CN113017542A - Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method thereof - Google Patents
Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method thereof Download PDFInfo
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- CN113017542A CN113017542A CN201911356475.3A CN201911356475A CN113017542A CN 113017542 A CN113017542 A CN 113017542A CN 201911356475 A CN201911356475 A CN 201911356475A CN 113017542 A CN113017542 A CN 113017542A
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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
-
- 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
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
The invention provides a magnetic spiral capsule endoscope, a magnetic spiral capsule endoscope control system and a magnetic spiral capsule endoscope control method. The magnetic spiral capsule endoscope comprises a capsule endoscope body and a magnetic shell layer arranged on the periphery of the capsule endoscope body, wherein a magnetizable material is spirally wound on the surface of the magnetic shell layer. The magnetic spiral capsule endoscope control system comprises an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral capsule endoscope; the permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture. The magnetic spiral capsule endoscope control system realizes effective control on movement and posture maintenance of the magnetic spiral capsule endoscope.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a magnetic spiral capsule endoscope, a magnetic spiral capsule endoscope control system and a magnetic spiral capsule endoscope control method.
Background
Currently, digestive system diseases are the most common diseases in clinic, with gastrointestinal diseases accounting for the greatest proportion. Traditionally, both the upper and lower digestive tracts have been examined by mechanical insertion, which can cause discomfort and pain to the patient, reduce patient compliance to some extent, and sometimes even require anesthesia. Wireless capsule endoscopy has the advantages of being noninvasive, painless, free of cross infection and the like, overcomes the defects of traditional endoscopes such as gastroscopes, and has been used as a first-line examination means for small intestine diseases in many regions of the world.
The capsule type endoscope assembly generally comprises a capsule, a built-in micro camera, a visual angle of 160 degrees, a cruising ability of more than 8 hours, a data recorder and image data analysis software. At present, most capsule endoscopes in many places are passive, advance along with gastrointestinal peristalsis, have instability and uncertainty, have no treatment function, and the deficiency of active control makes the capsule difficult to accurately position a pathological change position, is mainly used for small intestine examination, and is not suitable for stomach examination with a large cavity and a complex cavity.
The active control methods of capsule endoscopes currently under investigation are divided into internal and external drive modes. The internal driving is a driving mode for moving by utilizing the energy source and the mechanical structure of the capsule endoscope, and mainly comprises the following steps: shape memory alloy drive, micro motor drive, magnetostriction drive, pneumatic drive, peristaltic drive, multi-foot drive, electrostatic drive, bionic drive and the like, and most of the processing principles are researched. The internal drive has several disadvantages: 1. the driving is dependent on a motor, which may cause insufficient battery power; 2. the structure of the microcapsule endoscope becomes complex, the production is difficult, and the cost is higher; 3. motor structures may cause damage to the digestive tract; 4. the capsule endoscope movement can not be accurately controlled and has not fast speed.
The external drive is a drive mode for providing power for the movement of the capsule endoscope through external equipment. The conventional available non-contact force is only gravity (universal gravitation) and electromagnetic force, the gravity is basically uncontrollable, and the electromagnetic force still does not research a scheme capable of well controlling the movement of the capsule endoscope at present.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a magnetic spiral capsule endoscope, a magnetic spiral capsule endoscope control system and a magnetic spiral capsule endoscope control method.
In order to achieve the above purpose, the present invention provides a magnetic spiral capsule endoscope, which comprises a capsule endoscope body and a magnetic shell layer arranged on the periphery of the capsule endoscope body, wherein a magnetizable material is spirally wound on the surface of the magnetic shell layer.
The magnetic spiral capsule endoscope has the advantages of simple structure and low manufacturing cost, and can rotate, move and maintain the posture according to the change of the direction, the strength and the like of an external magnetic field.
The invention also provides a control system of the magnetic spiral capsule endoscope, which comprises an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral capsule endoscope;
the permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture.
This magnetism spiral capsule scope control system is rotatory through controlling outside permanent magnet, realizes the rotation control to magnetism spiral capsule scope to turning into linear motion with magnetism spiral capsule scope rotary motion, having promoted the application of magnetism spiral capsule scope in intestines and stomach, realized the effective control to magnetism spiral capsule scope motion, gesture keep.
The preferable scheme of the magnetic spiral capsule endoscope control system is as follows: the magnetic sensor array is used for acquiring external magnetic field parameters, and the data acquisition units are connected with the magnetic sensor array in a one-to-one correspondence manner; and the data output end of the data acquisition unit is connected to a PC.
The PC can realize the position and the posture of the magnetic spiral capsule endoscope in the gastrointestinal tract of a human body according to the data collected by the magnetic sensor array, and realize the fixed-point suspension and the accurate motion control of the magnetic spiral capsule endoscope through the permanent magnet control mechanism.
The preferable scheme of the magnetic spiral capsule endoscope control system is as follows: the permanent magnet control mechanism comprises a single chip microcomputer and a stepping motor.
The invention also provides a control method of the magnetic spiral capsule endoscope control system, which comprises the following steps:
the magnetic sensor array positioned right above and below the external permanent magnet is used for detecting the mixed magnetic field intensity of the magnetic spiral capsule endoscope and the external permanent magnet, the magnetic sensor array positioned right above is used for detecting the position and the posture of the external permanent magnet, and the magnetic field intensity of the external permanent magnet is obtained by utilizing the position and the posture of the external permanent magnet;
subtracting the magnetic field intensity of the external permanent magnet from the mixed magnetic field intensity to obtain the magnetic field intensity of the magnetic spiral capsule endoscope;
calculating current space position information and direction angle information of the magnetic spiral type capsule endoscope according to the magnetic field intensity of the magnetic spiral type capsule endoscope;
and comparing the current space position information and the direction angle information of the magnetic spiral capsule endoscope with a target positioning position, and controlling an external permanent magnet to drive the magnetic spiral capsule endoscope to move according to the positioning coordinate so that the magnetic spiral capsule endoscope moves from the current positioning position to the target positioning position.
Compared with the prior art, the method adopts a closed-loop active control means, obtains the position of the magnetic spiral capsule endoscope by processing and calculating the data transmitted by the magnetic sensor array, and enables the magnetic spiral capsule endoscope to stably move in a two-dimensional plane through the closed-loop active control means. The method is simple and convenient in operation process, is beneficial to controlling the position and the posture of the capsule of the movable endoscope, is greatly convenient for the use of the capsule endoscope, and is also beneficial to more comprehensively acquiring the information of the digestive tract by the capsule endoscope.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view showing a structure of a magnetic spiral type capsule endoscope;
FIG. 2 is a schematic diagram of a magnetic spiral type capsule endoscope control system;
FIG. 3 is a schematic diagram of a magnetic sensor array;
FIG. 4 is a perspective view of an external permanent magnet and permanent magnet control mechanism;
FIG. 5 is a flow chart of a control method of a control system of a magnetic spiral capsule endoscope.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in figure 1, the invention provides a magnetic spiral capsule endoscope, which comprises a capsule endoscope body 1 and a magnetic shell layer 3 arranged on the periphery of the capsule endoscope body 1, wherein a magnetizable material 2 is spirally wound on the surface of the magnetic shell layer 3.
The magnetic shell layer 3 is preferably coated on the periphery of the capsule endoscope body 1, the magnetizable material 2 is preferably but not limited to an iron wire, the iron wire can be coated with an anti-corrosion and harmless protective layer, and two ends of the iron wire are fixed at the end part of the magnetic shell layer 3, for example, two ends of the iron wire are fixed at the end part of the magnetic shell layer 2 through hot melt adhesive.
The magnetic spiral capsule endoscope is arranged in the alimentary canal of a human body, particularly in the intestinal tract, and the synchronous rotating motion of the magnetic spiral capsule endoscope can be controlled by arranging a rotatable magnetic field outside the human body so as to realize the fixed-point suspension and the motion control of the magnetic capsule endoscope in the alimentary canal of the human body.
As shown in fig. 2, the present invention further provides a control system of a magnetic spiral capsule endoscope, comprising an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral capsule endoscope.
The permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture.
The magnetic spiral capsule endoscope control system also has the preferable scheme that: the magnetic spiral capsule endoscope control system also comprises at least one magnetic sensor array for acquiring external magnetic field parameters and data acquisition units which are connected with the magnetic sensor array in a one-to-one corresponding mode; and the data output end of the data acquisition unit is connected to a PC.
The magnetic spiral capsule endoscope is used for detecting gastrointestinal tracts of human bodies, the magnetic sensor array is used for detecting space magnetic field parameters, the data collector is used for receiving data sent by the magnetic sensor array, the PC machine receives the data sent by the data collector and calculates the position and direction angle parameters of the magnetic spiral capsule endoscope according to a data processing and positioning algorithm, and the calculation can be carried out by adopting the existing method.
The external permanent magnet and the permanent magnet control mechanism are preferably but not limited to be arranged above the magnetic spiral capsule endoscope and used for generating and controlling a magnetic field for driving the magnetic spiral capsule endoscope to rotate, the external permanent magnet can be handheld and can also be supported by other mechanical structures, and the capsule endoscope can synchronously rotate and move along with the external permanent magnet and the permanent magnet control mechanism according to a closed-loop control system method (adopting the existing method), so that fixed-point suspension and accurate movement control of the magnetic capsule endoscope in the gastrointestinal tract of a human body are realized.
As shown in fig. 3, in this embodiment, the magnetic sensor array includes a magnetic field sensing module, an analog-to-digital converter, and a serial port communicator, an output end of the magnetic field sensing module is connected to an input end of the analog-to-digital converter, an output end of the analog-to-digital converter is connected to an input end of the serial port communicator, and an output end of the serial port communicator is connected to the data collector. The analog-to-digital converter performs analog-to-digital conversion on the spatial magnetic field data measured by the magnetic field sensing module, and the serial port communicator transmits a digital signal obtained by the conversion of the analog-to-digital converter to the data acquisition unit, wherein the magnetic field sensing module is preferably but not limited to a magnetic positioning array consisting of a three-axis magnetic sensor (HMC 1053).
The magnetic spiral capsule endoscope is used as a magnetic signal excitation source, a magnetic signal is detected by a magnetic sensor, and then tracking parameters (position and direction angle) can be calculated by the currently obtained static magnetic field data generated by the magnetic spiral capsule endoscope according to the current position coordinate of the magnetic spiral capsule endoscope.
The permanent magnet control mechanism comprises a single chip microcomputer and a stepping motor, and as shown in fig. 4, the external permanent magnet is used for providing a static basic magnetic field. The stepping motor is controlled to move by pressing a key, the speed is reduced by pressing a speed reduction button 5, the speed is increased by pressing an acceleration button 6, the stepping motor moves forwards by pressing a forward button 7, the stepping motor moves backwards by pressing a backward button 8, the stepping motor starts and stops by pressing a start stop button 9, and the button 10 is a power supply button. In the control process, the forward and backward movement of the magnetic spiral capsule endoscope in the intestinal tract can be controlled by the external permanent magnet which rotates positively and negatively. The speed of the magnetic spiral type capsule endoscope in the forward or backward movement can be changed by changing the rotating speed of the external permanent magnet. The rotary motion of the external permanent magnet 4 is driven by a stepping motor controlled by a single chip microcomputer 11, and the rotating speed and direction of the stepping motor are adjustable. The singlechip controls the step motor to work so as to drive the magnetic spiral capsule endoscope to rotate forwards, reversely, accelerate and decelerate, and the prior art or the method is adopted.
In this embodiment, the PC is communicably connected to the single chip, after the PC calculates the current position and posture of the magnetic spiral capsule endoscope, the PC provides a motion path or a motion scheme and sends the motion path or the motion scheme to the single chip (where the PC provides the motion path or the motion scheme in the prior art), the single chip controls the stepper motor to operate, thereby controlling the forward and reverse rotation, acceleration, and deceleration of the permanent magnet, so that the magnetic spiral capsule endoscope reaches a specified position or a posture to be maintained, and of course, an operator can input an instruction to the single chip by referring to an image or data on the PC and by a manual method (such as a button or a handle), and the single chip controls the magnitude and direction of an output current according to the input instruction, thereby controlling the forward and reverse rotation, the rotation speed, and start and stop of the stepper motor.
The external permanent magnet preferably remains placed directly above the magnetic spiral-type capsule endoscope. Under the action of the magnetic field of the external permanent magnet, the magnetic spiral capsule endoscope can make corresponding forward and reverse rotation acceleration and deceleration movement at the rotating speed which is synchronous with the external permanent magnet, so that the active control of the planar movement of the magnetic spiral capsule endoscope is realized.
In addition, in order to ensure the control effect and achieve the purpose of accurate positioning, the magnetic field interference of an external permanent magnet in magnetic positioning needs to be filtered. The same magnetic sensor array is arranged right above and right below the external permanent magnet, the magnetic sensor array positioned right below is used for detecting the intensity of the mixed magnetic field of the magnetic spiral capsule endoscope and the external permanent magnet, and the magnetic sensor array positioned right above is used for detecting the position and the posture of the external permanent magnet. The magnetism of the magnetic spiral capsule endoscope is far smaller than that of the external permanent magnet, and the noise brought by the magnetic field of the magnetic spiral capsule endoscope to the positioning environment of the external permanent magnet is almost negligible as the magnetic sensor array positioned right above the magnetic spiral capsule endoscope is far away from the external permanent magnet. The magnetic field intensity of the external permanent magnet can be reversely solved by utilizing the position and the posture of the external permanent magnet, the magnetic sensor array positioned right below detects the mixed magnetic field intensity, the magnetic field intensity of the external permanent magnet is subtracted from the mixed magnetic field intensity to obtain the magnetic field intensity of the magnetic spiral capsule endoscope, the magnetic field intensity is transmitted into a PC (personal computer) by a data acquisition unit, and the spatial position information and the direction angle information of the magnetic spiral capsule endoscope are obtained by calculating through a matlab algorithm.
As shown in fig. 5, the present invention further provides a control method of a magnetic spiral type capsule endoscope control system, comprising the following steps:
calculating the position and the posture of an external magnet according to the magnetic field intensity acquired by the magnetic sensor array; and then the magnetic field intensity of the external permanent magnet is obtained through calculation according to the posture and the position of the external permanent magnet.
Specifically, when the magnetic sensor array is arranged, the magnetic sensor array is preferably arranged right above and right below the external permanent magnet, the magnetic sensor array located right below is used for detecting the mixed magnetic field intensity of the magnetic spiral capsule endoscope and the external permanent magnet, the magnetism of the magnetic spiral capsule endoscope is far smaller than that of the external permanent magnet, the farther the magnetic sensor array located right above is away from the external permanent magnet, the noise caused by the magnetic field of the magnetic spiral capsule endoscope to the positioning environment of the external permanent magnet can be almost ignored, therefore, the position and the posture of the external permanent magnet are detected by the magnetic sensor array located right above at the moment, and the magnetic field intensity of the external permanent magnet can be reversely solved by utilizing the position and the posture of the external permanent magnet. The magnetic sensor array positioned right below detects the intensity of the mixed magnetic field, the intensity of the magnetic field of the external permanent magnet is subtracted from the intensity of the mixed magnetic field to obtain the intensity of the magnetic field of the magnetic spiral capsule endoscope, the intensity of the magnetic field is transmitted to a PC through a data acquisition unit, the spatial position information and the direction angle information of the magnetic spiral capsule endoscope are obtained through calculation through a matlab algorithm, and the related calculation methods all adopt the existing method.
And comparing the current space position information and the direction angle information of the magnetic spiral capsule endoscope with a target positioning position, and controlling an external permanent magnet to drive the magnetic spiral capsule endoscope to move according to the positioning coordinate so that the magnetic spiral capsule endoscope moves from the current positioning position to the target positioning position. Compared with the prior art, the capsule endoscope can be used conveniently in the use process of the capsule endoscope, the position of the capsule of the endoscope can be controlled conveniently, and the capsule endoscope is greatly convenient to use.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. A magnetic spiral type capsule endoscope is characterized in that: the magnetic shell comprises a capsule endoscope body and a magnetic shell layer arranged on the periphery of the capsule endoscope body, wherein a magnetizable material is spirally wound on the surface of the magnetic shell layer.
2. The magnetic spiral type capsule endoscope of claim 1, wherein: the magnetic shell layer is coated on the periphery of the capsule endoscope body.
3. The utility model provides a magnetic spiral type capsule scope control system which characterized in that: comprising an external permanent magnet, a permanent magnet control mechanism and the magnetic spiral type capsule endoscope of claim 1 or 2;
the permanent magnet control mechanism controls the external permanent magnet to overturn, the external permanent magnet and the magnetic spiral capsule endoscope generate a magnetic action, and the magnetic spiral capsule endoscope is controlled to be driven to rotate, move and keep the posture.
4. The control system for a magnetic spiral type capsule endoscope according to claim 3, wherein: the magnetic field sensor array is used for acquiring external magnetic field parameters, and the data acquisition units are correspondingly connected with the magnetic sensor array one by one; and the data output end of the data acquisition unit is connected to a PC.
5. The control system for a magnetic spiral type capsule endoscope according to claim 4, wherein: the same magnetic sensor arrays are respectively arranged right above and right below the external permanent magnet.
6. The control system for a magnetic spiral type capsule endoscope according to claim 4, wherein: the magnetic sensor array comprises a magnetic field sensing module, an analog-to-digital converter and a serial port communicator, wherein the analog-to-digital converter performs analog-to-digital conversion on the spatial magnetic field data measured by the magnetic field sensing module, and the serial port communicator sends digital signals obtained by conversion of the analog-to-digital converter to the data acquisition unit.
7. The control system for a magnetic spiral type capsule endoscope according to claim 3, wherein: the permanent magnet control mechanism comprises a single chip microcomputer and a stepping motor, wherein the single chip microcomputer controls the stepping motor to work and drives the magnetic spiral capsule endoscope to rotate forwards, reversely, accelerate and decelerate.
8. A control method of a magnetic spiral capsule endoscope control system is characterized by comprising the following steps: the method comprises the following steps:
the magnetic sensor array positioned right above and below the external permanent magnet is used for detecting the mixed magnetic field intensity of the magnetic spiral capsule endoscope and the external permanent magnet, the magnetic sensor array positioned right above is used for detecting the position and the posture of the external permanent magnet, and the magnetic field intensity of the external permanent magnet is obtained by utilizing the position and the posture of the external permanent magnet;
subtracting the magnetic field intensity of the external permanent magnet from the mixed magnetic field intensity to obtain the magnetic field intensity of the magnetic spiral capsule endoscope;
calculating current space position information and direction angle information of the magnetic spiral type capsule endoscope according to the magnetic field intensity of the magnetic spiral type capsule endoscope;
and comparing the current space position information and the direction angle information of the magnetic spiral capsule endoscope with a target positioning position, and controlling an external permanent magnet to drive the magnetic spiral capsule endoscope to move according to the positioning coordinate so that the magnetic spiral capsule endoscope moves from the current positioning position to the target positioning position.
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| CN201911356475.3A CN113017542A (en) | 2019-12-25 | 2019-12-25 | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method thereof |
| PCT/CN2020/128436 WO2021129221A1 (en) | 2019-12-25 | 2020-11-12 | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method therefor |
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| CN201911356475.3A CN113017542A (en) | 2019-12-25 | 2019-12-25 | Magnetic spiral capsule endoscope, magnetic spiral capsule endoscope control system and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023203510A1 (en) * | 2022-04-20 | 2023-10-26 | Multi-Scale Medical Robotics Center Limited | Magnetic anchored and actuated system and manufacturing method thereof |
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| CN101361660B (en) * | 2008-05-16 | 2011-03-09 | 深圳先进技术研究院 | Multi-magnetic target positioning method and system |
| CN104720805A (en) * | 2015-03-24 | 2015-06-24 | 上海交通大学 | Power capsule real-time positioning method based on permanent magnet |
| JP6748499B2 (en) * | 2016-07-13 | 2020-09-02 | 株式会社アドバンテスト | Magnetic field measuring device and magnetic field measuring method |
| CN208492032U (en) * | 2017-12-04 | 2019-02-15 | 湖北大学 | A kind of capsule endoscopic device based on magnetic active control |
| CN109444773B (en) * | 2018-10-12 | 2020-10-27 | 北京理工大学 | Magnetic source detection device fixedly connected with external magnet and magnetic sensor array |
| CN211749482U (en) * | 2019-12-25 | 2020-10-27 | 江苏势通生物科技有限公司 | Magnetic spiral capsule endoscope and control system of capsule endoscope |
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| WO2023203510A1 (en) * | 2022-04-20 | 2023-10-26 | Multi-Scale Medical Robotics Center Limited | Magnetic anchored and actuated system and manufacturing method thereof |
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