CN109259716A - A kind of capsule endoscope magnetic guide control device - Google Patents
A kind of capsule endoscope magnetic guide control device Download PDFInfo
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- CN109259716A CN109259716A CN201811027424.1A CN201811027424A CN109259716A CN 109259716 A CN109259716 A CN 109259716A CN 201811027424 A CN201811027424 A CN 201811027424A CN 109259716 A CN109259716 A CN 109259716A
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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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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Abstract
The invention discloses a kind of capsule endoscope magnetic guide control devices, the movement that external magnets generate six degree of freedom can accurately be controlled, external magnets generate magnetic with the magnet in the intracorporal capsule endoscope of detected person and interact, to drive in complicated stomach and intestine structure to capsule endoscope, more accurate position and motion control are provided.Detected person's carrier module is connect with external magnets guiding module using high-precision by magnet leader supporting module；The present apparatus is suitable for the alimentary canal entire area endoscopy with different anatomical structures such as stomach and intestine, and detection efficiency is high, and on the basis of improving control with positioning accuracy, reduces cost, facilitate carrying.
Description
Technical field
Invention is related to a kind of control device, and in particular to a kind of guide control device of alimentary canal capsule endoscope belongs to doctor
Treat instrument field.
Background technique
Capsule endoscope has lower risk compared to conventional endoscopic, smaller to the pain and wound of patient, in clinical application
On be gradually accepted by patients.The companies such as Israel Given Imaging, Japan Olympus, domestic Kingsoft science and technology have been at present
Released one after another capsule endoscope product.
Capsule endoscope by person under test from mouth generally by being swallowed, after entering enteron aisle from stomach, since enteral routes are complicated,
Make the movement of capsule endoscope that good effect be not achieved, the passive mode of intestines peristalsis can only be taken mobile, lead to detection cycle
It is longer, and the captured image data issued from the wireless communication module of scope is huge, and data processing is difficult, so that testing staff
It can not accurately know position and the state of current capsule endoscope, the image of shooting also can not be accurately corresponding with diseased region.
The controllable active capsule endoscope of movement can check the gastrointestinal regional that traditional technology means are difficult to reach, and check
It is more efficient, become an important trend of gastrointestinal endoscopy Examined effect.But the detection position of current active capsule endoscope is more
For stomach, it is difficult to efficiently timely detect to the complicated enteron aisle position such as colon or rectum.In addition, in current active glue
In capsule endoscopic technic, still it is difficult between the flexibility and convenience of the high-precision requirement and installation and transportation of equipment installation and control simultaneous
It cares for.
Summary of the invention
In view of this, the present invention provides a kind of capsule endoscope magnetic guide control device, by accurately generating six-freedom degree
External magnets movement realize position to internal capsule endoscope and gesture stability, being suitable for stomach and intestine etc. has different anatomical structures
The endoscopy of alimentary canal entire area.
The capsule endoscope magnetic guide control device includes: magnet leader supporting module, magnet movement guidance mould
Block, external magnets, detected person's carrier module and external control module；It is provided with magnet in the capsule endoscope,
Detected person's carrier module is for there is the detected person of the capsule endoscope in supporting body；
The magnet leader supporting module is mounted on detected person's carrier module, is used to support the magnet movement
Guiding module is located at the magnet movement guiding module above detected person's carrier module；
The external magnets are mounted in the magnet movement guiding module, and the magnet movement guiding module is described outer
The external magnets are driven to move under the control of portion's control module, the external magnets are formed with the magnet in the capsule endoscope
Magnetic interaction drives the capsule endoscope to move by the movements of the external magnets, with adjust the capsule endoscope position and
Posture；
The external control module carries out data transmission by cable or wirelessly with the capsule endoscope, obtains in real time
Obtain image captured by capsule endoscope.
It is empty that the magnet movement guiding module drives the external magnets to carry out under the control of the external control module
Between six degree of freedom movement, the space six degree of freedom movement be respectively moving and around X, Y, Z tri- along tri- directions X, Y, Z
The rotation in a direction, wherein Z-direction is the direction perpendicular to detected person's carrier module, and X is to being respectively the detected person with Y-direction
Carrier module it is horizontal and vertical.
The utility model has the advantages that
(1) fortune that the external magnets that magnetic interacts have six direction is formed with the magnet in capsule endoscope in detected person's body
It is dynamic, more accurate position and motion control can be provided capsule endoscope, and position precision is high.
(2) present apparatus is suitable for the alimentary canal entire area endoscopy with different anatomical structures such as stomach and intestine, improves inspection
Survey efficiency；
(3) magnet movement guiding module is fixed on detected person's carrier module, ensure that installation and control precision；
(4) increase isolated location and contact force induction module during device is detected, it is ensured that detected person exists
Safety in detection process.
Detailed description of the invention
Fig. 1 is the capsule endoscope control device schematic diagram for having the mobile magnetic steering of linear guide；
Fig. 2 is the external magnets driving mechanism schematic diagram for including three rotary freedoms；
Fig. 3 is the glue for including position detecting module and the main supporting module and the link block of Auxiliary support intermodule
Intracapsular mirror control structure schematic diagram；
Fig. 4 be have security isolation structure, the capsule endoscope magnetic guide control device structural schematic diagram that mechanical arm is hung；
Fig. 5 is the capsule endoscope magnetic guide control device structural schematic diagram for having flexible pressure-sensitive fabric, mechanical arm side.
Wherein: 1- magnet leader supporting module, 2-Y to sliding rail, 4-Y to motor, 5-X to motor, 6-X direction guiding rail,
7-X direction guiding rail bracket, 8-Z are to motor, 9-Z direction guiding rail, 10-X to sliding block, 11-Z to sliding block, 12- fixed block, magnetic outside 13-
Body, 14- capsule endoscope, 15- detected person, 16- detected person carrier module, 17-Z to rotating electric machine, 18- connecting bracket A,
19-Y is to rotating electric machine, 20- connecting bracket B, 21- rotary shaft, 22- synchronous belt mechanism, 23- rotating electric machine, 24- console, 27-
Display, 29- motion control and data processor module, 30- rolling mechanism, the fixed supporting mechanism of 31-, the main supporting module of 32-,
33- Auxiliary support module, 34- link block, 35- magnetic induction position detecting module, 38- vertical motion sliding block, 39- vertical motion
Guide rail, 40- driving motor, 41- link block, 42- mechanical arm, 43- isolation window, 46- flexible pressure-sensitive fabric, 48- signal processor.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Embodiment 1:
The present embodiment provides a kind of control device moved in human body alimentary canal by magnetic guide capsule scope, such as Fig. 1
Shown, which includes: magnet leader supporting module 1, magnet movement guiding module, outside
Magnet 13, detected person's carrier module 16 and external control module are provided with magnet in capsule endoscope 14, the capsule endoscope 14
Have single-lens or twin-lens camera function, and the data communication function with peripheral control unit, can also install and meet biopsy
The biopsy mechanism of function.
Wherein detected person's carrier module 16 is used to provide the supporting table to lie low to detected person 15, and detected person carries mould
16 bottom of block is provided with rolling mechanism and fixed supporting mechanism, makes detected person's carrier module 16 by the rolling mechanism of setting
It is moved easily, by the way that fixed supporting mechanism is arranged detected person's carrier module 16 is smoothly supported on the ground.
Magnet leader supporting module 1 is the column and stringer being arranged on detected person's carrier module 16, for branch
Magnet movement guiding module is supportted, magnet leader supporting module 1 includes being vertically arranged in detected person's carrying in the present embodiment
Four columns in module 16, it is (vertical that four columns are set in pairs the lateral both ends of detected person's carrier module 16
To the direction to lie low for detected person 15), every group of column top connects a stringer.Magnet leader supporting module 1 and quilt
Tester's carrier module 16 carries out high-precision connection by screw thread.
External magnets 13 are permanent magnet or electromagnet or superconducting magnet, are handed over for generating magnetic with the magnet in capsule endoscope
Mutually, guide capsule scope moves in alimentary canal；Its shape can be sphere, cylindrical body, cuboid etc., is provided centrally with and is used for
The centre bore of rotary shaft 21 is installed.
Magnet movement guiding module includes: tri- axis rotary drive unit of tri- axis linear slide driving unit of XYZ and XYZ；Its
Middle definition vertical direction is Z axis, and the longitudinal direction of detected person 15 is Y-axis in horizontal plane, is laterally X-axis.Tri- axis linear slide of XYZ is driven
Moving cell includes: that (Y-direction is arranged in the Y-direction guide rail 2 being arranged on 1 stringer of magnet leader supporting module on every stringer
Guide rail 2), the Y-direction motor 4 for driving Y-direction sliding block 3 to slide on Y-direction sliding rail 2, both ends pass through with two Y-direction sliding blocks 4 respectively
Fixed block connection X direction guiding rail bracket 7, be arranged on X direction guiding rail bracket 7 X direction guiding rail 6, for driving X to sliding block 10 in X
The Z-direction sliding block 11 and Z-direction sliding block 11 that the X slided on direction guiding rail 6 is connected to sliding block 10 by fixed block to motor 5 and X slide
The Z-direction guide rail 9 of cooperation and Z-direction motor 8 for driving Z-direction guide rail 9 to be moved along Z-direction with respect to Z-direction sliding block 11.
Tri- axis rotary drive unit of XYZ is as shown in Figure 2, comprising: the fixed block 12 that is connect with Z-direction guide rail end (lower end),
It is mounted on Z-direction rotating electric machine 17 on fixed block 12 (axial direction of 17 output shaft of Z-direction rotating electric machine is parallel with Z-direction) and Z-direction electric rotating
The connecting bracket A18 of the output axis connection of machine 17, (the Y-direction rotating electric machine 19 of Y-direction rotating electric machine 19 being fixed in connecting bracket 18
The axial direction of output shaft is parallel with Y-direction), with the connecting bracket B20 of the output axis connection of Y-direction rotating electric machine 19, be fixed on connect branch
X on frame B20 to rotating electric machine 23 (axial direction from X to 23 output shaft of rotating electric machine and X to parallel), be coaxially fixed on external magnets
Rotary shaft 21 (axial direction of rotary shaft 21 with X to parallel) in 13 centre bores and for connecting X to 23 output shaft of rotating electric machine
With the synchronous belt mechanism 22 of rotary shaft 21.It drives external magnets 13 to rotate around Z-direction from there through Z-direction rotating electric machine 17, passes through Y-direction
Rotating electric machine 19 drives external magnets 13 to rotate around Y-direction, and X passes through synchronous belt mechanism 22 for rotating electric machine 23 to rotating electric machine 23
Driving force is transferred to rotary shaft 21, and then drives external magnets 13 around X to rotation by rotary shaft 21.
External control module includes: display 27, console 24, rolling mechanism 30, fixed supporting mechanism 31 and movement control
System and data processor module 29, console 24 are crosswise joint platform, are placed with display 27 thereon；Fortune inside console 24
Dynamic control is counted with data processing module 29 by cable or wirelessly with the intracorporal capsule endoscope of detected person 15
According to transmission, for obtaining the intracorporal image of detected person 15 captured by capsule endoscope in real time, and it is transmitted to the progress of display 27
Real-time display；Simultaneously motion control and data processing module 29 by cable or wirelessly with magnet movement guiding module
It is connected, for controlling tri- axis rotary drive unit of tri- axis linear slide driving unit of XYZ and XYZ, to realize to external magnets
13 motion control.24 bottom of console is provided with rolling mechanism 30 and fixed supporting mechanism 31, passes through the rolling mechanism of setting
30 are moved easily console 24, enable console 24 to be smoothly supported on ground by the way that fixed supporting mechanism is arranged
On.
Before carrying out capsule endoscope detection to human body using above-mentioned apparatus, need to say operating procedure and correlation circumstance
It is bright:
The definition of magnet movement guiding module initial position: the position of external magnets 13 is adjusted to Z-direction extreme higher position, Y-direction
Negative direction highest distance position, X to forward direction or negative direction maximum position, i.e., Y-direction sliding block 3 is slided to right end, the X of Y-direction sliding rail 2
The bottom that X is located to right end or left end, the Z-direction sliding block 11 of sliding rail 6 Z-direction guide rail 9 is slided to sliding block 10, with vacating space
Detected person 15 can smoothly lie into detected person's carrier module 16, this position is defined as initial position；It is being detected
Before person 15 does not enter detection zone, equipment power supply is not opened and equipment power supply is closed, detected person 15 completes detection and leaves
After detection zone, device is all in initial position.
Before detected person 15 is to be detected, equipment power supply is not opened, and device is in initial position, there is enough spaces at this time
Detected person 15 is set to enter detection zone, detected person 15 lies on detected person's carrier module 16 at this time, then by equipment electricity
Source is opened, and the vertical axis where Z-direction guide rail 9 is in the side for deviateing detected person 15 at this time, be not in thorax abdomen just on
It sets in orientation.
The adjustment of 13 height of external magnets: it is moved along Z-direction by external magnets by driving Z-direction guide rail 9 with respect to Z-direction sliding block 11
13 run down to the thorax abdomen apart from detected person attainable highest point 3cm-5cm distance position, which is made
For the Z-direction extreme lower position that external magnets 13 are run, i.e. Z-direction home.In subsequent detection bootup process, no matter external magnetic
How body 13, which moves all, cannot be below Z-direction home, ensure that the body of detected person 15 is not accessible with this, if reached
Z-direction home, at once stop motion are simultaneously alarmed (outside the adjustable travel switch in position can be arranged on Z-direction guide rail 9 or pass through
Portion's control module monitors the displacement of Z-direction guide rail 9 to realize).
Then it drives Z-direction guide rail 9 to increase the Z-direction position of external magnets 13 again, and X is adjusted to sliding block to motor 5 by X
10 position is adjusted the position of Y-direction sliding block 3 by Y-direction motor 4, external magnets 13 is made to be moved to the thorax abdomen of detected person 15
Top, start to control the position of the intracorporal capsule endoscope 14 of detected person 15 and posture, make capsule endoscope 14 in quilt
The checking steps such as image photographic or biopsy are carried out in 15 body of tester；In checking process, pass through tri- axis rotary drive unit tune of XYZ
The orientation of whole external magnets 13, due to the magnet in external magnets 13 and the internal capsule endoscope 14 in the digestive tract of detected person 15
Magnetic interaction is formed, and then drives the adjustment in the progress of capsule endoscope 14 orientation by external magnets 13.After inspection, by device tune
Whole equipment power supply is closed to initial position, and detected person 15 stands up to leave detection zone, and detection process terminates.
In the present embodiment, slides along tri- axis rail of X, Y, Z and do not done independently of each other, mutually around the movement of tri- axis of X, Y, Z rotation
Disturb, the range of operation of external magnets 13 always within tri- slide rails of X, Y, Z, by the adjustment of detected person position, with
And the programming Control to external magnets scope of activities on guide rail, work needed for meeting 13 motion range of external magnets always are empty
Between and safety requirements
When carrying out the scope detection for positions such as colon, rectum, capsule endoscope 14 is not required to from mouth detected person 15
The passive mode movement again by intestines peristalsis is swallowed, and by way of entering after anus, it is controlled by the guide control device
Its movement in vivo checks that privileged site, capsule endoscope 14 can also carry biopsy in conjunction with water-filling inflation measure
Mechanism.
Embodiment 2:
As shown in figure 3, the present embodiment draws with the magnet leader supporting module 1 having the same of embodiment 1, magnet movement
Guide module, external magnets 13 and external control module.
Difference with above-described embodiment 1 is that detected person's carrier module of the present embodiment uses separate structure, comprising:
Main supporting module 32 and Auxiliary support module 33, and be attached by link block 34, as shown in Figure 3.Link block 34 is
One L-shaped fixed plate is threadedly secured in Auxiliary support module 33 by multiple, then is connected with main supporting module 32 by screw thread
It connects, one Auxiliary support module 33, main 32 He of supporting module is respectively set at the longitudinal both ends of main supporting module 32 in the present embodiment
Gap between Auxiliary support module 33 can be fastened by adjusting screw thread, in addition main supporting module 32 and Auxiliary support
The bottom of module 33 is mounted on rolling mechanism and fixed supporting mechanism.
In the present embodiment, main supporting module 32 has been internally integrated magnetic induction position detecting module 35, passes through magnetic induction position
The magnetic field sensor on detection module 35 is set to perceive the location information of capsule endoscope 14 in 15 body of detected person, then is fed back to outer
Portion's control module, external control module are sequentially adjusted in the position of magnet movement guiding module to improve to internal capsule endoscope 14
Control.
It can also be by others side between the main supporting module 32 and Auxiliary support module 33 of detected person's carrier module
Formula connection, such as elastic webbing, buckle, and seperated knot can not be made between main supporting module 32 and Auxiliary support module 33
Structure, and it is made as stretch and slide structure or foldable structure, to save the sky of supporting module under the premise of meeting application
Between, it is readily transported carrying.
Embodiment 3:
As shown in figure 4, in the present embodiment, the structure of detected person's carrier module is identical as above-described embodiment 2, including master
Supporting module 32 and two Auxiliary support modules 33, two Auxiliary support modules 33 are connected to main branch by link block 34 respectively
The bottom of the longitudinal both ends of hold mode block 32, main supporting module 32 and Auxiliary support module 33 is equipped with rolling mechanism and fixed support
Mechanism.
In addition, magnet leader supporting module 37 includes: column, crossbeam and stringer in the present embodiment, four columns
Bottom is connect in high precision with detected person's carrier module 16, and four columns are set in pairs detected person's carrier module
16 lateral both ends (longitudinal is the direction that detected person 15 lies low).Two crossbeams and two stringers are arranged in the top of four columns
Rectangular frame is connected into, and is located between the two root posts of the same side and is connected more stringers progress Auxiliary supports while realizing work
The isolation in space.Longitudinally connected bar, the both ends difference of longitudinally connected bar are installed between two crossbeams at the top of four columns
It is affixed with the middle part of two crossbeams, it is fixedly installed with vertical motion sliding block 38 on longitudinally connected, vertical motion guide rail 39 and perpendicular
Straight moving slide block 38 is slidably matched, vertical motion guide rail 39 can under the driving of driving motor 40 relative vertical motion sliding block 38
It is moved along Z-direction.The mechanical arm 42 that six degree of freedom end movement can be achieved passes through the end of link block 41 and vertical motion guide rail 39
(lower end) connection, the six degree of freedom of mechanical arm 42 are respectively the sliding of tri- axis of X, Y, Z and rotate around tri- axis of X, Y, Z.External magnets 13
It is mounted on 42 end of mechanical arm, external magnets 13 are formed with the magnet in the internal capsule endoscope 14 in the digestive tract of detected person 15
Magnetic interaction, realizes the posture and position control to internal capsule endoscope 14.
In the present embodiment, between two columns at magnet leader supporting module longitudinal direction both ends, being equipped with can edge
The flexible isolation window 43 of vertical direction, together with the stringer of side in magnet leader supporting module, by mechanical arm 42 and outside
The space of magnet 13 carries out zone isolation, avoids mechanical arm 42 in bootup process, breaks through magnet leader branch hold mode
Zone of action between four columns of block.The lifting carriage along the vertical direction in the sliding slot on column of isolation window 43, Ke Yicheng
By the external force of some strength.
In the present embodiment, the console in external control module is longitudinally controlled, the motion control inside console
Data biography is carried out by cable or wirelessly with the intracorporal capsule endoscope 14 of detected person 15 with data processing module 29
It is defeated, for obtaining the intracorporal image of detected person 15 captured by capsule endoscope in real time, and it is transmitted to display 27 and carries out in real time
Display；Motion control simultaneously is connected by cable or wirelessly with mechanical arm 42 with data processing module 29, for controlling
Mechanical arm 42 processed carries out the movement of six degree of freedom, to realize the motion control to external magnets 13.
To in the present embodiment, the operating procedure of safety operation is carried out as described below:
The definition of mechanical arm initial position: by the driving of driving motor 40, it is moved to vertical motion guide rail 39 vertically
The end of mechanical arm 42 and other joints are all adjusted to higher position or sufficiently high region by the extreme higher position in direction,
Reserving sufficiently large space makes detected person 15 lie into detected person's carrier module, this position is defined as the initial of mechanical arm 42
Position is completed to use, be detected when equipment is not used, detected person 15 does not lie into detected person's carrier module and device
After person 15 leaves, mechanical arm 42 returns to initial position.
Detected person 15 enters before detected person's carrier module, and equipment power supply is not opened, and mechanical arm 42 is in initial bit
It sets, isolation window 43 is in pull-down state, isolation window 43 is brought up to the top of magnet leader supporting module at this time, at this time
Detected person 15 lies into detected person's carrier module, is adjusted to optimum position, guides area to be tested completely into magnet
Zone of action between four columns of part supporting module, pulls down isolation window 43, to guarantee the mistake in mechanical arm 42 in movement
Cheng Zhong, isolation window 43 are in working space isolation.
Equipment power supply is opened, it is attainable minimum vertical that the terminal position of mechanical arm 42 is adjusted to mechanical arm 42 itself
Position, at this point, there are also a certain distance for the highest point at chest and abdomen position of the external magnets 13 of end apart from detected person 15.
By controlling the sliding of 39 relative vertical motion sliding block 38 of vertical motion guide rail, carry out 42 vertical direction of adjusting mechanical arm
Integral position, the minimum point of mechanical arm tail end external magnets 13, which is adjusted to apart from 15 chest and abdomen position of detected person, to be reached
Highest point 3-5cm position, the position of upright guide rail 39 is fixed, in this, as the attainable vertical directions of the institute of mechanical arm 42
Extreme lower position, i.e. home.In subsequent bootup process, no matter how external magnets 13, which move all, be cannot be below vertically
The home in direction, then again by adjusting the movement in each joint of mechanical arm 42, to realize to capsule in human body alimentary canal
The position of scope 14 and gesture stability, and then the checking steps such as image photographic or biopsy are completed by capsule endoscope 14.
After having checked, control upright guide rail 39 slides into extreme higher position straight up, and passes through control mechanical arm 42
Each turning joint, so that mechanical arm 42 is returned to initial position, reserve enough seat space for detected person 15, be then shut off
Equipment power supply guarantees that equipment power supply is in close state when detected person 15 stands up to leave；
Finally isolation window 43 is adjusted to extreme higher position, detected person 15 stands up to leave, then isolation window 43 is put down.
Embodiment 4:
As shown in figure 5, in the present embodiment, the difference from embodiment 1 is that: magnet leader supporting module includes vertical
The detected person of rolling mechanism and fixed supporting mechanism is contained in column, crossbeam and stringer, magnet leader supporting module and bottom
Carrier module carries out high-precision connection.Mechanical arm 42 is mounted on magnet leader supporting module top longitudinal beam in the present embodiment
Inside, mechanical arm 42 can realize that six degree of freedom end movement, six degree of freedom are respectively that tri- axis of X, Y, Z slides and around tri- axis of X, Y, Z
Rotation.42 end of mechanical arm is equipped with external magnets 13, drives external magnets 13 to carry out six-freedom motion by mechanical arm 42.
External magnets 13 form magnetic with the magnet in the internal capsule endoscope 14 in detected person 15 and interact, and realize to internal capsule endoscope
14 posture and position control.
In the present embodiment, magnetic induction position detecting module 35 is installed inside detected person's carrier module, and can be with
It is loaded by side, bottom surface or top surface, is perceived by the magnetic field sensor inside magnetic induction position detecting module 35
The location information of internal capsule endoscope 14, then external control module is fed back to by cable or wirelessly, by adjusting
The position of external magnets 13 and posture, to improve the position to intracorporal capsule endoscope 14 and the control of posture.
In addition, in the present embodiment, flexible pressure-sensitive fabric 46 is covered at the position to be detected of detected person 15, in machinery
In the bootup process of arm 42, external pressure suffered by corresponding site can be incuded in real time by flexible pressure-sensitive fabric 46, and will
Pressure signal is immediately transmitted to external control module with cable or wirelessly by signal processor 48, if be subject to
External pressure reaches the upper limit value of setting, then external control module is alarmed immediately, while keeping mechanical arm out of service at once, thus
It can be avoided in control 42 motion process of mechanical arm and touch detected person 15, detected person 15 is caused further to injure.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (15)
1. a kind of capsule endoscope magnetic guide control device, magnet is provided in the capsule endoscope (14), which is characterized in that described
Magnetic guide control device includes: magnet leader supporting module (1), magnet movement guiding module, external magnets (13), is detected
Survey person's carrier module (16) and external control module；
Detected person's carrier module (16) is for there is the detected person (15) of the capsule endoscope (14) in supporting body；
The magnet leader supporting module (1) is mounted on detected person's carrier module (16), is used to support the magnet
Guiding module is moved, is located at the magnet movement guiding module above detected person's carrier module (16)；
The external magnets (13) are mounted in the magnet movement guiding module, and the magnet movement guiding module is described outer
The external magnets (13) are driven to move under the control of portion's control module, the external magnets (13) and the capsule endoscope (14)
In magnet form magnetic interaction, drive the capsule endoscope (14) to move by the movements of the external magnets (13), with adjustment
The position of the capsule endoscope (14) and posture；
The external control module is by cable or wirelessly carries out data transmission with the capsule endoscope (14), obtains in real time
Obtain image captured by capsule endoscope (14).
2. capsule endoscope magnetic guide control device as described in claim 1, which is characterized in that the magnet movement guiding module
The external magnets (13) are driven to carry out the movement of space six degree of freedom, the space under the control of the external control module
The movement of six degree of freedom be respectively along tri- directions X, Y, Z move and rotation around tri- directions X, Y, Z, wherein Z-direction is vertical
Directly in the direction of detected person's carrier module (16), X to the transverse direction for Y-direction being respectively detected person's carrier module (16) and
It is longitudinal.
3. capsule endoscope magnetic guide control device as claimed in claim 2, which is characterized in that the magnet movement guiding module
It include: tri- axis rotary drive unit of tri- axis linear slide driving unit of XYZ and XYZ；
The tri- axis linear slide driving unit of XYZ includes: two Y being arranged at the top of magnet leader supporting module (1)
Direction guiding rail (2), the Y-direction sliding block (3) being slidably matched with the Y-direction guide rail (2), for driving Y-direction sliding block (3) in Y-direction sliding rail (3)
X direction guiding rail bracket (7) that the Y-direction motor (4) of upper sliding, both ends are connect with two Y-direction sliding blocks (4) by fixed block respectively is set
Set the X direction guiding rail (6) on X direction guiding rail bracket (7), the X being slidably matched with the X direction guiding rail (6) to sliding block (10), for driving
It moves the X and passes through affixed Z to sliding block (10) to motor (5), with the X to the X that sliding block (10) slides on X direction guiding rail (6)
To sliding block (11), the Z-direction guide rail (9) being slidably matched with the Z-direction sliding block (11) and for driving Z-direction guide rail (9) with respect to Z-direction
The Z-direction motor (8) that sliding block (11) is moved along Z-direction；
The tri- axis rotary drive unit of XYZ include: the Z-direction rotating electric machine (17) for being fixed on Z-direction guide rail (9) lower end, with
The affixed Y-direction rotating electric machine (19) of the output shaft of the Z-direction rotating electric machine (17), the output with the Y-direction rotating electric machine (19)
The affixed X of axis to rotating electric machine (23), be fixed in the external magnets (13) centre bore with the X to rotating electric machine (23)
Axial parallel rotary shaft (21) and the synchronous belt for connecting X to rotating electric machine (23) output shaft and the rotary shaft (21)
Mechanism (22)；Z-direction rotating electric machine (17) output shaft axially along Z-direction, the axial direction of Y-direction rotating electric machine (19) output shaft
Along Y-direction, the X to rotating electric machine (23) output shaft axially along X to.
4. capsule endoscope magnetic guide control device as claimed in claim 2, which is characterized in that the magnet movement guiding module
Include: the vertical motion sliding block (38) being mounted on magnet leader supporting module (1) top connecting bar, with it is described perpendicular
Vertical motion guide rail (39) that straight moving slide block (38) is slidably matched, for driving vertical motion guide rail (39) relative vertical motion
The driving motor (40) and be mounted on the mechanical arm for driving vertical motion guide rail (39) lower end that sliding block (38) is moved along Z-direction
(42)；The mechanical arm (42) can be realized end six-freedom motion, and the external magnets (13) are mounted on mechanical arm (42)
End.
5. capsule endoscope magnetic guide control device as claimed in claim 2, which is characterized in that the magnet movement guiding module
For the mechanical arm (42) for being directly installed on magnet leader supporting module (1) top or side；The mechanical arm (42)
It can be realized end six-freedom motion, the external magnets (13) are mounted on mechanical arm (42) end.
6. the capsule endoscope magnetic guide control device as described in claim 1,2,3,4 or 5, which is characterized in that described to be detected
Person's carrier module (16) has been internally integrated magnetic induction position detecting module (35), and the magnetic induction position detecting module (35) passes through
Magnetic field sensor detects position and the posture of the capsule endoscope (14), and the position that will test and posture information feed back to it is described
External control module, the external control module adjust position and the posture of the external magnets (13) with this.
7. the capsule endoscope magnetic guide control device as described in claim 1,2,3,4 or 5, which is characterized in that the magnet draws
Leading part supporting module (1) is frame structure, which is that the movement of the magnet movement guiding module is empty
Between, it is provided in the frame structure for the space of the magnet movement guiding module to be isolated with exterior space
Isolated location.
8. capsule endoscope magnetic guide control device as claimed in claim 7, which is characterized in that the isolated location is that setting exists
The isolation window (43) that can be gone up and down along the vertical direction on the magnet leader supporting module (1) external openable and closable is blocked
Plate.
9. the capsule endoscope magnetic guide control device as described in claim 1,2,3,4 or 5, which is characterized in that the external control
The Z-direction extreme lower position of the magnet movement guiding module is provided in molding block as its Z-direction home, the magnet movement
When guiding module moves under the control of the external control module, if its position reaches Z-direction home, the external control
Molding block alarms and controls the magnet movement guiding module stop motion.
10. the capsule endoscope magnetic guide control device as described in claim 1,2,3,4 or 5, which is characterized in that further include being used for
The power induction module of contact force information between external magnets (13) and detected person (15) is perceived, the power induction module is felt in real time
Know the contact forces of external magnets (13) and detected person (15), and force signal is transferred to by signal processor (48) described
External control module, when the numerical value of the force signal reaches the upper limit value of setting, the external control module is alarmed and is controlled
The magnet movement guiding module stop motion.
11. capsule endoscope magnetic guide control device as claimed in claim 10, which is characterized in that the power induction module is to cover
The pressure-sensitive fabric of flexible intelligent at detected person (15) position to be detected is covered, the pressure-sensitive fabric real-time perception of the flexible intelligent is passed through
The external pressure at the detected person (15) position to be detected.
12. capsule endoscope magnetic guide control device as claimed in claim 10, which is characterized in that the power induction module is peace
Six-dimensional force/torque sensor mounted in magnet movement guiding module end.
13. capsule endoscope magnetic guide control device as claimed in claim 6, which is characterized in that the detected person carries mould
Block (16) is separate structure, comprising: main supporting module (32) and Auxiliary support module (33), the main supporting module (32) are longitudinal
Both ends are each removably to connect more than one Auxiliary support module (33).
14. capsule endoscope magnetic guide control device as claimed in claim 6, which is characterized in that the detected person carries mould
Block (16) is longitudinal stretchable structure or folding structure.
15. capsule endoscope magnetic guide control device according to claim 13 or 14, which is characterized in that the detected person holds
It carries module (16) bottom and is provided with fixation support machine for carrying out mobile rolling mechanism to it and for supporting
Structure.
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