CN111657831B - Magnetic control non-contact gastrointestinal endoscope capsule - Google Patents
Magnetic control non-contact gastrointestinal endoscope capsule Download PDFInfo
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Abstract
The invention discloses a magnetic control non-contact gastrointestinal endoscope capsule, which comprises a hose and a first capsule containing medicines, wherein one end of the first capsule containing medicines is provided with three magnets, the three magnets are all connected with the first capsule containing medicines through silica gel, three coils with the same number as the magnets are arranged outside a patient body, the coils are used for generating a gradient magnetic field and a uniform rotating magnetic field, the moving directions of the three magnets are controlled through the gradient magnetic field and the uniform rotating magnetic field, one magnet controls the movement of the first capsule containing medicines, and the other two magnets are used for driving the first capsule containing medicines to rotate and break the second capsule containing medicines to realize medicine administration. The invention is particularly suitable for the examination of digestive system diseases, and controls a plurality of small magnets arranged in a gastrointestinal endoscope capsule in a patient body by utilizing a uniform rotating magnetic field, thereby changing the advancing direction and the posture of the gastrointestinal endoscope capsule to achieve the purposes of controllable running direction and targeted drug therapy of the gastrointestinal endoscope capsule.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a magnetic control non-contact gastrointestinal endoscope capsule.
Background
Along with the improvement of living standard, along with the change of social environment and the change of dietary structure, the types of diseases suffered by human beings are more and more, and digestive system diseases are more diverse. Currently, for the diagnosis of digestive system diseases, conventional clinical in vivo examination apparatuses are gastroscopes and enteroscopes. Wherein, the traditional gastroscope is extended into the stomach by the matching of a long metal tube and a mirror arranged at the tail end, then on the advancing path of the gastroscope, a doctor can observe the diseased conditions of the esophagus, the stomach, the duodenum and other parts, but the body part of a patient is easy to be punctured by the mirror in the advancing process, so the gastroscope is discarded. In the later stage, capsule type gastroscopes and enteroscopes are generally adopted, and corresponding miniature cameras are connected through hoses, so that the parts with corresponding pathological changes can be visually observed.
However, conventional capsule gastroscopes and enteroscopes are limited to a clear, accurate and safe examination. With the development of medical technology, some intracorporeal micro-robot technologies have emerged, such as: the publication date is 2006, 10, 11, and the publication number is CN1843284, which is a Chinese patent document named as an external magnetic field driving system of an in-vivo micro-robot, and the document discloses that the external magnetic field driving system comprises a robot, an embedded magnetic body thereof, a processing center, a diagnosis and treatment manipulator and an external driving device. The combined coil system is utilized to construct a gradient magnetic field which is uniform in spatial sense, the gradient size and direction are controlled by adjusting the loading current and the relative motion of part of the coils to the human body, and the gradient magnetic field acts on a built-in magnetic body of the robot to obtain expected spatial vector force, so that expected motion is realized. The external magnetic field driving does not depend on the friction between the micro-robot and human tissues for traveling, the uniform gradient avoids the sudden change of stress caused by the displacement of the micro-robot under the action of the magnetic field, and the provided driving system has good safety and controllability. This solution proposes a drive system, but does not enable targeted drug release.
Therefore, with the diversification of human diseases, researchers hope to inspect not only the capsule but also the targeted drug release through the corresponding inspection, so as to achieve the purpose of precise medication.
Disclosure of Invention
The invention aims at the problems and provides a magnetic control non-contact gastrointestinal endoscope capsule which is suitable for the examination of digestive system diseases, and a plurality of small magnets arranged in the gastrointestinal endoscope capsule in a patient body are controlled by a uniform rotating magnetic field, so that the advancing direction and the posture of the gastrointestinal endoscope capsule are changed to achieve the purposes of controllable running direction and targeted drug therapy of the gastrointestinal endoscope capsule.
The invention has the following technical effects:
a magnetic control non-contact gastrointestinal endoscope capsule is characterized in that: including the hose and the capsule one that includes the medicine, the one end that includes the capsule one of medicine is provided with three magnet, three magnet all is connected with the capsule one that includes the medicine through silica gel, be provided with the three coil the same with the magnet number outside the patient, the coil is used for producing gradient magnetic field and even strong rotating magnetic field, through the direction of motion of gradient magnetic field and the three magnet of even strong rotating magnetic field control, the motion of the capsule one that one of them magnet control includes the medicine, two other magnets are used for driving the capsule one that includes the medicine rotatory and break the capsule two that contain the medicine and realize dosing, thereby reach the controllable and target medication's of gastroenteroscope capsule traffic direction purpose.
The three magnets comprise a first magnet, a second magnet and a third magnet, the first magnet is connected to the end of the first capsule containing the medicine, the second magnet and the third magnet are symmetrically arranged on the two sides of the first magnet by taking the first magnet as the center, and the first magnet, the second magnet and the third magnet are all located at the same end of the first capsule containing the medicine.
The first magnet, the second magnet and the third magnet are all micro magnets, and the three magnets are specifically arranged as follows:
(1) The second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree mode, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine.
The S pole of the first magnet faces to the second capsule containing the medicine, and the N pole of the first magnet is far away from the second capsule containing the medicine relative to the S pole; the second magnet and the third magnet are opposite in magnetic pole, namely the N poles of the second magnet and the third magnet face the fluorescent substance, and the S poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the N poles.
(2) The second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine.
The S pole of the first magnet faces to the second capsule containing the medicine, and the N pole of the first magnet is far away from the second capsule containing the medicine relative to the S pole; the second magnet and the third magnet are opposite in magnetic pole, namely the S poles of the second magnet and the third magnet face the fluorescent substance, and the N poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the S poles.
(3) The second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine.
The N pole of the first magnet faces to the second capsule containing the medicine, and the S pole of the first magnet is far away from the second capsule containing the medicine relative to the N pole; the second magnet and the third magnet are opposite in magnetic pole, namely the S poles of the second magnet and the third magnet face the fluorescent substance, and the N poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the S poles.
The silica gel strip I, the silica gel strip II and the silica gel strip III form a silica gel whole body, grooves for placing the capsule II containing the medicine, the magnet I, the magnet II and the magnet III are respectively formed in the silica gel whole body, and the capsule II containing the medicine, the magnet I, the magnet II and the magnet III are all bonded and fixed in the grooves.
The reason for designing three magnets in the invention is that the freedom of movement can be realized by at least one magnet, but the freedom of rotation needs to consider symmetry, so two symmetrical magnets are also needed to be arranged for driving the needle point to puncture the capsule II containing the medicine to realize medicine release.
In the present invention, data of the respective gradient magnetic fields and uniform rotating magnetic fields can be obtained by the following equations (1) to (7):
(1) Because the magnet is small, the field intensity and the gradient thereof are considered to be uniformly distributed in the gastrointestinal endoscope capsule, and the formula (1) shows that F is magnetic force; t is magnetic torque, and V is the volume of the embedded magnet; m is the magnetization intensity of the embedded magnet; and B is the magnetic induction intensity of an external magnetic field.
(2) As shown in equation (2), the magnetic field gradient tensor can be obtained: g is magnetic field gradient tensor, and a and b take any value of x, y and z; when the magnetic field gradient tensor G =0, a uniform magnetic field can be formed, and when the tensor G is not 0, different gradient fields can be formed as necessary.
(3) As shown in formula (3), only the external driving coil magnetic field is considered, each component of the coil magnetic field gradient tensor obtained according to the Maxwell static magnetic field equation has high correlation, and the correlation expressed by the formula causes that the static coil is difficult to obtain the magnetic force in any direction, so that a driving scheme for the movement of the coil relative to the human body (sickbed) is designed, and the movement is designed to rotate around the human body (sickbed) in consideration of the structure of the human body.
(4) As shown in formula (4), the rotation matrix is a rotation matrix of the coil rotating around the human body (sickbed), wherein γ is a rotation angle, and the rotation axis of the rotation matrix is along the axis of the sickbed and is set to be clockwise as positive.
(5) The equation is described for the magnetic field in relation to the loading current, as shown in equation (5), where: p is a position vector of the gastrointestinal endoscope capsule at a position P higher than the center of the drive coil; g is the sum of gradient tensors of each coil at the point P; b is the magnetic induction intensity at the point P; k. λ is a constant related to the parameters of the gradient coil and the shimming coil, where k is a third-order constant matrix, and λ is a constant vector IG and IB, which are vectors formed by loading currents to the portions of the air degree coil and the shimming coil, respectively.
(6) As shown in equation (6), the magnetic force describing equation related to the loading current shows that the magnetic force can be controlled by the rotation matrix C and the gradient coil loading current IG.
(7) As shown in equation (7), the equation is described for the magnetic torque in relation to the loading current. When the coils are designed to rotate together, the rotation matrix C, the translation of the sickbed (influence p) and the loading current IG of the gradient coil are displayed to control the magnetic torque.
When the gastrointestinal endoscope capsule enters a patient body, the three coils start to work, the gradient magnetic field generation time sequence is from the gastrointestinal endoscope capsule entering the human body to a target point, and the generation point of the uniform rotating magnetic field is from the gastrointestinal endoscope capsule starting to be generated at the target point; then, according to the formulas (6) and (7), the magnitude and the direction of the upper force and the moment can be controlled by controlling the external gradient magnetic field and the uniform rotating magnetic field, so that the movement position of the gastrointestinal endoscope capsule is changed.
In the present invention: when the strength of the uniform rotating magnetic field is 0.6T-1T, the uniform rotating magnetic field is stronger; when the strength of the uniform rotating magnetic field is less than 0.6T, the uniform rotating magnetic field is weaker.
The invention has the following beneficial effects:
the invention is suitable for the examination and the targeted drug delivery of digestive system diseases, and designs three coils, wherein one coil generates a gradient magnetic field, and the other two coils are used for generating uniform magnetic fields, so as to respectively control the small magnets in the gastrointestinal endoscope capsule, and respectively realize the control of the advancing direction of the gastrointestinal endoscope capsule, the targeted drug delivery direction and the position through the corresponding small magnets, thereby achieving the effect of precise drug delivery.
Drawings
Fig. 1 is a schematic diagram of the arrangement of a magnet and a capsule containing a medicament in example 3.
Fig. 2 is a schematic diagram of the arrangement of a magnet and a capsule containing a medicament in example 4.
Fig. 3 is a schematic diagram of the arrangement of a magnet and a capsule I containing a medicament in example 5.
FIG. 4 is a schematic diagram of the movement of a gastrointestinal scope capsule without magnetic field and generated gradient magnetic field in the present invention.
FIG. 5 is a schematic view showing the control of the formation of a magnet from a weak uniform magnetic field to a strong uniform magnetic field in the present invention.
Detailed Description
Example 1
The utility model provides a magnetic control non-contact intestines and stomach mirror capsule, includes the hose and includes the capsule one of medicine, and the one end that includes the capsule one of medicine is provided with three magnet, three magnet all is connected with the capsule one that includes the medicine through silica gel, and the patient is provided with the three coil the same with the magnet number outward, and the coil is used for producing gradient magnetic field and even strong rotating magnetic field, through the direction of motion of gradient magnetic field and even strong rotating magnetic field control three magnet, and the motion of the capsule one that one of them magnet control includes the medicine, and two other magnets are used for puncturing the capsule two that contain the medicine and realize dosing to reach the controllable and target drug therapy's of intestines and stomach mirror capsule traffic direction.
The reason for designing three magnets in the invention is that the freedom of movement can be realized by at least one magnet, but the freedom of rotation needs to consider symmetry, so two symmetrical magnets are also needed to be arranged for driving the needle point to puncture the capsule II containing the medicine to realize medicine release.
Example 2
Based on the design principle of embodiment 1, wherein the three magnets include a first magnet, a second magnet and a third magnet, the first magnet is connected to the end of the first capsule containing the medicine, the second magnet and the third magnet are symmetrically arranged on two sides of the first magnet by taking the first magnet as the center, and the first magnet, the second magnet and the third magnet are all located at the same end of the first capsule containing the medicine.
Example 3
Based on the design principle of embodiment 2, the first magnet, the second magnet and the third magnet all adopt micro magnets, wherein the specific arrangement of the three magnets is as follows:
as shown in fig. 1, the second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and the fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine.
The S pole of the first magnet faces to the second capsule containing the medicine, and the N pole of the first magnet is far away from the second capsule containing the medicine relative to the S pole; the second magnet and the third magnet are opposite in magnetic pole, namely the N poles of the second magnet and the third magnet face the fluorescent substance, and the S poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the N poles.
Example 4
Based on the design principle of embodiment 2, the first magnet, the second magnet and the third magnet all adopt micro magnets, wherein the specific arrangement of the three magnets is as follows:
as shown in fig. 2, the second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine.
The S pole of the first magnet faces to the second capsule containing the medicine, and the N pole of the first magnet is far away from the second capsule containing the medicine relative to the S pole; the second magnet and the third magnet are opposite in magnetic pole, namely the S poles of the second magnet and the third magnet face the fluorescent substance, and the N poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the S poles.
Example 5
Based on the design principle of embodiment 2, the first magnet, the second magnet and the third magnet all adopt micro magnets, wherein the specific arrangement of the three magnets is as follows:
as shown in fig. 3, the second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and the fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine.
The N pole of the first magnet faces to the second capsule containing the medicine, and the S pole of the first magnet is far away from the second capsule containing the medicine relative to the N pole; the second magnet and the third magnet are opposite in magnetic pole, namely the S poles of the second magnet and the third magnet face the fluorescent substance, and the N poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the S poles.
The silica gel strip I, the silica gel strip II and the silica gel strip III form a silica gel whole body, grooves for placing the capsule II containing the medicine, the magnet I, the magnet II and the magnet III are respectively formed in the silica gel whole body, and the capsule II containing the medicine, the magnet I, the magnet II and the magnet III are all bonded and fixed in the grooves.
Example 6
Based on the specific layout design of examples 3-5, the length of the enteroscope capsule is approximately 1-2mm, and the width is approximately 1-2mm.
When the gastrointestinal endoscope capsule enters a patient body, the three coils start to work, the gradient magnetic field generation time sequence is from the gastrointestinal endoscope capsule entering the human body to a target point, and the generation point of the uniform rotating magnetic field is from the gastrointestinal endoscope capsule starting to be generated at the target point; then, according to the formulas (6) and (7), the magnitude and the direction of the upper force and the moment can be controlled by controlling the external gradient magnetic field and the uniform rotating magnetic field, so that the movement position of the gastrointestinal endoscope capsule is changed.
In the present invention, the gradient magnetic field and the uniform rotating magnetic field are alternately performed. Wherein:
as shown in FIG. 4, when there is no magnetic field, the first magnet and the first capsule containing medicine do not move, and when a gradient magnetic field is generated, the first magnet drives the first capsule containing medicine to move as a whole.
As shown in fig. 5, the process of generating the uniform rotating magnetic field is as follows:
when the three coils do not work, no magnetic field exists;
then, the three coils start to work to generate a weaker uniform rotating magnetic field, at the moment, the magnet II and the magnet III with the needle tips rotate, and the needle tips rotate towards the capsule II containing the medicine respectively;
the three coils continue to work, when a strong uniform rotating magnetic field is achieved, the needle points of the second magnet and the third magnet clamp the second capsule containing the medicine to rotate, and after the second capsule reaches the position of the diseased part, the needle points of the second magnet and the third magnet further change the posture to release the medicine, so that targeting is achieved.
In the present invention: when the strength of the uniform rotating magnetic field is 0.6T-1T, the uniform rotating magnetic field is stronger; when the strength of the uniform rotating magnetic field is less than 0.6T, the uniform rotating magnetic field is weaker.
Claims (5)
1. A magnetic control non-contact gastrointestinal endoscope capsule is characterized in that: the gastrointestinal endoscope capsule comprises a hose and a first capsule containing medicines, wherein one end of the first capsule containing medicines is provided with three magnets, the three magnets are connected with the first capsule containing medicines through silica gel, three coils with the same number as the magnets are arranged outside a patient, the coils are used for generating a gradient magnetic field and a uniform rotating magnetic field, the moving directions of the three magnets are controlled through the gradient magnetic field and the uniform rotating magnetic field, one magnet controls the movement of the first capsule containing medicines, and the other two magnets are used for driving the first capsule containing medicines to rotate and crushing a second capsule containing medicines to realize medicine administration, so that the purposes of controllable moving direction of the gastrointestinal endoscope capsule and targeted medicine treatment are achieved;
the three magnets comprise a first magnet, a second magnet and a third magnet, the first magnet is connected to the end of the first capsule containing the medicines, the second magnet and the third magnet are symmetrically arranged on two sides of the first magnet by taking the first magnet as the center, and the first magnet, the second magnet and the third magnet are all positioned at the same end of the first capsule containing the medicines; the first magnet, the second magnet and the third magnet are all micro magnets, wherein: the second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine; the S pole of the first magnet faces to the second capsule containing the medicine, and the N pole of the first magnet is far away from the second capsule containing the medicine relative to the S pole; the second magnet and the third magnet are opposite in magnetic pole, namely the N poles of the second magnet and the third magnet face the fluorescent substance, and the S poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the N poles;
when the gastrointestinal endoscope capsule enters the body of a patient, the three coils start to work, the generation time sequence of the gradient magnetic field is from the gastrointestinal endoscope capsule entering the human body to the target point, and the generation point of the uniform rotating magnetic field is generated from the gastrointestinal endoscope capsule at the target point; then, the magnitude and direction of the upward force and the moment are controlled by controlling the gradient magnetic field and the uniform rotating magnetic field, so that the movement position of the enteroscope capsule is changed.
2. A magnetic control non-contact gastrointestinal endoscope capsule is characterized in that: the gastrointestinal endoscope capsule comprises a hose and a first capsule containing medicines, wherein one end of the first capsule containing medicines is provided with three magnets, the three magnets are connected with the first capsule containing medicines through silica gel, three coils with the same number as the magnets are arranged outside a patient, the coils are used for generating a gradient magnetic field and a uniform rotating magnetic field, the moving directions of the three magnets are controlled through the gradient magnetic field and the uniform rotating magnetic field, one magnet controls the movement of the first capsule containing medicines, and the other two magnets are used for driving the first capsule containing medicines to rotate and crushing a second capsule containing medicines to realize medicine administration, so that the purposes of controllable moving direction of the gastrointestinal endoscope capsule and targeted medicine treatment are achieved;
the three magnets comprise a first magnet, a second magnet and a third magnet, the first magnet is connected to the end of the first capsule containing the medicine, the second magnet and the third magnet are symmetrically arranged on two sides of the first magnet by taking the first magnet as the center, and the first magnet, the second magnet and the third magnet are all positioned at the same end of the first capsule containing the medicine; the first magnet, the second magnet and the third magnet are all micro magnets, wherein: the second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree mode, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and a second capsule containing medicines is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine; the S pole of the first magnet faces to the second capsule containing the medicine, and the N pole of the first magnet is far away from the second capsule containing the medicine relative to the S pole; the second magnet and the third magnet are opposite in magnetic pole, namely S poles of the second magnet and the third magnet face the fluorescent substance, and N poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the S poles;
when the gastrointestinal endoscope capsule enters the body of a patient, the three coils start to work, the generation time sequence of the gradient magnetic field is from the gastrointestinal endoscope capsule entering the human body to a target point, and the generation point of the uniform rotating magnetic field is from the gastrointestinal endoscope capsule starting to generate at the target point; then, the magnitude and direction of the upward force and the moment are controlled by controlling the gradient magnetic field and the uniform rotating magnetic field, so that the movement position of the enteroscope capsule is changed.
3. A magnetic control non-contact gastrointestinal endoscope capsule is characterized in that: the gastrointestinal endoscope capsule comprises a hose and a first capsule containing medicines, wherein one end of the first capsule containing medicines is provided with three magnets, the three magnets are connected with the first capsule containing medicines through silica gel, three coils with the same number as the magnets are arranged outside a patient, the coils are used for generating a gradient magnetic field and a uniform rotating magnetic field, the moving directions of the three magnets are controlled through the gradient magnetic field and the uniform rotating magnetic field, one magnet controls the movement of the first capsule containing medicines, and the other two magnets are used for driving the first capsule containing medicines to rotate and crushing a second capsule containing medicines to realize medicine administration, so that the purposes of controllable moving direction of the gastrointestinal endoscope capsule and targeted medicine treatment are achieved;
the three magnets comprise a first magnet, a second magnet and a third magnet, the first magnet is connected to the end of the first capsule containing the medicine, the second magnet and the third magnet are symmetrically arranged on two sides of the first magnet by taking the first magnet as the center, and the first magnet, the second magnet and the third magnet are all positioned at the same end of the first capsule containing the medicine; the first magnet, the second magnet and the third magnet all adopt micro magnets, wherein: the second magnet and the third magnet are arranged at two ends of the first silica gel strip in a 180-degree manner, and a fluorescent substance is arranged in the middle of the first silica gel strip; the second silica gel strip is vertical to the first silica gel strip, and a first magnet is arranged on the second silica gel strip; the third silica gel strip is also vertical to the first silica gel strip, and the second capsule containing the medicine is arranged on the third silica gel strip; the second magnet and the third magnet are provided with needle points which are in the same direction as the second capsule containing the medicine; the N pole of the first magnet faces to the second capsule containing the medicine, and the S pole of the first magnet is far away from the second capsule containing the medicine relative to the N pole; the second magnet and the third magnet are opposite in magnetic pole, namely S poles of the second magnet and the third magnet face the fluorescent substance, and N poles of the second magnet and the third magnet are far away from the fluorescent substance relative to the S poles;
when the gastrointestinal endoscope capsule enters the body of a patient, the three coils start to work, the generation time sequence of the gradient magnetic field is from the gastrointestinal endoscope capsule entering the human body to a target point, and the generation point of the uniform rotating magnetic field is from the gastrointestinal endoscope capsule starting to generate at the target point; then, the magnitude and direction of the upward force and the moment are controlled by controlling the gradient magnetic field and the uniform rotating magnetic field, so that the movement position of the enteroscope capsule is changed.
4. A magnetically controlled non-contact enteroscopy capsule according to claim 1, 2 or 3, wherein: the silica gel strip I, the silica gel strip II and the silica gel strip III form a silica gel whole body, grooves for placing the capsule II containing the medicine, the magnet I, the magnet II and the magnet III are respectively formed in the silica gel whole body, and the capsule II containing the medicine, the magnet I, the magnet II and the magnet III are all bonded and fixed in the grooves.
5. A magnetically controlled non-contact enteroscopy capsule according to claim 1, 2 or 3, wherein: when the strength of the uniform rotating magnetic field is 0.6T-1T, the uniform rotating magnetic field is stronger.
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| EP2995240A1 (en) * | 2014-09-15 | 2016-03-16 | Ankon Medical Technologie (Shanghai) Co., Ltd | Apparatus and method for controlling the movement of a capsule endoscope in the digestive tract of a human body |
| JP2017158603A (en) * | 2016-03-07 | 2017-09-14 | 国立大学法人 香川大学 | Capsule type medication device |
| CN110038211A (en) * | 2018-01-16 | 2019-07-23 | 上海安翰医疗技术有限公司 | Alimentary canal device for administration of drugs and its application capsule |
| CN209932705U (en) * | 2019-04-10 | 2020-01-14 | 潘艳丰 | Luminous body device with fluorescence luminous function |
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| EP2995240A1 (en) * | 2014-09-15 | 2016-03-16 | Ankon Medical Technologie (Shanghai) Co., Ltd | Apparatus and method for controlling the movement of a capsule endoscope in the digestive tract of a human body |
| JP2017158603A (en) * | 2016-03-07 | 2017-09-14 | 国立大学法人 香川大学 | Capsule type medication device |
| CN110038211A (en) * | 2018-01-16 | 2019-07-23 | 上海安翰医疗技术有限公司 | Alimentary canal device for administration of drugs and its application capsule |
| CN209932705U (en) * | 2019-04-10 | 2020-01-14 | 潘艳丰 | Luminous body device with fluorescence luminous function |
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