CN108720793A - A kind of control system and method for capsule endoscope - Google Patents
A kind of control system and method for capsule endoscope Download PDFInfo
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- CN108720793A CN108720793A CN201810174731.6A CN201810174731A CN108720793A CN 108720793 A CN108720793 A CN 108720793A CN 201810174731 A CN201810174731 A CN 201810174731A CN 108720793 A CN108720793 A CN 108720793A
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- magnet
- mechanical arm
- capsule endoscope
- movement
- control
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
Abstract
The invention discloses a kind of control systems of capsule endoscope, including：Positioned at digestion containment portion, the effect for applying magnetic field force to the capsule endoscope inside gastrovascular cavity body, to control the magnet that capsule endoscope is moved to target location；It is connected with magnet, the mechanical arm for driving magnet to be moved according to predetermined planning path in digestion containment portion；It is connected with mechanical arm, the predetermined planning path for determining magnet according to the target location of capsule endoscope, and the host of control machinery arm movement.The control system of capsule endoscope in the present invention can be more simple and quick control capsule endoscope in the movement of digestion inside cavity, manipulation of more convenient user to equipment improve the control accuracy of the movement to capsule endoscope and the usage experience of user.A kind of control method of capsule endoscope is also disclosed in the present invention, and there is above-mentioned advantageous effect.
Description
Technical field
The present invention relates to medical instruments fields, more particularly to the control system and method for a kind of capsule endoscope.
Background technology
Capsule endoscope, full name are " intelligent capsule digestive tract endoscope system ", also known as " Medical wireless scope ".Principle be by
Inspection person is allowed to move in alimentary canal by the intelligent capsule of oral built-in camera shooting and signal transmitting apparatus by peristalsis of the digest tract
And image is shot, doctor utilizes external image recorder and image workstation, understands the entire alimentary canal situation of subject, from
And diagnosis is made to its state of an illness.
If capsule endoscope only carrys out random motion by gastral wriggling, the probability failed to pinpoint a disease in diagnosis with mistaken diagnosis can be increased in this way.
A kind of mode of more commonly used control capsule endoscope is using built in the magnet drive outside digestive system in the prior art
There is the capsule endoscope motion of permanent magnet.But the control process of this control mode is relatively complicated at present, working efficiency is low, past
Toward the requirement it is impossible to meet medical worker to subject's condition-inference.
Invention content
The object of the present invention is to provide a kind of control systems of capsule endoscope, solve to capsule endoscope control accuracy
Low, control process is cumbersome, ineffective problem.
It is a further object of the present invention to provide a kind of control methods of capsule endoscope.
In order to solve the above technical problems, the present invention provides a kind of control system of capsule endoscope, including：
Positioned at digestion containment portion, for the work to applying magnetic field force positioned at the capsule endoscope of the digestion inside cavity
With to control the magnet that capsule endoscope is moved to target location；
It is connected with the magnet, for driving the magnet to be moved according to predetermined planning path in digestion containment portion
Mechanical arm；
It is connected with the mechanical arm, for determining the predetermined of the magnet according to the target location of the capsule endoscope
Planning path, and control the host of the manipulator motion.
Wherein, the magnet includes the first magnet and the second magnet, wherein the gastrovascular cavity body is located at first magnet
And second between magnet；
Further include bottom traction mechanism, the mechanical arm tail end is connected with first magnet, for driving described
One magnet moves, and the bottom traction mechanism is connected with second magnet, for driving second magnet to move.
Wherein, angular transducer is additionally provided on the mechanical arm, the angular transducer is used in the mechanical arm tail end
When the magnet being driven to reach each location point in the predetermined planning path, each mechanical joint of the mechanical arm is obtained
Rotational angle parameter；
The host is additionally operable to be corrected the position of the mechanical arm tail end according to the rotational angle parameter.
Wherein, the host is additionally operable to be pre-created attitude mode, and according to the attitude mode and the angle sensor
The angle parameter of device detection creates the 3D attitude mode Visual Graphs of the mechanical arm.
Wherein, it is connected by cable between the host and the servo motor of the mechanical arm；Wherein, each pair of cable is all provided with
It is equipped with foil shielding layer, and every four pairs of cables are provided with public woven wire shielded layer.
The present invention also provides a kind of control methods of capsule endoscope, including：
According to the current location and target location of capsule endoscope, the position moved required for magnet is determined；
According to the position moved required for the magnet, the predetermined planning path of mechanical arm tail end is determined；
The end that the mechanical arm is controlled according to the predetermined planning path drives the magnet according to the predetermined planning
Path is moved, so that the capsule endoscope is moved to the target location under the action of magnetic field force of the magnet.
Wherein, according to the position moved required for the magnet, the predetermined planning path packet of the mechanical arm tail end is determined
It includes：
According to the position of the required movement of the first magnet, the predetermined planning path of mechanical arm is determined；
The servo motor that the mechanical arm is controlled according to the predetermined planning path, which moves, includes：
The servo motor movement of the mechanical arm is controlled according to the predetermined planning path；
According to the motion state of the mechanical arm and imaginary axis following algorithm, the movement locus of bottom traction mechanism is determined；
The bottom traction mechanism, which is controlled, according to the movement locus of the bottom traction mechanism drives the second magnet movement.
Wherein, after the servo motor movement that the mechanical arm is controlled according to the movement position, further include：
The rotational angle parameter of each mechanical joint of the mechanical arm of angular transducer detection is obtained in real time；
When each location point in the predetermined planning path is passed through in the end of the mechanical arm successively, according to described turn
Dynamic angle parameter determines the true location point of the mechanical arm tail end；
It is compared according to the location point in the true location point and the predetermined planning path, to the mechanical arm
Terminal position is corrected.
Wherein, in real time obtain angular transducer detection each mechanical joint of the mechanical arm rotational angle parameter it
After further include：
According to the rotational angle parameter and the mechanical arm attitude mode pre-established, the visual 3D models of mechanical arm are created
Figure.
Wherein, after the servo motor movement for controlling the mechanical arm according to the movement position, further include：
When the mechanical arm tail end completes the movement of the predetermined planning path, the servo motor of the mechanical arm is obtained
Motor encoder angle parameter, the activation point of the mechanical arm tail end is determined according to the angle parameter, and according to institute
It states activation point and corrects the mechanical arm tail end position.
The control system of capsule endoscope provided by the present invention, by the way that the magnet for being located at digestion containment portion to be fixed on
The end of mechanical arm, and the planning path of mechanical arm tail end is calculated by host in advance, then pressed by host computer control mechanical arm
Magnet movement is driven according to scheduled planning path, is finally moved to so that capsule endoscope moves under the magnetic field force effect of magnet
To target location, and in actual application, user need to only input include capsule endoscope required moving target position
Instruction, host can robotically controlled arm being movement, finally capsule endoscope is made to move.
In compared with the existing technology by complicated mechanical structure control be located at the magnet movement outside digestive system to
Capsule endoscope is driven to move, control system of the invention is easier to operate, and the control to magnet is automated by host
It completes, to the precision higher of magnet movement control, is adjusted repeatedly during controlling magnet and driving capsule endoscope without user
Examination, the requirement that adjustment equipment is manipulated to user is lower, largely reduces the regulation and control to capsule endoscope position
Time improves work efficiency.
In conclusion the control system of the capsule endoscope in the present invention can be more simple and quick control capsule endoscope
In the movement of digestion inside cavity, manipulation of more convenient user to equipment improves the control of the movement to capsule endoscope
The usage experience of precision and user.A kind of control method of capsule endoscope is also disclosed in the present invention, is had above-mentioned beneficial to effect
Fruit.
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 the structural schematic diagram of the control system of capsule endoscope provided in an embodiment of the present invention；
Fig. 2 is control schematic diagram of the magnet to capsule endoscope in the prior art；
Fig. 3 is control schematic diagram of the magnet provided in an embodiment of the present invention to capsule endoscope；
Fig. 4 is the part-structure schematic diagram of bottom traction mechanism provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of the control method of capsule endoscope provided in an embodiment of the present invention.
Specific implementation mode
Currently, to capsule endoscope than more conventional control mode be by some mechanical structures drive be located at digestive system
External magnet movement, and permanent magnet is built-in in capsule endoscope so that capsule endoscope can be by the magnetic field masterpiece of magnet
It is corresponding mobile with occurring, eventually arrive at source location.
It is often relatively low to the precision of magnet control but if driving magnet movement mechanical structure relatively simple, it is controlling
Magnet generally requires the debugging by user again and again when moving, can be the accurate source location of magnet arrival, and
And the person of operating with also is required to reach certain familiarity using grasp to equipment.And magnet movement is controlled if to improve
Precision, it is necessary to design increasingly complex mechanical structure, need analyze mechanical structure all parts between stressing conditions with
And mutually matched active force.This structure either design or making in terms of it is all very cumbersome, also just centainly at
The cost of the equipment for the movement that capsule endoscope is controlled using magnet is improved in degree.
Therefore, a kind of control system of capsule endoscope is provided in the present invention, is run by host pre-programmed
Sequence controlled machine arm moves, and mechanical arm drives the magnet movement for being located at digestion containment portion, makes capsule endoscope in magnet
Magnetic field force effect under therewith movement be finally moved to target location.
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 shown in FIG. 1, FIG. 1 is the structural schematic diagrams of the control system of capsule endoscope provided in an embodiment of the present invention, should
The control system of capsule endoscope may include：
Positioned at digestion containment portion, the work for applying magnetic field force to the capsule endoscope 10 inside gastrovascular cavity body
With to control the magnet that capsule endoscope 10 is moved to target location；
It should be noted that being also built-in with permanent magnetism in addition to being built-in with camera shooting and signal transmitting apparatus in capsule endoscope 10
Body.After capsule endoscope 10 enters digestion cavity by subject is oral, so that subject is lain low, magnet is placed on subject's body
Outside, the surface of cavity is digested.The permanent magnet of capsule endoscope 10 is acted on by the magnetic field force of magnet in digestion cavity, works as magnet
When digesting cavity upper direction, corresponding capsule endoscope 10 can also move.
It is connected with magnet, the mechanical arm for driving magnet to be moved according to predetermined planning path in digestion containment portion
11；
It is connected with the mechanical arm 11, for determining the magnet according to the target location of the capsule endoscope 10
Predetermined planning path, and control the host of the movement of the mechanical arm 11.
It should be noted that when controlling the movement of capsule endoscope 10, usually by capsule endoscope 10
Camera shooting and signal transmitting apparatus be transmitted to host digestion cavity picture, host shows the picture to medical staff
Show, the content that medical staff can show according to picture, the target location moved with capsule endoscope 10 is sent to host
Instruction, for example, being moved to the left 0.5cm.The target location that so host can be set according to medical staff, to mechanical arm 11
Motion path is planned, makes 11 end of mechanical arm that magnet be driven to do corresponding movement, finally so that capsule endoscope 10 is in magnetic
It is moved to target location under the magnetic fields of body.And the operations such as attended operation handle 14 on host can also be set in the present invention
It is standby, input various operational orders convenient for medical staff.
Certainly, for the setting of target location not only have a kind of setting means, can also according under normal conditions to by
The digestion inside cavity of inspection person needs the point detected as target location, and 11 automatic traction magnet movement of mechanical arm makes magnet band
Dynamic capsule endoscope 10 is sequentially located at each source location, is shot to the digestion cavity of subject, so as to medical staff
Carry out the diagnosis of disease.
For the prior art, due to being to control magnet movement using various mechanical structures, for example, by using two phases
Mutually vertical slideway, two slideways control magnet two mutually orthogonal direction slidings in the horizontal plane respectively, to control magnetic
Body can move in the horizontal plane.It is relatively low similar to this mechanical structure control accuracy, it needs to debug repeatedly, can not complete certainly
The adjusting of dynamicization.Therefore in terms of existing technologies, the control system of the capsule endoscope 10 in the present invention, can be simpler
Rapidly control being moved according to scheduled target location for capsule endoscope 10.
In addition, the present invention is when controlling the movement of capsule endoscope 10, it is to be moved according to preset planning path
, it can avoid capsule endoscope 10 under the magnetic field force effect of magnet, since over-deflection seriously squeezes digestion cavity inner wall
Pressure, thus the problem of causing personal injury to subject.
Secondly, the host in the present invention may include specifically PC hosts 12 and be connected with PC hosts 12 embedded
PC 13 can write the movement to mechanical arm 11 to reduce the complexity of 12 program coding of PC hosts on PC hosts 12
The program of path planning is carried out, and writes control machinery arm 11 on built-in PC 13 and is moved according to predetermined planning path
Program.
Also, the present invention is in actual application, for PC hosts 12 and built-in PC 13, operation handle 4 and machine
Connected by cable between tool arm 11, in order to the communication ensured between PC hosts 12 and each equipment can be faster and better biography
It is defeated, the anti-interference ability of cable is promoted, in another embodiment of the present invention, screen can be further set on cable
Layer is covered, specifically, aluminium foil can be set on each pair of twisted-pair feeder as shielded layer, using the seal and shielding of aluminium foil to electricity
Magnetic wave interference is protected.
In the electronic device, electromagnetic interference is transmitted by conductibility coupling and radiativity coupling, in order to full
The requirement of sufficient Electro Magnetic Compatibility to radiativity coupling then needs that shield technology is taken to be inhibited.Because electromagnetic wave is a kind of electricity
Can, and smooth, closed metal surface has reflex, can reflect away Electromagnetic Interference, and aluminium foil can be better
Frequency electromagnetic waves are shielded.For the thickness of aluminium foil, 0.1mm-0.2mm specifically could be provided as.
In order to further be shielded to low-frequency electromagnetic wave, can also include further in embodiment：
A public shielded layer is arranged in every four pairs of cables, which can be specifically to be intersected to knit by wire
It is constituted at the metal net in mesh sieve face, which can be limited to electromagnetic wave in a certain region, for low frequency
Effectiveness it is preferable.
Based on above-mentioned any embodiment, in another embodiment of the present invention, may further include：
Magnet includes the first magnet and the second magnet, wherein gastrovascular cavity body is between the first magnet and the second magnet；
Further include bottom traction mechanism, the mechanical arm tail end is connected with first magnet, for driving described
One magnet moves, and the bottom traction mechanism is connected with second magnet, for driving second magnet to move.
Currently, for capsule endoscope than more conventional control mode be when subject lies down, digestion cavity just
One piece of magnet that can drive capsule endoscope motion is arranged in top.But since capsule endoscope can not in digestion inside cavity
Depending on, and the environment in gastrovascular cavity body is also complex, the motion state of capsule endoscope is highly susceptible to the influence of environment and sends out
Raw disturbance.Specific to can refer to Fig. 2 and Fig. 3, Fig. 2 is that magnet is in the prior art to the control schematic diagram of capsule endoscope, Fig. 3
Control schematic diagram of the magnet provided in an embodiment of the present invention to capsule endoscope；As shown in Fig. 2, the dotted line 22 in Fig. 2 indicates magnetic
Magnetic field line caused by body 21, and solid line 23 is the boundary line for the range limit for indicating that magnet can control capsule endoscope 10,
If capsule endoscope 10 once moves to except the capture range of magnet 21, the traction control to capsule endoscope 10 may result in
System failure；As shown in figure 3, the dotted line 32 in Fig. 3 is the magnetic field line of magnet caused by the first magnet 30 and the second magnet 31, by
Fig. 3 is it is found that in the magnetic field that the first magnet 30 and the second magnet 31 are collectively formed, the certain area around capsule endoscope
Interior magnetic field line is less parallel and parallel with the axis of the first magnet 30, the second magnet 31, and in contrast in Fig. 2 only in magnet
Magnetic field line on 21 axis is straight line, and during actually controlling, due to capsule endoscope in the horizontal direction no longer by
The effect of other power, therefore it is flat to reach better stress in magnetic field of the capsule endoscope on the axis direction of magnet 21
Weighing apparatus, so, by the control of capsule endoscope 10 between the first magnet 30 and the second magnet 31, expanding the control range of magnet
On the basis of, additionally it is possible to the stability that enhancing controls capsule endoscope 10.
It should be noted that be only by subject in the present embodiment illustrated for the posture to lie low is examined, but this
Subject is not precluded in invention keeps other postures to check.But for the setting of the first magnet 30 and the second magnet 31
Position, it shall be guaranteed that digestion cavity is between the first magnet 30 and the second magnet 31, for similar set-up mode, originally
It is no longer described in detail in invention.
Mechanical arm 11 and bottom traction mechanism 16 in the present embodiment all have five different degree of freedom, respectively in control
Position, deflection, the pitching etc. of magnet and lower magnet in three dimensions.
For mechanical arm 11, has many advantages, such as light structure, activity space is big and activity is flexibly accurate, and bottom
Haulage gear 16 then has more simple modular construction, and cost is relatively low, and driving algorithm is more simple, but bottom traction machine
The volume of structure 16 is often larger, heavier mass.If being located at the first magnet above human body using similar haulage gear control
31, entire haulage gear will need to be covered in surface area larger above human body, constriction can be brought to subject, and once
The component of haulage gear is fixed built on the sand, and damage can be also brought to subject.And bottom traction mechanism 16 is hidden in subject and puts down
The lower section for the bed body lain will not bring constriction to subject, and the second magnet 31 of control is only needed to follow the first magnet 30
Movement, control method are simple and practicable.
Specifically, the traction principle of the bottom traction mechanism 16 in the present invention can refer to Fig. 4, and Fig. 4 is the embodiment of the present invention
The part-structure schematic diagram of the bottom traction mechanism of offer.Motor 41 rotates in Fig. 4, is driven through the leading screw of the connection of shaft coupling 42
43 rotations, drive the sliding block 45 being located on line rail 44 to do linear motion back and forth, to drive the movement of the second magnet 31, for
For entire bottom traction mechanism 16, three structures as shown in Figure 4 can be set, and setting direction is vertical two-by-two, then bottom
Portion's haulage gear 16 just has the sliding block 45 for driving of three mutually orthogonal direction movements in three dimensions, to real
Now to the control of 31 space motion location of the second magnet.In addition bottom traction mechanism 16 further includes two electric rotating machines, is controlled respectively
Make rotation and pitch orientation of second magnet 31 in yaw angle.
Based on above-mentioned any embodiment, in another embodiment of the present invention, can also include further：
Angular transducer is additionally provided on mechanical arm；
Angular transducer is used to, when mechanical arm tail end drives magnet to reach each location point in predetermined planning path, obtain
Obtain the rotational angle parameter of each mechanical joint of mechanical arm；
Host is additionally operable to be corrected the position of mechanical arm tail end according to rotational angle parameter.
In the present embodiment, mechanical arm can control magnet in 5 degree of freedom and move in space, specifically, mechanical arm
3 servo motor shafts be control capsule endoscope spatial position variation, 1 servo motor shaft be control capsule endoscope
Pitch angle variation, the rotary motion of also 1 servo motor shaft control capsule endoscope in space, then in correspondence
Servo motor driving under, servo motor shaft rotates corresponding angle so that the mechanical joint of mechanical arm moves to corresponding
Position, then according to the rotational angle parameter of the mechanical joint of mechanical arm, it will be able to determine that mechanical arm tail end drives magnet to reach
Corresponding location point.
When mechanical arm tail end drives magnet to be moved according to predetermined planning path, mechanical arm tail end often moves to predetermined planning
As soon as when location point on path, the machinery that the angular transducer on mechanical arm can get corresponding mechanical arm in real time closes
The rotational angle parameter of section.And the angle of the mechanical joint rotation of mechanical arm is direct decision mechanical end position, host root
The location point that mechanical arm tail end is actually reached just is can determine according to the angle parameter, by the location point and presses predetermined planning path
On location point compared, if the two is inconsistent, the end of mechanical arm can be corrected.This is largely
The precision that mechanical arm drives magnet movement is improved, the precision of the motion control to capsule endoscope is also further improved.
Based on above-described embodiment, in order to medical staff can clearer understanding mechanical arm drive magnet according to desired trajectory
Motion state can include further in another embodiment of the present invention：
Host is additionally operable to be pre-created attitude mode, which is to be in different location according to mechanical arm tail end to correspond to
Mechanical arm posture and create, host can be according to the rotational angle parameter of the mechanical joint of mechanical arm, in conjunction with posture mould
Type creates mechanical arm and corresponds to 3D attitude mode Visual Graphs, while being shown in the display interface of host.
Medical staff is according to the 3D attitude mode Visual Graphs, it will be able to observe the real time kinematics shape that the mechanical arm drives magnet
State can also re-enter corresponding parameter instruction, to machine if mechanical arm drives magnet movement substantial deviation target location
Tool arm end position is corrected.
The control method of capsule endoscope is introduced below in conjunction with the accompanying drawings, is implemented as shown in figure 5, Fig. 5 is the present invention
The flow diagram of the control method for the capsule endoscope that example provides, the control method of the capsule endoscope can specifically include：
Step S501：According to the current location and target location of capsule endoscope, the position moved required for magnet is determined.
As previously mentioned, the target location of capsule endoscope can be preset, can also be what medical staff inputted
Parameter instruction and determination.According to mechanical characteristic of the capsule endoscope in the magnetic field of magnet determine capsule endoscope and magnet it
Between position correspondence, so that it is determined that going out the position moved required for magnet.
Step S502：According to the position moved required for magnet, the predetermined planning path of mechanical arm tail end is determined.
Step S503：Magnet is driven to be moved according to predetermined planning path according to the end of predetermined planning path control machinery arm
It is dynamic.
Because predetermined planning path makes to be set according to the target location of capsule endoscope, therefore works as mechanical arm tail end band
Dynamic magnet passes through each location point in predetermined planning path successively, and when finally moving to the location point moved needed for magnet,
Corresponding capsule endoscope can also reach source location accordingly.
Each step in the present embodiment can have pre-programmed program, and the instruction inputted by healthcare givers is automatic
It completes, realizes the requirement for reducing healthcare givers to capsule endoscope automation control to equipment operation qualification, simultaneously
Also improve working efficiency of the healthcare givers by capsule endoscopy diagnosis disease.In addition, due in advance to the movement road of magnet
Diameter is planned, is also just indirectly planned the movement locus of capsule endoscope, avoids capsule endoscope and disappearing
When changing movement in cavity, since motion path is unreasonable to digesting cavity inner wall excessive compression, personal injury is caused to subject
The problem of.
Based on above-mentioned any embodiment, moved in gastrovascular cavity body in order to more stable control capsule endoscope, it can
To control capsule endoscope motions using two magnets, gastrovascular cavity body is made to be located between two magnets, then step S502 can be with
Include further：
According to the position of the required movement of the first magnet, the predetermined planning path of mechanical arm is determined.
Corresponding step S503 may further include：
It is moved according to the servo motor of predetermined planning path control machinery arm；
According to the motion state of mechanical arm and imaginary axis following algorithm, the movement locus of bottom traction mechanism is determined；
Bottom traction mechanism, which is controlled, according to the movement locus of bottom traction mechanism drives the second magnet movement.
The motion path of mechanical arm is only planned in the present embodiment, and with the corresponding control bottom traction of mode that the imaginary axis follows
Mechanism kinematic, therefore also just no longer need to also program corresponding program to the movement of control bottom traction mechanism, simplify control glue
The complexity of intracapsular sight glass movement corresponding program.
Based on above-mentioned any embodiment, in order to precisely control movement of the capsule endoscope in gastrovascular cavity body, at this
In the another specific embodiment of invention, can include further：
When each location point in predetermined planning path is passed through in the end of mechanical arm successively, obtain on mechanical arm in real time
The mechanical joint rotational angle parameter of the mechanical arm of angular transducer detection；Mechanical arm tail end is determined according to rotational angle parameter
True location point, and compared according to the location point in true location point and predetermined planning path, to the end position of mechanical arm
It sets and is corrected.
It is right in the present embodiment in the location point that mechanical arm drives magnet often to pass through in a predetermined planning path
The position of mechanical arm tail end is corrected, and to improve the accuracy controlled magnet movement position, and then is improved in capsule
The accuracy of sight glass control.
In addition, if necessary to be respectively controlled two magnets to drive capsule endoscope to move, then accordingly
Mechanical arm and bottom traction mechanism on be both provided with angular transducer, can school be carried out to the position of two magnets in real time
Just, to improve the accuracy controlled the movement of capsule endoscope.
It, can be with after obtaining the rotational angle parameter of the mechanical joint of mechanical arm of mechanical arm based on above-described embodiment
The corresponding position of corresponding determining mechanical arm tail end, for this purpose, in another embodiment of the present invention, can also specifically wrap
It includes：
According to rotational angle parameter and the mechanical arm attitude mode pre-established, the visual 3D illustratons of model of mechanical arm are created.
Based on above-mentioned any embodiment, in order to further increase the control accuracy to capsule endoscope motion, in the present invention
Another specific embodiment in, may further include：
When mechanical arm tail end completes the movement of the predetermined planning path, the motor for obtaining the servo motor of mechanical arm is compiled
The angle parameter of code device, the activation point of mechanical arm tail end is determined according to angle parameter, and according to activation point correction mechanical arm
End position.
When mechanical arm tail end is moved according to desired trajectory, reaches the last one location point on desired trajectory, that is to say
When up to the location point moved needed for magnet, can in the motor encoder of servo motor reading angular parameter, and then determination watch
The position that driving mechanical arm tail end reaches required for motor is taken, the physical location of the position and mechanical arm tail end is compared,
If the two differs, mechanical arm tail end position is corrected.
A variety of corrected modes in the position to mechanical arm tail end are provided in the embodiment of the present invention, are improved to glue
The accuracy of intracapsular sight glass control.
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.
The control system and method for capsule endoscope provided by the present invention are described in detail above.It answers herein
With specific case, principle and implementation of the present invention are described, and the explanation of above example is only intended to help to manage
Solve the method and its core concept of the present invention.It should be pointed out that for those skilled in the art, not departing from
, can be with several improvements and modifications are made to the present invention under the premise of the principle of the invention, these improvement and modification also fall into this hair
In bright scope of the claims.
Claims (10)
1. a kind of control system of capsule endoscope, which is characterized in that including：
Positioned at digestion containment portion, it is used for the effect to applying magnetic field force positioned at the capsule endoscope of the digestion inside cavity,
To control the magnet that the capsule endoscope is moved to target location；
It is connected with the magnet, the machinery for driving the magnet to be moved according to predetermined planning path in digestion containment portion
Arm；
It is connected with the mechanical arm, the predetermined planning for determining the magnet according to the target location of the capsule endoscope
Path, and control the host of the manipulator motion.
2. control system according to claim 1, which is characterized in that the magnet includes the first magnet and the second magnet,
Wherein, the gastrovascular cavity body is between first magnet and the second magnet；
Further include bottom traction mechanism, the mechanical arm tail end is connected with first magnet, for driving first magnetic
Body moves, and the bottom traction mechanism is connected with second magnet, for driving second magnet to move.
3. control system according to claim 1, which is characterized in that be additionally provided with angular transducer on the mechanical arm；
The angular transducer is used to drive the magnet to reach in the mechanical arm tail end each in the predetermined planning path
When a location point, the rotational angle parameter of each mechanical joint of the mechanical arm is obtained；
The host is additionally operable to be corrected the position of the mechanical arm tail end according to the rotational angle parameter.
4. control system according to claim 3, which is characterized in that the host is additionally operable to be pre-created attitude mode,
And the 3D attitude modes that the mechanical arm is created according to the angle parameter that the attitude mode and the angular transducer detect can
View.
5. control system according to claim 4, which is characterized in that the servo motor of the host and the mechanical arm it
Between connected by cable；
Wherein, each pair of cable is both provided with foil shielding layer, and every four pairs of cables are provided with public woven wire shielded layer.
6. a kind of control method of capsule endoscope, which is characterized in that using the capsule endoscope described in claim 1 to 5
Control system, including：
According to the current location and target location of capsule endoscope, the position moved required for magnet is determined；
According to the position moved required for the magnet, the predetermined planning path of mechanical arm tail end is determined；
The end that the mechanical arm is controlled according to the predetermined planning path drives the magnet according to the predetermined planning path
It is mobile, so that the capsule endoscope is moved to the target location under the action of magnetic field force of the magnet.
7. control method according to claim 6, which is characterized in that according to the position moved required for the magnet, really
The predetermined planning path of the mechanical arm tail end includes calmly：
According to the position of the required movement of the first magnet, the predetermined planning path of mechanical arm is determined；
The servo motor that the mechanical arm is controlled according to the predetermined planning path, which moves, includes：
The servo motor movement of the mechanical arm is controlled according to the predetermined planning path；
According to the motion state of the mechanical arm and imaginary axis following algorithm, determine that bottom traction mechanism drives the second magnet movement
Movement locus；
The bottom traction mechanism, which is controlled, according to the movement locus of the bottom traction mechanism drives second magnet movement.
8. control method according to claim 6, which is characterized in that described to control the machinery according to the movement position
After the servo motor movement of arm, further include：
The rotational angle parameter of each mechanical joint of the mechanical arm of angular transducer detection is obtained in real time；
When each location point in the predetermined planning path is passed through in the end of the mechanical arm successively, according to the angle of rotation
Degree parameter determines the true location point of the mechanical arm tail end；
Location point in the true location point and the predetermined planning path is compared, to the end position of the mechanical arm
It sets and is corrected.
9. control method according to claim 8, which is characterized in that in the machine for obtaining angular transducer detection in real time
Further include after the rotational angle parameter of each mechanical joint of tool arm：
According to the rotational angle parameter and the mechanical arm attitude mode pre-established, the visual 3D illustratons of model of mechanical arm are created.
10. control method according to claim 6, which is characterized in that described according to described in movement position control
After the servo motor movement of mechanical arm, further include：
When the mechanical arm tail end completes the movement of the predetermined planning path, the electricity of the servo motor of the mechanical arm is obtained
The angle parameter of machine encoder determines the activation point of the mechanical arm tail end according to the angle parameter, and according to the drive
Mechanical arm tail end position described in dynamic position correction.
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Application publication date: 20181102 |