CN107307838B - External navigation device of capsule type endoscope - Google Patents
External navigation device of capsule type endoscope Download PDFInfo
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- CN107307838B CN107307838B CN201710542250.1A CN201710542250A CN107307838B CN 107307838 B CN107307838 B CN 107307838B CN 201710542250 A CN201710542250 A CN 201710542250A CN 107307838 B CN107307838 B CN 107307838B
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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
- A61B1/04—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
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/0018—Physician's examining tables
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/02—Adjustable operating tables; Controls therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention provides an external navigation device of a capsule type endoscope, which relates to the field of medical equipment and comprises a base mechanism, a movable bed body, a Y-axis frame mechanism, a Z-axis mechanism, a magnet universal rotating mechanism and a magnet, wherein the movable bed body is fixed on the base mechanism; the base mechanism controls the magnet to move along the X-axis direction, the moving bed body can move along the X-axis direction, the Y-axis frame mechanism controls the magnet to move along the Y-axis direction, the Z-axis mechanism controls the magnet to move along the Z-axis direction, and the magnet universal rotating mechanism controls the magnet to rotate around the horizontal axis and the vertical axis of the magnet universal rotating mechanism. The device is stable and compact, safe, convenient, visual and reliable, can well assist in controlling the tail end magnet, and realizes rapid and accurate azimuth control of the capsule type endoscope in the abdominal cavity of the human body.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an external navigation device of a capsule type endoscope.
Background
With the development of modern technology, the examination of the diseases of the inner digestive tract is changed from the traditional endoscope and gastroenteroscopy to a safer and more convenient high-tech direction, for example, a capsule endoscope is used for replacing the traditional endoscope to enter the digestive tract of a human body, so that medical staff can be helped to shoot the focus condition in the digestive tract.
At present, the capsule endoscope can be manually controlled by an external magnet, but in clinical application, the manual control has an unsatisfactory control effect and low positioning precision, so that a large blind area exists in the capsule endoscopy.
In the prior art, a robot device is arranged on a motion device for driving a capsule endoscope in the alimentary canal, as shown in patents CN 103222842B, CN 105615817A and CN 105962876A, the robot device can accurately control the motion of the magnet in five degrees of freedom, but in the above patents, as a support mechanism in the vertical direction or the horizontal direction is a cantilever type mechanism, the bending moment born by the support mechanism is larger, the strength requirement is higher, and the mechanical safety coefficient and the structural stability of a product are not easy to improve.
Therefore, how to improve the motion precision of the structural device for controlling the motion of the capsule endoscope in the human digestive tract, and ensure higher mechanical safety coefficient and structural stability at the same time so as to meet the medical requirements is a technical problem which needs to be solved by the technicians in the field.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is to design an external navigation device for a capsule endoscope, so that the external navigation device can control the pose of the capsule endoscope, which is taken into the body in advance before a patient is examined, by clamping a magnet and controlling the position and the pose of the magnet, and finally, the external full-automatic high-accuracy control of the capsule endoscope is realized or solved.
In order to solve the technical problems, the invention provides a capsule type endoscope external navigation device, which comprises a base mechanism, a movable bed body, a Y-axis frame mechanism, a Z-axis mechanism, a magnet universal rotating mechanism and a magnet, wherein the movable bed body is fixed on the base mechanism, the Y-axis frame mechanism is vertically connected with the base mechanism, the Z-axis mechanism is movably and vertically connected with the Y-axis frame mechanism, the magnet is connected with the magnet universal rotating mechanism, and the magnet universal rotating mechanism is connected with the Z-axis mechanism; the base mechanism controls the magnet to move along the X-axis direction, the moving bed body can move along the X-axis direction, the Y-axis frame mechanism controls the magnet to move along the Y-axis direction, the Z-axis mechanism controls the magnet to move along the Z-axis direction, and the magnet universal rotating mechanism controls the magnet to rotate around the horizontal axis and the vertical axis of the magnet universal rotating mechanism.
Further, an X-axis motor of the base mechanism drives an X-axis speed reducer to drive an X-axis gear to move, the X-axis gear is meshed with an X-axis rack, and the X-axis rack is fixed on the bottom plate.
Further, the X-axis motor is arranged on the X-axis sliding table, the lower end face of the X-axis sliding table is fixedly connected with the X-axis sliding block, the X-axis motor drives the X-axis gear to drive the X-axis sliding table to run along the X-axis sliding rail, and the X-axis sliding rail comprises 2 guide rails which are arranged on the bottom plate in parallel.
Further, the Y-axis frame mechanism is of a gantry structure, a Y-axis motor of the Y-axis frame mechanism drives a Y-axis speed reducer to drive a Y-axis gear to move, the Y-axis gear is meshed with a Y-axis rack, and the Y-axis rack is mounted on the gantry.
Further, the Y-axis motor is arranged on the Y-axis sliding table, the lower end face of the Y-axis sliding table is fixedly connected with the Y-axis sliding block, the Y-axis motor drives the Y-axis gear to drive the Y-axis sliding table to run along the Y-axis sliding rail, and the Y-axis sliding rail comprises 2 guide rails which are arranged on the portal frame in parallel.
Further, a Z-axis motor of the Z-axis mechanism drives a Z-axis speed reducer to drive a Z-axis screw rod to move, the Z-axis screw rod is connected with a Z-axis adapter block, the Z-axis adapter block is connected with a Z-axis sliding table, and a Z-axis sliding block is arranged in the Z-axis sliding table.
Further, the Z-axis lead screw drives the Z-axis sliding table to move along a Z-axis sliding rail, the Z-axis sliding rail comprises 2 guide rails fixed on a Z-axis fixed frame, and the Z-axis lead screw is arranged in the middle of the Z-axis sliding rail.
Further, the vertical rotating motor of the magnet universal rotating mechanism is arranged on a vertical rotating speed reducer, the vertical rotating speed reducer is arranged on a speed reducer mounting seat, and an output shaft of the vertical rotating speed reducer is connected with a magnet fixing frame so as to drive the magnet to rotate around a vertical shaft of the magnet universal rotating mechanism.
Further, a horizontal rotating motor of the magnet universal rotating mechanism is arranged on a horizontal rotating speed reducer, a driving wheel of a synchronous pulley assembly is arranged on an output shaft of the horizontal rotating speed reducer, a driven wheel of the synchronous pulley assembly is arranged on a horizontal shaft of the magnet universal rotating mechanism, the driving wheel is connected with the driven wheel through a synchronous belt, and the motion of the driving wheel is transmitted to the driven wheel through the synchronous belt to drive the magnet to move around the horizontal shaft direction.
Further, the bed body motor of the movable bed body drives the bed body gear to move, the bed body gear is meshed with the bed body rack, the bed body gear mounting plate is fixed on the bed body support, the bed body rack is fixed on the lower end face of the bed plate, the bed body sliding rail comprises 4 mutually parallel guide rails arranged along the X direction, the bed body sliding block is used as a fixed end to be mounted on the bed body support, and the bed body rack drives the bed plate to move on the bed body sliding block.
The structure can realize the motion control of 5 degrees of freedom of the magnet, and adjust the position and the rotation angle of the magnet relative to the abdomen of a human body so as to generate a variable magnetic field space, wherein the magnet part in the magnet assembly can selectively use an ellipsoidal permanent magnet, an electromagnet or a superconducting magnet.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is structurally based on a portal frame type structure, and the structure is simple and visual in space position control, is convenient for program control and is convenient for operators to understand intuitively;
2. the gantry type framework has the advantages that the structural rigidity is good, the stability is high, the defect of insufficient structural compactness is overcome by adding the kinematic pair of the movable bed, and the whole robot is stable, compact, safe and reliable in structure;
3. the invention provides an effective structural scheme and thought in the technical research of assisting in realizing the automatic control of the external navigation of the capsule-type endoscope, so that the research field gets rid of the defect that the traditional capsule-type endoscope can only rely on the peristalsis of human digestive tracts to passively move and uncontrollably shoot the digestive tract images, and finally the capsule-type endoscope can be accurately and actively controlled by an external navigation device.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic perspective view of the apparatus of a preferred embodiment of the present invention;
FIG. 2 is a perspective view of a base unit according to a preferred embodiment of the present invention;
FIG. 3 is a schematic perspective view of a movable bed according to a preferred embodiment of the present invention;
FIG. 4 is a schematic perspective view of a Y-axis frame mechanism in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic perspective view of a Z-axis mechanism according to a preferred embodiment of the invention;
FIG. 6 is a perspective view of a magnet universal rotation mechanism according to a preferred embodiment of the present invention;
wherein, the base mechanism-1, the movable bed-2, the Y-axis frame mechanism-3, the Z-axis mechanism-4, the magnet universal rotation mechanism-5 and the magnet-6; the X-axis sliding rail comprises a bottom plate 11, an X-axis rack 12, an X-axis sliding rail 13, an X-axis sliding block 14, an X-axis sliding table 15, a portal frame mounting block 16, an X-axis gear 17, an X-axis speed reducer 18 and an X-axis motor 19; the bed comprises a bed support 21, a bed slide rail 22, a bed slide block 23, a bed rack 24, a bed motor 25, a bed speed reducer 26, a bed speed reducer mounting plate 27, a bed gear 28 and a bed plate 29; the device comprises a portal frame-31, a Y-axis sliding rail-32, a Y-axis rack-33, a Y-axis sliding block-34, a Y-axis sliding table-35, a Y-axis motor-36, a Y-axis speed reducer-37 and a Y-axis gear-38; the Z-axis motor-41, the Z-axis speed reducer-42, the Z-axis lead screw-43, the Z-axis sliding table-44, the Z-axis fixed frame-45, the Z-axis sliding rail-46, the Z-axis sliding block-47 and the Z-axis adapter block-48; the vertical rotating motor-51, the vertical rotating speed reducer-52, the speed reducer mounting seat-53, the horizontal rotating motor-54, the horizontal rotating speed reducer-55, the speed reducer mounting bracket-56, the synchronous pulley assembly-57, the magnet fixing frame-58 and the horizontal shaft-59.
Detailed Description
Hereinafter, a preferred embodiment of a capsule type endoscope external navigation device according to the present invention will be described in detail with reference to the accompanying drawings, but the present invention is not limited to this embodiment. In the following description of preferred embodiments of the invention, specific details are set forth in order to provide a thorough understanding of the invention.
As shown in fig. 1, an external navigation device of a capsule endoscope comprises a base mechanism 1, a movable bed body 2, a Y-axis frame mechanism 3, a Z-axis mechanism 4, a magnet universal rotating mechanism 5 and a magnet 6, wherein the movable bed body 2 is fixed on the base mechanism 1, the Y-axis frame mechanism 3 is vertically connected with the base mechanism 1, the Z-axis mechanism 4 is movably and vertically connected with the Y-axis frame mechanism 3, the magnet 6 is connected with the magnet universal rotating mechanism 5, and the magnet universal rotating mechanism 5 is connected with the Z-axis mechanism 4; the base mechanism 1 controls the magnet 6 to move along the X-axis direction, the moving bed body 2 can move along the X-axis direction, the Y-axis frame mechanism 3 controls the magnet 6 to move along the Y-axis direction, the Z-axis mechanism 4 controls the magnet 6 to move along the Z-axis direction, the magnet universal rotating mechanism 5 controls the magnet 6 to rotate around the horizontal shaft 59 and the vertical shaft of the magnet universal rotating mechanism 5, and the patient moves away from the portal frame 31 before getting on the bed.
As shown in fig. 1 and 2, the base mechanism 1 includes a motor assembly, a rack-and-pinion assembly, and a slide rail assembly; the bottom plate 11 of the base mechanism 1 carries all loads of the device, the output end of the X-axis motor 19 of the base mechanism 1 is connected with the input end of the X-axis speed reducer 18, the X-axis motor 19 drives the X-axis speed reducer 18 to drive the X-axis gear 17 to move, the X-axis gear 17 is meshed with the X-axis rack 12, and the X-axis rack 12 is fixed on the bottom plate 11. The X-axis motor 19 is arranged on the X-axis sliding table 15 through the X-axis speed reducer 18, the lower end face of the X-axis sliding table 15 is fixedly connected with the X-axis sliding block 14, the X-axis motor 19 drives the X-axis gear 17 to drive the X-axis sliding table 15 to run along the X-axis sliding rail 13, and the X-axis sliding rail 13 comprises 2 guide rails which are arranged on the bottom plate 11 in parallel.
As shown in fig. 1 and 4, the Y-axis frame mechanism 3 is a gantry structure, and comprises a motor assembly, a rack-and-pinion assembly and a slide rail assembly; the portal frame 31 is mounted on the X-axis sliding table 15 by being matched with the portal frame mounting block 16; the Y-axis frame mechanism 3 comprises a motor assembly, a gear rack assembly and a sliding rail assembly. The output end of a Y-axis motor 36 arranged on the beam of the portal frame 31 is connected with the input end of a Y-axis speed reducer 37, the Y-axis motor 36 of the Y-axis frame mechanism 3 drives the Y-axis speed reducer 37 to drive a Y-axis gear 38 to move, the Y-axis gear 38 is meshed with a Y-axis rack 33, and the Y-axis rack 33 is arranged on the portal frame 31. The Y-axis motor 36 is arranged on the Y-axis sliding table 35 through a Y-axis speed reducer 37, the Y-axis sliding table 35 bears all loads of the Z-axis mechanism 4, the magnet universal rotating mechanism 5 and the magnet 6, the lower end face of the Y-axis sliding table 35 is fixedly connected with the Y-axis sliding block 34, the Y-axis motor 36 drives the Y-axis gear 38 to drive the Y-axis sliding table 35 to operate along the Y-axis sliding rail 32, and the Y-axis sliding rail 32 comprises 2 guide rails which are arranged on the portal frame 31 in parallel.
As shown in fig. 1 and 5, a Z-axis fixed frame 45 of the Z-axis mechanism 4 is mounted on the Y-axis slide table 44, and the Z-axis mechanism 4 includes a motor assembly, a screw assembly, and a slide rail assembly; the output end of the Z-axis motor 41 is connected with the input end of the Z-axis speed reducer 42, the Z-axis motor 41 drives the Z-axis speed reducer 42 to drive the Z-axis screw 43 to move, the Z-axis screw 43 is connected with a Z-axis adapter 48, the Z-axis adapter 48 is connected with a Z-axis sliding table 44, a Z-axis sliding block 47 is installed in the Z-axis sliding table 44, the Z-axis screw 43 drives the Z-axis sliding table 44 to move along the direction of the sliding rail, the Z-axis sliding rail 46 comprises 2 guide rails fixed on a Z-axis fixed frame 45, the Z-axis screw 43 is arranged in the middle of the Z-axis sliding rail 46, a screw assembly is further installed on the Z-axis fixed frame 45, the Z-axis motor assembly is installed on the Y-axis sliding table 35, and the Z-axis sliding table 44 bears all loads of the magnet universal rotating mechanism 5 and the magnet 6.
As shown in fig. 1 and 6, the magnet universal rotation mechanism 5 includes a motor assembly and a timing pulley assembly; the vertical rotating motor 51 of the magnet universal rotating mechanism 5 is mounted on the vertical rotating speed reducer 52, the vertical rotating speed reducer 52 is mounted under the speed reducer mounting seat 53, and an output shaft of the vertical rotating speed reducer 52 is connected with the magnet fixing frame 58 to drive the magnet 6 to rotate around the vertical shaft of the magnet universal rotating mechanism 5. An output shaft of a horizontal rotating motor 54 of the magnet universal rotating mechanism 5 is connected with an input shaft of a horizontal rotating speed reducer 55, and the horizontal rotating speed reducer 55 is arranged on a speed reducer mounting bracket 56; the driving wheel of the synchronous pulley assembly 57 is installed on the output shaft of the horizontal rotation speed reducer 55, the driven wheel of the synchronous pulley assembly 57 is installed on the horizontal shaft 59 of the magnet universal rotation mechanism 5, the driving wheel is connected with the driven wheel through a synchronous belt, and the motion of the driving wheel is transmitted to the driven wheel through the synchronous belt to drive the magnet 6 to move around the direction of the horizontal shaft 59.
As shown in fig. 1 and 2, the movable bed 2 includes a motor assembly, a rack and pinion assembly, and a slide rail assembly; the bed support 21 is arranged on a bottom plate 29, the bed motor 25 is arranged on a bed speed reducer 26, the bed speed reducer 26 is arranged on a bed speed reducer mounting seat 27, the bed motor 25 drives a bed gear 28 through the bed speed reducer 26, the bed gear 28 is meshed with the bed rack 24, and the bed motor 25 moves relative to the bed rack 24 through driving the bed gear 28; the bed body speed reducer mounting plate 27 is fixed on the bed body support 21, the bed body rack 24 is fixed on the lower end face of the bed plate 29, the bed body slide rail 22 is fixed on the lower end face of the bed plate 29, and the bed body slide rail 22 comprises 4 mutually parallel guide rails which are arranged along the X direction as moving ends and are used for assisting the bed plate to move stably and linearly so as to realize the linear movement of the movable bed plate 29 relative to the bed body support 21; the bed body slide block 23 is used as a fixed end and is arranged on the bed body support 21, the bed body rack 24 drives the bed board 29 to move on the bed body slide block 23, and the movement stroke can ensure that the bed board 29 and the portal frame 31 are completely separated, so that a person to be inspected can conveniently and smoothly check the bed body up and down.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (6)
1. The capsule type endoscope external navigation device is characterized by comprising a base mechanism (1), a movable bed body (2), a Y-axis frame mechanism (3), a Z-axis mechanism (4), a magnet universal rotating mechanism (5) and a magnet (6), wherein the movable bed body (2) is fixed on the base mechanism (1), the Y-axis frame mechanism (3) is vertically connected with the base mechanism (1), the Z-axis mechanism (4) is movably and vertically connected with the Y-axis frame mechanism (3), the magnet (6) is connected with the magnet universal rotating mechanism (5), and the magnet universal rotating mechanism (5) is connected with the Z-axis mechanism (4); the base mechanism (1) controls the magnet (6) to move along the X-axis direction, the moving bed body (2) can move along the X-axis direction, the Y-axis frame mechanism (3) controls the magnet (6) to move along the Y-axis direction, the Z-axis mechanism (4) controls the magnet (6) to move along the Z-axis direction, and the magnet universal rotating mechanism (5) controls the magnet (6) to rotate around the horizontal axis and the vertical axis of the magnet universal rotating mechanism (5); an X-axis motor (19) of the base mechanism (1) drives an X-axis speed reducer (18) to drive an X-axis gear (17) to move, the X-axis gear (17) is meshed with an X-axis rack (12), and the X-axis rack (12) is fixed on a bottom plate (11); the vertical rotating motor (51) of the magnet universal rotating mechanism (5) is arranged on the vertical rotating speed reducer (52), the vertical rotating speed reducer (52) is arranged on the speed reducer mounting seat (53), and an output shaft of the vertical rotating speed reducer (52) is connected with the magnet fixing frame (58) so as to drive the magnet (6) to rotate around the vertical shaft of the magnet universal rotating mechanism (5); the horizontal rotating motor (54) of the magnet universal rotating mechanism (5) is arranged on the horizontal rotating speed reducer (55), the output shaft of the horizontal rotating speed reducer (55) is provided with a driving wheel of the synchronous pulley assembly (57), a driven wheel of the synchronous pulley assembly (57) is arranged on the horizontal shaft (59) of the magnet universal rotating mechanism (5), the driving wheel is connected with the driven wheel through a synchronous belt, and the motion of the driving wheel is transmitted to the driven wheel through the synchronous belt to drive the magnet (6) to move around the horizontal shaft (59); the utility model provides a movable bed (2) bed motor (25) drive bed gear (28) motion, bed gear (28) and bed rack (24) meshing, bed gear mounting panel (27) are fixed in bed support (21), bed rack (24) are fixed in the lower terminal surface of bed board (29), and bed slide rail (22) are fixed the lower terminal surface of bed board (29), bed slide rail (22) include along 4 guide rails that are parallel to each other that X direction arranged, and bed slider (23) are installed in bed support (21) as the stiff end, bed rack (24) drive bed board (29) are in motion on bed slider (23).
2. The capsule-type endoscope external navigation device according to claim 1, wherein the X-axis motor (19) is mounted on an X-axis sliding table (15), the lower end surface of the X-axis sliding table (15) is fixedly connected with an X-axis sliding block (14), the X-axis motor (19) drives the X-axis gear (17) to drive the X-axis sliding table (15) to run along an X-axis sliding rail (13), and the X-axis sliding rail (13) comprises 2 guide rails which are arranged on the bottom plate (11) in parallel.
3. The capsule type endoscope external navigation device according to claim 1, wherein a Y-axis motor (36) of the Y-axis frame mechanism (3) drives a Y-axis speed reducer (37) to drive a Y-axis gear (38) to move, the Y-axis gear (38) is meshed with a Y-axis rack (33), and the Y-axis rack (33) is mounted on a portal frame (31).
4. A capsule endoscope external navigation device according to claim 3, wherein the Y-axis motor (36) is mounted on a Y-axis sliding table (35), the lower end surface of the Y-axis sliding table (35) is fixedly connected with a Y-axis sliding block (34), the Y-axis motor (36) drives a Y-axis gear (38) to drive the Y-axis sliding table (35) to run along a Y-axis sliding rail (32), and the Y-axis sliding rail (32) comprises 2 guide rails which are arranged on a portal frame (31) in parallel.
5. The capsule type endoscope external navigation device according to claim 1, wherein a Z-axis motor (41) of the Z-axis mechanism (4) drives a Z-axis speed reducer (42) to drive a Z-axis lead screw (43) to move, the Z-axis lead screw (43) is connected with a Z-axis adapter block (48), the Z-axis adapter block (48) is connected with a Z-axis sliding table (44), and a Z-axis sliding block (47) is arranged in the Z-axis sliding table (44).
6. The capsule-type endoscope external navigation device according to claim 5, wherein the Z-axis screw (43) drives the Z-axis sliding table (44) to move along a Z-axis sliding rail (46), the Z-axis sliding rail (46) comprises 2 guide rails fixed on a Z-axis fixing frame (45), and the Z-axis screw (43) is arranged in the middle of the Z-axis sliding rail (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542250.1A CN107307838B (en) | 2017-07-05 | 2017-07-05 | External navigation device of capsule type endoscope |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710542250.1A CN107307838B (en) | 2017-07-05 | 2017-07-05 | External navigation device of capsule type endoscope |
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| Publication Number | Publication Date |
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| CN107307838A CN107307838A (en) | 2017-11-03 |
| CN107307838B true CN107307838B (en) | 2023-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710542250.1A Active CN107307838B (en) | 2017-07-05 | 2017-07-05 | External navigation device of capsule type endoscope |
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| CN108524083A (en) * | 2018-02-27 | 2018-09-14 | 孙凤桂 | A kind of gynemetrics's postpartum comprehensive care device |
| CN108937829A (en) * | 2018-05-30 | 2018-12-07 | 广州众健医疗科技有限公司 | A kind of intelligence gastroscope endoscope |
| KR102566761B1 (en) * | 2018-06-02 | 2023-08-11 | 안콘 메디컬 테크놀로지스 (상하이) 컴퍼니 리미티드 | Control device for capsule endoscope |
| US11426059B2 (en) | 2018-06-02 | 2022-08-30 | Ankon Medical Technologies (Shanghai) Co., Ltd. | Control system for capsule endoscope |
| CN108670681B (en) * | 2018-06-04 | 2019-10-18 | 青岛大学附属医院 | A kind of working method of medical capsule scope auxiliary examination bed |
| CN109259715B (en) * | 2018-09-04 | 2021-04-27 | 北京理工大学 | Capsule endoscope magnetic guide control device integrating interaction function |
| CN109259716B (en) * | 2018-09-04 | 2021-03-09 | 北京理工大学 | Capsule endoscope magnetic guide control device |
| CN112932873B (en) * | 2021-03-10 | 2022-06-07 | 李中正 | Auxiliary device for medical operation |
| CN114431926A (en) * | 2022-02-08 | 2022-05-06 | 索诺利(厦门)医疗科技有限公司 | Lithotripsy equipment treatment bed |
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