CN108420391A - A kind of capsule endoscope control device, system and method - Google Patents
A kind of capsule endoscope control device, system and method Download PDFInfo
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- CN108420391A CN108420391A CN201810083155.4A CN201810083155A CN108420391A CN 108420391 A CN108420391 A CN 108420391A CN 201810083155 A CN201810083155 A CN 201810083155A CN 108420391 A CN108420391 A CN 108420391A
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
Abstract
The invention discloses a kind of capsule endoscope control devices, including tubular structure and the multiple electromagnet for being fixed on tubular structure outer surface；Wherein, tubular structure is the tubular structure outside limbs where the inner chamber body that can be circumferentially positioned at digestive system, and multiple electromagnet is made to be arranged around the inner chamber body；Multiple electromagnet are used to change by changing turn-on current state applies magnetic field force to the permanent magnet of capsule endoscope, to drive capsule endoscope to be moved in digestive system inner chamber body.Device structure in the present invention is more simple, it is easy to accomplish, and cost is lower.Convenient for the wider application and popularization of capsule endoscope.A kind of capsule endoscope control system and method are also disclosed in the present invention, and there is above-mentioned advantageous effect.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of capsule endoscope control device, system and side
Method.
Background technology
Capsule endoscope is the disease of digestive tract auxiliary indagation device that a kind of shape is similar to capsule pill.It can be to digestion
Road inner wall carries out shooting inspection, and by the wireless telecommunications system in capsule endoscope by the image transmitting of shooting to exterior terminal
On.Doctor can carry out medical diagnosis on disease by the image document of shooting.
The motion control device of capsule endoscope can be divided into two kinds of hand and electrodynamic type at present.The control mode of hand
It is that doctor holds bar magnet, artificially the capsule in those who are investigated's body is controlled completely.This mode is easy, at low cost, but
Be operation physical efficiency to operator and it is horizontal all there are certain requirements, due to being manually to control, omission factor is also higher.It is electronic
Mode is to be controlled external magnetic field to control the movement of capsule by equipment such as mechanical arm, electromagnetic coils.Electronic mode
Its control device has the shortcomings that volume is larger, mechanical structure is more complex, cost is higher, not readily portable.
Invention content
The object of the present invention is to provide a kind of capsule endoscope control device, the device structure for solving capsule endoscope is multiple
Miscellaneous, cost is higher and the problem of being difficult to carry.It is a further object of the present invention to provide a kind of capsule endoscope control system and sides
Method.
In order to solve the above technical problems, the present invention provides a kind of capsule endoscope control device, including tubular structure and
It is fixed on multiple electromagnet of the tubular structure outer surface；Wherein, the tubular structure is that can be circumferentially positioned at digestive system
Inner chamber body where tubular structure outside limbs, so that multiple electromagnet is arranged around the inner chamber body；Multiple electricity
Magnet is used to change by changing turn-on current state applies magnetic field force to the permanent magnet of capsule endoscope, described to drive
Capsule endoscope moves in the digestive system inner chamber body.
Wherein, multiple electromagnet are uniformly distributed in the tubular structure outer surface.
Wherein, the spacing between the adjacent electromagnet is not more than the capsule endoscope length, and is not less than the glue
The half of capsule endoscope length.
Wherein, the tubular structure is made of two shells being detachably connected along tubular structure longitudinal section.
Wherein, further include being arranged in tubular structure outer surface and the matched metal shell of tubular structure shape, wherein gold
Belong to the earthing of casing.
Wherein, the tubular structure is heat-insulated tubular structure.
The present invention also provides a kind of capsule endoscope control systems, including any one of them capsule endoscope as above to control
Equipment, capsule endoscope and processor；
Wherein, permanent magnet, wireless telecommunications system and picture pick-up device are provided in the capsule endoscope, in the capsule
Sight glass is used to shoot the inner cavity picture of digestive system by picture pick-up device and is sent to the processor by wireless telecommunications system；
The processor is connected with the wireless telecom equipment, for determining capsule endoscope according to the inner cavity picture
Moving target position, and according to the target location, control multiple electromagnet turn-on currents in capsule endoscope control device
State and change and magnetic field force applied to the permanent magnet of capsule endoscope, to drive the capsule endoscope in digestive system inner cavity
Target location is moved in body.
The present invention also provides a kind of control methods of capsule endoscope, including：
The inner cavity picture transmitted by the wireless telecommunications system of capsule endoscope is received, wherein the inner cavity picture is in capsule
The picture of the picture pick-up device of sight glass captured in real-time in the inner cavity of digestive system；
The moving target position of capsule endoscope is determined according to the inner cavity picture；
According to the target location, controls multiple electromagnet turn-on current states in capsule endoscope control device and change
Magnetic field force is applied to the permanent magnet of capsule endoscope, the capsule endoscope is driven to be moved to target in digestive system inner chamber body
Position.
Wherein, in the control capsule endoscope control device multiple electromagnet turn-on current states and change in capsule
The permanent magnet of sight glass applies magnetic field force, and the capsule endoscope is driven to be moved to target location packet in digestive system inner chamber body
It includes：
Connect the electric current with the first predetermined electromagnet of current electromagnetic iron phase neighbour, and the electric current of the first predetermined electromagnet
The current direction of direction and the current electromagnetic iron is opposite, wherein the current electromagnetic iron is to be inhaled by magnetic field force at current time
Attached described capsule endoscope one end is attached to the electromagnet at the internal chamber wall of the digestive system corresponding to the current electromagnetic iron；
The size for controlling the described first predetermined electromagnet turn-on current gradually increases the first predetermined current value, same time control by zero
The electric current for making the current electromagnetic iron gradually decreases to zero so that the other end of the capsule endoscope is by the described first predetermined electricity
The attraction of magnetic field of magnets power and deflect, be finally attached at the internal chamber wall corresponding to the described first predetermined electromagnet；
Using the described first predetermined electromagnet as current electromagnetic iron, repeat connection and current electromagnetic iron phase neighbour first is pre-
The operation for determining the electric current of electromagnet, until the capsule endoscope passes through the drive of the magnetic field force of M the first predetermined electromagnet successively
It is dynamic, it is moved to target location, wherein M is more than or equal to 1.
Wherein, after driving the capsule endoscope to be moved to target location in digestive system inner chamber body, further include：
Connect the electric current with the second predetermined electromagnet of current electromagnetic iron phase neighbour；
Control the described second predetermined electromagnet current be less than the current electromagnetic iron electric current, and with the current electromagnetic iron
Current direction it is opposite so that the capsule endoscope is unadsorbed inclined to the described second predetermined electromagnet in one end of internal chamber wall
Turn.
Capsule endoscope control device provided by the present invention, having can be circumferentially positioned at where the inner chamber body of digestive system
Multiple electromagnet are distributed on the tubular structure in tubular structure outside limbs, are also equivalent to multiple electromagnet around setting
It sets outside limbs so that multiple electromagnets are arranged around the inner chamber body of digestive system.Because being generally all provided in capsule endoscope
Be equipped with permanent magnet, as long as therefore the coil turn-on current on multiple electromagnet, will produce magnetic field.As long as connecting different location
Electric current on electromagnet, the size in the magnetic field of generation and direction are also just different.If by the electric current for controlling each electromagnet
On-state, and the current turns ON state of each electromagnet is made to change in particular manner, corresponding be applied in capsule is peeped
The magnetic field force of the permanent magnet of mirror also changes therewith, the variation in direction and size by controlling magnetic field force, it will be able to control capsule
The moving direction of endoscope, is finally offset to target location.
Multiple electromagnet are arranged around digestive system inner chamber body in capsule endoscope control device in the present invention, relative to
The bulky driving mechanism of traditional needs drives magnetic bodies to be moved above the inner chamber body of digestive system to drive glue
Intracapsular sight glass, the device structure in the present invention are more simple, it is easy to accomplish, and cost is lower.Since its is simple in structure, it is empty to occupy
Between small and quality it is also relatively small, therefore easy to carry can carry, this also just reduces capsule endoscope control device to making
With the requirement of environment, convenient for capsule endoscope widely application and promote.
A kind of capsule endoscope control system and method are additionally provided in the present invention, and there is above-mentioned advantageous effect.
Description of the drawings
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, the accompanying drawings in the following description is only this hair
Some bright embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is capsule endoscope control device structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the diagrammatic cross-section of capsule endoscope control device provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of capsule endoscope control method provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of the multiple electromagnet turn-on current states of control provided in an embodiment of the present invention；
Fig. 5 (a) is the schematic diagram that capsule endoscope is acted on by the ferromagnetic field force of current electromagnetic in the embodiment of the present invention；
Fig. 5 (b) is that capsule endoscope is ferromagnetic by the ferromagnetic field force of current electromagnetic and the first predetermined electromagnetism in the embodiment of the present invention
The schematic diagram of field force effect；
Fig. 5 (c) is capsule endoscope in the embodiment of the present invention by the schematic diagram of the first predetermined electromagnet magnetic field force effect；
Fig. 6 is capsule endoscope in the embodiment of the present invention by the ferromagnetic field force of current electromagnetic and the second predetermined electromagnet magnetic field force
The schematic diagram of effect.
Specific implementation mode
Presently the most common capsule endoscope control device be substantially in the top of the inner chamber body of digestive system and/or
Magnetic bodies is arranged in lower section, by the magneticaction between magnetic bodies and the permanent magnet of capsule endoscope, drives magnetic bodies
Movement so that capsule endoscope moves therewith, to control position of the capsule endoscope in inner chamber body.
Such control device generally requires design complex control mechanism, and is accurately controlled the movement rail of magnetic bodies
Mark, although this control mode can more flexibly control the position of capsule endoscope, due to the environment in inner chamber body
It is complex, it is possible that magnetic bodies magnetic field force is too small and is detached from the problem of controlling, and capsule endoscope ten is looked for again
Divide trouble.
In addition, the equipment of control capsule endoscope is complicated the biggest problems are that volume is excessive in the prior art, it is right
The cost answered is also higher.And currently in order to carrying out medical diagnosis on disease convenient for more people, various mobile hospitals become more and more popular, such as
It is that resident carries out disease treatment etc. that medical instrument is placed on vehicle into community.So the equipment of the prior art is due to its machinery knot
Structure is complicated, and not readily portable transport also can not just apply in mobile hospital.
And the capsule endoscope control device provided in the present invention, it is simple in structure, it is easy to carry, and also largely
Reduce equipment cost, the use environment of equipment required lower, can widely be promoted the use of, make more patients by
Benefit.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
As depicted in figs. 1 and 2, Fig. 1 is capsule endoscope control device structural schematic diagram provided in an embodiment of the present invention, figure
2 be the diagrammatic cross-section of capsule endoscope control device provided in an embodiment of the present invention, which can be with
Including：
Tubular structure 1, and it is fixed on multiple electromagnet 2 of 1 outer surface of tubular structure.Generally for beauty and to electricity
For the protection of magnet 2, can also crust 3 be set in the outer surface of tubular structure 1, multiple electromagnet 2 is made to be located at shell 3
In confined space between tubular structure 1.As shown in Figure 1, because shell 3 is opaque, electromagnet 2 is not in Fig. 1
It can be seen that.
In addition, because multiple electromagnet 2 need turn-on current to generate magnetic field, in order to make the magnetic field of electromagnet 2 not by outside
Shell 3 further can be used metal shell, be equivalent to and played to the electromagnetic field inside metal shell by the interference in space
One shielding action.It is safer in order to make equipment use, while reaching better shielding action, it can be further by metal
The earthing of casing avoids the unexpected danger revealed and got an electric shock when electricity.
Secondly, the present invention in control device in use, be need tubular structure 1 being circumferentially positioned at it is detected
The body part of the digestive system of person, for example, tubular structure 1 to be worn on to the chest of detected people to the upper part of the body portion of abdomen
Position.In addition structure of the invention can also adopt the detection for the digestive system for being used for animal in a like fashion, only tubular structure 1
Size dimension need to do adjustment appropriate according to detected object.
After tubular structure 1 being worn on the limbs where digestive system because 1 outer surface of tubular structure be fixed with it is more
A electromagnet 2, then multiple electromagnet 2 are also just looped around the inner chamber body setting of digestive system.
Each electromagnet 2 is made of the coil of iron core and wound core in the present embodiment, and each coil encircling
The circular mode of iron core is identical, and the center line of coil and the central axis of iron core overlap, and are bonded cylinder perpendicular to electromagnet 2
The outer surface of 1 position of shape structure.When being turned on the electric current of the same direction in coil, the magnetic field of generation is close to tubular knot
The magnetic pole all same of the one end on the surface of structure 1.Certainly, coil others are also not precluded in the present invention around mode, as long as energy
When enough clear turn-on currents, the direction of the poles N and the poles S in magnetic field is generated, but this is controlling multiple electromagnet turn-on currents
When the magnetic direction generated afterwards, it is likely more complexity, therefore all magnet spools are all made of identical mode around being
A kind of preferred embodiment is not listed one by one in the present invention for others around mode.
When connecting the electric current of coil of electromagnet 2, electromagnet 2 can generate magnetic field, and positioned at the inner cavity of digestive system
Capsule endoscope in body is generally provided with permanent magnet.The magnetic field that so electromagnet 2 generates just generates magnetic to capsule endoscope
The effect of field force.And when the curent change of electromagnet 2 and when different location 2 turn-on current of electromagnet, capsule endoscope by
To magnetic field force can also change accordingly.As a result, if current turns ON state by controlling each electromagnet 2, make more
The electric current of a electromagnet 2 changes in a predetermined manner, can make capsule endoscope under the driving of magnetic field force to scheduled
Direction is moved, and the position for needing to observe is eventually arrived at.
It should be noted that tubular structure 1 in fig. 1 and 2 is cylinder-like structure, but in practical applications, and
Be not limited to cylinder-like structure 1, can also be with the matched oval tubular structure of people's upper part of the body limbs shape or other
Can be good at the polygonized structure to fit with limbs build can also realize technical scheme of the present invention.
Based on above-described embodiment, for the distribution mode of multiple electromagnet 2 on 1 outer surface of tubular structure, in this implementation
May include in example：
Multiple electromagnet 2 are uniformly distributed in 1 outer surface of tubular structure.Specifically, can be by multiple electromagnet 2 in cylinder
The outer surface of shape structure 1 is in queue distribution.
Certainly, the case where multiple 2 non-uniform Distributions of electromagnet being also not precluded in the present invention, for example, it is contemplated that arriving stomach device
Official is that capsule endoscope needs the keypoint part observed, thus can above and below stomach inner chamber body corresponding tubular structure
The relatively intensive setting electromagnet 2 in 1 position, to realize the control more accurate to capsule endoscope.
Because electromagnet 2 directly affects the control to capsule endoscope in the dense degree of 1 appearance EDS maps of tubular structure
Precision in another embodiment of the present invention, may include further：
Spacing between adjacent electromagnet 2 is not more than capsule endoscope length, and not less than the one of capsule endoscope length
Half.
Because capsule endoscope is usually to be moved under multiple adjacent electromagnet 2 successively changing magnetic field force effect.
It, can be timely by next electricity when the magnetic field force of a upper electromagnet 2 weakens during making capsule endoscope motion
The magnetic field force that magnet 2 generates is captured and is controlled.The distance between adjacent electromagnet 2 should not be too far.
Although in the present invention control capsule endoscope magnetic field force can also be increased by increasing the electric current of electromagnet 2,
Being this may make capsule endoscope generate a larger acceleration during exercise so that the movement speed mistake of capsule endoscope
Soon, the movement of capsule endoscope problem out of hand is eventually led to.In addition it is contemplated that excessive magnetic field may be to tested
Survey person brings unexpected side effect.It therefore completely can be by the current control of electromagnet 2 in a certain range in the present embodiment
It is interior, it can either ensure the good control to capsule endoscope, and can ensure the safety of detected person.
Based on above-mentioned any embodiment, because tubular structure 1 is worn on detected person, and in order to more preferable
Control capsule endoscope, the internal diameter size of tubular structure 1 should not be too large, otherwise will increase electromagnet 2 and capsule endoscope it
Between distance so that the magnetic field force of capsule endoscope is weakened.But if the shape size and structure of tubular structure 1 make quilt
The limbs of survey person can just be attached to the inner surface of tubular structure 1, will necessarily bring the inconvenience of wearing tubular structure 1.Exist thus
In the another specific embodiment of the present invention, can include further：
Tubular structure 1 along two shells that 1 longitudinal section of tubular structure is detachably connected by forming, as depicted in figs. 1 and 2,
Two shells be provided at both ends be detachably connected the connecting components 4 of two shells can after two shells disassemble
Easily two shells are sleeved on detected person, then two shells are fixed by connecting component 4.
Based on above-mentioned any embodiment, it is contemplated that electromagnet 2 may will produce certain heat during turn-on current,
For some region of electromagnet 2 if necessary to prolonged turn-on current to control capsule endoscope, then the electricity in the region
The heat that magnet 2 generates also can be relatively more, in order to avoid the heat that electromagnet 2 generates causes discomfort to detected person,
Even bring damage, in another embodiment of the present invention, may further include the body of detected person：
Tubular structure 1 is heat-insulated tubular structure, that is to say the tubular structure being made using heat-barrier material.
A kind of embodiment of capsule endoscope control system is additionally provided in the present invention, in the capsule endoscope control system
In may include capsule endoscope control device, capsule endoscope and processor that any embodiment as above is provided.
Wherein, permanent magnet, wireless telecommunications system and picture pick-up device are provided in capsule endoscope.In capsule endoscope
Picture pick-up device is the specific can be that miniature webcam, the picture pick-up device are capable of the inner cavity picture of captured in real-time digestive system and are passed through
Wireless telecommunications system is sent to processor；
The processor is connected with wireless telecom equipment by wireless signal, and the inner cavity picture by receiving is to doctor
Treatment personnel show the situation in the inner cavity of detected person's digestive system, while can also be determined in capsule and be peeped according to the inner cavity picture
The current location of mirror and the target location for needing movement.
Processor controls 2 turn-on current state of multiple electromagnet in capsule endoscope control device according to target location and changes
Become and magnetic field force is applied to the permanent magnet of capsule endoscope, to drive capsule endoscope to be moved to mesh in digestive system inner chamber body
Cursor position.
Capsule endoscope control system is easy to operate in the present invention, and processor can be determined according to pre-set program
Target location, and automatically control the current turns ON state of multiple electromagnet on capsule endoscope control device so that it is peeped in capsule
Mirror is moved to target location under the action of a magnetic force.Whole process can be automatically completed by processor, accelerate work effect
Rate and the precision that capsule endoscope is controlled.
In addition, it is necessary to illustrate, the most important effect of image capturing device is for shooting digestion in capsule endoscope
Image in system inner chamber body, for the target location of capsule endoscope, can be by medical people so that healthcare givers checks
Member is pre-set.
Capsule endoscope control method provided in an embodiment of the present invention is introduced below, Fig. 3 is the embodiment of the present invention
The flow diagram of the capsule endoscope control method of offer, with reference to Fig. 3, which may include：
Step S301：Receive the inner cavity picture transmitted by the wireless telecommunications system of capsule endoscope.
Specifically, the inner cavity picture be by the picture pick-up device of capsule endoscope in the inner cavity of digestive system captured in real-time
Picture, main effect is the image for shooting in digestive system inner chamber body, so that healthcare givers checks, be can be used for really
Determine the moving target position of capsule endoscope.
Step S302：The moving target position of capsule endoscope is determined according to inner cavity picture.
It should be noted that the target location can also be pre- to first pass through what healthcare givers set.
Step S303：According to target location, multiple electromagnet turn-on current states in capsule endoscope control device are controlled
And change and magnetic field force is applied to the permanent magnet of capsule endoscope, driving capsule endoscope is moved to target location.
Using the capsule endoscope control method in the present invention, capsule endoscope precisely can be effectively controlled in Digestive
Moved in the inner chamber body of system, enable capsule endoscope it is clear it is accessible take detailed picture in inner chamber body, make medical treatment
The inner cavity picture for condition-inference of personnel has better reference value.
Based on above-described embodiment, in another embodiment of the present invention for the multiple of capsule endoscope control device
The current turns ON state of electromagnet, can further limit, and that is to say and above-mentioned steps S303 can be improved further.
It can be specifically the flow signal of the multiple electromagnet turn-on current states of control provided in an embodiment of the present invention with reference chart 4, Fig. 4
Figure, can specifically include following steps：
Step S401：Connect the electric current with the first predetermined electromagnet of current electromagnetic iron phase neighbour.
It should be noted that being typically provided with strip permanent magnet in capsule endoscope, it is in N to make one end of capsule endoscope
Pole, the other end are in the poles S.Current electromagnetic iron is to adsorb capsule endoscope one end by magnetic field force at current time to be attached to current electromagnetic
Electromagnet at the internal chamber wall of digestive system corresponding to iron.
In order to make it easy to understand, can with reference chart 5 (a), and with current electromagnetic iron 51 adsorb capsule endoscope 53 N extremely examples
It illustrates.So, so that capsule endoscope 53 is moved to the first adjacent predetermined electromagnet 52, the first predetermined electromagnetism can be made
Iron 52 adsorbs one end of the poles S of capsule endoscope 53.
In addition, it is necessary to which explanation, electric current is to turn on for what the dotted line in Fig. 5 (a) to Fig. 5 (c) and Fig. 6 indicated
Electromagnet generate magnetic field the rough distribution situation of magnetic field line.
Step S402：The current direction of the current direction and current electromagnetic iron 51 that control the first predetermined electromagnet 52 is opposite.
Specifically, can be with reference chart 5 (b), because of the coil winding side of the first predetermined electromagnet 52 and current electromagnetic iron 51
Formula is identical, therefore when the current direction that the two is connected is opposite, and the magnetic direction of generation is also just opposite.At this point, the first predetermined electricity
Magnet 52 and current electromagnetic iron 51 close the general direction in magnetic field what 53 position of capsule endoscope generated jointly, are by first
Predetermined electromagnet 52 is directed toward current electromagnetic iron 51, then the poles S one end of capsule endoscope 53 will be to the first predetermined electromagnet 52
It deflects.
Step S403：The electric current for controlling the first predetermined electromagnet is gradually increased to the first predetermined current value, same time control by zero
The electric current of current electromagnetic iron 51 processed gradually decreases to zero.
Specifically, Fig. 5 (c) is can refer to, because current electromagnetic iron 51 is gradual to the effect of the magnetic field force of capsule endoscope 53
Reduce, and the first predetermined electromagnet 52 gradually weakens the magnetic field force effect of capsule endoscope 53 so that the S of capsule endoscope 53
Pole one end is deflected by the attraction of 52 magnetic field force of the first predetermined electromagnet, be finally attached to the first predetermined electromagnet 52 pair
At the internal chamber wall answered, and the poles N one end of capsule endoscope 53 is since the magnetic field force of current electromagnetic iron 51 weakens until being taken off for zero
Control from current electromagnetic iron 51, finally so that capsule endoscope 53 is attached to the internal chamber wall corresponding to the first predetermined electromagnet 52
Place.
Step S404：Judge whether 53 present position of capsule endoscope is target location, if it is, entering step
S405, if it is not, then entering step S401.
Step S405：Keep current each electromagnet current on-state constant.
If 53 present position of capsule endoscope is target location, illustrate that capsule endoscope 53 needs in the position
Image taking is carried out, as long as keeping the current turns ON state of each electromagnet motionless.
If 53 present position of capsule endoscope is not target location, illustrate that capsule endoscope 53 also needs to continue
It moves.At this time just with the first predetermined electromagnet 52 for new current electromagnetic iron 51, step S401 is repeated to step
The operation of S404, until capsule endoscope 53 passes through the driving of the magnetic field force of M the first predetermined electromagnet 52, final movement successively
To target location, wherein M is more than or equal to 1.
Based on above-mentioned any embodiment, it is contemplated that capsule endoscope 53 is when target location carries out picture shooting, Ke Nengxu
Angle adjustment is carried out, to obtain relatively sharp comprehensive picture.Therefore in another embodiment of the present invention, can refer to
Fig. 6 can further include after step S303：
Connect the electric current with the second adjacent predetermined electromagnet 61 of current electromagnetic iron 51；
Control 61 electric current of the second predetermined electromagnet be less than current electromagnetic iron 51 electric current, and with the electric current of current electromagnetic iron 51
Direction is opposite so that capsule endoscope 53 is unadsorbed to be deflected in one end of internal chamber wall to the second predetermined electromagnet 61.
It is illustrated herein with embodiment shown in fig. 6, current electromagnetic iron 51 adsorbs the poles N one end of capsule endoscope 53.
Because 61 electric current of the second predetermined electromagnet is less than the electric current of current electromagnetic iron 51, therefore the second predetermined electromagnet 61 and current electromagnetic
The magnetic field line direction and vertical direction that iron 51 is generated in 53 position of capsule endoscope are in a certain angle to the second predetermined electromagnetism
Iron 61 deviates, at this point, capsule endoscope 53 keeps heeling condition by control.
As described above, capsule endoscope 53 can be by current electromagnetic iron 51 and any one adjacent with current electromagnetic iron 51
The collective effect of two predetermined electromagnet 61 is tilted to predetermined direction.It follows that when around multiple the second of current electromagnetic iron 51
The turn-on current sequentially in either order of predetermined electromagnet 61, and after 61 turn-on current of the next second predetermined electromagnet, upper one
The electric current of a second predetermined electromagnet 61 disconnects, then the poles S that can control capsule endoscope 53 rotate within the scope of 360 degree.
In summary, it is known that the control method of the capsule endoscope in the present invention can control capsule endoscope and digest
Internal system carries out the movement and deflection of various states, can flexibly be accurately controlled the motion range of capsule endoscope, from
And take more fully clearly cavity picture.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with it is other
The difference of embodiment, just to refer each other for same or similar part between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, depends on the specific application and design constraint of technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Control device to capsule endoscope provided by the present invention, system and method above.It is described in detail.This
Specific case is applied in text, and principle and implementation of the present invention are described, the explanation of above example is only intended to
It facilitates the understanding of the method and its core concept of the invention.It should be pointed out that for those skilled in the art,
Without departing from the principles of the invention, can be with several improvements and modifications are made to the present invention, these improvement and modification are also fallen
Enter in the protection domain of the claims in the present invention.
Claims (10)
1. a kind of capsule endoscope control device, which is characterized in that including tubular structure and be fixed on outside the tubular structure
Multiple electromagnet on surface；
Wherein, the tubular structure is the tubular structure outside limbs where the inner chamber body that can be circumferentially positioned at digestive system, is made
Multiple electromagnet are arranged around the inner chamber body；
Multiple electromagnet are used to change by changing turn-on current state applies magnetic field to the permanent magnet of capsule endoscope
Power, to drive the capsule endoscope to be moved in the digestive system inner chamber body.
2. control device according to claim 1, which is characterized in that multiple electromagnet are in the tubular structure appearance
Face is uniformly distributed.
3. control device according to claim 2, which is characterized in that the spacing between the adjacent electromagnet is not more than institute
Capsule endoscope length is stated, and not less than the half of the capsule endoscope length.
4. control device according to claim 1, which is characterized in that the tubular structure is by can along tubular structure longitudinal section
Two shells of dismantling connection form.
5. control device according to claim 4, which is characterized in that further include being arranged in tubular structure outer surface and cylinder
The matched metal shell of shape planform, wherein metal shell are grounded.
6. control device according to any one of claims 1 to 5, which is characterized in that the tubular structure is heat-insulated tubular
Structure.
7. a kind of capsule endoscope control system, which is characterized in that including in such as claim 1 to 6 any one of them capsule
Sight glass control device, capsule endoscope and processor；
Wherein, permanent magnet, wireless telecommunications system and picture pick-up device, the capsule endoscope are provided in the capsule endoscope
For the inner cavity picture by picture pick-up device shooting digestive system and the processor is sent to by wireless telecommunications system；
The processor is connected with the wireless telecom equipment, the shifting for determining capsule endoscope according to the inner cavity picture
Moving-target position, and according to the target location, control multiple electromagnet turn-on current states in capsule endoscope control device
And change and magnetic field force is applied to the permanent magnet of capsule endoscope, to drive the capsule endoscope in digestive system inner chamber body
It is moved to target location.
8. a kind of control method of capsule endoscope, which is characterized in that including：
The inner cavity picture transmitted by the wireless telecommunications system of capsule endoscope is received, wherein the inner cavity picture is in the capsule
The picture of the picture pick-up device of sight glass captured in real-time in the inner cavity of digestive system；
The moving target position of the capsule endoscope is determined according to the inner cavity picture；
According to the target location, controls multiple electromagnet turn-on current states in capsule endoscope control device and change to glue
The permanent magnet of intracapsular sight glass applies magnetic field force, and the capsule endoscope is driven to be moved to target position in digestive system inner chamber body
It sets.
9. control method according to claim 8, which is characterized in that multiple in the control capsule endoscope control device
Electromagnet turn-on current state and change and magnetic field force applied to the permanent magnet of capsule endoscope, drive the capsule endoscope disappearing
Being moved to target location in change system inner chamber body includes：
Connect the electric current for the first predetermined electromagnet being disposed adjacent with current electromagnetic iron, and the electric current of the first predetermined electromagnet
The current direction of direction and the current electromagnetic iron is opposite, wherein the current electromagnetic iron is to be inhaled by magnetic field force at current time
Attached described capsule endoscope one end is attached to the electromagnet at the internal chamber wall of the digestive system corresponding to the current electromagnetic iron；
The size for controlling the described first predetermined electromagnet turn-on current gradually increases the first predetermined current value by zero, while controlling institute
The electric current for stating current electromagnetic iron gradually decreases to zero so that the other end of the capsule endoscope is by the described first predetermined electromagnet
The attraction of magnetic field force and deflect, be finally attached at the internal chamber wall corresponding to the described first predetermined electromagnet；
Using the described first predetermined electromagnet as current electromagnetic iron, connection and the first predetermined electricity of current electromagnetic iron phase neighbour are repeated
The operation of the electric current of magnet, until the capsule endoscope passes through the driving of the magnetic field force of M the first predetermined electromagnet, shifting successively
It moves to target location, wherein M is more than or equal to 1.
10. according to the method described in claim 9, it is characterized in that, in the driving capsule endoscope in digestive system inner cavity
It is moved to after target location in body, further includes：
Connect the electric current with the second predetermined electromagnet of current electromagnetic iron phase neighbour；
Control the described second predetermined electromagnet current be less than the current electromagnetic iron electric current, and with the electricity of the current electromagnetic iron
It is opposite to flow direction so that the capsule endoscope is unadsorbed to be deflected in one end of internal chamber wall to the described second predetermined electromagnet.
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| CN201810083155.4A CN108420391A (en) | 2018-01-29 | 2018-01-29 | A kind of capsule endoscope control device, system and method |
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