CN113475997B - Reciprocating rotary drive system, device and medium for wireless capsule endoscope - Google Patents

Reciprocating rotary drive system, device and medium for wireless capsule endoscope Download PDF

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Publication number
CN113475997B
CN113475997B CN202110931072.8A CN202110931072A CN113475997B CN 113475997 B CN113475997 B CN 113475997B CN 202110931072 A CN202110931072 A CN 202110931072A CN 113475997 B CN113475997 B CN 113475997B
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capsule endoscope
wireless capsule
driver magnet
rotation
reciprocating
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CN113475997A (en
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孟李艾俐
许杨昕
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Yuanhua Intelligent Technology Shenzhen Co ltd
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Yuanhua Intelligent Technology Shenzhen Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field

Abstract

The embodiment of the application is suitable for the technical field of medical equipment, and provides a reciprocating rotary driving system, equipment and a medium of a wireless capsule endoscope, wherein the system comprises a driver magnet and the wireless capsule endoscope, and the driver magnet is configured with a corresponding reciprocating rotary section; the driver magnet is used for reciprocating rotation in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in a reciprocating manner in the abdominal cavity and tract of the human body. By adopting the system to drive the wireless capsule endoscope to move, the risk of distortion of an abdominal cavity channel caused by continuous rotation of the wireless capsule endoscope can be reduced.

Description

Reciprocating rotary driving system, device and medium of wireless capsule endoscope
Technical Field
The embodiment of the application belongs to the technical field of medical equipment, and particularly relates to a reciprocating rotation driving system, equipment and a medium of a wireless capsule endoscope.
Background
The wireless capsule endoscope is a technology for complete digestive tract examination, and has the characteristics of no pain, non-invasiveness and the like. The wireless capsule endoscope can not only inspect abdominal organs such as esophagus, stomach, duodenum, large intestine and the like, but also can completely inspect small intestine, which is an area that can not be inspected by the traditional gastroscope or the traditional enteroscope. The wireless capsule endoscope is a capsule-shaped micro-robot, and is provided with an illumination module, a camera module, an image processing module, a wireless transmission module, and the like. After the wireless capsule endoscope enters the digestive tract of a human body through swallowing of a patient, images can be shot in vivo and transmitted to the outside of the body in real time. A doctor or a computer automated diagnostic system can make a disease diagnosis based on the received images.
Generally, when a wireless capsule endoscope is used for examining diseases in an abdominal cavity such as a gastrointestinal tract, the wireless capsule endoscope can be controlled to continuously rotate and advance in the abdominal cavity by an external magnetic field. However, the continuous rotational motion of the wireless capsule endoscope may cause distortion of the abdominal cavity and, severely, even damage to the cavity.
Disclosure of Invention
In view of the above, embodiments of the present application provide a reciprocating rotary drive system, apparatus and medium for a wireless capsule endoscope to reduce the risk of gastrointestinal tract distortion due to continuous rotary motion of the wireless capsule endoscope.
A first aspect of an embodiment of the present application provides a reciprocating rotary drive system of a wireless capsule endoscope, the system comprising a driver magnet and a wireless capsule endoscope, the driver magnet configured with respective reciprocating rotary zones; the driver magnet is used for reciprocating rotation in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
A second aspect of embodiments of the present application provides a reciprocating rotary drive apparatus of a wireless capsule endoscope, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the following method when executing the computer program:
determining a reciprocating rotation interval of the driver magnet;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in a reciprocating manner in the abdominal cavity and tract of the human body.
A third aspect of embodiments of the present application provides a reciprocating rotary drive device of a wireless capsule endoscope, comprising:
the determining module is used for determining the reciprocating rotation interval of the driver magnet;
the control module is used for controlling the driver magnet to rotate in a reciprocating mode in the reciprocating rotation interval so as to generate magnetic force with periodically changing direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of:
determining a reciprocating rotation interval of the driver magnet;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
A fifth aspect of embodiments of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the following method:
determining a reciprocating rotation interval of the driver magnet;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the embodiment of the application, the reciprocating rotation interval of the driver magnet can be determined, so that the driver magnet can be controlled to rotate in a reciprocating manner in the reciprocating rotation interval. The direction of the magnetic force generated by the reciprocating rotation of the driver magnet will change periodically. When the magnet with the periodically changed direction acts on the wireless capsule endoscope, the wireless capsule endoscope can also be driven to rotate in the abdominal cavity of the human body in a reciprocating manner, so that the risk that the cavity of the wireless capsule endoscope is twisted due to continuous rotation motion is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic diagram of an application scenario of a reciprocating rotary drive system of a wireless capsule endoscope provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of a wireless capsule endoscope provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of a driver provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a driver magnet interacting with a wireless capsule endoscope as provided by an embodiment of the present application;
FIG. 5 is a schematic view of a magnetic field experienced by a wireless capsule endoscope as provided by an embodiment of the present application;
FIG. 6 is a schematic view of a magnetic force on a wireless capsule endoscope as provided by an embodiment of the present application;
FIG. 7 is a schematic diagram illustrating the variation of magnetic force on a wireless capsule endoscope during one cycle of reciprocal rotation of a driver magnet according to embodiments of the present application;
FIG. 8 is a schematic diagram illustrating a comparison of risks of intestinal distortion in different rotation modes according to an embodiment of the present application;
FIG. 9 is a schematic view of a reciprocating rotational drive flow of a wireless capsule endoscope provided by an embodiment of the present application;
FIG. 10 is a schematic view of a reciprocating rotary drive device of a wireless capsule endoscope provided by an embodiment of the present application;
FIG. 11 is a schematic diagram of a reciprocating rotary drive apparatus of a wireless capsule endoscope provided by an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The technical solution of the present application will be described below by way of specific examples.
Referring to fig. 1, a schematic view of an application scenario of a reciprocating rotary drive system of a wireless capsule endoscope provided in an embodiment of the present application is shown. Before the examination begins, the patient 101 is asked to swallow a wireless capsule endoscope 102 and lie on an examination table 103.
Fig. 2 is a schematic view of a wireless capsule endoscope according to an embodiment of the present application. The wireless capsule endoscope 102 is embedded with a ring-shaped permanent magnet 1021, and the ring-shaped permanent magnet 1021 is wrapped by a capsule shell 1022. The magnetizing direction of the annular permanent magnet 1021 and the axial direction of the wireless capsule endoscope 102 (i.e., a in fig. 2)1A2Direction) are orthogonal. In general, magnets are placed in the wireless capsule endoscope 102 in order to drive the wireless capsule endoscope 102. In the prior art, the magnetization direction of the magnet in the wireless capsule endoscope 102 is generally the axial direction of the wireless capsule endoscope 102, and this processing mode enables the axial direction of the wireless capsule endoscope 102, that is, the head direction of the wireless capsule endoscope 102, to be easily determined in subsequent work. But this also results in the inability to rotate the wireless capsule endoscope 102 along an axis. In the embodiment of the present application, the wireless capsule endoscope 102 can be driven to rotate along the axis by the rotating magnetic field by making the magnetizing direction of the annular permanent magnet 1021 orthogonal to the axial direction of the wireless capsule endoscope 102.
As shown in fig. 1, the examination table 103 is covered with a large sensor array 104, and the entire sensor array 104 includes a plurality of sensors arranged in a rectangular shape. During the examination, some or all of the sensors in the sensor array 104 will be activated for positioning the wireless capsule endoscope.
In one possible implementation of the embodiments of the subject application, the sensors activated during the examination may be only some of the sensors in the sensor array 104, and these activated sensors may be those sensors that are located closer to where the wireless capsule endoscope 102 is currently located. Moreover, the activated sensors may be sensors arranged in a certain manner in the sensor array 104, and when the sensors are used for positioning the wireless capsule endoscope 102, not only the positioning frequency can be increased, but also higher positioning accuracy can be obtained. When the wireless capsule endoscope 102 moves to a next location, another portion of the sensors from the sensor array 104 may be activated, and the newly activated another portion of the sensors employed to locate the wireless capsule endoscope 102.
As shown in fig. 1, a robot arm 105 is mounted beside the examination table 103, and a drive 106 is mounted on an end effector of the robot arm 105.
Fig. 3 is a schematic diagram of a driver according to an embodiment of the present disclosure. The actuator 106 includes a drive motor 1061 and an actuator magnet 1062, where the actuator magnet 1062 may be a spherical permanent magnet. The magnetic moment direction of the spherical permanent magnet is orthogonal to the rotation axis of the drive motor 1061. Thus, when the driving motor 1061 rotates, the magnetic moment of the spherical permanent magnet rotates, and a rotating magnetic field is generated.
The wireless capsule endoscope 102, the examination table 103, the sensor array 104, the robot arm 105, the driver 106, and the like shown in fig. 1 together constitute a reciprocating rotary drive system of the wireless capsule endoscope according to the embodiment of the present application. Further, the above-described reciprocating rotary drive system may further include a data processing computer (not shown in fig. 1) connected to the examination table 103, the sensor array 104, the robot arm 105, the drive 106, and the like. The data processing computer may have a reciprocating rotational drive algorithm stored therein, as well as other indispensable programs or algorithms such as positioning, display, storage, etc. In the examination process, the reciprocating rotation driving system can drive the wireless capsule endoscope 102 to rotate in the abdominal cavity in a reciprocating manner by executing the reciprocating rotation driving algorithm, so that the risk of twisting of the abdominal cavity caused by continuous rotation motion is reduced.
Before describing a particular application of the reciprocating rotary drive system of the embodiments of the present application, a description will first be given of a reciprocating rotary drive algorithm.
The reciprocating rotary drive system provided by the embodiment of the application can adopt a Reciprocating Rotary Magnetic Actuation (RRMA) mode to drive the movement of the wireless capsule endoscope. In a reciprocating rotary magnetic drive mode, the driver magnet can rotate in a reciprocating rotary interval to generate magnetic force with periodically changed direction. When the generated magnetic force with periodically changed direction acts on the wireless capsule endoscope, the wireless capsule endoscope can rotate around the rotating shaft in different directions in sequence in one period of the reciprocating rotation of the driver magnet. For example, during the first half cycle of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet may cause the wireless capsule endoscope to rotate clockwise about the axis of rotation; during the latter half of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate counterclockwise about the axis of rotation. Alternatively, during the first half cycle of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet may cause the wireless capsule endoscope to rotate counterclockwise about the axis of rotation; during the latter half of the reciprocal rotation of the driver magnet, the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate clockwise about the axis of rotation. By driving the wireless capsule endoscope to rotate in a reciprocating manner, the risk of cavity twisting possibly caused in the process of the wireless capsule endoscope moving in the abdominal cavity can be effectively reduced.
Fig. 4 is a schematic diagram illustrating the interaction of a driver magnet with a wireless capsule endoscope according to an embodiment of the present application. Wherein (a) and (b) in fig. 4 are views of the wireless capsule endoscope and driver magnet, respectively, in different directions under interaction. As shown in FIG. 4, the wireless capsule endoscope can be driven by an extra-corporeal driver magnet, which is a spherical permanent magnet. The desired rotation axis of the wireless capsule endoscope and the rotation axis of the driver magnet may be used separately
Figure BDA0003211285740000061
And
Figure BDA0003211285740000062
represent。
It should be noted that in the various embodiments described in this application, all the belts are used unless otherwise specified
Figure BDA0003211285740000063
Expressions of symbols each represent a direction of a physical quantity corresponding to the expression. For example, in the case of a liquid,
Figure BDA0003211285740000064
representing the axis of rotation omega of the driver magnetaIn the direction of (a).
When starting to be in the initial state
Figure BDA0003211285740000065
And
Figure BDA0003211285740000066
are all aligned with the positive x-axis direction, and can be represented using two angles since the unit vector has only two degrees of freedom
Figure BDA0003211285740000067
And
Figure BDA0003211285740000068
illustratively, θ may be employedczAnd thetacyTo represent
Figure BDA0003211285740000069
Using thetaazAnd thetaayTo represent
Figure BDA00032112857400000610
Namely:
Figure BDA00032112857400000611
Figure BDA00032112857400000612
wherein, thetaczRepresent
Figure BDA00032112857400000613
Angle of rotation about z axis, θcyRepresent
Figure BDA00032112857400000614
Angle of rotation about the y-axis, thetaazRepresent
Figure BDA00032112857400000615
Angle of rotation about z axis, θayTo represent
Figure BDA00032112857400000616
Angle of rotation about the y-axis.
Order to
Figure BDA00032112857400000617
Aligned with the positive z-axis direction in the initial state, thetaaxRepresenting magnetic moment of driver magnet
Figure BDA00032112857400000618
About the axis of rotation of the driver magnet
Figure BDA00032112857400000619
The angle of rotation. In combination with the above-mentioned angle thetaazAnd thetaayThe magnetic moment of the driver magnet can be calculated
Figure BDA00032112857400000620
In the direction of (a).
Desired axis of rotation for a given wireless capsule endoscope
Figure BDA00032112857400000621
In order to be able to rotate the wireless capsule endoscope about its desired axis of rotation at the location of the wireless capsule endoscope
Figure BDA00032112857400000622
For generating a rotating magnetic field for the shaft, the axis of rotation of the driver magnet
Figure BDA00032112857400000623
The following formula can be adopted to calculate:
Figure BDA00032112857400000624
wherein r ═ Pc-PaShowing the center P of a Wireless Capsule endoscopecWith the centre P of the driver magnetaRelative positional relationship therebetween. As shown in FIG. 4, H is PaIn that
Figure BDA00032112857400000625
Projection of (a); alpha represents r and PaH, the angle between H, i.e., the drive angle of the driver magnet; beta represents Pa、PcAnd H and the vertical line. Suppose the center P of a wireless capsule endoscopecWith the centre P of the driver magnetaD, the center P of the wireless capsule endoscope can be calculatedcWith the centre P of the driver magnetaRelative position therebetween
Figure BDA00032112857400000626
On the basis, the magnetic field of the wireless capsule endoscope can be calculated according to a magnetic field calculation formula under a magnetic dipole model, wherein the magnetic field is as follows:
Figure BDA0003211285740000071
the embodiment of the application does not assume the real magnetic moment of the wireless capsule endoscope
Figure BDA0003211285740000072
Always in the direction of the applied magnetic field
Figure BDA0003211285740000073
Is aligned, thisAn assumption generally holds only in an enlarged container filled with liquid. In the context of the application of the embodiments of the present application, as shown in FIG. 5, the motion of a wireless capsule endoscope is often limited and affected by the walls of the elongated tubular lumen. Thus, the present embodiments assume the true magnetic moment direction of a wireless capsule endoscope
Figure BDA0003211285740000074
By a magnetic field bcAnd the current rotation axis of the wireless capsule endoscope
Figure BDA0003211285740000075
And (4) jointly determining. Namely, the real magnetic moment direction of the wireless capsule endoscope is the magnetic field and the current rotating shaft of the magnetic field
Figure BDA0003211285740000076
Unit vector of the difference of the projections on.
In the embodiment of the present application, the magnetic force f applied to the wireless capsule endoscope can be regarded as a resultant force of a plurality of components. For example, the magnetic force f experienced by a wireless capsule endoscope can be viewed as three components f as shown in FIG. 6ρ、flAnd frThe resultant force of (a). Wherein the first component fρIs along the desired axis of rotation of the wireless capsule endoscope
Figure BDA0003211285740000077
A second component f of the propulsionlIs a lateral force perpendicular to the U-plane, the third component frIs the remaining residual force, i.e.: f. ofr＝f-fρ-fl。
FIG. 7 shows a schematic diagram of the variation in magnetic force experienced on a wireless capsule endoscope during one cycle of reciprocating rotation of the driver magnet. As can be seen from FIG. 7, the propulsive force fρThe magnitude of (A) is hardly changed with the change of the rotation angle, and the value is very stable. When the rotation angle is about 180 DEG, the lateral force flAlmost 0, and the remaining force frA maximum value is reached. When the rotation angle is about 180 °, the change of the magnetic force f is also the slowest. Thus, canThe reciprocating rotation interval of the driver magnet is chosen to be centered at 180 deg.. Let thetaarFor the reciprocating rotation angle of the driver magnet, the reciprocating rotation interval of the driver magnet can be expressed as: theta.theta.ax∈[180°-θar，180°+θar]。
In general, θarSmaller and faster frequency of reciprocating rotation of the driver magnet, and propulsive force fρIt is the focus of the embodiments of the present application, so the embodiments of the present application may use the magnetic force when the rotation angle is 180 ° to represent the magnetic force in one reciprocating rotation period.
Simulation shows that different reciprocating rotation angles can lead to different cavity distortion risks and propulsion efficiency. With the increase of the reciprocating rotation angle, the amplitude of the distortion or deformation of the cavity channel is larger, but the force for expanding the cavity channel to the side direction is also larger, which is beneficial to the forward propulsion of the wireless capsule endoscope. Therefore, the embodiment of the application can select a balance point between the channel twisting risk and the propelling efficiency, and determine the optimal reciprocating rotation angle to be 90 degrees. When the optimal reciprocating rotation angle of the driver magnet is 90 °, the corresponding reciprocating rotation interval is [90 °,270 ° ].
Fig. 8 is a schematic diagram illustrating a comparison of intestinal tract distortion risks in different rotation modes according to an embodiment of the present application. Fig. 8 shows the force applied to the intestinal wall by the wireless capsule endoscope in different rotation modes and the analysis of the risk of possibly causing intestinal tract distortion, qualitatively shows that the Continuous Rotation Magnetic Actuation (CRMA) mode causes intestinal tract distortion and the RRMA mode provided by the embodiment of the present application can avoid the reason of intestinal tract distortion, and accordingly verifies the optimal reciprocating rotation angle. Wherein (a) in fig. 8 is the force of the wireless capsule endoscope against the intestinal wall in the CRMA drive mode; fig. 8 (b) shows the force applied to the intestinal wall by the wireless capsule endoscope in the RRMA drive mode.
As shown in fig. 8 (a), the wireless capsule endoscope is driven by the CRMA mode. Under the action of magnetic force, the continuously rotating wireless capsule endoscope firstly generates pressure f on the left side wall of the intestinal tractnormalThe pressure fnormalWith lateral force f on wireless capsule endoscopelAnd are equal. Furthermore, the rotating wireless capsule endoscope also generates friction force f to the intestinal wallfrictionThis friction force ffrictlonCausing the intestinal wall to move counterclockwise. As the wireless capsule endoscope continues to rotate, the wireless capsule endoscope still generates pressure f on the right side wall of the intestinal tract under the action of lateral forcenormalAlso, friction force f is generated to the intestinal wallfriction. Then, the frictional force f at this timefrictionStill resulting in a counterclockwise motion of the intestinal wall. As such, throughout the CRMA cycle, the wireless capsule endoscope may distort the intestinal wall in the same direction, which may cause the intestinal tract to distort.
As shown in fig. 8 (b), the wireless capsule endoscope is driven in the RRMA mode. Under the action of magnetic force, the reciprocating and rotating wireless capsule endoscope can generate pressure f on the left side wall of the intestinal tractnormalAnd generates a counterclockwise friction force f to the intestinal wallfrictionSo that the intestinal wall tends to move counterclockwise. As the wireless capsule endoscope is driven in reverse rotation, it exerts a pressure f on the right sidewall under the action of a lateral forcenormalAnd a friction force ffriction. By friction force f on the side wallsfrictionThe intestinal tract is moved clockwise. As such, throughout the entire cycle of the RRMA, the wireless capsule endoscope causes the rotation direction of the intestinal wall in the first half cycle and the second half cycle to be opposite. That is, even if the intestinal wall is distorted in the first half of the cycle, it can be restored in the second half of the cycle. Therefore, the reciprocating rotation system provided by the embodiment of the application is used for driving the wireless capsule endoscope to rotate in a reciprocating mode, and the risk of distortion of cavities such as intestinal tracts can be greatly reduced.
As shown in fig. 8 (c), a schematic diagram of the lateral force of the wireless capsule endoscope against the intestinal wall in different rotation modes is shown. Wherein, (c.1) shows the change situation of the lateral force in the CRMA driving mode, and the abscissa in (c.1) represents the angle corresponding to one period of continuous rotation of the wireless capsule endoscope, namely the angle change in the process of sequentially rotating from 0 degree to 360 degrees shown by the abscissa in (c.1); (c.1) ofThe ordinate shows the variation of the lateral force to which the wall of the intestine is subjected at different angles. From (c.1), it can be seen that the lateral force applied to the intestinal wall changes in both magnitude and direction during the continuous rotation of the wireless capsule endoscope. (c.2) - (c.6) show the variation of lateral force for different reciprocating rotation angles in RRMA driving mode. (c.2) - (c.6) show the rotation angle (theta) according to different reciprocating rotation anglesarIncreasing gradually from 10 ° to 90 °) changes in the lateral forces to which the wall of the intestine is subjected in the case of driving the driver magnet. The abscissa in each of the diagrams (c.2) - (c.6) represents different reciprocating rotation angles, wherein (c.2) corresponds to a reciprocating rotation angle of 10 °, (c.3) corresponds to a reciprocating rotation angle of 30 °, (c.4) corresponds to a reciprocating rotation angle of 50 °, (c.5) corresponds to a reciprocating rotation angle of 70 °, (c.6) corresponds to a reciprocating rotation angle of 90 °, (c.2) - (c.6) each of the ordinate in each of the diagrams represents a variation in lateral force applied to the intestinal wall when the driver magnet is controlled to drive the wireless capsule endoscope to rotate reciprocally according to the reciprocating rotation angle indicated by the abscissa. It is observed that in the RRMA drive mode, the lateral forces on the intestinal wall are greater as the angle of reciprocation rotation increases. As shown in fig. 8 (d), a schematic diagram of the friction of the wireless capsule endoscope against the intestinal wall in different rotation modes is shown. Wherein (d.1) shows the change of the friction force in the CRMA driving mode. (d.2) - (d.6) show the change of friction corresponding to different reciprocating rotation angles in the RRMA driving mode. It is very clearly observed that the forces to which the wall of the intestine is subjected are always in the same direction under the influence of the CRMA, which may lead to a higher risk of intestinal distortion. And under the RRMA driving mode, no matter how many degrees the driving angle is, the acting force that the intestinal wall received is the cycle reciprocal, has reduced the risk that the intestinal twists. Meanwhile, the larger lateral force on the intestinal wall is beneficial to the opening of the intestinal tract, and is also more beneficial to pushing the wireless capsule endoscope to advance. Therefore, in the case of ensuring the RRMA drive, a larger reciprocating rotation angle may be selected, i.e. 90 ° may be selected as the reciprocation of the driver magnetThe angle of rotation.
Referring to fig. 9, a schematic flow chart of a reciprocating rotation driving process of a wireless capsule endoscope provided in an embodiment of the present application is shown, which may specifically include the following steps:
and S901, determining the reciprocating rotation interval of the driver magnet.
It should be noted that the reciprocating rotation driving process of the wireless capsule endoscope shown in fig. 9 can be realized by the reciprocating rotation driving system provided by the embodiment of the present application by invoking the aforementioned reciprocating rotation driving algorithm. For the reciprocating rotation driving algorithm, reference may be made to the description of the related parts, and details are not repeated herein.
In the embodiment of the present application, the reciprocating rotation interval of the driver magnet may be an angle interval formed by reciprocating and rotating by a preset angle around the target rotation angle. The target rotation angle may be an angle at which the magnetic moment of the driver magnet rotates around the rotational axis of the driver magnet.
In one possible implementation of the embodiments of the present application, the target rotation angle may be 180 °. Thus, the reciprocal rotation interval of the driver magnet can be expressed as [180 ° - [ theta ] ]ar，180°+θar](ii) a Wherein, thetaarIs a preset angle, which is the reciprocating rotation angle of the driver magnet.
In the embodiment of the present application, the reciprocating rotation angle may be specifically set according to actual needs, and the embodiment of the present application does not limit this.
In a possible implementation manner of the embodiment of the present application, when the reciprocating rotation driving mode is applied, the acting force applied to the cavity wall is periodically reciprocated no matter how many degrees the driving angle is. On the other hand, the larger lateral force on the cavity wall is beneficial to the opening of the cavity, and is also more beneficial to pushing the wireless capsule endoscope to advance. Therefore, when the reciprocating rotation driving mode is applied, a large reciprocating rotation angle, that is, 90 ° can be selected as the reciprocating rotation angle of the driver magnet.
S902, controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
In the embodiment of the present application, after determining the reciprocating rotation interval of the driver magnet, the reciprocating rotation driving system may control the driver magnet to rotate reciprocally in the reciprocating rotation interval, so as to generate the magnetic force with the direction periodically changing. After the magnetic force acts on the wireless capsule endoscope, the wireless capsule endoscope can be driven to rotate in the abdominal cavity in a reciprocating way.
According to the embodiment of the application, the reciprocating rotation interval of the driver magnet can be determined, so that the driver magnet can be controlled to rotate in a reciprocating manner in the reciprocating rotation interval. The direction of the magnetic force generated by the reciprocating rotation of the driver magnet will change periodically. When the magnet with the periodically changed direction acts on the wireless capsule endoscope, the wireless capsule endoscope can also be driven to rotate in a reciprocating manner in the abdominal cavity of the human body, so that the risk that the cavity of the wireless capsule endoscope is twisted due to continuous rotation motion is reduced.
Referring to fig. 10, there is shown a schematic diagram of a reciprocating rotary driving apparatus of a wireless capsule endoscope provided in an embodiment of the present application, the apparatus may specifically include a determination module 1001 and a control module 1002, wherein:
a determination module 1001 for determining a reciprocating rotation interval of the driver magnet;
a control module 1002, configured to control the driver magnet to rotate reciprocally in the reciprocal rotation interval to generate a magnetic force with a periodically changing direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in a reciprocating manner in the abdominal cavity and tract of the human body.
In this embodiment, the reciprocating rotation interval may be an angle interval formed by reciprocating and rotating by a preset angle around a target rotation angle, and the target rotation angle may be an angle at which the magnetic moment of the driver magnet rotates around the rotation axis of the driver magnet.
In the embodiment of the present application, the target rotation angle may be180 DEG, therefore, the reciprocating rotation interval is [180 DEG-theta ]ar，180°+θar](ii) a Wherein, thetaarIs the preset angle.
In the embodiment of the present application, the preset angle may be 90 °.
In the embodiment of the present application, the driver magnet is installed in the driver, and the driver may further include a driving motor, and the driving motor may be configured to drive the driver magnet to rotate reciprocally in the reciprocating rotation interval.
In the embodiment of the present application, the driver magnet may be a spherical permanent magnet, and a magnetic moment direction of the spherical permanent magnet may be orthogonal to a rotation axis of the driving motor.
In an embodiment of the present application, the wireless capsule endoscope may include an annular permanent magnet, and a magnetizing direction of the annular permanent magnet may be orthogonal to an axial direction of the wireless capsule endoscope.
In an embodiment of the present application, the system may further comprise a sensor array, which may comprise a plurality of sensors arranged in a matrix, which may be used to position the wireless capsule endoscope.
For the embodiment of the apparatus, since it is basically similar to the embodiment corresponding to fig. 9, the description is relatively simple, and reference may be made to the description of the foregoing embodiment for relevant points.
Referring to fig. 11, a schematic diagram of a reciprocating rotary drive apparatus of a wireless capsule endoscope provided by an embodiment of the present application is shown. As shown in fig. 11, a reciprocating rotary drive apparatus 1100 of a wireless capsule endoscope of the embodiment of the present application includes: a processor 1110, a memory 1120, and computer programs 1121 stored in the memory 1120 and operable on the processor 1110. The processor 1110, when executing the computer program 1121, implements the methods or steps in the various embodiments of the reciprocating rotational driving system, such as steps S901 to S902 shown in fig. 9. Alternatively, the processor 1110, when executing the computer program 1121, implements the functions of the modules/units in the above-described reciprocating rotational driving apparatus embodiment, such as the functions of the modules 1001 to 1002 shown in fig. 10.
Illustratively, the computer program 1121 can be divided into one or more modules/units, which are stored in the memory 1120 and executed by the processor 1110 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions that may be used to describe the execution of the computer program 1121 in the reciprocating rotary drive device 1100 of the wireless capsule endoscope. For example, the computer program 1121 may be divided into a determination module and a control module, and the specific functions of each module are as follows:
the determining module is used for determining the reciprocating rotation interval of the driver magnet;
the control module is used for controlling the driver magnet to rotate in a reciprocating mode in the reciprocating rotation interval so as to generate magnetic force with periodically changing direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in a reciprocating manner in the abdominal cavity and tract of the human body.
The reciprocating rotary drive apparatus 1100 of the wireless capsule endoscope may include, but is not limited to, a processor 1110, a memory 1120. Those skilled in the art will appreciate that fig. 11 is merely an example of a reciprocating rotary drive device 1100 of a wireless capsule endoscope, and does not constitute a limitation of the reciprocating rotary drive device 1100 of a wireless capsule endoscope, and may include more or fewer components than shown, or combine certain components, or different components, e.g., the reciprocating rotary drive device 1100 of a wireless capsule endoscope may also include input-output devices, network access devices, buses, etc.
The Processor 1110 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 1120 may be an internal storage unit of the reciprocating rotary drive device 1100 of the wireless capsule endoscope, such as a hard disk or memory of the reciprocating rotary drive device 1100 of the wireless capsule endoscope. The memory 1120 may also be an external storage device of the reciprocating rotary drive device 1100 of the wireless capsule endoscope, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), and the like, provided on the reciprocating rotary drive device 1100 of the wireless capsule endoscope. Further, the memory 1120 may also include both an internal memory unit and an external memory device of the reciprocating rotary drive device 1100 of the wireless capsule endoscope. The memory 1120 is used to store the computer programs 1121 and other programs and data required by the reciprocating rotary drive device 1100 of the wireless capsule endoscope. The memory 1120 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also discloses a reciprocating rotation driving device of the wireless capsule endoscope, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the following method:
determining a reciprocating rotation interval of the driver magnet;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in a reciprocating manner in the abdominal cavity and tract of the human body.
The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program realizes the following method:
determining a reciprocating rotation interval of the driver magnet;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
The embodiment of the present application also discloses a computer program product, when the computer program product runs on a terminal device, the terminal device can execute the following method:
determining a reciprocating rotation interval of the driver magnet;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; the magnetic force with the periodically changed direction is used for driving the wireless capsule endoscope to rotate in the abdominal cavity and the tract of the human body in a reciprocating manner.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims (7)

1. A reciprocating rotation driving system of a wireless capsule endoscope is characterized by comprising a driver magnet and the wireless capsule endoscope, wherein the driver magnet is configured with a corresponding reciprocating rotation section, the driver magnet is a spherical permanent magnet, the reciprocating rotation section is an angle section formed by reciprocating rotation of a preset angle by taking a target rotation angle as a center, and the target rotation angle is an angle of rotation of a magnetic moment of the driver magnet around a rotation axis of the driver magnet; when the target rotation angle is 180 degrees and the preset angle is 90 degrees, the reciprocating rotation interval is [90 degrees and 270 degrees ], and the cavity twisting risk and the propelling efficiency of the wireless capsule endoscope reach balance; the driver magnet is used for reciprocating rotation in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; wherein, the magnetic force of direction periodic variation is used for driving wireless capsule endoscope and reciprocates rotatory around self axis in human abdominal cavity way, wireless capsule endoscope includes around its axis rotation is reciprocated: the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate clockwise about its axis during the first half of the reciprocal rotation of the driver magnet, and the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate counterclockwise about its axis during the second half of the reciprocal rotation of the driver magnet; or, in the first half period of the reciprocating rotation of the driver magnet, the magnetic force generated by the driver magnet enables the wireless capsule endoscope to rotate anticlockwise around the axis of the wireless capsule endoscope, and in the second half period of the reciprocating rotation of the driver magnet, the magnetic force generated by the driver magnet enables the wireless capsule endoscope to rotate clockwise around the axis of the wireless capsule endoscope.
2. The system of claim 1, wherein said driver magnet is mounted within a driver, said driver further comprising a drive motor for driving said driver magnet in reciprocating rotation within said reciprocating rotation interval.
3. The system of claim 2, wherein the magnetic moment direction of the spherical permanent magnet is orthogonal to the axis of rotation of the drive motor.
4. The system of any one of claims 1-3, wherein the wireless capsule endoscope comprises an annular permanent magnet that is magnetized in a direction orthogonal to an axial direction of the wireless capsule endoscope.
5. The system of claim 4, further comprising a sensor array comprising a plurality of sensors arranged in a matrix for positioning the wireless capsule endoscope.
6. A reciprocating rotary drive apparatus of a wireless capsule endoscope, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a method comprising:
determining a reciprocating rotation interval of a driver magnet, wherein the driver magnet is a spherical permanent magnet, the reciprocating rotation interval is an angle interval formed by reciprocating rotation of a preset angle by taking a target rotation angle as a center, and the target rotation angle is an angle of a magnetic moment of the driver magnet rotating around a rotation axis of the driver magnet; when the target rotation angle is 180 degrees and the preset angle is 90 degrees, the reciprocating rotation interval is [90 degrees and 270 degrees ], and the cavity twisting risk and the propelling efficiency of the wireless capsule endoscope reach balance;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; wherein, the magnetic force of direction periodic variation is used for driving wireless capsule endoscope and reciprocates and rotate around self axis in human abdominal cavity chamber, wireless capsule endoscope reciprocates and rotates including around self axis: the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate clockwise about its axis during the first half of the reciprocal rotation of the driver magnet, and the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate counterclockwise about its axis during the second half of the reciprocal rotation of the driver magnet; or, in the first half period of the reciprocating rotation of the driver magnet, the magnetic force generated by the driver magnet enables the wireless capsule endoscope to rotate anticlockwise around the axis of the wireless capsule endoscope, and in the second half period of the reciprocating rotation of the driver magnet, the magnetic force generated by the driver magnet enables the wireless capsule endoscope to rotate clockwise around the axis of the wireless capsule endoscope.
7. A computer-readable storage medium, in which a computer program is stored which, when executed by a processor, carries out the method of:
determining a reciprocating rotation interval of a driver magnet, wherein the driver magnet is a spherical permanent magnet, the reciprocating rotation interval is an angle interval formed by reciprocating rotation of a preset angle by taking a target rotation angle as a center, and the target rotation angle is an angle of a magnetic moment of the driver magnet rotating around a rotation axis of the driver magnet; when the target rotation angle is 180 degrees and the preset angle is 90 degrees, the reciprocating rotation interval is [90 degrees and 270 degrees ], and the cavity twisting risk and the propelling efficiency of the wireless capsule endoscope reach balance;
controlling the driver magnet to rotate in a reciprocating manner in the reciprocating rotation interval so as to generate magnetic force with periodically changed direction; wherein, the magnetic force of direction periodic variation is used for driving wireless capsule endoscope and reciprocates and rotate around self axis in human abdominal cavity chamber, wireless capsule endoscope reciprocates and rotates including around self axis: the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate clockwise about its axis during the first half of the reciprocal rotation of the driver magnet, and the magnetic force generated by the driver magnet causes the wireless capsule endoscope to rotate counterclockwise about its axis during the second half of the reciprocal rotation of the driver magnet; or, in the first half period of the reciprocating rotation of the driver magnet, the magnetic force generated by the driver magnet enables the wireless capsule endoscope to rotate anticlockwise around the axis of the wireless capsule endoscope, and in the second half period of the reciprocating rotation of the driver magnet, the magnetic force generated by the driver magnet enables the wireless capsule endoscope to rotate clockwise around the axis of the wireless capsule endoscope.
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