CN109259716B - Capsule endoscope magnetic guide control device - Google Patents
Capsule endoscope magnetic guide control device Download PDFInfo
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- CN109259716B CN109259716B CN201811027424.1A CN201811027424A CN109259716B CN 109259716 B CN109259716 B CN 109259716B CN 201811027424 A CN201811027424 A CN 201811027424A CN 109259716 B CN109259716 B CN 109259716B
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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
Abstract
The invention discloses a capsule endoscope magnetic guide control device, which can accurately control an external magnet to generate six-degree-of-freedom motion, and the external magnet and a magnet in a capsule endoscope in a detected body generate magnetic interaction, so that the capsule endoscope is driven in a complex gastrointestinal structure, and more accurate position and motion control is provided. The tested person bearing module is connected with the external magnet guiding module through the magnet guiding part supporting module at high precision; the device is suitable for gastrointestinal tract and other full-area endoscopy with different anatomical structures, has high detection efficiency, reduces the cost and is convenient to carry on the basis of improving the control and positioning accuracy.
Description
Technical Field
The invention relates to a control device, in particular to a guide control device of a capsule endoscope for a digestive tract, belonging to the field of medical instruments.
Background
Capsule endoscopes have lower risks and less pain and trauma to patients than conventional endoscopes and have become increasingly accepted by patients in clinical applications. Currently, in Israel Given in Imaging, Olympus Japan, national Jinshan technology and other companies have successively introduced products of capsule endoscopy.
The capsule endoscope is generally swallowed from the mouth by a person to be measured, after entering the intestinal tract from the stomach, because the intestinal tract is complicated, the motion of the capsule endoscope cannot achieve a good effect, only the passive mode of intestinal peristalsis can be adopted for moving, the detection period is longer, the image data shot from the wireless communication module of the endoscope is huge, the data processing is difficult, so that the detection personnel cannot accurately know the position and the state of the current capsule endoscope, and the shot image cannot accurately correspond to a lesion part.
The active capsule endoscope with controllable movement can inspect gastrointestinal regions which are difficult to reach by the traditional technical means, has higher inspection efficiency, and becomes an important trend of gastrointestinal endoscopy technology. However, the detection site of the active capsule endoscope is mainly aimed at the stomach at present, and the efficient and timely detection of complex intestinal tract sites such as colon or rectum is difficult. In addition, in the existing active capsule endoscope technology, the requirements of high precision of equipment installation and control and the flexibility and convenience of installation and transportation are difficult to be considered at the same time.
Disclosure of Invention
In view of the above, the present invention provides a magnetic guidance control device for a capsule endoscope, which realizes position and posture control of an in-vivo capsule endoscope by precisely generating external magnet motion with six degrees of freedom, and is suitable for gastrointestinal endoscopy and other full-area endoscopy of digestive tracts with different anatomical structures.
The capsule endoscope magnetic guide control device comprises: the magnet guiding part comprises a support module, a magnet movement guiding module, an external magnet, a detected person bearing module and an external control module; the capsule endoscope is provided with a magnet in the capsule endoscope,
the detected person bearing module is used for bearing a detected person with the capsule endoscope in the body;
the magnet guiding part supporting module is arranged on the bearing module of the detected person and used for supporting the magnet movement guiding module so that the magnet movement guiding module is positioned above the bearing module of the detected person;
the external magnet is arranged on the magnet motion guide module, the magnet motion guide module drives the external magnet to move under the control of the external control module, the external magnet and the magnet in the capsule endoscope form magnetic interaction, and the capsule endoscope is driven to move through the motion of the external magnet so as to adjust the position and the posture of the capsule endoscope;
the external control module performs data transmission with the capsule endoscope in a cable or wireless mode to obtain an image shot by the capsule endoscope in real time.
The magnet motion guiding module drives the external magnet to move in six spatial degrees of freedom under the control of the external control module, wherein the six spatial degrees of freedom respectively comprise movement in three directions of X, Y, Z and rotation around three directions of X, Y, Z, the Z direction is perpendicular to the bearing module of the detected person, and the X direction and the Y direction are respectively the transverse direction and the longitudinal direction of the bearing module of the detected person.
Has the advantages that:
(1) the external magnet which forms magnetic interaction with the magnet in the capsule endoscope in the detected person has six directions of movement, can provide more accurate position and movement control for the capsule endoscope, and has high position precision.
(2) The device is suitable for gastrointestinal and other full-area endoscopy with different anatomical structures of the digestive tract, and the detection efficiency is improved;
(3) the magnet movement guiding module is fixed on the bearing module of the detected person, so that the installation and control precision is ensured;
(4) the isolation unit and the contact force sensing module are added in the detection process of the device, so that the safety of a detected person in the detection process is ensured.
Drawings
FIG. 1 is a schematic view of a capsule endoscope control device with a linear guide moving magnetic guide;
FIG. 2 is a schematic view of an external magnet drive mechanism including three rotational degrees of freedom;
FIG. 3 is a schematic view of a capsule endoscope control structure including a position detection module and a connection module between the main support module and the auxiliary support module;
FIG. 4 is a schematic structural view of a capsule endoscope magnetic guide control device with a safety isolation structure and a mechanical arm suspension;
fig. 5 is a schematic structural view of a capsule endoscope magnetic guide control device with a flexible pressure-sensitive fabric and a mechanical arm arranged laterally.
Wherein: 1-magnet guide part supporting module, 2-Y direction slide rail, 4-Y direction motor, 5-X direction motor, 6-X direction guide rail, 7-X direction guide rail bracket, 8-Z direction motor, 9-Z direction guide rail, 10-X direction slide block, 11-Z direction slide block, 12-fixing block, 13-external magnet, 14-capsule endoscope, 15-detected person, 16-detected person bearing module, 17-Z direction rotating motor, 18-connecting bracket A, 19-Y direction rotating motor, 20-connecting bracket B, 21-rotating shaft, 22-synchronous belt mechanism, 23-rotating motor, 24-control console, 27-display, 29-motion control and data processor module, 30-rolling mechanism, 31-a fixed supporting mechanism, 32-a main supporting module, 33-an auxiliary supporting module, 34-a connecting module, 35-a magnetic induction position detecting module, 38-a vertical movement sliding block, 39-a vertical movement guide rail, 40-a driving motor, 41-a connecting block, 42-a mechanical arm, 43-an isolating window, 46-a flexible pressure-sensitive fabric and 48-a signal processor.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
the embodiment provides a control device for magnetically guiding a capsule endoscope to move in the alimentary canal of a human body, as shown in fig. 1, the capsule endoscope magnetic guiding control device comprises: the magnet guiding part supporting module 1, the magnet movement guiding module, the external magnet 13, the detected person carrying module 16 and the external control module, the magnet is arranged in the capsule endoscope 14, the capsule endoscope 14 has a single-lens or double-lens photographing function and a data communication function with an external controller, and a biopsy mechanism meeting the biopsy function can be installed.
The module 16 is used for providing a support table for the person 15 to be detected to lie down, the bottom of the module 16 is provided with a rolling mechanism and a fixed support mechanism, the rolling mechanism is arranged to enable the module 16 to be detected to move conveniently, and the fixed support mechanism is arranged to enable the module 16 to be detected to be supported on the ground stably.
The magnet guiding part supporting module 1 is a vertical column and a longitudinal beam which are arranged on the bearing module 16 of the detected person and used for supporting the magnet movement guiding module, in the embodiment, the magnet guiding part supporting module 1 comprises four vertical columns which are vertically arranged on the bearing module 16 of the detected person, two sets of the four vertical columns are respectively arranged at two transverse ends of the bearing module 16 of the detected person (the longitudinal direction is the direction in which the detected person 15 lies down), and one longitudinal beam is connected above each set of the vertical columns. The magnet guide portion support module 1 and the subject carrying module 16 are connected with high accuracy by a screw.
The external magnet 13 is a permanent magnet or an electromagnet or a superconducting magnet and is used for generating magnetic interaction with a magnet in the capsule endoscope and guiding the capsule endoscope to move in the alimentary canal; the shape of the rotary shaft 21 can be a sphere, a cylinder, a cuboid and the like, and a center hole for installing the rotary shaft is arranged in the center.
The magnet movement guide module includes: an XYZ three-axis linear sliding driving unit and an XYZ three-axis rotation driving unit; the vertical direction is defined as the Z-axis, the longitudinal direction of the detected person 15 in the horizontal plane is defined as the Y-axis, and the lateral direction is defined as the X-axis. The XYZ three-axis linear sliding drive unit includes: a Y-direction guide rail 2 (one Y-direction guide rail 2 is provided on each longitudinal beam) provided on the longitudinal beam of the magnet guide portion support module 1, a Y-direction motor 4 for driving the Y-direction slider 3 to slide on the Y-direction slide rail 2, an X-direction guide rail holder 7 having both ends connected to the two Y-direction sliders 4 through fixing blocks, respectively, an X-direction guide rail 6 provided on the X-direction guide rail holder 7, an X-direction motor 5 for driving the X-direction slider 10 to slide on the X-direction guide rail 6, a Z-direction slider 11 connected to the X-direction slider 10 through a fixing block, a Z-direction guide rail 9 slidably fitted to the Z-direction slider 11, and a Z-direction motor 8 for driving the Z-direction guide rail 9 to move in the Z-direction with respect to the Z-.
As shown in fig. 2, the XYZ three-axis rotation drive unit includes: a fixed block 12 connected to the end (lower end) of the Z-direction rail, a Z-direction rotating motor 17 mounted on the fixed block 12 (the axial direction of the output shaft of the Z-direction rotating motor 17 is parallel to the Z-direction), a connecting bracket a18 connected to the output shaft of the Z-direction rotating motor 17, a Y-direction rotating motor 19 fixed to the connecting bracket 18 (the axial direction of the output shaft of the Y-direction rotating motor 19 is parallel to the Y-direction), a connecting bracket B20 connected to the output shaft of the Y-direction rotating motor 19, an X-direction rotating motor 23 fixed to the connecting bracket B20 (the axial direction of the output shaft of the X-direction rotating motor 23 is parallel to the X-direction), a rotating shaft 21 coaxially fixed in the center hole of the external magnet 13 (the axial direction of the rotating shaft 21 is parallel to the X-direction), and a. The external magnet 13 is thereby driven to rotate in the Z direction by the Z-direction rotating motor 17, the external magnet 13 is driven to rotate in the Y direction by the Y-direction rotating motor 19, the driving force of the rotating motor 23 is transmitted to the rotating shaft 21 by the X-direction rotating motor 23 through the timing belt mechanism 22, and the external magnet 13 is driven to rotate in the X direction by the rotating shaft 21.
The external control module includes: the device comprises a display 27, a console 24, a rolling mechanism 30, a fixed supporting mechanism 31 and a motion control and data processor module 29, wherein the console 24 is a transverse console on which the display 27 is placed; the motion control and data processing module 29 in the console 24 performs data transmission with the capsule endoscope in the examinee 15 through a cable or wireless manner, and is used for acquiring an image of the examinee 15 taken by the capsule endoscope in real time and transmitting the image to the display 27 for real-time display; meanwhile, the motion control and data processing module 29 is connected to the magnet motion guiding module in a cable or wireless manner, and is configured to control the XYZ triaxial linear sliding driving unit and the XYZ triaxial rotation driving unit, thereby implementing motion control of the external magnet 13. The bottom of the control console 24 is provided with a rolling mechanism 30 and a fixed supporting mechanism 31, the control console 24 is convenient to move through the arranged rolling mechanism 30, and the control console 24 can be stably supported on the ground through the arranged fixed supporting mechanism.
Before the capsule endoscope detection is carried out on a human body by adopting the device, the operation steps and related conditions need to be explained:
definition of magnet movement guidance module initial position: adjusting the position of the external magnet 13 to the highest position in the Z direction, the farthest position in the negative direction in the Y direction, and the maximum position in the positive direction or the negative direction in the X direction, namely sliding the Y-direction slider 3 to the rightmost end of the Y-direction slide rail 2, sliding the X-direction slider 10 to the rightmost end or the leftmost end of the X-direction slide rail 6, and positioning the Z-direction slider 11 at the lowest end of the Z-direction slide rail 9 to make room for the examinee 15 to smoothly lie down on the examinee carrying module 16, and defining the position as the initial position; the device is in the initial position state before the detected person 15 does not enter the detection area and the power of the equipment is not turned on, and after the power of the equipment is turned off and the detected person 15 finishes detecting and leaves the detection area.
Before the person 15 to be detected is detected, the power supply of the device is not turned on, the device is in the initial position, at this time, enough space is provided for the person 15 to enter the detection area, at this time, the person 15 to be detected lies on the person carrying module 16, then the power supply of the device is turned on, at this time, the vertical axis of the Z-guide rail 9 is positioned at one side deviated from the person 15 to be detected and is not positioned right above the chest and the abdomen.
Adjustment of the height of the external magnet 13: the external magnet 13 is driven to move downwards to a position which is 3cm-5cm away from the highest point which can be reached by the chest and abdomen of the detected person by driving the Z-direction guide rail 9 to move along the Z direction relative to the Z-direction slide block 11, and the position is used as the lowest Z-direction position of the external magnet 13, namely a Z-direction safety position. During the subsequent detection guiding process, the body of the detected person 15 cannot be lower than the Z-direction safety position no matter how the external magnet 13 moves, so that the body of the detected person 15 is ensured not to be touched, and if the Z-direction safety position is reached, the movement is stopped immediately and an alarm is given (the position-adjustable travel switch can be arranged on the Z-direction guide rail 9 or the displacement of the Z-direction guide rail 9 is monitored by an external control module).
Then, the Z-direction guide rail 9 is driven to lift the Z-direction position of the external magnet 13, the position of the X-direction slide block 10 is adjusted through the X-direction motor 5, the position of the Y-direction slide block 3 is adjusted through the Y-direction motor 4, the external magnet 13 is moved to the upper part of the chest and abdomen of the detected person 15, the position and the posture of the capsule endoscope 14 in the detected person 15 are controlled, and the capsule endoscope 14 performs an image photographing or biopsy examination step and the like in the detected person 15; in the examination process, the orientation of the external magnet 13 is adjusted through the XYZ three-axis rotation driving unit, and the external magnet 13 and the magnet in the in-vivo capsule endoscope 14 in the alimentary canal of the detected person 15 form magnetic interaction, so that the external magnet 13 drives the capsule endoscope 14 to adjust the orientation. After the detection is finished, the device is adjusted to the initial position, the power supply of the equipment is turned off, the detected person 15 gets up and leaves the detection area, and the detection process is finished.
In this embodiment, the sliding motion along the X, Y, Z three-axis guide rail and the rotation motion around the X, Y, Z three axes are independent and do not interfere with each other, the operation range of the external magnet 13 is always within the X, Y, Z three sliding guide rails, and the movement range of the external magnet 13 is always in accordance with the required working space and safety requirements by the adjustment of the position of the detected person and the programming control of the movement range of the external magnet on the guide rails.
When the detected person 15 performs the endoscopic detection on the colon, the rectum and other parts, the capsule endoscope 14 does not need to be swallowed from the mouth and then moves in a passive mode of intestinal peristalsis, the motion of the capsule endoscope in the body is controlled by the guiding control device in a mode of entering the anus, the specific part is checked by combining with a water filling and air filling measure, and the capsule endoscope 14 can also carry a biopsy mechanism.
Example 2:
as shown in fig. 3, the present embodiment has the same magnet guide portion support module 1, magnet movement guide module, external magnet 13, and external control module as embodiment 1.
The difference from the above embodiment 1 is that the detected person carrying module of this embodiment adopts a split structure, including: the main support module 32 and the auxiliary support module 33 are connected by a connection module 34, as shown in fig. 3. The connection module 34 is an L-shaped fixing plate, and is fixed on the auxiliary support module 33 through a plurality of threads, and then is connected with the main support module 32 through threads, in this embodiment, two auxiliary support modules 33 are respectively arranged at two longitudinal ends of the main support module 32, a gap between the main support module 32 and the auxiliary support modules 33 can be fastened through adjusting threads, and in addition, a rolling mechanism and a fixed support mechanism are installed at the bottoms of the main support module 32 and the auxiliary support modules 33.
In this embodiment, the magnetic induction position detection module 35 is integrated inside the main support module 32, and the magnetic field sensor on the magnetic induction position detection module 35 senses the position information of the in-vivo capsule endoscope 14 of the detected person 15 and feeds the information back to the external control module, and the external control module sequentially adjusts the position of the magnet motion guiding module to improve the control of the in-vivo capsule endoscope 14.
The main supporting module 32 and the auxiliary supporting module 33 of the tested person carrying module can be connected in other ways, such as an elastic belt and a buckle, and the main supporting module 32 and the auxiliary supporting module 33 can be made into a stretching sliding structure or a folding structure instead of a split structure, so that the space of the supporting module is saved and the transportation and the carrying are facilitated on the premise of meeting the application.
Example 3:
as shown in fig. 4, in this embodiment, the structure of the subject carrying module is the same as that of embodiment 2, and includes a main supporting module 32 and two auxiliary supporting modules 33, the two auxiliary supporting modules 33 are respectively connected to two longitudinal ends of the main supporting module 32 through connecting modules 34, and a rolling mechanism and a fixed supporting mechanism are installed at the bottom of the main supporting module 32 and the auxiliary supporting modules 33.
Further, the magnet guide portion support module 37 in the present embodiment includes: the four upright posts are respectively arranged at two transverse ends of the bearing module 16 of the detected person in a group two by two (the longitudinal direction is the lying direction of the detected person 15). The top of four stands sets up two crossbeams and two longerons and connects into rectangular frame, and lies in and connect many longerons between two stands of same one side and carry out the auxiliary stay and realize working space's isolation simultaneously. The vertical connecting rods are arranged between the two cross beams at the tops of the four upright posts, two ends of each vertical connecting rod are fixedly connected with the middle parts of the two cross beams respectively, the vertical moving sliding blocks 38 are fixedly arranged on the vertical connecting rods, the vertical moving guide rails 39 are in sliding fit with the vertical moving sliding blocks 38, and the vertical moving guide rails 39 can move along the Z direction relative to the vertical moving sliding blocks 38 under the driving of the driving motors 40. The mechanical arm 42 capable of realizing the six-degree-of-freedom end motion is connected with the end (lower end) of the vertical motion guide rail 39 through the connecting block 41, and the six degrees of freedom of the mechanical arm 42 respectively slide in three axes of X, Y, Z and rotate around three axes of X, Y, Z. The external magnet 13 is arranged at the tail end of the mechanical arm 42, and the external magnet 13 and the magnet in the in-vivo capsule endoscope 14 in the alimentary canal of the detected person 15 form magnetic interaction, so that the posture and the position of the in-vivo capsule endoscope 14 are controlled.
In this embodiment, between two vertical columns at two longitudinal ends of the magnet guide portion support module, an isolation window 43 is installed, which can extend and retract along the vertical direction, and together with a longitudinal beam at the middle side surface of the magnet guide portion support module, the mechanical arm 42 and the motion space of the external magnet 13 are isolated in an area, so that the mechanical arm 42 is prevented from breaking through the motion area between the four vertical columns of the magnet guide portion support module during the guiding process. The isolation window 43 is vertically lifted and slid in the sliding groove of the upright post, and can bear external force with certain strength.
In this embodiment, the console in the external control module is a longitudinal console, and the motion control and data processing module 29 inside the console performs data transmission with the capsule endoscope 14 inside the subject 15 through a cable or wirelessly, so as to obtain an image of the subject 15 inside the capsule endoscope in real time, and transmit the image to the display 27 for real-time display; meanwhile, the motion control and data processing module 29 is connected to the mechanical arm 42 in a cable or wireless manner, and is configured to control the mechanical arm 42 to perform six-degree-of-freedom motion, so as to control the motion of the external magnet 13.
In this embodiment, the following description is made of the operation steps of the security operation:
definition of initial position of mechanical arm: the vertical movement rail 39 is moved to the highest position in the vertical direction by the driving of the driving motor 40, the end of the robot arm 42 and other joints are adjusted to a higher position or a sufficiently high area, a sufficient space is left for the examinee 15 to lie down on the examinee carrying module, and this position is defined as the initial position of the robot arm 42, and the robot arm 42 is returned to the initial position when the apparatus is not used, the examinee 15 does not lie down on the examinee carrying module, and the apparatus is used and the examinee 15 leaves.
Before the detected person 15 enters the detected person carrying module, the equipment power supply is not started, the mechanical arm 42 is at the initial position, the isolation window 43 is in a pull-down state, the isolation window 43 is pulled upwards to the top end of the magnet guide part supporting module at the moment, the detected person 15 lies in the detected person carrying module at the moment and is adjusted to the optimal position, so that the area to be detected completely enters the movable area among the four upright posts of the magnet guide part supporting module, and the isolation window 43 is pulled down, so that the isolation window 43 is in a working space isolation state in the moving process of the mechanical arm 42.
The power supply of the device is turned on, the tail end position of the mechanical arm 42 is adjusted to the lowest vertical position which can be reached by the mechanical arm 42, and at the moment, the external magnet 13 at the tail end is still a certain distance away from the highest point of the chest and abdomen part of the detected person 15.
The overall position of the mechanical arm 42 in the vertical direction is adjusted by controlling the sliding of the vertical motion guide rail 39 relative to the vertical motion slider 38, the lowest point of the external magnet 13 at the tail end of the mechanical arm is adjusted to a position 3-5cm away from the highest point which can be reached by the chest and abdomen part of the person 15 to be detected, and the position of the vertical guide rail 39 is fixed and is used as the lowest position, namely a safety position, which can be reached by the mechanical arm 42 in the vertical direction. In the subsequent guiding process, no matter how the external magnet 13 moves, the position cannot be lower than the safe position in the vertical direction, and then the position and the posture of the capsule endoscope 14 in the alimentary tract of the human body are controlled by adjusting the movement of each joint of the mechanical arm 42, so that the examination steps such as image photographing or biopsy and the like are completed through the capsule endoscope 14.
After the examination is finished, the vertical guide rail 39 is controlled to vertically slide upwards to the highest position, the mechanical arm 42 is enabled to return to the initial position by controlling each movable joint of the mechanical arm 42, enough sitting and standing space is reserved for the detected person 15, and then the power supply of the equipment is turned off, so that the power supply of the equipment is in a turned-off state when the detected person 15 gets up and leaves;
finally, the isolation window 43 is adjusted to the highest position, the subject 15 gets up and leaves, and then the isolation window 43 is put down.
Example 4:
as shown in fig. 5, in the present embodiment, the difference from embodiment 1 is that: the magnet guiding part supporting module comprises an upright post, a cross beam and a longitudinal beam, and is connected with a bearing module of a detected person, the bottom of which comprises a rolling mechanism and a fixed supporting mechanism, in a high-precision manner. In the present embodiment, the robot arm 42 is mounted inside the magnet guide support module top stringer, and the robot arm 42 can achieve six-degree-of-freedom end motion, which is X, Y, Z three-axis sliding and X, Y, Z three-axis rotation, respectively. The external magnet 13 is arranged at the tail end of the mechanical arm 42, and the external magnet 13 is driven by the mechanical arm 42 to move in six degrees of freedom. The external magnet 13 and a magnet in the in-vivo capsule endoscope 14 in the detected person 15 form magnetic interaction, and the posture and the position of the in-vivo capsule endoscope 14 are controlled.
In this embodiment, the magnetic induction position detection module 35 is installed inside the carrying module of the subject, and can be installed through the side surface, the bottom surface or the top surface, the position information of the in-vivo capsule endoscope 14 is sensed by the magnetic field sensor inside the magnetic induction position detection module 35, and is fed back to the external control module through a cable or in a wireless manner, and the position and the posture of the in-vivo capsule endoscope 14 are controlled by adjusting the position and the posture of the external magnet 13.
In addition, in this embodiment, the part to be detected of the detected person 15 is covered with the flexible pressure-sensitive fabric 46, during the guiding process of the mechanical arm 42, the external pressure applied to the corresponding part can be sensed in real time through the flexible pressure-sensitive fabric 46, and the pressure signal is immediately transmitted to the external control module through the signal processor 48 in a cable or wireless manner, if the applied external pressure reaches the set upper limit value, the external control module immediately alarms, and the mechanical arm immediately stops operating, so that the situation that the detected person 15 is touched during the movement of the mechanical arm 42 is controlled, and further damage to the detected person 15 is caused can be avoided.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A capsule endoscope magnetic guidance control device, a magnet is arranged in a capsule endoscope (14), and the magnetic guidance control device is characterized by comprising: the magnet guiding part support module (1), the magnet movement guiding module, an external magnet (13), a detected person carrying module (16) and an external control module;
the detected person carrying module (16) is used for carrying a detected person (15) with the capsule endoscope (14) in the body;
the magnet guiding part supporting module (1) is arranged on a carrier module (16) of a detected person and used for supporting the magnet movement guiding module so that the magnet movement guiding module is positioned above the carrier module (16) of the detected person;
the external magnet (13) is arranged on the magnet movement guide module, the magnet movement guide module drives the external magnet (13) to move under the control of the external control module, the external magnet (13) and a magnet in the capsule endoscope (14) form magnetic interaction, and the movement of the external magnet (13) drives the capsule endoscope (14) to move so as to adjust the position and the posture of the capsule endoscope (14);
the external control module performs data transmission with the capsule endoscope (14) in a cable or wireless mode to obtain an image shot by the capsule endoscope (14) in real time;
the magnet motion guide module drives the external magnet (13) to move in six spatial degrees of freedom under the control of the external control module, wherein the six spatial degrees of freedom are respectively movement along three directions X, Y, Z and rotation around three directions X, Y, Z, the Z direction is a direction perpendicular to the bearing module (16) of the detected person, and the X direction and the Y direction are respectively the transverse direction and the longitudinal direction of the bearing module (16) of the detected person;
the external control module is provided with a Z-direction lowest position of the magnet motion guide module as a Z-direction safety position of the magnet motion guide module, and when the magnet motion guide module moves under the control of the external control module, if the position of the magnet motion guide module reaches the Z-direction safety position, the external control module gives an alarm and controls the magnet motion guide module to stop moving; thereby ensuring that the body of the detected person (15) is not touched;
the device is characterized by further comprising a force sensing module for sensing contact force information between an external magnet (13) and a detected person (15), wherein the force sensing module senses the contact force between the external magnet (13) and the detected person (15) in real time and transmits a force signal to the external control module through a signal processor (48), and when the value of the force signal reaches a set upper limit value, the external control module gives an alarm and controls the magnet movement guiding module to stop moving;
the magnet movement guide module includes: an XYZ three-axis linear sliding driving unit and an XYZ three-axis rotation driving unit;
the XYZ three-axis linear sliding drive unit includes: two Y-direction guide rails (2) arranged at the top of a magnet guide part supporting module (1), a Y-direction sliding block (3) in sliding fit with the Y-direction guide rails (2), a Y-direction motor (4) for driving the Y-direction sliding block (3) to slide on the Y-direction sliding rail (3), an X-direction guide rail bracket (7) with two ends respectively connected with the two Y-direction sliding blocks (4) through fixed blocks, and an X-direction guide rail (6) arranged on the X-direction guide rail bracket (7), the X-direction sliding block (10) is matched with the X-direction guide rail (6) in a sliding mode, the X-direction motor (5) is used for driving the X-direction sliding block (10) to slide on the X-direction guide rail (6), the Z-direction sliding block (11) is fixedly connected with the X-direction sliding block (10), the Z-direction guide rail (9) is matched with the Z-direction sliding block (11) in a sliding mode, and the Z-direction motor (8) is used for driving the Z-direction guide rail (9) to move along the Z direction relative to the Z-direction sliding block (11);
the XYZ three-axis rotation driving unit includes: a Z-direction rotating motor (17) fixed at the lower end of the Z-direction guide rail (9), a Y-direction rotating motor (19) fixedly connected with an output shaft of the Z-direction rotating motor (17), an X-direction rotating motor (23) fixedly connected with an output shaft of the Y-direction rotating motor (19), a rotating shaft (21) fixed in a central hole of the external magnet (13) and parallel to the axial direction of the X-direction rotating motor (23), and a synchronous belt mechanism (22) used for connecting the output shaft of the X-direction rotating motor (23) and the rotating shaft (21); the axial direction of the output shaft of the Z-direction rotating motor (17) is along the Z direction, the axial direction of the output shaft of the Y-direction rotating motor (19) is along the Y direction, and the axial direction of the output shaft of the X-direction rotating motor (23) is along the X direction;
the magnet guiding part supporting module (1) is of a frame structure, the inner space of the frame structure is the movement space of the magnet movement guiding module, and an isolation unit for isolating the movement space of the magnet movement guiding module from the external space is arranged on the frame structure;
the tested person bearing module (16) is of a split structure and comprises: the device comprises a main supporting module (32) and auxiliary supporting modules (33), wherein the longitudinal two ends of the main supporting module (32) are respectively detachably connected with more than one auxiliary supporting module (33); the magnet guide support module (1) is mounted on a main support module (32).
2. A magnetic guidance control device for an endoscope according to claim 1, wherein said magnet movement guidance module comprises: the vertical movement guide part supporting module comprises a vertical movement sliding block (38) arranged on a connecting rod at the top of the magnet guiding part supporting module (1), a vertical movement guide rail (39) in sliding fit with the vertical movement sliding block (38), a driving motor (40) used for driving the vertical movement guide rail (39) to move along the Z direction relative to the vertical movement sliding block (38), and a mechanical arm (42) arranged at the lower end of the driving vertical movement guide rail (39); the mechanical arm (42) can realize six-degree-of-freedom movement of the tail end, and the external magnet (13) is installed at the tail end of the mechanical arm (42).
3. An intra-capsule-lens magnetic-guidance control device according to claim 1, wherein the magnet-movement-guiding module is a robot arm (42) directly mounted on the top or side of the magnet-guiding-portion support module (1); the mechanical arm (42) can realize six-degree-of-freedom movement of the tail end, and the external magnet (13) is installed at the tail end of the mechanical arm (42).
4. The magnetic guidance control device for an endoscope in a capsule according to claim 1, 2 or 3, characterized in that a magnetic induction position detection module (35) is integrated in the subject carrying module (16), the magnetic induction position detection module (35) detects the position and posture of the endoscope (14) in a capsule through a magnetic field sensor and feeds back the detected position and posture information to the external control module, and the external control module adjusts the position and posture of the external magnet (13) accordingly.
5. A magnetic guidance control device for an endoscope in a capsule according to claim 1, wherein the isolation unit is an isolation window (43) which is provided on the magnet guide portion support module (1) and can be lifted and lowered in a vertical direction or an external openable and closable shielding plate.
6. The magnetic guidance control device for the capsule endoscope according to claim 1, wherein the force sensing module is a flexible intelligent pressure-sensitive fabric covering the portion to be detected of the detected person (15), and the external pressure of the portion to be detected of the detected person (15) is sensed in real time through the flexible intelligent pressure-sensitive fabric.
7. An intra-capsule-lens magnetic guidance control apparatus according to claim 1, wherein said force sensing module is a six-dimensional force/torque sensor mounted at an end of the magnet motion guidance module.
8. An in-capsule endoscope magnetic guidance control device according to claim 4, characterized in that the detected person carrying module (16) is of a longitudinally stretchable or foldable structure.
9. An in-capsule endoscope magnetic guidance control device according to claim 1 or 8, characterized in that the bottom of the detected person carrying module (16) is provided with a rolling mechanism for moving it and a fixed support mechanism for supporting it.
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| CN110236474B (en) * | 2019-06-04 | 2020-10-27 | 北京理工大学 | Active magnetic control capsule robot detection system and detection method |
| CN110151323A (en) * | 2019-06-05 | 2019-08-23 | 北京理工大学 | A kind of isolating device of capsule endoscope operating platform |
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| CN111528772B (en) * | 2020-04-16 | 2023-08-01 | 上海长海医院 | Magnetic control capsule gastroscopy vehicle and control method thereof |
| CN111351957A (en) * | 2020-05-04 | 2020-06-30 | 长沙学院 | Flow field PIV (particle image velocimetry) measuring platform of magnetic control capsule robot in conduit |
| CN111568349A (en) * | 2020-06-04 | 2020-08-25 | 中国医学科学院生物医学工程研究所 | Portable control device and method for capsule endoscope products |
| CN111657826A (en) * | 2020-07-10 | 2020-09-15 | 上海安翰医疗技术有限公司 | Magnetic control device and magnetic control capsule endoscope system |
| CN111973136B (en) * | 2020-09-14 | 2022-11-25 | 上海安翰医疗技术有限公司 | Control method and control system of magnetic control capsule endoscope device |
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