 5- magnetic
Iron rotary joint, 6- magnet overturning joint, 7- pedestals, 8- revolving platforms, 9- principal arms, the horizontal holding rods of 10-, 11- motor cabinets, 12-
Swing arm, 13- mobile motors, 14- magnet Universal rotaries device, 15- magnet.
Specific implementation mode
Core of the invention is to provide a kind of capsule endoscope controller, which can significantly drop
The low volume of itself, is conveniently operated, low manufacture cost.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
It is a kind of specific implementation mode of capsule endoscope controller provided by the present invention to please refer to Fig.1 to Fig. 3, Fig. 1
Structural schematic diagram, Fig. 2 are the enlarged drawing of the principal arm of capsule endoscope controller described in Fig. 1, and Fig. 3 is capsule endoscope shown in Fig. 1
The enlarged drawing of the magnet Universal rotary device of controller.
In this embodiment, capsule endoscope controller include magnet 15, magnet Universal rotary device 14, swing arm 12,
The structures such as principal arm 9.
Wherein, magnet 15 is moved for controlling capsule movement, capsule in the moving process of magnet 15, is completed to treatment
Person is detected, and the mobile accuracy of magnet 15 is most important for the movement of capsule；
For magnet Universal rotary device 14 for controlling the rotation of magnet 15 and rolling, i.e. drive magnet 15 carries out vertical direction
Rolling and the rotation of horizontal direction, realize the all-around mobile of magnet 15；
Swing arm 12 can be swung in the horizontal direction for hanging magnet Universal rotary device 14；
Principal arm 9 is used to adjust the height of magnet 15, can vertically swing, i.e., principal arm 9 can carry out pitching movement, principal arm
9 is hinged with swing arm 12, and swing arm 12 can be swung using one end of principal arm 9 as the center of circle.
The capsule endoscope controller further includes revolving platform 8, and revolving platform 8 is used to install principal arm 9 and can be along level side
To rotation, revolving platform 8 is hinged with principal arm 9, and the horizontal holding that horizontality is in for controlling swing arm 12 is hinged on revolving platform 8
Bar 10.
Specifically, motor cabinet 11 is equipped between swing arm 12 and principal arm 9, between motor cabinet 11 and principal arm 9 and motor cabinet 11
It is hinged between swing arm 12, motor cabinet 11 and the junction of principal arm 9 form swing arm flapping articulation 3, horizontal holding rod 10
One end is hinged with revolving platform 8, and the other end is hinged with motor cabinet 11.
Meanwhile the center of rotation of motor cabinet 11 and principal arm 9, the center of rotation of principal arm 9 and revolving platform 8, horizontal holding rod 10
With the tie point parallelogram structure of the tie point and horizontal holding rod 10 and motor cabinet 11 of revolving platform 8, such as Fig. 2 institutes
Show, i.e. motor cabinet 11 and the center of rotation and principal arm 9 and the line of two centers of rotation of center of rotation of revolving platform 8 of principal arm 9 is flat
Row is in the extending direction of horizontal holding rod 10.
When pitching motion occurs for principal arm 9, under the action of horizontal holding rod 10, motor cabinet 11 rotates so that swing arm 12
Always it is in horizontality, it is therefore not necessary to horizontal motor is installed at swing arm flapping articulation 3, it is cost-effective.
The capsule endoscope controller is by being arranged the knots such as magnet Universal rotary device 14, swing arm 12, principal arm 9, revolving platform 8
Structure, realize magnet 15 five degree of freedom control so that the mobile control of magnet 15 is more accurate, meanwhile, the controller without
Sliding track mechanism need to be set, the volume of itself can be effectively reduced, the scope of application is significantly widened, in addition, the controller also passes through
Horizontal holding rod 10 is set, ensures that swing arm 12 is in horizontality always, the setting of horizontal holding rod 10 can not only ensure to put
The precision of 12 position of arm, and the setting of horizontal motor is saved, the processing cost of the controller has been saved, can effectively have been carried
The high market competitiveness.
Further, swing arm 12 and the junction of motor cabinet 11 form swing arm swinging joint 4, and at swing arm swinging joint 4
It is equipped with for swinging the oscillating motor for providing power in the horizontal direction for swing arm 12.
On the other hand, the junction of revolving platform 8 and principal arm 9 forms principal arm pitching joint 2, is installed at principal arm pitching joint 2
It is useful for vertically swinging the pitching motor that power is provided for principal arm 9.
Specifically, the lower end of revolving platform 8 is also associated with the revolving platform rotary part for driving revolving platform 8 to rotate, revolution
Pedestal rotary joint 1 is formed at platform rotary part, realizes the rotation of entire cantilever.
More specifically, revolving platform rotary part includes that retarder fixes disk, retarder and the bending resistance for carrying moment of flexure
Device.Pull back device includes being set in retarder peripheral part, fixing the hollow rotating shaft that disk is fixedly connected with retarder；It is set in sky
The bearing block of heart shaft peripheral part；Axis between hollow rotating shaft and bearing block, for being rotated along hollow rotating shaft for bearing block
It holds.
Above-mentioned pull back device will by the way that the bending resistance square structure being made of bearing, bearing block and hollow rotating shaft, bearing block is arranged
Moment of flexure from cantilever passes to hollow rotating shaft by bearing, and retarder no longer receives big moment of flexure, main to transmit torque,
So that the retarder only need to select suitable model, the volume of the retarder effectively to be reduced according to torque, save empty
Between, reduce cost.
Further, magnet Universal rotary device 14 is equipped with retarder frame for suspending magnet 15, and for for
The mobile motor 13 of the mobile offer power of magnet 15, mobile motor 13 include for control magnet rotation electric rotating machine and
Rolling motor for controlling magnet rolling；Two kinds of 15 mobile motors 13 of magnet are installed in swing arm 12.
Two joints are formd in magnet Universal rotary device 14, by electric rotating machine control magnet rotary joint 5 and by
The magnet rolling joint 6 that the motor that rolls controls.
In above-mentioned setting, after increasing transmission mechanism, mobile motor 13 is mounted remotely from the swing arm 12 of magnet 15, it can be with
Interference of the magnetic field to motor caused by magnet 15 is effectively reduced or eliminated, ensures normal effective use of motor, raising pair
The precision of the movement control of magnet 15.
In addition, the controller further includes the pedestal 7 for supporting whole device, revolving platform rotary part is fixedly mounted on pedestal 7
On.Certainly, the movement of entire controller for convenience, idler wheel can also be arranged in the bottom of pedestal 7.
As shown in Figure 1, the capsule endoscope controller that the present embodiment is provided is designed using tandem articulated structure, it is real
Existing 5 degree of freedom movement, including pedestal 7, the pedestal rotary joint 1 being installed on pedestal 7, are articulated on pedestal rotary joint 1
Principal arm pitching joint 2, hinged in series is in the quick adjusting swing arm flapping articulation 3 in principal arm pitching joint 2, swing arm swinging joint 4
It is serially connected with swing arm flapping articulation 3, magnet rotary joint 5 is serially connected with the end of swing arm swinging joint 4, and magnet rolling joint 6 is embedded in
In magnet rotary joint 5, magnet 15 is installed in magnet rolling joint 6.
Above-mentioned each joint is independently driven using servo motor, totally 5 servo motors.
Specifically, the course of work of the capsule endoscope controller is：
Pedestal rotary joint 1 is driven by motor, and the mechanism in five joints on pedestal 7 is made to rotate integrally；
Principal arm pitching joint 2 is hinged on pedestal rotary joint 1, by the pitching of pitching motor drive control principal arm 9, thus
Control the height change of end magnets 15；
Swing arm flapping articulation 3 is serially connected with principal arm pitching joint 2, by level-ling mechanism (as shown in Figure 2), is not necessarily to motor
Driving；
Swing arm swinging joint 4 is serially connected with swing arm flapping articulation 3, is driven by oscillating motor, controls the rotation of swing arm horizontal direction
Turn；
Aforementioned four joint is driven, Union Movement by three motors, controllable to make on tri- axis of end magnets 15X, Y, Z
Position controls the spatial position of magnet 15；
Magnet rotary joint 5 is serially connected with the end of swing arm 12, is driven by magnet electric rotating machine, controls the level of magnet 15
Direction rotates；
Magnet rolls joint 6 in magnet rotary joint 5, by an external magnet rolling drive and control of electric machine magnet 15
Vertical direction rolls, and magnet rotary joint 5 has collectively constituted magnet Universal rotary device 14 with magnet rolling joint 6, such as Fig. 3 institutes
Show.
Pedestal rotary joint 1, principal arm pitching joint 2, swing arm swinging joint 4, magnet rotary joint 5 and magnet rolling are closed
Section 6 is driven by individual motor respectively, the joint fortune of pedestal rotary joint 1, principal arm pitching joint 2 and swing arm swinging joint 4
It is dynamic, the control of tri- shaft position of controller X, Y, Z is completed, along with the magnet Universal rotary device 14 of controller front end is to magnet 15
Gesture stability, realize magnet 15 rotation add rolling, and then reach control magnet 15 needed for all degree of freedom.
The five degree of freedom series connection capsule endoscope controller architecture simulation that the present embodiment is provided is as shown in figure 4, following imitative
Its true working range comprising 3 sections of mechanical arms, principal arm 9OA length l, swing arm 12AC length m, from 12 end of swing arm to magnet 15
End CB length h, the pitch angle β of principal arm 9OA, 7 angle of revolution α of pedestal, 12 angle of revolution γ of swing arm, 15 end B location of magnet (x, y,
z)。
B spaces of points coordinate can be expressed with joint angles relationship by following formula：
(1) x=lcos β cos α+mcos (α+γ)
(2) y=lcos β sin α+msin (α+γ)
(3) z=lsin β-h
From the above equation, we can see that the B point Z-directions position angles Jin Yuβ are related.As B point X, Y-direction position is fixed, and only changes Z axis coordinate
When, the expression formula of γ, the angles α are as follows：
Wherein,
A=lcos β+mcos γ
B=msin γ
The results are shown in Figure 5 for simulation trial, and all the points are all the 15 attainable ranges of institute of magnet, it can be seen that, this machine
Tool structure design, working range of the magnet 15 above examiner is very extensive, fully meets the inspection requirements of capsule internal diameter.
It is realized to the universal full gesture stability of end effector using five degree of freedom structure, using parallelogram sturcutre,
Substitution level gesture stability motor reduces the complexity of system, reduces control while more accurately keeping horizontal attitude
The volume of device processed is conducive to operation.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Capsule endoscope controller provided by the present invention is described in detail above.It is used herein specifically a
Principle and implementation of the present invention are described for example, and the explanation of above example is only intended to help to understand the present invention's
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
Protection domain in.
Claims (7)
1. a kind of capsule endoscope controller includes the magnet (15) for controlling capsule movement, which is characterized in that further include：
Magnet Universal rotary device (14) for controlling the magnet (15) rotation and rolling；
It can swing in the horizontal direction, the swing arm (12) for hanging the magnet Universal rotary device (14)；
It can vertically swing, the principal arm (9) of height for adjusting the magnet (15), the principal arm (9) and the pendulum
Arm (12) is hinged；Further include：
Revolving platform (8) for installing the principal arm (9) and can rotate in the horizontal direction, the revolving platform (8) with it is described
Principal arm (9) is hinged；
The horizontal holding rod (10) that horizontality is in for controlling the swing arm (12) is hinged on the revolving platform (8)；Institute
State between swing arm (12) and the principal arm (9) be equipped with motor cabinet (11), between the motor cabinet (11) and the principal arm (9) and
It is hinged between the motor cabinet (11) and the swing arm (12), and the horizontal holding rod (10) is far from the revolving platform
(8) one end is hinged with the motor cabinet (11)；The center of rotation of the motor cabinet (11) and the principal arm (9), the principal arm
(9) tie point with the center of rotation of the revolving platform (8), the horizontal holding rod (10) with the revolving platform (8) and institute
It states horizontal holding rod (10) and the tie point of the motor cabinet (11) forms parallelogram sturcutre.
2. capsule endoscope controller according to claim 1, which is characterized in that the swing arm (12) and the motor cabinet
(11) junction forms swing arm swinging joint (4), and is equipped at the swing arm swinging joint (4) for being the swing arm
(12) oscillating motor that power is provided is swung in the horizontal direction.
3. capsule endoscope controller according to claim 1, which is characterized in that the revolving platform (8) and the principal arm
(9) junction forms principal arm pitching joint (2), is equipped at principal arm pitching joint (2) for being the principal arm (9) edge
Vertical direction swings the pitching motor for providing power.
4. capsule endoscope controller according to claim 3, which is characterized in that the lower end of the revolving platform (8) also connects
It is connected to the revolving platform rotary part for driving the revolving platform (8) to rotate.
5. capsule endoscope controller according to claim 4, which is characterized in that the revolving platform rotary part includes subtracting
Fast device fixes disk, retarder transmission shaft and the pull back device for carrying moment of flexure.
6. capsule endoscope controller according to claim 5, which is characterized in that the pull back device includes being set in institute
It states retarder transmission shaft peripheral part, fix the hollow rotating shaft that disk is fixedly connected with the retarder；It is set in the hollow rotating shaft
The bearing block of peripheral part；Between the hollow rotating shaft and the bearing block, for supplying the bearing block along described hollow turn
The dynamic bearing of shaft rotation.
7. the capsule endoscope controller according to claim 1 to 6 any one, which is characterized in that the magnet is universal
Rotating device (14) is equipped with the retarder frame for suspending the magnet (15), and for the movement for the magnet (15)
The mobile motor (13) of power is provided；The mobile motor (13) is mounted in the swing arm (12).
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| CN201610255993.6A CN105962876B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller |
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| CN201610255993.6A CN105962876B (en) | 2016-04-22 | 2016-04-22 | A kind of capsule endoscope controller |
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| CN106580241A (en) * | 2016-11-15 | 2017-04-26 | 深圳市资福技术有限公司 | Capsule gastroscope magnetic control system and method |
| CN107307838B (en) * | 2017-07-05 | 2023-06-27 | 楠青医疗技术(上海)有限公司 | External navigation device of capsule type endoscope |
| CN107307839A (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 |
| CN107981830A (en) * | 2017-12-12 | 2018-05-04 | 重庆财玺科技有限公司 | A kind of capsule endoscope detector |
| EP3801186A4 (en) * | 2018-06-02 | 2022-03-23 | Ankon Medical Technologies (Shanghai) Co., Ltd | Control device for capsule endoscope |
| US11426059B2 (en) | 2018-06-02 | 2022-08-30 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Control system for capsule endoscope |
| CN109129442B (en) * | 2018-10-27 | 2023-09-29 | 泉州苗亿自动化机械有限公司 | Automatic mechanical arm without dead angle capable of being transplanted |
| CN111319970B (en) * | 2018-12-13 | 2021-11-02 | 北京华文永康科技有限公司 | Sucking disc bowl taking device |
| CN111603128A (en) * | 2020-06-23 | 2020-09-01 | 上海安翰医疗技术有限公司 | Suspension device and capsule endoscope magnetic control system |
| CN113524257A (en) * | 2021-09-10 | 2021-10-22 | 深圳市资福医疗技术有限公司 | Gravity balance supporting arm and magnetic anchoring equipment applying same |
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| CN105962876A (en) | 2016-09-28 |
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