CN106725271A - The method and system of capsule endoscope crossing obstacle automatically in vivo - Google Patents
The method and system of capsule endoscope crossing obstacle automatically in vivo Download PDFInfo
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- CN106725271A CN106725271A CN201611191389.8A CN201611191389A CN106725271A CN 106725271 A CN106725271 A CN 106725271A CN 201611191389 A CN201611191389 A CN 201611191389A CN 106725271 A CN106725271 A CN 106725271A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—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
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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
- A61B1/00002—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
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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
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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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
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Abstract
The invention discloses a kind of method and system of capsule endoscope crossing obstacle automatically in vivo, method includes：Step S1：Receive the transducing signal of position of the capsule endoscope of sensor real-time detection in biological cavities and attitude；Step S2：In the motion process of capsule endoscope, judge whether capsule endoscope is hindered in motion process according to transducing signal, if so, into step S3, if it is not, repeat step S2；Step S3：Control external magnets motion, to drive capsule endoscope to carry out Obstacle Negotiation.Whether the motion that may determine that capsule endoscope by the transducing signal for receiving sensor is obstructed, and then control the motion of external magnets to drive capsule endoscope obstacle detouring, can voluntarily judge i.e. after the motion of capsule endoscope meets with obstruction and make obstacle detouring operation automatically, alleviate the degree of difficulty of manual control, the obstacle detouring efficiency of capsule endoscope is higher, is advantageously implemented capsule endoscope automatically scanning technology.
Description
Technical field
The present invention relates to field of medical technology, the side of more particularly to a kind of capsule endoscope crossing obstacle automatically in vivo
Method.Moreover, it relates to a kind of system of capsule endoscope of application above method crossing obstacle automatically in vivo.
Background technology
In medical field, the application of capsule endoscope improves the accuracy of medical diagnosis.When in use, capsule endoscope
Into after biological cavities (for example, stomach), medical personnel can manipulate external magnets makes capsule endoscope motion in biological cavities
Some ad-hoc locations are (such as：Stomach bottom, orifice of the stomach, pylorus etc.) checked.Capsule is likely to be subject to cavity in motion process
The obstruction of inner process tissue and cannot follow external magnets continue move.Now, medical personnel generally need to take a lot of time
Go to manually adjust the attitude of capsule endoscope with position over these obstacles.
However, this kind of obstacle-detouring method is based on manual control, therefore, behaviour high to the adept degree requirement of operator
Work person needs to practise skillfully grasping for a long time, and obstacle detouring operation can influence popularizing for this technology.
Therefore, the obstacle detouring of capsule endoscope how is more efficiently carried out, 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 method of capsule endoscope crossing obstacle automatically in vivo, energy
Enough obstacle detourings for more efficiently carrying out capsule endoscope.It is a further object of the present invention to provide a kind of capsule endoscope in organism
The system of interior crossing obstacle automatically, can more efficiently carry out the obstacle detouring of capsule endoscope.
To achieve the above object, the present invention provides following technical scheme：
A kind of method of capsule endoscope crossing obstacle automatically in vivo, including：
Step S1：Position of the capsule endoscope of sensor real-time detection in biological cavities is received to believe with the sensing of attitude
Number；
Step S2：In the motion process of the capsule endoscope, judge that the capsule endoscope exists according to transducing signal
It is whether hindered in motion process, if so, into step S3, if it is not, repeat step S2；
Step S3：Control external magnets motion, to drive the capsule endoscope to carry out Obstacle Negotiation.
Preferably, the step S3 is specifically included：
Step S31：Whether the capsule endoscope is judged in upright state according to transducing signal, if it is not, into step
Rapid S32, if so, into step S33；
Step S32：Control the external magnets to move, to adjust the capsule endoscope to upright state, adjust laggard
Enter step S33；
Step S33：Control the external magnets to be overturn and/or translational motion, with drive the capsule endoscope around
Barrier overturns.
Preferably, the step S33 is specifically included：
Step S331：Whether capsule endoscope described in real-time judge can carry out flip-flop movement, if it is not, into step
S332, if so, into step S333；
Step S332：Controlling the external magnets carries out translational motion；
Step S333：Controlling the external magnets carries out flip-flop movement, while judging that the upset of the capsule endoscope is total
Whether angle is set angle, if so, obstacle detouring terminates.
Preferably, the set angle is 180 degree.
Preferably, after the step S3, also include：
Step S4：The distance between the capsule endoscope and described external magnets and contra are judged according to transducing signal
Position relation, the data of acquisition are contrasted with the corresponding data before obstacle detouring, to judge whether obstacle detouring success, if it is not, driving
The dynamic external magnets return to last action point, and enter step S3, if so, it is next to control the capsule endoscope original place to wait
Step command operating.
A kind of system of capsule endoscope crossing obstacle automatically in vivo, including：
Receiver module, for receiving position of the capsule endoscope of sensor real-time detection in biological cavities with attitude
Transducing signal；
Judge module, in the motion process of the capsule endoscope, being judged in the capsule according to transducing signal
Whether sight glass is hindered in motion process, if so, triggering adjusting module, if it is not, repeating the judgement operation of itself；
The adjusting module, for controlling external magnets to move, to drive the capsule endoscope to carry out Obstacle Negotiation.
Preferably, the adjusting module is specifically included：
Analytic unit, for whether judging the capsule endoscope in upright state according to transducing signal, if it is not, touching
Hair adjustment unit, if so, triggering obstacle detouring control unit；
The adjustment unit, for controlling the external magnets to move, to adjust the capsule endoscope to upright state,
The obstacle detouring control unit is triggered after adjustment；
The obstacle detouring control unit, it is described to drive for controlling the external magnets to be overturn and/or translational motion
Capsule endoscope obstacle thing overturns.
Preferably, the obstacle detouring control unit is specifically included：
Whether motion determination unit, flip-flop movement can be carried out for capsule endoscope described in real-time judge, if it is not, touching
Hair translation control unit, if so, triggering upset control unit；
The translation control unit, for controlling the external magnets to carry out translational motion；
The upset control unit, for controlling the external magnets to carry out flip-flop movement, while judging in the capsule
Whether the upset total angle of sight glass is set angle, if so, obstacle detouring terminates.
Preferably, also including the correction verification module triggered by the adjusting module, for judging the glue according to transducing signal
The distance between intracapsular sight glass and described external magnets and relative bearing relation, by the data for obtaining and the corresponding number before obstacle detouring
According to being contrasted, to judge whether obstacle detouring success, if it is not, driving the external magnets to return to last action point, and institute is triggered
Adjusting module is stated, if so, controlling the capsule endoscope original place to wait next step command operating.
The present invention provide capsule endoscope in vivo crossing obstacle automatically method by receive sensor sensing believe
Whether the motion number to judge capsule endoscope is obstructed, and then controls the motion of external magnets to drive capsule endoscope obstacle detouring,
Can voluntarily judge i.e. after the motion of capsule endoscope meets with obstruction and make obstacle detouring operation automatically, alleviate manual control
Degree of difficulty, the obstacle detouring efficiency of capsule endoscope is higher, is advantageously implemented capsule endoscope automatically scanning technology.
The system of the capsule endoscope crossing obstacle automatically in vivo that the present invention is provided, can more efficiently carry out capsule
The obstacle detouring of endoscope.
Brief description of the drawings
In order to illustrate more clearly about 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 also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the stream of the capsule endoscope provided by the present invention specific embodiment one of the method for crossing obstacle automatically in vivo
Cheng Tu；
Fig. 2 is the stream of the capsule endoscope provided by the present invention specific embodiment two of the method for crossing obstacle automatically in vivo
Cheng Tu；
Fig. 3 be method provided by the present invention specific embodiment in first position of the capsule endoscope during obstacle detouring
Figure；
Fig. 4 be method provided by the present invention specific embodiment in the second place of the capsule endoscope during obstacle detouring
Figure；
Fig. 5 be method provided by the present invention specific embodiment in threeth position of the capsule endoscope during obstacle detouring
Figure；
Fig. 6 be method provided by the present invention specific embodiment in fourth position of the capsule endoscope during obstacle detouring
Figure；
Fig. 7 be method provided by the present invention specific embodiment in fiveth position of the capsule endoscope during obstacle detouring
Figure.
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 whole embodiments.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 method that core of the invention is to provide a kind of capsule endoscope crossing obstacle automatically in vivo, can be more efficient
Carry out the obstacle detouring of capsule endoscope.Another core of the invention is to provide one kind includes above-mentioned capsule endoscope in vivo
The system of crossing obstacle automatically, can more efficiently carry out the obstacle detouring of capsule endoscope.
Refer to Fig. 1 and method that Fig. 2, Fig. 1 are capsule endoscope provided by the present invention crossing obstacle automatically in vivo
The flow chart of specific embodiment one；Fig. 2 is the tool of the capsule endoscope provided by the present invention method of crossing obstacle automatically in vivo
The flow chart of body embodiment two；
Capsule endoscope provided by the present invention is in vivo in a kind of specific embodiment of the method for crossing obstacle automatically, including
Following steps：
Step S1：Position of the capsule endoscope of sensor real-time detection in biological cavities is received to believe with the sensing of attitude
Number.
Wherein, capsule endoscope is arranged in biological cavities, and sensor is set in capsule endoscope, and sensor is by wireless
Transmission carries out data transmission, and external magnets are arranged on outside biological cavities, in external magnets magnet drive device mounted externally, outward
Portion's magnet drive device drives external magnets motion after instruction is received, and permanent magnet, external magnets are additionally provided with capsule endoscope
There is a natural attraction between the sexes between permanent magnet, external magnets is driven capsule endoscope, is moved by controlling external magnets, can make
Capsule endoscope carries out the motion consistent with external magnets.
Wherein, sensing implement body can including attitude transducer etc. multiple sensors, with obtain capsule endoscope moving
During whether information hindered.The monitoring of sensor be during the use of capsule endoscope the moment carry out, pass
The data included in sense signal can follow the actual conditions of capsule endoscope to be changed, and be obtained according to sensor real-time monitoring
Transducing signal in data external magnets can be controlled, to ensure the attitude between capsule endoscope and external magnets
With uniformity, meanwhile, the distance between external magnets and capsule endoscope can in good time be adjusted according to transducing signal, to ensure
Control action of the external magnets to capsule endoscope.
Step S2：In the motion process of capsule endoscope, judge capsule endoscope in motion process according to transducing signal
In it is whether hindered, if so, into step S3, if it is not, repeat step S2.
Step S3：Control external magnets motion, to drive capsule endoscope to carry out Obstacle Negotiation.
Wherein, the obstruction that capsule endoscope runs into generally refers to capsule endoscope during motion in biological cavities
The projection tissue for running into, the present processes primarily can be used for the height no more than capsule endoscope of projection tissue when erectting
Height when obstacle detouring.Wherein, any two that upright state is referred on capsule endoscope is connected in the line segment to be formed, length
It is linked to be the parallel state of line segment between peak that maximum line segment is protruded with projection tissue and the bottom of projection tissue, more
Barrier effect preferably, certainly, obstacle detouring can also be carried out in the case of other using the method for this kind of crossing obstacle automatically.
The method of this kind of capsule endoscope crossing obstacle automatically in vivo is judged by receiving the transducing signal of sensor
Whether the motion of capsule endoscope is obstructed, and then controls the motion of external magnets to drive capsule endoscope obstacle detouring, i.e., in capsule
The motion of endoscope can voluntarily judge after meeting with obstruction and make automatically obstacle detouring operation, alleviate the difficult journey of manual control
Degree, the obstacle detouring efficiency of capsule endoscope is higher, is advantageously implemented capsule endoscope automatically scanning technology.
Refer to Fig. 3 to Fig. 7, Fig. 3 to Fig. 7 be method provided by the present invention specific embodiment in capsule endoscope more
The location drawing in diverse location during barrier.
In above-described embodiment, step S3 can specifically include：
Step S31：Whether capsule endoscope is judged in upright state according to transducing signal, if it is not, into step
S32, if so, into step S33.
Wherein, after it is determined that capsule endoscope is hindered, attitude, the position of capsule endoscope are can be determined that by analysis
And the relative position relation between barrier.
Step S32：Control external magnets motion, to adjust capsule endoscope to upright state, enters step after adjustment
S33。
Wherein, the attitude of adjustment external magnets and position are attitude and the position of adjustable capsule endoscope.
Step S33：Control external magnets are overturn and/or translational motion, to drive capsule endoscope obstacle thing to turn over
Turn.
Wherein, when obstacle detouring is carried out, analyze and ensure that capsule endoscope is in upright state first, this step can be regarded as
It is the preparation of obstacle detouring, the realization of the Obstacle Negotiation after being easy to.For example, when the maximum length of capsule endoscope is barrier
Two times of height when, if capsule endoscope keeps upright state, capsule endoscope has half above barrier, is easy to
Step S33 is carried out, is conducive to improving the successful of obstacle detouring.
Specifically, step S33 can specifically include：
Step S331：Whether real-time judge capsule endoscope can carry out flip-flop movement, if it is not, into step S332,
If so, into step S333.
Step S332：Control external magnets carry out translational motion.
Step S333：Control external magnets carry out flip-flop movement, while judge capsule endoscope upset total angle whether
It is set angle, if so, obstacle detouring terminates.
Wherein, after step S32, step S331 is carried out in real time while step S332, step S333 are carried out, directly
Proceed to determination obstacle detouring into step S333 to terminate.Number in the transducing signal that can be specifically obtained according to sensor real-time monitoring
It is judged that whether capsule endoscope 3 carries out uniformity motion with external magnets 1, to determine whether capsule endoscope 3 can overturn.
Wherein, capsule endoscope 3 is main realizes obstacle detouring by the change that upset is angle, reducing and meet the original before hindering
Direct of travel deviates excessive, however, barrier 2 may be larger in the length value of a direction, so that capsule endoscope 3 cannot enter
The change of row angle, now carries out translational motion, until can again carry out angle changing according to transducing signal control external magnets 1
The upset of change, so as to realize obstacle detouring with the cooperation of translation by upset.
When step S333 is carried out, if the total angle of the upset of capsule endoscope 3 is not up to set angle, control is outside
Magnet 1 carries out step S331 always, and constantly carries out step S332 and step S333 according to the judged result of step S331, until
Capsule endoscope 3 crosses set angle can confirm that obstacle detouring terminates.
Wherein, set angle is the total angle for controlling capsule endoscope to be overturn, preferably 180 degree, makes to be peeped in capsule
Mirror just overturns half-turn, and is convenient for angle control.Certainly, the total angle of the upset of capsule endoscope 3 herein can also set
It is other values, such as 150 degree.
Wherein, upset can be carried out slowly with translation, can specifically be limited by controlling the movement velocity of external magnets
It is fixed.
It can be seen that, this kind of method can more accurately and effectively carry out the crossing obstacle automatically of capsule endoscope, can reduce as far as possible
With the deviation for meeting the preceding original direct of travel of barrier.Certainly, the implementation not limited to this of step S33, for example, it is also possible to by following step
It is rapid to realize：
Step S3301：Translate the first setpoint distance；
Step S3302：It is rotated by 90 °；
Step S3303：Translate the second setpoint distance；
Step S3304：It is rotated by 90 °；
Step S3301：The 3rd setpoint distance is translated, obstacle detouring terminates.
Wherein, the first setpoint distance, the second setpoint distance and the 3rd setpoint distance can be according to where capsule endoscopes
The size of biological cavities is set.
In above-mentioned each embodiment, after step S3, can also include：
Step S4：The distance between capsule endoscope and external magnets and relative bearing relation are judged according to transducing signal,
The data of acquisition are contrasted with the corresponding data before obstacle detouring, to judge whether obstacle detouring success, if it is not, driving outside magnetic
Body returns to last action point, and enters step S3, if so, control capsule endoscope original place waits next step command operating.
Wherein, last action point refers to location when external magnets judged to run into obstacle before step S3 is carried out
And attitude, then, step S3 is carried out again, re-start obstacle detouring.The carrying out of step S4 can more accurately determine obstacle detouring feelings
Condition and effect, it is ensured that the reliability that capsule endoscope is used.
Except the method for above-mentioned capsule endoscope crossing obstacle automatically in vivo, can be realized present invention also offers one kind
The system of the capsule endoscope of above method crossing obstacle automatically in vivo, the system mainly includes：
Receiver module, for receiving position of the capsule endoscope of sensor real-time detection in biological cavities with attitude
Transducing signal；
Judge module, in the motion process of capsule endoscope, judging capsule endoscope in fortune according to transducing signal
It is whether hindered during dynamic, if so, triggering adjusting module, if it is not, repeating the judgement operation of itself；
Adjusting module, for controlling external magnets to move, to drive capsule endoscope to carry out Obstacle Negotiation.
The capsule endoscope that the present embodiment is provided in vivo crossing obstacle automatically system mainly include three modules, three
Individual module is respectively completed above-mentioned technology contents, it is recognised that the system is used to realize the above method, so the use process of system
It is consistent with the above method, for the use process of the system, will not be repeated here.
In the above-described embodiments, adjusting module can specifically include：
Analytic unit, for whether judging capsule endoscope in upright state according to transducing signal, if it is not, triggering is adjusted
Whole unit, if so, triggering obstacle detouring control unit；
Adjustment unit, for controlling external magnets to move, to adjust capsule endoscope to upright state, triggering is got over after adjustment
Barrier control unit；
Obstacle detouring control unit, for controlling external magnets to be overturn and/or translational motion, with drive capsule endoscope around
Barrier overturns.
In above-mentioned each embodiment, obstacle detouring control unit can specifically include：
Whether motion determination unit, flip-flop movement can be carried out for real-time judge capsule endoscope, if it is not, triggering is flat
Control unit is moved, if so, triggering upset control unit；
Translation control unit, for controlling external magnets to carry out translational motion；
Upset control unit, for controlling external magnets to carry out flip-flop movement, while judging that the upset of capsule endoscope is total
Whether angle is set angle, if so, obstacle detouring terminates.
In above-mentioned each embodiment, system also includes the correction verification module triggered by adjusting module, for according to transducing signal
Judge the distance between capsule endoscope and external magnets and relative bearing relation, will acquisition data with it is corresponding before obstacle detouring
Data are contrasted, and to judge whether obstacle detouring success, if it is not, driving external magnets to return to last action point, and trigger adjustment
Module, if so, control capsule endoscope original place waits next step command operating.
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.
The method and system to capsule endoscope provided by the present invention crossing obstacle automatically in vivo have been carried out in detail above
It is thin to introduce.Specific case used herein is set forth to principle of the invention and implementation method, and above example is said
It is bright to be only intended to help and understand the method for the present invention and its core concept.It should be pointed out that for the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these improvement
Also fallen into the protection domain of the claims in the present invention with modification.
Claims (9)
1. the method for a kind of capsule endoscope crossing obstacle automatically in vivo, it is characterised in that including：
Step S1：Receive the transducing signal of position of the capsule endoscope of sensor real-time detection in biological cavities and attitude；
Step S2：In the motion process of the capsule endoscope, judge the capsule endoscope in motion according to transducing signal
During it is whether hindered, if so, into step S3, if it is not, repeat step S2；
Step S3：Control external magnets motion, to drive the capsule endoscope to carry out Obstacle Negotiation.
2. method according to claim 1, it is characterised in that the step S3 is specifically included：
Step S31：Whether the capsule endoscope is judged in upright state according to transducing signal, if it is not, into step
S32, if so, into step S33；
Step S32：Control the external magnets to move, to adjust the capsule endoscope to upright state, step is entered after adjustment
Rapid S33；
Step S33：The external magnets are controlled to be overturn and/or translational motion, to drive the capsule endoscope obstacle
Thing overturns.
3. method according to claim 2, it is characterised in that the step S33 is specifically included：
Step S331：Whether capsule endoscope described in real-time judge can carry out flip-flop movement, if it is not, into step S332,
If so, into step S333；
Step S332：Controlling the external magnets carries out translational motion；
Step S333：Controlling the external magnets carries out flip-flop movement, while judging the upset total angle of the capsule endoscope
Whether it is set angle, if so, obstacle detouring terminates.
4. method according to claim 3, it is characterised in that the set angle is 180 degree.
5. method according to claim 2, it is characterised in that after the step S3, also include：
Step S4：Judge that the distance between the capsule endoscope and described external magnets and relative bearing are closed according to transducing signal
System, the data of acquisition are contrasted with the corresponding data before obstacle detouring, to judge whether obstacle detouring success, if it is not, driving institute
State external magnets and return to last action point, and enter step S3, if so, controlling the capsule endoscope original place to wait next step to refer to
Order operation.
6. the system of a kind of capsule endoscope crossing obstacle automatically in vivo, it is characterised in that including：
Receiver module, the sensing for receiving position of the capsule endoscope of sensor real-time detection in biological cavities and attitude
Signal；
Judge module, in the motion process of the capsule endoscope, the capsule endoscope being judged according to transducing signal
It is whether hindered in motion process, if so, triggering adjusting module, if it is not, repeating the judgement operation of itself；
The adjusting module, for controlling external magnets to move, to drive the capsule endoscope to carry out Obstacle Negotiation.
7. system according to claim 6, it is characterised in that the adjusting module is specifically included：
Analytic unit, for whether judging the capsule endoscope in upright state according to transducing signal, if it is not, triggering is adjusted
Whole unit, if so, triggering obstacle detouring control unit；
The adjustment unit, for controlling the external magnets to move, to adjust the capsule endoscope to upright state, adjustment
After trigger the obstacle detouring control unit；
The obstacle detouring control unit, for controlling the external magnets to be overturn and/or translational motion, to drive the capsule
Endoscope obstacle thing overturns.
8. system according to claim 7, it is characterised in that the obstacle detouring control unit is specifically included：
Whether motion determination unit, flip-flop movement can be carried out for capsule endoscope described in real-time judge, if it is not, triggering is flat
Control unit is moved, if so, triggering upset control unit；
The translation control unit, for controlling the external magnets to carry out translational motion；
The upset control unit, for controlling the external magnets to carry out flip-flop movement, while judging the capsule endoscope
Upset total angle whether be set angle, if so, obstacle detouring terminates.
9. system according to claim 7, it is characterised in that also including the correction verification module triggered by the adjusting module,
For judging the distance between the capsule endoscope and described external magnets and relative bearing relation according to transducing signal, will obtain
The data for obtaining are contrasted with the corresponding data before obstacle detouring, to judge whether obstacle detouring success, if it is not, driving the outside magnetic
Body returns to last action point, and triggers the adjusting module, if so, controlling the capsule endoscope original place to wait next step to instruct
Operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611191389.8A CN106725271B (en) | 2016-12-21 | 2016-12-21 | The system of capsule endoscope crossing obstacle automatically in vivo |
Applications Claiming Priority (1)
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| CN111956170A (en) * | 2020-07-31 | 2020-11-20 | 上海安翰医疗技术有限公司 | Motion control system and motion control method for capsule endoscope |
| CN112089388A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Method for controlling movement of capsule endoscope |
| CN112089388B (en) * | 2019-06-17 | 2024-06-07 | 深圳硅基智控科技有限公司 | Motion control method of capsule endoscope |
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