CN111671381A - Double-magnetic-force control system of capsule endoscope products - Google Patents
Double-magnetic-force control system of capsule endoscope products Download PDFInfo
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- CN111671381A CN111671381A CN202010499584.7A CN202010499584A CN111671381A CN 111671381 A CN111671381 A CN 111671381A CN 202010499584 A CN202010499584 A CN 202010499584A CN 111671381 A CN111671381 A CN 111671381A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—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
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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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0601—Apparatus for use inside the body
- A61N5/0603—Apparatus for use inside the body for treatment of body cavities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/062—Photodynamic therapy, i.e. excitation of an agent
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0601—Apparatus for use inside the body
- A61N5/0603—Apparatus for use inside the body for treatment of body cavities
- A61N2005/0609—Stomach and/or esophagus
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0626—Monitoring, verifying, controlling systems and methods
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Abstract
The invention discloses a double-magnetic-force control system of a capsule endoscope product, which relates to the technical field of medical instruments and comprises a magnetic control platform, a magnet module and a control device; magnetic control platform includes X axle guide rail, Y axle guide rail and Z axle guide rail, Y axle guide rail is provided with two side by side, the both ends of X axle guide rail are connected with two Y axle guide rail slip tables respectively, the Z axle guide rail is vertical to be installed on X axle guide rail slip table, the magnet module includes spacing magnet and control magnet, control magnet installs on Z axle guide rail slip table through first linking arm, spacing magnet pass through the second linking arm install in on the Z axle guide rail slip table, control magnet with spacing magnet is located the top and the below that built-in capsule scope class product that has controlled magnet respectively. The capsule endoscope control device can accurately control the capsule endoscope, improve the positioning precision and realize the angle adjustment.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a double-magnetic-force control system of a capsule endoscope product.
Background
With the continuous development of science and technology, the method for examining stomach diseases by using a capsule endoscope is more and more common, and the first-generation capsule endoscope at home and abroad has mature products and research foundation at present. The first generation capsule endoscope only utilizes the intestinal tract peristalsis system of the patient to enable the capsule endoscope to move in the body, and the space posture and the accurate position of the capsule endoscope in the human body cannot be controlled and fed back, so that the capsule endoscope is not beneficial to the acquisition and judgment of the focus position information of the stomach of the patient by a doctor.
Currently, CN201510025519X discloses a system for examining the digestive tract, which comprises a capsule endoscope, a magnetic element disposed in the capsule endoscope, and a magnetic control device including a magnetic rod, wherein the capsule endoscope is controlled by holding the magnetic rod to position and posture in the patient. Although the device is low in cost, the precision is low due to the fact that the capsule endoscope is manually controlled to be in the human body, and the device has the defects that errors are prone to occurring, a blind inspection area exists, the space posture of the capsule endoscope in the stomach of a patient is difficult to adjust, and the like.
CN2019800027170 of shanghai anshan medical technology, ltd discloses a capsule endoscope control system, which includes a robot arm device through which precise positioning and movement of spatial positions are achieved. However, only one permanent magnet is arranged on a mechanical arm, the capsule endoscope belongs to a fixed single-magnetic-force control device, when the capsule endoscope moves in water, a certain horizontal force is applied to the capsule endoscope to generate micro-floating, so that the positioning accuracy of the capsule has errors, and the single-magnetic-force control has the problems of difficult adjustment of the spatial attitude and the like.
In conclusion, the single magnetic force control device of the existing capsule endoscope has the problems of inaccurate capsule position feedback, difficult adjustment of spatial attitude and the like; when the application of the capsule endoscope is expanded to the treatment field, higher requirements are placed on the accurate positioning of the capsule.
Therefore, it is desirable to provide a dual magnetic control system for capsule endoscope products to solve the above problems in the prior art.
Disclosure of Invention
The invention aims to provide a double-magnetic-force control system of capsule endoscope products, which solves the problems in the prior art, improves the positioning precision and realizes the precise control of capsules.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a double-magnetic force control system of a capsule endoscope product, which comprises a magnetic control platform, a magnet module and a control device, wherein the magnet module is arranged on the magnetic control platform, the magnetic control platform drives the magnet module to move, and the magnetic control platform is electrically connected with the control device;
the magnetic control platform comprises X-axis guide rails, Y-axis guide rails and Z-axis guide rails, the number of the Y-axis guide rails is two, a Y-axis guide rail sliding table is slidably mounted on each of the two Y-axis guide rails, and the two Y-axis guide rail sliding tables move synchronously; two ends of the X-axis guide rail are respectively connected with the two Y-axis guide rail sliding tables, the X-axis guide rail is provided with an X-axis guide rail sliding table in a sliding manner, the Z-axis guide rail is vertically arranged on the X-axis guide rail sliding table, and the Z-axis guide rail is provided with a Z-axis guide rail sliding table in a sliding manner;
the magnet module includes spacing magnet and control magnet, control magnet pass through first linking arm install in on the Z axle guide rail slip table, spacing magnet pass through the second linking arm install in on the Z axle guide rail slip table, control magnet with spacing magnet is located the top and the below that the built-in capsule scope class product that has controlled magnet respectively.
Preferably, the control magnet is a spherical permanent magnet, a strip permanent magnet or an electromagnet, the limiting magnet is a disc magnet, a cylindrical magnet or an electromagnet, and the controlled magnet is a permanent magnet.
Preferably, the two Y-axis guide rails are fixed on the ground or an operating platform in parallel and are in transmission connection, one of the two Y-axis guide rails is connected with a driving motor, and the X-axis guide rail and the Z-axis guide rail are both connected with the driving motor.
Preferably, one end of the first connecting arm, which is far away from the Z-axis guide rail sliding table, is provided with a control magnet connecting piece, and the control magnet is installed on the control magnet connecting piece.
Preferably, the control magnet connecting piece is provided with a first rotating motor and a second rotating motor, the first rotating motor drives the control magnet to rotate along a vertical shaft, and the second rotating motor drives the control magnet to rotate along a horizontal shaft;
the control magnet connecting piece comprises a rigid coupling and a C-shaped connecting piece, a mounting hole is formed in one end, far away from the Z-axis guide rail sliding table, of the first connecting arm, the first rotating motor is mounted at the upper end of the first connecting arm, the rigid coupling is located at the lower end of the first connecting arm, and the top end of the rigid coupling penetrates through the mounting hole and is connected with an output shaft of the first rotating motor; the upper end of the C-shaped connecting piece is provided with a rotating shaft for being connected with the bottom end of the rigid coupling, two sides of the C-shaped connecting piece are provided with fixing holes for mounting bearing supports, the middle part in the control magnet is provided with an intermediate shaft, and two ends of the intermediate shaft are respectively mounted on the two bearing supports; and the second rotating motor is installed on one side of the C-shaped connecting piece, and an output shaft of the second rotating motor is fixedly connected with one end of the intermediate shaft.
Preferably, the top end of the second connecting arm is connected with one end, close to the Z-axis guide rail sliding table, of the first connecting arm, and the limiting magnet is installed at the bottom end of the second connecting arm.
Preferably, the bottom of the Z-axis guide rail sliding table is provided with a limiting magnet guide rail sliding table, the top end of the second connecting arm is connected with the limiting magnet guide rail sliding table, and the bottom end of the second connecting arm is provided with the limiting magnet.
Preferably, the second connecting arm is an L-shaped connecting arm.
Preferably, the control device comprises a conversion power switch, a controller and a driver, the controller is connected with a power supply through the conversion power switch, and the controller is connected with the driving motor, the first rotating motor and the second rotating motor through the driver.
Preferably, the capsule endoscopy product has a treatment function, and is a phototherapy capsule.
Compared with the prior art, the invention has the following technical effects:
1. the capsule endoscope has five degrees of freedom, can do inclined angle movement at any position, comprehensively observe the stomach condition and find out the position of a patient;
2. the positioning precision is improved by adopting double magnetic force control, and the precise control of the capsule is realized.
3. Can control the capsule endoscope to accurately treat the pathological changes on any surface in the stomach.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of the dual magnetic control system of the inventive capsule endoscope type product;
FIG. 2 is a schematic diagram of a dual magnetic force control model of the present invention;
FIG. 3 is a front view of the magnetic platform of the present invention;
FIG. 4 is a side view of the magnetic platform of the present invention;
FIG. 5 is a control schematic of the dual magnetic control system of the inventive capsule endoscope type product;
FIG. 6 is a magnetic force profile of the dual magnetic force model of the present invention;
FIG. 7 is a graph illustrating the magnetic force profile experienced by a controlled magnet of the present invention in a dual magnetic field;
FIG. 8 is a schematic view of a magnetic force simulation of the control magnet and the controlled magnet under a rotating condition according to the present invention;
fig. 9 is a schematic view of a treatment scenario of a capsule endoscope product under a dual-magnetic control system.
FIG. 10 illustrates the control magnet mounting of the present invention;
in the figure, 1 is a Z-axis guide rail, 2 is a first connecting arm, 3 is a capsule endoscope, 4 is a controlled magnet, 5 is a control magnet, 6 is a second connecting arm, 7 is a Y-axis guide rail, 8 is a limit magnet, 9 is an X-axis guide rail, 10 is a Z-axis driving motor, 11 is a Y-axis driving motor, 12 is a first rotating motor, 13 is a second rotating motor, 14 is an X-axis driving motor, 15 is a stomach, 16 is a target area, 17 is a rigid coupling, 18 is a C-shaped connecting piece, and 19 is a bearing support.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1-10, the present embodiment provides a dual-magnetic control system for capsule endoscope products, which mainly includes a magnetic control platform, a magnet module and a control device, wherein the magnet module is mounted on the magnetic control platform, the magnetic control platform drives the magnet module to move, and the magnetic control platform is electrically connected to the control device;
the magnetic control platform comprises an X-axis guide rail 9, Y-axis guide rails 7 and a Z-axis guide rail 1, the two Y-axis guide rails 7 are arranged side by side, two Y-axis guide rail sliding tables are slidably mounted on the two Y-axis guide rails 7, and the two Y-axis guide rail sliding tables move synchronously; two ends of the X-axis guide rail 9 are respectively connected with the two Y-axis guide rail sliding tables, the X-axis guide rail 9 is provided with the X-axis guide rail sliding table in a sliding manner, the Z-axis guide rail 1 is vertically arranged on the X-axis guide rail sliding table, and the Z-axis guide rail 1 is provided with the Z-axis guide rail sliding table in a sliding manner;
the magnet module is two magnetic force control system's the leading component, adopts the coaxial linkage model of two magnetic forces, including spacing magnet 8 and control magnet 5, control magnet 5 through first linking arm 2 install in on the Z axle guide rail slip table, spacing magnet 8 through second linking arm 6 install in on the Z axle guide rail slip table, control magnet 5 with spacing magnet 8 is located the top and the below that have built-in capsule scope 3 type products of controlled magnet 4 respectively.
In the embodiment, the controlled magnet 4 (magnet in the capsule endoscope type 3 product) is controlled by the control magnet 5 and the limit magnet 8 at the same time, so as to achieve the purpose of accurate positioning.
The control magnet 5 is arranged at the upper end of the controlled magnet 4, so that the controlled magnet 4 and the control magnet 5 have opposite magnetic poles (attract each other), the aim of moving and rotating the controlled magnet 4 is achieved by controlling the motion of the control magnet 5, and the control magnet 5 can be a spherical, strip-shaped permanent magnet or an electromagnet.
The limiting magnet 8 is arranged at the lower end of the controlled magnet 4, so that the limiting magnet 8 and the controlled magnet 4 have opposite magnetic poles (attract each other); the limiting magnet 8 and the control magnet 5 keep a fixed relative distance, and the limiting magnet 8 is used for providing a suction force for the lower end of the capsule endoscope 3 product when the control magnet 5 controls the capsule endoscope 3 product to make an inclination angle, so that the positioning accuracy of the capsule endoscope is ensured; the limit magnet 8 may be a disc-shaped magnet, a cylindrical magnet, or an electromagnet.
And the controlled magnet 4: namely the magnet inside the capsule endoscope type 3 product, which is a permanent magnet.
The technical difficulty of the dual magnetic force control system is the determination of the magnet volume and the calculation of the distance between the magnet and the controlled magnet 4, in this embodiment, the determination method of the distance and the volume.
(1) Determining the weight of the capsule endoscope product, and calculating the gravity G borne by the capsule endoscope product; as the capsule endoscope products work under the state that the stomach 15 is filled with water, the buoyancy F needs to be calculated, and then the receiving force can be calculatedMagnetic force F required by control magnet 4Controlled by：
FControlled by＝G-F，FControlled byThe direction of the force is vertically upward;
(2) determination of good FControlled byThen, the distance between the control magnet 5 and the controlled magnet 4 and the distance between the limit magnet 8 and the controlled magnet 4, H, are determined according to the actual use distanceControl-receiveAnd HIs limited to；
(3) Determining the magnetic force F of the controlled magnet 4Controlled byDistance HControl-receiveAnd HIs limited toThe magnetic marks and the shapes of the control magnet 5 and the limit magnet 8 are determined, for example, the magnetic mark of the control magnet 5 is determined to be N35 of the permanent magnet of the spherical neodymium iron boron material, and the magnetic mark of the limit magnet 8 is determined to be N35 of the permanent magnet of the cylindrical neodymium iron boron material;
(4) the volume of the control magnet 5 can be determined by simulation calculation: firstly, simulation analysis software such as MAXWELL is used to set a required model, such as a control magnet 5 model which is a sphere, a controlled magnet 4 model which is a cylindrical magnetic sheet, a limiting magnet 8 model which is a cylindrical magnet, and F calculated by calculationControlled byMagnetizing the magnet by the selected magnetic mark, setting the distance and the size of the limiting magnet 8, and setting the radius of the spherical magnet as a variable; the volume of the control magnet 5 can be obtained by a static magnetic force solver.
In the present embodiment, the controlled magnet 4 performs mainly two movements under the dual magnetic force control system:
(1) controlled tilting and rotating of magnet 4
The controlled magnet 4 is enabled to perform tilting movement by controlling the magnetic pole direction of the control magnet 5; when the control magnet 5 rotates, the controlled magnet 4 makes an inclination angle according to the rotation of the control magnet 5, and meanwhile, the limiting magnet 8 does not make a rotating motion and continuously provides a vertical downward attraction force for the controlled magnet 4, so that the controlled magnet 4 does not generate fluttering due to the change of the magnetic field of the control magnet 5, and accurate inclination movement and rotation can be achieved.
(2) Controlled movement of the magnet 4
The movement of the controlled magnet 4 is realized by adopting the synchronous movement of a double-magnetic-force control system on a three-axis platform, and under the condition that the control magnet 5 and the limiting magnet 8 are in fixed relative positions, the three-axis platform in the XYZ three directions can ensure that the controlled magnet 4 can realize accurate control and positioning on the degrees of freedom in the XYZ three directions.
In this embodiment, the two Y-axis guide rails 7 are fixed on the ground or the operating table in parallel, and the two Y-axis guide rails 7 are in transmission connection with the optical axis through a coupler, or are connected by other transmission mechanisms meeting the requirements, such as a gear and a chain. One of them Y axle guide rail 7 is connected with driving motor, X axle guide rail 9 with Z axle guide rail 1 all is connected with driving motor, carries out fixed connection through flange and shaft coupling between driving motor and the guide rail.
Further, the Y-axis guide rail 7 and the X-axis guide rail 9 adopt lead screws, synchronous belts or toothed belts, and the Z-axis guide rail 1 adopts lead screws.
In this embodiment, a control magnet connecting piece is arranged at one end of the first connecting arm 2 away from the Z-axis guide rail sliding table, and the control magnet 5 is mounted on the control magnet connecting piece; install first rotating electrical machines 12 and second rotating electrical machines 13 on the control magnet connecting piece, first rotating electrical machines 12 drive control magnet 5 rotates (rotates around the Z axle) along vertical axle, second rotating electrical machines 13 drive control magnet 5 rotates along the horizontal axis (along X axle or Y axle).
In this embodiment, the connecting piece of control magnet 5 includes rigid coupling 17 and C type connecting piece 18, first connecting arm 2 is kept away from the one end of Z axle guide rail slip table is provided with the mounting hole, first rotation motor 12 pass through the bolt install in 2 upper ends of first connecting arm, rigid coupling 17 is located the lower extreme of first connecting arm 2, rigid coupling 17's top is passed the mounting hole, and with the output shaft of first rotation motor 12 is connected. A rotating shaft is arranged at the upper end of the C-shaped connecting piece 18 and is used for being connected with the bottom end of the rigid coupling 17, fixing holes are formed in two sides of the C-shaped connecting piece 18 and used for installing bearing supports 19 through bolts, a through hole is formed in the middle of the inner part of the control magnet 5 (preferably adopting a spherical permanent magnet) and used for installing an intermediate shaft, the intermediate shaft penetrates through the control magnet 5, and two ends of the intermediate shaft are respectively installed on the two bearing supports 19; one side of the C-shaped connecting piece 18 is also provided with a mounting hole for mounting the second rotating motor through a bolt, and an output shaft of the second rotating motor is fixedly connected with one end of the intermediate shaft; one end of the intermediate shaft is provided with a D-shaped hole for interference assembly with an output shaft of the second rotating motor.
In the present embodiment, the drive motor, the first rotating motor 12, and the second rotating motor 13 employ a stepping motor or a servo motor.
In this embodiment, the top end of the second connecting arm 6 is connected to one end of the first connecting arm 2 close to the Z-axis guide rail sliding table, and the bottom end is provided with the limiting magnet 8; or the bottom of the Z-axis guide rail sliding table is provided with a limiting magnet guide rail sliding table, the top end of the second connecting arm 6 is connected with the limiting magnet guide rail sliding table, the bottom end of the second connecting arm is provided with the limiting magnet 8, and the limiting magnet guide rail sliding table is additionally connected with the second connecting arm 6, so that the stability is improved.
Preferably, second linking arm 6 is L type linking arm, including vertical arm and horizontal arm, and the top and the first linking arm 2 of vertical arm or spacing magnet guide rail slip table are connected, and the bottom is connected with the one end of horizontal arm, and the other end of horizontal arm is connected with spacing magnet 8.
In this embodiment, the control device includes a switching power switch, a controller and a driver, the controller is connected to the power supply through the switching power switch, and the controller is connected to the driving motor, the first rotating motor 12 and the second rotating motor 13 through the driver to drive the driving motor, the first rotating motor 12 and the second rotating motor 13; wherein the controller is a programmable controller.
Example two
The present embodiment is further supplemented on the basis of the first embodiment, taking the control magnet 5 as a spherical permanent magnet as an example, and a detailed description is given to a method for calculating the volume and the relative distance of the control magnet 5 of the dual-magnetic control system, which mainly includes the following steps:
(1) parameter setting
Firstly, the size of a controlled magnet 4 in the capsule endoscope 3 is 9mmX4.5mm, and the magnetic mark is N35;
the control magnet 5 is a spherical permanent magnet with the brand number of N35;
thirdly, the limiting magnet 8 is a cylindrical magnet with the set size of 80mmX30mm and the magnetic mark number of N35;
setting the distance between the control magnet 5 and the controlled magnet 4 to be 150 mm;
fifthly, setting the distance between the limiting magnet 8 and the controlled magnet 4 to be 250 mm;
⑥ Capsule 3 weight 3g, FControlled byValue 0.0281N;
(2) performing model analysis to calculate the radius of the spherical control magnet 5
The magnetic force model analysis results are shown in fig. 6, and are calculated as follows: the radius of the control magnet 5 is 43.5 mm;
at this setting, a magnetometric analysis was carried out, the result of which is shown in fig. 7, within which distance range the controlled magnet 4 will be in control of the steady magnetometric system;
(3) simulating the rotation of the control magnet 5, as shown in fig. 8, it can be seen that the controlled magnet 4 can perform a precise tilting motion from the change of the magnetic poles.
EXAMPLE III
The embodiment is an improvement on the basis of the first embodiment, and the improvement is as follows: the 3 types of capsule endoscopy products have a treatment function, and preferably, the 3 types of capsule endoscopy products are phototherapy capsules; phototherapy capsule can be selected from prior art, and it is through setting up the light source in capsule scope 3, treats the affected part through photodynamic therapy, and phototherapy capsule also can adopt other capsule scopes 3 that have the treatment function that satisfy the work needs to replace.
In this embodiment, the phototherapy capsule under the control of dual magnetic force realizes the following steps:
(1) starting the machine, enabling the patient to drink a large amount of drinking water, swallowing the phototherapy capsule, and lying on the treatment bed;
(2) starting a power supply of the double-magnetic control system, enabling the control magnet 5 and the limiting magnet 8 to move in XYZ axes, controlling the phototherapy capsule to move to the position near the treatment target area 16, and positioning the target area 16, such as 30 degrees at the upper right;
(3) the magnet 5 is controlled to rotate on two planes under the double-magnetic system, and the phototherapy capsule is controlled to rotate, so that the top end of the phototherapy capsule accurately faces to a treatment target area and keeps positioning;
(4) turning on a light source of the phototherapy capsule for treatment;
(5) after the treatment is finished, controlling the phototherapy capsule to transfer to the next target area 16, and repeating the steps for 2 to 4;
(6) after the treatment is finished, the control magnet 5 is removed and the power supply is turned off.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a two magnetic control system of capsule endoscope class product which characterized in that: the magnetic control platform drives the magnet module to move, and is electrically connected with the control device;
the magnetic control platform comprises X-axis guide rails, Y-axis guide rails and Z-axis guide rails, the number of the Y-axis guide rails is two, a Y-axis guide rail sliding table is slidably mounted on each of the two Y-axis guide rails, and the two Y-axis guide rail sliding tables move synchronously; two ends of the X-axis guide rail are respectively connected with the two Y-axis guide rail sliding tables, the X-axis guide rail is provided with an X-axis guide rail sliding table in a sliding manner, the Z-axis guide rail is vertically arranged on the X-axis guide rail sliding table, and the Z-axis guide rail is provided with a Z-axis guide rail sliding table in a sliding manner;
the magnet module includes spacing magnet and control magnet, control magnet pass through first linking arm install in on the Z axle guide rail slip table, spacing magnet pass through the second linking arm install in on the Z axle guide rail slip table, control magnet with spacing magnet is located the top and the below that the built-in capsule scope class product that has controlled magnet respectively.
2. The dual magnetic control system for an intracapsular mirror-like product of claim 1, wherein: the control magnet is a spherical permanent magnet, a strip permanent magnet or an electromagnet, the limiting magnet is a disc magnet, a cylindrical magnet or an electromagnet, and the controlled magnet is a permanent magnet.
3. The dual magnetic control system for an intracapsular mirror-like product of claim 1, wherein: the two Y-axis guide rails are fixed on the ground or an operating platform in parallel and are in transmission connection, one of the two Y-axis guide rails is connected with a driving motor, and the X-axis guide rail and the Z-axis guide rail are both connected with the driving motor.
4. The dual magnetic control system for an intracapsular mirror-like product of claim 3, wherein: one end of the first connecting arm, which is far away from the Z-axis guide rail sliding table, is provided with a control magnet connecting piece, and the control magnet is installed on the control magnet connecting piece.
5. The dual magnetic control system for an intracapsular mirror-like product of claim 4, wherein: the control magnet connecting piece is provided with a first rotating motor and a second rotating motor, the first rotating motor drives the control magnet to rotate along a vertical shaft, and the second rotating motor drives the control magnet to rotate along a horizontal shaft;
the control magnet connecting piece comprises a rigid coupling and a C-shaped connecting piece, a mounting hole is formed in one end, far away from the Z-axis guide rail sliding table, of the first connecting arm, the first rotating motor is mounted at the upper end of the first connecting arm, the rigid coupling is located at the lower end of the first connecting arm, and the top end of the rigid coupling penetrates through the mounting hole and is connected with an output shaft of the first rotating motor; the upper end of the C-shaped connecting piece is provided with a rotating shaft for being connected with the bottom end of the rigid coupling, two sides of the C-shaped connecting piece are provided with fixing holes for mounting bearing supports, the middle part in the control magnet is provided with an intermediate shaft, and two ends of the intermediate shaft are respectively mounted on the two bearing supports; and the second rotating motor is installed on one side of the C-shaped connecting piece, and an output shaft of the second rotating motor is fixedly connected with one end of the intermediate shaft.
6. The dual magnetic control system for an intracapsular mirror-like product of claim 5, wherein: the top of second linking arm with first linking arm is close to the one end of Z axle guide rail slip table is connected, and the bottom is installed spacing magnet.
7. The dual magnetic control system for an intracapsular mirror-like product of claim 5, wherein: the bottom of Z axle guide rail slip table is provided with spacing magnet guide rail slip table, the top of second linking arm with spacing magnet guide rail slip table is connected, and install the bottom spacing magnet.
8. The dual magnetic control system for products like endoscopes according to claim 6 or 7, characterized in that: the second connecting arm is an L-shaped connecting arm.
9. The dual magnetic control system for an intracapsular mirror-like product of claim 4, wherein: the control device comprises a conversion power switch, a controller and a driver, wherein the controller is connected with a power supply through the conversion power switch, and the controller is connected with the driving motor, the first rotating motor and the second rotating motor through the driver.
10. The dual magnetic control system for an intracapsular mirror-like product of claim 1, wherein: the capsule endoscopy product has a treatment function and is a phototherapy capsule.
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