CN107049213A - A kind of capsule endoscope control method and device - Google Patents
A kind of capsule endoscope control method and device Download PDFInfo
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- CN107049213A CN107049213A CN201710192290.8A CN201710192290A CN107049213A CN 107049213 A CN107049213 A CN 107049213A CN 201710192290 A CN201710192290 A CN 201710192290A CN 107049213 A CN107049213 A CN 107049213A
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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
- A61B1/00131—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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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Endoscopes (AREA)
Abstract
The invention provides a kind of capsule endoscope control method, including calling starting position, control motion control device makes capsule endoscope be in starting position, call kinematic parameter, kinematic parameter includes motion pitch S, angular velocity of satellite motion ω, final position is called, capsule endoscope is moved to final position in the way of screw based on kinematic parameter control motion control device.Capsule endoscope is controlled to be spinned in default track motion by magnetic field, the inwall for shooting whole stomach that can be completely, it is to avoid by manually operating the missing inspection caused.
Description
Technical field
The present invention relates to technical field of medical instruments, more specifically to a kind of capsule endoscope control method and device.
Background technology
In the use environment of active capsule endoscope, preferably detection recall rate how is obtained, is a problem all the time,
And preferable recall rate is obtained it is necessary that first obtaining preferable inspection rate, and to obtain preferable inspection rate and be accomplished by pair
Check that path carries out good planning.
The power source of the current active capsule endoscope of in the market is field generator for magnetic.And the motion of capsule is typically adopted
Dragged with stomach surface, roll or stomach body in the liquid gas interface dragging that suspends realize.And in the market is without too in terms of trajectory planning
Many research, typically by the manually operated method of doctor, realizes the inspection and hovering of capsule.Because doctor needs manual be situated between
Enter to check, cause action shake larger, blind area easily occur, cause missing inspection.
Therefore, capsule endoscope how is made to be moved according to a fixed track, so that comprehensive inspection to stomach is realized, into
For those skilled in the art's urgent need to resolve.
The content of the invention
In view of this, it is an object of the invention to provide a kind of capsule endoscope control method, by controlling capsule endoscope to exist
The inspection to whole stomach is realized in the motion of stomach inside spin.
To achieve the above object, the present invention provides following technical scheme：
A kind of capsule endoscope control method, methods described includes：
Call starting position；
Control motion control device makes capsule endoscope be in starting position；
Kinematic parameter is called, the kinematic parameter includes motion pitch S, angular velocity of satellite motion ω；
Call final position；
The motion control device is controlled the capsule endoscope is transported in the way of screw based on the kinematic parameter
Move the final position.
Preferably, pitch S≤L is moved described in the kinematic parameter, wherein L is straight for the capsule endoscope shooting picture
Footpath.
Preferably, angular velocity of satellite motion ω described in the kinematic parameter≤(fL)/R, wherein f are the bat of the capsule endoscope
Frequency is taken the photograph, R is the radius of turn that capsule endoscope is spinned when moving.
Preferably, methods described also includes receiving movable information and the image information that the capsule endoscope is sent, and control is aobvious
Show that device shows the movable information and described image information.
A kind of capsule endoscope control device, described device includes the first call unit, control unit and the second call unit,
Wherein：
First call unit calls starting position；
Described control unit control motion control device makes capsule endoscope be in starting position；
Second call unit calls kinematic parameter, and the kinematic parameter includes motion pitch S, angular velocity of satellite motion ω；
First call unit calls final position；
Described control unit is based on the kinematic parameter and controls the motion control device to make the capsule endoscope with spiral
The mode of motion moves to the final position.
Preferably, pitch S≤L is moved described in the kinematic parameter, wherein L is straight for the capsule endoscope shooting picture
Footpath.
Preferably, angular velocity of satellite motion ω described in the kinematic parameter≤(fL)/R, wherein f are the bat of the capsule endoscope
Frequency is taken the photograph, R is the radius of turn that capsule endoscope is spinned when moving.
Preferably, described device also includes the first receiving unit and output unit, wherein：
First receiving unit receives movable information and the image information that the capsule endoscope is sent, the output unit
Control display shows the movable information and described image information.
It can be seen from the above technical proposal that the invention provides a kind of capsule endoscope control method, including call beginning
Position, control motion control device makes capsule endoscope be in starting position, calls kinematic parameter, and kinematic parameter includes motion pitch
S, angular velocity of satellite motion ω, call final position, make capsule endoscope based on kinematic parameter control motion control device with screw
Mode move to final position.Capsule endoscope is controlled to be spinned in default track motion by magnetic field, shooting that can be complete
The inwall of whole stomach, it is to avoid by manually operating the missing inspection caused.
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
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of the embodiment 1 of capsule endoscope control method disclosed by the invention；
Fig. 2 is a kind of flow chart of the embodiment 2 of capsule endoscope control method disclosed by the invention；
Fig. 3 is a kind of structural representation of the embodiment 1 of capsule endoscope control device disclosed by the invention；
Fig. 4 is a kind of structural representation of the embodiment 2 of capsule endoscope control device disclosed by the invention；
Fig. 5 is a kind of structural representation of a kind of motion control device of capsule endoscope control device disclosed by the invention.
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 all 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.
As shown in figure 1, being a kind of flow chart of capsule endoscope control method embodiment 1 disclosed by the invention, this method bag
Include following steps：
S101, call starting position；
Starting position is the starting point that capsule endoscope is shot, and so that stomach is checked as an example, starting position should be and be leaned on coat of the stomach
A bit of nearly cephalad direction.The position that starting position can pre-set for medical personnel, the position can be stored in special
In holder, it is necessary to first call the position before being checked；Or, starting position is alternatively medical personnel and inputted temporarily
Position.
S102, control motion control device make capsule endoscope be in starting position；
Telecontrol equipment can be as shown in figure 5, examinee lies low on service creeper, and the ledge of cyclic structure is magnet, can be made
Inside is provided with the capsule endoscope of magnet and is leaned against examinee closest on the coat of the stomach of this ledge by magnetic force, and follows this to protrude
Partial motion is moved on coat of the stomach, and capsule endoscope is provided with camera towards coat of the stomach end, and coat of the stomach can be shot.Call out
Behind beginning position, the ledge movement of control motion control device makes capsule endoscope be moved to starting position.
S103, call kinematic parameter, kinematic parameter includes motion pitch S, angular velocity of satellite motion ω；
Capsule endoscope is moved to behind starting position, calls kinematic parameter, such as motion pitch S, angular velocity of satellite motion ω, by v=
(S ω)/(2 π) can also obtain capsule endoscope and carry out rotating the speed on direction of principal axis on edge during screw.
S104, call final position；
Final position is the terminal that capsule endoscope is shot.Final position is alternatively medical personnel and is pre-entered into storage
What in storage or medical personnel inputted temporarily.
S105, based on kinematic parameter control motion control device capsule endoscope is moved to termination in the way of screw
Position；
Call after final position, with reference to the kinematic parameter called, then control motion control device, make cyclic structure in rotation
Moved while turning along rotation direction of principal axis, until capsule endoscope reaches final position.It should be noted that for judge whether to
, can be by two kinds of different methods up to final position or starting position, one of which is the position letter for receiving capsule endoscope feedback
Cease to determine whether capsule endoscope reaches final position or starting position；Another method be by final position or starting position with
The position of motion control device upper annular structure and the direction of ledge are corresponding, pass through cyclic structure position and ledge
Direction determine the location of capsule endoscope.
In summary, the technical scheme that the present embodiment is provided is calls starting position, and control motion control device makes capsule
Scope is in starting position, calls kinematic parameter, and kinematic parameter includes motion pitch S, angular velocity of satellite motion ω, calls stop bit
Put, capsule endoscope is moved to final position in the way of screw based on kinematic parameter control motion control device.Pass through
Motion control device is controlled, indirect control capsule endoscope is spinned motion on coat of the stomach, whole stomach inwall can be shot, kept away
Exempt from the leakage caused by manual operation capsule endoscope is moved to clap to cause missing inspection.In addition, this programme can also realize medical care people
Starting point and terminal that member shoots according to capsule endoscope during actual conditions input checking, control capsule endoscope are spinned in this region
Motion, it is to avoid the time for being shot and causing comprehensively and the waste of the energy.
As shown in Fig. 2 being a kind of capsule endoscope controlling party disclosed on the basis of Fig. 1 disclosed embodiments 1 of the invention
The flow chart of method embodiment 2, this method comprises the following steps：
S201, the movable information and image information for receiving capsule endoscope transmission；
The movable information that capsule endoscope is sent includes position and the attitude information of capsule endoscope, and image information is to photograph
Image.These information can be transmitted by wireless signal.
S202, control display show movable information and image information；
Control display to show movable information and image information, medical personnel is timely understood the motion of capsule endoscope
Situation and the coat of the stomach situation of examinee, medical personnel can carry out manual control according to the information received to capsule endoscope, such as make
Capsule endoscope returns to certain point and carries out repeating shooting.It should be noted that display herein includes computer display screen, mobile phone and the palm
The electronic equipments such as upper computer.
In the above-described embodiments, the motion pitch S in kinematic parameter takes S≤L optimal, and wherein L is that capsule endoscope shooting is changed
The diameter in face, can so ensure the whole coat of the stomach of shooting area region overlay of capsule endoscope camera lens during movement, will not
There is blind area.
Further, in the above-described embodiments, the angular velocity of satellite motion ω in kinematic parameter takes ω≤(fL)/R optimal, wherein
F is the filming frequency of capsule endoscope, and R is the radius of turn that capsule endoscope is spinned when moving, and can so ensure capsule endoscope pair
Everywhere coat of the stomach is all shot, it is therefore prevented that leakage is clapped.
As shown in figure 3, being a kind of structural representation of capsule endoscope control device embodiment 1 disclosed by the invention, this dress
Put including the first call unit 101, the call unit 103 of control unit 102 and second, wherein：
First call unit 101 calls starting position；
Starting position is the starting point that capsule endoscope is shot, and so that stomach is checked as an example, starting position should be and be leaned on coat of the stomach
A bit of nearly cephalad direction.The position that starting position can pre-set for medical personnel, the position can be stored in special
In holder, it is necessary to first call the position before being checked；Or, starting position is alternatively medical personnel and inputted temporarily
Position.
The control motion control device of control unit 102 makes capsule endoscope be in starting position；
Telecontrol equipment is as shown in figure 5, examinee lies low on service creeper, and the ledge of cyclic structure is magnet, can make interior
Portion is provided with the capsule endoscope of magnet and is leaned against examinee closest on the coat of the stomach of this ledge by magnetic force, and follows this protuberance
The motion divided is moved on coat of the stomach, and capsule endoscope is provided with camera towards coat of the stomach end, and coat of the stomach can be shot.Call beginning
Behind position, the ledge that control device sends control signal control motion control device to motion control device is moved, and makes glue
Intracapsular mirror is moved to starting position.
Second call unit 103 calls kinematic parameter, and kinematic parameter includes motion pitch S, angular velocity of satellite motion ω；
Capsule endoscope is moved to behind starting position, calls kinematic parameter, such as motion pitch S, angular velocity of satellite motion ω, by v=
(S ω)/(2 π) can also obtain capsule endoscope and carry out rotating the speed on direction of principal axis on edge during screw.Kinematic parameter can be stored
In special holder or in the present apparatus in built-in storage element.
First call unit 101 calls final position；
Final position is the terminal that capsule endoscope is shot.Final position is alternatively medical personnel and is pre-entered into storage
What in storage or medical personnel inputted temporarily.
Control unit 102 makes capsule endoscope be moved in the way of screw based on kinematic parameter control motion control device
To final position.
Call after final position, with reference to the kinematic parameter called, then control motion control device, make cyclic structure in rotation
Moved while turning along rotation direction of principal axis, until capsule endoscope reaches final position.It should be noted that for judge whether to
, can be by two kinds of different methods up to final position or starting position, one of which is the position letter for receiving capsule endoscope feedback
Cease to determine whether capsule endoscope reaches final position or starting position；Another method be by final position or starting position with
The position of motion control device upper annular structure and the direction of ledge are corresponding, pass through cyclic structure position and ledge
Direction determine the location of capsule endoscope.
In summary, the technical scheme that the present embodiment is provided is calls starting position, and control motion control device makes capsule
Scope is in starting position, calls kinematic parameter, and kinematic parameter includes motion pitch S, angular velocity of satellite motion ω, calls stop bit
Put, capsule endoscope is moved to final position in the way of screw based on kinematic parameter control motion control device.Pass through
Motion control device is controlled, indirect control capsule endoscope is spinned motion on coat of the stomach, whole stomach inwall can be shot, kept away
Exempt from the leakage caused by manual operation capsule endoscope is moved to clap to cause missing inspection.In addition, this programme can also realize medical care people
Starting point and terminal that member shoots according to capsule endoscope during actual conditions input checking, control capsule endoscope are spinned in this region
Motion, it is to avoid the time for being shot and causing comprehensively and the waste of the energy.
As shown in figure 4, a kind of disclosed capsule endoscope control is filled on the basis of Fig. 3 disclosed embodiments 1 for the present invention
The structural representation of embodiment 2 is put, the present apparatus also includes the first receiving unit 201 and output unit on the basis of embodiment 1
203, wherein：
First receiving unit 201 receives movable information and the image information that capsule endoscope is sent；
The movable information that capsule endoscope is sent includes position and the attitude information of capsule endoscope, and image information is to photograph
Image.These information can be transmitted by wireless signal.
The control display of output unit 203 shows movable information and image information；
Control display to show movable information and image information, medical personnel is timely understood the motion of capsule endoscope
Situation and the coat of the stomach situation of examinee, medical personnel can carry out manual control according to the information received to capsule endoscope, such as make
Capsule endoscope returns to certain point and carries out repeating shooting.It should be noted that display herein includes computer display screen, mobile phone and the palm
The electronic equipments such as upper computer.
In the above-described embodiments, the motion pitch S in kinematic parameter takes S≤L optimal, and wherein L is that capsule endoscope shooting is changed
The diameter in face, can so ensure the whole coat of the stomach of shooting area region overlay of capsule endoscope camera lens during movement, will not
There is blind area.
Further, in the above-described embodiments, the angular velocity of satellite motion ω in kinematic parameter takes ω≤(fL)/R optimal, wherein
F is the filming frequency of the capsule endoscope, and R is the radius of turn that capsule endoscope is spinned when moving, and can so be ensured in capsule
Mirror is all shot to everywhere coat of the stomach, it is therefore prevented that leakage is clapped.
The embodiment of each in this specification is described by the way of progressive, what each embodiment was stressed be with it is other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (8)
1. a kind of capsule endoscope control method, it is characterised in that methods described includes：
Call starting position；
Control motion control device makes capsule endoscope be in starting position；
Kinematic parameter is called, the kinematic parameter includes motion pitch S, angular velocity of satellite motion ω；
Call final position；
The motion control device is controlled the capsule endoscope is moved in the way of screw based on the kinematic parameter
The final position.
2. the method as described in claim 1, it is characterised in that pitch S≤L is moved described in the kinematic parameter, wherein L is
The diameter of the capsule endoscope shooting picture.
3. method as claimed in claim 2, it is characterised in that angular velocity of satellite motion ω described in the kinematic parameter≤(fL)/
R, wherein f are the filming frequency of the capsule endoscope, and R is the radius of turn that capsule endoscope is spinned when moving.
4. the method as described in any one of claims 1 to 3, it is characterised in that methods described also includes receiving in the capsule
Movable information and image information that mirror is sent, control display show the movable information and described image information.
5. a kind of capsule endoscope control device, it is characterised in that described device includes the first call unit, control unit and second
Call unit, wherein：
First call unit calls starting position；
Described control unit control motion control device makes capsule endoscope be in starting position；
Second call unit calls kinematic parameter, and the kinematic parameter includes motion pitch S, angular velocity of satellite motion ω；
First call unit calls final position；
Described control unit is based on the kinematic parameter and controls the motion control device to make the capsule endoscope with screw
Mode move to the final position.
6. device as claimed in claim 5, it is characterised in that pitch S≤L is moved described in the kinematic parameter, wherein L is
The diameter of the capsule endoscope shooting picture.
7. device as claimed in claim 6, it is characterised in that angular velocity of satellite motion ω described in the kinematic parameter≤(fL)/
R, wherein f are the filming frequency of the capsule endoscope, and R is the radius of turn that capsule endoscope is spinned when moving.
8. the device as described in any one of claim 5 to 7, it is characterised in that described device also include the first receiving unit and
Output unit, wherein：
First receiving unit receives movable information and the image information that the capsule endoscope is sent, the output unit control
Display shows the movable information and described image information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192290.8A CN107049213A (en) | 2017-03-28 | 2017-03-28 | A kind of capsule endoscope control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192290.8A CN107049213A (en) | 2017-03-28 | 2017-03-28 | A kind of capsule endoscope control method and device |
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| CN107049213A true CN107049213A (en) | 2017-08-18 |
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| CN201710192290.8A Pending CN107049213A (en) | 2017-03-28 | 2017-03-28 | A kind of capsule endoscope control method and device |
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| CN108670681A (en) * | 2018-06-04 | 2018-10-19 | 潘仲民 | A kind of medical capsule scope auxiliary examination bed |
| CN108784995A (en) * | 2018-06-04 | 2018-11-13 | 潘仲民 | A kind of Capsule Endoscopy medical bed |
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Application publication date: 20170818 |