CN106618456A - Capsule endoscope control system - Google Patents
Capsule endoscope control system Download PDFInfo
- Publication number
- CN106618456A CN106618456A CN201611191010.3A CN201611191010A CN106618456A CN 106618456 A CN106618456 A CN 106618456A CN 201611191010 A CN201611191010 A CN 201611191010A CN 106618456 A CN106618456 A CN 106618456A
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- China
- Prior art keywords
- capsule endoscope
- capsule
- control
- magnetic field
- external magnets
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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
- A61B1/04—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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
-
- 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
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
The invention discloses a capsule endoscope control system which comprises a capsule endoscope internally provided with a triaxial magnetic sensor, a vitro capsule driver and a control unit, wherein the control unit controls movement of the vitro capsule driver according to data of the triaxial magnetic sensor and/or an external input command so as to regulate the posture and/or position of the capsule endoscope. The capsule endoscope control system can ensure that even if the capsule endoscope is blocked by wrinkles in a biological cavity, as long as the vitro capsule driver moves, magnetic intensity numerical value measued by the triaxial magnetic sensor changes, positioning of the capsule endoscope can be performed, and misjudgment on the position of the capsule endoscope is avoided; under a condition that the capsule endoscope creeps along with the biological cavity, interference on a magnetic intensity data monitoring result is relatively low, the interference of creepage or wrinkles of the biological cavity on positioning of the capsule endoscope can be avoided, and the capsule endoscope can be positioned more reliably.
Description
Technical field
The present invention relates to the assisting in diagnosis and treatment equipment technical field of gi system, more particularly to a kind of capsule endoscope control
System.
Background technology
As the development of medical science and technology, capsule endoscope are widely used in medical diagnosis on disease, improve medical diagnosis on disease can
By property.
Capsule endoscope needs to position capsule endoscope after being put into biological cavities, peeps in a kind of typical capsule
The positioning of capsule endoscope is realized in mirror by arranging acceleration transducer (attitude transducer).In the inside of capsule endoscope
Permanent magnet and acceleration transducer (attitude transducer) are installed, when external magnets are near capsule endoscope or the appearance of external magnets
When state changes, there is attitudes vibration in capsule endoscope, thus judge the position of capsule endoscope because of being attracted by external magnets.
However, having a large amount of folds in the digestive system such as intestines, stomach of people or animal, these folds are possible to capsule
Endoscope is blocked and is allowed to carry out corresponding attitudes vibration, so as to cause position detect erroneous judgement, and capsule endoscope with
Larger is disturbed to positioning result when gastrointestinal peristalsis, the data fed back with acceleration transducer (attitude transducer) are that foundation is carried out
The position judgment result of capsule endoscope is simultaneously unreliable.
Therefore, how more reliably capsule endoscope to be positioned, is that those skilled in the art need to solve at present
Technical problem.
The content of the invention
In view of this, it is an object of the invention to provide a kind of capsule endoscope control system, can more reliably to glue
Intracapsular sight glass is positioned.
For achieving the above object, the present invention provides following technical scheme：
A kind of capsule endoscope control system, including：
Inside set the capsule endoscope of magnetic sensor, external capsule driver, and control unit, described control unit
According to the data and/or outside input of the magnetic sensor motion of the control external capsule driver is instructed to adjust
The capsule endoscope attitude and/or position.
Preferably, the external capsule driver includes external magnets and external magnets control arm, the external magnets control
The free degree >=5 of arm processed.
Preferably, described control unit includes walking direction module, and the walking direction module is passed according to the three axles magnetic
The data of sensor determine the motion mode of the external magnets：If the X-axis magnetic field strength date component of the magnetic sensor
More than its Y-axis magnetic field strength date component, then control the external magnets and move in the X-axis direction, otherwise move along Y direction；
Wherein, the X-axis, the plane right-angle coordinate place plane of Y-axis composition are parallel to horizontal plane.
Preferably, described control unit includes step pitch control module, and the step pitch control module is according to the walking direction
The signal of module output controls external magnets motion identical stride value each time.
Preferably, described control unit includes computing module, and the computing module calculates | X+Y+Z | and judges | X+Y+Z |
Maximum, the computing module exports result to the step pitch control module and the walking direction module, to control
Capsule endoscope motion extremely | X+Y+Z | and | Z | are stated while obtaining the position of maximum, now the capsule endoscope is located at described
The positive bottom of external magnets；Wherein .X, Y are horizontal plane coordinate system, and perpendicular to horizontal plane, | X+Y+Z | is passed Z for the three axles magnetic
The vector field homoemorphism of X-axis magnetic field strength date, Y-axis magnetic field strength date and Z axis magnetic field strength date that sensor is measured.
In the capsule endoscope control system that the present invention is provided, after capsule endoscope is put into biological cavities, glue
The position of intracapsular sight glass can not determine that capsule endoscope may not be the underface of externally-located magnet, and due to glue
Magnetic sensor is provided with intracapsular sight glass, in capsule endoscope and each relative position of external magnets, three axle magnetic sensing
Device can obtain the magnetic field strength date of external magnets, it is possible to calculate between capsule endoscope and external magnets it is relative away from
From.When the relative position of external magnets and capsule endoscope changes, magnetic field intensity of the external magnets relative to capsule endoscope
Can change, the data that magnetic sensor is measured can be with changing, and magnetic sensor will monitor magnetic field intensity
Data radio to control unit, the magnetic field strength date that control unit analyzing and processing is received by signal, and generate driving
Order to control the surface that external magnets move to capsule endoscope.
This kind of capsule endoscope control system in capsule endoscope by arranging magnetic sensor and control unit
Process to magnetic field strength date, it is ensured that even if capsule endoscope is blocked by the fold in biological cavities, as long as in vitro
Capsule driver changes in motion, the field strength value that magnetic sensor is measured, and can carry out determining for capsule endoscope
Position, it is to avoid the erroneous judgement to capsule endoscope position, when capsule endoscope is with biological cavities wriggling, to magnetic field intensity number
According to monitoring result interference it is less, meanwhile, capsule endoscope can accurately be calculated by calculating magnetic field intensity data relative
In the distance of external capsule driver, thus the wriggling or fold of biological cavities can be avoided from doing capsule endoscope positioning
Disturb, more reliably capsule endoscope can be positioned.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the fundamental diagram of the specific embodiment of capsule endoscope control system provided by the present invention, wherein, dotted line
For the magnetic line of force；
Fig. 2 is the structural representation of the specific embodiment of capsule endoscope control system provided by the present invention.
In Fig. 1 to Fig. 2,1 is capsule endoscope, and 2 is external magnets, and 3 is biological cavities, and 4 is control unit, and 5 are outside
Magnet control arm.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The core of the present invention is to provide a kind of capsule endoscope control system, and more reliably capsule endoscope can be entered
Row positioning.
Refer to the work of Fig. 1 and the specific embodiment that Fig. 2, Fig. 1 are capsule endoscope control system provided by the present invention
Schematic diagram, wherein, dotted line is the magnetic line of force；Fig. 2 is the knot of the specific embodiment of capsule endoscope control system provided by the present invention
Structure schematic diagram.
It is in a kind of specific embodiment of capsule endoscope control system provided by the present invention including capsule endoscope 1, external
Capsule driver and control unit 4, control unit instructs control external according to the data and/or outside input of magnetic sensor
The motion of capsule driver is adjusting capsule endoscope attitude and/or position.Magnetic sensor is provided with capsule endoscope 1,
Magnetic sensor can be used for obtaining the magnetic field strength date of external capsule driver in real time.Wherein, magnetic sensor can
To obtain X-axis magnetic field strength date component perpendicular two-by-two, Y-axis magnetic field strength date component, Z axis magnetic field strength date point
Amount, X-axis, Y-axis, Z axis are specifically on the basis of the origin and space coordinates of setting.Wherein, it is typically provided with forever in capsule endoscope 1
Magnet, capsule endoscope 1 can be moved under the guiding of capsule driver in vitro, and magnetic sensor can be obtained in real time
The magnetic field strength date of external capsule driver, control unit 4 can drive according to the actual requirements to the external capsule of setting position
The magnetic field strength date of dynamic device is analyzed, and sends to external capsule driver and instructs, to control external capsule driver motion
To the surface of capsule endoscope 1.
When being detected, capsule endoscope 1 is arranged on inside biological cavities 3, and biological cavities 3 digest including human or animal
Each cavity in system, is to ensure that external capsule driver drives capsule endoscope 1 is synchronized with the movement when in use, control volume
Outer capsule driver is located at the surface of capsule endoscope 1.
In this kind of capsule endoscope control system, after capsule endoscope 1 is put into biological cavities 3, peep in capsule
The position of mirror 1 can not determine, capsule endoscope 1 may not be positioned at the underface of external capsule driver, and due to
Magnetic sensor is provided with capsule endoscope 1, in each relative position of capsule endoscope 1 and external capsule driver,
Magnetic sensor can obtain the magnetic field strength date of external capsule driver, it is possible to calculate capsule endoscope 1 and body
Relative distance between outer capsule driver.When in vitro capsule driver changes with the relative position of capsule endoscope 1, in vitro
Capsule driver can change relative to the magnetic field intensity of capsule endoscope 1, and the data that magnetic sensor is measured can be with
Change, magnetic sensor will monitor that magnetic field strength date radios to control unit 4, control unit by signal
The magnetic field strength date that 4 analyzing and processing are received, and drive command is generated controlling external capsule driver and move in capsule to peep
The surface of mirror 1.Or, by the external capsule driver motion of outside input instruction control.
It can be seen that, this kind of capsule endoscope control system in capsule endoscope 1 by arranging magnetic sensor and control
Process of the unit processed 4 to magnetic field strength date, it is ensured that even if capsule endoscope 1 is blocked by the fold in biological cavities 3,
As long as in motion, the field strength value that magnetic sensor is measured changes, can carry out in capsule external capsule driver
The positioning of sight glass 1, it is to avoid the erroneous judgement to the position of capsule endoscope 1, when capsule endoscope 1 is with the wriggling of biological cavities 3,
Monitoring result interference to magnetic field strength date is less, meanwhile, glue can accurately be calculated by calculating magnetic field intensity data
Intracapsular sight glass 1 thus can avoid the wriggling or fold of biological cavities 3 to capsule relative to the distance of external capsule driver
The interference of the positioning of endoscope 1, more reliably can position to capsule endoscope 1.
Wherein, after magnetic field strength date is fed back in control unit 4, control unit 4 can be with magnetic field intensity algorithm essence
Relative coordinate position of the capsule endoscope 1 relative to external magnets origin is really drawn, according to Biot-Savart law, can be derived
Going out the magnetic bodies magnetic field intensity that in space certain point P (x, y, z) is produced is：
Wherein, μ0For space permeability, JsFor magnet magnetized current density, h is external magnets Z-direction height, and L is outside magnetic
Body X/Y plane projects girth, and xyz is space a little relative to the coordinate of external magnets origin, y0z0For external magnets surface a bit
Relative to the coordinate of external magnets origin,For the unit vector in X-direction,For the unit vector in Y-direction,For Z-direction
On unit vector.
In above-described embodiment, external capsule driver watch box includes external magnets 2 and external magnets control arm 5, outside magnetic
The control of the controlled unit 4 of body control arm 5, external magnets control arm 5 drives external magnets 2 to move.Specifically, external magnets control
The free degree of arm processed can be more than or equal to 5, to ensure the flexibility that external magnets 2 are moved.
In above-described embodiment, control unit 4 can include walking direction module, and walking direction module is sensed according to three axle magnetic
The data of device determine the motion mode of external magnets：If the X-axis magnetic field strength date component of magnetic sensor is more than its Y-axis magnetic
Field intensity data component, then control external magnets and move in the X-axis direction, otherwise moves along Y direction.Wherein, X-axis, Y-axis composition
Plane right-angle coordinate place plane parallel to horizontal plane.That is, external magnets 2 are parallel to X-direction, Y-axis side
To side move up and positioned.Specifically, above-mentioned judgement can be realized by arranging determining device in control unit 4
With control.
After the magnetic field strength date that control unit 4 receives magnetic sensor, compare X-axis magnetic field intensity and Y-axis magnetic
The size of field intensity, if X-axis magnetic field strength date component is more than Y-axis magnetic field strength date component, illustrates the edge of external magnets 2
X-axis motion can faster near capsule endoscope 1；If X-axis magnetic field strength date component is less than Y-axis magnetic field strength date point
Amount, then illustrate that move along Y-axis can faster near capsule endoscope 1 for external magnets 2；If X-axis magnetic field strength date component etc.
In Y-axis magnetic field strength date component, in the present embodiment, control external magnets 2 are moved along Y-axis, certainly, now can also be controlled
External magnets 2 are moved along X-axis.In this kind of capsule endoscope control system, the side that external magnets 2 should be moved can be accurately judged
To enabling external magnets 2 accurately mutually close with capsule endoscope 1.
In above-mentioned each embodiment, control unit 4 can include drive module, and drive module is used to determine outside every time
Control the fortune of external magnets 2 after the direction of motion of magnet 2 to move a step, drive module is connected to walking direction module, often receives one
The instruction of secondary direction judge module, drive module drives external magnets to move once, until determining the present position of capsule endoscope 1
Position directly above, specifically can be realized by arranging corresponding controller in control unit 4.Because external magnets 2 are moved
When capsule endoscope 1 can move therewith, so by control external magnets 2 progressively move so that external magnets 2 move closer to glue
Intracapsular sight glass 1, the accuracy of positioning is higher.
After the direction of motion for determining external magnets 2, control external magnets 2 make a move according to the direction, are then
The operation of operation and the control motion of external magnets 2 of the above-mentioned judgement direction of motion is circulated, is easy to external magnets 2 when most fast
The interior surface for realizing reaching capsule endoscope 1.
In above-mentioned each embodiment, control unit 4 can include step pitch control module, and step pitch control module is sentenced according to direction
The signal of disconnected module output controls external magnets motion identical stride value each time.For example, the fortune of external magnets 2 is determined every time
Behind dynamic direction, external magnets 2 can be controlled and move 10mm along direction initialization.
Or, determining device can be set in control unit 4, magnetic field strength date is classified, in different stage section
In magnetic field strength date, control external magnets 2 and moved with different stride values.During due to magnetic field strength date difference, outside magnetic
Spacing between body 2 and capsule endoscope 1 is different, generally, when spacing is larger between external magnets 2 and capsule endoscope 1, magnetic field
Intensity data is less, otherwise then magnetic field strength date is larger, correspondence can set compared with half step distance when magnetic field strength date is larger
Value, and when magnetic field strength date is less the larger stride value of correspondence setting, make the motion of external magnets 2 can be with actual conditions
Correspondence preferably, is conducive to improving locating speed.
In addition, in above-mentioned each embodiment, external magnets 2 are also not necessarily limited to only motion one after the direction of motion is determined every time
The size of step, concrete step number and stride value can as needed carry out other settings.
In above-mentioned each embodiment, control unit 4 can include computing module, and computing module calculates | X+Y+Z | and judges |
X+Y+Z | maximum, computing module exports result to step pitch control module and walking direction module, to control to be peeped in capsule
Mirror moves to | X+Y+Z | and | Z | while obtaining the position of maximum, now the positive bottom of the externally-located magnet of capsule endoscope.Its
In, X, Y be horizontal plane coordinate system, the X-axis magnetic field intensity that Z is measured perpendicular to horizontal plane, | X+Y+Z | for magnetic sensor
The vector field homoemorphism of data, Y-axis magnetic field strength date and Z axis magnetic field strength date.
By the X-axis magnetic field strength date in calculating magnetic field intensity data, Y-axis magnetic field strength date and Z axis magnetic field intensity
The vector field homoemorphism of data simultaneously finds the maximum position of vector field homoemorphism and Z axis magnetic field strength date, is moved to controlling external magnets 2
The surface of capsule endoscope 1, specifically can be realized by computing device.
Specifically, in every time motion, can be it is determined that while 2 direction of motion of external magnets, calculating every time outside magnetic
Long | X+Y+Z | of mould of the corresponding vector (X, Y, Z) of the position of the stop motion of body 2, and by the mould at this mould length and a upper position
Long value is compared, if more than the mould long value at a upper position, continuing control external magnets 2 and moving；Otherwise, one is illustrated
Put place to be at the maximum position of mould long value, control external magnets 2 are back to a rest position, or, now also may be used
Continue to move at least two steps to control external magnets 2, with the accuracy for guaranteeing to position.The determination side of the position of the maximum of | Z |
Formula is in the same manner.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Capsule endoscope control system provided by the present invention is described in detail above.It is used herein specifically
Individual example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands the present invention
Method and its core concept.It should be pointed out that for those skilled in the art, without departing from of the invention former
On the premise of reason, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into right of the present invention and wants
In the protection domain asked.
Claims (5)
1. a kind of capsule endoscope control system, it is characterised in that include：
Inside set the capsule endoscope of magnetic sensor, external capsule driver, and control unit, described control unit according to
The motion of the data of the magnetic sensor and/or the outside input instruction control external capsule driver is described to adjust
Capsule endoscope attitude and/or position.
2. capsule endoscope control system according to claim 1, it is characterised in that：
The external capsule driver includes external magnets and external magnets control arm, the free degree of the external magnets control arm
≥5。
3. capsule endoscope control system according to claim 2, it is characterised in that：
Described control unit includes walking direction module, and the walking direction module is true according to the data of the magnetic sensor
The motion mode of the fixed external magnets：If the X-axis magnetic field strength date component of the magnetic sensor is more than its Y-axis magnetic field
Intensity data component, then control the external magnets and move in the X-axis direction, otherwise moves along Y direction；Wherein, the X-axis,
The plane right-angle coordinate place plane of the Y-axis composition is parallel to horizontal plane.
4. capsule endoscope control system according to claim 3, it is characterised in that：
Described control unit includes step pitch control module, the letter that the step pitch control module is exported according to the walking direction module
Number control external magnets motion identical stride value each time.
5. capsule endoscope control system according to claim 4, it is characterised in that：
Described control unit includes computing module, and the computing module calculates | X+Y+Z | and judges the maximum of | X+Y+Z |, institute
State computing module result to be exported to the step pitch control module and the walking direction module, to control the capsule endoscope
| X+Y+Z | and | Z | are moved to while obtaining the position of maximum, under now the capsule endoscope is located at the external magnets just
Portion；Wherein, X, Y be horizontal plane coordinate system, the X that Z is measured perpendicular to horizontal plane, | X+Y+Z | for the magnetic sensor
The vector field homoemorphism of axle magnetic field strength date, Y-axis magnetic field strength date and Z axis magnetic field strength date.
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| CN201611191010.3A CN106618456B (en) | 2016-12-21 | 2016-12-21 | Capsule endoscope control system |
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Cited By (9)
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| CN107561462A (en) * | 2017-09-05 | 2018-01-09 | 重庆金山医疗器械有限公司 | The full attitude sensing system of capsule and space magnetic field detection means based on variation magnetic field |
| CN108185976A (en) * | 2017-12-05 | 2018-06-22 | 重庆金山科技（集团）有限公司 | A kind of control method of capsule endoscope, device and readable storage medium storing program for executing |
| CN108451490A (en) * | 2018-01-29 | 2018-08-28 | 重庆金山医疗器械有限公司 | A kind of system and method for searching capsule endoscope in gastrovascular cavity body |
| 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 |
| CN109620104A (en) * | 2019-01-10 | 2019-04-16 | 深圳市资福医疗技术有限公司 | Capsule endoscope and its localization method and system |
| CN109645939A (en) * | 2019-02-26 | 2019-04-19 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope quick capturing method and system |
| CN110897595A (en) * | 2019-12-05 | 2020-03-24 | 重庆金山医疗技术研究院有限公司 | Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system |
| CN111390903A (en) * | 2020-03-13 | 2020-07-10 | 北京理工大学 | Device and method for monitoring interaction distance of magnetic control robot |
| CN112336295A (en) * | 2019-08-08 | 2021-02-09 | 上海安翰医疗技术有限公司 | Method and device for controlling magnetic capsule endoscope, storage medium, and electronic device |
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| CN110897595A (en) * | 2019-12-05 | 2020-03-24 | 重庆金山医疗技术研究院有限公司 | Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system |
| CN111390903A (en) * | 2020-03-13 | 2020-07-10 | 北京理工大学 | Device and method for monitoring interaction distance of magnetic control robot |
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