CN110151323A - A kind of isolating device of capsule endoscope operating platform - Google Patents
A kind of isolating device of capsule endoscope operating platform Download PDFInfo
- Publication number
- CN110151323A CN110151323A CN201910487085.3A CN201910487085A CN110151323A CN 110151323 A CN110151323 A CN 110151323A CN 201910487085 A CN201910487085 A CN 201910487085A CN 110151323 A CN110151323 A CN 110151323A
- Authority
- CN
- China
- Prior art keywords
- module
- isolation
- control
- capsule endoscope
- movement guiding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000002775 capsule Substances 0.000 title claims abstract description 40
- 238000002955 isolation Methods 0.000 claims abstract description 143
- 230000033001 locomotion Effects 0.000 claims abstract description 112
- 210000001015 abdomen Anatomy 0.000 claims abstract description 5
- 210000000038 chest Anatomy 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 11
- 238000012360 testing method Methods 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 2
- 238000010200 validation analysis Methods 0.000 claims description 2
- 230000005693 optoelectronics Effects 0.000 description 14
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001839 endoscopy Methods 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The present invention provides a kind of isolating device of capsule endoscope operating platform, and the working space of capsule endoscope external magnets can be isolated, and the influence that external environment interference generates the motion control of movement guiding module is effectively reduced.The isolating device of the capsule endoscope operating platform, the capsule endoscope carry out Magnetic driving by external magnets, and the external magnets are mounted on the end of movement guiding module, guide external magnets movement by the movement guiding module；Isolating device includes: the first isolation module, the second isolation module and bearing support module；Movement guiding module and the first isolation module are installed in the bearing support module, and the motion range of the movement guiding module is limited within the scope of its inner frame boundary by first isolation module；Second isolation module is to be arranged in the bearing support module, for covering on the isolation cover on the outside of detected person's thorax abdomen.
Description
Technical field
The present invention relates to a kind of isolating devices, and in particular to a kind of isolating device of capsule endoscope operating platform belongs to machine
Device people control and design field.
Background technique
The guidance of active capsule endoscope currently on the market is mainly in such a way that magnetic guides, i.e., external by detected person
External magnets are generated with the magnet inside capsule endoscope to interact to realize, and external magnets are then by with multiple freedom degrees
External drive mechanism guide.
But external magnets are during the motion, there is the risk being in contact in working space with detected person,
And outside operator or detected person are easy the movement to external magnets and external drive mechanism and generate interference, to work
Space impacts.In addition, external magnets are either electrified the electromagnetic induction coil or permanent magnet of stream, although magnetic field strength
Less than nuclear magnetic resonance equipment, but it is possible to the external environment to surrounding interferes, accident occurs.
Therefore, it is necessary to the working spaces to external magnets to be isolated, and the limited operation spatial data after isolation is real
When accurately define and identify, to guarantee the high efficiency and safety of external magnets motion control.
Summary of the invention
In view of this: the present invention provides a kind of isolating device of capsule endoscope operating platform, can be to capsule endoscope outside
The working space of magnet is isolated, and the shadow that external environment interference generates the motion control of movement guiding module is effectively reduced
It rings, and the structured data of insulating space can provide data and support for the motion control for moving guiding module and path planning,
Effectively improve robot manipulation efficiency.
The isolating device of the capsule endoscope operating platform, the capsule endoscope carry out Magnetic driving, institute by external magnets
The end that external magnets are mounted on movement guiding module is stated, external magnets movement is guided by the movement guiding module；
The isolating device includes: the first isolation module, the second isolation module and bearing support module；
The movement guiding module and the first isolation module are installed in the bearing support module, first isolation
The motion range of the movement guiding module is limited within the scope of its inner frame boundary by module；
Second isolation module is to be arranged in the bearing support module, for covering on the outside of detected person's thorax abdomen
Isolation cover.
Further include: third isolation module, the third isolation module are open-topped annular shield cover, are placed in carrying
On rack module；When the movement guiding module is in work halted state, the external magnets are located at third isolation module
It is internal.
More than two pressure sensors, the pressure are spaced apart along its contour line on the inside casing of first isolation module
Force snesor is connected with control with display module, and the pressure signal that will test is sent to control and display module；When the fortune
When dynamic guiding module touches pressure sensor during the motion, the control controls movement guiding module with display module and stops
It only moves or returns.
Be spaced apart more than two range sensors along its contour line on the inside casing of first isolation module, it is described away from
It is connected from sensor with control with display module, between movement guiding module and the first isolation module inside casing described in real-time detection
Distance, and the distance signal that will test is sent to control and display module；When the movement guiding module during the motion
When the distance between first isolation module inside casing is less than preset threshold value in control and display module, the control and display mould
The deceleration of block control movement guiding module, stop motion or return.
Setting is no less than two groups of correlation type sensors on the first isolation module inside casing；By movement guiding module to institute
The signal generation stated between the transmitting terminal and receiving end of correlation type sensor is blocked, to judge to move whether guiding module is in the
Setting regions in the inside casing of one isolation module；The correlation type sensor is connected with control with display module, it is described control and
Display module by the movement guiding module during the motion to the shadowing institute of the correlation type sensor signal
The distance between the setting regions boundary in movement guiding module and the first isolation module is stated, when the distance is less than control and display
In module when preset threshold value, the control is taken with display module control movement guiding module and runs slowly, stops or return
Operation.
More than one pressure sensor, the pressure sensor and control are disposed in second isolation module upper surface
It is connected with display module, when external magnets collide the pressure sensor on second isolation module, the system and display
Module control movement guiding module stop motion immediately or return.
The utility model has the advantages that
(1) working space of capsule endoscope external magnets can be isolated by three isolation modules, is effectively reduced
The influence to robot working space such as external environment, detected person, operator.
(2) by obtaining the structured data of insulating space, it can be carried out effectively the motion control under limited operation space
And path planning, improve endoscopy efficiency.
Detailed description of the invention
Fig. 1 is the capsule endoscope operating platform isolating device signal for being provided with the first isolation module and the second isolation module
Figure；
Fig. 2 is the capsule endoscope operating platform isolating device schematic diagram for being provided with third isolation module and crust of the device；
Fig. 3 is the first isolation module top view for being equipped with pressure sensor；
Fig. 4 is the isolating device schematic diagram for being provided with optoelectronic switch；
Fig. 5 is the second isolation module side view in bottom chevron shaped tooth containing size interval and arrangement；
Fig. 6 is the first isolation module schematic top plan view for being equipped with photoelectric sensor；
Fig. 7 is the structural schematic diagram that third isolation module is detected by optoelectronic switch.
Wherein: 1- moves guiding module, 2- external magnets, the first isolation module of 3-, 4- bearing support module, 401- carrying
Bed module, 402- support frame module, 403- binocular camera shooting head module, 404- position detecting module, 5- control and display module, 6-
Second isolation module, 7- capsule endoscope, 8- crust of the device, 9- third isolation module
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 isolating devices of capsule endoscope operating platform, are made by the isolation of three isolation modules
With being effectively reduced the influence to robot working space such as external environment, detected person, operator, improve endoscopy
Efficiency and safety.
The isolating device is used on the operating platform of capsule endoscope, for limiting the space of external magnets, is avoided
External magnets are in contact with detected person during the motion, while avoiding operator or detected person to external magnets
Movement with external drive mechanism generates interference.
As shown in Figure 1-Figure 3, which includes: the first isolation module 3, bearing support module 4, control and display mould
Block 5, the second isolation module 6, crust of the device 8 and third isolation module 9.
The movement of external magnets 2 is guided by movement guiding module 1, and movement guiding module 1 is mounted on bearing support mould
It is the articulated manipulator with seven freedom that guiding module 1 is moved on block 4, in this example, moves the end of guiding module 1 and outer
Portion's magnet 2 connects, and carries out Magnetic driving to capsule endoscope 7 by external magnets 2, guide capsule scope 7 moves；Capsule endoscope 7 has
Take pictures, picture signal transmission etc. functions.Control can receive the control instruction of operator with display module 5, realize to movement
The motion control of guiding module 1, while the image and real-time display of the transmission of capsule endoscope 7 can also be received.
Bearing support module 4 includes: carrying bed module 401 and support frame module 402, and carrying bed module 401 is for carrying
Detected person, support frame module 402 are mounted on the side of carrying 401 upper surface of bed module, for carrying movement guiding module 1；
Crust of the device 8 covers on outside support frame module 402.Movement 1 one end of guiding module be connected with support frame module 402, the other end and
External magnets 2 connect；First isolation module 3 is fixedly mounted on 402 top of support frame module, and the first isolation module 3 is hollow
Frame makes the end for moving guiding module 1 be located at the inside casing of the first isolation module 3 positioned at the surface of carrying bed module 401
In, physical limit is carried out by the space of the structure boundary of the first isolation module 3 itself to movement guiding module 1, first
Isolation module 3 has some strength.Multiple pressure sensors are spaced apart along its contour line on the inside casing of the first isolation module 3
301, as shown in figure 3, pressure sensor 301 is connected with control with display module 5, the pressure signal that will test is sent to control
With display module 5；The movement for moving guiding module 1 is controlled by controlling with display module 5, when move guiding module 1 and first every
When contacting from module 3, the pressure sensor 301 of the position detects pressure signal, and is sent to control and display module 5, control
System and the control of the display module 5 movement stop motion immediately of guiding module 1 or return.As a result, in the operating condition, can guarantee to transport
Dynamic guiding module 1 is moved in the confined space that 3 inside casing of the first isolation module is surrounded.While the first isolation module 3
Mechanical configuration parameter is pre-stored in control and display module 5, and thus, it is possible to advise in the motion control of movement guiding module 1 and path
It is used as constraint condition during drawing, limitation is provided in the level of software control for space, to operator and ambient enviroment
It is isolated.
It is also equipped with binocular camera shooting head module 403 on support frame module 402, binocular camera shooting head module 403 not only can be with
Image recognition is carried out to the region in limited range, it can be to carry out the target object within the scope of this apart from detection；Carry bed
Position detecting module 404 is installed inside module 401, the position and attitude of capsule endoscope 7 can be detected.Binocular camera
Module 403 and position detecting module 404 are connected with control with display module 5.
Second isolation module 6 is to cover on the outside of detected person's thorax abdomen with certain thickness high molecular material shield,
For carrying out being effectively isolated protection in the detection process to the thorax abdomen of detected person, detected person's body is avoided to guide movement
The movement of module 1 and external magnets 2 generates interference or directly contacts, and detected person is isolated.As shown in Figure 1, second every
It is arch shield from module 6, is removably mounted in carrying bed module 401, sliding slot such as is set in carrying bed module 401,
The two sides of second isolation module, 6 open end are located in the sliding slot in carrying bed module 401.Second isolation module 6 is according to quilt
The different building shape and posture of tester is provided with different size model numbers, and attached in 6 appearance of the second isolation module of each model
There is corresponding identification code, the structure size data of these identification codes and corresponding second isolation module 6 are pre-stored in control and display
In the memory module of module 5.Therefore, when the second isolation module 6 is placed in carrying bed module 401, pass through binocular camera
Module 403 identifies that control receives binocular camera shooting head module with display module 5 to the identification code on the second isolation module 6
After 403 identification code informations passed over, the knot of currently used second isolation module 6 is obtained from internal memory module
Structure dimension data.Meanwhile binocular camera shooting head module 403 also judges the second isolation mode by the position and distance of detection identification code
Whether block 6 (avoids the second isolation module 6 from sliding back and forth in carrying bed module 401, causes to protect in correct protective position
Location dislocation), if protective position is correct, allow to carry out detected person inspection operation, it is on the contrary then show the second isolation mode
The prompt information of 6 positional fault of block.
It is disposed with pressure sensor in 6 upper surface of the second isolation module, can detecte movement guiding module 1 or external magnetic
Body 2 during the motion with the contact of the second isolation module 6.I.e. pressure sensor is connected with control with display module 5, will test
To pressure signal be sent to control and display module 5；When moving 1 the second isolation module 6 of contact-impact of guiding module, contact
The pressure sensor of position of collision detects pressure signal, and is sent to control and display module 5, and control is controlled with display module 5
The system movement stop motion immediately of guiding module 1 or return.
Control can combine the structure ruler of the second isolation module 6, the first isolation module 3, crust of the device 8 with display module 5
Very little data, and the structure size data of movement guiding module 1 and external magnets 2 carry out motion control to movement guiding module 1
With path planning, the detection to detected person can be completed in a limited space and moves guiding module 1 and other portions
Position generates contact.I.e. during the motion, the first isolation module 3, the second isolation module 6 composition one are limited for movement guiding module
Space, control with display module 6 according to the first isolation module 3, the structure size data of the second isolation module 6 and position
Information, and movement guiding module, the structure size data of external magnets, carry out the motion control and road in finite motion space
Diameter planning has movement guiding module 1 and external magnets 2 at this herein in connection with the real-time parameter in each joint in movement guiding module 1
Position and posture in limit space are come out by the control with 5 real-time display of display module, are the drive control of operator
Reference is provided.
Third isolation module 9 is used for anti-to the isolation of external magnets 2 in the case where movement guiding module 1 is in work halted state
Shield, as shown in Fig. 2, third isolation module 9 be open-topped annular shield cover, when operating platform does not work, by third every
Be placed in from module 9 on the working face of bearing support module 4, make move 1 end of guiding module external magnets 2 be located at third every
Inside module 9, this position is also as the initial position for moving guiding module and external magnets.And third isolation module
9 outer surface indicates identification code and strong magnetic alarming sign, when third isolation module 9 is placed in the Working table of bearing support module 4
When on face, keep the side for indicating identification code on third isolation module 9 and binocular camera shooting head module 403 opposite, indicates strong magnetic warning
Identifying side side outwardly, binocular camera shooting head module 403 can carry out image recognition to the identification code on third isolation module 9, with
Identity validation is carried out to it, detects whether it is third isolation module 9, while also examining to the position of identification code and distance
It surveys, judges whether 9 position of third isolation module meets the requirement that the return of external magnets 2 of setting is placed.
Control also receives the real-time figure that capsule endoscope 7 sends over by wireless or wired mode with display module 5
Picture passes through display real-time display.
The mechanical arm that guiding module 1 is 7 freedom degrees is moved, in the first isolation module 3, the second isolation module 6 as constraint
Moved in the finite motion space of condition, control with display module 5 can according to insulating space structured data to movement
The motion planning of guiding module 1.In capsule endoscope system, mechanical arm is manipulated in capsule by the pose of control external magnets 2
Mirror 7 moves in enteron aisle.To adapt to complicated intestinal environment and meeting various diagnosis and treatment demand, guidance task performed by mechanical arm
Starting point, intermediate point, target point and space path shape be dynamic change.Moreover, mechanical arm is executing complexity
At random when guidance task changeable in real time, also to avoid and the object in environment (carries bed module 401, the first isolation module 3
Deng) be in contact.Meanwhile the safety operation mechanism established based on this system, robot are less than certain at a distance from obstructing objects
Secure threshold after, it will reduce the speed of service, when robot is further towards obstructing objects, it will take emergency stop measure.If
Move the path point being frequently present of in the path of guiding module 1 into secure threshold, it will seriously reduce driving efficiency.This implementation
Example uses redundant degree of freedom mechanical arm, increases the flexibility of manipulation, while also increasing the difficulty that mechanical arm planning calculates.This
Outside, to shorten the medical examination time, the movement of mechanical arm also has certain timeliness.Therefore, in the first isolation module 3,
In the constraint working space that two isolation modules 6 are formed, how to be cooked up in real time online to redundant mechanical arm one it is accessible
Path (all path points are in outside secure threshold) is a key technical problem of capsule endoscope system.It is high to solve
Barrier is beyond expression of words in dimension space and the excessively high problem of planning algorithm complexity, can use the spatial description of voxel grid
Method is based on Rapid-Exploring Random Tree Algorithm, realizes the real time dynamic movement planning of redundant mechanical arm in capsule endoscope system.
Embodiment 2:
Difference with above-described embodiment 1 is, in this example, it is real by apply in example 1 by identification code and binocular camera pair
The scheme that the second isolation module of different model 6 is identified be changed to by optoelectronic switch assembly 406 to different model second every
It is identified from module 6.Optoelectronic switch assembly 406 is multiple optoelectronic switches placed side by side, by wherein different photoelectricity
Switch is blocked, and optoelectronic switch assembly 406 can be triggered to the switch state of various combination.
As shown in figure 4, the sliding slot of second isolation module 6 is V-shaped groove, the second isolation on the working face of carrying bed module 401
The bottom of module 6 is machined with multiple V-arrangement teeth being slidably matched with the V-shaped groove, according to the different Dimension Type of the second isolation module 6
Number, the corresponding V-arrangement space of teeth size in bottom is different, i.e., using the arrangement mode of 6 bottom chevron shaped tooth of the second isolation module as difference
The identification information of second isolation module 6；The 6 bottom chevron shaped tooth of the second isolation module of every kind of model is alternatively arranged data and corresponding
The structure size data of the second isolation module 6 be pre-stored in the memory module of control and display module 5.
The length direction of the side of second isolation module, 6 sliding slot along the chute is hidden on the working face of carrying bed module 401
Optoelectronic switch assembly 406 is installed, optoelectronic switch assembly 406 is multiple optoelectronic switches placed side by side, when the second isolation module 6
When sliding in sliding slot and blocking to the light beam generation that optoelectronic switch assembly 406 issues, therefore triggering level can pass through photoelectricity
The signal condition of switch block 406 can be with the position of the second isolation module of real-time detection 6；Meanwhile passing through different photosignals
The V-arrangement space of teeth of available second isolation module, 6 bottom of state arranges data, after passing to control and display module 5, so that it may
To obtain the model and structure size data of corresponding second isolation module 6.
Embodiment 3:
Difference with above-described embodiment 1 is, in this example, third isolation module 9 be also by optoelectronic switch assembly 406 into
Row identification and position detection.Its principle are as follows: since 9 bottom of third isolation module corresponds to corresponding V-arrangement space of teeth size,
When third isolation module 9 slides in sliding slot, the corresponding photosignal state of the generation of optoelectronic switch assembly 406 can be made.
As shown in fig. 7, the sliding slot for installing third isolation module 9 is provided on the working face of carrying bed module 401,
Wherein the sliding slot of side is V-shaped groove, is machined with the bottom of V-shaped groove corresponding position on third isolation module 9 multiple sliding with V-shaped groove
The V-arrangement tooth of dynamic cooperation, multiple V-arrangement teeth are made by setting size of space arrangement, the arrangement mode of 9 bottom chevron shaped tooth of third isolation module
For its identity identification information；The identity identification information is pre-stored in the memory module of control and display module 5.
Optoelectronic switch assembly is distributed in the length direction for carrying a lateral edge V-shaped groove of V-shaped groove on the working face of bed module 401
406.When third isolation module 9 is placed on carrying 401 working face of bed module, and one side is located in V-shaped groove, pass through V-arrangement
The optoelectronic switch assembly 406 that side is distributed in slot can detecte the suitable external magnets 2 whether third isolation module 9 is located at setting
The correct position range of return；Meanwhile the size of space by detecting V tooth form, it can be determined that it whether is third isolation module 9,
Confirm it is errorless after, that is, allow movement guiding module 1 to drive external magnets 2 back to being placed in third isolation module 9.
Embodiment 4:
Difference with above-described embodiment 1 is, in this example, the pressure sensor 301 on the first isolation module 3 will be arranged in
It is changed to correlation type sensor, such as photoelectric sensor 302, as shown in fig. 6, the inside casing of the first isolation module 3 is rectangular configuration,
Photoelectric sensor 302 is arranged in four angles of the rectangular configuration, and photoelectric sensor 302 includes transmitting terminal and receiving end, transmitting terminal
Emit light beam, receiving end receives light beam.The light beam for emitting four photoelectric sensors 302 is formed along 3 inside casing of the first isolation module
The rectangular configuration of contour line, the boundary as movement guiding module 1 and external magnets working space.Photoelectric sensor 302 as a result,
The light beam of transmitting can be used as detection movement guiding module 1 whether be more than working range detection boundary, once light beam is moved
Guiding module 1 is blocked, and movement guiding module 1 is immediately performed stopping or return action.
Embodiment 5:
Difference with above-described embodiment 1 is, in this example, the pressure sensor 301 on the first isolation module 3 will be arranged in
It is changed to correlation type sensor, such as grating sensor.The inside casing of first isolation module 3 is rectangular configuration, in the rectangular configuration
Grating sensor is set in a line, and grating sensor includes transmitting terminal and receiving end, and transmitting terminal emits light beam, receives termination
Receive light beam.Grating sensor is connected with control with display module, and movement guiding module during the motion, hides light beam
Gear, the control position current with the position judgement movement guiding module that display module blocks light beam according to movement guiding module,
When judgement movement guiding module is close to the inside casing of the first isolation module 3, control controls movement guiding module with display module and adopts
It takes and runs slowly, stops or return operation.
Embodiment 6:
Difference with above-described embodiment 1 is, in this example, by the inside casing of the first isolation module 3 between its contour line
Range sensor is changed to every being distributed multiple pressure sensors 301.
Specifically: multiple range sensors are spaced apart along its contour line on the inside casing of the first isolation module 3, distance passes
Sensor is connected with control with display module 5, and the distance signal that will test is sent to control and display module 5；Movement guidance mould
During the motion, range sensor real-time monitoring moves the distance between guiding module 1 and 3 inside casing of the first isolation module to block 1,
When movement guiding module 1 moves closer to the inside casing of the first isolation module 3, so that in movement guiding module 1 and the first isolation module 3
The distance between frame is less than control and when preset threshold value, shows there is exposure risk in display module 5, control and display module 5
Control movement guiding module 1 takes deceleration, stopping or return etc. to act.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of isolating device of capsule endoscope operating platform, the capsule endoscope carries out Magnetic driving by external magnets (2), described
External magnets are mounted on the end of movement guiding module, guide external magnets movement by the movement guiding module；
It is characterized in that, the isolating device includes: the first isolation module (3), the second isolation module (6) and bearing support module
(4)；
The movement guiding module and the first isolation module (3) are installed on the bearing support module (4), described first every
The motion range of the movement guiding module is limited within the scope of its inner frame boundary from module (3)；
Second isolation module (6) is to be arranged on the bearing support module (4), for covering on outside detected person's thorax abdomen
The isolation cover of side.
2. the isolating device of capsule endoscope operating platform as described in claim 1, which is characterized in that further include: third isolation
Module (9), the third isolation module (9) are open-topped annular shield cover, are placed on bearing support module (4)；When
When the movement guiding module (1) is in work halted state, it is internal that the external magnets (2) are located at third isolation module (9).
3. the isolating device of capsule endoscope operating platform as claimed in claim 1 or 2, which is characterized in that described first every
More than two pressure sensors (301), the pressure sensor are spaced apart along its contour line on inside casing from module (3)
(301) it is connected with control with display module (5), the pressure signal that will test is sent to control and display module (5)；When described
When movement guiding module (1) touches pressure sensor (301) during the motion, the control is controlled with display module (5)
Move guiding module (1) stop motion or return.
4. the isolating device of capsule endoscope operating platform as claimed in claim 1 or 2, which is characterized in that described first every
Be spaced apart more than two range sensors along its contour line on inside casing from module (3), the range sensor and control with
Display module (5) is connected, and the distance between guiding module (1) and the first isolation module (3) inside casing are moved described in real-time detection, and
The distance signal that will test is sent to control and display module (5)；When the movement guiding module (1) during the motion with
The distance between first isolation module (3) inside casing be less than control in display module (5) when preset threshold value, the control and aobvious
Show module (5) control movement guiding module (1) deceleration, stop motion or return.
5. the isolating device of capsule endoscope operating platform as claimed in claim 1 or 2, which is characterized in that first isolation
Setting is no less than two groups of correlation type sensors on module (3) inside casing；By movement guiding module (1) to the correlation type sensor
Transmitting terminal and receiving end between signal generation block, whether to judge to move guiding module (1) in the first isolation module
(3) the setting regions in inside casing；The correlation type sensor is connected with control with display module (5), the control and display
Module (5) by movement guiding module (1) during the motion to the shadowing of the correlation type sensor signal
The distance between setting regions boundary in movement guiding module (1) and the first isolation module (3), when the distance is less than control
In system and display module (5) when preset threshold value, the control controls movement guiding module (1) and take with display module (5) to be subtracted
Speed operation stops or returns operation.
6. the isolating device of capsule endoscope operating platform as claimed in claim 1 or 2, which is characterized in that described second every
More than one pressure sensor, the pressure sensor and control and display module (5) phase are disposed with from module (6) upper surface
Even, when external magnets collide the pressure sensor on second isolation module (6), the system is controlled with display module (5)
System movement guiding module (1) stop motion immediately or return.
7. the isolating device of capsule endoscope operating platform as claimed in claim 1 or 2, which is characterized in that first isolation
The dimensional parameters of module (3) inside casing are pre-stored in control and display module (5), as the control with display module (5) to institute
State the constraint condition that movement guiding module (1) carries out motion control and path planning.
8. the isolating device of capsule endoscope operating platform as claimed in claim 2, which is characterized in that in the bearing support mould
Biography for other modules being placed on bearing support module (4) to be carried out with identification and position detection is installed on block (4)
Sensor component, the sensor module are connected with control with display module (5), are carried out by the control with display module (5)
Identification and position detection.
9. the isolating device of capsule endoscope operating platform as claimed in claim 8, which is characterized in that including more than two different
The second isolation module (6) of the second isolation module (6) of size model number, each model is provided with corresponding identification information, described
The structure size data of identification information and corresponding second isolation module (6) are pre-stored in the control and display module (5)；
When second isolation module (6) is placed on the bearing support module (4), by the sensor module to currently making
Identification information on second isolation module (6) is identified, and is sent to control and display module (5), to be worked as
The structure size data of second isolation module (6) used in preceding；Again by the sensor module to second isolation mode
Whether block carries out position detection, judge second isolation module (6) in the protective position set.
10. the isolating device of capsule endoscope operating platform as claimed in claim 8, which is characterized in that the third isolation mode
Its identity identification information is provided on block (9), the sensor module is by identifying the identity identification information to the third
Isolation module (9) carries out identity validation and position detection, if identity is correct and position meets sets requirement, the control with
External magnets are placed in third isolation module (9) by display module (5) control movement guiding module (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487085.3A CN110151323B (en) | 2019-06-05 | 2019-06-05 | Isolation device of capsule endoscope operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487085.3A CN110151323B (en) | 2019-06-05 | 2019-06-05 | Isolation device of capsule endoscope operation platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110151323A true CN110151323A (en) | 2019-08-23 |
| CN110151323B CN110151323B (en) | 2024-06-21 |
Family
ID=67627585
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910487085.3A Active CN110151323B (en) | 2019-06-05 | 2019-06-05 | Isolation device of capsule endoscope operation platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110151323B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390903A (en) * | 2020-03-13 | 2020-07-10 | 北京理工大学 | Device and method for monitoring interaction distance of magnetic control robot |
| CN113325304A (en) * | 2021-06-03 | 2021-08-31 | 国网江苏省电力有限公司常州供电分公司 | High-voltage circuit breaker detection device and detection method thereof |
| CN114468952A (en) * | 2022-01-27 | 2022-05-13 | 上海安翰医疗技术有限公司 | Shielding device and magnetic control capsule endoscope system |
| CN114827397A (en) * | 2022-02-28 | 2022-07-29 | 上海安翰医疗技术有限公司 | Anti-collision system and method of capsule endoscope control equipment based on TOF camera module |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB756461A (en) * | 1953-11-17 | 1956-09-05 | Dunlop Rubber Co | Improvements in or relating to bias cutting machines |
| US20080139883A1 (en) * | 2004-06-14 | 2008-06-12 | Akio Uchiyama | Position Detection System for a Medical Device and Medical-Device Guidance System |
| WO2013000845A1 (en) * | 2011-06-30 | 2013-01-03 | Siemens Aktiengesellschaft | Endoscopy using a magnet-guided endoscope capsule |
| CN103356150A (en) * | 2012-03-29 | 2013-10-23 | 上海理工大学 | Capsule endoscope magnetic field driving system under orientation tracking guide |
| CN206880655U (en) * | 2016-12-13 | 2018-01-16 | 重庆金山医疗器械有限公司 | A kind of controllable capsule endoscopy system |
| CN109259715A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | The capsule endoscope magnetic guide control device of integrated interactive function |
| CN109259716A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | A kind of capsule endoscope magnetic guide control device |
-
2019
- 2019-06-05 CN CN201910487085.3A patent/CN110151323B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB756461A (en) * | 1953-11-17 | 1956-09-05 | Dunlop Rubber Co | Improvements in or relating to bias cutting machines |
| US20080139883A1 (en) * | 2004-06-14 | 2008-06-12 | Akio Uchiyama | Position Detection System for a Medical Device and Medical-Device Guidance System |
| WO2013000845A1 (en) * | 2011-06-30 | 2013-01-03 | Siemens Aktiengesellschaft | Endoscopy using a magnet-guided endoscope capsule |
| CN103356150A (en) * | 2012-03-29 | 2013-10-23 | 上海理工大学 | Capsule endoscope magnetic field driving system under orientation tracking guide |
| CN206880655U (en) * | 2016-12-13 | 2018-01-16 | 重庆金山医疗器械有限公司 | A kind of controllable capsule endoscopy system |
| CN109259715A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | The capsule endoscope magnetic guide control device of integrated interactive function |
| CN109259716A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | A kind of capsule endoscope magnetic guide control device |
Non-Patent Citations (1)
| Title |
|---|
| 何利英: "《机电PLC综合控制》", pages: 21 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390903A (en) * | 2020-03-13 | 2020-07-10 | 北京理工大学 | Device and method for monitoring interaction distance of magnetic control robot |
| CN113325304A (en) * | 2021-06-03 | 2021-08-31 | 国网江苏省电力有限公司常州供电分公司 | High-voltage circuit breaker detection device and detection method thereof |
| CN114468952A (en) * | 2022-01-27 | 2022-05-13 | 上海安翰医疗技术有限公司 | Shielding device and magnetic control capsule endoscope system |
| WO2023143166A1 (en) * | 2022-01-27 | 2023-08-03 | 上海安翰医疗技术有限公司 | Shielding device and magnetic-control capsule endoscope system |
| CN114468952B (en) * | 2022-01-27 | 2024-08-09 | 上海安翰医疗技术有限公司 | Shielding device and magnetic control capsule endoscope system |
| CN114827397A (en) * | 2022-02-28 | 2022-07-29 | 上海安翰医疗技术有限公司 | Anti-collision system and method of capsule endoscope control equipment based on TOF camera module |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110151323B (en) | 2024-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110151323A (en) | A kind of isolating device of capsule endoscope operating platform | |
| US10452939B2 (en) | Monitoring system, monitoring device, and monitoring method | |
| US10265035B2 (en) | Method and device for motion control of a mobile medical device | |
| US10302251B2 (en) | Apparatus and method for safeguarding an automatically operating machine | |
| US20050207618A1 (en) | Method and device for safeguarding a hazardous area | |
| US8548629B2 (en) | X-ray device and medical workplace | |
| JP6822069B2 (en) | Monitoring system, monitoring device, and monitoring method | |
| CN111226178B (en) | Monitoring device, industrial system, method for monitoring and computer program | |
| US7428296B2 (en) | Medical imaging system with a part which can be moved about a patient and a collision protection method | |
| US9361818B2 (en) | Operation input device and manipulator system | |
| CN102448681A (en) | Operating space presentation device, operating space presentation method, and program | |
| US20130178980A1 (en) | Anti-collision system for moving an object around a congested environment | |
| KR20180042333A (en) | Industrial remote control robot system | |
| US20080086236A1 (en) | Mobile robot and controller for same | |
| CN104007715A (en) | Recognition-based industrial automation control with position and derivative decision reference | |
| EP2739231A1 (en) | Operation support device and control method thereof | |
| CN104076761A (en) | Recognition-based industrial automation control with confidence-based decision support | |
| US9292924B2 (en) | Method and device for monitoring a spatial region | |
| CN108095748A (en) | X-ray DR robot systems and its detection method | |
| US20130245825A1 (en) | Safety device for the safe use of industrial apparatuses and robots, and control method for realtime verification of the kinematic state values of a robotized apparatus | |
| KR102272780B1 (en) | Facilities diagnosis robot and active avoidance method thereof | |
| CN104102186A (en) | Recognition-based industrial automation control with redundant system input support | |
| CN211187559U (en) | Isolating device of capsule endoscope operating platform | |
| CN202843607U (en) | Magnetic resonance system | |
| JP2013113610A (en) | Method and apparatus for measuring radiation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |