CN110269579A - Intervene the transmitting coil multiple degrees of freedom azimuth control system for the diagnostic equipment that declines - Google Patents
Intervene the transmitting coil multiple degrees of freedom azimuth control system for the diagnostic equipment that declines Download PDFInfo
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- CN110269579A CN110269579A CN201910653070.XA CN201910653070A CN110269579A CN 110269579 A CN110269579 A CN 110269579A CN 201910653070 A CN201910653070 A CN 201910653070A CN 110269579 A CN110269579 A CN 110269579A
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- Prior art keywords
- module
- wireless
- motion module
- transmitting
- image
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Classifications
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00025—Operational features of endoscopes characterised by power management
- A61B1/00027—Operational features of endoscopes characterised by power management characterised by power supply
- A61B1/00029—Operational features of endoscopes characterised by power management characterised by power supply externally powered, e.g. wireless
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
Abstract
A kind of transmitting coil multiple degrees of freedom azimuth control system for intervening the diagnostic equipment that declines, it include: translational motion module, rotary motion module, wireless energy supply transmitting module and motion-control module, wherein: wireless energy supply transmitting module is connected with translational motion module and rotary motion module respectively, and motion-control module, which is connected with translational motion module and rotary motion module respectively and transmits control instruction, carries out translation or rotary motion；Translational motion module includes: pedestal, x-axis translation mechanism, y-axis translation mechanism and z-axis translation mechanism；Rotary motion module includes: x shaft and y shaft.The present invention is adjusted transmitting coil position and direction by translational motion module and rotary motion module, realize the system efficiently energized, so that micro- diagnosis and therapy system occurs that enough energy can be received when any position offset and angular deflection in alimentary canal, to ensure that entire diagnosis and treatment process works normally.
Description
Technical field
The present invention relates to a kind of technology of medical instruments field, specifically a kind of is the vivo inserted diagnosis and therapy system that declines
The multiple degrees of freedom azimuth control system of the external transmitting coil of wireless energy supply.
Background technique
Wireless capsule endoscope is the common approach for carrying out painless diagnosis to small intestine site at present, but its technical problem underlying
It is that existing battery can not persistently energize for entire checking process, is supplied although can solve part by wireless energy transmission technology
Can, but due to when the receiving coil of wireless capsule is coupled with external transmitting coil reception energy can be only achieved maximum, and micro- diagnosis and treatment
Location deflection and angle offset can occur in alimentary canal for device causes coupling to be interrupted, so that receiving coil is in certain specific positions
Under angle situation, energy very little is received, is not enough to that entire endoscope is driven to work normally, collected gastrointestinal tract image becomes mould
Noise increase is pasted possibly even without image, image transmitting falls frame or missing, and the image on screen shows and is also delayed, and is easy
Existing missing inspection false retrieval.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, proposes that a kind of transmitting coil for intervening the diagnostic equipment that declines is more
Freedom degree azimuth control system adjusts transmitting coil position and direction by translational motion module and rotary motion module, real
The system now efficiently energized, so that micro- diagnosis and therapy system occurs to receive when any position offset and angular deflection in alimentary canal
To enough energy, to ensure that entire diagnosis and treatment process works normally.
The present invention is achieved by the following technical solutions:
The present invention includes: translational motion module, rotary motion module, wireless energy supply transmitting module and motion-control module,
Wherein: wireless energy supply transmitting module is connected with translational motion module and rotary motion module respectively, motion-control module respectively with
Translational motion module, which is connected with rotary motion module and transmits control instruction, carries out translation or rotary motion.
The translational motion module includes: pedestal and three orthogonal translation mechanisms, in which: x-axis translation mechanism is set
Be placed on pedestal, y-axis translation mechanism is set on x-axis mechanism, z-axis translation mechanism is set on y-axis mechanism, wireless energy supply
Transmitting module is connected with z-axis translation mechanism.
The translation mechanism includes: translating rails and idler wheel, in which: translating rails are set on pedestal, and idler wheel is set
It is placed on translating rails and is slidably connected with it.
The rotary motion module includes: x shaft and y shaft, in which: x shaft and y shaft are set to wireless energy supply hair
It penetrates in module and difference can be rotated around x and y-axis.
The motion-control module is further connected with human-computer interface module, manually controls human-computer interface module to movement
Control module sends instruction, and then controls idler wheel translation or rotation, so that keeping coupling between transmitting coil and receiving coil
It closes.
Technical effect
Compared with prior art, the present invention realizes efficiently energy supply, so that micro- examine by adjusting transmitting coil position and direction
Treatment system occurs that enough energy can be received when any position offset and angular deflection in alimentary canal, to ensure that entire
Noninvasive no pain diagnosis and treatment process works normally；And then ensure that the all-digestive tract picture quality of whole process, it is not in because connecing
It is insufficient and cause Image Acquisition of poor quality or even without image, image transmitting frame per second is low, falls frame, the problems such as delay is too long to receive energy,
Improve medical treatment result accuracy rate；The present invention overcomes button cell work by the insertion type module based on wireless energy transfer
Make duration is limited and output power is low disadvantage and conventional streamers formula gastrointestinal tract endoscope can not go deep into small intestine there are blind areas
Limitation, can be to the diagnosis and treatment of full gastrointestinal tract.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the present invention around x-axis direction rotary principle figure；
Fig. 3 is the present invention around y-axis direction rotary principle figure；
Fig. 4 is to intervene the diagnosis and therapy system schematic diagram that declines；
Fig. 5 is to intervene each module diagram of diagnosis and treatment module that declines；
In figure: pedestal 1, x translating rails 2, x idler wheel 3, y translating rails 4, y idler wheel 5, z translating rails 6, z idler wheel 7, x turn
Axis 8, y shaft 9, support stiff rod 10, translational motion module 11, rotary motion module 12, wireless energy supply transmitting module 13, x-axis are flat
Telephone-moving structure 14, y-axis translation mechanism 15, z-axis translation mechanism 16, man-machine interface 17, instruction/image data wireless communication module 18,
Motion-control module 19, transmitting coil 20, antenna 21, alternating electromagnetic field 22, receiving coil 23, intervention decline diagnosis and treatment module 24,
Ultrashort zoom lens 25, MCU 27, receive circuit 28, control circuit 29 at sensor image 26.
Specific embodiment
As shown in Figure 1, the intervention being related to for the present embodiment declines, the transmitting coil multiple degrees of freedom orientation of diagnostic equipment is controlled
System, wherein including: translational motion module 11, rotary motion module 12, wireless energy supply transmitting module 13 and motion-control module
19, in which: rotary motion module 12 is set on wireless energy supply transmitting module 13, and wireless energy supply transmitting module 13 is hard by support
Bar 10 is connected with translational motion module 11, motion-control module 19 respectively with 12 phase of translational motion module 11 and rotary motion module
Connect and transmit control instruction and carries out translation or rotary motion.
The translational motion module 11 includes: pedestal 1, x-axis translation mechanism 14, y-axis translation mechanism 15 and z-axis translation machine
Structure 16, in which: x-axis translation mechanism 14, y-axis translation mechanism 15 and z-axis translation mechanism 16 are set to base along x-axis, y-axis, z-axis respectively
On seat 1, z-axis translation mechanism 16 is connected with wireless energy supply transmitting module 13.
The x-axis translation mechanism 14 includes: x translating rails 2 and x idler wheel 3, in which: x translating rails 2 are set to pedestal 1
On, x idler wheel 3 is set on x translating rails 2 and is slidably connected with it.
The y-axis translation mechanism 15 includes: y translating rails 4 and y idler wheel 5, in which: y translating rails 4 are set to pedestal 1
On, y idler wheel 5 is set on y translating rails 4 and is slidably connected with it.
The z-axis translation mechanism 16 includes: z translating rails 6 and z idler wheel 7, in which: z translating rails 6 are set to pedestal 1
On, z idler wheel 7 is set on z translating rails 6 and is slidably connected with it, and z idler wheel 7 is emitted by support stiff rod 10 and wireless energy supply
Module 13 is connected.
The rotary motion module 12 includes: x shaft 8 and y shaft 9, in which: x shaft 8 and y shaft 9 are set to wirelessly
It energizes on transmitting module 13 and difference can be rotated around x and y-axis.
Shown in motion-control module 19 receive human-computer interface module output instruction, independent control x idler wheel 3, y idler wheel 5
With z idler wheel 7 and respectively in x, y, the direction z carries out corresponding translational motion, transmitting coil is allowed to be moved to above tested patients abdominal cavity
Designated position；Rotary motion module 12 is controlled again rotating around x, the specified angle of y-axis rotation, so that external transmitting coil and digestion
Coupling is kept between receiving coil in road.
The coupling discrimination standard are as follows: after adjusting translational movement and angular amount every time, shown in observation man-machine interface
Gastrointestinal tract picture quality adjusts translation and rotation amount according to image quality indexs such as clarity luminance contrasts, until image is aobvious
Show clear, receiving coil has coupled；It is sent and is instructed to wireless energy supply transmitting module by human-computer interface module, in safe range
Emitted energy size is controlled, emitting voltage is reduced when receiving energy abundance and saves energy, it is appropriate when reception energy is inadequate
Increase emitted energy and improves image quality and treatment effect.
The human-computer interface module includes: computer operation unit, wireless data command communication unit and wireless image
Receiving unit, in which: wireless instructions data communication units send instruction control for control button and intervene the diagnosis and treatment module 24 that declines
Image Acquisition and communications, wireless image receiving unit receives intervention and declines the gastrointestinal tract figure that diagnosis and treatment module 24 wirelessly spreads out of
Picture, computer operation unit, that is, man-machine interface will be displayed on the screen after the image enhancement processing received.When picture quality not
Gao Shi, computer operation unit can send instructions to the control unit of multiple degrees of freedom azimuth motion unit, to transmitting coil into
The adjustment of row position angle, raising reception energy and the emitted energy for controlling wireless energy transmission module properly increase, and further increase
Energy is received in adjunction.
The intervention diagnosis and treatment module 24 that declines includes: transparent hemispherical shell, LED light source, short-focus lens, image sensing
Device, microprocessor, wireless energy supply receiving coil, energy management apparatus, wireless instructions communication module, wireless image transmitting module,
Power management module and medical sealing shell, in which: receive in wireless command receiving module and issued from human-computer interface module
Image acquisition commands after, imaging sensor acquires gastrointestinal tract image, and after microprocessor processes, is emitted by wireless image
Module is sent to external human-computer interface module real-time display.The energy that receiving coil senses is rectified through energy management apparatus
After pressure stabilizing, energy is provided for above-mentioned whole process.
The present embodiment, can on-line tuning side according to image quality indexs such as the clarity luminance contrast noises of display image
Level control device changes transmitting coil position and direction, to reach coupling with the receiving coil in micro- diagnostic equipment；It connects at this time
It receives energy and reaches maximum, it is sufficient to guarantee blur-free imaging and stablize transmitting.
In actual experiment, multifreedom motion device is adjusted when picture quality reduction or video clip Caton, slightly
The direction and position for changing transmitting module reach and couple with receiving coil, can observe that image becomes clear video and becomes at once
It is smooth.Basic reason is that the direction of transmitting coil and position are adjusted by appropriateness, couples with receiving coil, energy transmission efficiency
It is promoted, micro- diagnosing and treating apparatus receives enough energy, can work normally.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (5)
- A kind of transmitting coil multiple degrees of freedom azimuth control system of diagnostic equipment 1. intervention declines characterized by comprising translation Motion module, rotary motion module, wireless energy supply transmitting module and motion-control module, in which: wireless energy supply transmitting module point Be not connected with translational motion module and rotary motion module, motion-control module respectively with translational motion module and rotary motion mould Block, which is connected and transmits the control instruction that man-machine interface is sent, carries out translation or rotation process；The translational motion module includes: pedestal and three orthogonal translation mechanisms, in which: x-axis translation mechanism is set to On pedestal, y-axis translation mechanism is placed in x-axis mechanism, and z-axis translation mechanism is placed in y-axis mechanism, wireless energy supply transmitting module and z Axis translation mechanism is connected；The rotary motion module includes: x shaft and y shaft, in which: x shaft and y shaft are set to wireless energy supply transmitting mould On block, and it can be rotated respectively around x and y-axis.
- 2. transmitting coil multiple degrees of freedom azimuth control system according to claim 1, characterized in that the translation mechanism It include: translating rails and idler wheel, in which: translating rails are set on pedestal, and idler wheel is set on translating rails and slides with it Dynamic connection.
- 3. transmitting coil multiple degrees of freedom azimuth control system according to claim 1, characterized in that the motion control Module receives the instruction of human-computer interface module output, which includes: computer operation unit, wireless data instruction Communication unit and wireless image receiving unit, in which: wireless instructions data communication units send instruction control for control button The Image Acquisition and communications of the diagnosis and treatment module that declines are intervened, it is wireless that the reception of wireless image receiving unit intervenes the diagnosis and treatment module that declines The gastrointestinal tract image of outflow, computer operation unit, that is, man-machine interface is by display after the image enhancement processing received in screen On；The intervention decline diagnosis and treatment module include: transparent hemispherical shell, it is LED light source, short-focus lens, imaging sensor, micro- Processor, wireless energy supply receiving coil, energy management apparatus, wireless instructions communication module, wireless image transmitting module, power supply pipe Manage module and medical sealing shell, in which: the image issued from human-computer interface module is received in wireless command receiving module After acquisition, imaging sensor acquires gastrointestinal tract image, and after microprocessor processes, is sent out by wireless image transmitting module It send to external human-computer interface module real-time display, the energy that receiving coil senses carries out rectifying and voltage-stabilizing through energy management apparatus Afterwards, energy is provided for above-mentioned whole process.
- 4. transmitting coil multiple degrees of freedom azimuth control system according to claim 1, characterized in that the translational motion With stiff rod support connection to guarantee that translational and rotational movement independently carries out between module and rotary motion module.
- 5. transmitting coil multiple degrees of freedom azimuth control system according to claim 3, characterized in that the motion control Module adjusts coupling according to the position and direction of the gastrointestinal tract picture quality real-time control transmitting coil in man-machine interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910653070.XA CN110269579A (en) | 2019-07-19 | 2019-07-19 | Intervene the transmitting coil multiple degrees of freedom azimuth control system for the diagnostic equipment that declines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910653070.XA CN110269579A (en) | 2019-07-19 | 2019-07-19 | Intervene the transmitting coil multiple degrees of freedom azimuth control system for the diagnostic equipment that declines |
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| CN110269579A true CN110269579A (en) | 2019-09-24 |
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| CN201910653070.XA Pending CN110269579A (en) | 2019-07-19 | 2019-07-19 | Intervene the transmitting coil multiple degrees of freedom azimuth control system for the diagnostic equipment that declines |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103654691A (en) * | 2013-12-27 | 2014-03-26 | 上海交通大学 | Noninvasive examination device for gastrointestinal precancerous lesions |
| CN104143861A (en) * | 2013-05-09 | 2014-11-12 | 泰科电子(上海)有限公司 | Non-contact type power supply circuit |
-
2019
- 2019-07-19 CN CN201910653070.XA patent/CN110269579A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104143861A (en) * | 2013-05-09 | 2014-11-12 | 泰科电子(上海)有限公司 | Non-contact type power supply circuit |
| CN103654691A (en) * | 2013-12-27 | 2014-03-26 | 上海交通大学 | Noninvasive examination device for gastrointestinal precancerous lesions |
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20190924 |